Hybrid force control of astronaut rehabilitative training robot under active loading mode

In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.

Analysis of external noise spectrum of high-speed railway

A schematic to make the spectra of the exterior noise of high speed railway was put forward. The exterior noise spectrum was defined based on the characteristics of the high-speed train exterior noise. Its characteristics considered here include identifying the exterior main sources and their locations, their frequency components including the Doppler effect due to the noise sources moving at high speed, the sound field intensity around the train in high-speed operation, the sound radiation path out of the train, and the pressure level and frequency components of the noise at the measuring points specified by the International Organization for Standardization(ISO). The characteristics of the high-speed train exterior noise of the high speed railways in operation were introduced. The advanced measuring systems and their principles for clearly indentifying the exterior noise sources were discussed in detail. Based on the concerned noise results measured at sites, a prediction model was developed to calculate the sound level and the characteristics of the exterior noise at any point where it is difficult to measure and to help to make the exterior noise spectrums. This model was also verified with the test results. The verification shows that there is a good agreement between the theoretical and experimental results.