A Modified Iterative Learning Control Approach for the Active Suppression of Rotor Vibration Induced by Coupled Unbalance and Misalignment

This paper proposes a modified iterative learning control(MILC)periodical feedback-feedforward algorithm to reduce the vibration of a rotor caused by coupled unbalance and parallel misalignment.The control of the vibration of the rotor is provided by an active magnetic actuator(AMA).The iterative gain of the MILC algorithm here presented has a self-adjustment based on the magnitude of the vibration.Notch filters are adopted to extract the synchronous(1×Ω)and twice rotational frequency(2×Ω)components of the rotor vibration.Both the notch frequency of the filter and the size of feedforward storage used during the experiment have a real-time adaptation to the rotational speed.The method proposed in this work can provide effective suppression of the vibration of the rotor in case of sudden changes or fluctuations of the rotor speed.Simulations and experiments using the MILC algorithm proposed here are carried out and give evidence to the feasibility and robustness of the technique proposed.

A Closed-Loop Dynamic Controller for Active Vibration Isolation Working on A Parallel Wheel-Legged Robot

Serving the Stewart mechanism as a wheel-legged structure,the most outstanding superiority of the proposed wheel-legged hybrid robot(WLHR)is the active vibration isolation function during rolling on rugged terrain.However,it is difficult to obtain its precise dynamic model,because of the nonlinearity and uncertainty of the heavy robot.This paper presents a dynamic control framework with a decentralized structure for single wheel-leg,position tracking based on model predictive control(MPC)and adaptive impedance module from inside to outside.Through the Newton-Euler dynamic model of the Stewart mechanism,the controller first creates a predictive model by combining Newton-Raphson iteration of forward kinematic and inverse kinematic calculation of Stewart.The actuating force naturally enables each strut to stretch and retract,thereby realizing six degrees-of-freedom(6-DOFs)position-tracking for Stewart wheel-leg.The adaptive impedance control in the outermost loop adjusts environmental impedance parameters by current position and force feedback of wheel-leg along Z-axis.This adjustment allows the robot to adequately control the desired support force tracking,isolating the robot body from vibration that is generated from unknown terrain.The availability of the proposed control methodology on a physical prototype is demonstrated by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate strips.By comparing the proportional and integral(PI)and constant impedance controllers,better performance of the proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder,as well as an inertial measurement unit(IMU)mounted on the robot body.The proposed algorithm structure significantly enhances the control accuracy and vibration isolation capacity of parallel wheel-legged robot.

Research and application on three-dimensional seismic and vibration isolation for building

This paper presents the study of a three-dimensional(3D) isolation system.Firstly,the authors investigated the effects of an innovative 3D isolator,which was composed of a connecting plate,a rubber pad for vibration isolation in the vertical direction and a horizontal rubber bearing for seismic isolation in both horizontal directions.Secondly,the authors designed such a vibration isolation system and installed it underneath two specific residential buildings which were built directly over an existing subway communication hub platform in Beijing.These buildings required good performance vibration and seismic isolation system to reduce the impact from the running of nearby subway trains.Finally,in situ tests were conducted for both the isolated and the non-isolated buildings for the purpose of comparison.The test results showed that the maximum acceleration response level of the isolated superstructure is reduced by 10% as compared to that of the platform.The maximum attenuation of vibration reaches up to 25 dB.The 3D system explored in this paper is very effective in control and suppression of building vibration induced by earthquakes or running of trains.

PARALLEL FINITE ELEMENT ANALYSIS OF HIGH FREQUENCY VIBRATIONS OF QUARTZ CRYSTAL RESONATORS ON LINUX CLUSTER

Quartz crystal resonators are typical piezoelectric acoustic wave devices for frequency control applications with mechanical vibration frequency at the radio-frequency （RF） range. Precise analyses of the vibration and deformation are generally required in the resonator design and improvement process. The considerations include the presence of electrodes, mountings, bias fields such as temperature, initial stresses, and acceleration. Naturally, the finite element method is the only effective tool for such a coupled problem with multi-physics nature. The main challenge is the extremely large size of resulted linear equations. For this reason, we have been employing the Mindlin plate equations to reduce the computational difficulty. In addition, we have to utilize the parallel computing techniques on Linux clusters, which are widely available for academic and industrial applications nowadays, to improve the computing efficiency. The general principle of our research is to use open source software components and public domain technology to reduce cost for developers and users on a Linux cluster. We start with a mesh generator specifically for quartz crystal resonators of rectangular and circular types, and the Mindlin plate equations are implemented for the finite element analysis. Computing techniques like parallel processing, sparse matrix handling, and the latest eigenvalue extraction package are integrated into the program. It is clear from our computation that the combination of these algorithms and methods on a cluster can meet the memory requirement and reduce computing time significantly.

Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping

Because of their elastic links and joints,high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy.An effective approach based on the input shaping technique is presented in this paper for suppressing the residual vibration in these parallel robots.After addressing the design principle of an input shaper for a parallel robot with flexible actuated joints,a robust optimal input shaper is developed by considering the configuration-dependent flexible modes and minimizing the maximum percentage of residual vibration at the end-effector.The input shaper allows a good overall performance to be achieved throughout the entire workspace.Experimental results on a 4-DOF SCARA-type parallel robot show that the residual vibration of the end-effector is dramatically reduced and the dynamic positioning accuracy of the robot significantly improved.

GENERATOR VIBRATION FAULT DIAGNOSIS METHOD BASED ON ROTOR VIBRATION AND STATOR WINDING PARALLEL BRANCHES CIRCULATING CURRENT CHARACTERISTICS

Rotor vibration characteristics are first analyzed, which are that the rotor vibration of fundamental frequency will increase due to rotor winding inter-turn short circuit fault, air-gap dynamic eccentricity fault, or imbalance fault, and the vibration of the second frequency will increase when the air-gap static eccentricity fault occurs. Next, the characteristics of the stator winding parallel branches circulating current are analyzed, which are that the second harmonics circulating current will increase when the rotor winding inter-turn short circuit fault occurs, and the fundamental circulating current will increase when the air-gap eccentricity fault occurs, neither being strongly affected by the imbalance fault. Considering the differences of the rotor vibration and circulating current characteristics caused by different rotor faults, a method of generator vibration fault diagnosis, based on rotor vibration and circulating current characteristics, is developed. Finally, the rotor vibration and circulating current of a type SDF-9 generator is measured in the laboratory to verify the theoretical analysis presented above.

A fast and precise three-dimensional measurement system based on multiple parallel line lasers

This paper conducts a trade-off between efficiency and accuracy of three-dimensional(3 D)shape measurement based on the triangulation principle,and introduces a flying and precise 3 D shape measurement method based on multiple parallel line lasers.Firstly,we establish the measurement model of the multiple parallel line lasers system,and introduce the concept that multiple base planes can help to deduce the unified formula of the measurement system and are used in simplifying the process of the calibration.Then,the constraint of the line spatial frequency,which maximizes the measurement efficiency while ensuring accuracy,is determined according to the height distribution of the object.Secondly,the simulation analyzing the variation of the systemic resolution quantitatively under the circumstance of a set of specific parameters is performed,which provides a fundamental thesis for option of the four system parameters.Thirdly,for the application of the precision measurement in the industrial field,additional profiles are acquired to improve the lateral resolution by applying a motor to scan the 3 D surface.Finally,compared with the line laser,the experimental study shows that the present method of obtaining 41220 points per frame improves the measurement efficiency.Furthermore,the accuracy and the process of the calibration are advanced in comparison with the existing multiple-line laser and the structured light makes an accuracy better than 0.22 mm at a distance of 956.02 mm.

FINITE-PART INTEGRAL AND BOUNDARY ELEMENT METHOD FOR INTERACTION BETWEEN TWO PARALLEL PLANAR CRACKS IN THREE-DIMENSIONAL FINITE BODIES

By using the Somigliana representation and the concepts offinite-part integrals, a set of hypersingular integral equations ofthe interaction between two parallel planar cracks in a three-dimen-sional finite body subjected to arbitrary loads is derived, and thenits numerical method is proposed by the finite-part integral methodcombined with the boundary element method. According to the analytictheory of hypersingular integral equations, the square root models ofdisplacement discontinuities in the elements near the crack front areapplied, and thus the computational precision is raised. Based onthis, the stress intensity factors can be directly calculated.Finally, the stress intensity factors of sever- al typicalinteraction problems are calculated.

Vertical human-induced vibration of pedestrian bridge

The double degrees-of-freedom（DOFs）parallel model is adopted to analyze static vertical human-induced vibration with the finite element analysis（FEA）method.In the first-order symmetric vibration mode,the periods of the spring-mass model gradually decrease with the increase in K1 and K2,but they are always greater than the period of the add-on mass model.Meanwhile,the periods of the spring-mass model decrease with the decrease in m1 and m2,but they are always greater than the period of the hollow bridge model.Since the human＇s two degrees-of-freedom vibrate in the same direction as that of the bridge mid-span,the existence of human＇s rigidity leads to the reduction in the rigidity of the spring-mass model.In the second-order symmetric vibration mode,the changes of rigidity K2 and mass m2 result in the disappearance or occurrence of some vibration modes.It can be concluded that compared with the spring-mass model,the results of the add-on mass model lean to lack of safety to the structure;besides,the DOF with a smaller ratio of mass to rigidity plays the chief role in the vibration of the structure.

基于ADAMS/Vibration的并联机构振动仿真分析

提出一种基于刚柔结合的并联机构的新构型,并在ADAMS环境下,建立起振动分析所需的模型,对机构进行受迫振动分析。通过对相应的振动结果曲线的分析,证明了该机构振动平台的振动幅值是逐渐减小的,加入的柔索对机构的动平台有抑制振动的作用,机构的振动特性有了明显提升,为机构的应用和改进提出理论依据。

Constructal design of a rectangular parallel phase change microchannel in a three-dimensional electronic device

Based on constructal theory,a rectangular parallel phase change microchannel model in a three-dimensional electronic device(TDED)is established with R134a as the cooling fluid.Based on the minimization of a complex function(CF)composed of linear weighting sum of maximum temperature difference and pumping power consumption,constructal design of the TDED is conducted first;and then,maximum temperature difference and pumping power consumption are minimized by non-dominated sorting genetic algorithm-II methods.The results reveal that there exist an optimal mass flow rate(0.0012 kg/s)and a quadratic optimal aspect ratio(AR)(0.39)of the microchannel which lead to quadratic minimum CF(0.817).Compared with the original value,the CF after optimization is reduced by 18.34%.Reducing the inlet temperature of cooling fluid and microchannel number appropriately can help to enhance the overall performance of TDED.By using the artificial neural network and genetic algorithms in the toolboxes of Matlab software,the optimal AR gained in the Pareto solution set is located between 0.2–0.45.The smallest deviation index among three discussed strategies is 0.346,and the corresponding optimal AR is 0.413,which is selected as the optimal design strategy of the microchannel in the TDED under multiple requirements.The findings in this study can serve as theoretical guides for thermal designs of electronic devices.

Experimental study on vibration suppression of gear shaft misalignment with ISFD

Misalignment faults in gear systems lead to violent vibration and noise, shortening the life of equipment. The aim of this work is the demonstration of vibration suppression of parallel-misaligned gear shafts using an integral squeeze film damper(ISFD). Using a first grade spur gear in engineering for reference, an open first-grade spur gear system is built and the vibration characteristics of the gear system with rigid supports and ISFD elastic damping supports are studied under different degrees of misalignment. The experimental results show that ISFD supports have excellent damping and vibration attenuation characteristics, which have improved control of the gear system vibration in horizontal, vertical and axial directions under different degrees of misalignment. This work shows that an ISFD structure can effectively suppress vibration of characteristic frequency components and resonance modulation frequency components. The test results provide evidence for the application of ISFD in vibration control of gear shaft misalignment faults in engineering.

A Continuum Shell Model Including van derWaals Interaction for Free Vibrations of Double-Walled Carbon Nanotubes

This paper proposes the free vibration analysis of Double-Walled Carbon NanoTubes(DWCNTs).A continuum elastic three-dimensional shell model is used for natural frequency investigation of simply supported DWCNTs.The 3D shell method is compared with beam analyses to show the applicability limits of 1D beam models.The effect of van der Waals interaction between the two cylinders is shown for different Carbon NanoTube(CNT)lengths and vibration modes.Results give the van der Waals interaction effect in terms of frequency values.In order to apply the 3D shell continuum model,DWCNTs are defined as two concentric isotropic cylinders(with an equivalent thickness and Young modulus)which can be linked by means of the interlaminar continuity conditions or by means of an infinitesimal fictitious layer which represents the van der Waals interaction.

Effects of Fiber Volume Fraction on Damping Properties of Three-Dimensional and Five-Directional Braided Composites

The effects of fiber volume fraction on damping properties of carbon fiber three-dimensional and five-directional( 3D-5Dir)braided carbon fiber / epoxyres in composite cantilever beams were studied by experimental modal analysis method. Meanwhile,carbon fiber plain woven laminated / epoxy resin composites with different fiber volume fraction were concerned for comparison. The experimental result of braided specimens shows that the first three orders of natural frequency increase and the first three orders of the damping ratios of specimens decrease, when the fiber volume fraction increases. Furthermore,larger fiber volume fraction will be valuable for the better anti-exiting property of braided composites,and get an opposite effect on dissipation of vibration energy. The fiber volume fraction is an important factor for vibration performance design of braided composites. The comparison between the braided specimens and laminated specimens reveals that 3D braided composites have a wider range of damping properties than laminated composites with the same fiber volume fractions.

Adjacent mode resonance of a hydraulic pipe system consisting of parallel pipes coupled at middle points

The coupling vibration of a hydraulic pipe system consisting of two pipes is studied.The pipes are installed in parallel and fixed at their ends,and are restrained by clips to one bracket at their middle points.The pipe subjected to the basement excitation at the left end is named as the active pipe,while the pipe without excitation is called the passive pipe.The clips between the two pipes are the bridge for the vibration energy.The adjacent natural frequencies will enhance the vibration coupling.The governing equation of the coupled system is deduced by the generalized Hamilton principle,and is discretized to the modal space.The modal correction is used during the discretization.The investigation on the natural characters indicates that the adjacent natural frequencies can be adjusted by the stiffness of the two clips and bracket.The harmonic balance method(HBM)is used to study the responses in the adjacent natural frequency region.The results show that the vibration energy transmits from the active pipe to the passive pipe swimmingly via the clips together with a flexible bracket,while the locations of them are not node points.The adjacent natural frequencies may arouse wide resonance curves with two peaks for both pipes.The stiffness of the clip and bracket can release the vibration coupling.It is suggested that the stiffness of the clip on the passive pipe should be weak and the bracket should be strong enough.In this way,the vibration energy is reflected by the almost rigid bracket,and is hard to transfer to the passive pipe via a soft clip.The best choice is to set the clips at the pipe node points.The current work gives some suggestions for weakening the coupled vibration during the dynamic design of a coupled hydraulic pipe system.

Generation of Arbitrary Pure States for Three-dimensional Motion of a Trapped Ion

In this paper, we propose a scheme for generating an arbitrary three-dimensional pure state of vibrational motion of a trapped ion. Our scheme is based on a sequence of laser pulses, which are tuned to the appropriate vibrational sidebands with respect to the appropriate electronic transition.

全尺寸飞行器地面振动试验数字化协同探索与实践

全尺寸飞行器地面振动试验具有协调界面多、试验系统复杂、实施周期长、试验风险高等特点,面向先进飞行器高效协同研制需求,必须引入数字化手段提升物理试验能力。通过梳理传统模式飞行器地面振动试验流程,剖析数字化协同试验要素,从试验方案与实施流程的数字化、试验对象的数字化、试验系统的数字化等方面出发,探索并初步构建全尺寸飞行器地面振动试验的数字化方案。指出当前数字化协同模式对降低试验风险、提高试验效率具有显著助益,未来需要进一步推进数实融合仿真、应用平台开发,以推动数字化成熟落地。

电液3-UPS/S并联稳定平台参数振动特性分析

针对电液3-UPS/S并联稳定平台驱动液压缸的压力脉动所产生的参数振动,建立了稳定平台的参数振动方程并利用多尺度法求解了主共振响应与组合共振响应的一次近似解;分析了主共振与组合共振响应特性以及振动幅值在初始工作空间内的变化规律,最后采用四阶龙格库塔法与模态试验对参数振动模型进行验证。结果表明:数值解与理论解之间的最大误差为4.20%,固有频率理论值与试验值之间的最大误差为4.66%,可验证参数振动模型的正确性。

基于MATLAB的六极并联齿轮泵优化设计及分析

针对普通外啮合齿轮泵流量脉动品质差、质量大、成本高等问题,设计一种六极并联齿轮泵。分析六极并联齿轮泵的结构及其工作原理;对六极并联齿轮泵的瞬态流量特性进行分析,推导其单周期内的流量曲线函数;建立基于流量脉动系数、流量脉动频率和泵体体积的数学模型,选取设计变量,确定约束条件,并利用MATLAB优化工具箱中fmincon函数对目标函数进行参数优化。最后对相同理论流量和额定进出口压差下的六极并联齿轮泵及普通外啮合齿轮泵进行瞬态流量仿真和齿轮泵特性计算,并将结果进行对比分析。仿真结果表明:在结构设计合理的情况下,六极并联齿轮泵在减小流量脉动,降低振动、噪声、质量和制造成本,提高工作性能和使用寿命方面具有重要作用。

多层并联压电作动器快速响应的尺寸优选

压电作动器是星载卫星天线高精度形面控制的主要元件,但其在工作时加载电压后容易引起瞬态和残余振动,影响控制稳定性和控制精度。针对压电结构在动态形状主动控制过程中的振动抑制问题,课题组设计了一种具有位移放大的多层并联压电作动器结构,并对压电作动器在阶跃激励下的瞬态响应进行分析,揭示了中间层材料和结构尺寸等关键参数对作动器响应速度的影响规律,提出了压电双晶片作动器快速响应的尺寸优选方案。研究结果表明设计的压电作动器具有输出位移大、响应速度快的特点。该研究可为大型天线形面主动控制的高精度作动器研制提供依据和技术支撑。