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Second harmonic magnetoacoustic responses of magnetic nanoparticles in magnetoacoustic tomography with magnetic induction 被引量:1
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作者 Gepu Guo Ya Gao +3 位作者 Yuzhi Li Qingyu Ma Juan Tu Dong Zhang 《Chinese Physics B》 SCIE EI CAS CSCD 2020年第3期259-264,共6页
Due to the unique magnetic, mechanical and thermal properties, magnetic nanoparticles(MNPs) have comprehensive applications as the contrast and therapeutic agents in biomedical imaging and magnetic hyperthermia. The l... Due to the unique magnetic, mechanical and thermal properties, magnetic nanoparticles(MNPs) have comprehensive applications as the contrast and therapeutic agents in biomedical imaging and magnetic hyperthermia. The linear and nonlinear magnetoacoustic responses determined by the magnetic properties of MNPs have attracted more and more attention in biomedical engineering. By considering the relaxation time of MNPs, we derive the formulae of second harmonic magnetoacoustic responses(2H-MARs) for a cylindrical MNP solution model based on the mechanical oscillations of MNPs in magnetoacoustic tomography with magnetic induction(MAT-MI). It is proved that only the second harmonic magnetoacoustic oscillations can be generated by MNPs under an alternating magnetic excitation. The acoustic pressure of the 2H-MAR is proportional to the square of the magnetic field intensity and exhibits a linear increase with the concentration of MNPs. Numerical simulations of the 2H-MAR are confirmed by the experimental measurements for various magnetic field intensities and solution concentrations using a laser vibrometer. The favorable results demonstrate the feasibility of the harmonic measurements without the fundamental interference of the electromagnetic excitation, and suggest a new harmonic imaging strategy of MAT-MI for MNPs with enhanced spatial resolution and improved signal-to-noise ratio in biomedical applications. 展开更多
关键词 magnetoacoustic TOMOGRAPHY with MAGNETIC INDUCTION second harmonic magnetoacoustic responses MAGNETIC nanoparticles MAGNETIC force mechanical OSCILLATIONS
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Analysis of the Harmonic Response of a Modulation Permanent Magnetic Transmission Equipment Based on ANSYS 被引量:2
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作者 Zhiping Zeng Jun Li +2 位作者 Shiyi Zhang Yintao Hong Yaohong Wang 《Energy and Power Engineering》 2015年第3期63-70,共8页
This paper analyzes the structure and transmission principles of a modulation permanent magnet gear transmission. Its 3D data model is built based on the known optimized parameters from research team. Its structure of... This paper analyzes the structure and transmission principles of a modulation permanent magnet gear transmission. Its 3D data model is built based on the known optimized parameters from research team. Its structure of the harmonic response is analyzed and discussed under the software ANSYS. The displacement response and the initial 6 order response frequency and phase angle are obtained. The change rule of these responses is known under the forced vibration. 展开更多
关键词 MAGNETIC Field MODULATION PERMANENT MAGNETIC Transmission ANSYS harmonic response ANALYSIS
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Investigation on the relationship between overpressure and sub-harmonic response from encapsulated microbubbles 被引量:2
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作者 吴军 范庭波 +1 位作者 许迪 章东 《Chinese Physics B》 SCIE EI CAS CSCD 2014年第10期268-274,共7页
Sub-harmonic component generated from microbubbles is proven to be potentially used in noninvasive blood pressure measurement. Both theoretical and experimental studies are performed in the present work to investigate... Sub-harmonic component generated from microbubbles is proven to be potentially used in noninvasive blood pressure measurement. Both theoretical and experimental studies are performed in the present work to investigate the dependence of the sub-harmonic generation on the overpressure with different excitation pressure amplitudes and pulse lengths. With 4-MHz ultrasound excitation at an applied acoustic pressure amplitude of 0.24 MPa, the measured sub-harmonic amplitude exhibits a decreasing change as overpressure increases; while non-monotonic change is observed for the applied acoustic pressures of 0.36 MPa and 0.48 MPa, and the peak position in the curve of the sub-harmonic response versus the overpres- sure shifts toward higher overpressure as the excitation pressure amplitude increases. Furthermore, the exciting pulse with long duration could lead to a better sensitivity of the sub-harmonic response to overpressure. The measured results are ex- plained by the numerical simulations based on the Marmottant model. The numerical simulations qualitatively accord with the measured results. This work might provide a preliminary proof for the optimization of the noninvasive blood pressure measurement through using sub-harmonic generation from microbubbles. 展开更多
关键词 MICROBUBBLE OVERPRESSURE sub-harmonic response blood pressure measurement
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Dynamic response of electromagnetic launcher's rail subjected to harmonic magnetic pressure 被引量:1
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作者 刘文 张立功 +1 位作者 白象忠 张忠建 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2011年第6期120-126,共7页
In order to extend the rail life and improve the firing accuracy,the electromagnetic launcher's rail can be modeled as a beam on elastic foundation with simply supported beam with moving load.Euler beam theory is ... In order to extend the rail life and improve the firing accuracy,the electromagnetic launcher's rail can be modeled as a beam on elastic foundation with simply supported beam with moving load.Euler beam theory is applied to build the mechanical model and the analytical solution of the equation subjected to harmonic magnetic pressure is derived in details,which has successfully avoided the errors caused by using the uniform pressure to approximately replace the variable force.Numerical analysis of the dynamic response on rail by using the MATLAB software shows that the peak values of maximal deflection and vibration velocity increase gradually as the exciting frequency increases.Taking the same speed of load into account,the dynamic response of rail is obviously smaller than that under constant force.Therefore the reliable theory basis is provided for the design and control of rail to promote the practical application of electromagnetic launcher. 展开更多
关键词 electromagnetic launcher' s rail harmonic pressure analytical solutions exciting frequency dynamic resoonse
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A new method of electric energy metering considering harmonic responsibility
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作者 ZHU Si-wei TIAN Ming-xing +1 位作者 LI Jun GAO Yun-bo 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2020年第3期244-250,共7页
Aiming at the shortcomings of the existing electric energy metering method,combining with the harmonic responsibility analysis model based on the reference impedance method and the idea of apparent power decomposition... Aiming at the shortcomings of the existing electric energy metering method,combining with the harmonic responsibility analysis model based on the reference impedance method and the idea of apparent power decomposition in IEEE Std 1459-2010 standard,two new metering indicators—billing active power and billing power factor are defined.A new electric energy metering method is proposed and its specific implementation steps are given.The simulation model is built in Matlab/Simulink,and three different examples are set up.Using the simulation data,the various metering indicators need to be examined by the existing electric energy metering method and the new electric energy metering method are calculated.The calculation results show that the new electric energy metering method not only overcomes the shortcomings of the existing electric energy metering method,but also is very easy to be popularized and applied. 展开更多
关键词 electric energy metering harmonic responsibility billing active power billing power factor
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Harmonic balance method with alternating frequency/time domain technique for nonlinear dynamical system with fractional exponential 被引量:10
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作者 张智勇 陈予恕 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2014年第4期423-436,共14页
Comparisons of the common methods for obtaining the periodic responses show that the harmonic balance method with alternating frequency/time (HB-AFT) do- main technique has some advantages in dealing with nonlinear ... Comparisons of the common methods for obtaining the periodic responses show that the harmonic balance method with alternating frequency/time (HB-AFT) do- main technique has some advantages in dealing with nonlinear problems of fractional exponential models. By the HB-AFT method, a rigid rotor supported by ball bearings with nonlinearity of Hertz contact and ball passage vibrations is considered. With the aid of the Floquet theory, the movement characteristics of interval stability are deeply studied. Besides, a simple strategy to determine the monodromy matrix is proposed for the stability analysis. 展开更多
关键词 fractional exponential nonlinearity harmonic balance method with alter-nating frequency/time (HB-AFT) domain technique global response stability
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A Multi-harmonic Method for Studying Effects of Mistuning on Resonant Features of Bladed Disks with Dry Friction Damping 被引量:1
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作者 贺尔铭 王红建 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2006年第4期322-325,共4页
An efficient multi-harmonic method is proposed for studying the effects of mistuning on resonant features of bladed disks with blade-to-blade dry friction damping. This method is able to predict accurately the forced ... An efficient multi-harmonic method is proposed for studying the effects of mistuning on resonant features of bladed disks with blade-to-blade dry friction damping. This method is able to predict accurately the forced response of bladed disks in frequency domain, which is validated by numerical integration method in time domain. The resonant features of both tuned and mistuned systems are investigated by using this method under various system coupling strengths, viscous dampings, and dry friction darnpings, etc. The results demonstrate that the proposed multi-harmonic method is very efficient for studying the mistuning effects on the resonant response of bladed disks with blade-to-blade dry friction damping, especially considering the combined effects of various system parameters. 展开更多
关键词 dry friction mistuned bladed disk forced response multi-harmonic method resonant features
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A method for establishing a bearing residual life prediction model for process enhancement equipment based on rotor imbalance response analysis
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作者 Feng Wang Haoran Li +3 位作者 Zhenghui Zhang Yan Bai Hong Yin Jing Bian 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2024年第2期203-215,共13页
A rotating packed bed is a typical chemical process enhancement equipment that can strengthen micromixing and mass transfer.During the operation of the rotating packed bed,the nonreactants and products irregularly adh... A rotating packed bed is a typical chemical process enhancement equipment that can strengthen micromixing and mass transfer.During the operation of the rotating packed bed,the nonreactants and products irregularly adhere to the wire mesh packing in the rotor,thus resulting in an imbalance in the vibration of the rotor,which may cause serious damage to the bearing and material leakage.This study proposes a model prediction for estimating the bearing residual life of a rotating packed bed based on rotor imbalance response analysis.This method is used to determine the influence of the mass on the imbalance in the vibration of the rotor on bearing damage.The major influence on rotor vibration was found to be exerted by the imbalanced mass and its distribution radius,as revealed by the results of orthogonal experiments.Through implementing finite element analysis,the imbalance response curve for the rotating packed bed rotor was obtained,and a correlation among rotor imbalance mass,distribution radius of imbalance mass,and bearing residue life was established via data fitting.The predicted value of the bearing life can be used as the reference basis for an early safety warning of a rotating packed bed to effectively avoid accidents. 展开更多
关键词 Rotating packed bed Mass imbalance harmonic response analysis Residual life Prediction model
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3-D DYNAMIC RESPONSE OF TRANSVERSELY ISOTROPIC SATURATED SOILS 被引量:3
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作者 王小岗 黄义 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2005年第11期1409-1419,共11页
A study on dynamic response of transversely isotropic saturated poroelastic media under a circular non-axisymmetrical harmonic source has been presented by Huang Yi et al. using the technique of Fourier expansion and ... A study on dynamic response of transversely isotropic saturated poroelastic media under a circular non-axisymmetrical harmonic source has been presented by Huang Yi et al. using the technique of Fourier expansion and Hankel transform. However, the method may not always be valid. The work is extended to the general case being in the rectangular coordinate. The purpose is to study the 3-d dynamic response of transversely isotropic saturated soils under a general source distributing in arbitrary rectangular zoon on the medium surface. Based on Biot's theory for fluid- saturated porous media, the 3-d wave motion equations in rectangular coordinate for transversely isotropic saturated poroelastic media were transformed into the two uncoupling governing differential equations of 6-order and 2-order respectively by means of the displacement functions. Then, using the technique of double Fourier transform, the governing differential equations were easily solved. Integral solutions of soil skeleton displacements and pore pressure as well as the total stresses for poroelastic media were obtained. Furthermore, a systematic study on half-space problem in saturated soils was performed. Integral solutions for surface displacements under the general harmonic source distributing on arbitrary surface zone, considering both case of drained surface and undrained surface, were presented. 展开更多
关键词 Blot's wave equation transversely isotropic saturated poroelastic medium HALF-SPACE harmonic response double Fourier transform
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Dynamic Response Analysis of Motorized Spindle System 被引量:2
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作者 ZHANG Li LUO Yi-chao +2 位作者 XU Juan XIAO Ru-feng LI Xian-hui 《Computer Aided Drafting,Design and Manufacturing》 2013年第2期62-65,共4页
As to motorized spindle system, this paper builds a simplified 3D model of spindle and bearing, performs structure modal analysis, reveals its dynamic characteristics under the free model; furthermore, modifies bearin... As to motorized spindle system, this paper builds a simplified 3D model of spindle and bearing, performs structure modal analysis, reveals its dynamic characteristics under the free model; furthermore, modifies bearing radial stiffness and number of model and studies the change of modal parameters. On this basis, through the harmonic response analysis of the finite element model, dy- namic response characteristic caused by imbalance of monitored spindle system and law of vibration response to different amount of unbalance is analyzed. 展开更多
关键词 motorized spindle system unbalance response modal analysis harmonic response analysis
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Heave-Roll-Pitch Coupled Nonlinear Internal Resonance Response of a Spar Platform Considering Wave and Vortex Exciting Loads 被引量:2
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作者 LI Wei TANG Yougang +2 位作者 LIU Liqin LIU Shuxiao CAI Runbo 《Journal of Ocean University of China》 SCIE CAS CSCD 2017年第2期209-222,共14页
Many studies have been done on the heave-pitch unstable coupling response for a spar platform by a 2-DOF model.In fact,in addition to the heave and pitch which are in one plane,the nonlinear unstable motion will also ... Many studies have been done on the heave-pitch unstable coupling response for a spar platform by a 2-DOF model.In fact,in addition to the heave and pitch which are in one plane,the nonlinear unstable motion will also occur in roll.From the results of the experiments,the unstable roll motion plays a dominant role in the motion of a spar platform which is much stronger than that of pitch.The objective of this paper is to study 3-DOF coupling response performance of spar platform under wave and vortex-induced force.The nonlinear coupled equations in heave,roll and pitch are established by considering time-varying wet surface and coupling.The first order steady-state response is solved by multi-scales method when the incident wave frequency approaches the heave natural frequency.Numerical integration of the motion equations has been performed to verify the first-order perturbation solution.The results are confirmed by model test.There is a saturation phenomenon associated with heave mode in 3-DOF systems and all extra energy is transferred to roll and pitch.It is observed that sub-harmonic response occurs in roll and pitch when the wave force exceeds a certain value.The energy distribution in roll and pitch is determined by the initial value and damping characteristics of roll and pitch.The energy transfers from heave to pitch and then transfers from pitch to roll.Due to the influence of the low-frequency vortex-excited force,the response of roll is more complicated than that of pitch. 展开更多
关键词 spar platform 3-DOF NONLINEAR equations multiple scales SUB-harmonic responsE energy infiltration
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Harmony Is Cause—Not Consequence—Of the Quantum 被引量:1
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作者 Antony J. Bourdillon 《Journal of Modern Physics》 2022年第6期918-931,共14页
Einstein claimed Bohr’s theory is incomplete: “the wave function does not provide a complete description of the physical reality” [1]. Their views represent two physics in schism [2] [3]. Quanta are fundamental. Th... Einstein claimed Bohr’s theory is incomplete: “the wave function does not provide a complete description of the physical reality” [1]. Their views represent two physics in schism [2] [3]. Quanta are fundamental. The theory of diffraction in quasicrystals, that is summarized here, is falsifiable and verified. The quanta are not only harmonic;but harmonic in dual series: geometric and linear. Many have believed the quantum is real;rather than conceptual and axiomatic. The quasicrystal proves its reality. 展开更多
关键词 QUASICRYSTAL ICOSAHEDRA Hierarchic Periodic harmonic IRRATIONAL Geometric Series Metric Resonant response Dispersion Dynamics
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A STUDY ON THE DYNAMIC RESPONSE OF CAM BEAT-UP MOTIONS FOR RAPIER LOOMS
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作者 施雷飚 陈明 《Journal of China Textile University(English Edition)》 EI CAS 1996年第2期48-55,共8页
Based on the requirements of the two-phase rapier loom’s beat-up system characteristics, the dynamic responses of its beat-up system to three different types of cam input motion are studied in this paper. Also, their... Based on the requirements of the two-phase rapier loom’s beat-up system characteristics, the dynamic responses of its beat-up system to three different types of cam input motion are studied in this paper. Also, their corresponding analytical comparisons are made. At the end of the paper, the authors put forward a proposal of new type cam beat-up motion for future practice. 展开更多
关键词 BEAT up motion dynamic response RAPIER LOOM simple harmonic double harmonic cycloidal TRIPLE harmonic
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Equivalent Response Estimation of Structural Systems Subjected to Long-Period Ground Motion
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作者 徐龙军 李宁 +1 位作者 谢玉见 谢礼立 《Transactions of Tianjin University》 EI CAS 2013年第5期356-365,共10页
Long-period ground motion has become an important consideration because of the increasing number of large and long-period structures.Therefore,a thorough investigation on the formation and characteristics of longperio... Long-period ground motion has become an important consideration because of the increasing number of large and long-period structures.Therefore,a thorough investigation on the formation and characteristics of longperiod ground motion is desirable for engineering applications.In this work,an analytical study is performed to examine the effect of several parameters and the combining mode for equivalent harmonic components on the dynamic response of systems.The results of the work show that the harmonic components in equivalent ground motion are evidently influenced by the intensity rise time,duration,phase and combining mode.Moreover,the long-period ground motions are simplified and simulated by separate harmonic components through proper combination.The findings of the work are believed to be useful in the selection of input ground motion in structural seismic analysis. 展开更多
关键词 ground motion harmonic earthquake wave response spectrum normalized response spectrum component combining mode
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Quasicrystals’ Resonant Response with Translational Symmetry
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作者 Antony J. Bourdillon 《Journal of Modern Physics》 2021年第7期1012-1026,共15页
Diffraction in quasicrystals is in logarithmic order and icosahedral point group symmetry. Neither of these features are allowed in Bragg diffraction, so a special theory is required. The present work displays exact a... Diffraction in quasicrystals is in logarithmic order and icosahedral point group symmetry. Neither of these features are allowed in Bragg diffraction, so a special theory is required. The present work displays exact agreement between the analytic metric with a numeric description of diffraction in quasicrystals that is based on quasi-structure factors. So far, we treated the hierarchic structure as ideal;now, we detail the theory by including two significant features: firstly, the steady state wave function of the incident radiation demonstrates how harmonics, in metrical space and time, enable coherent interaction between the periodic wave packet and hierarchic quasicrystal;secondly, mapping of the hierarchic structure for any influence of defects will allow estimation of possible error margins in the analysis. The hierarchic structure has the required logarithmic periodicity: superclusters, containing about 10<sup>3</sup> atoms, convincingly map phase contrast images;while higher orders leave space for subsidiary speculation. The diffraction is completely explained for the first time. 展开更多
关键词 QUASICRYSTAL ICOSAHEDRA Hierarchic INTEGRAL Periodic Resonant response harmonic IRRATIONAL Geometric Series Metric
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考虑谐波严重程度的长时间尺度谐波责任划分方法 被引量:1
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作者 张逸 郭俊煜 邵振国 《电力自动化设备》 EI CSCD 北大核心 2024年第1期126-133,共8页
针对现有谐波责任划分方法未考虑不同谐波严重程度下责任所造成的实际影响差异,提出一种考虑谐波严重程度的长时间尺度谐波责任划分方法。考虑谐波数值分布与变化趋势两方面因素划分工况,并计算各工况综合权重量化谐波严重程度;基于典... 针对现有谐波责任划分方法未考虑不同谐波严重程度下责任所造成的实际影响差异,提出一种考虑谐波严重程度的长时间尺度谐波责任划分方法。考虑谐波数值分布与变化趋势两方面因素划分工况,并计算各工况综合权重量化谐波严重程度;基于典型相关性分析原理筛选长时间尺度数据,并根据谐波责任定义式估算谐波责任;结合上述综合权重获取长时间尺度综合谐波责任划分指标;采用仿真算例与实测数据进行验证,与传统方法相比,所提方法可反映各谐波源在长时间尺度下不同次数谐波造成的累计影响,更适用于谐波精准治理与公平奖惩工作。 展开更多
关键词 谐波责任划分 谐波严重程度 长时间尺度 谐波变化趋势 工况划分
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高精度无心车床刀盘系统动态特性分析 被引量:1
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作者 史丽晨 刘栋 +1 位作者 袁嘉庚 杨旭 《机械设计与制造》 北大核心 2024年第2期226-230,235,共6页
无心车床是线性棒料表面处理的重要设备,刀盘系统是无心车床的重要部分,可以直接影响加工精度。这里以XF-WXC无心车床刀盘系统为研究对象,对刀盘系统进行模态分析,得到前六阶固有频率和模态振型,再通过设置不同工况转速,分析不同转速对... 无心车床是线性棒料表面处理的重要设备,刀盘系统是无心车床的重要部分,可以直接影响加工精度。这里以XF-WXC无心车床刀盘系统为研究对象,对刀盘系统进行模态分析,得到前六阶固有频率和模态振型,再通过设置不同工况转速,分析不同转速对刀盘系统模态频率的影响规律,并基于模态分析结果进行不同工况下的谐响应分析,研究刀盘系统的动态特性。分析结果表明:刀盘系统的刀尖位置为受力变形最大部位;易发生共振的激励频率在278Hz、449Hz和480Hz附近,在共振频率处的最大形变位移为0.036mm;同时利用实际切削实验结果验证仿真分析的可靠性。为无心车床的进一步优化设计提供理论依据。 展开更多
关键词 无心车床 刀盘系统 模态分析 谐响应分析
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光强非线性响应下的光致热弹光谱光强修正
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作者 陈祥 刘浩 +3 位作者 姚路 许振宇 胡迈 阚瑞峰 《光学精密工程》 EI CAS CSCD 北大核心 2024年第3期317-323,共7页
提出了基于光强非线性响应的光致热弹光谱光强修正方法,实现了激光光强的准确修正。控制DFB激光器工作于波长调制模式,设置激光调制频率为16369.75 Hz,通过光纤放大器增强其出射光强非线性项的幅值,光束经多次反射池后汇聚于石英音叉根... 提出了基于光强非线性响应的光致热弹光谱光强修正方法,实现了激光光强的准确修正。控制DFB激光器工作于波长调制模式,设置激光调制频率为16369.75 Hz,通过光纤放大器增强其出射光强非线性项的幅值,光束经多次反射池后汇聚于石英音叉根部激发光热信号,采用数字锁相放大器解调得到对应的谐波信号,通过多项式拟合谐波信号背景,反演得到与浓度及光强分别对应的谐波信号。实验结果表明,当光强从22.03 mW变化至3.16 mW,谐波信号背景幅值与光强具有良好的线性关系,线性相关系数大于0.998,归一化后的谐波信号幅值波动小于0.37%。针对甲烷测量,系统在较大的浓度范围内具有良好的线性响应,谐波信号信噪比表明系统的最低检测限达0.22×10-6。该研究为光致热弹光谱的光强修正提供了一种新的方法,可有效提高LITES系统在长期测量应用中的稳定性。 展开更多
关键词 光致热弹光谱 谐波信号 非线性响应 多项式拟合 光强修正
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基于功率流有限元法的涡旋压缩机振动特性研究
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作者 陈建国 王创 +3 位作者 闫伟国 杨春立 李宏坤 王珍 《流体机械》 CSCD 北大核心 2024年第5期71-78,共8页
针对涡旋压缩机内部振动传递路径复杂,采用传统的传递函数法往往不能真实地描述振动产生与传递的本质问题,引入功率流有限元法从能量角度分析振动传递特性,进行涡旋压缩机内部振动产生、传递与空间分布的可视化研究。在分析涡旋压缩机... 针对涡旋压缩机内部振动传递路径复杂,采用传统的传递函数法往往不能真实地描述振动产生与传递的本质问题,引入功率流有限元法从能量角度分析振动传递特性,进行涡旋压缩机内部振动产生、传递与空间分布的可视化研究。在分析涡旋压缩机的动力拓扑关系基础上建立激励源,提取与振动响应模型并进行仿真分析;利用实体试验和响应分析结果对比进行模型有效性分析;在验证后的模型上定义8个能量输出面,分析谐波与激励作用下上支撑和下支撑的振动能量传递特性,并且计算节点的功率流矢量确定振源的空间分布。结果表明,涡旋压缩机曲轴在运转到280°时,振动频率在1 000 Hz与1 890 Hz时振动能量传递率较高,上支撑能量分布均匀并集于自身,下支撑能量集中于支脚并向外传递。研究方法和研究成果对于涡旋压缩机振动分布及传递、振动控制和优化设计等方面具有一定借鉴意义。 展开更多
关键词 涡旋压缩机 有限元功率流 能量传递特性 谐响应 可视化
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谐波减速器集成式扭矩传感器的设计与测试
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作者 王晓东 杜志杰 +3 位作者 沈文强 高海龙 刘玉杰 娄志峰 《光学精密工程》 EI CAS CSCD 北大核心 2024年第19期2899-2910,共12页
为实现协作机器人关节力控和提高集成度,提出一种集成于谐波减速器内部的扭矩传感器,以精确获取关节输出扭矩值,推动智能化控制的实现。采用有限元计算方法分析了谐波减速器柔轮底面应变与加载扭矩之间的规律;然后根据有限元分析的结果... 为实现协作机器人关节力控和提高集成度,提出一种集成于谐波减速器内部的扭矩传感器,以精确获取关节输出扭矩值,推动智能化控制的实现。采用有限元计算方法分析了谐波减速器柔轮底面应变与加载扭矩之间的规律;然后根据有限元分析的结果,考虑柔轮底面敏感栅在不同栅丝长度、栅丝间距和栅丝位置情况下,建立底面应变与扭矩变化皮尔逊相关系数的响应面模型,求解模型获得最优的敏感栅结构参数,确保该结构下集成式传感器具有最佳线性响应,结合惠斯通电桥原理设计扭矩传感器结构;最后,对集成式扭矩传感器进行标定和测试。结果表明:集成式扭矩传感器的灵敏度为0.249 mV/N·m,线性度为0.99974,迟滞误差为2.19%。施加0~70 N·m之间阶梯变化的负载扭矩并进行重复实验,集成式扭矩传感器相对于标准扭矩传感器均方根误差为0.89~0.98 N·m。施加在±70 N·m之间正弦变化的负载扭矩,均方根误差为0.96~1.05 N·m。该集成式扭矩传感器能够较为精准地感应负载扭矩,有助于实现协作机器人关节力控制,提升机器人系统的集成度。 展开更多
关键词 扭矩传感器 谐波减速器 有限元分析 敏感栅 响应面法
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