Based on the Winkler hypothesis, a model for analysis of the flexural response of an ocean trestle embedded in layered soil to horizontal impact of a moving mass is developed. By use of the transfer matrix in Lime dom...Based on the Winkler hypothesis, a model for analysis of the flexural response of an ocean trestle embedded in layered soil to horizontal impact of a moving mass is developed. By use of the transfer matrix in Lime domain, one can calculate the flexural dynamic response of a single pile. Then, by use of the boundary conditions of piles at the pile top, the dynamic response of the structure is analyzed. By use of the model proposed in this paper, the interactive force between the moving mass and the structure can be computed based on Work's kinetic energy theorem and Newton iterative method. Thus the approach does not have to assume the interactive force, while the traditional method have to. The approach more accords with the engineering practice than the traditional method and it is convenient for engineering design.展开更多
Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. T...Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.展开更多
An interval optimization method for the dynamic response of structures with inter- val parameters is presented.The matrices of structures with interval parameters are given.Com- bining the interval extension with the ...An interval optimization method for the dynamic response of structures with inter- val parameters is presented.The matrices of structures with interval parameters are given.Com- bining the interval extension with the perturbation,the method for interval dynamic response analysis is derived.The interval optimization problem is transformed into a corresponding de- terministic one.Because the mean values and the uncertainties of the interval parameters can be elected design variables,more information of the optimization results can be obtained by the present method than that obtained by the deterministic one.The present method is implemented for a truss structure.The numerical results show that the method is effective.展开更多
In most of real operational conditions only response data are measurable while the actual excitations are unknown, so modal parameter must be extracted only from responses. This paper gives a theoretical formulation f...In most of real operational conditions only response data are measurable while the actual excitations are unknown, so modal parameter must be extracted only from responses. This paper gives a theoretical formulation for the cross-correlation functions and cross-power spectra between the outputs under the assumption of white-noise excitation. It widens the field of modal analysis under ambient excitation because many classical methods by impulse response functions or frequency response functions can be used easily for modal analysis under unknown excitation. The Polyreference Complex Exponential method and Eigensystem Realization Algorithm using cross-correlation functions in time domain and Orthogonal Polynomial method using cross-power spectra in frequency domain are applied to a steel frame to extract modal parameters under operational conditions. The modal properties of the steel frame from these three methods are compared with those from frequency response functions analysis. The results show that the modal analysis method using cross-correlation functions or cross-power spectra presented in this paper can extract modal parameters efficiently under unknown excitation.展开更多
Because robotic milling has become an important means for machining significant large parts,obtaining the structural frequency response function(FRF)of a milling robot is an important basis for machining process optim...Because robotic milling has become an important means for machining significant large parts,obtaining the structural frequency response function(FRF)of a milling robot is an important basis for machining process optimization.However,because of its articulated serial structure,a milling robot has an enormous number of operating postures,and its dynamics are affected by the motion state.To accurately obtain the FRF in the operating state of a milling robot,this paper proposes a method based on the structural modification concept.Unlike the traditional excitation method,the proposed method uses robot joint motion excitation instead of hammering excitation to realize automation.To address the problem of the lack of information brought by motion excitation,which leads to inaccurate FRF amplitudes,this paper derives the milling robot regularization theory based on the sensitivity of structural modification,establishes the modal regularization factor,and calibrates the FRF amplitude.Compared to the commonly used manual hammering experiments,the proposed method has high accuracy and reliability when the milling robot is in different postures.Because the measurement can be performed directly and automatically in the operation state,and the problem of inaccurate amplitudes is solved,the proposed method provides a basis for optimizing the machining posture of a milling robot and improving machining efficiency.展开更多
文摘Based on the Winkler hypothesis, a model for analysis of the flexural response of an ocean trestle embedded in layered soil to horizontal impact of a moving mass is developed. By use of the transfer matrix in Lime domain, one can calculate the flexural dynamic response of a single pile. Then, by use of the boundary conditions of piles at the pile top, the dynamic response of the structure is analyzed. By use of the model proposed in this paper, the interactive force between the moving mass and the structure can be computed based on Work's kinetic energy theorem and Newton iterative method. Thus the approach does not have to assume the interactive force, while the traditional method have to. The approach more accords with the engineering practice than the traditional method and it is convenient for engineering design.
基金National Hi-tech Research and Development Program of China(863 Program,No.2001AA42330).
文摘Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.
基金Project supported by the National Natural Science Foundation of China(No.10202006).
文摘An interval optimization method for the dynamic response of structures with inter- val parameters is presented.The matrices of structures with interval parameters are given.Com- bining the interval extension with the perturbation,the method for interval dynamic response analysis is derived.The interval optimization problem is transformed into a corresponding de- terministic one.Because the mean values and the uncertainties of the interval parameters can be elected design variables,more information of the optimization results can be obtained by the present method than that obtained by the deterministic one.The present method is implemented for a truss structure.The numerical results show that the method is effective.
基金Item of the 9-th F ive Plan of the Aeronautical Industrial Corporation
文摘In most of real operational conditions only response data are measurable while the actual excitations are unknown, so modal parameter must be extracted only from responses. This paper gives a theoretical formulation for the cross-correlation functions and cross-power spectra between the outputs under the assumption of white-noise excitation. It widens the field of modal analysis under ambient excitation because many classical methods by impulse response functions or frequency response functions can be used easily for modal analysis under unknown excitation. The Polyreference Complex Exponential method and Eigensystem Realization Algorithm using cross-correlation functions in time domain and Orthogonal Polynomial method using cross-power spectra in frequency domain are applied to a steel frame to extract modal parameters under operational conditions. The modal properties of the steel frame from these three methods are compared with those from frequency response functions analysis. The results show that the modal analysis method using cross-correlation functions or cross-power spectra presented in this paper can extract modal parameters efficiently under unknown excitation.
基金supported by the National Natural Science Foundation of China(Grant No.52175463)Key R&D plan of Hubei Province(Grant No.2022BAA055)State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System(Grant No.GZ2022KF008)。
文摘Because robotic milling has become an important means for machining significant large parts,obtaining the structural frequency response function(FRF)of a milling robot is an important basis for machining process optimization.However,because of its articulated serial structure,a milling robot has an enormous number of operating postures,and its dynamics are affected by the motion state.To accurately obtain the FRF in the operating state of a milling robot,this paper proposes a method based on the structural modification concept.Unlike the traditional excitation method,the proposed method uses robot joint motion excitation instead of hammering excitation to realize automation.To address the problem of the lack of information brought by motion excitation,which leads to inaccurate FRF amplitudes,this paper derives the milling robot regularization theory based on the sensitivity of structural modification,establishes the modal regularization factor,and calibrates the FRF amplitude.Compared to the commonly used manual hammering experiments,the proposed method has high accuracy and reliability when the milling robot is in different postures.Because the measurement can be performed directly and automatically in the operation state,and the problem of inaccurate amplitudes is solved,the proposed method provides a basis for optimizing the machining posture of a milling robot and improving machining efficiency.
