The methods of identifying geometric error parameters for NC machine tools are introduced. According to analyzing and comparing the different methods, a new method-displacement method with 9 lines is developed based o...The methods of identifying geometric error parameters for NC machine tools are introduced. According to analyzing and comparing the different methods, a new method-displacement method with 9 lines is developed based on the theories of the movement errors of multibody system (MBS). A lot of experiments are also made to obtain 21 terms geometric error parameters by using the error identification software based on the new method.展开更多
ABSTRACT The impact of both initial and parameter errors on the spring predictability barrier （SPB） is investigated using the Zebiak Cane model （ZC model）. Previous studies have shown that initial errors contribu...ABSTRACT The impact of both initial and parameter errors on the spring predictability barrier （SPB） is investigated using the Zebiak Cane model （ZC model）. Previous studies have shown that initial errors contribute more to the SPB than parameter errors in the ZC model. Although parameter errors themselves are less important, there is a possibility that nonlinear interactions can occur between the two types of errors, leading to larger prediction errors compared with those induced by initial errors alone. In this case, the impact of parameter errors cannot be overlooked. In the present paper, the optimal combination of these two types of errors [i.e., conditional nonlinear optimal perturbation （CNOP） errors] is calculated to investigate whether this optimal error combination may cause a more notable SPB phenomenon than that caused by initial errors alone. Using the CNOP approach, the CNOP errors and CNOP-I errors （optimal errors when only initial errors are considered） are calculated and then three aspects of error growth are compared： （1） the tendency of the seasonal error growth; （2） the prediction error of the sea surface temperature anomaly; and （3） the pattern of error growth. All three aspects show that the CNOP errors do not cause a more significant SPB than the CNOP-I errors. Therefore, this result suggests that we could improve the prediction of the E1 Nifio during spring by simply focusing on reducing the initial errors in this model.展开更多
High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameter...High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.展开更多
本文研究了一个包含波动CISK(Convective Instability of the Second Kind)机制的扰动方程数值模式中,基本气流对低频振荡数值模拟的影响。结果显示,当基本气流为纬向均匀风场U时,振荡周期随U的增加而减小:当U取2 m s-1时,周期从50～60 ...本文研究了一个包含波动CISK(Convective Instability of the Second Kind)机制的扰动方程数值模式中,基本气流对低频振荡数值模拟的影响。结果显示,当基本气流为纬向均匀风场U时,振荡周期随U的增加而减小:当U取2 m s-1时,周期从50～60 d减小到30 d;当U减小到-1 m s-1时,振荡周期增加为70～80 d。这是由于低频振荡是从西向东传播,西风基本气流能加快扰动东传,反之东风基本气流会抑制扰动东传,使振荡周期增加。同时,模式中的边界层顶出现误差时,模拟结果会有敏感的响应。若边界层顶取值比标准值高,对流加热反馈作用过大,出现扰动增长过快的现象,传播到80°～90°E附近时,扰动不再继续传播,而是无限增长;而边界层顶取值比标准值低时,对流加热反馈过小,扰动增长小且衰减加快,扰动传播不远便耗散到零,扰动循环周期表现为热源的周期。展开更多
基金This project is supported by National Advanced ResearchFoundation (No.PD521910) and National Natural ScienceFoundation of Ch
文摘The methods of identifying geometric error parameters for NC machine tools are introduced. According to analyzing and comparing the different methods, a new method-displacement method with 9 lines is developed based on the theories of the movement errors of multibody system (MBS). A lot of experiments are also made to obtain 21 terms geometric error parameters by using the error identification software based on the new method.
基金jointly sponsored by the National Nature Scientific Foundation of China (Grant Nos.41230420 and 41006015)the National Basic Research Program of China (Grant No.2012CB417404)the Basic Research Program of Science and Technology Projects of Qingdao (Grant No11-1-4-95-jch)
文摘ABSTRACT The impact of both initial and parameter errors on the spring predictability barrier （SPB） is investigated using the Zebiak Cane model （ZC model）. Previous studies have shown that initial errors contribute more to the SPB than parameter errors in the ZC model. Although parameter errors themselves are less important, there is a possibility that nonlinear interactions can occur between the two types of errors, leading to larger prediction errors compared with those induced by initial errors alone. In this case, the impact of parameter errors cannot be overlooked. In the present paper, the optimal combination of these two types of errors [i.e., conditional nonlinear optimal perturbation （CNOP） errors] is calculated to investigate whether this optimal error combination may cause a more notable SPB phenomenon than that caused by initial errors alone. Using the CNOP approach, the CNOP errors and CNOP-I errors （optimal errors when only initial errors are considered） are calculated and then three aspects of error growth are compared： （1） the tendency of the seasonal error growth; （2） the prediction error of the sea surface temperature anomaly; and （3） the pattern of error growth. All three aspects show that the CNOP errors do not cause a more significant SPB than the CNOP-I errors. Therefore, this result suggests that we could improve the prediction of the E1 Nifio during spring by simply focusing on reducing the initial errors in this model.
基金Supported by National Natural Science Foundation of China(Grant Nos.51305293,51135008)
文摘High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.
文摘本文研究了一个包含波动CISK(Convective Instability of the Second Kind)机制的扰动方程数值模式中,基本气流对低频振荡数值模拟的影响。结果显示,当基本气流为纬向均匀风场U时,振荡周期随U的增加而减小:当U取2 m s-1时,周期从50～60 d减小到30 d;当U减小到-1 m s-1时,振荡周期增加为70～80 d。这是由于低频振荡是从西向东传播,西风基本气流能加快扰动东传,反之东风基本气流会抑制扰动东传,使振荡周期增加。同时,模式中的边界层顶出现误差时,模拟结果会有敏感的响应。若边界层顶取值比标准值高,对流加热反馈作用过大,出现扰动增长过快的现象,传播到80°～90°E附近时,扰动不再继续传播,而是无限增长;而边界层顶取值比标准值低时,对流加热反馈过小,扰动增长小且衰减加快,扰动传播不远便耗散到零,扰动循环周期表现为热源的周期。
