柔性关节-柔性臂空间机器人的神经网络自适应反演控制及双重柔性振动抑制

空间机器人系统的柔性主要体现在空间机器人的臂杆和连接各臂杆之间的铰关节。由于空间机器人系统结构的复杂性,以往研究人员对同时具有柔性关节和柔性臂的系统关注不够。为此探讨了参数未知柔性关节-柔性臂空间机器人系统的动力学模拟、轨迹跟踪控制算法设计和关节、臂杆双重柔性振动的主动抑制问题。首先,采用多体动力学建模方法并结合漂浮基空间机器人固有的线动量和角动量守恒动力学特性,推导了系统的动力学方程。以此为基础,考虑到空间机器人实际应用中各关节铰具有较强柔性的情况,引入一种关节柔性补偿控制器解决了传统奇异摄动法应用受关节柔性限制问题,导出了适用于控制系统算法设计的数学模型。然后,利用该模型,基于反演思想在慢时标子系统中设计神经网络自适应控制算法来补偿系统参数未知和柔性关节引起的转动误差,实现系统运动轨迹跟踪性能;针对快时标子系统,设计了鲁棒最优控制算法抑制因柔性关节及柔性臂引起的系统双重弹性振动,保证系统的稳定性。最后,通过仿真对比实验验证了所设计控制算法的有效性。     

Nonlinear dynamics of an elastic rod with frictional impact

A model is presented for the impact with friction of a flexible body in translation and rotation. This model consists of a system of nonlinear differential equations which considers the multiple collisions as well as frictional effects at the contacting end, and allows one to predict the rigid and elastic body motion after the impact. The kinetic energy is derived by utilizing a generalized velocity field theory for elastic solids. The model uses a dry coefficient of friction and a nonlinear contact force. We introduce a finite number of vibrational modes to take into account the vibrational behavior of the body during impact. The vibrations, the multiple collisions, and the angle of incidence angle, are found to be important factors for the kinematics of frictional impact. Analytical and experimental results were compared to establish the accuracy of the model.     

冷却塔爆破拆除倾倒解体及振动研究

针对采用复式切口的冷却塔爆破拆除,利用塑性铰理论对冷却塔整个倒塌过程中的运动状态进行深入分析。通过建立塔体触地瞬间的数学模型,以最大线应变理论作为塔壁破碎的力学依据,利用MATLAB数值软件进行分析,得到在塔体触地瞬间,除切口处塔壁发生破碎外,塔壁上部也将发生破碎解体,这与冷却塔实际倒塌过程中的破碎现象相吻合。当被爆物确定后,破碎截面坐标值随塑性铰转动极值的增大而减小。另外,对冷却塔爆破过程中对周围建筑危害最严重的塔体连续塌落进行分析,得出塔体连续塌落诱发的振速峰值随保留区截面塑性铰转动极值的增大而增大。鉴于此,提出对于今后冷却塔爆破应避免整体延期时间过大的建议,从而控制塔体转动角度,降低冷却塔爆破对周围建筑的危害。     

Propulsion velocity of a flapping wing at low Reynolds number

This paper presents a computational fluid–structure interaction analysis for free movements with a flapping wing in a quiescent fluid. We demonstrated the moving velocity of a flapping wing according to the phase difference between the angle of attack and the positional angle in the case of a fruit fly with a Reynolds number of 136. If we considered the moving velocity of the flapping wing, the physics were different from that of hovering flight of previous studies, which did not consider the propulsive velocity and presented the advanced rotation of the angle of attack as the best mechanism for propulsion force, as compared to symmetric rotation and delayed rotation. We found that symmetric rotation produced a better propulsion velocity with less fluctuation in other direction than the advanced rotation. The hairpin vortex generated at the end of a stroke did not clearly contribute to the enhancement of propulsion; the wake capture is considered to be one of the main enhancements of the advanced rotation in a previous studies. We studied the effects of the angle of attack to determine why the fruit fly uses a large angle of attack during a constant angle of attack period. Larger angles of attack produced greater propulsion velocities. Further, larger angles of attack did not generate greater peak force during the rotation of the angle of attack at the reversal of stroke, but they produced less fluctuation at the reversal of the stroke and greater force during the constant angle of attack period.     

Refined Stress Analysis of Flexible Multilayered Shells of Revolution with Orthotropic Layers of Variable Thickness

A refined theory of flexible layered shells with orthotropic layers of variable thickness is considered. The theory assumes that each layer has a local rotation angle due to lateral shear. This makes it possible to derive equations whose order does not depend on the number of layers. The basic equations and calculation results are presented for a three-layer orthotropic toroidal shell under axisymmetric loading     

Active control and experiment study of a flexible hub-beam system

The first-order approximation coupling （FOAC） model was proposed recently for dynamics and control of flexible hub-beam systems. This model may deal with system dynamics for both low and high rotation speed, while the classical zeroth-order approximation coupling （ZOAC） model is only available for low rotation speed. This paper assumes the FOAC model to present experimental study of active positioning control of a flexible hub-beam system. Linearization and nonlinear control strategies are both considered. An experiment system based on a DSP TMS320F2812 board is introduced. The difference between linearization and nonlinear control strategies are studied both numerically and experimentally. Simulation and experimental results indicate that, linearized controller can make the system reach an expected position with suppressed vibration of flexible beam, but the time taken to position is longer than expected, whereas nonlinear controller works well with precise positioning, suppression of vibration and time control.     

Suppressing chaos in crystal growth process using adaptive phase resonant perturbation

Chaos occurs in the flexible shaft rotating-lifting (FSRL) system of crystal growth process. Chaotic swing does harm to the quality of mono-silicon crystal production. Therefore, it must be suppressed. Previous studies have proposed impulse control method to suppress the chaos in crystal growth process. However, the impulses require sudden and intermittent changes to the rotation speed, which are difficult to implement through the soft rope connection. In this work, a small amplitude resonant perturbation to the rotation speed is being proposed to suppress chaos in the FSRL system. The system state, given by the swing angle between the rotation center on the vertical axis and the soft shaft, is observed by measuring the force on the soft shaft and by using the untraced Kalman filter. The control parameters are selected by calculating the Lyapunov exponent. As compared with the previous impulse control methods, the proposed small amplitude resonant perturbation method engenders a small continuous change instead of the sudden change in the rotation speed. In addition, the proposed method does not alter the average rotation speed, which complies with the crystal growth technique requirement. The effectiveness of the proposed chaos control method is validated by numerical simulations.

     

基于虚拟力概念的柔性臂空间机器人模糊退步自适应控制算法设计

讨论了漂浮基柔性臂空间机器人系统的动力学模拟、运动轨迹跟踪控制算法设计及柔性振动主动抑制。采用多体动力学建模方法并结合假设模态法,建立了漂浮基柔性臂空间机器人的系统动力学模型。基于该模型,针对系统惯性参数未知情况,提出了刚性运动基于模糊基函数网络自适应调节的退步控制算法,以完成柔性臂空间机器人载体姿态及机械臂各关节铰的协调运动。然后,为了主动抑制系统柔性振动,运用虚拟力的概念,构造了同时反映柔性模态和刚性运动轨迹的混合期望轨迹,通过改造原有的控制算法,提出了基于虚拟力概念的模糊退步自适应控制算法;这样不但保证了之前刚性运动控制方案对模型不确定的鲁棒性,而且能主动抑制柔性振动,从而提高了轨迹跟踪性能。理论分析及数值仿真算例均表明了控制方法的可行性。     

Parametric studies on relationships between flutter derivatives of slender bridge （Ⅰ）

Relationships between flutter derivatives of slender bridge are investigated based on our previously proposed semi-analytical flutter derivatives of flexible structure. The intrinsic relations are validated with test data of flutter derivatives of two bridges. Changes in flutter derivatives with the aerodynamic center, rotation speed, and angle variation are also studied by using a parametric method. The results show correctness of the proposed expressions of flutter derivatives given by authors in Ref. [1], and indicate that certain relations exist between these derivatives. It is also shown that semi-analytical flutter derivatives are applicable to bridges with a streamlined cross-section.     

On two classes of precession motions of a gyrostat under the action of potential and gyroscopic forces

We find two new classes of precession motions of a gyrostat with fixed point. The motions are described by the Kirchhoff differential equations. For the first class, the velocities of precession and free rotation are equal and given in the form of a trigonometric polynomial of the first degree in the angle of free rotation. For the second class, the precession and rotation velocities do not coincide and are defined by special functions of the angle of free rotation. These classes are described in terms of new solutions of the Kirchhoff equations.     

Sensitivity of in-Plane Strain Measurement to Calibration Parameter for out-of-Plane Specimen Rotations

In practice, out-of-plane motions usually are not avoidable during experiments. Since 2D–DIC measurements are vulnerable to parasitic deformations due to out-of-plane specimen motions, three-dimensional digital image correlation (StereoDIC or 3D–DIC) oftentimes is employed. The StereoDIC method is known to be capable of accurate deformation measurements for specimens subjected to general three-dimensional motions, including out-of-plane rotations and displacements. As a result, there has been limited study of the deformation measurements obtained when using StereoDIC to measure the displacement and strain fields for a specimen subjected only to out-of-plane rotation. To assess the accuracy of strain measurements obtained using stereovision systems and StereoDIC when a specimen undergoes appreciable out of plane rotation, rigid body out-of-plane rotation experiments are performed in the range ?40⁰?≤?θ?≤?40⁰ using a two-camera stereovision system. Results indicate that (a) for what would normally be considered “small angle” calibration processes, the measured normal strain in the foreshortened specimen direction due to specimen rotation increases in a non-linear manner with rotation angle, with measurement errors exceeding ±1400με and (b) for what would normally be considered “large angle” calibration processes, the magnitude of the errors in the strain are reduced to ±300με. To theoretically assess the effect of calibration parameters on the measurements, two separate analyses are performed. First, theoretical strains due to out-of-plane rigid body rotation are determined using a pinhole camera model to project a series of three-dimensional object points into the image plane using large angle calibration parameters and then re-project the corresponding sensor plane coordinates back into the plane using small angle calibration parameters. Secondly, the entire imaging process is also simulated in order to remove experimental error sources and to further validate the theory. Results from both approaches confirmed the same strain error trends as the experimental strain measurements, providing confidence that the source of the errors is the calibration process. Finally, variance based sensitivity analyses show that inaccuracy in the calibrated stereo angle parameter is the most significant factor affecting the accuracy of the measured strain.     

Experiment and theory on a twisted ring under quasi-static loading

Consider an initially straight rod of circular cross section bent into a circular ring so that the cross sections of the two ends meet face to face. In this paper we study, theoretically and experimentally, the behavior of the ring as the relative rotation between the two end cross sections increases quasi-statically. The variables of interest are the relative rotation angle and the corresponding twisting moment. In theoretical aspect the ring is modeled as an elastica and its deformation is calculated by shooting method. It is found that a ring with dimensionless rod radius 0.001 jumps to a two-point self-contact deformation when the relative rotation angle reaches a critical value. As the rotation angle continues to increase, the deformation evolves smoothly to three-point contact and finally to point-line-point contact. In the experiment we build a simple device to control the relative rotation angle between the two end cross sections. Measurements of twisting moment and relative rotation angle are recorded and compared with theoretical prediction. Reasonable agreement between experiment and theory is observed. Especially the jump phenomenon is confirmed. Installation misalignment and plastic deformation of the rod are the main causes of discrepancy between theory and experiment.     

A Property of Equations of Rigid/Plastic Material Obeying a Voce–Type Hardening Law

Using a simple example, the rotation of a rigid cone in rigid/plastic hardening material, the paper shows a qualitative difference between the solutions for two groups of hardening laws. The first group includes hardening laws with no saturation stress. In this case the solution under sticking conditions exists at any rotation angle of the cone up to infinity. The second group includes hardening laws with a saturation stress. For such laws the solution exists up to a finite value of the rotation angle. Once this angle has been reached, the solution breaks down. At the beginning of the process the behavior of the solution for both groups of hardening materials is similar. However, at the final stage the behavior of rigid/plastic hardening materials of the second group is similar to the behavior of rigid perfectly plastic materials. A specific hardening law with a saturation stress is applied to illustrate the general solution and the restrictions imposed by this law, and a priori specified interfacial law (sticking) on existence of the solution. This revised version was published online in July 2006 with corrections to the Cover Date.     

The flexibility effect of a plate according to various angles of attack in a free-stream

This paper presents a computational fluid–structure interaction analysis for a flexible plate in a free-stream to investigate the effects of flexibility and angle of attack on force generation. A Lattice Boltzmann Method with an immersed boundary technique using a direct forcing scheme model of the fluid is coupled to a finite element model with rectangular bending elements. We investigated the effects of various angles of attack of a flexible plate fixed at one of the end edges in a free-stream at a Reynolds number of 5000, which represents the wing flapping condition of insects and small birds in nature. The lift of the flexible plate is maintained at the large angle of attack, whereas the rigid plate shows the largest lift at angles of attack around 30–40° and then drastic reductions in the lift at the large angle of attack. If we consider the efficiency as the lift divided by the drag, the flexible plate shows better efficiency at angles of attack greater than 30° compared to the rigid plate. The better performance of the flexible plate at large angles of attack comes from the deformation of the plate, which produces an interaction between the trailing edge vortex and the short edge vortex. The horseshoe-shaped vortex produced by a large vortex interaction at the trailing edge side has an important role in increasing the lift, and the small projection area due to the deformation reduces the drag. Furthermore, we investigate the role of flexibility on the lift and the drag force of the rectangular plate in a free-stream as the Reynolds number increases. Whenever a large vortex interaction at the trailing edge side is shown, the efficiency of the rectangular plate is improved. Especially, the flexible plate shows better efficiency as the Reynolds number increases regardless of the angle of attack.     

带裂纹旋转柔性梁系统的刚柔耦合动力学研究

对具有刚柔耦合效应的带裂纹旋转柔性梁进行建模和动力学特性分析研究。采用晶格弹簧离散模型,利用无质量弹簧模拟梁上裂纹,通过考虑梁变形的二阶耦合项建立了带裂纹旋转柔性梁系统的一次近似耦合动力学控制方程。数值计算结果表明,裂纹的存在会使旋转柔性梁的固有频率降低,并且随着梁转速的增大,这种降低效应呈减弱趋势;值得注意的是,裂纹梁的固有频率与裂纹处的弯矩具有正相关关系。此外,裂纹的存在不仅会使转速变化阶段梁的末端位移响应增大,还会对转速稳定后梁的末端振荡产生显著的影响。     

Dynamic rotation and stretch tensors from a dynamic polar decomposition

The local rigid-body component of continuum deformation is typically characterized by the rotation tensor, obtained from the polar decomposition of the deformation gradient. Beyond its well-known merits, the polar rotation tensor also has a lesser known dynamical inconsistency: it does not satisfy the fundamental superposition principle of rigid-body rotations over adjacent time intervals. As a consequence, the polar rotation diverts from the observed mean material rotation of fibers in fluids, and introduces a purely kinematic memory effect into computed material rotation. Here we derive a generalized polar decomposition for linear processes that yields a unique, dynamically consistent rotation component, the dynamic rotation tensor, for the deformation gradient. The left dynamic stretch tensor is objective, and shares the principal strain values and axes with its classic polar counterpart. Unlike its classic polar counterpart, however, the dynamic stretch tensor evolves in time without spin. The dynamic rotation tensor further decomposes into a spatially constant mean rotation tensor and a dynamically consistent relative rotation tensor that is objective for planar deformations. We also obtain simple expressions for dynamic analogues of Cauchy's mean rotation angle that characterize a deforming body objectively.     

固体火箭发动机柔性接头摆动密封可靠性研究

柔性接头由弹性件与增强件交替粘接而成,是固体火箭发动机进行推力矢量控制的重要装置,因而柔性接头的摆动密封性能对固体火箭发动机而言至关重要.为研究固体火箭发动机柔性接头摆动过程中的密封可靠性,以内聚力模型作为粘接界面的本构模型,通过计算柔性接头各界面的损伤情况及界面间的接触应力,并定义界面节点单元间、界面间以及柔性接头的密封状态,结合可靠性理论提出了一种计算柔性接头摆动密封可靠度的方法.以某柔性接头为算例,分析了工作过程中容压和摆角对柔性接头摆动密封可靠度的影响规律.结果表明:柔性接头界面中,与后法兰粘接的界面最易发生损伤,同时密封可靠度也最低,而中间界面密封可靠度最高;当摆角在2°以内时,界面密封性能最佳,当摆角大于2°时,随着摆角增加,柔性接头密封可靠度呈迅速下降趋势,而当容压增加时,柔性接头密封可靠度呈现先减小后增大规律,容压2 MPa左右下柔性接头密封可靠性最差.同时,界面间的剪切载荷是影响柔性接头摆动密封可靠度的主要因素.以上规律可对柔性接头的设计、计算分析提供依据.     

Influence of Scanning Rotation on Nanoscale Artificial Strain in Open-Loop Atomic Force Microscopy

For nanoscale metrology using atomic force microscopy (AFM), it is essential to know the baseline error induced by the AFM scanning process. A systematic study has been performed using digital image correlation (DIC) to quantify the influence of scanning rotation angle on the artificial strain (error) in an open loop AFM. It is found that significant artificial strain has been induced by the scanning rotation angle, demonstrating that highly accurate metrology can only be performed in an open loop AFM when the scan angle is held constant during imaging.     

蜻蜓滑翔时柔性褶皱前翅气动特性分析

蜻蜓是自然界优秀的飞行家,滑翔是其常见且有效的飞行模式.蜻蜓优异的飞行能力来源于其翅膀的巧妙结构,褶皱是蜻蜓翅膀上最为显著的结构之一,不仅提高了翅膀的刚度,还改变了其气动特性,而飞行过程中柔性翅膀会产生变形是蜻蜓翅膀的另一特性.为揭示蜻蜓在滑翔时,柔性褶皱前翅的变形,探究褶皱和柔性的共同作用对其气动特性的影响,基于逆向工程,依据前人的测量数据和研究成果,通过三维建模软件建立了蜻蜓三维褶皱前翅的计算流体力学(computational fluiddynamics,CFD)模型和计算结构力学(computational structuralmechanics,CSD)模型,并通过模态分析验证了此模型有足够的精度.基于CFD方法和CFD/CSD双向流固耦合计算方法分别对蜻蜓滑翔飞行时刚性和柔性褶皱前翅的气动特性进行了数值模拟,结果表明,柔性褶皱前翅受气动载荷后,翅脉和翅膜产生形变,柔性前翅上下表面压力差相较于刚性前翅减小了,从而其升力和阻力也减小了,而在大攻角时,变形后的前缘脉诱导出比刚性前翅更强的前缘涡.因此在攻角小于10$^\circ$时刚性前翅的气动特性优于柔性前翅,继续增大攻角,柔性前翅的气动特性则优于刚性前翅.前翅受载后气动响应时间短,翅尖的变形最大,仅仅产生了垂直于翅膀所在平面方向上的变形,而没有发生扭转,翼根处受到应力最大,褶皱上凸部分承受蜻蜓滑翔时前翅的主要载荷.      

Turbulence modelling of problem aerospace flows

Unsteady Reynolds averaged Navier–Stokes (URANS) and detached eddy simulation (DES) related approaches are considered for high angle of attack NACA0012 airfoil, wing–flap, generic tilt‐rotor airfoil and double‐delta geometry flows. These are all found to be problem flows for URANS models. For DES fifth‐order upwinding is found too dissipative and the use of, for high speed flows, instability prone centred differencing essential. An existing hybrid ILES–RANS modelling approach, intended for flexible geometry, relatively high numerical dissipation codes is tested along with differential wall distance algorithms. The former gives promising results. The standard turbulence modelling approaches are found to give perhaps a surprising results variation. Results suggest that for the problem flows, the explicit algebraic stress and Menter shear stress transport (SST) URANS models are more accurate than the economical Spalart–Allmaras (SA). However, the explicit algebraic stress model (EASM) in its k–ε form is impractically expensive to converge. Here, SA predictions lack a rotation correction term and this is likely to improve these results. Copyright © 2005 John Wiley & Sons, Ltd.