Performance evaluation of traveling wave ultrasonic motor based on a model with visco-elastic friction layer on stator

A new visco-elastic contact model of traveling wave ultrasonic motor (TWUSM) is proposed. In this model, the rotor is assumed to be rigid body and the friction material on stator teeth surface to be visco-elastic body. Both load characteristics of TWUSM, such as rotation speed, torque and efficiency, and effects of interface parameters between stator and rotor on output characteristic of TWUSM can be calculated and simulated numerically by using MATLAB method based on this model. This model is compared with that one of compliant slider and rigid stator. The results show that this model can obtain bigger stall torque. The simulated results are compared with test results, and found that their load characteristics have good agreement.     

An electric contact method to measure contact state between stator and rotor in a traveling wave ultrasonic motor

Performances of ultrasonic motor (USM) depend considerably on contact state between stator and rotor. To measure the contact state in a traveling wave ultrasonic motor (TWUSM), a special test method is necessary. This paper develops a new method named electric contact method to measure contact state of stator and rotor in traveling wave type USM. The effects of pre-load and exciting voltage (amplitude) of stator on contact state between stator and rotor are studied with this method. By a simulating tester of friction properties of TWUSM, the variations of stalling torque and no-load speed against the pre-load and the exciting voltage have been measured. The relative contact length that describes the contact characteristic of stator and rotor is proposed. The relation between the properties of TWUSM and the contact state of stator and rotor are presented. Additionally, according to a theoretical contact model of stator and rotor in TWUSM, the contact lengths at given conditions are calculated and compared with the experimental results.     

热超声键合换能系统动力学特性的非线性检验

根据实际超声换能系统的振动测试，提出了热超声键合换能系统动力学特性的非线性检验方法，利用基于相空间重构的替代数据法，通过对换能杆末端的实测数据进行正确替代，并用非线性动力学的理论来检验其是否具有非线性.通过实验对超声换能杆末端轴向、俯仰、横向的振动时间序列的关联维数进行了准确的计算，从而清晰地描述了上述三个方向的动力学特性.所提出的方法有利于更好地认识超声键合换能系统，为建立更加合理的非线性动力学模型奠定良好的理论基础，有很好的应用价值. 关键词： 超声键合 时间序列 相位随机化 替代数据     

Thin-disc piezoceramic ultrasonic motor. Part II: system construction and control

Design and performance evaluation of an ultrasonic motor was discussed in [Wen et al., Thin-disc piezoelectric ultrasonic motor. Part I: design and performance evaluation, Ultrasonics]. Higher precision position control of piezoceramic ultrasonic motor depends on mechanical design and servo control of a very precise and adequate metrology. This paper proposes the design of a driving circuit and controller to deal with non-linearities behavior in the model of piezoceramic-driving ultrasonic motor. The performance of the driver and the effectiveness of the proposed controller are demonstrated by command inputs of sinusoidal and step signals. For comparison purpose, the ultrasonic motor is controlled using two methods: i.e., proportional-integral-derivative (PID) and sliding-mode control (SMC). It was proven that SMC would compensate automatically for unmodeled behaviors such as piezoceramic non-linearities and mechanical stick-slip phenomena. Furthermore, SMC scheme has been successfully applied to position tracking to demonstrate the excellent robust performance in noise rejection.     

Ultrasonic actuators for nanometre positioning

This paper deals with ultrasonic motors based on bimodal plate vibrations and their application to nanometre resolution stepper positioning systems. The concept of a linear ultrasonic motor drive capable of nanometric steps, long-range travel and reversible controlled motion is presented. The motor concept developed is based on the superposition of a longitudinal and bending vibrations of a rectangular resonator. The ultrasonic motor model based on system identification via discrete observations and prediction has been developed for control applications. The control algorithm for ultrasonic motors has been developed and theoretical investigations have been made. The open loop positioning system with designed stepper ultrasonic drive produced 10 nm resolution and 5% displacement repeatability. The system with computer controlled position feedback has shown 0.3 micron positioning accuracy over the 100 mm positioning range.     

光谱数据对油页岩含油率近红外光谱分析PLS建模精度的影响

目前油页岩关键的评价参数——含油率的检测方法均无法实现原位测量,无法满足油页岩资源的勘查和开采中样品检测的要求。便携式近红外光谱分析技术,为实现油页岩含油率的原位检测提供了可能性。由于光谱数据的不同形式与样品的成分含量值之间有不同的相关关系,样品不同成分的吸收特性表现在不同的近红外波段上,因此利用合成样品,针对反射率、吸光度、K-M函数等三种不同的光谱数据表示形式和四种不同的建模区间,研究它们对油页岩含油率PLS模型精度的影响情况。结果表明：对于合成样品,进行PLS建模的最佳光谱数据形式是反射率,最佳建模区间是组合特征区间,即适当的光谱数据形式及建模区间可提高模型的精度。     

Modeling and experimental analysis of the linear ultrasonic motor with in-plane bending and longitudinal mode

A novel linear ultrasonic motor based on in-plane longitudinal and bending mode vibration is presented in this paper. The stator of the motor is composed of a metal plate and eight piezoelectric ceramic patches. There are four long holes in the plate, designed for consideration of the longitudinal and bending mode coupling. The corresponding model is developed to optimize the mechanical and electrical coupling of the stator, which causes an ellipse motion at the contact tip of the stator when the composite vibrations with longitudinal and bending are excited. Its harmonic and transient responses are simulated and inspected. A prototype based on the model is fabricated and used to conduct experiments. Results show that the amplitude of the stator’s contact tips is significantly increased, which helps to amplify the driving force and speed of the motor. It is therefore feasible to implement effective linear movement using the developed prototype.     

Prediction of concrete strength using ultrasonic pulse velocity and artificial neural networks

Ultrasonic pulse velocity technique is one of the most popular non-destructive techniques used in the assessment of concrete properties. However, it is very difficult to accurately evaluate the concrete compressive strength with this method since the ultrasonic pulse velocity values are affected by a number of factors, which do not necessarily influence the concrete compressive strength in the same way or to the same extent. This paper deals with the analysis of such factors on the velocity-strength relationship. The relationship between ultrasonic pulse velocity, static and dynamic Young’s modulus and shear modulus was also analyzed. The influence of aggregate, initial concrete temperature, type of cement, environmental temperature, and w/c ratio was determined by our own experiments. Based on the experimental results, a numerical model was established within the Matlab programming environment. The multi-layer feed-forward neural network was used for this purpose. The paper demonstrates that artificial neural networks can be successfully used in modelling the velocity-strength relationship. This model enables us to easily and reliably estimate the compressive strength of concrete by using only the ultrasonic pulse velocity value and some mix parameters of concrete.     

Finite element model updating of a rod-type ultrasonicmotor based on response surface method

The conventional finite element model(FEM) of a rod-type ultrasonic motor is usually simplified by means of continuous composite structure. Because the actual contact characteristics between the parts of the ultrasonic motor is ignored, there is bigger error between the calculated values and experimental results. Aiming at solving problem, a new modeling method of a rod-type ultrasonic motor is presented to obtain a high-accuracy FEM. The bolt pretension and the normal contact stiffness and friction coefficient of the contact surface of ultrasonic motor are all considered in this method, and the significant parameters of working mode of the motor are selected by the response surface method, and the goal of calculating the structural response rapidly is realized by building the response surface model to replace the FEM. The result of finite element model updating shows that the average error of modal frequencies of updated model drops to 0.21% from 1.20%. The accuracy of FEM is obviously improved, which indicates that the FEM updating based on response surface method is of great application value on the design for a rod-type ultrasonic motor.     

人工鱼群算法在单轴旋转惯导系统轴向陀螺漂移辨识中的应用

在惯性导航系统中,采用单轴旋转技术可以调制垂直于旋转轴方向上的惯性器件误差,而对沿旋转轴方向的误差没有抑制作用,因此旋转轴方向上激光陀螺漂移成为影响惯性导航系统精度的主要因素之一。为精确地辨识旋转轴方向上激光陀螺漂移,提高激光陀螺单轴旋转惯导系统的精度,利用人工鱼群算法AFSA（artificial fish swarm algorithm）建立了单轴旋转惯导系统轴向陀螺漂移辨识模型,给出了AFSA 辨识的详细步骤和方法。实验结果表明:AFSA可以对轴向激光陀螺漂移进行精确建模,补偿后的激光陀螺零偏不稳定性达到0.000 4 /h。     

Stiffness matrix invariants to validate the characterization of composite materials with ultrasonic methods

This paper presents a method of testing the ultrasonic measurements of the stiffness matrix, and the identification of the anisotropic behaviour, of composite materials. Some linear combinations of elastic constants are invariants for a rotation around an axis of symmetry. If the stacking sequence is the only parameter which changes in a set of long-fibre composites made of the superimposition of plies, the composites must own these invariants. So, PEEK-carbon fibre composite samples were constructed in this way to measure their elastic properties by immersion and contact ultrasonic methods, and to compare the results with predicted invariants. By changing the stacking sequence of plies three anisotropic models are tested: orthotropic, hexagonal and quadratic. Measurements of ultrasonic velocities in various planes of propagation permit the identification of the elastic constant and invariants. From the invariance of these linear combinations, the precision of the three-dimensional effective moduli can be estimated.     

利用近红外及中红外融合技术对小麦产地和烘干程度的同时鉴别

小麦是制作馒头的主要原料之一,小麦中水、蛋白质、淀粉会因产地以及烘干程度的差异而不同,进而影响到加工成馒头的品质。所以实现对小麦产地和烘干程度的快速鉴别就显得尤为重要。感官评定是鉴别小麦产地和烘干程度常用的方法,对比感官评定,光谱分析可以识别样品中的分子结构等信息。基于此,尝试利用近红外和中红外光谱融合技术实现对不同产地和不同烘干程度的小麦同时鉴别。首先选取了两个不同产地的小麦,再利用微波干燥法对两个不同产地的小麦做烘干预处理,使烘干的小麦水含量为12%±0.5%,原麦水含量为18%±0.5%。分别标记为原麦A,烘干A,原麦B,烘干B,再将小麦研磨成粉末,过100目筛网筛选后,置于自封袋中备用。随后分别采集四种小麦样品的近红外和中红外光谱信息,在Matlab 7.10的环境下使用标准正态变量变换(standard normal variable transformation, SNVT)对采集到的原始光谱数据进行预处理,利用主成分分析对预处理后的数据进行降维处理,再结合线性判别分析（linear discriminant analysis,LDA）和支持向量机（support vector machine, SVM）分别建立小麦近红外、中红外光谱数据识别模型。另外利用联合区间偏最小二乘法（synergy interval partial least square, SiPLS）筛选出利用标准正态变量变换(SNVT)预处理后的小麦近红外和中红外光谱数据特征光谱区间,将筛选出的近红外和中红外光谱数据特征光谱区间融合后再结合线性判别分析（LDA）和支持向量机（SVM）建立小麦融合光谱信息的识别模型。然后比较同种光谱数据下利用线性判别分析（LDA）和支持向量机（SVM）建立的小麦识别模型识别率、比较同种建模方法下近红外和中红外光谱数据建立小麦识别模型识别率、比较同种建模方法下光谱数据融合和单一光谱数据建立小麦识别模型识别率。结果表明,同种光谱分析方法,利用SVM建立的四种小麦识别模型识别率高于利用LDA建立的小麦识别模型识别率。同种建模方法,近红外光谱数据建立的小麦识别模型识别率优于中红外光谱数据建立的小麦识别模型识别率。而在同种建模方法下,利用SiPLS筛选出近红外和中红外光谱数据的特征光谱区间数据融合后建立小麦识别模型识别率最高,光谱数据融合后结合LDA建立的小麦识别模型校正集识别率为98.75%,预测集识别率为97.50%;而将此选择的变量结合SVM建立的小麦识别模型的校正集和预测集识别率都达到100.0%。对比利用单一光谱数据建立的小麦识别模型识别率,光谱数据融合之后建立的小麦识别模型识别率得到显著提高,该研究从纵向和横向上全面地比较了光谱数据建立的小麦模型识别率,结果可为更准确地运用光谱融合技术建立小麦产地以及烘干程度识别模型提供参考。     

基于CFD的射流抛光喷射距离的分析和优化

分析了喷射距离对射流抛光效果的影响,基于计算流体动力学进行了喷射距离的分析和优化.通过构建射流抛光不同喷射距离的物理模型,采用能更好地处理流线弯曲程度较大的流动的RNG k-ε紊流模型应用于射流抛光的数学建模,使用SIMPLEC算法对射流模型进行数值计算,得到了不同模型的射流抛光冲击射流流场及工件壁面上的冲击压力、紊动强度、壁流速度分布.根据射流抛光对冲击射流特性的要求,比较和分析不同喷距模型的数值仿真结果,结果显示,射流抛光最优化喷距范围为喷嘴口径的10倍至12倍之间.     

Criticism of generally accepted fundamentals and methodologies of traffic and transportation theory: A brief review

It is explained why the set of the fundamental empirical features of traffic breakdown (a transition from free flow to congested traffic) should be the empirical basis for any traffic and transportation theory that can be reliably used for control and optimization in traffic networks. It is shown that the generally accepted fundamentals and methodologies of the traffic and transportation theory are not consistent with the set of the fundamental empirical features of traffic breakdown at a highway bottleneck. To these fundamentals and methodologies of the traffic and transportation theory belong (i) Lighthill–Whitham–Richards (LWR) theory, (ii) the General Motors (GM) model class (for example, Herman, Gazis et al. GM model, Gipps’s model, Payne’s model, Newell’s optimal velocity (OV) model, Wiedemann’s model, Bando et al. OV model, Treiber’s IDM, Krauß’s model), (iii) the understanding of highway capacity as a particular (fixed or stochastic) value, and (iv) principles for traffic and transportation network optimization and control (for example, Wardrop’s user equilibrium (UE) and system optimum (SO) principles). Alternatively to these generally accepted fundamentals and methodologies of the traffic and transportation theory, we discuss the three-phase traffic theory as the basis for traffic flow modeling as well as briefly consider the network breakdown minimization (BM) principle for the optimization of traffic and transportation networks with road bottlenecks.     

参数不确定永磁同步电机混沌的模糊控制

通过Takagi-Sugen控制技术,建立了参数不确定永磁同步电机的Takagi-Sugen模糊控制模型,然后利用矩阵分析和Lyapunov稳定性理论,得到了参数不确定永磁同步电机渐进稳定的充分条件,最后通过实例证实了结果的正确性,相比传统的模糊控制方法,基于Takagi-Sugen模型的模糊控制方法具有一定的优越性. 关键词： 混沌控制 Takagi-Sugen模型 模糊控制 永磁同步电机     

Fuzzy auto-tuning PID control of multiple joint robot driven by ultrasonic motors

A three-joint robot is directly driven by ultrasonic motors with advantage of high torque at low speed. The speed of the ultrasonic motors is actually controlled by regulating their operating frequencies. The kinematic and kinetic analyses of the robot have been carried out using Adams. Due to the lack of accurate control model of ultrasonic motors and the time-varying motor parameters, a fuzzy auto-tuning proportional integral derivative (PID) controller for the robot is experimented, in which a simple method to tune parameters of the PID type fuzzy controller on-line is developed and a new position–speed feedback strategy is proposed and implemented. The effectiveness of the proposed control strategy and fuzzy logic controller is verified by experimental investigation.     

PROSPECT模型的特征波长优化与作物叶绿素含量检测

叶绿素是作物生长诊断的重要参数,对其进行高效检测是农田精细化管理的基础。PROSPECT模型是作物光谱学检测研究的重要工具,可为建立高精度叶绿素诊断模型提供数据集基础。为了建立具有普适性的田间玉米作物叶绿素含量检测模型,使用PROSPECT模型输入叶片结构参数和生化参数模拟叶片400～2 500 nm波段反射率曲线10 650条。在其他参数设置保持不变的情况下,分析光谱反射率曲线对叶绿素含量参数的敏感性,结果显示叶绿素含量仅在400～780 nm区间对光谱反射率曲线产生影响。讨论了3种叶绿素检测特征波长筛选策略,分别为：根据敏感性分析结果,选出548～610和694～706 nm区域共计76个波长,记为SEN-BAND;基于反向区间偏最小二乘法（Bi-PLS）筛选5个区间共计91个波长,记为BP-BAND;基于连续投影算法（SPA）,在叶绿素影响区域400～780 nm筛选10个特征波长,记为SPA-BAND。进而使用2019年、2020年两年期田间实测玉米叶片光谱反射率曲线和叶绿素含量数据,分别应用上述3种方法选取的特征波长构建玉米叶片叶绿素含量检测模型。结果显示,使用SPA-BAND特征波长构建的模型,在两年期数据中均得到最佳结果。2019年数据模型建模集决定系数（R2_c）为0.815 6,建模集均方根误差RMSEC为2.908 6,验证集决定系数（R2_v）为0.799 5,验证集均方根误差RMSEV为2.997 7。2020年数据模型建模集决定系数（R2_c）为0.949 2,建模集均方根误差RMSEC为0.976 8,验证集决定系数（R2_v）为0.910 2,验证集均方根误差RMSEV为1.562 9。表明,基于PROSPECT模型筛选叶绿素含量特征波长建立的叶绿素诊断模型具有普适性。     

月球激光测距中的关键物理与技术问题

根据国际上公开发表利用的1969—1972年美国Apollo 11、14、15宇航员放置在月球上的三个角反射器以及1970—1971年苏联无人登月车放置的两个角反射器进行的月球激光测距的论文和技术文献,讨论了月球激光测距中的几个关键物理和技术问题,主要包括:1)角反射器阵列指向与其月面位置的精确定位;2)角反射器激光回波信号的确认;3)接收信号强度与信噪比;4)测距结果的精度;5)满月时为什么不适于测距;6)地球大气对激光测月及其精度的影响。现有技术文献对一些关键的技术细节描述尚不完备,判定接收信号来自角反射器对激光的反射缺乏直接的物理证据,现在声称的距离测量精度与激光本身特性的关系尚需进一步分析。     

一种线性速度估计器在光电跟踪系统伺服控制中的应用

高性能的伺服控制除了需要高质量的控制器,还需要高质量的反馈信息。对于光电跟踪系统,通过位置和电流传感器可以提供位置和电流信息,而速度信息则需要通过处理测量信息得到。传统的差分方法会放大位置信息中的量化噪声,从而降低光电跟踪系统的精度。介绍了全维状态观测器及其基本原理,结合伺服控制系统电机模型架构,设计了一种线性速度估计器,并讨论了其参数选择问题。采用抗积分饱和PI控制器和积分分离PI控制器作为三环控制回路的控制器,在某型号光电跟踪系统对该算法进行了实验。实验结果证明,采用该算法的伺服控制系统基本无超调,上升时间0．43s,稳定时间0．65s,跟踪精度为1．78″,完全满足实际工程要求。     

Effect of the ultrasonic emitter on the distortion performance of the parametric array loudspeaker

The parametric array loudspeaker (PAL) is a type of directional loudspeaker that utilizes the nonlinear acoustic effect to create the audible sound in an ultrasonic beam. Due to this unusual sound principle, it is inevitable that nonlinear distortion is incurred in the sound transmission of the PAL. Numerous modulation methods aiming to reduce the nonlinear distortion have been developed on the basis of the Berktay’s far-field solution, but they often perform in an unexpected manner. The degraded practical performance has been credited to the inaccuracy of the Berktay’s far-field solution. In this paper, we demonstrate the effect of the ultrasonic emitter on the distortion performance of the PAL and suggest that the Berktay’s far-field solution remains to be a good model equation.