渤、黄、东海二维潮汐模式底摩擦系数的反演研究

一种新的底摩擦系数处理方法是假定底摩擦系数具有空间分布特征,即在海区中选取一些点作为独立底摩擦系数,计算区域中任意点的底摩擦系数都可由这些独立底摩擦系数通过线性插值得到。采用伴随同化方法对空间分布底摩擦系数的研究表明,与传统的底摩擦系数处理方法相比,空间分布的底摩擦系数模拟精度更高。探讨了根据地形的空间分布特征选取独立底摩擦系数的做法,所做的孪生实验和实际实验均表明,与均匀选取的结果相比,在独立变量个数减少三分之一的情况下,数值模拟的精度反而得以提高。得到的渤、黄、东海底摩擦系数分布表明,东海等深水区及地形复杂的区域底摩擦系数比较大。     

渤、黄海的底摩擦系数

利用伴随法，根据32个验潮站的水位观测资料来优化渤、黄海的底摩擦系数．所作的一系列数值模拟实验表明；利用伴随方法优化渤、黄海的底摩擦系数能够有效地减少数值模拟结果与观测结果的差异．     

考虑接触界面材料微观结构与势能参数的滑动摩擦计算研究

根据独立振子模型的能量耗散机理,提出了在无磨损界面摩擦中,利用通用界面粘附能量函数计算滑动时接触界面势能的变化从而计算摩擦力和摩擦系数的方法,建立摩擦力和摩擦系数与金属材料表面能与微观结构参数的关系,并利用已有的实验数据进行计算.结果表明,摩擦力与金属材料的表面能基本呈线性关系,与比例参数呈线性负相关关系,与晶格常数基本无关.计算结果与粘附理论公式以及超高真空原子力显微镜试验结果吻合较好.     

盘式制动器摩擦界面接触压力分布研究

在考虑具有可变效应的移动热源影响、制动盘与片的弹性影响以及界面摩擦热流影响等的耦合作用下,建立了一个三维瞬态盘式制动器热-结构耦合模型,利用大型有限元软件ANSYS的非线性多场耦合分析方法,分别数值模拟了不同状态下的制动器摩擦接触界面上的压力场分布情况.发现制动接触压力并非均匀分布,而是与制动盘和片的变形、摩擦力以及摩擦热-结构耦合有关.     

考虑股线接触与摩擦行为的710 mm2碳纤维复合芯导线(ACCC)股线损伤分析

利用扫描电镜观察710 mm~2碳纤维复合芯导线(ACCC)过滑车试验后股线的磨损形貌,分析滑车底径对股线损伤的影响及股线损伤机制.同时,考虑股线间的接触与摩擦行为,建立导线全尺寸模型进行导线过滑车非线性动力学有限元分析.试验结果表明:导线过滑车后股线出现塑性变形与磨损,在股线表面初始磨损处以黏着磨损的形式扩展,且股线损伤随滑车底径的增大有所改善;数值分析表明:股线等效塑性应变与摩擦能量损耗开始于导线过滑车时的弯曲过程,且随滑车底径增大而减小,股线损伤的模拟结果与试验情况吻合.在此基础上,研究股线间摩擦系数对股线损伤影响,得到股线损伤随摩擦系数的减小而减小.研究初步认为滑车底径为30倍导线直径时股线损伤在可接受范围内.     

大气环境空间用铜基摩擦材料摩擦学行为及可靠性寿命研究

本文中采用自主开发的空间摩擦试验机,模拟空间用摩擦副大负荷服役条件(400 N)进行摩擦循环试验,考察了大气环境下空间用铜基粉末冶金摩擦材料的摩擦磨损特性,探讨了摩擦副的可靠性寿命并揭示了其摩擦磨损机理.研究结果表明:摩擦副在模拟大负荷摩擦循环试验中,可划成三个阶段:第一阶段属可靠性使用阶段,摩擦系数合适而稳定,磨损机理以磨粒磨损和氧化磨损为主;第二阶段,摩擦特性发生失稳,摩擦系数周期性变化,磨损机理以氧化磨损为主,接触疲劳磨损为辅;第三阶段,摩擦系数波动较大,磨损机理转变为严重的接触疲劳磨损和氧化磨损,材料失效.     

机器人关节非线性摩擦模型关键参数反求

机器人关节非线性摩擦的准确描述对提高机器人轨迹精度、定位精度及其可靠性等具有重要理论意义和科学价值. 然而, 机器人关节通常包含电机、减速器、驱动器和传感器, 是一个复杂的机电耦合系统, 随服役时间及工况的变化, 机器人关节的摩擦参数也存在显著时变效应, 难以准确描述, 造成轨迹精度下降, 为机器人后期精度维护造成巨大困难. 因此, 本文定量评价了摩擦参数对机器人输出力矩的影响, 提出考虑时变效应的机器人关节非线性摩擦参数反求方法. 首先, 建立机器人关节一般非线性摩擦模型. 设计机器人关节恒速跟踪实验, 通过卡尔曼滤波对实验采集的数据进行处理, 进而建立关节速度和驱动电机电流之间的关系, 完成关节一般非线性摩擦模型建立. 其次, 择取非线性摩擦模型关键参数. 建立包含非线性摩擦的机器人动力学模型, 基于激励轨迹计算各关节力矩, 并对其开展灵敏度分析, 择取对关节力矩灵敏性较高的摩擦参数. 再次, 建立关节输出力矩和摩擦参数一一对应的数据集. 基于实际工况构建摩擦参数取值空间, 采用最优拉丁超立方法对摩擦参数采样, 并将其代入机器人动力学模型计算出相应的力矩, 从而求得关节输出力矩和摩擦参数一一对应的数据集. 最后, 建立反问题神经网络并对其进行训练, 实现非线性摩擦模型关键参数反求, 并进行验证. 研究结果表明关节非线性摩擦的准确描述减小了机器人低速运动换向时摩擦力矩突变对机器人轨迹的影响, 显著提升了机器人轨迹精度.      

大跨度铁路斜拉桥车桥耦合振动非线性分析

大跨度铁路斜拉桥在车辆通过时,可能发生较大的变形,致使结构几何非线性效应变得显著.针对大跨度斜拉桥的几何非线性特征及铁路桥的特点,建立了结构空间动力分析模型.以广西红水河铁路斜拉桥和主跨300米双线铁路斜拉桥方案为例,模拟机车过桥的全过程,计算了斜拉桥的车桥耦合振动响应,分析了各种因素对桥梁动力响应的影响.结果表明,对于大跨度铁路斜拉桥,非线性分析结果与线性分析结果相比,具有明显差别.在大跨度铁路斜拉桥车桥耦合振动分析中,考虑结构几何非线性效应是必要的.     

压-剪混合型定常扩展裂纹尖端的弹黏塑性场

假定黏性系数与塑性等效应变率的幂次成反比，考虑其黏性和裂纹面摩擦接触效应 建立了压-剪混合型定常扩展裂纹尖端弹黏塑性场的渐近方程，求得了裂纹尖端场不含应力、应变间 断的数值解. 并讨论了压-剪混合型裂纹数值解随各个参数的变化规律，计算结果 和分析表明，压-剪混合型裂纹尖端场是满塑性的，不含有弹性卸载区，黏性效应是研究扩展裂纹尖端场时的一个重要因素. 无论混合裂纹趋近I型还是趋近II型，静水压力随摩擦系数的增加都是增加的,裂纹面摩擦 效应是阻止裂纹扩展速度的因素，且摩擦作用越强，裂纹尖端场的韧性越高.     

表面形貌变形对塑性成形滑动接触界面摩擦的影响

为了更好地理解塑性成形滑动接触界面的摩擦行为,构建了一种新型的摩擦试验装置,运用表面纹理化技术制备了两类表面形貌的1050铝材试件,在不同的接触压力和滑动速度条件下进行一系列拉伸摩擦试验.对试验前后试件三维表面形貌进行了测量;提取真实接触面积比、封闭空体面积比和开放空体面积比等三维表面参数,来描述试件表面形貌的变化.试验发现:摩擦系数随名义接触压力和滑动速度增加而逐渐减小;试件初始表面形貌对摩擦有明显的影响;试件表面形貌和参数随接触条件出现了规律性变化.基于机械流变模型的分析表明:随着试件表面形貌变形,不同的机理决定界面摩擦行为,摩擦系数对名义接触压力和滑动速度的依赖性可分别归因于微观塑性流体动压润滑效应和入口区流体动压牵引效应.     

Parameter estimation for a three‐dimensional numerical barotropic tidal model with adjoint method

The parameters of a three‐dimensional (3‐D) barotropic tidal model are estimated using the adjoint method. The mode splitting technique is employed in both forward and adjoint models. In the external mode, the alternating direction implicit method is used to discretize the two‐dimensional depth‐averaged equations and a semi‐implicit scheme is used for the 3‐D internal mode computations. In this model the bottom friction is expressed in terms of bottom velocity which is different from the previous works. Besides, the bottom friction coefficients (BFCs) are supposed to be spatially varying, i.e. the BFC at some grid points are selected as the independent BFC, while the BFC at the other grid points can be obtained through linear interpolation with these independent BFCs. On the basis of the simulation of M₂ tide in the Bohai and North Yellow Seas (BNYS), twin experiments are carried out to invert the prescribed distributions of model parameters. The parameters inverted are the Fourier coefficients of open boundary conditions (OBCs), the BFC and the vertical eddy viscosity profiles. In these twin experiments, the real topography of BNYS is installed. The ‘observations’ are produced by the tidal model and recorded at the position of TOPEX/Poseidon altimeter data, tidal gauge data and current data. The experiments discuss the influence of initial guesses, model errors and data number. The inversion has obtained satisfactory results and the prescribed distributions have been successfully inverted. The results indicate that the inversion of BFC is more sensitive to data error than that of OBC and the vertical eddy viscosity profiles. Copyright © 2007 John Wiley & Sons, Ltd.     

The asymmetric Ekman decay of cyclonic and anticyclonic vortices

Recent studies have shown differences in the behaviour of cyclonic and anticyclonic quasi-two-dimensional vortices in laboratory experiments in a rotating fluid. In this paper, the role of dissipative effects due to bottom topography is investigated as a possible cause for the asymmetry in the spin-down of both types of vortices. The basic mechanism of Ekman friction in 2D mathematical models is the presence of a linear damping term in the vorticity equation, which produces the flow decay. Here, an extended 2D formulation including nonlinear Ekman corrections is considered. The aim is to show that nonlinear Ekman effects are responsible for the different decay of cyclonic and anticyclonic vortices, while the conventional formulation (only containing the linear friction term) predicts a symmetric decay for both cases.In order to illustrate the role of nonlinear Ekman effects, axisymmetric vortices are simulated numerically. The relatively simple structure of such vortices allows a better understanding of their evolution. The main difference in the spin-down process of cyclones and anticyclones is the decay rate, which is faster for cyclonic motion. Furthermore, it is shown that the basic mechanism for such a difference is the outward advection of fluid in cyclones and inward in anticyclones, both effects due to Ekman pumping and suction, respectively. The results derived here intend to provide a physical interpretation which could be applied for more general, non-axisymmetric structures.     

Effect of the Ekman boundary layer on the evolution of vortex formations

In numerical calculations of vortex evolution the effect of nonlinear terms related with the parametrization of the Ekman bottom boundary layer in the barotropic vortex equation is demonstrated. It is shown that taking these terms into account can lead to the coalescence of mesovortices formed as a result of the barotropic-instability-induced breakdown of an annular vortex, as distinct from the conventional parametrization of the bottom friction by a linear term, when a symmetric system of mesovortices, or the so-named vortex crystal, is formed.     

A three‐dimensional numerical internal tidal model involving adjoint method

A three‐dimensional internal tidal model involving the adjoint method is constructed based on the nonlinear, time‐dependent, free‐surface hydrodynamic equations in spherical coordinates horizontally, and isopycnic coordinates vertically, subject to the hydrostatic approximations. This model consists of two submodels: the forward model is used for the simulation of internal tides, while the adjoint model is used for optimization of modal parameters. Mode splitting technique is employed in both forward and adjoint models. In this model, the adjoint method is employed to estimate model parameters by assimilating the interior observations. As a preliminary feasibility study, a set of ideal experiments with the model‐generated pseudo‐observations of surface currents are performed to invert the open boundary conditions (OBCs). In the ideal experiments, 14 kinds of bottom topographies and six kinds of predetermined distributions of OBCs are considered to examine their influence on experiment results. The inversion obtained satisfying results and all the predetermined distributions were successfully inverted. Analysis of results suggests the following: in the case where the spatial variation of the OBC distribution is great or the open boundary is close to a rough topography, the results will be comparatively poor, but still satisfactory; both the tidal elevations and currents can be simulated very accurately with the surface currents at several observation points; the assimilation precision could be reliable and able to reflect both of the inversion and simulation results in the whole field. The performance and results of ideal experiments give a preliminary indication that the construction of this model is successful. Copyright © 2011 John Wiley & Sons, Ltd.     

Transition process in a fluid layer in a rotating paraboloid in response to a sudden change in its angular velocity

The process of establishment of the rigid-body rotation state in a liquid layer in a rotating paraboloid upon a sudden increase in its angular velocity is studied theoretically and experimentally. The theoretical study is performed within the framework of linear shallow-water theory with account for the bottom Ekman friction. Analytical solutions describing the transition process are obtained and the dependence of the establishment time on the liquid depth and the radius of curvature of the paraboloid is investigated. It is shown that the effect of free surface deformation may lead to a significant increase in the establishment time. Good agreement with the results of special laboratory experiments is found.     

Model of two-dimensional vortex motion with an entrainment mechanism

A model for describing the vertically averaged vortex motions of an incompressible viscous fluid with an arbitrary vertical structure of the bottom Ekman boundary layer is proposed. An approach similar to that adopted in [1] is used: the second moments of the deviations from the average velocities required in order to close the vorticity equation are calculated by means of the Ekman solution for gradient flows, which makes it possible to take the integral bottom boundary layer effect into account. As a result, these terms lead to a specific form of nonlinear friction with a coefficient that depends on the vorticity of the average flow. In the particular case of a constant vertical turbulent transfer coefficient the inaccuracies of the model described in [1] can be eliminated. The generalized vorticity equation obtained has solutions of the vorticity spot type with a uniform internal vorticity distribution, which can be effectively investigated by means of appropriate algorithms [2]. The mechanism of entrainment at the vorticity front is illustrated with reference to the example of the evolution of vorticity spots. An exact solution of the problem of the evolution of an elliptic vortex (generalized Kirchhoff vortex), which in the case of fairly strong anticyclonic vorticity degenerates first into a line segment (vortex sheet) and then into a point vortex, is constructed. Equations describing the dynamics of an elliptic vorticity spot in an external field with a linear dependence of the velocity on the horizontal coordinates and generalizing the classical Chaplygin-Kida model [3, 4] are constructed.Translated from Izvestiya Rossiiskoi Akademii Nauk, Mekhanika Zhidkosti i Gaza, No.6, pp. 49–56, November–December, 1992.     

Improving microwave brightness temperature predictions based on Bayesian model averaging ensemble approach

The choices of the parameterizations for each component in a microwave emission model have significant effects on the quality of brightness temperature (T _b) simulation. How to reduce the uncertainty in the T _b simulation is investigated by adopting a statistical post-processing procedure with the Bayesian model averaging (BMA) ensemble approach. The simulations by the community microwave emission model (CMEM) coupled with the community land model version 4.5 (CLM4.5) over mainland China are conducted by the 24 configurations from four vegetation opacity parameterizations (VOPs), three soil dielectric constant parameterizations (SDCPs), and two soil roughness parameterizations (SRPs). Compared with the simple arithmetical averaging (SAA) method, the BMA reconstructions have a higher spatial correlation coefficient (larger than 0.99) than the C-band satellite observations of the advanced microwave scanning radiometer on the Earth observing system (AMSR-E) at the vertical polarization. Moreover, the BMA product performs the best among the ensemble members for all vegetation classes, with a mean root-mean-square difference (RMSD) of 4K and a temporal correlation coefficient of 0.64.     

Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator

A nonlinear adaptive (NA) controller in the task space is developed for the trajectory tracking of a 2-DOF redundantly actuated parallel manipulator. The dynamic model with nonlinear friction is established in the task space for the parallel manipulator, and the linear parameterization expression of the dynamic model is formulated. Based on the dynamic model, a new control law including adaptive dynamics compensation, adaptive friction compensation and error elimination items is designed. After defining a quadratic performance index, the parameter update law is derived with the gradient descent algorithm. The stability of the parallel manipulator system is proved by the Lyapunov theorem, and the convergence of the tracking error and the error rate is proved by the Barbalat’s lemma. The NA controller is implemented in the trajectory tracking experiments of an actual 2-DOF redundantly actuated parallel manipulator, and the experiment results are compared with the APD controller.