航天器太阳帆板振动抑制的输入整形方法研究

利用输入整形与PD(比例微分)控制相结合的主动振动控制策略,在保证航天器完成三轴姿态机动的同时抑制太阳帆板的振动。首先,基于角动量定律和拉格朗日法建立了带挠性太阳帆板航天器的动力学模型。然后,在动力学模型的基础上,采用PD控制作为航天器三轴姿态机动的控制策略,利用挠性太阳帆板各阶模态的固有频率和阻尼比得到系统的输入整形器,对原始姿态机动的脉冲进行输入整形前馈控制,以抑制太阳帆板各阶模态的振动。仿真结果表明:两种输入整形方法均能抑制太阳帆板的振动,ZV(零残余振动)输入整形器简单且脉冲数量少,输入时间较短,但对于参数摄动以及输入的微小误差比较敏感,抑制振动的效果难以满足零残余振动的标准;ZVD(微分零残余振动)输入整形器脉冲数量较多,具有一定量的延时,但更为高效,鲁棒性强,能够极大地抑制挠性太阳帆板的残余振动,缩短航天器的机动稳定时间,且整个机动过程更加平稳。     

基于混合EI成型器的多模态柔性结构振动控制

提出了一种基于零点配置技术的EI(extra-insensitive)成型器设计方法. 通过偏值点, 将基于零点配置的传统ZV成型器转换为EI成型器或者ZVD成型器, 并且保持延迟时间与脉冲数量不变. 基于偏值点设计了二阶混合EI成型器和Multi-EI成型器, 该成型器在延迟时间不变的情况下鲁棒性得到很大提高. 利用成型器具有周期性的特点, 设计了一种多模态柔性结构振动控制方法, 在保证延迟时间差别不大情况下, 使成型器的脉冲数量有明显减少. 仿真结果验证了该方法的有效性.      

Motion Control by ZV Shaper Synthesis Extended for Fractional Systems and Its Application to CRONE Control

Shaping command input or preshaping is used for reducing system oscillation in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual oscillation. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. This paper presents the study of ZV shaper for explicit fractional derivative systems (generalized derivative systems). A robustness study of ZV shaper is then presented and applied to improve second generation CRONE control response time. Results from simulation and from a DC motor bench are also given.     

Motion Control by ZV Shaper Synthesis Extended for Fractional Systems and Its Application to CRONE Control

Shaping command input or preshaping is used for reducing system oscillation in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual oscillation. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. This paper presents the study of ZV shaper for explicit fractional derivative systems (generalized derivative systems). A robustness study of ZV shaper is then presented and applied to improve second generation CRONE control response time. Results from simulation and from a DC motor bench are also given.     

Input shaping control of a nuclear power plant’s fuel transport system

In this paper, the residual vibration control problem of a nuclear power plant’s fuel-transport system is discussed. The purpose of the system is to transport fuel rods to the target position within the minimum time. But according to observations, the rods oscillate at the end of the maneuver, causing an undesirable delay in the operation and affecting the system’s performance in terms both of productivity and of safety. In the present study, a mathematical model of the system was developed to simulate the under-water sway response of the rod while keeping in view the effects of the hydrodynamic forces imposed by the surrounding water. Experiments were performed to validate the model’s correctness. Further, simulation results were used to design the input shaping control that generates shaped velocity commands for transport of the fuel rods to the target position with the minimum residual vibration. It was observed that due to the under-water maneuvering, the fuel-handling system behaves as a highly damped process and that the generated shaped velocity commands fail to effect the desired suppression of the residual vibration. Therefore, keeping in view the highly damped nature of the system, a modified shaped command was generated that transported the fuel rods to the target position with the minimum residual vibration.     

柔性机械臂振动抑制的混合控制

提出柔性机械臂末端振动主动控制的一个混合方法。该方法由整形技术(Inptlt shaping Technique-IST)和压电作动器(PZT)的联合作用对机械臂的振动进行控制。IST作为前馈控制技术通过一个序列脉冲和输入扭矩的卷积来抑制机械臂的残留振动。然而，当IST的脉冲作用时间位置不够准确时，将降低机械臂的定位性能。为了提高柔性机械臂的定位精度，对于因脉冲不精确或建模不准所引起的残留振动，由PZT、进行抑制。作用在PZT上的控制电压由线性二次最优调节器(LQR)确定。动态仿真显示，提出的方法不仅对机械臂的振动抑制具有鲁棒性，而且使得PZT、上的控制电压比单独使用PZT进行振动抑制时降低了50％以上，这是非常有利的。     

Combined control of fast attitude maneuver and stabilization for large complex spacecraft

In remote sensing or laser communication space missions, spacecraft need fast maneuver and fast stabilization in order to accomplish agile imaging and attitude tracking tasks. However, fast attitude maneuvers can easily cause elastic deformations and vibrations in flexible appendages of the spacecraft. This paper focuses on this problem and deals with the combined control of fast attitude maneuver and sta- bilization for large complex spacecraft. The mathematical model of complex spacecraft with flexible appendages and momentum bias actuators on board is presented. Based on the plant model and combined with the feedback controller, modal parameters of the closed-loop system are calculated, and a multiple mode input shaper utilizing the modal information is designed to suppress vibrations. Aiming at reducing vibrations excited by attitude maneuver, a quintic polynomial form rotation path planning is proposed with constraints on the actuators and the angular velocity taken into account. Attitude maneuver simulation results of the control systems with input shaper or path planning in loop are sepa- rately analyzed, and based on the analysis, a combined control strategy is presented with both path planning and input shaper in loop. Simulation results show that the combined control strategy satisfies the complex spacecraft＇s require- ment of fast maneuver and stabilization with the actuators＇ torque limitation satisfied at the same time.     

Band gap synthesis in elastic monatomic lattices via input shaping

This work describes control-theoretic methods for inducing a band gap-like behavior in elastic monatomic lattices. The dynamics of the system under consideration are derived in detail. Open-loop pre-filtering techniques, in the form of Posicast and user-selected time delay filters, are then utilized to eliminate specific frequency contents from the response of the multi-degree of freedom spring-mass chain. The input shaping approach is used to synthesize one or more band gaps in a homogenous lattice that can be designed to resemble Bragg-scattering in phononic crystals, as well as local resonance effects in acoustic metamaterials. The presence of the synthesized band gaps in the lattice’s dispersion behavior is validated using a spatiotemporal Fourier transform of the system’s impulse response as well as the frequency response of the end-to-end transfer function. Finally, an analysis of the control effort required to cancel the targeted system poles is carried out.     

Droplet formation from a pulsed vibrating micro-nozzle

Micro-droplet formation from a passive vibrating micro-nozzle driven by a pulsed pressure wave is numerically simulated. The micro-nozzle is formed from an orifice in a thin walled plate that is allowed to freely vibrate due to the pressure loading on the plate. The analysis couples the fluid flow from the nozzle and the resultant droplet formation with the nozzle vibration calculated using large deflection theory. The problem is made nondimensional based on the capillary parameters of time, velocity and pressure. The applied pressure and nozzle material properties are varied to alter the vibration characteristics of the orifice plate used to form the nozzle. The initiation of drop formation is found to coincide with a threshold impulse input, defined as the product of the pressure magnitude and the pulse duration. Increasing the impulse can result in multiple satellite droplet formation, but the effect on the primary droplet size is minor. The vibration of the nozzle only weakly influences the droplet break-off time, but is shown to significantly affect the droplet volume, shape, and satellite droplet formation.     

Two-scale command shaping for feedforward control of nonlinear systems

This paper presents a critical analysis of the two-scale command shaping (TSCS) feedforward control technique as applied to nonlinear Duffing oscillators. TSCS is an approach for tailoring a flexible system’s applied control input to reduce undesirable residual vibrations using multiple problem scales, command shaping of a linear subproblem, and cancelation of a remaining nonlinear subproblem. As shown herein, TSCS proves to be an effective method for feedforward control of nonlinear systems. The strategy outperforms conventional and nonlinearly informed command shaping strategies in traditional and non-traditional Duffing systems (e.g., Duffing systems with quadratic nonlinearity and Coulomb damping). The TSCS approach is also extended herein to nonlinear systems with uncertain parameters through the implementation of robust command shaping strategies and the extended Kalman filtering parameter estimation technique.     

Annular Pulse Shaping Technique for Large-Diameter Kolsky Bar Experiments on Concrete

The goal of this study is to design a novel annular pulse shaping technique for large-diameter Kolsky bars for investigating the dynamic compressive response of concretes. The purpose of implementing an annular pulse shaper design is to alleviate inertia-induced stresses in the pulse shaper material that would otherwise superpose unwanted oscillations on the incident wave. This newly developed pulse shaping technique led to well-controlled testing conditions enabling dynamic stress equilibrium, uniform deformation, and constant strain-rate in the testing of a chosen concrete material. The observed dynamic deformation rate of the concrete is highly consistent (8 % variation) with the stress in the specimen well equilibrated confirming the validity of this new technique. Experimental results at both quasi-static (10^?4 s^?1) and dynamic (100 s^?1, 240 s^?1) strain rates showed that the failure strength of this concrete is rate-sensitive.     

Thickness Effect of Pulse Shaper on Dynamic Stress Equilibrium and Dynamic Deformation Behavior in the Polycarbonate Using SHPB Technique

0Introduction Thehighstrainratestress strainresponsesofpolymersandpolymericcompositematerialshave receivedincreasedscientificandindustrialattentioninrecentyears.Polymericmaterialsaresubjected todynamicloadingandhighstrainratedeformationinavarietyofimporta…     

A Long Split Hopkinson Pressure Bar (LSHPB) for Intermediate-rate Characterization of Soft Materials

In this study, we developed a long split Hopkinson pressure bar (LSHPB) for mechanically characterizing soft materials at intermediate strain rates. Using a proper pulse shaper, a loading pulse over 3 ms was produced for compression experiments on a PMDI foam material at the strain rates in the order of 10/s. The pulse shaping technique minimized the dispersion effects of stress wave when propagating through such a long bar system. Consistency of stress–strain curves obtained from the LSHPB and an MTS in the same strain rate range shows that a gap currently existing in intermediate strain-rate range is closed by the introduction of the LSHPB.     

聚氯乙烯弹性体静动态力学性能及本构模型

为揭示聚氯乙烯弹性体在静、动态载荷下的力学性能,采用万能材料试验机和改进的分离式霍普金森压杆实验装置获得了材料在应变率为0.001、0.01、0.1、1 510、2 260和3 000 s?1下的应力应变曲线,并以屈服强度为整形器优选参数,对比了紫铜、铜版纸和铅等3种整形器材料的整形效果。使用修正的ZWT非线性黏弹性本构模型描述聚氯乙烯弹性体在静、动态载荷下的力学性能。结果表明:聚氯乙烯弹性体在静态载荷下具有应变率效应和显著的超弹性特性,动态载荷下表现出较明显的应变率效应和较强的抗变形能力,且静动态载荷下的力学行为受应变历史影响较大。3种整形器材料中铜版纸的整形效果最好。修正后的ZWT非线性黏弹性本构模型能够得到统一参数的本构表达式,且各应变率下的拟合结果与实验结果具有较好的一致性。     

Nonlinear Vibration Control of a System with Dry Friction and Viscous Damping Using the Saturation Phenomenon

Application of saturation to provide active nonlinear vibration control was introduced not long ago. Saturation occurs when two natural frequencies of a system with quadratic nonlinearities are in a ratio of around 2:1 and the system is excited at a frequency near its higher natural frequency. Under these conditions, there is a small upper limit for the high-frequency response and the rest of the input energy is channeled to the low-frequency mode. In this way, the vibration of one of the degrees of freedom of a coupled 2 degrees of freedom system is attenuated. In the present paper, the effect of dry friction on the response of a system that implements this vibration absorber is discussed. The system is basically a plant with a permanent magnet DC (PMDC) motor excited by a harmonic forcing term and coupled with a quadratic nonlinear controller. The absorber is built in electric circuitry and takes advantage of the saturation phenomenon. The method of multiple scales is used to find approximate solutions. Various response regimes of the closed-loop system as well as the stability of these regimes are studied and the stability boundaries are obtained. Especial attention is paid on the effect of dry friction on the stability boundaries. It is shown that while dry friction tends to shrink the stable region in some parts, it enlarges other parts of the stable region. To verify the theoretical results, they have been compared with numerical solution and good agreement between the two is observed.This work was done while the authors were associated with the Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran.     

Pulse shaping techniques for testing elastic-plastic materials with a split Hopkinson pressure bar

We present pulse shaping techniques to obtain compressive stress-strain data for elastic-plastic materials with a split Hopkinson pressure bar. The conventional split Hopkinson pressure bar apparatus is modified by placing a combination of copper and steel pulse shapers on the impact surface of the incident bar. After impact by the striker bar, the copper-steel pulse shaper deforms plastically and spreads the pulse in the incident bar so that the sample is nearly in dynamic stress equilibrium and has a nearly constant strain rate in the plastic response region. We present analytical models and data that show a broad range of incident strain pulses can be obtained by varying the pulse shaper geometry and striking velocity. For an application, we present compressive stress-strain data for 4340 R_c 43 steel.     

结构振动对大型激波风洞气动力测量的干扰

激波风洞起动过程形成冲击载荷激励测力系统的结构振动,气动力测量过程中振动尚未衰减,测力过程可以看作是一个动态的过程,激波风洞中天平输出信号包含了振动干扰的输出信号,现有的解决方法缺乏理论支撑,精度受限. 本文应用振动理论方法,得到了自由振动、强迫振动特性的基本解析结果. 自由振动特性研究中考查了单个振型对测力的干扰及其影响规律以及干扰量幅值随测力截面相对位置的变化规律. 强迫振动特性研究了不同载荷强迫振动下各阶振型对测力的干扰. 研究表明,由于干扰量幅值与加速度幅值的“零点位置” 不重合,传统加速度惯性补偿存在理论上的缺陷. 实验中确定干扰量主要来源需要综合考虑截面位置、载荷作用位置、载荷类型的影响.      

Non-linear systems under parametric white noise input: Digital simulation and response

Monte Carlo technique is constituted of three steps. Therefore, improving such technique in practice means, improving the procedure used in one of the three following steps: (i) sample paths of the stochastic input process, (ii) calculation of the outputs corresponding to the generated input samples by using methods of classical dynamics and (iii) estimating statistics of the output process from sample outputs related to the previous step. For linear and non-linear systems driven by parametric impulsive inputs such as normal or non-normal white noises, a general integration method requires a considerable reduction of the integration step when the impulse occurs, treating the impulse as a physical one, by means of a window function of finite duration. This makes Monte Carlo simulation very prohibitive from a computational time point of view. While knowing the exact jump value of the response at impulse occurring that is expressed by a numerical series, the aforementioned problem is overcome because there is no need to reduce the integration step saving computational time, reliability being equal as shown by means of a numerical example.     

单自由度冲击扰动下模拟磁头／磁盘系统接触回复特性的实验研究

采用自制的试验装置研究了单自由度冲击扰动下磁头 /磁盘系统的接触回复特性 ,分析了不同载荷下球形模拟磁头跳跃振动回复系数和接触时间与输入速度之间的关系 .结果表明 :当载荷较小时 ,回复系数随着输入速度的减小而增加 ,而当载荷较大时 ,回复系数随着输入速度的减小而减小 .在不同载荷条件下 ,接触时间均随输入速度的减小而缩短 ,但小载荷下接触时间缩短的幅度较大 .球形模拟磁头的回复特性和接触时间与载荷、输入速度及润滑膜特性有关 ,增大载荷和选择合适的润滑剂均可抑制跳跃振动     

DEEP-LEARNING-BASED INTELLIGENT FORCE MEASUREMENT SYSTEM USING IN A SHOCK TUNNEL 1)

高焓条件气动力测量试验对高超声速飞行器气动外形设计和优化起决定性作用. 通常采用脉冲风洞(如激波风洞)产生高温、高压驱动气体以模拟高超声速高焓试验气流. 在脉冲风洞对高超飞行器模型进行测力试验时, 测力天平输出信号结果无法摆脱惯性载荷的干扰影响, 其导致的测力模型低频振动问题基本无法通过滤波彻底解决, 尤其对试验时间只有几毫秒的情况, 六分量测力天平的结构设计研究受到了极大挑战. 因此, 对实现短试验时间条件高性能测力的深入研究发现, 天平动态校准凸显重要性和必要性. 本研究提出一种新的基于人工智能深度学习技术的单矢量动态自校准方法和智能测力系统概念, 并应用于目前激波风洞测力试验中. 该动校方法的最主要特点之一是对整体测力系统的校准, 而非仅仅针对天平, 并且保证校准的测力系统即为风洞试验对象, 确保校准与应用的一致性. 在测试评估中, 测试样本和风洞试验验证均得到了较为理想的效果, 大幅度低频振动干扰基本被消除, 脉冲风洞测力的精度和可靠性得到了大幅提高.