Minimum Curve Radii for High-Speed Trains, Including the Gyroscopic Moments of the Wheels

This paper studies the title problem including an analysis of the gyroscopic effects of the wheels of a rail-car travelling at high-speed around a level, horizontal curve. The analysis is based upon the fundamental principles of dynamics. The result is a design formula for the minimum curve radius needed to prevent derailment. Aside from the rail car geometric and physical properties, the minimum curve radius depends upon the square the train speed. An illustrative example shows that the wheel gyroscopic effect is destabilizing and additive to the centrifugal force derailment tendency. From a track design perspective, however, the gyroscopic effect is relatively small compared with the centrifugal force effect.

Calculating Methods of Inertia Moment of TurboGenerator Rotor Using Load Rejection Test

Calculated results of inertia moment of turbo-generator rotor can be quite different by methods used in load rejection tests. In view of fluctuation features of rotor speed rise curve during load rejection tests, the measurement principle of rotor inertia moment was expounded. Based on the measured data in load rejection tests for an imported type of domestic 300-MW generating unit, the rotor speed rise curve was fitted with three kinds of functions to get initial runup rate, but the obtained results differed a lot from each other. According to analysis on the mechanism of rotor speed rise, m=2 consecutive points averaging or FFT (Fast Fourier Transform) smoothing technology was introduced to process test data, and then the initial runup rate was determined by the method of linear fitting of rotor speed in the range of governing valve closing time. Although the obtained curves had a fluctuating shape, the results of rotor inertia moment for 50% and 100% load rejection tests were of good consistency.

Magnetic field effects on the nonlinear vibration of a rotor

The nonlinear vibration of a rotor operated in a magnetic field with geometric and inertia nonlinearity is investigated. An asymmetric magnetic flux density is generated,resulting in the production of a load on the rotor since the air-gap distribution between the rotor and the stator is not uniform. This electromagnetic load is a nonlinear function of the distance between the geometric centers of the rotor and the stator. The nonlinear equation of motion is obtained by the inclusion of the nonlinearity in the inertia, the curvature, and the electromagnetic load. After discretization of the governing partial differential equations by the Galerkin method, the multiple-scale perturbation method is used to derive the approximate solutions to the equations. In the numerical results, the effects of the electromagnetic parameter load, the damping coefficient, the amplitude of the initial displacement, the mass moment of inertia, and the rotation speed on the linear and nonlinear backward and forward frequencies are investigated. The results show that the magnetic field has significant effects on the nonlinear frequency of oscillation.

Deformation Analysis and Optimization on Hollow Spherical Rotor in Electrostactically Suspended Gyroscope

Non-spherical of rotor was described with solution method. Electrostatically suspended gyroscope＇s hollow spherical rotor＇s structure was presented. The simulative analysis of static deformation, dynamic deformation and synthesize deformation of rotor under different working conditions using the finite element software were carried out. Its deformation law and volume were obtained. The structural parameters of the rotor were optimized. The value of pressure required when the rotor was machined was calculated. The analysis has important theoretical reference value to the design for hollow spherical rotor in electrostatically suspended gyroscope.

采用SGCMG的两轮单辙平台自平衡控制技术

针对以自行车、摩托车为代表的两轮单辙平台的自然不稳定问题,采用单框架控制力矩陀螺(SGCMG)为平衡控制机构,研究两轮单辙平台不同工况下自平衡控制算法。分析两轮单辙平台横向力矩,推导横滚转动动力学方程,并根据不同状态误差设计了增益调度PID控制器;建立轮-地接触点模型,修正曲线运动时目标横滚角,减小反馈静差,获得更好的动态响应;以前叉转向趋势预估未来时刻转向角度与目标平衡横滚角度,提前调整姿态以重力矩抵消离心力矩,模拟人骑行时的预判压弯行为。相关算法经仿真验证与实车测试,可在静止与曲线运动等工况下保持动态平衡,效果良好,表明了算法的有效性。

陀螺角速度控制下的单辙两轮车自平衡研究

针对单辙两轮车的不稳定的系统,提出通过控制两个单框架控制力矩陀螺(SGCMG)来研究单辙两轮车的自平衡问题,设计了一个基于滑模控制(SMC)的陀螺角速度控制器,控制SGCMG产生进动力矩,并采用一个奇异回避算法避免陀螺发生奇异现象,以实现整车在静止和动态下的自平衡,并通过仿真验证验证在越障和跨壕沟路况时的自平衡能力。仿真结果表明,所采用的控制方法能够以较小的框架角度使整车快速平衡到直立状态,并且在行驶过过程中很好的抵抗外部干扰,以一个距平衡角度2°范围内的侧倾角度行驶,仿真结果对单辙两轮车的平衡行驶有显著意义。

应用变速控制力矩陀螺的航天器姿态自适应控制

为提高敏捷挠性航天器在轨连续机动的快速性和高稳定性,应用变速控制力矩陀螺(variable speed control moment gyroscopes,VSCMGs)作为姿态控制执行机构,提出了一种将观测器与自适应控制结合的姿态控制律与VSCMGs复合操纵律。考虑到机动过程中挠性模态及精确惯量不可知,采用模态观测器和转动惯量估计器对不可测的状态或参数进行辨识,辨识结果用于精确估计前馈补偿力矩,利用Lyapunov分析方法证明了闭环控制系统的稳定性。鉴于VSCMGs实际使用的力矩分配能力、避奇异能力、轮速平衡能力与末态框架角定位能力,分别设计了加权伪逆操纵律与3种对应的零运动。基于雅可比矩阵条件数提出了末态框架角的优选方法,给出了VSCMGs零运动在机动过程不同阶段的部署方案。结果表明:通过连续姿态机动数值仿真验证了所提算法的有效性;VSCMGs在连续机动过程中平滑切换模式,在不同的机动阶段实现了相应功能。模态观测值和惯量估计值在多次机动后收敛至真值附近,经过参数辨识后的控制器使航天器在机动末端更快更稳地达到指向精度要求。

基于载荷发散控制的旋翼高原气动设计

直升机高原重载快速飞行时,旋翼处于大总距状态,更易发生旋翼失速,导致操纵载荷显著增加。为解决这一问题,本文提出了基于载荷发散控制的旋翼高原气动设计方法。传统直升机旋翼设计中,性能、噪声、空机重量控制等要求是常规的设计目标,对拉力性能影响不大的旋翼失速问题往往被忽视,但其对高原直升机来说影响重大。文中构建了旋翼动力学模型,并据此计算了桨叶动态气动力矩系数C_(m)随单位实度拉力系数C_(T)/σ的变化曲线。以C_(m)突增作为旋翼失速基本判据,分析不同前进比μ下C_(m)突增点,形成旋翼失速载荷发散单位实度拉力系数C_(T)/σ包线,以此作为旋翼高原气动设计边界之一。运用该方法设计的AC313大型民用直升机的理论分析和试飞结果均表明,该设计可极大地减少旋翼在高原典型飞行剖面发生旋翼失速的风险,有效控制旋翼操纵系统的载荷,增加操纵系统使用寿命,提升飞行舒适性,很大程度上保证了飞行安全,在直升机的全生命周期使用中作用积极。

CMG框架超低速无电流环矢量控制研究

针对控制力矩陀螺框架在超低速工况下存在转速测量精度低、多源扰动力矩及非线性摩擦等问题,提出了基于无电流环矢量控制的超低速驱动控制方法。首先,建立超低速工况下的框架电机的机电模型,设计了无电流环磁场矢量控制器(field-oriented control,简称FOC);其次,针对转速测量精度的问题,设计了转速观测器作为反馈环节。结果表明,与方波驱动法相比,该方法无换相转矩,提高了转速测量精度,且在面对多源扰动、非线性摩擦时具有鲁棒性。仿真和实验结果验证了该方法的可行性和有效性。

桨叶分段线性扭转对降低旋翼振动载荷的作用分析

研究了用桨叶分段线性扭转来降低旋翼振动载荷。使用基于弹性梁的旋翼模型用于预测旋翼振动载荷。采用4片桨叶旋翼作为基准旋翼,桨叶形状与UH-60直升机桨叶相似。桨叶被划分为内、中、外3段,讨论了各段扭转对载荷的影响。低速时桨叶每一段的扭转都能减少桨毂四阶垂向力。当以80 km/h前飞时,中段-24°/R的扭转可使其降低99.5%。桨叶内段的扭转不利于降低桨毂四阶滚转和俯仰力矩,另外两段的扭转则可以在大多数前飞速度时控制这2个振动力矩。使用参数扫描以尽可能降低旋翼振动载荷。降低四阶垂向力方面,低速时桨叶所有段都需要扭转,而高速时未扭转的桨叶表现更好。降低四阶滚转和俯仰力矩方面,在低速时需要桨叶外段高度扭转,而在中高速时则需要桨叶中段的扭转。

基于区间随机阶矩的不确定量化方法

针对缺乏足够信息构建精确概率模型的齿轮—转子机构系统固有特性量化分析问题,提出基于区间随机阶矩技术的不确定性量化方法。引入瑞利商公式,推导了含随机区间混合变量的齿轮—转子系统固有频率的近似解;将区间变量表示为随机变量分布参数的形式,以随机变量进行不确定性建模,并结合多维区间随机函数泰勒展开技术和随机变量函数阶矩法,推导了齿轮—转子系统固有频率的均值和方差的表达式;根据四则运算和区间预算法获得均值和方差的上下界,并通过上下界波动量与函数曲线的凹凸性分析随机和区间变量对系统固有频率的影响规律。最后应用齿轮—转子机构系统数值案例验证了所提方法的正确性和有效性。

CMG框架伺服控制与隔振器耦合稳定性分析

控制力矩陀螺(control moment gyroscope, CMG)是飞行器在轨姿态控制的重要执行机构之一,通过内部高速旋转的飞轮储存角动量,利用伺服机构驱动框架旋转输出力矩。安装隔振器可有效减少由高速旋转飞轮产生的不平衡力对飞行器上高精度载荷的影响。建立伺服机构三环控制模型和一个单自由度隔振器模型,揭示了隔振器引起伺服系统速度环耦合失稳的现象。通过分析隔振器频率、阻尼比、惯量等关键设计参数对速度环稳定性的影响,对隔振器进行详细设计,试验结果全流程验证了考虑伺服机构控制稳定性的CMG隔振器设计流程和隔振效果,为同类型产品设计提供了工程经验。

Triaxial dynamics in the quadrupole-deformed rotor

The triaxial dynamics of the quadrupole-deformed rotor model of both the rigid and the irrotational type are investigated in detail. The results indicate that level patterns of the two types of model can be matched with each other to the leading order of the deformation parameter β. In particular, it is found that the dynamical structure of the irrotational type with most triaxial deformation （γ = 30°） is equivalent to that of the rigid type with oblate deformation （7=60°）, and the associated spectrum can be classified into the standard rotational bands obeying the rotational L（L＋1）-law or regrouped into a new ground- and γ-band with odd-even staggering in the new γ-band, commonly recognized as a signature of the triaxiality. The differences between the two types of the model in this case are emphasized, especially in the E2 transitional characteristics.

一种可倾斜六旋翼无人机容错控制方法

常规六旋翼无人机在单个旋翼完全失效后,存在姿态与高度不完全可控的情况,此时采取降级控制策略会使无人机失去静态悬停能力.针对此问题,本文提出了一种可倾斜旋翼的容错控制方法,在经典旋翼结构布局的基础之上,将其中一个旋翼设计成可倾斜结构,通过倾斜角度的改变与控制分配重构,无人机在任意单个旋翼完全失效后均能保持力与力矩的平衡.利用线性规划方法得到无人机的可达力矩集,同时对电机饱和度进行分析,确定了不同旋翼失效后的最优倾斜角.搭建飞行测试平台进行对比验证,实验结果表明,本文提出的方法具有良好的容错效果与鲁棒性,能够保证六旋翼无人机在故障后的稳定飞行与平稳降落.

一种CMG动载荷主动补偿方法

提出了一种基于磁力发生器的控制力矩陀螺(Control Moment Gyroscope,CMG)动载荷主动补偿方法来改善轴系工况。首先介绍磁力发生器的结构与工作原理,给出磁力发生器的设计参数;然后对CMG系统进行动力学建模;接下来通过等效磁路法与有限元法对装置的输出特性进行计算,通过实验测试磁力发生器的静态和动态输出特性,与计算结果进行对比,并对模型参数进行拟合;最后通过仿真研究磁力发生器的动载荷主动补偿效果。

Influence of flexible solar arrays on vibration isolation platform of control moment gyroscopes

A high-performance vibration isolation platform （VIP） has been developed for a cluster of control moment gyroscopes （CMGs）. CMGs have long been used for satellite attitude control. In this paper, the influence of flexible solar arrays on a passive multi-strut VIP of CMGs for a satellite is analyzed. The reasonable parameters design of flexi- ble solar arrays is discussed. Firstly, the dynamic model of the integrated satellite with flexible solar arrays, the VIP and CMGs is conducted by Newton-Euler method. Then based on reasonable assumptions, the transmissibility matrix of the VIP is derived. Secondly, the influences of the flexible solar arrays on both the performance of the VIP and the stability of closed-loop control systems are analyzed in detail. The parameter design limitation of these solar arrays is discussed. At last, by selecting reasonable parameters for both the VIP and flexible solar arrays, the attitude stabilization performance with vibration isolation system is predicted via simulation.

Application of Ultrasonic Motor to Control of Moment Gyroscope Gimbal Servo System

Attitude control system is one of the most important subsystems in a spacecraft.As a key actuator,the control moment gyroscope(CMG)mainly determines the performance of attitude control system.Whereas,the control accuracy and output torque smoothness of the CMG depends more on its gimbal servo system.Considering the constraints of size,mass and power consumption for a small satellite,here,a mini-CMG is designed,in which the gimbal servo system is driven by an ultrasonic motor.The good performances of the CMG are obtained by both the ultrasonic motor and the rotary inductosyn.The direct drive of gimbal improves its dynamic performance,with the output bandwidth above 20 Hz.The angular and speed closed-loop control obtains the 0.02°/s gimbal rate,and the output torque resolution better than 2×10^(-3) N·m.The ultrasonic motor provides 1.0N·m self-lock torque during power-off,with 12arc-second position accuracy.

Model predictive control of rigid spacecraft with two variable speed control moment gyroscopes

In this paper, an attitude maneuver control problem is investigated for a rigid spacecraft using an array of two variable speed control moment gyroscopes （VSCMGs） with gimbal axes skewed to each other. A mathematical model is constructed by taking the spacecraft and the gyroscopes together as an integrated system, with the coupling interaction between them considered. To overcome the singular issues of the VSCMGs due to the conventional torque-based method, the first-order derivative of gimbal rates and the second-order derivative of the rotor spinning velocity, instead of the gyroscope torques, are taken as input variables. Moreover, taking external disturbances into account, a feedback control law is designed for the system based on a method of nonlinear model predictive control （NMPC）. The attitude maneuver can be realized fast and smoothly by using the proposed controller in this paper.

Dynamic analysis and identification of unbalance and misalignment in a rigid rotor with two offset discs levitated by active magnetic bearings:a novel trial misalignment approach

Rotating machinery is an essential and crucial component of numerous mechanical systems in modern industries,transport vehicles,and in several other applications.Excessive vibrations on rotating equipment due to multiple faults may cause catastrophic failure in machines and lead to hazardous accidents.So,there is a need for perceiving the dynamic nature and identifying the faults for the safe,smooth and effective operation of machines.This paper proposes a novel trial misalignment approach to estimate the misalignment with a similar concept as the trial unbalance in the rotor balancing.Active magnetic bearing(AMB)misalignment with the rotor has been investigated with residual misalignment and additional trial misalignment cases.Additional trial misalignments are provided in addition to the unknown misalignments of the residual misalignment case.For the execution of this methodology,the dynamic model of a four-degree-of-freedom unbalanced and misaligned rigid rotor with two offset discs supported by two active magnetic bearings has been mathematically developed.The offset discs result in the gyroscopic effect at high rotor speeds.Equations of motion of the rotor-AMB system have been derived and solved to generate the time domain rotor displacement and controlling current responses at AMB positions.A fast Fourier transform technique has been utilized to convert the time domain responses into the frequency domain for estimation of unbalance eccentricities and phases together with force-displacement and forcecurrent stiffnesses of misaligned AMBs as well as AMB's constant forces using the developed identification algorithm.Identified values of AMB's parameters for both residual and additional trial misalignment cases are evaluated to estimate the four unknown misalignments.Testing of the algorithm has also been carried out at multiple spin speeds against measurement signal noise in rotor responses and bias errors in rotor system parameters to check its effectiveness and robustness.The algorithm is found to be exhibiting excellent.

Torque Free Axi-Symmetric Gyros with Changing Moments of Inertia

The properties and characteristics of torque free gyros with rotational symmetry and changing moments of inertia are the subject of the subsequent discussion. It shall be understood that the symmetry can be expressed by the notation (A=B) which does not presuppose geometric symmetry, where A and B are the principle moments of inertia about x and y axes respectively. We study the case of a torque free gyro upon which no external torque is acting. The equations of motion are derived when the origin of the xyz-coordinate system coincides with the gyro’s mass center c. This study is useful for the satellites, which have rotational symmetry and changed inertia moments, the antennas and the solar power collector systems.