Study on dynamic optimization of the double railway suspended vehicle for automatic transportation in the welding shop

The 2DOF dynamic equations of the doable railway suspended vehicle for automatic transportation in the welding shop are established. The sensitivities are analyzed. The parameter design is researched in ADAMS in terms of the inner railway radius, wheelbase, gauge, girder length of the doable railway suspended vehicle for automatic transportation in the welding product line. The mutual-restriction among the design variables is discussed and the selective ranges of the variables are confirmed. The result shows that the stability of the doable railway suspended vehicle for automatic transportation in the welding product line depends on parameters of the inner railway radius, wheelbase, gauge, girder length. The optimal results of the optimal objective and design variables have research significance for the virtual prototype of the doable suspension railway automation vehicle. The optimal results are input into the simulation model iteratively and the simulation results are fed back to the physical prototype. The veracity and reliability of peoformance forecast are improved so that the manufacture cost of the doable suspension railway automation vehicle is reduced significantly.

Dynamic Analysis of A Subsea Suspended Manifold Going Through Splash Zone During Installation

The subsea suspended manifold designed to replace the traditional foundation structure with the buoys is a new generation subsea production system that can be suspended at a certain height from the seafloor and rapidly recycled by its own buoyancy.Due to complex environmental conditions,its hydrodynamic performance in the splash zone is extremely important for the safety of the whole installation process.In this paper,the mathematical model for the dynamic analysis of the seawater ingress process of the single-layer pre-set horizontal cabin is proposed based on the different center of gravity positions of the buoy.Meanwhile,the theoretical analysis of fiber cable is divided into infinite differential units by the discretization method,and the formulae of the horizontal displacement of the subsea suspended manifold are presented.In addition,the simulations are carried out to verify the rules of the dynamic responses on the subsea suspended manifold system with the consideration of the environmental conditions in the South China Sea.Comparing with the calculated value of the mathematical model of the cabin water ingress,the error of the simulation result by use of FLUENT is about 5.47%.Furthermore,the wave height is greater than the current impact on the lowering manifold system and the azimuth angle of the installation vessel is aligned with the direction of the environmental load.

Dynamic Stiffness Analysis and Experimental Verification of Axial Magnetic Bearing Based on Air Gap Flux Variation in Magnetically Suspended Molecular Pump

Current and displacement stiffness are important parameters of axial magnetic bearing(AMB)and are usually considered as constants for the control system.However,in actual dynamic work situations,time-varying force leads to time-varying currents and air gap with a specific frequency,which makes the stiffness of appear decrease and even worsens control performance for the whole system.In this paper,an AMB dynamic stiffness model considering the flux variation across the air gap due to frequency is established to obtain the accurate dynamic stiffness.The dynamic stiffness characteristics are analyzed by means of the dynamic equivalent magnetic circuit method.The analytical results show that the amplitude of current and displacement stiffness decreases with frequency increasing.Moreover,compared with the stiffness model without considering the variation of flux density across the air gap,the improved dynamic stiffness results are closer to the actual results.Through the dynamic stiffness measurement method of AMB,experiments of AMB in magnetically suspended molecular pump(MSMP)are carried out and the experimental results are consistent with theoretical analysis results.This paper proposes the dynamic stiffness model of axial magnetic bearing considering the variation of flux density across the air gap,which improves the accuracy of the AMB stiffness analysis.

Summery Intra-Tidal Variations of Suspended Sediment Transportation–Topographical Response and Dynamical Mechanism in the Aoshan Bay and Surrounding Area,Shandong Peninsula

As the second largest bay in Qingdao,the Aoshan Bay and its adjacent sea area play an important role in aquaculture development and urban land and sea coordination for the eastern gulf type of city in the Qingdao Blue Silicon Valley Core Area(QBSVCA).Based on in-situ sedimentary dynamical observation and previous research results,the thermohaline structure,the transportation of suspended sediment and its mechanism,and the coastal geomorphic response were elaborated and analyzed in detail in this paper.The result indicated that the thermohaline and density distribution have obvious intra-tidal characteristics in the QBSVCA and the adjacent waters of the islands,during summer neap tide stage.The development of the bottom high suspended sediment concentration(SSC)layer was slightly enhanced in flood slack at each of the four stations.Suspended sediment transportation near the QBSVCA is related closely with the vertical mixing-stratification mechanism.Combined with previous research results,this study once again showed that submarine topography and the grain size of sea bed sediments would respond to hydrodynamic forces.The medians of the bottom E and D50 in the Aoshan Bay were the highest,followed by those in the Daguan Island and Xiaoguan Island,and the data in the Laoshan Bay were the lowest.This showed that the capacity of suspended sediment transportation in the bottom water layer of the Aoshan Bay was stronger than that of the adjacent sea area.The re-suspension and migration of fine sediments lead to the strong coarsening of sediments in this area.

Finite element model for arch bridge vibration dynamics considering effect of suspender length adjustment on geometry stiffness matrix

In this paper, we established a finite element (FEM) model to analyze the dynamic characteristics of arch bridges. In this model, the effects of adjustment to the length of a suspender on its geometry stiffness matrix are stressed. The FEM equations of mechanics characteristics, natural frequency and main mode are set up based on the first order matrix perturbation theory. Applicantion of the proposed model to analyze a real arch bridge proved the improvement in the simulation precision of dynamical characteristics of the arch bridge by considering the effects of suspender length variation.

Diagnostic experiments for transport mechanisms of suspended sediment discharged from the Yellow River in the Bohai Sea

Five diagnostic experiments with a 3D baroclinic hydrodynamic and sediment transport model ECOMSED in couple with the third generation wave model SWAN and the Grant-Madsen bottom boundary layer model driven by the monthly sediment load of the Yellow River, were conducted to separately diagnose effects of different hydrodynamic factors on transport of suspended sediment discharged from the Yellow River in the Bohai Sea. Both transport and spatio-temporal distribution of suspended sediment concentration in the Bohai Sea were numerially simulated. It could be from the Yellow River cannot be delivered in concluded that suspended sediment discharged long distance under the condition of tidal current. Almost all of sediments from the Yellow River are deposited outside the delta under the condition of wind-driven current, and only very small of them are transported faraway. On the basis of wind forcing, sediments from the Yellow River are mainly transported north-northwestward, and others which are first delivered to the Laizhou Bay are continuously moved northward. An obvious 3D structure characteristic of sediment transport is produced in the wind-driven and tide-induced residual circulation condition. Transport patterns at all layers are generally consistent with circulation structure, but there is apparent deviation between the depth-averaged sediment flux and the circulation structure. The phase of temporal variation of sediment concentration is consistent with that of the bottom shear stress, both of which are proved to have a ten-day cycle in wave and current condition.

Suspended Sediment Transport and Deposition in the Zhoushan Archipelago Sea Area

The transport mechanism and settlement characteristics of suspended sediments are analyzed in this article on the basis of measured data. Results indicate that the concentration and flux of suspended sediments decrease sharply from Hangzhou Bay to the offshore area. Suspended sediment transport is mainly controlled by advection transport and gravitational circulation transport. The settling velocity of suspended sediments gradually decreases from Hangzhou Bay to the offshore area. The settlement of suspended sediments mainly takes place during the turning phase of the tidal currents.

Dynamic simulation and modeling of PCP transport between sediment and water

ＤｙｎａｍｉｃｓｉｍｕｌａｔｉｏｎａｎｄｍｏｄｅｌｉｎｇｏｆＰＣＰｔｒａｎｓｐｏｒｔｂｅｔｗｅｅｎｓｅｄｉｍｅｎｔａｎｄｗａｔｅｒＬｉＴｉｅ，ＹｅＣｈａｎｇｍｉｎｇ，ＬｅｉＺｈｉｆａｎｇＲｅｓｅａｒｃｈＣｅｎｔｅｒｆｏｒＥｃｏＥｎｖｉｒｏ...

Dynamic Modeling of Heterogeneous Spatial Analysis for Energy and Natural Resources in Grid Integration Environment

With the high-tech industrialization of earth observation satellite remote sensing and the implementation of digital earth strategy,the energy and natural resources have been decided to be the key research fields in China.In these fields,from the model based on topology data,through simple feature data model to rule-based data model,the basic spatial analysis algorithms have been developed

实测车流作用下大跨悬索桥吊索疲劳性能分析

为研究车辆长期作用下悬索桥吊索的疲劳性能,以南京栖霞山长江大桥为工程背景,利用该桥动态称重系统的实测数据,采用有限混合分布拟合了车辆荷载模型.然后,基于时间权重矩阵模拟了桥面多车道随机车流,并基于Ansys计算了随机车流作用下的桥梁动力时程响应.在上述基础上,获取了大桥短吊索、长吊索和限位吊索3组典型吊索的应力时程,并采用名义应力法对其疲劳性能进行分析.结果表明:在随机车流作用下,大部分时间段内吊索应力波动较为平稳;各吊索应力变化趋势与车流量的变化密切相关,短吊索、长吊索以及限位吊索的最大应力幅分别为40、30和25 MPa;在车辆荷载的长期作用下,短吊索的疲劳可靠度显著低于长吊索与限位吊索.

高速铁路系杆拱桥检测方法及应用

根据高速铁路系杆拱桥的结构特点、受力特点和养护条件,研究制定了外观缺损检测、吊杆体系专项检测、结构姿态检测、材料性能检测、动力特性测试、承载能力检算等测试内容及采用方法,并应用于京沪高速铁路一座实桥检测中。检测结果表明:该桥除外观上存在少量病害外,结构整体受力性能良好,相对于桥梁建成初期没有明显的变化,验证了本文检测方法的有效性和可实施性。

悬挂胶轮列车与钢桥的振动试验及仿真研究

为评价悬挂胶轮列车及钢轨道梁桥的结构性能,以开封悬挂式单轨示范线为背景开展现场试验与仿真研究。开发了胶轮列车-钢轨道梁桥耦合振动分析程序,根据现场实测的胶轮车辆的空气弹簧、走行轮刚度和阻尼等力学参数,建立胶轮列车模型。对车桥动力响应的现场试验与动力仿真分析结果进行综合比较,采用相关规范对列车走行性以及轨道梁桥的动力性能进行综合评估。结果表明:车桥动力特性及其振动响应的理论与实测结果基本吻合,车桥耦合分析方法可应用于悬挂式胶轮单轨交通系统振动性能研究;轨道梁竖向挠跨比小于相关规范的限值,竖向刚度设计合理;在列车竖向静活载作用下,相邻两跨轨道梁梁端竖、横向转角之和最大值分别为4.5‰和1.5‰;车速80 km/h下轨道梁纵、横向应力动力系数最大值分别为1.17和1.14;考虑到悬挂式胶轮列车没有脱轨风险,列车轮重减载率及钢轨道梁桥横向加速度较传统铁路偏大,其相应限值可较现行铁路规范适当放松。

广西钦江河口枯季水动力特征及其对冷空气的响应

河口作为陆海相互作用的关键带,是河流入海泥沙及污染物的主要归宿地。钦江作为广西第二大河流,在茅尾海资源开发利用和生态环境保护与修复中发挥着重要作用。为进一步认识钦江河口地区的沉积动力过程,2021年10月27日至12月8日在此展开水动力和水体环境要素的连续观测。现场观测与分析结果表明,观测期间钦江河口潮汐类型为正规全日潮,浅水分潮显著,平均潮差为3.07m,具有落潮优势;潮流以全日分潮流为主导,平均流速为0.12m/s,运动形式主要为往复流;余流流向主要为西南方向。钦江河口潮汐和潮流性质较外湾和茅尾海中部海域全日潮特征更显著。枯季期间河口表层沉积物随潮汐运动表现为侵蚀-沉降交替的变化规律,垂向上侵蚀通量大于沉降通量,水平方向上悬沙净向海输运。冷空气过境带来的降雨使得钦江河口水体盐度降低、浊度增大,悬沙浓度及输沙量增加,同时冷空气南下时北风增强引起钦江河口减水效应并使潮差略有增加,水动力强度增大,增加表层沉积物的活动性,从而引起底部沉积物再悬浮强度和频率增加。

悬挂式单轨车辆的倒T形辙叉道岔通过性能

[目的]悬挂式单轨交通系统具有良好的发展前景,对于其车辆过道岔的动力学性能研究目前较少,需对此进行研究。[方法]采用UM(多体动力学)软件建立车辆动力学模型,以车体最大振动加速度、走行轮最大垂向力、导向轮及稳定轮最大垂向力、车体及悬吊梁最大侧滚角为主要评价指标,针对应用于悬挂式单轨交通系统的倒T形辙叉道岔,进行悬挂式单轨车辆道岔通过性能研究。[结果及结论]倒T形辙叉道岔结构的导向轨面不平顺较大,悬挂式单轨车辆在通过曲线道岔时,很难保证导向轮的导向力不超过安全限值。针对此问题提出了一种导向轨面补偿装置。应用此导向轨面补偿装置后,悬挂式单轨车辆可以以15 km/h的速度安全通过半径为50 m的倒T形辙叉道岔,动力学性能有明显改善。

趾墩-悬栅消力池水力特性分析

为了解决新疆某工程泄洪洞消力池流态紊乱、消能率低的问题,采用数值模拟方法,在设计及校核流量下,对传统消力池、悬栅消力池以及趾墩-悬栅消力池3种不同形式消力池水力特性进行系统性分析。结果表明:趾墩-悬栅联合消能工改善了消力池内水流流态,消力池发生淹没式水跃,其池内悬栅与悬栅间隙处涡量分布广泛,池内整体涡量分布比悬栅消力池分布更加均匀。在设计流量下,消能率为74.41%,相较于传统消力池消能率提高2.61%,相较于悬栅消力池消能率提高0.95%;在校核流量下,消能率为78.99%,相较于传统消力池消能率提高5.64%,相较于悬栅消力池消能率提高0.95%。

基于悬挂式FBG的螺栓连接微小扭矩检测

将光纤布拉格光栅通过尾纤悬挂在带螺栓连接的结构件表面,使用结构动态检测法测试螺栓连接结构的扭矩。测试中,在待测结构件上产生周期性的振动,在振动的作用下尾纤中产生周期性应变,它作为波源在刻有布拉格光纤光栅的光纤中形成应力波,布拉格光纤光栅感知应力波形成测试信号。在识别过程中,首先使用经验模态分解方法对测试信号进行分解以去除不平稳分量及噪声,然后提取信号的有量纲和无量纲特征值,最后将这些特征值输入基于支持向量机的识别系统。结果表明,该方法识别正确率达97.2%,扭矩识别能力在N·cm量级。本研究开拓了一种新的螺栓连接状态的检测方法,尤其适用于小质量结构中微小扭矩的检测。

悬挂式单轨列车动力学性能分析

悬挂式单轨列车近年来在我国发展迅速,但现有研究成果大多是从仿真方向来研究悬挂式单轨的动力学性能,因此,本文基于线路实测数据,考虑车辆载荷因素(AW0、AW3)和悬挂状态因素(悬挂正常、空簧失气)在直线、曲线以及不同速度级做拉锯试验和全线试验。结果表明:在AW0及AW3工况下以试验速度范围在直线、大曲线、小曲线线路上运营时,横向、垂向平稳性指标以及舒适度指标均符合标准的要求;在AW0及AW3空簧故障工况下车辆以空簧失气状态运行时,垂向平稳性指标恶化,但可限速运行;走行轮垂向力、导向轮横向力、稳定轮横向力的最大动载荷均在极限载荷范围内,且有一定的安全裕量,可保障安全运营。

辽河口悬浮泥沙时空变化特征及其动力因素分析

基于2019—2020年HY-1C CZI的L2B级泥沙数据和同期气象、水文数据,应用空间分析和统计方法开展辽河口海域悬浮泥沙质量浓度的时空变化特征及其动力因素分析研究。结果表明:潮汐是该海域悬浮泥沙日变化的主导因素,落潮期平均悬浮泥沙质量浓度高于涨潮期;径流对辽河口海域悬浮泥沙质量浓度影响的范围主要在近岸区域,一般不超过5 m等深线;当落潮流流向与风向相反时,浑浊带常横向扩展,而当落潮流流向与风向相同时,浑浊带则收缩在辽河口顶部;风速与悬浮泥沙质量浓度存在显著相关性,离岸越近,风对悬浮泥沙的作用越强烈,这可能与风、浪的协同作用有关;受潮流、径流和风浪的影响,8 m等深线内侧通常发育为最大浑浊带。

三自由度欠约束柔索驱动并联机器人的轨迹规划

柔索驱动并联机器人是一种特殊的并联机器人,属于柔性机器人的一类,它的末端执行器是由柔索代替刚性杆驱动实现其位姿的变化。研究了一种三自由度欠约束柔索驱动并联机器人,其索杆可以沿着圆形导轨旋转,即索杆夹角是可变的,实现机器人构型的可重构,减少柔索与柔索以及柔索与障碍物发生碰撞的概率。采用矢量闭环原理建立该机器人的逆运动学方程;根据拉格朗日公式建立该机器人的动力学方程;给定机器人末端执行器的运动轨迹,采用五次多项式进行规划,得出规划前后X、Y和Z方向的位移、速度和加速度曲线,在速度突变的点处,规划后的速度和加速度曲线实现光滑过渡,避免机器人在运动过程中发生振动和冲击,使得机器人末端执行器的运动轨迹平滑;三根柔索长度和拉力的实验曲线与规划后的期望曲线基本吻合,相机追踪轨迹与五次多项式规划后的运动轨迹基本一致;数值仿真和实验结果验证了三自由度欠约束柔索驱动并联机器人的逆运动学和动力学分析的正确性,以及五次多项式规划的有效性。