Design and simulation of a tuning fork micromachined gyroscope with slide film damping

A novel tuning fork micromachined gyroscope, based on slide-film damping, is presented. The electrostatic driving gyroscope consists of two driving masses each of which supports one sensitive mass. The angular rate is sensed by the differential capacitances consisted of movable bar electrodes and fixed bar electrodes located on the glass wafer. The gyroscope can operate at atmospheric pressure with slide film damping in the driving and sensing directions, eliminate vacuum packaging and restrain cross-axis acceleration signal. The results of design and simulation show that the driving and sensing mode frequencies are 3 106 Hz and 3 175 Hz,respectively, and the Q-values in driving and sensitive modes are 1 721 and 1 450 respectively. The design resolution is 0.025°/s.

滑坡稳定性评价及治理工程设计软件Slope Designer

主要介绍了Slop eDesigne r1.2的设计开发思路和主要功能。该软件是基于Windows面向对象技术开发的滑坡稳定性评价与治理工程设计的一体化工程软件,采用Visual C++进行程序设计,包括稳定性分析子模块和抗滑桩设计子模块2部分,可对地震作用、暴雨等不同工况下的滑坡进行稳定性评价和推力计算,并能够对(锚拉)抗滑桩(弹性桩、刚性桩)的弯矩、剪力及侧应力进行计算,最后根据内力计算结果完成配筋计算。在三峡库区兴山县二里半滑坡的应用研究表明,该软件具有很好的工程实用性。

Adaptive Sliding Mode Control for Re-entry Attitude of Near Space Hypersonic Vehicle Based on Backstepping Design

Combining sliding mode control method with radial basis function neural network (RBFNN), this paper proposes a robust adaptive control scheme based on backstepping design for re-entry attitude tracking control of near space hypersonic vehicle (NSHV) in the presence of parameter variations and external disturbances. In the attitude angle loop, a robust adaptive virtual control law is designed by using the adaptive method to estimate the unknown upper bound of the compound uncertainties. In the angular velocity loop, an adaptive sliding mode control law is designed to suppress the effect of parameter variations and external disturbances. The main benefit of the sliding mode control is robustness to parameter variations and external disturbances. To further improve the control performance, RBFNNs are introduced to approximate the compound uncertainties in the attitude angle loop and angular velocity loop, respectively. Based on Lyapunov stability theory, the tracking errors are shown to be asymptotically stable. Simulation results show that the proposed control system attains a satisfied control performance and is robust against parameter variations and external disturbances. © 2014 Chinese Association of Automation.

Adaptive Backstepping Slide Mode Control of Pneumatic Position Servo System

With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking

Sliding mode control for an aerodynamic missile based on backstepping design

In order to solve the mismatched uncertainties of a class of nonlinearsystems, a control method of sliding mode control (SMC) based on the backstepping design isproposed. It introduces SMC in to the last step of backstepping design to modify the backsteppingalgorithm. This combination not only enables the generalization of the backstepping design to beapplied to more general nonlinear systems, but also makes the SMC method become effective in solvingthe mismatched uncertainties. The SMC based on the backstepping design is applied to the flightcontrol system design of an aerodynamic missile. The control system is researched throughsimulation. The simulation results show the effectiveness of the proposed control method.

Concept Design,Modeling and Station-keeping Attitude Control of an Earth Observation Platform

The stratosphere airship provides a unique and promising platform for earth observation. Researches on the project design and control scheme for earth observation platforms are still rarely documented. Nonlinear dynamics, model uncertainties, and external disturbances contribute to the difficulty in maneuvering the stratosphere airship. A key technical challenge for the earth observation platform is station keeping, or the ability to remain fixed over a geo-location. This paper investigates the conceptual design, modeling and station-keeping attitude control of the near-space earth observation platform. A conceptual design of the earth observation platform is presented. The dynamics model of the platform is derived from the Newton-Euler formulation, and the station-keeping control system of the platform is formulated. The station-keeping attitude control approach for the platform is proposed. The multi-input multi-output nonlinear control system is decoupled into three single-input single-output linear subsystems via feedback linearization, the attitude controller design is carried out on the new linear systems using terminal sliding mode control, and the global stability of the closed-loop system is proven by using the Lyapunov theorem. The performance of the designed control system is simulated by using the variable step Runge-Kutta integrator. Simulation results show that the control system tracks the commanded attitude with an error of zero, which verify the effectiveness and robustness of the designed control system in the presence of parametric uncertainties. The near-space earth observation platform has several advantages over satellites, such as high resolution, fast to deploy, and convenient to retrieve, and the proposed control scheme provides an effective approach for station-keeping attitude control of the earth observation platform.

大功率风机主轴滑动轴承研究现状及发展趋势

风电机组大型化步伐加快,核心零部件的可靠性对风机运行的影响越来越大。滑动轴承具有高承载、长寿命、易维护、可扩展、小体积等优点,对风机主轴承关键零部件的国产安全可靠替代水平提高具有显著作用和很大潜力。分析了大功率风机主轴滚动轴承存在的问题与主轴应用滑动轴承的优势,并详细论述了风机主轴滑动轴承设计、材料、润滑、试验验证等多方面的技术方法和应用现状,总结了大功率风机主轴滑动轴承存在的问题及未来的发展趋势,为大功率风电主轴承数字化设计与产业发展提供参考。

Optimum Design of Highway Excavation Slope Angle: Evidence from Dawu Section of Jingzhu Highway

The optimum design of the highway excavation slope angle is one of the most important problems to the highway construction and to the slope improvement. The Dawu Section of Jingzhu (Beijing Zhuhai) Highway is taken as an example to illustrate the study method for excavation slope angle design. The analysis of the engineering condition from different angles with different factors shows that the stability of the slope is calculated by using residual pushing force and the Sarma method. Then the sensitive analysis of the slope stability is conducted by using residual pushing force method. Finally, the optimum angle of design is presented on the precondition of ensuring the whole stability of slope and the economic reasonability. The study results show that the most sensitive factors are the shear strength parameter and the seismic force, and that the optimum excavation slope angle is 60°.

Paralleled DC-DC Power Converters Sliding Mode Control with Dual Stages Design

This paper proposes the new cascaded series parallel design for improved dynamic performance of DC-DC buck boost converters by a new Sliding Mode Control (SMC) method. The converter is controlled using Sliding Mode Control method that utilizes the converter’s duty ratio to determine the skidding surface. System modeling and simulation results are presented. The results also showed an improved overall performance over typical PID controller, and there was no overshoot or settling time, tracking the desired output nicely. Improved converter performance and robustness were expected.

电液位置伺服控制系统设计与实验验证

针对电液位置伺服系统存在外部不确定性扰动和非线性等问题,采用基于敏感度分析(SA)和粒子群优化(PSO)的径向基函数(SAPSO-RBF)神经网络设计电液位置伺服控制系统。利用SAPSO-RBF神经网络估计伺服系统模型中的未知参数并设计伺服系统滑模控制器,同时搭建双出杆对称液压缸电液位置伺服控制系统实验装置。SAPSO-RBF神经网络滑模控制方法与传统滑模控制方法对比实验结果表明,SAPSO-RBF神经网络滑模控制方法具有更高的跟踪精度、更强的鲁棒性,并且系统抖振得到了有效抑制。

单相整流器二次纹波抑制的有源功率解耦控制算法

为了解决单相整流器中LC谐振回路频率适应性差的问题,引入有源功率解耦电路代替LC谐振回路抑制母线电压二次纹波,选择直流母线电容分裂拓扑有利于减小支撑电容容值。首先,对有源功率解耦电路的工作模态进行分析,建立了单相整流器和分裂电容有源功率解耦回路数学模型。其次,传统解耦控制算法间接计算解耦参考电压,为提高功率解耦效果,采用二阶广义积分器直接提取电压纹波作为电压参考,并提出一种基于滑模观测器的无电流传感器控制策略,滑模观测器降低了解耦电路成本,提高了抗干扰能力。然后,根据整流器性能指标和功率解耦要求,给出了有源功率解耦回路电感和电容设计依据。最后,对不同拓扑结构的单相整流器进行了稳态和动态实验对比,实验结果证明了控制算法的有效性。

苏州某大型复杂商业连体结构设计

苏州某大型商业综合体项目位于7度抗震设防烈度区,为体型重叠建筑。通过5道防震缝将建筑整体划分为购物中心A区、购物中心B区、停车楼、商业街A区、商业街B区五个独立结构单元。购物中心A区为复杂连体高层建筑,1~5层采用框架-剪力墙结构,两个单体在3~5层中区由钢桁架相连,顶部(6层)钢桁架结构与两个单体通过成品球铰支座连接,形成强连体结构。充分考虑了周期比、位移比双指标平衡后对购物中心A区剪力墙布置进行了优化;屋顶钢桁架结构支座采用变刚度设计,局部设置滑动支座解决恒载下杆件应力比较高的问题。通过性能化设计,该复杂结构连体部位可以满足中震弹性、大震不屈服的性能目标要求。性能化设计及专项分析表明,影院钢结构具有良好的抗震性能、楼盖舒适度及防倒塌性能。

变速条件下流体动压效应稳健性分析

以油膜作为中间介质,对于高速旋转机械传动系统的可靠性、稳定性的提升有显著优势。而高速轴承-转子系统在加工制造和运行过程中,不可避免地存在影响系统承载性能的不确定性因素,影响油膜形状,导致承载性能发生变化,实际工作性能偏离设计目标。以高速动压油膜为研究对象,为掌握几何参数和转速对油膜承载性能波动的影响,进行稳健优化和分析,提取油膜性能稳健优化结果的特征区域。针对传动系统的不同需求,采用计算流体力学方法求解不同转速下的动压滑动轴承油膜压力场,进而求解其主要性能指标:承载力和摩擦功耗。建立研究目标的Kriging近似模型,并在样本点临近区域选择稳健目标计算的子空间,计算目标均值和方差。利用非支配排序遗传算法(NSGA-II)求解不同目标组合的Pareto最优解集。结合自组织映射图(SOM)方法进行相关性分析,提取设计目标与几何参数、转速之间的相关性特征,分析最优特征区域中偏心率对目标稳健性的影响,最终确定稳健性好的特征区域,并选择个别结果进行仿真计算验证。结果表明:所提出的最优性分析方法能够清晰展现出稳健最优性区域在设计空间中的分布情况,便于降低几何参数和转速的波动对油膜性能的影响;所提方法能提升优化设计结果的可实现性,有效促进理论设计与工程实际的衔接。

Fuzzy optimization of pneumatic half-floating slide ways

Dynamic modeling was carried on by combining the dynamic of machinery with composite triology, and the critical condition in which the ways would not produce composite-friction self-excited vibration was obtained. The movement regularity and characteristic of the airflow in exhaust gas slit were analyzed, and the relationship between pressure lost and geometry parameters of exhaust gas slit was obtained. A dynamic model and a mathematical model were established for pneumatic half-floating slide ways by combining the dynamics of machinery with hydrokinetics. The objective function for the optimization of slide ways was established based on the fuzzy optimization theory. The membership function of fuzzy constraint was deduced, the fuzzy constraint limit was established by amplification coefficient method, and the optimal value was resolved by the multilevel fuzzy comprehensive evaluation method. By combining the internal penalty function method with the variable metric method, the fuzzy optimization design program of ways was designed based on the Matlab platform. The validation was carried on by an example, and ideal results of fuzzy optimization design of slide ways were obtained.

曲柄-滑道-弹齿滚筒式花生捡拾机构设计与参数优化

为进一步解决花生捡拾过程植株漏捡、掉果损失等问题,该研究在分析捡拾过程中曲柄-滑道式弹齿滚筒捡拾机构弹齿摆动、花生植株运动规律基础上,建立凸轮理论滑道,运用目标函数法对机构进行了优化设计。以弹齿在地面铲拾距离最大和护板半径最小为目标函数,采用非支配排序遗传算法对捡拾机构参数中的弹齿铲拾段初始安装角、弹齿捡拾长度、曲柄夹角、滚筒半径、上护板倾角、弹齿长度进行了优化求解。利用ADAMS软件建立了机构模型并进行了仿真分析,获得弹齿摆角和齿端运动轨迹仿真曲线,验证了机构参数的正确性和可行性。通过对比仿真分析,较优化前弹齿捡拾长度增大至135 mm、护板直径减小至159 mm,铲拾面积增加近30%。制作样机并进行田间试验,获得捡拾装置最优工作参数为:前进速度为48.0 m/min,转速为45 r/min,弹齿入土深度为17 mm。在花生植株含水率15%~17%的两段收获条件下,花生植株捡拾率为99.1%,掉果损失率为1.85%。研究结果可为两段式花生捡拾收获机捡拾装置的研究提供参考。

等滑切角锯齿型刀片优化设计与试验

基于已设计出的藤茎类秸秆切割刀片,创建切割功耗模型,将切割功耗最小作为目标函数并进行优化计算,获得最优滑切角为40°。对切割功耗的三个主要影响因素进行正交试验,结果表明:当秸秆含水率增加时,切割功耗随含水率的增加而增大;当单次切割量增加时,切割功耗也随之增大;相同的切割情况下,滑切角为40°的锯齿型刀片的切割功耗最低、切割效率最高。两种统计学方法分析的结果都表明:刀片种类对切割功耗的影响最显著,然后是秸秆含水率,最后是单次切割量。最优组合为:秸秆含水率为20%左右,单次切割量为6 kg,滑切角为40°的锯齿型刀片。

基于SMO的SynRM无位置传感器直接转矩控制系统

直接转矩控制因具有控制结构简单、电机参数依赖性小以及鲁棒性好等优点成为同步磁阻电机(Synchronous Reluctance Motor,SynRM)的常用控制方法。传统直接转矩控制系统使用编码器来获得电机转速和转子位置信息,编码器安装在电机轴上,既不利于电机的小型化,也使生产成本增加,降低了系统可靠性。文中提出一种分段饱和函数代替传统的符号函数,同时提出一种自适应滑模增益设计来改进滑模观测器,并应用于SynRM无位置传感器直接转矩控制。引入CORDIC(Coordinate Rotation Digital Computer)算法对锁相环加以优化,从而估算电机转速。为验证所提理论的正确性和有效性,搭建了专用实验平台对其启动特性和抗负载扰动性能进行测试。实验结果表明,相比传统方法,无位置传感器控制方法能够快速准确地实现电机转速估算,使稳态误差控制在0.5%以内,有效降低了系统成本。

某型汽车滑移门灵敏度分析与多目标轻量化设计

针对某型汽车滑移门为研究对象,建立以该模态频率及刚度的滑移门综合有限元模型,通过灵敏度分析筛选出相对灵敏度较小的部件作为设计变量,采用哈默斯雷采样试验设计方法对关键部件板厚进行样本试验设计,对计算结果使用Hyper⁃Kriging响应面拟合算法,拟合该滑移门质量、1阶弯曲模态频率、1阶扭转模态频率、扭转刚度、垂向刚度响应的近似模型。在近似模型基础上,以质量最小为主要目标、1阶弯曲频率最大为参考目标,以滑移门扭转刚度和垂向刚度1阶扭转频率为约束,应用Hyperstudy中基于全局响应面法的多目标优化算法进行优化设计,使其实现轻量化目的。

变形协调条件下锚索框架梁-抗滑桩边坡支护体系设计方法研究

目前设计实践中坡面锚索框架-坡脚抗滑桩边坡支护体系未考虑变形协调,支护结构存在两种防护形式先后顺序破坏的风险。通过建立坡体变形与锚索、抗滑桩变形的关系,推导了锚索+抗滑桩支护体系的变形协调公式,结合锚索和抗滑桩的变形计算方法,提出了变形协调条件下锚索-抗滑桩支护体系的设计方法。建议在下滑力无法准确确定时,应采用低刚度的锚索,并尽量设置较高的锚索预应力锁定值,保证锚索在充分发挥锚固力的同时,增强其对变形的适应能力,提高锚索框架-抗滑桩支护体系的变形协调性。

中型无人直升机向心回转机动飞行控制律设计

向心回转是直升机的一个标准机动飞行科目,其可以综合检验直升机各通道的控制性能。针对中型无人直升机向心回转机动中姿态控制和速度控制的问题,提出一种增强飞行过程中稳定性和快速性的控制律设计方法。首先,根据ADS-3E-PRF,设计了向心回转机动的控制指令。随后,在内外环串联的通道控制结构基础上,通过推导得出直升机滑模控制律,从而设计姿态内回路的滑模控制器,对比PID控制器得到了更好的姿态增稳效果和更快的响应速度。最后,通过半物理仿真系统的仿真实验,结合向心回转机动的指标,验证了所设计的方法能有效完成向心回转机动,并达到了满意的标准。