MECHANICAL-ELECTRIC COUPLING DYNAMICAL CHARACTERISTICS OF AN ULTRA-HIGH SPEED GRINDING MOTORIZED SPINDLE SYSTEM

On the basis of the traditional mechanical model of a grinding wheel rotor and the mechanical-electric coupling model with ideal sinusoidal supply, taking high-frequency converting current of inverter power switches into further consideration, a modified mechanical-electric coupling model is created. The created model consists of an inverter, a motorized spindle, a grinding wheel and grinding loads. Some typical non-stationary processes of the grinding system with two different supplies, including the starting, the speed rising and the break in grinding loads, are compared by making use of the created model. One supply is an ideal sinusoidal voltage source, the other is an inverter. The theoretical analysis of the high-order harmonic is also compared with the experimental result. The material strategy of suppressing high-order harmonic mechanical-electric coupling vibration by optimizing inverter operating parameters is proposed.

Slip Compensation in Efficiency-Optimized Three-Phase Induction Motor Drive Systems

Energy efficiency optimization techniques of electrical drive systems improve the overall efficiency and reduce the hardness of mechanical characteristics of the drive system. It is therefore important to reduce the slip of induction motor to maintain its stable operation at different frequencies and loads. In this paper a slip compensator, based on fuzzy logic incremental controller has been developed to improve the steady state performance of efficiency-optimized three-phase induction motor drive system. The slip control is accomplished through a fuzzy controller with 9 rules, taking speed error and speed error variation as inputs, to produce the frequency. The proposed controller reduces the slip occurring at low frequencies and light loads to certain value, and also reduces the energy efficiency of the system.

考虑深井井下动力钻具影响的钻柱粘滑振动规律

油气勘探开发统计数据显示,深井钻井过程中粘滑振动频发,占钻进时长的50%以上,严重影响了钻井井下安全,延长了钻井周期,增加了钻井成本。由于深井钻柱结构较为复杂,井下动力钻具应用普遍,但动力钻具对井底钻头粘滑振动的影响规律缺乏深入研究,目前尚未有学者提出深井动力钻具下的钻柱全尺寸动力学模型。为此,基于弹簧集中质量原理,建立了包含井下动力钻具的粘滑振动仿真模型和螺杆钻具输出参数的计算模型,研究了螺杆钻具、扭力冲击器及两种工具复合使用对钻头粘滑振动的影响,并基于模型分析了现场实钻案例。研究结果表明:(1)使用螺杆钻具复合钻进时,转盘转速与螺杆转速对粘滑振动影响较大,复合转速越大,越有利于消除粘滑振动;(2)钻压和钻头尺寸越大,需要消除粘滑振动的转速就越大;(3)在保证水力参数的情况下,螺杆输出较高的扭矩和转速,能够有效地抑制钻头粘滑;(4)扭力冲击器和螺杆钻具复合使用情况下,当螺杆钻具的输出参数不足以抑制粘滑振动时,提高扭力冲击器的冲击扭矩和冲击频率,可降低螺杆钻具的临界转速,抑制井底粘滑振动。结论认为,该动力学模型可以为深井合理使用动力钻具、避免粘滑振动和提高机械钻速提供有效的技术支撑,该理论新认识在指导钻井现场钻进,提高钻井效率和降低钻井成本等方面具有重要的现实意义。

音圈电机全局自适应非奇异快速终端滑模控制

为了改善音圈电机驱动系统的动态性能,课题组提出了一种全局自适应非奇异快速终端滑模控制策略。在非奇异快速终端滑模控制器的基础上,引入全局滑态因子,改善系统的瞬态响应;同时将自适应控制和非奇异快速终端滑模控制相结合,利用自适应控制可以根据系统的实时状态和外部干扰自动调整参数的特点,来减小扰动、提高系统的鲁棒性和抗干扰性;将控制律中的符号函数改为一种边界层的饱和函数来削弱振动;通过李亚普诺夫稳定性理论证明所提出的控制器的稳定性;最后,将全局自适应非奇异快速终端滑模控制与比例积分微分控制(proportional integral derivative,PID)和滑模控制(sliding mode control,SMC)进行仿真对比。结果表明:与PID控制和滑模控制相比,所提出的全局自适应非奇异快速终端滑模控制提高了系统的动态响应速度和控制精度,有效改善了系统的动态性能。

基于平滑GMS模型和改进扩张状态观测器的复合摩擦补偿

摩擦力是影响直线伺服系统低速运行与点对点定位精度的主要非线性扰动。广义麦克斯韦(generalized Maxwellslip,GMS)摩擦模型虽然可以准确描述摩擦特性用于前馈补偿,但其存在切换点过渡时振荡的问题,同时易受测量噪声和摩擦参数变化等影响。为此,该文提出基于平滑GMS模型和改进扩张状态观测器(extended state observer,ESO)的复合摩擦补偿策略。首先,引入过渡用双曲正切函数以解决GMS模型中在切换点的反复穿越问题,并给出该模型的离线辨识方法。其次,设计基于模型信息的四阶ESO补偿剩余摩擦力与未知扰动,并引入切比雪夫滤波器整定观测器增益,以降低扰动观测与噪声敏感之间的冲突。为验证所提摩擦补偿策略的有效性,在小型高精度永磁同步直线电机定位平台上进行定位实验。实验结果验证了所提摩擦补偿策略的可行性和有效性。

新能源汽车驱动电机壳体与铁心过盈量优化设计

新能源汽车驱动电机的壳体与铁心的过盈量设计需要考虑低温下抵抗材料屈服,也要考虑高温及复杂载荷下的打滑,还需要考虑加工及装配,需要综合不同工作工况及条件择优设计。文章针对新能源汽车驱动电机壳体与铁心过盈量设计问题,通过理论计算和有限元仿真分析,提出优化设计思路。

Driving force coordinated control of an 8x8 in-wheel motor drive vehicle with tire-road friction coefficient identification

Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electricdrive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and stability of the vehicle,it is crucial to control it and coordinate the driving force.With this aim,this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each wheel.In the proposed control strategy,the road identification module estimates tire-road forces using an unscented Kalman filter al-gorithm and recognizes the road adhesion coefficient by employing the recursive least-square method According to road identification,the optimal sip ratio under the current driving condition is obtainedand a controller based on sliding mode control with a conditional integrator uses this value for accel-eration slip regulation.The anti-slip controller obtains the adjusting torque,which is integrated with the driver-command-based feedforward control torque to implement driving force coordination control.The results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-roadrces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.

A Fuzzy-based Sliding Mode Control Approach for Acceleration Slip Regulation of Battery Electric Vehicle

Due to quick response and large quantity of electric motor torque,the traction wheels of battery electric vehicle are easy to slip during the initial phase of starting.In this paper,a sliding mode control approach of acceleration slip regulation is designed to prevent the slip of the traction wheels.The wheel slip ratio is used as the state variable for the formulation of system dynamics model.The fuzzy algorithm is utilized to adjust the switch function of sliding mode controller.After stability and robustness analysis,the sliding mode control law is transferred into C code and downloaded into vehicle control unit,which is validated under wet and dry road conditions.The experimental results with a small overshoot and a quick response during starting indicate that the sliding mode controller has good control efect on the slip ratio regulation.This article proposes an acceleration slip regulation method that improves the safety during acceleration for battery electric vehicle.

Torque Distribution of Electric Vehicle with Four In-Wheel Motors Based on Road Adhesion Margin

With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving torque of each wheel. Considering the longitudinal motion,lateral motion,yaw movement and rotation of the four wheels,the tire model and the seven DOF dynamic model of the vehicle are established in this paper. Then,the torque distribution method is proposed based on road adhesion margin,which can be divided into anti ? slip control layer and torque distribution layer. The anti?slip control layer is built based on sliding mode variable structure control,whose main function is to avoid the excessive slip of wheels caused by road conditions. The torque distribution layer is responsible for selecting the torque distribution method based on road adhesion margin. The simulation results show that the proposed torque distribution method can ensure the vehicle quickly adapt to current road adhesion conditions,and improve the handling stability and dynamic performance of the vehicle in the driving process.

Fuzzy Sliding Mode Control Based on Longitudinal Force Estimation for Electro-mechanical Braking Systems using BLDC Motor

This paper focuses on the controller design using fuzzy sliding mode control(FSMC)with application to electro-mechanical brake(EMB)systems using BLDC Motor.The EMB controller transmits the control signal to the motor driver to rotate the motor.The torque distribution of motors is studied in this paper actually.Firstly,the model of the EMB system is established.Then the state observer is developed to estimate the vehicle states including the vehicle velocity and longitudinal force.Due to the fact that the EMB system is nonlinear and uncertain,a FSMC strategy based on wheel slip ratio is proposed,where both the normal and emergency braking conditions are taken into account.The equivalent control law of sliding mode controller is designed on the basis of the variation of the front axle and rear axle load during the brake process,while the switching control law is adjusted by the fuzzy corrector.The simulation results illustrate that the FSMC strategy has the superior performance,better adaptability to various types of roads,and shorter braking distance,as compared to PID control and traditional sliding mode control technologies.Finally,the hardware-in-loop(HIL)experimental results have exemplified the validation of the developed methodology.

Modelling of a DNA packaging motor

During the assembly of many viruses, a powerful molecular motor packages the genome into a preassembled capsid. The Bacillus subtilis phage φ29 is an excellent model system to investigate the DNA packaging mechanism because of its highly efficient in vitro DNA packaging activity and the development of a single-molecule packaging assay. Here we make use of structural and biochemical experimental data to build a physical model of DNA packaging by the φ29 DNA packaging motor. Based on the model, various dynamic behaviours such as the packaging rate, pause frequency and slip frequency under different ATP concentrations, ADP concentrations, external loads as well as capsid fillings are studied by using Monte Carlo simulation. Good agreement is obtained between the simulated and available experimental results. Moreover, we make testable predictions that should guide future experiments related to motor function.

Energy Efficient Control of Three-Phase Induction Motor Drive

Induction motors are extensively used in industrial and household appliances and consume more than 50% of the total generated electrical energy. The need for energy conservation is increasing the requirements for saving the electrical energy. It is therefore important to optimize the efficiency of electrical drive systems under certain operating conditions. This paper proposes a new control scheme based on search method taking advantage of the fact, that at a certain torque and speed (operating point) there is only one value of stator voltage that operates the motor at optimum efficiency. Simulation performed and results are presented.

Rotor Design and Finite Element Analysis of Traveling Wave Rotaty Ultrasonic Motor

The dynamic transfer mechanism of the traveling wave rotary ultrasonic motor rotor-stator’ s contact surface is studied in the paper and the key parts stator and cone flexible rotor of ultrasonic motor are designed.The three-dimensional contact model and finite element model considering the radial sliding between the rotor and the stator are established. The relation between the stator surface particle that amplitude frequency characteristics,resonance speed,radial displacement of ultrasonic motor and the tooth height are analyzed. Mass point radial relative displacement of contact surface between the cone flexible rotor,flexible rotor and the stator are contrasted. The cone flexible rotor is better placed on the surface of the stator tooth through its elastic deformation is interpreted. The cone flexible rotor reduces the radial slip between the stator and the output efficiency of ultrasonic motor is improved. The displacement trajectory of the stator surface is synthesized in a row wave cycle. The method of the stator mass point elliptical motion drives the rotor rotation is verified.

直观理解异步机矩差特性

利用电磁转矩的物理表达式T_(em)=C_(T)Φ_(m)I_(2a),把T_(em)-s等价为I_(2a)-s,对异步机复杂的矩差特性T_(em)-s进行了基于一些定义(功率因数,有功电流等)、定律(欧姆定律,最大功率传输定律等)的直观理解。详细提要请见本文的结语。

抽油机井智能控制技术节能效果分析

针对大王庄油田部分供液不足的抽油机井人工调参工作量大、能耗高、配套的超高转差率电动机只能在固定功率下运行、功率利用率低的问题,通过开展抽油机井智能控制技术研究,实现在产量不下降的前提下,自动调节冲次与电动机转矩,达到供采平衡、电动机转矩与负载合理匹配,该技术应用后抽油机电动机有功功率、无功功率下降明显,功率因数显著提升,综合节电率达20.52%,系统效率提高3.94%,取得了良好的综合经济效益,同时,该技术兼具软启动、安装操作方便、过载保护、缺相保护等优点,可实现全自动控制、无人值守、远程控制,具有广泛的推广价值和应用前景。

基于VSG及内模-滑模的MMC控制策略研究

风力发电并网系统的模块化多电平换流器具有零阻尼惯性,负荷突变及网侧故障都可能导致系统频率发生较大偏差,易产生冲击电流及能量堆积。文章提出基于虚拟同步发电机的内模-滑模MMC控制策略。在虚拟同步发电机中增加基于内模控制的滑模控制器,使模块化多电平换流器具有同步发电机一次调频外特性,并提升系统鲁棒性。通过Matlab/Simulink仿真模块搭建模块化多电平换流器并网模型,验证控制策略的正确性与有效性。仿真结果表明,控制策略能在系统发生负荷突变及网侧故障时提供频率支撑,有效抑制系统电流、功率的波动,减小对系统的冲击,提升运行稳定性。

压电粘滑旋转电机的设计

该文提出了一种结构简单紧凑的压电粘滑旋转电机。通过一个力偶式机构设计了定子,并在此基础上设计出双定子压电粘滑旋转电机,提升了电机结构的紧凑性。通过在典型锯齿波上改造而成的一种异步驱动方式,使电机能够实现“增粘减滑”。建立了电机机电-摩擦耦合动力学模型,制作出电机的样机并进行相应的实验。实验结果表明,电机输出位移曲线显示出良好的步进特性,当驱动电压幅值为150 V、频率为900 Hz时,电机输出的最大单步转角、转速分别为125μrad和6.3(°)/s,最大可承负载为30 g。

某型伺服电机轴承异响研究

针对某型伺服电机在试制过程中出现的噪声异常问题。测试对比了异常与正常样机的噪声振动及轴系模态频率。结果表明,异常样机存在明显的分数倍频噪声振动峰值,且轴系轴向模态频率较正常样机明显偏低,分析判断是轴承外圈跑圈导致,经样机拆解得到进一步确认。通过轴承装配工艺的改进,解决了该异常噪声问题。

放射性环境下废物桶无损检测设备的设计

废物桶无损检测设备是核废物产生单位必须配备的重要设备。废物桶无损检测设备的设计应基于核电厂对该设备的技术要求,并可适应工程环境。针对以上要求,通过对设备运行要求的分析,从放射性环境适应性、运输功能可靠性、长距离控制可靠性和经济性角度出发,分别对编码器、伺服电机、电源、导电滑环和电抗器的设计进行了详细介绍。此外,对废物桶无损检测设备智能化设计进行了展望,创新性地利用机器学习和机器视觉的方法解决目前存在的问题。该设计对废物桶无损检测设备的工程设计工作具有一定的指导意义,同时为核电厂机电设备的工程设计提供借鉴。

长沙地铁牵引电机轴承跑圈故障分析及改进

针对长沙地铁电客车三相鼠笼式异步牵引电机轴承跑圈故障,通过对电机进行解体检查和测量相关尺寸数据,分析了故障原因,并据此制定了相应的整改及预防措施,避免了类似故障的发生。