Controller design based on viscoelasticity dynamics model and experiment for flexible drive unit

In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.

Computational fluid dynamic modeling of gas flow characteristics of the high-power CW CO_2 laser

To increase the photoelectronic conversion efficiency of the single discharge tube and to meet the requirements of the laser cutting system, optimization of the discharge tube structure and gas flow field is necessary. We present a computational fluid dynamic model to predict the gas flow characteristics of high-power fast-axial flow CO2 laser. A set of differential equations is used to describe the operation of the laser. Gas flow characteristics, are calculated. The effects of gas velocity and turbulence intensity on discharge stability are studied. Computational results are compared with experimental values, and a good agreement is observed. The method presented and the results obtained can make the design process more efficient.

On the hydrodynamics of hydraulic machinery and flow control

Hydraulic machinery mainly includes turbine and pump, which is closely related to national economy and people＇s livelihood involving aerospace industry, marine engineering, hydropower engineering, petroleum industry, chemical industry, mining industry, biomedical engineering, environmental engineering, agricultural water-soil engineering, etc.. The internal flow of hydraulic machinery is extremely complex, and its characteristics can be summarized as high Reynolds number, multi-scales, inhomogeneous and vortex-dominant unsteady turbulence which interact with the rotating dynamic boundary（rotor blade）. Based on the analysis of the internal flow characteristics of hydraulic machinery, the author and his research team successively proposed a rotation correction model, a curvature corrected filter-based model, a scalable detached eddy simulation method, and a non-linear hybrid RANS/LES turbulence model to capture unsteady flow structures and then predict hydraulic performance and dynamic characteristics more accurately. According to the analysis on the internal flow, the corresponding flow control measures were put forward. It was verified by experiments that these methods could significantly improve the hydraulic performance, anti-cavitation performance and dynamic characteristics（pressure pulsation and vibration） of hydraulic machinery in a certain range of operating conditions. In addition, the mechanism how flow control measures influence internal flow was analyzed in depth, aiming at finding a feasible and effective way to improve hydraulic performance, anti-cavitation performance and dynamic characteristics of hydraulic machinery.