The solution of tension distributions is infinite for cable-driven parallel manipulators（CDPMs） with redundant cables. A rapid optimization method for determining the optimal tension distribution is presented. The n...The solution of tension distributions is infinite for cable-driven parallel manipulators（CDPMs） with redundant cables. A rapid optimization method for determining the optimal tension distribution is presented. The new optimization method is primarily based on the geometry properties of a polyhedron and convex analysis. The computational efficiency of the optimization method is improved by the designed projection algorithm, and a fast algorithm is proposed to determine which two of the lines are intersected at the optimal point. Moreover, a method for avoiding the operating point on the lower tension limit is developed. Simulation experiments are implemented on a six degree-of-freedom（6-DOF） CDPM with eight cables, and the results indicate that the new method is one order of magnitude faster than the standard simplex method. The optimal distribution of tension distribution is thus rapidly established on real-time by the proposed method.展开更多
Stability analysis plays a central role in nonlinear system theory and engineering application. Over the past few years, the stability analysis of fuzzy systems has been proposed and there are many successful applicat...Stability analysis plays a central role in nonlinear system theory and engineering application. Over the past few years, the stability analysis of fuzzy systems has been proposed and there are many successful applications in practical engineering. Therefore, in this paper firstly proposed is the stability analysis on oceanic structure by fuzzy models. In the present study, Takagi-Sugeno （T-S） fuzzy model is proposed for a time delay tension leg platform （TLP） system subjected to an external wave force. In terms of stability analysis, linear matrix inequality （LMI） conditions are derived via Lyapunov theory to guarantee the stability of the TLP system.展开更多
This paper studies the application of mathematical models to analyze the vortex-induced vibrations of the tendons of a given TLP along the Indian coastline, by using an analytical approach, using MATLAB. The tendon is...This paper studies the application of mathematical models to analyze the vortex-induced vibrations of the tendons of a given TLP along the Indian coastline, by using an analytical approach, using MATLAB. The tendon is subjected to a steady current load, which causes vortex-shedding downstream, leading to cross-flow vibrations. The magnitude of the excitation(lift and drag coefficients) depends on the vortex-shedding frequency. The resulting vibration is studied for possible resonant behavior. The excitation force is quantified empirically, the added mass by potential flow hydrodynamics, and the vibration by normal mode summation method. Non-linear viscous damping of the water is considered. The non-linear oscillations are studied by the phase-plane method, investigating the limit-cycle oscillations. The stable/unstable regions of the dynamic behavior are demarcated. The modal contribution to the total deflection is studied to establish the possibility of resonance of one of the wet modes with the vortex-shedding frequency.展开更多
A new analytical study on stresses around a post-tensioned anchor in rocks with two perpendicular joint sets is presented. The assumptions of orthotropic elastic rock with plane strain conditions are made in derivatio...A new analytical study on stresses around a post-tensioned anchor in rocks with two perpendicular joint sets is presented. The assumptions of orthotropic elastic rock with plane strain conditions are made in derivation of the formulations. A tri-linear bond-slip constitutive law is used for modeling the tendon-grout interface behavior and debonding of this interface. The bearing plate width is also considered in the analysis. The obtained solutions are in the integral forms and numerical techniques that have been used for evaluation. In the illustrative example given, the major principal stress is compressive in the anchor free zone and compressive stress concentrations of 815 k Pa and 727 k Pa(for the anchor load of 300 k N) are observed under the bearing plate and the bond length proximal end, respectively. However, large values of tensile stresses with the maximum of-434 k Pa are formed at the bond length distal end. The results obtained using the proposed solution are compared very those of numerical method(FEM).展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51275500)Research Project of State Key Laboratory of Mechanical System and Vibration(Grant No.MSV201502)+1 种基金USTC-COOGOO Robotics Research Center(Grant No.2015)Youth Innovation Promotion Association of Chinese Academy of Sciences(Grant No.2012321)
文摘The solution of tension distributions is infinite for cable-driven parallel manipulators（CDPMs） with redundant cables. A rapid optimization method for determining the optimal tension distribution is presented. The new optimization method is primarily based on the geometry properties of a polyhedron and convex analysis. The computational efficiency of the optimization method is improved by the designed projection algorithm, and a fast algorithm is proposed to determine which two of the lines are intersected at the optimal point. Moreover, a method for avoiding the operating point on the lower tension limit is developed. Simulation experiments are implemented on a six degree-of-freedom（6-DOF） CDPM with eight cables, and the results indicate that the new method is one order of magnitude faster than the standard simplex method. The optimal distribution of tension distribution is thus rapidly established on real-time by the proposed method.
基金supported by the Science Council under Contract Nos.NSC 96-2628-E-366-004-MY2 and NSC96-2628-E-132-001-MY2
文摘Stability analysis plays a central role in nonlinear system theory and engineering application. Over the past few years, the stability analysis of fuzzy systems has been proposed and there are many successful applications in practical engineering. Therefore, in this paper firstly proposed is the stability analysis on oceanic structure by fuzzy models. In the present study, Takagi-Sugeno （T-S） fuzzy model is proposed for a time delay tension leg platform （TLP） system subjected to an external wave force. In terms of stability analysis, linear matrix inequality （LMI） conditions are derived via Lyapunov theory to guarantee the stability of the TLP system.
文摘This paper studies the application of mathematical models to analyze the vortex-induced vibrations of the tendons of a given TLP along the Indian coastline, by using an analytical approach, using MATLAB. The tendon is subjected to a steady current load, which causes vortex-shedding downstream, leading to cross-flow vibrations. The magnitude of the excitation(lift and drag coefficients) depends on the vortex-shedding frequency. The resulting vibration is studied for possible resonant behavior. The excitation force is quantified empirically, the added mass by potential flow hydrodynamics, and the vibration by normal mode summation method. Non-linear viscous damping of the water is considered. The non-linear oscillations are studied by the phase-plane method, investigating the limit-cycle oscillations. The stable/unstable regions of the dynamic behavior are demarcated. The modal contribution to the total deflection is studied to establish the possibility of resonance of one of the wet modes with the vortex-shedding frequency.
文摘A new analytical study on stresses around a post-tensioned anchor in rocks with two perpendicular joint sets is presented. The assumptions of orthotropic elastic rock with plane strain conditions are made in derivation of the formulations. A tri-linear bond-slip constitutive law is used for modeling the tendon-grout interface behavior and debonding of this interface. The bearing plate width is also considered in the analysis. The obtained solutions are in the integral forms and numerical techniques that have been used for evaluation. In the illustrative example given, the major principal stress is compressive in the anchor free zone and compressive stress concentrations of 815 k Pa and 727 k Pa(for the anchor load of 300 k N) are observed under the bearing plate and the bond length proximal end, respectively. However, large values of tensile stresses with the maximum of-434 k Pa are formed at the bond length distal end. The results obtained using the proposed solution are compared very those of numerical method(FEM).
