Dynamic Modeling and Experimental Verification of an RPR Type Compliant Paralle Mechanism with Low Orders

Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjustment.Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the paper.The mechanism with two out-of-plane rotational and one lifting degrees of freedom(DoFs)plays an important role in posture adjustment.Based on elastic beam theory,the stiffness matrix and mass matrix of the beam element are established where the moment of inertia is considered.To improve solving efficiency,a dynamic model with low orders of the mechanism is established based on a modified modal synthesis method.Firstly,each branch of the RPR type mechanism is divided into a substructure.Subsequently,a set of hypothetical modes of each substructure is obtained based on the C-B method.Finally,dynamic equation of the whole mechanism is established by the substructure assembly.A dynamic experiment is conducted to verify the dynamic characteristics of the compliant mechanism.

Stability analysis of CO_(2)gas shielded welding short-circuit transition process based on GMAW dynamic model

Base on the arc phase and short-circuit phase and their relationship, the paper considers the changes of the extension of wire, the arc length, liquid bridge resistance and mass of liquid bridge, combines the improved “mass-spring” model with the loop model of welding power system, puts forward the critical judgment condition of droplet transition, and establishes a more accurate dynamic model for describing the short-circuit transition process. The dynamic changes of short-circuit transfer frequency, welding current and voltage, contact droplet and residual droplet equivalent radius and droplet equivalent radius at different wire feeding speeds were calculated and analyzed, and compared with the experimental results. It shows that the fluctuation of droplet displacement, velocity and wire extension length at the optimal arc starting point is the smallest. The smaller the initial liquid bridge curvature radius is, the better the stability of short-circuit transfer is.

Dynamic modeling of total ionizing dose-induced threshold voltage shifts in MOS devices

The total ionizing dose(TID) effect is a key cause for the degradation/failure of semiconductor device performance under energetic-particle irradiation. We developed a dynamic model of mobile particles and defects by solving the rate equations and Poisson's equation simultaneously, to understand threshold voltage shifts induced by TID in silicon-based metal–oxide–semiconductor(MOS) devices. The calculated charged defect distribution and corresponding electric field under different TIDs are consistent with experiments. TID changes the electric field at the Si/SiO_(2) interface by inducing the accumulation of oxide charged defects nearby, thus shifting the threshold voltage accordingly. With increasing TID, the oxide charged defects increase to saturation, and the electric field increases following the universal 2/3 power law. Through analyzing the influence of TID on the interfacial electric field by different factors, we recommend that the radiation-hardened performance of devices can be improved by choosing a thin oxide layer with high permittivity and under high gate voltages.

Research on Mixed Logic Dynamic Modeling and Finite Control Set Model Predictive Control of Multi-Inverter Parallel System

Parallel connection of multiple inverters is an important means to solve the expansion,reserve and protection of distributed power generation,such as photovoltaics.In view of the shortcomings of traditional droop control methods such as weak anti-interference ability,low tracking accuracy of inverter output voltage and serious circulation phenomenon,a finite control set model predictive control(FCS-MPC)strategy of microgrid multiinverter parallel system based on Mixed Logical Dynamical(MLD)modeling is proposed.Firstly,the MLD modeling method is introduced logical variables,combining discrete events and continuous events to form an overall differential equation,which makes the modeling more accurate.Then a predictive controller is designed based on the model,and constraints are added to the objective function,which can not only solve the real-time changes of the control system by online optimization,but also effectively obtain a higher tracking accuracy of the inverter output voltage and lower total harmonic distortion rate(Total Harmonics Distortion,THD);and suppress the circulating current between the inverters,to obtain a good dynamic response.Finally,the simulation is carried out onMATLAB/Simulink to verify the correctness of the model and the rationality of the proposed strategy.This paper aims to provide guidance for the design and optimal control of multi-inverter parallel systems.

Dynamic Modeling and Sensitivity Analysis for an MEA-Based CO_(2) Capture Absorber

The absorber is the key unit in the post-combustion monoethanolamine(MEA)-based carbon dioxide(CO_(2))capture process.A rate-based dynamic model for the absorber is developed and validated using steady-state experimental data reported in open literature.Sensitivity analysis is performed with respect to important model parameters associated with the reaction,mass transport and phy-sical property relationships.Then,a singular value decomposition(SVD)-based subspace parameter estimation method is proposed to improve the model accu-racy.Finally,dynamic simulations are carried out to investigate the effects of the feed rate of lean MEA solution and the flue inlet conditions.Simulation results indicate that the established dynamic model can reasonably reflect the physical behavior of the absorber.Some new insights are gained from the simulation results.

Review on Dynamic Modeling and Vibration Characteristics of Rotating Cracked Blades

As one of the most important parts in the engine,the structure and state of the rotating blade directly affect the normal performance of the aeroengine.In order to monitor engine crack failure and ensure flight safety,it is necessary to carry out research on the dynamic modeling of the cracked blade and breathing crack-induced vibration mechanisms.This paper summarizes the current research status on the dynamics of cracked blade,and the related topics mainly include four aspects:crack propagation path,mechanical model of open and breathing cracks,dynamic modeling methods of cracked blades such as lumped mass model,semi-analytical model and finite element model,and dynamic characteristics of cracked blades.The review will provide valuable references for future studies on dynamics and fault diagnosis of cracked blade in aeroengine.

Dynamic Modeling and Analysis of Occult Transmission of Omicron SARS-CoV-2 Epidemic

At present, the Omicron variant is still the dominant strain in the global novel coronavirus pneumonia pandemic, and has the characteristics of concealed transmission, which brings heavy pressure to the health systems of different countries. Omicron infections were first found in Chinese Mainland in Tianjin in December 2021, and Omicron epidemic broke out in many parts of China in 2022. In order to enable the country and government to make scientific and accurate decisions in the face of the epidemic, it is particularly important to predict and analyze the relevant factors of Omicron’s covert transmission. In this paper, based on the official data of Jilin City and the improved SEIR dynamic model, through parameter estimation, the contact infection probability of symptomatic infected persons in Omicron infected patients is 0.4265, and the attenuation factor is 0.1440. Secondly, the influence of infectious duration in different incubation periods, asymptomatic infected persons and other factors on the epidemic situation in this area was compared. Finally, the scale of epidemic development was predicted and analyzed.

General dynamic model for educational assembling-type robot and its fast simulation algorithm

To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are put forward. First, the educational robot system is abstracted to a multibody system and a general dynamic model of the educational robot is constructed by the Newton-Euler method. Then the dynamic model is simplified by a combination of components with fixed connections according to the structural characteristics of the educational robot. Secondly, in order to obtain a high efficiency simulation algorithm, based on the sparse matrix technique, the augmentation algorithm and the direct projective constraint stabilization algorithm are improved. Finally, a numerical example is given. The results show that the model and the fast algorithm are valid and effective. This study lays a dynamic foundation for realizing the simulation platform of the educational robot.

Three-Dimensional Dynamic Modeling of a Tangentially Fired Utility Boiler Furnace

The tangentially fired utility boiler furnace is divided into several sections. The dynamic mathematical models for each section are presented. In the combustion zone, three dimensional model is used, while for the upper sections, lumped parameter model is used instead. With the combination of different models, we can get detailed distributions of gas velocity, temperature, chemical species, heat flux, etc. in the furnace, but with less CPU time. The radiation through the interfaces of each section is cons...

Dynamic Modeling and Motion Simulation for A Winged Hybrid-Driven Underwater Glider

PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.

Fault Prediction Based on Dynamic Model and Grey Time Series Model in Chemical Processes

This paper combines grey model with time series model and then dynamic model for rapid and in-depth fault prediction in chemical processes. Two combination methods are proposed. In one method, historical data is introduced into the grey time series model to predict future trend of measurement values in chemical process. These predicted measurements are then used in the dynamic model to retrieve the change of fault parameters by model based diagnosis algorithm. In another method, historical data is introduced directly into the dynamic model to retrieve historical fault parameters by model based diagnosis algorithm. These parameters are then predicted by the grey time series model. The two methods are applied to a gravity tank example. The case study demonstrates that the first method is more accurate for fault prediction.

Coupled dynamic model of state estimation for hypersonic glide vehicle

Aiming at handling complicated maneuvers or other unpredicted emergencies for hypersonic glide vehicle tracking,three coupled dynamic models of state estimation based on the priori information between guidance variables and aerodynamics are presented. Firstly, the aerodynamic acceleration acting on the target is analyzed to reveal the essence of the target’s motion.Then three coupled structures for modeling aerodynamic parameters are developed by different ideas: the spiral model with a harmonic oscillator, the bank model with trigonometric functions of the bank angle and the guide model with the changing rule of guidance variables. Meanwhile, the comparison discussion is concluded to show the novelty and advantage of these models.Finally, a performance assessment in different simulation cases is presented and detailed analysis is revealed. The results show that the proposed models perform excellent properties. Moreover, the guide model produces the best tracking performance and the bank model shows the second; however, the spiral model does not outperform the maneuvering reentry vehicle(MaRV) model markedly.

Dynamic Modeling and Three-Dimensional Motion Analysis of Underwater Gliders

For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model.

A Dynamic Modeling For Cyclic Total Reflux Batch Distillation

Cyclic total reflux(CTR) batch distillation is a promising mode of the process but lacking of appropriate modeling for the period of filling the reflux drum.A new dynamic modeling method for the simulation of CTR batch distillation is proposed in this work,in which the changes in column holdup and liquid flow rate during the filling of the drum,and the consequent change in valid number of theoretical plates are considered.The effect of drum holdup on operation time is investigated and the optimal drum holdup is obtained from the simulation.The dynamic modeling is compared to the conventional modeling without consideration of change in liquid flow rate. The experimental result shows that the present modeling is more reliable and more accurate,especially for the column with large liquid holdup.

An improved dynamic model for a silicone material beam with large deformation

Dynamic modeling for incompressible hyperelastic materials with large deformation is an important issue in biomimetic applications. The previously proposed lower-order fully parameterized absolute nodal coordinate formulation（ANCF） beam element employs cubic interpolation in the longitudinal direction and linear interpolation in the transverse direction, whereas it cannot accurately describe the large bending deformation. On this account, a novel modeling method for studying the dynamic behavior of nonlinear materials is proposed in this paper. In this formulation, a higher-order beam element characterized by quadratic interpolation in the transverse directions is used in this investigation. Based on the Yeoh model and volumetric energy penalty function, the nonlinear elastic force matrices are derived within the ANCF framework. The feasibility and availability of the Yeoh model are verified through static experiment of nonlinear incompressible materials. Furthermore,dynamic simulation of a silicone cantilever beam under the gravity force is implemented to validate the superiority of the higher-order beam element. The simulation results obtained based on the Yeoh model by employing three different ANCF beam elements are compared with the result achieved from a commercial finite element package as the reference result. It is found that the results acquired utilizing a higher-order beam element are in good agreement with the reference results,while the results obtained using a lower-order beam element are different from the reference results. In addition, the stiffening problem caused by volumetric locking can be resolved effectively by applying a higher-order beam element. It is concluded that the proposed higher-order beam element formulation has satisfying accuracy in simulating dynamic motion process of the silicone beam.

Dynamic Modeling of a Roller Chain Drive System Considering the Flexibility of Input Shaft

Roller chain drives are widely used in various high-speed, high-load and power transmission applications, but their complex dynamic behavior is not well researched. Most studies were only focused on the analysis of the vibration of chain tight span, and in these models, many factors are neglected. In this paper, a mathematical model is developed to calculate the dynamic response of a roller chain drive working at constant or variable speed condition. In the model, the complete chain transmission with two sprockets and the necessary tight and slack spans is used. The effect of the flexibility of input shaft on dynamic response of the chain system is taken into account, as well as the elastic deformation in the chain, the inertial forces, the gravity and the torque on driven shaft. The nonlinear equations of movement are derived from using Lagrange equations and solved numerically. Given the center distance and the two initial position angles of teeth on driving and driven sprockets corresponding to the first seating roller on each side of the tight span, dynamics of any roller chain drive with two sprockets and two spans can be analyzed by the procedure. Finally, a numerical example is given and the validity of the procedure developed is demonstrated by analyzing the dynamic behavior of a typical roller chain drive. The model can well simulate the transverse and longitudinal vibration of the chain spans and the torsional vibration of the sprockets. This study can provide an effective method for the analysis of the dynamic characteristics of all the chain drive systems.

A nitrogen and phosphorus dynamic model of mesocosm pelagic ecosystem in the Jiaozhou Bay in China

A nitrogen and phosphorus dynamic model of mesocosm pelagic ecosystem was established according to the summary and synthesis of the models available, in which seven state variables （DIN, PO4-P, DON, DOP, phytoplankton, zooplankton and detritus） were included. Logically it had five modules--phytoplankton, zooplankton, dissolved inorganic nutrients, dissolved organic nutrients and detritus. The results showed that this model could simulate the variations of DIN, PO4-P, DON, DOP, POC and phytoplankton biomass in pelagic ecosystem in mesocosm properly, based on the site experiment data in the Jiaozhou Bay in the autumn of 1999 and the summer of 2000. Not only the logical structure but also the model parameters were feasible, and about 20 parameters were made to fit for the Jiaozhou Bay during the simulation. All of these are necessary to study the control mechanism of nutrients biogeochemical cycling in the Jiaozhou Bay and other China＇ s coastal waters.

Dynamic Modeling and Experiment of a New Type of Parallel Servo Press Considering Gravity Counterbalance

The large capacity servo press is traditionally realized by means of redundant actuation, however there exist the over-constraint problem and interference among actuators, which increases the control difficulty and the product cost. A new type of press mechanism with parallel topology is presented to develop the mechanical servo press with high stamping capacity. The dynamic model considering gravity counterbalance is proposed based on the virtual work principle, and then the effect of counterbalance cylinder on the dynamic performance of the servo press is studied. It is found that the motor torque required to operate the press is a lot less than the others when the ratio of the counterbalance force to the gravity of ram is in the vicinity of 1.0. The stamping force of the real press prototype can reach up to 25 MN on the position of 13 mm away from the bottom dead center. The typical deep-drawing process with 1 200 mm stroke at 8 strokes per minute is proposed by means of five order polynomial. On this process condition, the driving torques are calculated based on the above dynamic model and the torque measuring test is also carried out on the prototype. It is shown that the curve trend of calculation torque is consistent to the measured result and that the average error is less than 15%. The parallel mechanism is introduced into the development of large capacity servo press to avoid the over-constraint and interference of traditional redundant actuation, and its dynamic characteristics with gravity counterbalance are presented.

Dynamic Modeling and Analysis of 9-DOF Omnidirectional Legged Vehicle

The omnidirectional legged vehicle with steering-rails has a specific mechanism feature, and it can be controlled flexibly and accurately in omnidirectional motion. Currently there lacks further research in this area. In this paper, the mechanical characteristics of independent walking control and steering control and its kinematics principle are introduced, and a vehicle has a composite motion mode of parallel link mechanism and steering mechanism is presented. The motion direction control of the proposed vehicle is only dependant on its steering rails, so its motion is simple and effective to control. When the relative motion between the walking and steering is controlled cooperatively, the vehicle can walk perfectly. By controlling the steering rails, the vehicle can walk along arbitrary trajectory on the ground. To achieve a good result of motion control, an equivalent manipulator model needs to be built. In terms of the mechanism feature and the kinematic principle, the simplified manipulator model consists of a rail in stance phase, a rail in swing phase, and an equivalent leg. Considering the ground surface slope during walking, a parameter of inclination angle is added. Based on such a RPP manipulator model, the equations of motion are derived by means of Lagrangian dynamic approach. To verify the dynamic equations, the motion of the manipulator model is simulated based on linear and nonlinear motion planning. With the same model and motion parameters, the dynamic equations can be solved by Matlab and the calculation data can be gained. Compared with the simulation data, the result confirms the manipulator dynamic equations are correct. As a result of such special characteristics of the legged mechanism with steering rails, it has a potential broad application prospects. The derivation of dynamics equation could benefit the motion control of the mechanism.

Dynamic Modeling and Eigenvalue Evaluation of a 3-DOF PKM Module

Due to the structural complexity, the dynamic modeling and quick performance evaluation for the parallel kinematic machines （PKMs） are still to be remained as two challenges in the stage of conceptual design. By using the finite element method and substructure synthesis, this paper mainly deals with the dynamic modeling and eigenvalue evaluation of a novel 3-DOF spindle head named the A3 head. The topological architecture behind the proposed A3 head is a 3-RPS parallel mechanism, which possesses one translational and two rotational capabilities. The mechanical features of the A3 head are briefly addressed in the first place followed by inverse position analysis. In the dynamic modeling, the platform is treated as a rigid body, the RPS limbs as the continuous uniform beams and the joints as lumped virtual springs. With the combination of substructure synthesis and finite element method, an analytical approach is then proposed to formulate the governing equations of motion of system using the compatibility conditions at interface between the limbs and the platform. Consequently, by solving the eigenvalue problem of the governing equations of motion, the distribution of lower natural frequencies of the A3 head throughout the entire workspace can be predicted in a quick manner. Modal analysis for the A3 head reveals that the distributions of lower natural frequencies are strongly related to the mechanism configuration and are axially symmetric due to system kinematic and structural features. The sensitivity analysis of the system indicates that the dimensional parameters of the 3-RPS mechanism have a slight effect on system lower natural frequencies while the joint compliances affect the distributions of lower natural frequencies significantly. The proposed dynamic modeling method can also be applied to other PKMs and can effectively evaluate the PKM＇s dynamic performance throughout the entire workspace.