大型转子—基础—土壤系统的动力分析

本文对大型汽轮发电机组-基础-土壤系统采用模态综合技术进行了动力分析.用弹性半空间理论建立土壤的模型,基础底板则通过弹性薄板的李兹(Ritz)函数近似解的形式来描述.用三维梁单元来建立基础底板以上的框架结构和转子系统的运动方程.此外,还用模态应变能的相对大小,在这种复杂机械结构系统存在的众多固有频率中,区分出哪些是属于主要为转子系统的固有频率,称为“重要振动固有频率”,以确定系统的临界转速.最后,对引进的一台500MW汽轮发电机组的动力特性进行了分析.     

Wavelet-Based Analysis of Parametric Vibrations of Flexible Plates

Wavelet-based methods are reviewed, and their advantages in comparison to standard approaches are outlined. Then, a wavelet analysis is performed to investigate parametric vibrations of flexible plates under a sinusoidal load. In particular, a scenario leading from regular motion to chaos is analyzed     

Dynamics of a Rigid Unbalanced Rotor with Nonlinear Elastic Restoring Forces. Part I: Theoretical Analysis

In a previous paper, the dynamic behaviour of a Jeffcott rotor was studied in the presence of pure static unbalance and nonlinear elastic restoring forces. The present paper extends the analysis to a rigid rotor with an axial length such as to make the transverse moment of inertia greater than the axial one. As in the previous investigation, the elastic restoring forces are assumed to be nonlinear and the effects of couple unbalance are also included but, unlike the Jeffcott rotor, the system exhibits six degrees-of-freedom. The Lagrangian coordinates were fixed so as to coincide with the three coordinates of the centre of mass of the rotor and the three angular coordinates needed in order to express the rotor's rotations with respect to a reference frame having its origin in the centre of mass. The precession motions of such a rotor turn out to be cylindrical at low angular speeds and exhibit a conical aspect when operating at higher speeds. The motion equations of the rotor were written with reference to a system that was subsequently adopted for the experimental analysis. The particular feature of this system was the use of a steel wire (piano wire) for the rotor shaft, suitably constrained and with the possibility of regulating the tension of the wire itself, in order to increase or reduce the nonlinear character of the system. The numerical analysis performed with integration of the motion equations made it possible to point out that chaotic solutions were manifested only when the tension in the wire was given the lowest values – i.e. when the system was strongly nonlinear – in the presence of considerable damping and rotor unbalance values that were so high as to lose any practical significance. Under conditions commonly shared by analogous real systems characterised by poor damping, where the contribution to nonlinearity is almost entirely due to elastic restoring forces, the analysis pointed out that precession motions may be manifested with a periodic character, whether synchronous or not, or a quasi-periodic character, but in no case is the solution chaotic.     

DYNAMICS MODELING,SIMULATION, AND CONTROL OF ROBOTS WITH FLEXIBLE JOINTS AND FLEXIBLE LINKS$^{\bf 1)}$

本文探究了铰柔性对机器人动力学响应和动力学控制的影响. 首先, 建立由$n$个柔性铰和$n$个柔性杆组成的空间机器人模型, 运用递推拉格朗日动力学方法, 得到柔性机器人系统的刚柔耦合动力学方程. 在动力学建模过程中, 除了考虑杆件的拉伸变形、弯曲变形、扭转变形以及非线性耦合变形对机器人系统动力学行为的影响, 还考虑了铰的柔性对机器人动力学响应和控制的影响. 其中, 柔性铰模型是基于Spong的柔性关节简化模型, 将柔性铰看成线性扭转弹簧, 不仅考虑了铰阻尼的存在, 还考虑了柔性铰的质量效应. 其次, 编写了空间柔性铰柔性杆机器人仿真程序, 研究铰的刚度系数和阻尼系数对系统动力学响应的影响. 研究表明: 随着柔性铰刚度系数的增大, 柔性机器人的动态响应幅值减小, 振动频率变大. 随着柔性铰阻尼系数的增大, 柔性机器人的动态响应幅值减小, 振动幅值的衰减速度变快. 可通过调节柔性铰的刚度和阻尼来减小柔性铰柔性杆机器人的振动, 因此铰阻尼的研究具有重要工程意义. 最后, 研究了铰柔性在机器人系统动力学控制中的影响. 在刚性铰机械臂和柔性铰机械臂完成相同圆周运动时, 通过逆动力学方法求解得到两种情况下的关节驱动力矩. 研究表明: 引入柔性铰会使控制所需的驱动力矩变小, 对机器人控制的影响显著.     

具有局部非线性动力系统周期解及稳定性方法

对于具有局部非线性的多自由度动力系统，提出一种分析周期解的稳定性及其分岔的方法该方法基于模态综合技术，将线性自由度转换到模态空间中，并对其进行缩减，而非线性自由度仍保留在物理空间中在分析缩减后系统的动力特性时，基于Ｎｅｗｍａｒｋ法的预估－校正－局部迭代的求解方法，与Ｐｏｉｎｃａｒé映射法相结合，推导出一种确定周期解，并使用Ｆｌｏｑｕｅｔ乘子判定其稳定性及分岔的方法     

An engineering approach to blade designs for low to medium pressure rise rotor-only axial fans

Low to medium pressure rise axial fan equipment of the arbitrary vortex flow rotor-only type is widely used in industrial and commercial applications, with many of the installations and rotor designs being far from optimum. Complex computational methods exist for analyzing flows in, for example, high-speed axial flow compressors with multistage blade rows; however, the designers and manufacturers of low-speed, general-purpose axial flow fan equipment have been reluctant to embrace this technology. A simpler yet reliable design technique is presented that allows this category of ducted axial fan rotors, in the presence of swirl-free inlet flow, to be designed to achieve a specified duty with sufficient accuracy for engineering purposes. Practical blade design recommendations and limits, similar to those that exist for free vortex flow axial rotors, have been established for the arbitrary vortex flow rotor-only case.

The technique employs a straightforward engineering approach to arbitrary vortex flow axial fan rotor design, and the equation set can be solved by using relatively simple numerical methods. Estimates of pressure rise and shaft power characteristics for a proposed fan/rotor design can be computed and the design loop iterated until an acceptable set of blade parameters is identified. It is also possible to analyze the performance of an existing axial fan installation as a prelude to the design of a more efficient and effective replacement rotor.

Experimental data used in validating the design and analysis techniques are also presented. These data include comprehensive Cobra pressure probe surveys of local flow parameters downstream of three different low boss ratio, low solidity, arbitrary vortex flow rotors (all with circular arc camber line type blades) as well as fan performance characteristics for one of the experimental rotors configured as a direct-exhaust fan unit. Installation-dependent factors such as direct-exhaust losses and tip clearance effects are also examined. The analytical technique is shown to provide acceptable estimates of fan/rotor pressure rise performance and shaft power characteristics over a moderately wide range of blade angles and operating conditions.     

GENERAL SOLUTION OF THE OVERALL BENDING OF FLEXIBLE CIRCULAR RING SHELLS WITH MODERATELY SLENDER RATIO AND APPLICATIONS TO THE BELLOWS (Ⅳ)-CALCULATION FOR U-SHAPED BELLOWS

This is one of the applications of Part (I), in which the angular stiffness, and the corresponding stress distributions of U-shaped bellows were discussed. The bellows was divided into protruding sections, concave sections and ring plates for the calculation that the general solution (I) with its reduced form to ring plates were used respectively, but the continuity of the surface stresses and the meridian rotations at each joint of the sections were entirely satisfied. The resent results were compared with those of the slender ring shell solution proposed earlier by the authors, the standards of the Expansion Joint Manufacturers Association (EJMA), the experiment and the finite element method. It is shown that the governing equation and the general solution (I) are very effective. Contributed by HUANG Qian Biography: ZHU Wei-ping (1962-)     

考虑密封的悬臂转子系统的裂纹故障分析

以双盘悬臂立式转子-轴承系统为研究对象，建立了系统运动微分方程，并用数值方法分析了在非线性密封力和非线性油膜力作用下的裂纹转子的动力学特性。分析表明，在一定深度裂纹下，转子系统响应随不同角频率比表现出复杂的非线性现象，出现了周期k运动、拟周期运动和混沌运动等多种运动形式。在一定角速度时，工作在远离临界角速度区的转子系统对裂纹非常敏感，而工作在近临界角速度区的转子系统对裂纹不是特别敏感，但是裂纹对它的运动状态影响较大。该研究结果为该类转子-轴承系统的安全运行与故障诊断提供了一定的理论参考。     

裂纹转子分岔、混沌行为研究

分析非线性涡动中裂纹转子在裂纹存在和裂纹扩展两种情形下的典型非线性动力学行为－－混沌和分岔现象。在2／3倍临界转速区，裂纹深度浅于R／2的裂纹转子有分岔和拟周期响应出现；深度超过R／2的裂纹转子会出现分岔及混沌现象。裂纹角β对这些非线性动力学行为有很大影响。     

瞬态温度场作用下冰载荷计算

给出了关于冰的粘弹性微分本构模型的广义变分原理和冰载荷计算的有限元方法。修正的增量粘弹性矩阵有效地加速了迭代过程，计算了瞬态温度场下冰内压应力分布及对结构物作用力。其结果与实测数据定性吻合。