A semi-automated in-plane loader for materials testing

A universal testing machine is described for applying general in-plane loading as combinations of tension or compression, shear and in-plane rotation. It is composed of three computer-controlled hydraulic actuators connected to a movable head free to execute translation and rotation motions. Test specimens 1 in.×1.5 in. (25 mm×38 mm) are loaded through hydraulic grips for which the gripping pressure can be programmed. Other components include a mechanical specimen loader, a video digitizer for defining the specimen geometry, and a computer system that controls the test and gathers and stores the test data. A large number of tests can be conducted inexpensively over a broad range of loading conditions in this system, as opposed to the more generally available complex loading systems for which specimen costs are higher and testing time considerably longer. With rather limited changes, the system could be fully automated. The system has been used to characterize the fracture behavior of a series of carbon/epoxy composites over a broad range of in-plane loads.     

Experimental investigation on using the piezoelectric and electromagnetic vibration absorbers in milling

The paper presents an active control system that counteracts the development of chatter vibration. The vibration amplitude depends on the dynamic properties of the machine tool, cutting tool and work-piece. In the paper we analyze the case when the loss of machining stability is caused by the work-piece. The proposed active control system employs electromagnet or piezoelectric actuator to suppress vibration during milling. The active control introduces damping into the system, thereby raising the critical depth of cut and reducing forced vibration amplitude. It enables stable cutting under a much wider range of cutting parameters that for the uncontrolled system. Cutting tests are performed on JAFO FYN-50 machine with mill DIN 845 B-25 K-N HSS to demonstrate an effectiveness of the proposed systems.     

主动移频式动力吸振器及其动力特性的研究

动力吸振器是振动控制中比较有效的减振装置,只要吸振器(子系统)的振动固有频率与振动物体(主系统)的振动频率相同,即可有效地消除主系统的振动。但传统动力吸振器的控制频率带宽较窄,限制了其稳定性和减振效果的提高。本文通过独特的机械设计,研制了一种可以通过调节自身的几何参数,使得其固有频率随几何参数线性变化的主动移频的新型动力吸振器,并初步设定了相应的控制方法。文中还对其动力学特性进行了理论分析和实验测试,分析了它的机理,评估了它的实际减振效果。研究结果表明该吸振器可以大范围调节自身固有频率,有效拓宽吸振频带,具有良好的减振性能和稳定性。     

三峡水库应力场对水田坝断裂影响的数学-力学模型研究

水库蓄水后, 在一定空间范围内形成了应力场、应变场和渗流场。我们建立了一个数学一力学模型, 以描述水压应力场的特征。通过运用弹塑性岩土体非线性应力一应变和稳定性静力分析NOLM83二维有限元程序发现, 水库水压应力场的最大主应力从水库中心向两侧、从水库表面向深部逐渐降低。在此基础上, 研究了在未来三峡水库水压应力场影响下, 水田坝断裂的应力、应变和影响范围。研究表明, 平面影响范围为该断裂两侧5～-6km.由于岩体的浮托作用, 地表面的累积位移量少于10mm, 并向下逐渐减小。因此, 水田坝断裂完全能够承受三峡水库蓄水后产生的水压应力, 不会出现中-强度水库诱发地震, 不会影响三峡工程的安全。     

A HYBRID TECHNIQUE FOR COMPRESSION TESTING AT INTERMEDIATE STRAIN RATES

It is difficult to obtain accurate load information at strain rates on the order of 10² s^-1 using a quartz load cell. We have developed a hybrid apparatus which combines the loading capability of a hydraulic test machine with the load-measurement technique of the Hopkinson bar. Tests comparing the output of the Hopkinson bar to the quartz cell clearly demonstrate the increase in resolution obtained with the hybrid technique.     

承重试验台同步加载系统设计计算及模糊PID耦合调平控制

针对试验台加载系统需具有高效率、快响应和高同步精度的特点,设计了一套液压油路系统,并开发了一种模糊PID交叉耦合同步调平四缸的控制算法。通过对理论模型输出位移的实时跟踪,实现了试验台的同步加载和精确调平控制。基于AMESim建立的同步加载系统的仿真结果,验证了主从式控制与模糊PID交叉耦合控制方案设计的合理性和可靠性。调平系统实验进一步表明,改变四液压油缸负载值使液压油缸负载不同步,可明显提高系统的高精度同步性能。     

Large-scale rotating bending fatigue tests for offshore pipe connections

A testing apparatus featuring rotating bending fatigue techniques was designed and constructed to investigate the fatigue behavior of full-sized threaded connections used to couple offshore piping and structures. Rotating bending tests were performed where flexural loads are applied to the pipe with a hydraulic loading system while simultaneously rotating the pipe by belt drive attached to an electric motor. While rotating bending fatigue testing is not a new concept, the relatively large scale of the tests presented special problems that make the apparatus distinctive. This rotating bending apparatus allows more rapid testing than conventional closed-loop systems. Additionally, conventional closed-loop axial fatigue tests would have required a testing frame with fatigue load capacity exceeding 4455 kN (1,000,000 lbs). Several specially manufactured devices are featured that require large service loads combined with exacting machine tolerances. Currently, a fatigue frequency of 2.0 Hz has been achieved with an equivalent deformation range of 25.4 mm (1.0 in.). Faster speeds are believed possible.     

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.     

Development of a load-cell compensation system

When a materials testing machine is used dynamically, the force recorded by the load cell may differ from that experienced by the specimen. This error is caused by the mass of the load string, usually the grip, between the specimen and the load cell.The equations of motion for a testing machine are developed and the parameters affecting the error are identified. A system is described which removes the inertia error from the load-cell output by measurement of the acceleration of the mass. The effectiveness of the technique is assessed by the use of strain-gaged reference specimens, of different stiffnesses, for comparison with the load-cell output. Two methods for calibrating the system are used and their merits assessed.     

Miniature piezoresistive transducers for transient soft-body contact-stress problems

Assessment of contact-stress distributions between irregular bodies of high compliance has often proven difficult because of the lack of suitable sensing elements. Miniature transducers using piezoresistive elastomers appear to provide a means for making such measurements. A protocol for fabrication of the transducers is presented. Bench tests of the load/response characteristics reveal that the devices are capable of measuring static contact stresses up to at least 5.0 MN/m², but that the resistance changes are a nonlinear function of both load magnitude and current throughput. The dynamic range depends strongly upon mechanical preconditioning. For 10⁴ preloading cycles, the transducers can reproduce loading signals at frequencies up to at least 15 Hz. The transducers exhibit high output (>90-percent resistance changes over the range of load sensitivity) but present some difficult problems in the area of quality control.     

Analysis of unsymmetrical valve controlling unsymmetrical cylinder stability in hydraulic leveler

The unsymmetrical valve controlling unsymmetrical cylinder is applied to the full hydraulic leveler. Generally, the hydraulic cylinder is in the position of the large stroke and it has a fast speed, the orifice area of the unsymmetrical valve being large accordingly. Furthermore, the four cylinders?? displacements are interacting, this system being a complex coupling nonlinear system. It is inaccurate to judge the stability of the system by linearization. This paper proves that the unsymmetrical valve controlling the unsymmetrical cylinder system is stable by Lyapunov theorem. Then, the AMEsim software and experimental data verify the stability of the system when it is in nonlinear state. This paper shows that using unsymmetrical valve controlling unsymmetrical cylinder is reasonable and provides the theoretical basis for criteria of nonlinear system??s stability.     

Dynamic characteristics of a rub-impact rotor-bearing system for hydraulic generating set under unbalanced magnetic pull

Electromagnetic and mechanical forces are main reasons resulting in vibrations in hydraulic generating set. The non-symmetric air-gap between the rotor and stator creates an attraction force called unbalanced magnetic pull (UMP). The UMP can produce large oscillations which will be dangerous to the machines. In this paper, the nonlinear dynamic characteristics of a rotor-bearing system with rub-impact for hydraulic generating set under the UMP are studied. The rubbing model is established based on the classic impact theory. Through the numerical calculation, the excitation current, mass eccentricity, stiffness of shaft and radial stiffness of stator are used as control parameters to investigate their effect on the system, by means of bifurcation diagrams, Poincaré maps, trajectories and frequency spectrums. Various nonlinear phenomena including periodic, quasi-periodic and chaotic motions are observed. The results reveal that the UMP has significant influence in the response of the rotor system that the continuous increase in the excitation current induces the alternation of quasi-periodic and chaotic motions, the co-occurrence of oil whip and rub in a wide excitation range aggravates the vibration and leads to the instability of the system. In addition, the large eccentricity and radial stiffness of stator, as well as the small stiffness of shaft may lead to the occurrence of full annular rubbing while increasing the stiffness of the shaft can play an important role of suppressing the chaotic motion, reducing the vibration and improving stability of the system.     

多维磁浮柔性转子控制系统分岔与控制器设计

讨论了多维悬浮柔性转子控制系统局部及全局分岔问题,首先建立了该复杂系统动力学模型,应用中心流形和求规范形综合方法,得到此系统非半简双零特征值问题的规范形及其普适开折,并进一步讨论了此控制系统的分岔 行为（余维二分岔）及稳定性;给出了为实现稳定控制,控制器参数、转子系统结构参数的相互关系及稳定控制域,即给出分岔 参数条件、分岔曲线、转迁集,最后,给出此柔性转子控制系统的数值仿真结果。     

Accurate characterization of machine compliance for simple compression testing

Correction for machine compliance is an important step in analyzing the data obtained in many mechanical testing procedures. The difficulties associated with compliance correction, as they apply to the simple compression mode of testing, are explored in this paper. The commonly employed approach is to extend the procedure suggested in the ASTM standards for testing high modulus, single-filament materials, which implicitly assumes that the machine behaves as a linear spring with a constant compliance factor. It is shown in this paper that this approach results in different values for the machine compliance factor for different materials. The nonuniqueness of the machine compliance factor is attributed to the inherent nonlinearity of the machine compliance, i.e., the nonlinear dependence of the nonsample displacement on the applied load. Through a set of mechanical tests on a range of materials, it has been demonstrated that it is necessary to characterize this nonlinear compliance relationship for the machine to obtain accurate and consistent measurements.     

Simulation and hybrid fuzzy-PID control for positioning of a hydraulic system

Accuracy and precision of position control of hydraulic systems are key parameters for engineering applications in order to set more economical and quality systems. In this context, this paper presents modeling and position control of a hydraulic actuation system consisting of an asymmetric hydraulic cylinder driven by a four way, three position proportional valve. In this system model, the bulk modulus is considered as a variable. In addition, the Hybrid Fuzzy-PID Controller with Coupled Rules (HFPIDCR) is proposed for position control of the hydraulic system and its performance is tested by simulation studies. The novel aspect of this controller is to combine fuzzy logic and PID controllers in terms of a switching condition. Simulation results of the HFPIDCR based controller are compared with the results of classical PID, Fuzzy Logic Controller (FLC), and Hybrid Fuzzy-PID controller (HFPID). As a result, it is demonstrated that Hybrid Fuzzy PID Controller with Coupled Rules is more effective than other controllers.     

Torque control strategy for a parallel hydraulic hybrid vehicle

Hydraulic hybrid system is an important branch of hybrid technology, which has the advantage of high power density and the ability to accept the high rates/high frequencies of charging and discharging, therefore hydraulic hybrid technology is well suited for off-road vehicles and heavy-duty trucks. Relatively lower energy density and complicated coordinating operation between two power sources require a special energy control strategy to maximize the fuel saving potential. This paper presents a new configuration of parallel hydraulic hybrid vehicle (PHHV) to improve the braking energy regenerated potential and engine work efficiency. Based on the analysis of optimal energy distribution for the proposed PHHV over a representative urban driving cycle, a fuzzy torque control strategy based on the vehicle load changes is developed to real-time control the energy distribution for the proposed PHHV. Simulation results demonstrate that the proposed PHHV with torque control strategy takes advantage of the high power density and efficiency characteristics of the hydraulic hybrid system, minimizes the disadvantages of low energy density and effectively improves the fuel economy of PHHV.     

Seismic isolator test rig control using high-fidelity non-linear dynamic system modelling

This paper concerns the modelling and the control design of a hydraulic actuator employed to carry out shear tests on seismic isolators. The testing machine requires a controller that can ensure the tracking of the target displacement in presence of the unknown restoring force of the isolation devices. To this aim, a model inversion based control, coupled with a feedback contribution, has been designed and implemented. A non-linear model has been derived and adopted for the feedforward synthesis through the inverse dynamics resolution. As a consequence, the feedback control has the function to compensate for the tracking error due to model uncertainties and the unknown isolator reaction force. The choice of a mixed approach allows to design a control action that results minimally invasive on the stability characteristics: it is possible to obtain good tracking results without the increasing of the feedback control gain. The effectiveness of the designed control has been firstly evaluated by means of simulations and, successively, executing experimental tests on the test rig with and without the specimen under test.     

转子在线自动平衡及其工程应用研究的进展

转子在线自动平衡技术可以在旋转机械运行期间调整其不平衡量来及时降低振动, 使其始终稳定运行.早期的自动平衡装置始于19世纪末, 包括液体型、环型、球型和摆锤型;20世纪60年代开始研究的自动平衡装置主要包括喷涂型、电腐蚀型、电子光束型、激光型和电化学型;20世纪后期研究的自动平衡装置主要包括电动机型和遥控型;现代的自动平衡装置主要包括液压型、电磁型和电磁轴承型.综述了国内外各种旋转机械在线自动平衡装置的结构和工作原理, 重点介绍了液压型和电磁型自动平衡装置的结构和控制原理.讨论了在线自动平衡技术最新的研究成果, 列举了在线自动平衡技术的工程应用实例, 介绍了应用电磁型自动平衡装置解决柔性弯曲转子和立式超重力机转子振动的试验.转子在线自动平衡技术已经大量应用到机械加工设备, 如磨床等, 显著提高了加工精度;有些还应用于流程工业中大型的旋转机械上, 如汽轮机、风机和压缩机等, 取得了巨大的经济效益.高可靠性的平衡执行机构和高效的控制策略等关键问题尚未完全解决.      

Magnetic torque attitude control of a satellite using the state-dependent Riccati equation technique

A non-linear attitude control method for a satellite with magnetic torque rods using the state-dependent Riccati equation (SDRE) technique has been developed. The magnetic torque caused by the interaction with the Earth's magnetic field and the magnetic moment of torque rods plays a role of the control torque. The detailed equations of motion for this system are presented using angular velocity and quaternions. The SDRE controller is developed for the non-linear systems which can be formed in pseudo-linear representations using the state-dependent coefficient (SDC) method without linearization procedure. The aim of this control system is to achieve a stable attitude within 5°, and minimize the control effort. The stability regions for the SDRE controlled satellite system are estimated through the investigation of the stability conditions developed for pseudo-linear systems and the application of Lyapunov's theorem. For comparisons, the Linear Quadratic Regulator (LQR) method using the solution of the algebraic Riccati equation (ARE) is also applied to this non-linear system. The performance of the SDRE non-linear control system demonstrates more robustness and stability than the LQR control system when subjected to a wide range of initial conditions.     

Apparatus for Testing Concrete under Multiaxial Compression at Elevated Temperature (mac2T)

This paper describes a new test facility for determining material mechanical properties of structural concrete. The novel facility subjects 100 mm cubic concrete specimens to true multiaxial compression (σ₁ ≠ σ₂ ≠ σ₃) up to 400 MPa at temperatures of up to 300°C. Forces are delivered through three independent loading frames equipped with servo-controlled hydraulic actuators creating uniform displacement boundary conditions via rigid platens. Specimen deformation is calculated from displacements measured to an accuracy of 10⁻⁶ m using a system of six laser interferometers. The combination of stiff loading frames, rigid platens, an accurate and reliable strain measurement system and a fast control system enables investigation of the material response in the post-peak range. The in-house developed control software allows complex multi-stage experiments involving (i) load and temperature cycling, (ii) small stress probes and (iii) arbitrary (pre-defined) loading paths. The program also enables experiments in which the values of the control parameters and the execution of the test sequences depend on the response of the specimen during the test. The capabilities of the facility are illustrated in this paper by experiments determining the effects of different heat-load regimes on the strength and stiffness of the material and tests identifying the tangent stiffness matrix of the material and the associated changes in the acoustic tensor under multiaxial compression.