DYNAMIC RESPONSE OF THE CATENARY RISER IN DEEP-SEA MINING SYSTEMS 1)

基于有限元模型,模拟、分析深海采矿系统悬链线立管在海流和水面船运动约束下的动力响应。结果表明：悬链线立管的最大等效应力和最大位移随时间呈周期性变化,且存在半个周期的相位差;当水面船运动到最高点时,悬链线立管位移达到最大值。悬链线立管最大 等效应力和最大位移随水面船运动位移幅值的增加而增加,随运动周期的增加而减小。进一步对比发现,水面船运动位移和周期对立管等效应力的影响大于对其位移的影响。     

垂向冲击下穿戴装备对乘员损伤影响研究

军事人员在战斗中需要穿戴装备,穿戴装备后对车内乘员承受车辆底部爆炸垂向冲击时的损伤有影响。通过垂向冲击试验与仿真模拟的方法,研究了穿戴装备在身上的分布对于乘员损伤的影响。根据AEP55乘员伤害准则,以盆骨z向加速度和腰椎轴向力为乘员损伤的参考目标,首先通过垂向冲击试验的进行,研究了不同穿戴装备质量对于乘员损伤的影响;接着通过有限元模型对试验进行验证和优化,进而研究穿戴装备位置与松紧度对于垂向冲击下乘员损伤的影响。结果表明随着穿戴装备质量的增加,乘员腰椎损伤加重,脊柱损伤概率减小;装备分布在躯干位置越靠近上部,与身体接触松紧度越紧,乘员腰椎与脊柱的负荷越小,越不易受伤。     

Averaging of magnetohydrodynamic streams and applicability of the hydraulic approximation to the calculation of MHD flows in channels

At the present time the hydraulic approximation equations are used widely for calculating MHD flows in channels. Several years ago these solutions were considered as a method of expanding our ideas of the qualitative effect of various factors on the MHD flow in the channel of a MHD device. Today, however, the hydraulic analysis methods are beginning to be used for calculations on specific systems. In this case the selection of a particular design solution frequently is based on an analysis of the over-all characteristics (efficiency, power delivered to the external load, etc.) obtained from the hydraulic calculation, where a few percent rather than tens of percent are taken into account.On the other hand, it is known [1] that in gas dynamics the results of the hydraulic calculation for the same specific nonuniform stream may differ by an order of magnitude of tens of percent depending on the averaging method used, since the magnitude of this difference depends on the degree of nonuniformity of the actual stream.We may expect that the nonuniformity of the MHD streams will be far greater than for the gas dynamic flows as a result of the nonuniformities of the force and the thermal effect of the currents flowing in the stream. These nonuniformities may be associated, for example, with the nonuniform distribution of the currents in the channel cross section because of the nonuniform electrical conductivity, which may be significant in spite of the weak nonuniformity of the temperature distribution, or with the presence in the cross section of forces associated with the induced longitudinal component of the magnetic field, the presence of anisotropy of the electrical conductivity, etc.Moreover, in contrast with gas dynamics, in the design of various MHD devices several characteristics (power delivered to the external load, various efficiencies, etc.) which may be calculated in terms of the average value of the gas dynamic parameters are of great importance. Thus, it seems probable that the question of the applicability of the hydraulic approximation to the calculation of MHD flows in channels, the rational selection of the means for averaging the actual flows, the comparison of the results of the hydraulic calculations with the experimental data, and so on, may be far more significant than was the case for the study of gas dynamic flows.     

基于阻抗法的矩形截面均压槽气浮支承静态性能分析

针对CFD仿真方法效率低下的状况,提出利用阻抗法来提升气浮支承承载性能的计算速度. 以矩形截面均压槽气浮支承为研究对象,研究了当均压槽高度、角度、数量、半径和供气压力变化对气浮支承承载性能的影响. 结果表明:与CFD仿真方法相比,阻抗法在保证计算结果精度的前提下可提高气浮支承承载力的计算速度. 当均压槽高度、角度、数量、半径和供气压力增大时,阻抗比会增加,气浮支承的承载力和刚度峰值对应的阻抗比也会增加. 当气膜厚度增加时,阻抗比会增加,但承载力会相应地减小. 本文作者通过阻抗法推导了气浮支承承载力简化计算公式,解决了气浮支承在均压槽方向上简化计算的难点,并为阻抗法在均压槽中的研究与应用提供了理论依据.      

湍流边界层中固体颗粒运动的数值模拟

根据Ｌａｇｒａｎｇｅ颗粒运动微分方程及不可压缩湍流边界层中流体的壁面速度分布规律，数值求解了颗粒在湍流边界层中的运动，考虑了Ｓａｆｆｍａｎ升为对颗粒运动的影响，壁面对运动阻力的影响，给出了固体颗粒沉积边壁，在边界层外缘上所需的最小速度和最小入射角，计算结果还表明边界层对固体颗粒撞击边壁的速度和入射角有较大影响，从数值结果可可以发现一个重要现象。     

Calculation of the explosion of a trotyl bar of infinite length

The dynamics of the explosion of spherical, cylindrical, or flat charges of explosive has been thoroughly studied [1–6]. The form of these charges is such that the energy evolved is distributed under the condition of the instantaneous character of the detonation or of its initiation at the center, along the axis, or at the plane of symmetry of the charge, uniformly over the surface of the charges, which, with an explosion in a homogeneous medium, leads to one-dimensional not fully established motions. It is of interest to investigate the process of the explosion of charges of more general form, where the above distribution of energy ceases to be uniform, and the corresponding motion of the medium ceases to be one-dimensional. An example can be the explosions of charges having the form of a cube, a parallelepiped, an ellipsoid, etc. The study of such cases makes it possible to clarify the resulting redistribution of the energy of the explosion, which can be of importance from the point of view of the search for possibilities of improving the use and the control of this energy. Such investigations have been carried out experimentally (see, for example, [7]); however, up to the present time there has been no rigorous theoretical analysis, which is connected with the great complexity of the corresponding gasdynamic problems. The article discusses the natural generalization of the problem of the explosion of an infinitely long cylindrical charge.     

Charging of a low-conductivity liquid flowing through a cylindrical pipe with allowance for the finite rate of a surface electrochemical reaction

A study is made of the charging of a low-conductivity liquid flowing through a cylindrical metal pipe with allowance for the finite rate of an electrochemical reaction that takes place on the walls of the pipe and is responsible for the charging. The solution of the problem uses the system of equations and boundary conditions derived by Gogosov, Tolmachev, and Nikiforovich [1]. The source of the space charge in the liquid is assumed to be a surface electrochemical reaction of ions of a contaminating impurity dissolved in the liquid [2–4]. The resulting current is found as a function of the flow velocity, the geometrical dimensions of the pipe, and the rate of the surface electrochemical reaction. It is shown that in the initial section of the pipe a kinetic regime is always realized in which the rate of the charging process is limited by the rate of the chemical reaction. Far from the initial section there is a diffusion regime, in which the rate of the charging process is determined by the rate of supply of ions to the surface of the pipe. With increasing velocity of the liquid the current tends to a limiting value, which depends only on the rate of the surface reaction, i.e., the current is saturated. The results given in the paper of experiments on the charging of hexane flowing through small-diameter pipes confirms the theory. The current was observed to be saturated in the experiments. A method is proposed for the experimental determination of the rate of a surface electrochemical reaction and the concentration of an ionic impurity.     

Detection of mechanical stress in the steel structure of a bridge crane

A significant negative aspect in the operation of bridge-type cranes are the technical problems associated with wear of the wheels and the crane track, which causes crane skewing. The main causes of crane skewing include unevenness of the crane track, unequal loading of the traction drives depending on the position of the crane trolley, slips and different sizes of travel wheels and combinations of these causes. Firstly, this paper presents a design solution that can be used to detect the magnitude of mechanical stress and deformation of the steel structure of the crane, caused by the effects of skewing. The mechanical stress generated by the transverse forces of the deformed geometric shape of the crane bridge structure is recorded by mechanical stress detectors installed in the inner corners of the crane bridge. The resulting electrical signal from element mechanical voltage detectors, loaded by axial forces, can be used for feedback control of separate crane travel drives controlled by frequency converters. Secondly, this paper presents the calculation of the lateral transverse forces according to CSN 27 0103 and the determination of the values of mechanical stresses of the deformed steel structure of the crane bridge of a two-girder bridge crane using the finite element method in the program MSC.MARC 2019. Finally, this paper presents the structural and strength design of mechanical stress detectors and the conclusions of laboratory tests of axial force loading of mechanical stress detectors on the test equipment. At the same time, it presents records of the measured axial forces acting in the mechanical stress detectors, arising from the deformation and warping of the crane bridge by the known magnitude of the axial force acting on the crossbeam and from the deformation of the crane bridge caused by the crane operating modes.     

活性流体流变行为的布朗动力学模拟研究

活性流体在用于开发新材料方面具有巨大潜力, 满足这一需求就要定量掌握活性流体所表现的特殊力学行为, 特别是流变行为. 扩展布朗运动方程, 建立自驱动活性粒子的运动模型, 基于反向非平衡法确定活性流体的黏度, 考察活性粒子体积分数、直行速度和转向扩散系数对活性流体流变行为的影响规律, 确定活性流体特殊流变行为的形成机理. 结果表明, 活性流体的流变曲线可被划分为黏度下降区、过渡区和牛顿区; 活性粒子体积分数越高, 活性流体的非牛顿特性越显著, 活性粒子的直行运动引起活性流体在低剪切速率区域黏度下降, 直行运动和转向运动的耦合作用导致中剪切速率区域流变曲线非单调变化, 活性粒子频繁发生转向运动会导致活性流体非牛顿特性受到抑制; 活性流体的宏观流变学特性和粒子的涨落直接相关, 活性粒子体积分数越高、直行速度越快和转向扩散系数越小, 活性流体中活性粒子越容易产生显著的涨落; 低剪切速率区域内活性粒子涨落明显, 随着剪切速率增大, 活性粒子的涨落逐渐被削弱, 粒子的聚集结构不断被破坏, 最终体系的流变行为类似一般被动流体.      

在椭圆横截面弹体正侵彻下有限厚铝靶的破坏模式及响应特性

基于30 mm口径弹道炮平台,开展了3种不同椭圆横截面弹体在200~600 m/s撞击速度范围内正侵彻2A12铝靶的实验,获得了2A12铝靶的破坏形貌及弹体的剩余速度。在此基础上,建立了相应的数值模型,结合实验结果验证了所建模型的有效性,并系统分析了弹体横截面长短轴长度比对靶体的破坏情况及响应特性的影响。研究结果表明:弹体最大横截面面积是影响弹体剩余速度的主要因素,而弹体横截面长短轴长度比对弹体剩余速度的影响较弱;在圆形横截面弹体侵彻下靶体背部形成的花瓣大小和形状一致,空间分布均匀,而在椭圆横截面弹体侵彻下,随着弹体横截面长短轴长度比的增大,靶体背部形成的花瓣数量增加、尺寸变小,且在短轴方向的花瓣数量和靶体表面隆起高度均大于长轴方向的;靶体在圆形横截面弹体侵彻下的径向位移、径向应力和切向应力与其在椭圆横截面弹体侵彻下的显著不同,前者沿周向方向各点的变化规律基本一致,靶体处于简单的压缩状态,切向应力为零,而后者各点的应力状态与弹体横截面长短轴长度比和周向角密切相关,靶体受到压缩和剪切应力的耦合作用。     

基于数字摄影测量的结构面信息表征及应用研究

结构面的存在直接影响岩体的强度、变形特征及破坏机制。为探究夏甸金矿矿区结构面的存在对岩体力学参数和岩体质量情况的影响,利用数字摄影测量技术快速获取研究区域结构面几何信息,并通过三维建模、激光扫描技术以及VR-Platform虚拟现实平台实现了结构面二维几何信息的真三维表征。基于此,利用广义Hoek-Brown强度准则分析计算了各研究区域的岩体力学参数,并根据岩体基本质量指标BQ值进行了岩体质量分级评价。结果表明,夏甸金矿岩体力学参数指标和岩体质量指标均较好;矿体下盘距离矿体方向越远,岩体完整性系数和岩体力学参数越低;利用广义Hoek-Brown强度准则计算所得岩体力学参数除内摩擦角外数值均与前期试验所得数据基本一致,计算所得岩体内摩擦角度偏大的原因,可能是其未考虑结构面自身的颗粒直径和形态等对岩体内摩擦角的影响。     

自由面对潜艇尾流场流动特性影响研究

潜艇周围绕流场流动特性会影响潜艇的机动性能, 特别是近水面航行时, 自由面的存在会增大潜艇尾流场的复杂程度.为探究潜艇在近水面航行时自由液面对潜艇尾流场流动特性的影响机理,借助大型水下三维粒子图像测速技术开展潜艇尾流场流动特性研究.首先通过美国泰勒水池标准模型实验结果对试验方法准确性进行验证; 随后,用验证后的模型试验方法对潜艇尾流场进行测量,得到不同潜深工况、不同速度下的桨盘面轴向速度以及脉动速度,同时辅以数值模拟对试验无法测得的兴波波系及中纵剖面速度场加以补充,从兴波角度阐述了自由面对潜艇尾流场流动特性影响机理. 研究结果表明:潜艇在近水面航行时, 随着Fr增大,桨盘面处轴向速度云图中上方等值线整体趋于扁平化, 较4D潜深工况,1.5D潜深工况出现局部脉动速度极大值, 且脉动速度结构整体下移; 自由面存在时,艇体与自由面间流场速度明显增大, 特别在桨盘面区域, 流场速度明显提升.随着Fr增大, 桨盘面处的自由液面高度逐渐降低,这就导致了桨盘面位置出现更大的流体速度, 即造成了桨盘面伴流场挤压现象.      

Impact of a plane die on an elastic orthotropic half-plane

To study the process of impact of a rigid body on the surface of an elastic body made of a composite material, we consider a nonstationary dynamic contact problem about the impact of a plane rigid die on an elastic orthotropic half-plane. The problem is reduced to solving an integral equation of the first kind for the Laplace transform of the contact stresses under the die base. An approximate solution of the integral equation is constructed with the use of a special approximation to the symbol of the kernel of the integral equation in the complex plane. The inverse Laplace transform of the solution results in determining the scalar contact stress field on the die base, the force exerted by the die on the elastic medium, and the vertical displacement field of the free surface of the orthotropic medium out side the die. The solutions thus obtained permit studying specific features of the process of die penetration into an orthotropic medium and the strain properties of the medium.     

A model to determine the trajectory of soil motion on a moldbroad plow surface

A mathematical model was developed to determine the soil trajectory of motion on the moldboard plow surface. With the use of the model, trajectory lines of soil particle travel were calculated based on the shape of the moldboard plow surface. Also, with the use of the values of soil properties, soil-metal coefficient of friction, the travel speed of plow and the soil modulus of elasticity, equations of forces were solved for equilibrium condition of the furrow slice passing over the moldboard surface. The use of the model can be xtended to the approximation of the soil reaction forces occurring the plowing operation. Laboratory experiments were conducted to verify the validity of the model. the moldboard shape factors used were derived from the coordinates of points describing the contours of the plow surface as measured by a profilograph.     

Propagation of Perturbations in Plane Poiseuille Flow between Walls of Nonuniform Compliance

The evolution of small perturbations in longitudinally nonuniform flows is studied with reference to the problem of the propagation of flow perturbations in a plane channel with walls of variable elasticity. Using the solution of the problem of the receptivity of the flow to local vibrations of the walls, the problem considered can be reduced to the solution of an integral equation for a single function, namely, the complex vibration amplitude of the walls. A numerical method for solving this equation on the basis of a piecewise-linear approximation of the unknown function is proposed. It is shown that the instability wave amplitude changes discontinuously at the junction of the rigid and elastic channel sections. A second method of investigating the process of propagation of perturbations in the flow considered is proposed. This method is based on laws of evolution of perturbations in nonuniform flows and an analytic solution of the problem of perturbation scattering on the junction of walls with different compliance. On the basis of this method the classical stability theory is generalized to include the case of nonuniform flows.     

To determination of the strength of nanodimensional objects

We propose several versions of experiments for determining the strength of nanodimensional objects (nanotubes) contained in the specimens of the form of reinforcing elements of special composites. The experiment methodology foundations were developed and the experiment parameters were chosen on the basis of simulation of the nanotube deformation processes and its interaction with the matrix, which reflects the specific properties of materials in the scale of nanometer dimensions according to the approach proposed earlier. The strength of reinforcing elements is determined from the load at the moment of the change of the fracture mechanism (the transition from the predominate pulling the tubes out of the matrix to their fracture). Different methods for controlling the composite stress state are used: variation in the viscousmatrix strain rate in the reinforced filament testing and variation in the energy of the chemical interaction between the nanotube and the rigidmatrix for nanoobjects of special form such as the nanotube forest grown on a rigid substrate. In the last case, the fracture stresses in nanotubes arise at the moment of separation of an elastic cantilever adjusted to the glue film reinforced by nanotubes. The critical conditions of the fracturemechanism change in the end separation region correspond to the effective specificwork of structural failure.     

柔性铰柔性杆机器人动力学建模、仿真和控制

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.      

动力学与控制论力学系统的自由度

力学系统的自由度定义源自描述系统位形的独立坐标数.在分析力学发展过程中,人们通过对非完整约束的研究,将其拓展为独立的坐标 变分数.本文指出,对于含非完整约束的力学系统,该定义存在不妥之处,给出的自由度会过度限制系统的力学行为.文中研究力学系统在状态空间中的可达流形,指出可达流形维数与描述系统动力学的一阶常微分方程组的最少未知函数个数一致,例如Gibbs-Appell方程与广义速度方程联立的未知函数个数,进而将可达流形维数的一半定义为系统自由度.通过含黏弹性支承的振动系统、在倾斜平面上运动的冰橇等案例,讨论了单个非完整约束导致的半自由度概念,指出其力学意义和与相邻整数自由度的关系.此外,文中还给出两个非完整约束导致系统减少一个自由度的案例,讨论了系统的切丛和余切丛维数.      

剪切增稠液体液舱侵彻实验

为研究剪切增稠液体(shear-thickening fluid, STF)液舱对弹体的防护性能,制备特定规格剪切增稠液体,并开展弹体侵彻剪切增稠液舱实验研究。实验中采用高速相机记录液舱侵彻过程中空泡的演化情况,并测试得到了弹体的剩余弹速以及前后靶板变形数据。实验结果显示,剪切增稠液体可有效抑制液舱侵彻过程中空泡的增长,从而降低液舱结构的损伤程度。结合空泡扩展理论模型,并考虑液体密度以及黏度变化对空泡增长的影响,验证了剪切增稠液体在高速冲击下产生的局部密度增大以及固化现象是抑制空泡扩展的主要原因。此外,剪切增稠液体对弹体速度的衰减作用明显,且相同初始弹速下,剪切增稠液体液舱前后靶板变形明显小于水体液舱。将剪切增稠液体填充于舰船液舱防护结构,可显著提高液舱结构的防护性能。     

Stress state of an elastic plane weakened by an infinite series of longitudinal-transverse cracks

Use of the fact that a singular operator transforms a polynomial again into a polynomial permitted obtaining substantially new results in [1], devoted to wing theory. This property of singular operators is used to solve the plane problem of elasticity theory for a plane weakened by cracks. The criterion for the beginning of crack growth is related in the linear theory of fracture to the stress-intensity factor at its end. An investigation of the influence of the mutual arrangement of cracks on the intensity factor is of considerable interest. The intensity factor is zero in the stretching of a plane weakened by a longitudinal slit, but this factor grows in the presence of a transverse slit and may even exceed the intensity factor at the end of the transverse slit. In this case stratification of the material, the development of cracks located along the loading line, starts. Fractures of this kind have been observed in experiments. To solve the problem of determining the stress-intensity factor at the end of a longitudinal crack in the presence of a transverse crack, the consideration of a periodic system of longitudinal-transverse cracks turns out to be effective. Introduction of symmetry simplifies the construction of the solution of the problem, on the one hand, and is a good approximation to the problem of the mutual influence of two cracks for a sufficient mutual removal of the slits, on the other.