The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision character...The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision characteristics, and the data transfer between the different models was accomplished by the integration interface between different software. Consequently the virtual experimental platform for the multi-disciplinary co-simulation was established. A co-simulation study of the mechanical-hydraulic-control coupling system of the ITER tractor was carried out. The synchronization servo control of parallel hydraulic cylinders was implemented, and the tracking control of the preconcerted trajectory of the hydraulic cylinders was realized on the established experimental platform. This paper presents the optimization design and technology rebuilding for the complicated coupling system with its theoretic foundation and co-simulation virtual experimental platform.展开更多
Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the ...Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.展开更多
The mechanical characteristics of the electro-hydraulic servo system in thecentrifuge field are analyzed. The hydraulic pressure law in the centrifuge field indicates theexistence of the centrifuge hydraulic pressure....The mechanical characteristics of the electro-hydraulic servo system in thecentrifuge field are analyzed. The hydraulic pressure law in the centrifuge field indicates theexistence of the centrifuge hydraulic pressure. The mechanical characteristics of the slide-valveand the dual nozzle flapper valve are studied, and it is found that the centrifuge field can notonly increase the driving force or moment of the function units, but also decrease the stability ofthe components. Finally by applying Gauss minimum constraint principle, the dynamic model of theelectro-hydraulic vibrator in the centrifuge field is established, and the mechanical restriction ofthe system is also presented. The study will be helpful for the realization of the combinedvibration and centrifuge test system.展开更多
This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of ＂torque-zero velocity＂ switching control with an electro-hydraul...This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of ＂torque-zero velocity＂ switching control with an electro-hydraulic load simulator. As the general Stribeck friction model has little related to static friction, it proposes a ＂torque-zero velocity＂ switcher, in which a zero-velocity controller is developed to load the static friction and a torque controller the kinetic friction. With the help of mathematical modeling, this article designs a ＂torque-zero velocity＂ switching controller and, correspondingly, provides a ＂dual-threshold judgment＂ algorithm. Simulation results indicate that the proposed method can be successfully used to carry out the static and kinetic friction simulation with an electro-hydraulic load simulator.展开更多
基金supported by design of the ITER transfer casks system (ITER International Team) ITA 23-01-CNthe Key Laboratory of Biomimetic Sensing and Advanced Robot Technology,Anhui Province,China
文摘The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision characteristics, and the data transfer between the different models was accomplished by the integration interface between different software. Consequently the virtual experimental platform for the multi-disciplinary co-simulation was established. A co-simulation study of the mechanical-hydraulic-control coupling system of the ITER tractor was carried out. The synchronization servo control of parallel hydraulic cylinders was implemented, and the tracking control of the preconcerted trajectory of the hydraulic cylinders was realized on the established experimental platform. This paper presents the optimization design and technology rebuilding for the complicated coupling system with its theoretic foundation and co-simulation virtual experimental platform.
基金Supported by National Natural Science Foundation of China(Grant Nos.51275438,51405421)Hebei Provincial Natural Science Foundation of China(Grant No.E2015203101)
文摘Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.
基金This Project is supported by National Natural Science Foundation of China(No.19672047) and NSAF Foundation of China(No.10276032).
文摘The mechanical characteristics of the electro-hydraulic servo system in thecentrifuge field are analyzed. The hydraulic pressure law in the centrifuge field indicates theexistence of the centrifuge hydraulic pressure. The mechanical characteristics of the slide-valveand the dual nozzle flapper valve are studied, and it is found that the centrifuge field can notonly increase the driving force or moment of the function units, but also decrease the stability ofthe components. Finally by applying Gauss minimum constraint principle, the dynamic model of theelectro-hydraulic vibrator in the centrifuge field is established, and the mechanical restriction ofthe system is also presented. The study will be helpful for the realization of the combinedvibration and centrifuge test system.
基金National Natural Science Foundation of China （50825502）
文摘This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of ＂torque-zero velocity＂ switching control with an electro-hydraulic load simulator. As the general Stribeck friction model has little related to static friction, it proposes a ＂torque-zero velocity＂ switcher, in which a zero-velocity controller is developed to load the static friction and a torque controller the kinetic friction. With the help of mathematical modeling, this article designs a ＂torque-zero velocity＂ switching controller and, correspondingly, provides a ＂dual-threshold judgment＂ algorithm. Simulation results indicate that the proposed method can be successfully used to carry out the static and kinetic friction simulation with an electro-hydraulic load simulator.
