Optimizing Designed Variable Speed Control Moment Gyroscopes with Variable Skew Angle

Large torque can be output by the single gimbal control momentum gyroscope (SGCMG) based on the principle of the gyroscopic precession. However, the singularity is a major obstacle to successfully implement the task of the attitude control. The singularity can be avoided by the additional variable flywheel speed of variable speed control moment gyroscopes (VSCMG). Unfortunately, some kind of singularity cannot be effectively avoided. Consequently, the output toque can be only supported by the reaction torque of the flywheel when the singularity is encountered, and the consume power that is determined by the flywheel speed and reaction torque can be greatly increased when the flywheel spin rate over one thousand revolutions per minute. In this paper, the pyramid configuration with variable skew angle of the VSCMG is considered. A new steering law for the VSCMG with variable skew angle is proposed. The singularity that cannot be avoided by the varying flywheel speed can be effectively avoided with assisting of varying the skew angle. Consequently, the requirement of flywheel torque can be reduced. At last, the optimizing VSCMG with variable skew angle can be cast as a multi-objective function with multi-constraints. The particle swarm optimization method is used to solve the optimizing problem. In summary, the VSCMG with variable skew angle can be redesigned with considering of the singularity avoidance and minimizing system power.

Algebraic Method‑Based Point‑to‑Point Trajectory Planning of an Under‑Constrained Cable‑Suspended Parallel Robot with Variable Angle and Height Cable Mast

To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.

Suppression of Multi-Harmonic Currents in the High-Speed Magnetically Suspended Motor Based on Adaptive Cascaded Notch Filters with Variable Phase Angle

Rotor imbalance is identified as one of the predominant vibration sources in high-speed magnetically suspended motors.Due to factors such as rotor machining accuracy errors and uneven material distribution,synchronous vibration interference is caused.Moreover,sensor runout generates harmonic currents,which are attributed to material irregularities and inhomogeneity in the roundness of the sensor detection surface.Harmonic currents can generate harmonic vibrational forces that are transmitted to the motor housing,jeopardizing control accuracy and the device's operational lifespan.In order to achieve real-time reduction of harmonic currents at specified frequencies and improve the accuracy of harmonic suppression,this paper proposes an algorithm for variable phase anglefiltering of an adaptive cascaded mode notchfilter.This paper performed dynamic modeling and analysis of the magnetically suspended rotor system with rotor imbalance and verified the correctness of the dynamic model.Subsequently,the structure of an adaptive notchfilter with variable phase angle is introduced,highlighting the capability to maintain stability by adjusting the compensatory phase of the system.By comparing the harmonic current suppression performance of cascaded and parallel mode notchfilters,the cascaded method can better enhance the overall frequency selectivity,emphasizing its ability to adjust the compensation phase based on the phase angle of the input signal at different frequencies to maintain system stability.Simulation and experimental results show that harmonic currents can be successfully suppressed in the cascade mode,and the amplitude of the synchronous frequency current is reduced by 94.4%.

Reduced Imaging Time and Improved Image Quality of 3D Isotropic T2-Weighted Magnetic Resonance Imaging with Compressed Sensing for the Female Pelvis

This study is to compare three-dimensional(3D)isotropic T2-weighted magnetic resonance imaging(MRI)with compressed sensing-sampling perfection with application optimized contrast(CS-SPACE)and the conventional image(3D-SPACE)sequence in terms of image quality,estimated signal-to-noise ratio(SNR),relative contrast-to-noise ratio(CNR),and the lesions’conspicuous of the female pelvis.Thirty-six females(age:51,28-73)with cervical carcinoma(n=20),rectal carcinoma(n=7),or uterine fibroid(n=9)were included.Patients underwent magnetic resonance(MR)imaging at a 3T scanner with the sequences of 3D-SPACE,CS-SPACE,and twodimensional(2D)T2-weighted turbo-spin echo(TSE).Quantitative analyses of estimated SNR and relative CNR between tumors and other tissues,image quality,and tissue conspicuity were performed.Two radiologists assessed the difference in diagnostic findings for carcinoma.Quantitative values and qualitative scores were analyzed,respectively.The estimated SNR and the relative CNR of tumor-to-muscle obturator internus,tumor-to-myometrium,and myometrium-to-muscle obturator internus was comparable between 3D-SPACE and CS-SPACE.The overall image quality and the conspicuity of the lesion scores of the CS-SPACE were higher than that of the 3D-SPACE(P<0.01).The CS-SPACE sequence offers shorter scan time,fewer artifacts,and comparable SNR and CNR to conventional 3D-SPACE,and has the potential to improve the performance of T2-weighted images.

The 20 April 2013 Lushan, Sichuan, mainshock, and its aftershock sequence: tectonic implications

Using the double-difference relocation algo- rithm, we relocated the 20 April 2013 Lushan, Sichuan, earthquake （Ms 7.0）, and its 4,567 aftershocks recorded during the period between 20 April and May 3, 2013. Our results showed that most aftershocks are relocated between 10 and 20 km depths, but some large aftershocks were relocated around 30 krn depth and small events extended upward near the surface. Vertical cross sections illustrate a shovel-shaped fault plane with a variable dip angle from the southwest to northeast along the fault. Furthermore, the dip angle of the fault plane is smaller around the mainshock than that in the surrounding areas along the fault. These results suggest that it may be easy to generate the strong earthquake in the place having a small dip angle of the fault, which is somewhat similar to the genesis of the 2008 Wenchuan earthquake. The Lushan mainshock is underlain by the seismically anomalous layers with low-Vp, low-Vs, and high-Poisson＇s ratio anomalies, possibly suggesting that the fluid-filled fractured rock matrices might signifi- cantly reduce the effective normal stress on the fault plane to bring the brittle failure. The seismic gap between Lushan and Wenchuan aftershocks is suspected to be vulnerable to future seismic risks at greater depths, if any.

Experimental investigation on mechanical behaviors of granites after high-temperature exposure

To investigate the influence of temperature on the physical,mechanical and acoustic emission characteristics of granites,uniaxial compression test,variable-angle shear test,acoustic emission signal monitoring and the measurement of physical parameters including mass,size and P-wave velocity were carried out on granite samples treated at temperatures T ranging from 25 to 900℃.The results show that the density and P-wave velocity decrease gradually with increasing T.As the temperature increases,the peak compressive stress decreases while the peak strain increases,due to the fact that a high temperature induces the escaping of waters within granites,the expanding of mineral grains and the generations of fractures.With the increment of T,both the peak shear stress and the cohesion decrease,whereas the frictional angle increases.During the compressing and shearing tests,the maximum acoustic emission counts show a decreasing trend when T increases from 25 to 900℃.When T exceeds 573℃,the crystal lattice structure of quartz changes fromα-phase toβ-phase,decreasing the mechanical behavior of granites to a great extent.In addition,the results also indicate that T=500−600℃ is the critical temperature ramge to characterize the influence of temperature on the physical,mechanical and acoustic emission characteristics of granites.

Numerical Simulation of Axial Inflow Characteristics and Aerodynamic Noise in a Large-Scale Adjustable-Blade Fan

Numerical simulation are conducted to explore the characteristics of the axial inflow and related aerodynamic noise for a large-scale adjustable fan with the installation angle changing from−12°to 12°.In such a range the maximum static(gauge)pressure at the inlet changes from−2280 Pa to 382 Pa,and the minimum static pressure decreases from−3389 Pa to−8000 Pa.As for the axial intermediate flow surface,one low pressure zone is located at the junction of the suction surface and the hub,another is located at the suction surface close to the casing position.At the outlet boundary,the low pressure is negative and decreases from−1716 Pa to−4589 Pa.The sound pressure level of the inlet and outlet noise tends to increase monotonously by 11.6 dB and 7.3 dB,respectively.The acoustic energy of discrete noise is always higher than that of broadband noise regardless of whether the inlet or outlet flow surfaces are considered.The acoustic energy ratio of discrete noise at the inlet tends to increase from 0.78 to 0.93,while at the outlet it first decreases from 0.79 to 0.73 and then increases to 0.84.

Effects of Variable Jet Nozzle Angles on Cross-Flow Suppression and Heat Transfer Enhancement of Swirl Chamber

This paper investigated the effects of variable jetting nozzle angles on the cross-flow suppression and heat transfer enhancement of swirl cooling in gas turbine leading edge. The swirl chamber with vertical jet nozzles was set as the baseline, and its flow fields and heat transfer characteristics were analyzed by 3D steady state Reynolds-averaged numerical methods to reveal the mechanism of cross-flow weakening the downstream jets and heat transfer. On this basis, the flow structure on different cross sections and heat transfer characteristics of swirl chamber with variable jetting nozzle angels were compared with the baseline swirl chamber. The results indicated that for the baseline swirl chamber the circumferential velocity gradually decreased and the axial velocity gradually increased, and the cross-flow gradually formed. The cross-flow deflected the downstream jets and drawn them to the center of the chamber, thus weakening the heat transfer. For swirl chamber with variable jetting nozzle angles, the air axial velocity is axial upstream, opposite to the mainstream, so that the impact effects of cross-flow on the jets were reduced, and the heat transfer was enhanced. Furthermore, with the increase of axial velocity along the swirl chamber, the jetting nozzle angle also gradually increased, as well as the effect of cross-flow suppression, which formed a relative balance. For all swirl chambers with variable jet nozzle angles, the thermal performance factors were all larger than 1, which indicated the heat transfer was enhanced with less friction increment.

Simulation of Flow Field of Oxygen Lance Gas Jet Utilized for 50 t Converter

Based on the operating conditions of oxygen lance utilized for a 50 t converter in Tangsteel,gas jet flow fields of three types of oxygen lances were simulated by FLUENT software.The influence of lance configuration and lance level on penetrating area was studied through cold model experiment.The results showed that the gas flow velocities of four-hole,variable angle four-hole and five-hole oxygen lances declined rapidly with an increase in gas jet length within 1 m,1 m and 0.8 m,respectively.Besides,the multi gas streams sprayed from these three lances should be syncretized at 1.6 m,1.7 m and 1.4 m,respectively.At the highest lance level,the effective penetrating area of these three lances could be 0.255 m2,0.385 m2 and 0.0907 m2,respectively.It was suggested that the effective penetrating area of variable angle four-hole oxygen lance was the biggest,while that of five-hole oxygen lance was the least.The validity of numerical simulation results was proved through cold model experiment.The lance level was suggested to be controlled in the range of 1-1.6 m,1-1.7 m and 0.8-1.4 m for the four-hole,variable angle four-hole and five-hole oxygen lances,respectively.

An experimental method for squealer tip flow field considering relative casing motion

Squealer tip is widely used in turbines to reduce tip leakage loss.In typical turbine environment,the squealer tip leakage flow is affected by multiple factors such as the relative casing motion and the wide range of variable incidence angles.The development of experimental methods which can accurately model the real turbine environment and influencing factors is of great significance to study the squealer tip leakage flow mechanism.In the present paper,a low-speed turbine cascade test facility which can model the relative casing motion and wide range of variable incidence angles(-25°to 55°)is built.Based on the similarity criteria,a high-low speed similarity transformation method of the turbine cascade is established by considering the thickness of the turbine blade.A combined testing method of Particle Image Velocimetry(PIV)and local pressure measurement is proposed to obtain the complex flow structures within the tip cavity.The results show that the experimental method can successfully model the relative casing motion and the wide range of variable incidence angles.The low-speed cascade obtained by the similarity transformation can model the high-speed flow accurately.The measurement technique developed can obtain the complex flow field and successfully capture the scraping vortex within the squealer tip.