On the decomposition of forces

We show that any continuously differentiable force is decomposed into the sum of a Rayleigh force and a gyroscopic force. We also extend this result to piecewise continuously differentiable forces. Our result improves the result on the decomposition of forces in a book by David Merkin and further extends it to piecewise continuously differentiable forces.

Motionplanningof UAVgroupusing modifiedgyroscopic force forguidance and avoidance

It is comment that unmanned aerial vehicles （UAVs） have limitation on information cap- turing in reality applications. Therefore, online method of motion planning is necessary for such UA- Vs. Gyroscopic force （GF） is used for obstacle avoidance as an online method. However, classical GF has shortcoming in generating orbit for UAV with high velocity because the GF results in a time- varying turning radius. Modified gyroscopic force （MGF） given by function of velocity can overcome this shortcoming and help get a more practical control law for avoidance. MGF can also be used to implement the guidance of UAV by designing particular active conditions. Interactions in forms of stress function and damping force are introduced so that an UAV group can have coordinated motion. By combining controls of MGF and interactions, motion planning of UAV group in obstacle environ- ment can be implemented.

Experimental and Numerical Investigation of a Rayleigh-Bénard Convection Affected by Coriolis Force

In this paper the influence of an impressed Coriolis force field on the configuration of a turbulent Rayleigh-Bénard convection problem is investigated in an experimental and numerical study. The main purpose of both studies lie on the analysis of a possible stabilising effect of a Coriolis acceleration on the turbulent unsteady structures inside the fluid. The relative Coriolis acceleration which is caused in the atmosphere by the earth rotation is realised in the experimental study by a uniform-rotational movement of the setup in a large-scale centrifuge under hyper-gravity. The same conditions as in the atmosphere in the beginning of a twister or hurricane should be realised in the experiment. The investigated Rayleigh numbers lie between 2.33 × 106 ≤ Ra ≤ 4.32 × 107.

Anharmonic 1D actuator model including electrostatic and Casimir forces with fractional damping perturbed by an external force

We modeled a one-dimensional actuator including the Casimir and electrostatic forces perturbed by an external force with fractional damping. The movable electrode was assumed to oscillate by an anharmonic elastic force originated from Murrell- Mottram or Lippincott potential. The nonlinear equations have been solved via the Adomian decomposition method. The behavior of the displacement of the electrode from equilibrium position, its velocity and acceleration were described versus time. Also, the changes of the displacement have been investigated according to the frequency of the external force and the voltage of the electrostatic force. The convergence of the Adomian method and the effect of the orders of expansion on the displacement versus time, frequency, and voltage were discussed. The pull-in parameter was obtained and compared with the other models in the literature. This parameter was described versus the equilibrium position and anharmonicity constant.

Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators

A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.

Radiation Forces on a Dielectric Sphere Produced by Finite Olver-Gaussian Beams

In this work, we use the analytical expression of the propagation of Finite Olver-Gaussian beams (FOGBs) through a paraxial ABCD optical system to study the action of radiation forces produced by highly focused FOGBs on a Rayleigh dielectric sphere. Our numerical results show that the FOGBs can be employed to trap and manipulate particles with the refractive index larger than that of the ambient. The radiation force distribution has been studied under different beam widths. The trapping stability under different conditions is also analyzed.

Characteristics of aerodynamic force and flow structure behind single box girder under isolated slit control

An isolated slit was placed in a single box girder to obtain passive leading-edge suction and trailing-edge jet flow to control the unsteady aerodynamic force and modify the flow structure.The Great Belt East Bridge was used as a physical model at a geometric scale of 1:125.Wind tunnel experiments were conducted at an incoming airflow speed of 10 m/s,and the Reynolds number was calculated as 2.3×104 using the test model height and wind speed.The surface pressure distribution was measured,and the aerodynamic force acting on the test model with and without the isolated slit was calculated by integrating the pressure result.It was found that the control using an isolated slit can dramatically decrease the fluctuating surface pressure distribution and aerodynamic force.An analysis on the power spectral density of the lift force revealed that the isolated slit accelerated vortex shedding.Moreover,high-speed particle image velocimetry was used to investigate the wake flow structure behind the test model.A vortex separated from the upper surface was pushed to a lower location and the wake flow structure was modified by the isolated slit.A proper orthogonal decomposition(POD)of the flow field showed that the first two POD modes in the controlled case contributed less energy than those in the uncontrolled case,indicating that more energy was transferred to higher modes,and small-scale vortices had more energy.A secondary instability structure was found in the wake flow for a nondimensional jet momentum coefficient J of 0.0667.

Grasping Force Estimation by sEMG Signals and Arm Posture: Tensor Decomposition Approach

Grasping force estimation using surface Electromyography (sEMG) has been actively investigated as it can increase the manipulability and dexterity of prosthetic hands and robotic hands. Most of the current studies in this area only focus on finding the relationship between sEMG signals and the grasping force without considering the arm posture. Therefore, regression models are not suitable to predict grasping force in various arm postures. In this paper, a method to predict the grasping force from sEMG signals and various grasping postures is developed. The proposed algorithm uses a tensor algebra to train a multi-factor model relevant to sEMG signals corresponding to various grasping forces and postures of the wrist and forearm in multiple dimensions. The multi-factor model is then decomposed into four independent factor spaces of the grasping force, sEMG signals, wrist posture, and forearm posture. Moreover, when a participant executes a new posture, new factors for the wrist and forearm are interpolated in the factor spaces. Thus, the grasping force with various postures can be predicted by combining these factors. The effectiveness of the proposed method is verified through experiments with ten healthy subjects, demonstrating the higher performance of proposed grasping force prediction method than the previous algorithm.

On the analytical soliton approximations to fractional forced Korteweg-de Vries equation arising in fluids and plasmas using two novel techniques

The current investigation examines the fractional forced Korteweg-de Vries(FF-KdV) equation,a critically significant evolution equation in various nonlinear branches of science. The equation in question and other associated equations are widely acknowledged for their broad applicability and potential for simulating a wide range of nonlinear phenomena in fluid physics, plasma physics, and various scientific domains. Consequently, the main goal of this study is to use the Yang homotopy perturbation method and the Yang transform decomposition method, along with the Caputo operator for analyzing the FF-KdV equation. The derived approximations are numerically examined and discussed. Our study will show that the two suggested methods are helpful, easy to use, and essential for looking at different nonlinear models that affect complex processes.

Quality assessment of friction-stir-welded aluminum alloy welds via three-dimensional force signals

An online detection technology must be developed for realizing the real-time control of friction stir welding.In this study,the three-dimensional force exerted on a material during friction stir welding was collected synchronously and the relationship between the forces and welding quality was investigated.The results indicated that the fluctuation period of the traverse force was equal to that of the lateral force during the stable welding stage.The phase difference between two horizontal forces wasπ/2.The values of the horizontal forces increased with welding speed,whereas their amplitudes remained the same.The proposed force model showed that the traverse and lateral forces conformed to an elliptical curve,and this result was consistent with the behavior of the measured data.The variational mode decomposition was used to process the plunge force.The intrinsic mode function that represented the real fluctuation in the plunge force varied at the same frequency as the spindle rotational speed.When tunnel defects occurred,the fluctuation period features were consistent with those obtained during normal welding,whereas the ratio parameter defined in this study increased significantly.

异伍兹烷衍生物高温热分解规律分子动力学模拟

异伍兹烷衍生物是当前最具潜力的笼形含能化合物之一,为了系统研究异伍兹烷衍生物的高温热分解规律,明确其爆轰机理,研究采用ReaxFF-lg反应性力场和分子动力学方法,对3种典型异伍兹烷衍生物ε-六硝基六氮杂异伍兹烷(ε-CL-20)、4,10-二硝基-2,6,8,12-四氧杂-4,10-二氮杂四环十二烷(TEX)和4,10-二叠氮甲基-2,6,8,12-四硝基六氮杂异伍兹烷(BATNIW)进行高温(1500~3500 K)热分解研究。结果表明,脱硝基和开环是3种衍生物的主要初始反应,其中开环反应集中在五元环C—N键或C—O键。不同温度下热分解终产物中CO_(2)和H_(2)含量差异较大,3000 K以上N_(2)含量接近。3种衍生物中,BATNIW热分解生成N_(2)速度最快、产量最高;TEX热分解易生成团簇,生成特征产物乙二醛。3种衍生物热分解活化能排序为TEX>BATNIW>ε-CL-20,说明TEX稳定性最好。研究初步揭示了3种异伍兹烷衍生物分子结构与热分解规律的内在联系。

燃气轮机中心分级燃烧器天然气掺氢燃烧的受迫振荡特性

天然气掺氢燃烧是燃气轮机机组降低碳排放重要措施之一,但掺氢燃料的组分变化会导致燃烧室火焰结构及燃烧稳定性发生变化.为分析中心分级燃烧器掺氢燃烧条件下的燃烧不稳定性问题,通过试验研究了燃烧器入口速度扰动下,不同掺氢比对中心分级掺氢燃烧的瞬态火焰结构、压力以及热释放响应的影响,并利用本征正交分解(POD)法提取了火焰脉动的特征模态,发现其主要包含火焰干涉区强脉动和轴向扰动两种模态.试验结果表明,随着掺氢体积比从0%增大到30%,火焰前沿向上游移动,两级火焰间距缩短,火焰干涉对应的脉动模态的能量占比增大,加强了压力与热释放的耦合,导致燃烧室内的压力响应增大9%,热释放响应增大37%.

基于奇异值分解张拉整体结构找形方法

张拉整体结构是由一组不连续的受压单元包含于连续受拉单元组成的稳定自平衡结构,为了寻找自平衡状态下的构型,引入奇异值分解的方法,将寻找张拉整体结构的自平衡构型问题转化为最小奇异值的判定。通过广义节点坐标和构件之间的连接关系建立结构的数学模型;引入力密度的概念,对张拉整体结构进行受力分析,列写包含平衡矩阵的平衡方程;对平衡矩阵进行奇异值分解,利用分解获得的最小奇异值判断平衡方程是否有解,对张拉整体结构是否存在自平衡构型进行初步判定,再依据获得的力密度的均匀性(同组构件力密度大小相等)和正负属性(杆的力密度小于0,索的力密度大于0)对结构自平衡状态进一步判断;通过实例分析对该找形方法的可行性进行了验证,结果表明:该方法可以找到张拉整体结构自平衡构型。本文为寻找自平衡张拉整体结构提供了一种思路。

基于FPGA的硅微陀螺数字测控和温补技术研究

硅微陀螺仪由陀螺结构和测控电路组成,随着模拟接口电路的日臻完善,陀螺仪性能的提升主要靠数字电路中的测控和补偿算法;目前硅微陀螺测控电路正在向芯片化方向发展,为了加速硅微陀螺测控电路芯片化进程,用Verilog硬件描述语言设计了AGC和PLL对陀螺幅度和相位进行闭环控制,科氏力平衡进行闭环检测;对因加工造成的正交误差,设计了正交校正闭环;根据温度对陀螺仪的影响,对标度因数进行线性补偿,对零偏进行了BP神经网络补偿;实验结果表明,该控制系统下AGC相对稳定性为124 ppm,PLL相对稳定性为79.1 ppm,常温零偏稳定性为2.9°/h;在0~65℃内补偿前零偏稳定性为17.7°/h,补偿后零偏稳定性为9.1°/h,标度因数温度灵敏度降低1个数量级,不仅提升了硅微陀螺仪的性能,也为陀螺ASIC设计奠定了良好基础。

基于多层框架结构的楼层阻尼比修正的仿真研究

附加有效阻尼比的确定是消能减震结构设计的关键。为探究布置消能器楼层数的不同对结构设计安全性的影响,以新疆地区某多层钢筋混凝土框架结构为研究对象,采用非线性时程分析方法和等效结构模型的振型分解反应谱分析方法,基于各楼层剪力计算结果,引入楼层阻尼比修正系数k mn,对等效结构模型的附加有效阻尼比进行迭代修正。结果表明:采用小震时程分析阻尼比的等效结构模型,其楼层阻尼比修正系数随着阻尼器布置楼层数的逐渐增加呈现出先增后减的趋势,当阻尼器布置层数为楼层总数的3/5时折减率最低;采用中震时程分析阻尼比的等效结构模型,当阻尼器布置楼层数不少于2/5时,可满足设防要求;对于多层框架结构,考虑综合成本,黏滞阻尼器的布置楼层数可不采用满布的形式。

轴向通流旋转盘腔内类Rayleigh-Benard对流稳定性研究

利用数值模拟的方法对冷气轴向通流旋转盘腔的流动过程进行了研究。研究发现 ,对应一进口冷气的雷诺数 ,存在一临界瑞利数 ( Rac) ,高于该瑞利数 ( Ra) ,流动出现不稳定现象 ,且 Ra越大 ,不稳定行为越严重。对于特例 ,盘腔内的流动可以看成是由类 Rayleigh-Benard对流和强迫对流两个区域构成 ,两个区域通过能量和质量交换相互影响 ,流动随着 Ra的增加从稳态发展为非稳态 ;采用频谱图分析的方法对数值解的不稳定性进行定性分析 ,结果显示随着 Ra的增大 ,数值解经历了从稳定解到分贫的周期性不稳定和准周期不稳定的发展过程。离心浮升力引起的类 Rayleigh-Benard对流是造成流动从稳定到不稳定发展的重要原因 。

基于部分模型辅助LADRC的电磁轴承-飞轮转子系统振动抑制

针对电磁轴承支承的飞轮转子系统振动抑制问题,提出了一种部分模型辅助线性自抗扰控制方法,建立考虑陀螺效应和不平衡力的刚性飞轮转子系统径向四自由度二阶数学模型,将各自由度二阶模型中的本自由度项作为已知信息辅助线性扩张状态观测器的设计,其他自由度项和不平衡力作为外界扰动,并设计线性状态误差反馈控制律对总扰动进行实时补偿。仿真结果表明,所提方法能以更低的观测器带宽达到与线性自抗扰控制相同的控制性能,并实现飞轮转子径向4个自由度之间的有效解耦,比分散PID控制具有更好的动态性能和抗干扰能力,可实现转子全转速范围内振动的有效抑制。

飞机地面振动试验激振方案优化与工程验证

地面振动试验是飞机型号研制与强度验证中的重要环节,在试验设计阶段一个合理的激振方案能够显著缩短后续试验周期,提升模态辨识精度。基于飞机有限元模型采用QR分解对激振位置进行考虑试验目标的全局规划,进而引入模态参与对激振点布置方案的激振效率进行定量评估,同时针对密集模态测试问题,采用多变量模态指示函数对激励力矢量进行优化,并将上述方法应用于小型通用飞机地面振动试验中,验证优化后激振位置规划方案及密集模态识别方法的工程应用效果。结果表明:本文采用的激振方案优化方法能够显著提升试验效率,降低了密集模态辨识难度,具有较高的工程应用价值。

基于参数自适应的RSSD-CYCBD及在轴承外圈故障特征提取中的应用

针对滚动轴承工作环境复杂、故障特征信号易被高强度噪声掩盖的问题,提出了基于参数自适应的共振稀疏分解(RSSD)和最大二阶循环平稳盲解卷积(CYCBD)的滚动轴承故障诊断方法。首先,利用人工大猩猩部队优化算法(GTO),结合相关系数与相关峭度的融合指标,自适应选择RSSD分解参数,得到了仿真信号的最优低共振分量;然后,利用GTO结合包络熵,自适应选择CYCBD的循环频率和滤波器长度,对最优低共振分量进行了解卷积运算,从包络谱中获得了信号的故障特征频率;最后,利用美国凯斯西储大学试验台和MFS-MG机械故障综合模拟试验台数据,综合验证了该方法的有效性,并将试验结果与RSSD-MCKD方法的结果进行了对比。研究结果表明,该方法能够准确地得到仿真信号的故障频率为20 Hz、美国凯斯西储大学试验台近似故障频率为107.5 Hz、MFS-MG试验台近似故障频率为87.6 Hz。自适应RSSD-CYCBD方法能够有效地识别出故障特征频率及其倍频,实现滚动轴承故障诊断的目的。

负荷不对称工况发电机定子电磁力与振动特性

为了研究电力系统中负荷不对称引起的发电机磁场畸变和振动加剧问题,针对三相不对称电流产生的负序电流,首先利用对称分量法推导出各序电枢磁动势,同时考虑励磁电流直流分量和偶倍频交流分量产生的磁动势,利用麦克斯韦应力张量法推导径向电磁力密度表达式,通过二维傅里叶分解得到电磁力密度谐波,获取电磁力密度的时间和空间谐波特征。以一台QFSN-300-2型汽轮发电机为例,仿真验证了负荷不对称工况发电机电磁力特征谐波的存在,分析得出其中两类幅值极大的新电磁力谐波为该故障下振动加剧的原因,评估了谐波对定子铁心振动和振型的影响,得出定子四倍频和六倍频振动增大的结论,对长期工作在负荷不对称状态下发电机组的气隙电磁力理论研究和振动减缓有指导意义。