Application of Nonlinear Optimisation Methods to Input Shaping of the Hoist Drive of an Off-Shore Crane

An application of nonlinear optimisation methods to the solution of finding the optimal hoist drive moment and the optimal velocity of the hoist drum is presented. Such a choice enables the load to be lifted to a desired height when the boundary conditions are fulfilled and deformations of the hoist rope system are minimised. The planar model of the system: crane-load-ship deck is worked out and then used in the optimisation process. The modal method is applied for modelling a jib. Results of numerical calculation are included.     

Modeling the Dynamics and Kinematics of a Telescopic Rotary Crane by the Bond Graph Method: Part II

Simulation of a rotary telescopic crane for which a detailed nonlinearbond graph model has been established in Part I of this study, isrealized utilizing experimental actual system for geometrical anddynamical parameters. With the intention of comparing the real system andthe model and of verifying the sufficiency of the model accuracy,various scenarios are defined corresponding to different loading andoperating conditions. Of the scenarios defined, impulse response, timeresponse and static response are used to experimentally gather such system parameters and variables as damping coefficient, cylinderdisplacements, and stiffness of the telescopic boom, respectively.Following, the simulation for two dissimilar scenarios which are staticresponse and impulse response is undergone and results are presented.     

Modeling the Dynamics and Kinematics of a Telescopic Rotary Crane by the Bond Graph Method: Part I

Cranes employed for load transfer are large volume machines and canbe designed to accomplish linear, planar or spatial motions dependingon the intended use. Understanding the dynamic behavior of thesesystems, which have a load-carrying capacity of hundreds of tonnes, ishighly noteworthy for system design, control, and work safety. Inthis study, a theoretical model of a spatially actuated telescopic rotarycrane is obtained with provided assumptions using Bond Graph techniques.Following the modeling of an actuation system and of a main structure,unification of these two is accomplished. Since the overall system consistsof high nonlinearity originating from geometric nonlinearity, gyroscopicforces, hydraulic compressibility, and elastic boom structure, the resultingderivative causality problem caused by rigidly coupled inertia elementsis addressed for this highly nonlinear system and consequential systemstate-space equations are presented.     

塔式起重机疲劳载荷谱的编制

用现场实测与有限元动态响应分析相结合的方法，获得DBQ3000塔式起重机的动部件在各种作业工况下的应力-时间历程，经雨流计数与在役历史工况统计分析，编制了各关键零部件的疲劳载荷谱。为该类型塔机的疲劳寿命预估、结构疲劳设计等提供了必要的裁荷依据。     

Stability of Nonstationary Automatic-Control Systems of Variable Structure in Forced Motion

Conditions of stability in sliding mode are obtained for nonstationary dynamic automatic-control processes of variable structure. The nonstationary parameters of a control process subjected to external perturbations vary in given ranges, whereas the parameters of the switching plane remain constant for the appropriately chosen parameters of discontinuous logic control laws. The corresponding system of differential equations contains coefficients that vary stepwise in time together with the parameters of the controlled process. The general stability criteria for the solutions of variable-structure systems are used to analyze the stability of motion in sliding mode of an automatic variable-structure control system of the second order     

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.     

Modelling,parameterisation and simulation-based optimisation of a microflow-control actuator

A synthetic jet is considered to control microflows, where the Knudsen number is between 0.001 and 0.1. The flow is modelled with the compressible, 2D Navier–Stokes equations. The wall boundary conditions are modified for the slip velocity and the temperature jump encountered for this Knudsen number range. The membrane motion is modelled as a moving boundary. After a validation using experimental results available only for a macroflow over a hump, the present study focuses on developing a design optimisation methodology for micro-synthetic jets in micro-scale, laminar crossflow. First, single-variable optimisations are performed. As compared to the baseline case, the optimisations yield 2, 15, 15 and 200% increase in actuation efficiency for the cases varying the orifice width, the orifice height, the cavity height and the frequency, respectively. Then, multi-variable shape optimisation is performed. Compared to the baseline case, the optimisation using shape parameters results in a 7-fold increase in the actuation efficiency, while the optimisation with Bezier polynomials results in more than a 10-fold increase.     

Dynamics analysis of the Minuteman cover drive

Recursive matrix relations in kinematics and dynamics analysis of a 1-DOF compound planetary gear train are established in the paper. The mechanism of the Minuteman cover drive is a system with four moving links and three gear pairs controlled by one electric motor. Knowing the rotation motion of the output link, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations. Finally, some simulation graphs for the input and output angles of rotation, the torque and the power of the actuator are obtained.     

Dynamics and Fuzzy Control of a Levitated Particle

This paper deals with the control in both horizontal and vertical directions of a nonlinear magnetic spherical particle suspension. A pair of horizontal electromagnets were added to the typical magnetic levitation system in order to handle the horizontal unexpected displacements of the particle. A fuzzy logic controller was designed to bring the particle to the operating location situated on the symmetry axis. Simulations with different initial position conditions of the particle are provided. It was shown that the controller has a good behavior for almost any initial conditions.     

激光准直检测仪的研制及其应用开发

检测仪的研制，是从工程中数量甚大的桥式起重机的安全性检测中，国家规范要求甚高而实际检测手段简陋的矛盾提出的。装置充分利用激光束的直线性和传输过程中光斑中心不变、光强较高的特性；通过集光、机、电为一体的测尺直接读出数据。应用这套装置，已进行１１台双梁桥式起重机箱形主梁的变形测定，结果表明：这套装置在现场使用方便，精度与检测要求匹配，装置价格不高，对工程单位比较实用。１９９５年获国家实用新型专利     

Torsional Vibration Control and Cosserat Dynamics of a Drill-Rig Assembly

Aspects of drill-string vibrations in the context of a recently developed integrated model of a drill-rig assembly based on the Cosserat theory of rods are discussed. Computer simulations are used to compare existing rotary feedback strategies currently in use to optimise drilling performance where torsional slip-stick vibrations are a hazard. Guided by the wave nature of axial and torsional vibrations in axially symmetric drill-string configurations, we present a new control mechanism, torsional rectification, and compare its performance with existing controllers within the context of the model. The practical guidelines for the improvement of drilling rates in a wide variety of circumstances are discussed.     

Study on Dynamics, Stability and Control of Multi-Body Flexible Structure System in Functional Space

ＩｎｔｒｏｄｕｃｔｉｏｎＷｉｔｈｔｈｅｄｅｖｅｌｏｐｍｅｎｔｏｆｔｈｅｍｏｄｅｒｎｓｃｉｅｎｃｅａｎｄｅｎｇｉｎｅｅｒｉｎｇｔｅｃｈｎｏｌｏｇｙ ,ｅｓｐｅｃｉａｌｌｙａｓｔｒｏｎ ａｖｉｇａｔｉｏｎｈａｖｉｎｇｂｅｃｏｍｅｐｒａｃｔｉｃａｌｌｙ ,ｔｈｅｐｒｏｂｌｅｍｄｉｓｃｕｓｓｉｎｇｄｙｎａｍｉｃｓ,ｓｔａｂｉｌｉｔｙａｎｄｃｏｎｔｒｏｌｏｆｓｙｓｔｅｍｏｆｔｈｅｌａｒｇｅｆｌｅｘｉｂｌｅｓｐａｃｅｓｔｒｕｃｔｕｒｅ (ＬＦＳＳ)ｈａｓｂｅｅｎａａｃｔｉｖｅｒｅｓｅａｒｃｈｆｉｅｌｄａｔｈｏｍｅａ…     

大型三排滚柱回转支承承载能力和寿命分析

针对两种不同类型的滚子，研究了大型三排滚柱回转支承承载能力和疲劳寿命．首先，通过理论推导滚子和滚道之间的变形量，并数值模拟轴承滚子和滚道之间的接触应力分布，从而推导滚子的寿命．计算结果显示，圆柱滚子的端部应力较大，而异形修正滚子最大应力出现在接触中心处，端部应力在数值上远小于圆柱滚子．通过等效应力的计算，在载荷较低时，圆柱滚子的疲劳寿命高于修正滚子；当载荷较大时，异形修正滚子的疲劳寿命明显高于圆柱滚子．     

The Effect of the Elastic Compliance of Actuator Components on the Dynamics of a Robot

Kinematic and dynamic control problems for a pedestal-mounted robot with a multilink arm are formulated. The robot is considered a system of perfectly rigid bodies controlled by a combined actuating system. The mathematical model of robot dynamics accounts for the elastic properties of actuator components based on the formalism of Lagrange equations of the second kind. The effect of the elastic compliance of the actuator components on the dynamics of manipulator links and actuator motors is discussed. A robot with a two-link arm is considered as an example     

Control of Chaotic Motion in a Spinning Spacecraft with a Circumferential Nutational Damper

Control of chaotic vibrations in a simplified model of a spinning spacecraft with a circumferential nutational damper is achieved using two techniques. The control methods are implemented on a realistic spacecraft parameter configuration which has been found to exhibit chaotic instability when a sinusoidally varying torque is applied to the spacecraft for a range of forcing amplitude and frequency. Such a torque, in practice, may arise in the platform of a dual-spin spacecraft under malfunction of the control system or from an unbalanced rotor or from vibrations in appendages. Chaotic instabilities arising from these torques could introduce uncertainties and irregularities into a spacecraft's attitude and consequently could have disastrous affects on its operation. The two control methods, recursive proportional feedback (RPF) and continuous delayed feedback, are recently developed techniques for control of chaotic motion in dynamical systems. Each technique is outlined and the effectiveness of the two strategies in controlling chaotic motion exhibited by the present system is compared and contrasted. Numerical simulations are performed and the results are studied by means of time history, phase space, Poincaré map, Lyapunov characteristic exponents and bifurcation diagrams.     

Global Dynamics of a Rapidly Forced Cart and Pendulum

In this paper, we study emergent behaviors elicited by applying open-loop, high-frequency oscillatory forcing to nonlinear control systems. First, we study hovering motions, which are periodic orbits associated with stable fixed points of the averaged system which are not fixed points of the forced system. We use the method of successive approximations to establish the existence of hovering motions, as well as compute analytical approximations of their locations, for the cart and pendulum on an inclined plane. Moreover, when small-amplitude dissipation is added, we show that the hovering motions are asymptotically stable. We compare the results for all of the local analysis with results of simulating Poincaré maps. Second, we perform a complete global analysis on this cart and pendulum system. Toward this end, the same iteration scheme we use to establish the existence of the hovering periodic orbits also yields the existence of periodic orbits near saddle equilibria of the averaged system. These latter periodic orbits are shown to be saddle periodic orbits, and in turn they have stable and unstable manifolds that form homoclinic tangles. A quantitative global analysis of these tangles is carried out. Three distinguished limiting cases are analyzed. Melnikov theory is applied in one case, and an extension of a recent result about exponentially small splitting of separatrices is developed and applied in another case. Finally, the influence of small damping is studied. This global analysis is useful in the design of open-loop control laws.     

Dynamics of a Gas Bubble during Its Interaction with Compression and Rarefaction Waves

The problem of the passage of acoustic waves in the neighborhood of a gas bubble in a tube is formulated and solved numerically. The main parameters determining the bubble dynamics in a non-stationary field are determined. The mechanism of jet deformation of the bubble followed by jet fragmentation and formation of a secondary small-size bubble fraction is studied. A possible explanation of the nature of local sonoluminiscence is proposed.__________Translated from Prikladnaya Mekhanika i Tekhnicheskaya Fizika, Vol. 46, No. 5, pp. 76–85, September–October, 2005.     

Dynamics and control of a self-sustained electromechanical seismographs with time-varying stiffness

This paper is concerned with the nonlinear dynamics and vibration control of an electromechanical seismograph system with time-varying stiffness. The instrument consists of an electrical part coupled to mechanical one and is used to record the vibration during earthquakes. An active control method is applied to the system based on cubic velocity feedback. The electromechanical system is subjected to parametric and external excitations and modeled by a coupled nonlinear ordinary differential equations. The method of multiple scales is used to obtain approximate solutions and investigate the response of the system. The results of perturbation solution have been verified through numerical simulations, where different effects of the system parameters have been reported.