Passenger air-bag study using geometric analysis of rigid-body motion

The goal of this research was to develop a system for measuring the force on the chest of an anthropomorphic test device (dummy) as it penetrates into an inflated-air-bag system during an impact. A spherical geometric analysis (SGA) method was developed to track dummy motion when film documentation was not reasonable, such as during air-bag deployment. The method uses three linear accelero-meter triaxial clusters for assessment of angular velocity and linear acceleration in a three-dimensional sense. From these measurements, angular acceleration and position, and linear velocity and position are derived.     

单陀螺多加速度计捷联惯性导航解算方法

六加速度计无陀螺惯导系统误差随时间发散比较严重。为了有效提高导航系统精度,提出了一种单陀螺仪多加速度计(五加速度计)的捷联惯性导航解算方法。该导航解算方法通过合理配置5个加速度计和1个陀螺仪,可不经积分而直接解算角速度,完全消除了加速度计输出方程中角加速度项的影响,能使在姿态和位置解算时分别减少1次积分,从而有效抑制误差随时间发散。给出了单陀螺多加速度计捷联惯导姿态和位置解算原理的理论推导过程,并对该导航解算方法进行了仿真。在仿真时间为80 s时,与无陀螺惯导相比,该方法的姿态解算和位置解算精度均提高了60%以上。     

动态环境下光纤陀螺误差辨识与补偿技术

为了提高光纤陀螺在高动态环境下的测量精度,需要精确地辨识角加速度信息以便有效地补偿。针对直接对陀螺的角速度信息微分处理后得到角加速度的方法误差较大的问题,提出了将微分后的角加速度信息分为线性和非线性两个部分,其中线性部分采用Savitzky-golay最小二乘拟合,而非线性部分则采用RBF神经网络技术进行拟合。上述处理方法能更真实地反映实际物理过程,具有较强的自适应性和较好的拟合效果。通过试验验证,证明了该方法的有效性和准确性,提高了角加速度辨识精度,比直接微分的方法测量精度提高二个数量级,有效地补偿了陀螺仪在高动态环境下的测量精度。     

Rigid-body pose and twist estimation using an accelerometer array

Summary A novel technique for the determination of the pose and the twist of rigid bodies using point-acceleration data is proposed. These data are collected from an accelerometer array, which is a kinematically redundant set of triaxial accelerometers. Because orientational error in the installation of the accelerometers can be fatal to the accuracy of the results, a calibration procedure based on the consistency of the point accelerations is outlined. The formulation developed is then utilized in the simulation analysis of two sample motions. The relations required to estimate the pose and the twist are derived in a body-fixed frame. The body angular acceleration and angular velocity, in this order, are determined directly from the acceleration data; the body attitude is then computed through integration.This research work was supported by the Natural Sciences and Engineering Research Council of Canada, under Research Grants OGP0004532 and OGP0000967.     

角加速度计发展综述

介绍了国内外各种角加速度计的结构及工作原理,阐述了角加速度计在国内外的研究现状,通过分析角加速度计的发展趋势,结合现有角加速度计的特点及不足,文中还提出了一种新型的微流体惯性质量角加速度计。微流体角加速度计只敏感输入轴上的角加速度,对外界输入的线加速度或振动能够较好地隔离。     

Kinematics of haylage bale in 3D space as a body of one fix point and two rotations

This paper presents mechanical-mathematical matrix simulation of haylage bale kinematics in 3D space as a body of one fix point and two rotations. There are defined: the matrices of transition from the coordinate system connected stationary with the body to the starting (global) coordinate system; the position vector, absolute linear speed and absolute linear acceleration of bale arbitrary point; the vector of absolute angular velocity and absolute angular acceleration projected in the starting and in the local coordinate systems of the body. Numerical example is provided.     

A Simple Method for the Determination of Angular Velocity and Acceleration of a Spherical Motion Through Quaternions

Given a quaternion representation of a spherical motion of a rigid body with respect to another body, acting as a reference frame, this contribution presents a simple and straightforward method for determining both the angular velocity and angular acceleration of the moving body with respect to the reference frame. Instead of employing orthogonal matrices or their linear invariants, this contribution makes use of quaternions avoiding, in this way, the series of matrix identities or theorems that are required in a pair of previous approaches.     

基于压力相移辅助的超流体陀螺

超流体陀螺是新一代惯性传感器,面临的关键问题是:在幅值锁定控制系统中,热相移的注入存在较大延时,引起其动态测量性能急剧下降。为此,在研究了超流体压力相移产生原理的基础上,提出采用静电力产生压力差的方法,并根据超流体的理论,构建了压力相移的数学模型。为解算角速度,提出了基于压力相移辅助的算法,锁定了超流体相移。仿真结果表明,基于该方法,超流体陀螺测量角加速度变化的信号时,测量误差减小了约一个数量级。因此,超流体陀螺的动态性能得到了很大改善,测量精度有了显著提高。     

Mathematical model of the sensor unit for processing on-board algorithms of navigation systems

Recently, strapdown gyro navigation systems have become widely used. In such systems, sensors, gyros, and accelerometers are placed directly aboard the object and an imaginary analytic trihedral is used instead of a stabilized gyroplatform. The object orientation with respect to the analytic trihedral is calculated by numerically solving the Poisson equations taking into account the readings of gyro sensors measuring the object angular velocities. The mutual orientation parameters permit recalculating the apparent acceleration measured by the accelerometers on the object axes for the axes of the analytic trihedral. In the analytic trihedral, the navigation problem is solved in the same way as it is solved in platform systems but, in the whole, the functions of the onboard algorithms of strapdown systems are significantly more complicated than those of platform systems. The possibility of detailed processing of on-board algorithms is of great importance for ensuring the accuracy of the entire navigation system.In the present paper, we state algorithms for reproducing the exact readings of ideal gyro sensors and the exact readings of ideal accelerometers under bench operating conditions of the system under an angular motion imitating the object orientation evolution and the possible angular vibration. Simultaneously, we calculate the exact position and orientation parameters, which can be compared with the results produced by the on-board algorithm.     

一种用于无陀螺捷联惯导系统的角速度融合算法

无陀螺捷联惯导系统(GFSINS)是用加速度计的合理空间组合解算出载体的角速度。载体角速度的解算精度是GFSINS的技术关键。在分析GFSINS九加速度计配置方案的基础上,提出一种新的角速度融合算法,消除该方案解算过程中开方计算及符号判断带来的误差。该算法还明显抵消了加速度计输出中包含的常值零点偏移误差和温度漂移误差等,具有实时性好、计算量小、通用性强的优点。仿真计算表明该算法可行,并能在一定程度上提高系统解算精度。     

Dynamics of three-dimensional beams undergoing large overall motion

In the previous linear formulation of flexible multibody system, the neglect of stiffening terms may cause significant error in case of high rotating speed. In this paper, a geometric nonlinear formulation of three-dimensional beams is proposed based on virtual power principle. Frequency results of a rotating spatial beam using the present nonlinear model are compared with those using the linear model without stiffening. An influence ratio, which is related to non-dimensional axial base acceleration and lateral angular velocity, is put forward to clarify the limit of the linear formulation. It is shown that the relative frequency error is closely related to the influence ratio. Finally, simulation of a flexible spatial manipulator is carried out to verify the effectiveness of the criterion.     

简化超球体SRUKF的GPS/MIMU组合姿态估计

针对加速度计、磁强计易受机动加速度和周围环境影响的问题,提出了一种单基线GPS/MIMU组合姿态估计方法。该方法利用单基线GPS天线代替磁强计提供航向信息,并利用GPS的速度信息对加速度计输出的机动加速度分量进行补偿,构成单基线GPS/MIMU组合姿态确定单元。同时考虑实时性要求,在SRUKF的基础上,引入加性非扩展形式和超球体单形采样,提出了简化超球体平方根UKF算法,通过减少状态维数和采样点的数量,降低算法计算量。建立加性噪声下的单基线GPS/MIMU姿态模型,并采用简化超球体平方根UKF算法进行姿态估计。实验结果表明,单基线GPS的速度信息可以有效提高加速度计对水平倾角的确定精度,姿态估计算法收敛后的最大误差小于0.8°,估计精度与UKF相当,且执行时间仅是UKF的42%。     

Axisymmetric motion of a viscous fluid in the finite annular cavity of a rotating cylindrical vessel

The method of nets is used to investigate unsteady axisymmetric viscous flow in a cylindrical gap of finite height. This situation is characterized by vortex motion in a plane passing through the axis of the coaxial cylinders. These flows have previously been studied in relation to the case of stepwise variation of the angular velocity of the cylinders [1]. In the present case the angular velocity is varied linearly in the acceleration stage and the acceleration interval is a parameter of the problem. After acceleration the rotation rate is determined from the ordinary differential equation describing the process of deceleration of the system as a whole.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 2, pp. 37–42, March–April, 1988.The authors are grateful to E. M. Zhukhovitskii for his interest and valuable comments.     

一种确定均匀动脉壁面切应力的非线性方法

从Ling和Atabek提出的``局部流'理论出发，提出一种利用测量血液黏度、管轴上 的血流速度、压力和管径波形计算均匀动脉管壁切应力的非线性方法. 将这种方法与柳兆荣 等提出的利用测量血液黏度、管轴上的血流速度和平均管径计算切应力的线性方法比较，结 果表明，当管壁脉动幅度较小时，两种方法计算的压力梯度、流速剖面和管壁切应力差别较 小；而当管壁脉动幅度增大时，两种方法计算的压力梯度、流速剖面和管壁切应力差别增大. 对于小幅脉动均匀动脉，用线性方法计算管壁切应力有较高的精度；而对于大变形 均匀动脉，则需要考虑非线性因素对管壁切应力的影响. 由于作为输入量的血液黏度、轴心 血流速度、压力波形和管径波形可在活体上通过无损伤或微损伤的检测方法得到， 所提出的计算切应力的方法为在体或离体研究切应力与动脉重建的关系提供了方法学基础.     

高精度加速度计分辨率的动态估算方法

高精度定位定向系统和重力测量系统需要高分辨率的加速度计,传统测试方法难以确定高精度加速度计的分辨率。对此,提出了一种使用双轴转台动态估算加速度计分辨率的方法,即匀速旋转调制法。将加速度计安装在双轴转台台面上,待转台调平,台面绕倾斜轴转过一个小角度后锁死,回转轴以一定的角速度旋转调制以对重力加速度分量进行细分,将加速度计的输出采样后进行FFT低通滤波,通过加速度计峰值与谷值处输出变化最大值的分析可以确定加速度计的分辨率。最后,对某型加速度计分辨率进行了实验验证,测试结果表明,当倾斜角度为0.001°,旋转调制角速率为10(°)/s,采样率为32 Hz时,输入的加速度最大变化为9.36×10-8g,加速度计敏感到的加速度变化量为1.05×10-7g。     

单侧变截面辊弯成型装备动力学建模与分析

机械系统的动力学建模与分析对深入研究和改善系统性能具有理论指导意义。针对四自由度单侧变截面辊弯成型装备,建立了该系统基于拉格朗日方程的动力学模型。通过求解系统微分方程组得到了驱动电机角加速度以及角速度的表达式。计算出在确定载荷下,该系统驱动电机的角加速度以及角速度的变化曲线,为伺服电机的控制以及系统的结构优化奠定了基础。     

Dynamic Contact Behavior of a Golf Ball during Oblique Impact: Effect of Friction between the Ball and Target

The oblique impact between a golf ball and a polymethyl methacrylate (PMMA) target with smooth transparent surfaces was studied using a high-speed video camera. Video images of the impact were recorded from the backside of the target and were used to determine the contact time, contact area, and the displacement and rotation of the ball along the target. The average tangential and angular velocities were determined as functions of the inbound ball velocity. As the inbound ball velocity increased, the contact area and average tangential and angular velocities also increased while the contact time decreased. An oiled PMMA target was used to study the effect of reduced friction between the ball and target. The results were compared with earlier data for a steel target with relatively rough surfaces. The contact area and time were unaffected by friction, but the average tangential velocity increased while the average angular velocity decreased as the friction decreased.     

Modeling and theoretical analysis of a novel ratcheting-type cam-based infinitely variable transmission system

An infinitely variable transmission (IVT) is a system that allows for a continuous (non-discrete) variation (including zero) in transmission ratio between two rotating elements. In this paper, a novel ratcheting-type IVT mechanism is presented and its geometrical design and kinematic analysis are studied in details. The proposed system contains two identical units. Each unit includes a cam with a follower, oscillatory slotted links pivoted at a shaft that can be moved vertically by a hydraulic ram (alterable transmission ratio), and a grooved wheel with an actuating rod. The input rotational motion is converted through each unit to an oscillatory angular motion of controlled amplitude. This resulting motion is rectified using a ratchet to get a unidirectional output rotational motion. Therefore, the system output motion will have a different velocity and acceleration than those of the system input. The kinematic analysis revealed that the transmission ratio can be varied continuously in a range from zero to infinity. The analysis also showed that, for particular transmission ratios, the system gives uniform output (angular velocity and acceleration) for a corresponding uniform input.     

Bénard-Marangoni convection in a rotating fluid with and without surface deformation

This paper deals with Bénard-Marangoni convection in a thin horizontal layer heated from below and rotating uniformly about a vertical axis. The analysis is linear and its objective is to determine the critical temperature drop and the critical wavenumber at the onset of convection. The lower surface of the layer is in contact with an uniformly heated rigid plate and the upper face is deformed and subjected to a temperature-dependent surface tension. Exchange of stability and Boussinesq's approximation are taken for granted. It is shown that rotation has a stabilizing effect while surface deflection plays a stabilizing role at large angular velocity and has an opposite influence at low angular velocity. By increasing the angular velocity, one reinforces the stability, whatever the surface deformation.