Simulation and experimental studies of a vibro-impact capsule system driven by an external magnetic field

This paper studies the electromagnetic field used for driving a vibro-impact capsule prototype for small bowel endoscopy. Mathematical models of the electromagnetic field and the capsule system are introduced, and analytical solution of the magnetic force applied on the capsule is derived and verified by experiment. The impact force between the inner mass of the capsule and the capsule body is also compared via numerical simulation and experimental testing. By comparing the capsule’s progressions under different control parameters (e.g. the excitation frequency and duty cycle), the merits of using the vibro-impact propulsion are revealed. Based on the experimental results, the optimised speed of the prototype can achieve up to 3.85 mm/s. It is therefore that the potential feasibility of using the external electromagnetic field for propelling the vibro-impact capsule system is validated.

     

A comparative study of the vibro-impact capsule systems with one-sided and two-sided constraints

This paper studies the dynamics of the vibro-impact capsule systems with one-sided and two-sided soft constraints under variations of various system and control parameters, including mass ratio, stiffness ratio, gap of contact, and amplitude and frequency of external excitation. The aim of this study is to optimise the progression speed and energy consumption of the capsule and minimise the required cabin length for prototype design used for engineering pipeline inspection. Our studies focus on three systems: the capsule with a right constraint, the capsule with a right and a weak left constraints, and the capsule with a right and a strong left constraints. Bifurcation analyses show that the behaviour of the capsule with one-sided constraint is mainly periodic, and the dynamic responses of the other two capsules with two-sided constraints become complex when the stiffness of the left constraint increases. Based on our extensive comparisons, the following optimisation strategies are recommended. When the capsule speed is paramount, one can employ the two-sided capsule with a weak left constraint under large amplitude of excitation. When energy consumption is taken into account, the one-sided capsule is preferable. When a miniaturized prototype is needed, the two-sided capsule with a strong left constraint is the best choice.     

Research on optimal design method for drag reduction of vacuum pipeline vehicle body

The vacuum pipeline vehicle system is a novel conceptual system aimed to provide a high-speed public transportation service in the future, featured with a reduced-pressure tube in which pressurised capsules ride on a cushion of air that is driven by a combination of linear induction motors and air compressor. The capsule body has a great influence on the aerodynamic performance of vehicles. This work involves numerical simulations based on finite volume method to study the optimisation method for the parameter design of the vehicle body. The results show that the aerodynamic resistance of the optimised vehicle is further reduced, the drag reduction rate reaches 5.52%, and the speed of the Kantrowitz limit phenomenon is delayed from 760 to 860?km/h. The drag reduction effect is obvious.     

Experimental and numerical studies of intestinal frictions for propulsive force optimisation of a vibro-impact capsule system

This paper studies the intestinal frictions acting on a millimetre-scale self-propelled capsule (26 mm in length and 11 mm in diameter) for small bowel endoscopy by considering different capsule–intestine contact conditions under a wide range of capsule’s progression speeds. According to the experimental results, intestinal frictions vary from 7 mN to 4.5 N providing us with a guidance for designing the propelling mechanism of the controllable capsule endoscope. Our calculations show that the proposed vibro-impact mechanism can perform as a force magnifier generating a much larger propulsive force on the capsule than its original driving force. Therefore, the self-propelled capsule is capable of moving in the small intestine under a wide range of friction variation.

     

Forward and backward motion control of a vibro-impact capsule system

A capsule system driven by a harmonic force applied to its inner mass is considered in this study. Four various friction models are employed to describe motion of the capsule in different environments taking into account Coulomb friction, viscous damping, Stribeck effect, pre-sliding, and frictional memory. The non-linear dynamics analysis has been conducted to identify the optimal amplitude and frequency of the applied force in order to achieve the motion in the required direction and to maximize its speed. In addition, a position feedback control method suitable for dealing with chaos control and coexisting attractors is applied for enhancing the desirable forward and backward capsule motion. The evolution of basins of attraction under control gain variation is presented and it is shown that the basin of the desired attractors could be significantly enlarged by slight adjustment of the control gain improving the probability of reaching such an attractor.     

考虑两相流内弹道的自行火炮发射动力学计算

为了更加准确地计算火炮弹丸的起始扰动,将两相流内弹道应用于发射动力学研究。建立了完整的自行火炮系统发射动力学方程组,包括火炮系统的体动力学方程组、弹丸在膛内运动的动力学方程以及两相流内弹道方程。编制了计算程序,实现了对某自行火炮发射过程的数值模拟,在准确计算内弹道过程的同时,获得了火炮的动力响应、弹丸膛内运动和起始扰动。部分模拟结果与实验实测结果吻合较好。计算表明,采用两相流内弹道模型将提高发射动力学计算精度。     

自主推进俯仰震荡翼型的数值模拟研究

运用自适应多重网格法和内置边条法研究了俯仰震荡翼型的运动.通过研究翼型的原地摆动与自由游动,提出了一种确定自主推进俯仰震荡翼型推力的方法,得到了推力系数、功率系数和推进效率与Strouhal数的关系.与以往研究不同的是,我们还得到了Strouhal数随雷诺数的变化规律.此外,从自由游动翼型诱导出的涡量场中可以清楚的观察到旋涡的合并,这与实验研究非常吻合.     

A general method for impact dynamic analysis of a planar multi-body system with a rolling ball bearing joint

Impact affects the dynamic characteristics of mechanical multi-body systems and damages those rotating parts, such as the joint rolling element bearings, which are high-precision, defect intolerant components. Based on multi-body dynamic theory, Hertzian contact theory, and a continuous contact model, this study proposed a modelling method that can describe the dynamic behaviour of planar mechanical multi-body systems containing a rolling ball bearing joint under impact. In this method, the rigid bodies and bearing joint were connected according to their joint force constraints; the impact constraint between the multi-body system and the target rigid body was constructed using a continuous contact force model. Based on this method, the reflection relationship between the external impacts of the mechanical multi-body system and the variation law governing the dynamic load on the rolling bearing joint were revealed. Subsequently, an impact multi-body system, which was composed of a sliding–crank mechanism containing a rolling ball bearing joint and the target rigid body with an elastic support, was analysed to explore the dynamic response of such a complex discontinuous dynamic system andthe relevant relationship governing the dynamic load on the rolling bearing joint. In addition, a multi-body dynamic simulation software was used to build a virtual prototype of the impact slider–crank system. Compared with the theoretical model, the prototype had an additional deep groove ball bearing. That is to say, the prototype model took account of the specific geometric structural characteristics and the complex contact relationship of the inner and outer races, rolling balls, and bearing cage. Finally, the effectiveness of the theoretical method proposed in this study was verified by comparative analysis of the results. The results suggested that the external impact of a mechanical multi-body system was prone to induce sudden changes in the equivalent reaction force on its bearing joint and the dynamic load carried on its rolling balls. This study provided an effective method for exploring the distribution characteristics of dynamic loads on rolling ball bearing joints under working impact load conditions. Moreover, it offered support for the parameter optimisation of geometric structure, performance evaluation, and dynamic design of the rolling ball bearings.     

Semi-active hydro-gas suspension system for a tracked vehicle

A semi-active hydro-gas suspension is proposed for a tracked vehicle to improve ride comfort performance, without compromising the road holding and load carrying capabilities of the passive suspension. This is achieved through an active damper used in parallel with a gas spring. The suspension damper parameters are varied by a control mechanism based on sky-hook damping theory, which alters the flow characteristics. A damper prototype has been developed, tested for its flow characteristics, after which it has been integrated into an existing hydro-gas suspension system. An analytical model has been proposed from first principles rather than developing a phenomenological model based on experimental characteristics. This model is validated with experiments carried out on a suspension test rig. In order to compare the performance with the original passive system, an in-plane vehicle model is developed and the simulations clearly show that the semi-active system performance is superior to the passive system.     

基于STAMP模型的掺氢输送放空系统风险分析

随着掺氢运输迅猛发展,原有的放空系统又产生了新的安全隐患和风险因素。为了保障掺氢管道放空作业时设备和人员的安全,本文基于事故分析模型,通过分析掺氢管道的放空流程,确定放空系统失效事故的安全约束条件,建立放空作业控制与反馈模型,识别控制模型中潜在的不安全控制行为,确定不同的不安全控制行为产生的风险及对应的安全约束,对掺氢管道的风险性进行分析研究,提高掺氢管道放空作业的安全性。

     

Development of a vehicle to study the tractive performance of integrated steering-drive systems

This paper describes a test-bed vehicle for studying the integration of the steering system of a wheeled vehicle with the drive system. The vehicle was produced in order to determine whether such an integrated system is practical; to investigate tractive performance compared to other steering-drive systems; and to determine under which conditions such a system has better performance. The integrated steering-drive system of the test-bed vehicle uses a computer to co-ordinate the independently driven wheel speeds of the drive system (which is also the primary steering system) with the steer angles of the non-driven steerable wheels to produce a beneficial secondary steering effect. The secondary steering system assists the primary steering system when side forces act on the vehicle, while producing minimal conflict. This concept can be applied to agricultural vehicles such as tractors, harvesters, mowers, sprayers and self-propelled windrowers. The test-bed vehicle is able to be configured for the following steering-drive systems types: open differential drive with steerable wheels, independent drive wheels with castors, locked differential drive with steerable wheels and a computer integrated steering-drive system. The capacity of the test-bed vehicle to be configured as described is a significant advantage when measuring tractive performance, as the results obtained will be more valid due to the vehicle parameters being the same.     

Some aspects of physical and numerical modeling of water hammer in pipelines

In this work, a computational method was used for the prediction of water transmission failure. The proposed method allowed for any arbitrary combination of devices in the water pipeline system. The method used was by a scale model and a prototype (real) system for a city main water pipeline where transient flow was caused by the failure of a transmission system.     

Numerical study on mitigating severe slugging in pipeline/riser system with wavy pipe

The gas/liquid two-phase flow in pipeline/wavy-pipe/riser systems was investigated numerically with CFD. A CFD model of the pipeline/wavy-pipe/riser system was obtained by adding a wavy pipe to the model of the pipeline/riser system verified by the experimental data previously. The effects of the geometrical parameters and location of the wavy pipe on its performance of slug mitigation and flow characteristics in pipeline/wavy-pipe/riser systems were examined through the CFD models. With the increase of the amplitude or length of the wavy pipe, the slug in the pipeline/riser system becomes shorter. The optimum location of the wavy pipe in the pipeline exists for a pipeline/riser system and a wavy pipe at given operating conditions. The CFD modelling provides a feasible and flexible way to investigate the effectiveness of the wavy pipes on mitigating severe slugging in pipeline/riser systems.     

The design process of a self-propelled floor crane

In order to prevent the hazards associated with the crane application in workshops and factories, a self-propelled hydraulic floor crane with wire remote control was designed. The main focus was directed on remote control of the crane operations such as rotation of booms, rear and forward movements, changing travel speed, steering, braking and hook rotation. This configuration prevents the hazards and damages which may be created due to the proximity of operator to crane and provides the feasibility of utilizing the crane in crowded manufacturing areas, fields and hazardous environments. Research into the stability of crane on a slope route was also performed to obtain the equations of stability in static and dynamic conditions and recognition of the ways to enhance the stability. To validate the research work, a scale-model prototype was built to test the manner of controlling the crane operations from afar.     

在轨组装空间结构面向主动控制的动力学建模

在轨组装是未来超大型空间结构最有发展潜力的构建方式之一, 组装过程中空间结构尺寸逐渐增长、动力学特性也随之改变, 给结构主动控制任务带来了新的挑战. 针对这一问题, 提出一种在轨组装空间结构面向主动控制的动力学建模方法. 首先, 建立不同类别组装模块的基础模型库, 以用于后续直接调用; 然后, 定义模块的邻接关系矩阵以描述在轨组装过程中空间结构的变化, 并根据在轨组装任务特点, 设计了面向分布式控制的智能组件结构形式; 在有限元建模方法的基础上提出"节点自由度加载"方法, 利用模块的基础模型库与邻接关系矩阵, 分别建立智能组件和空间结构整体的动力学模型, 该模型可随组装的进行同步自适应更新; 最后, 以在轨组装桁架结构为例, 给出组装碰撞冲击下动力学建模与分布式主动控制数值仿真. 结果表明, 在轨组装过程中桁架结构整体的动力学特性有明显的变化, 主动控制非常必要; 基于提出的建模方法, 可高效地建立构型多样的在轨组装空间结构动力学模型; 智能组件的动力学模型在组装过程中可进一步根据邻接关系矩阵限定更新范围, 适用于在轨组装过程中的分布式主动控制系统设计.      

多体系统传递矩阵法研究进展

作为一种多体系统动力学新方法, 多体系统传递矩阵法由于其无需系统总体动力学方程和快速计算的特点, 已被广泛用于各种多管火箭、自行火炮、舰炮等复杂大型机械系统动力学分析与设计. 本文介绍了该方法的研究进展, 包括: 线性多体系统传递矩阵法、多体系统离散时间传递矩阵法、二维系统传递矩阵法、受控多体系统传递矩阵法、多体系统传递矩阵法和通常动力学方法的混合方法等, 给出了该方法解决自行火炮、多管火箭武器多体系统动力学的重大工程应用实例.      

Grandstand Simulator for Dynamic Human-Structure Interaction Experiments

This paper describes the design, construction and use of a unique laboratory rig for the study of dynamic crowd-structure interaction in cantilever grandstands. The rig replicates a fifteen-seat section of raked grandstand, allowing laboratory tests to be performed under conditions which accurately represent those in a prototype structure. Built-in force plates enable full recording of the loads due to jumping or bobbing of each test participant, permitting detailed evaluation of group coordination levels and dynamic load factors. To investigate a wide range of dynamic structural responses, the grandstand is supported on air springs and driven using linear electric actuators. This represents a pioneering application of electric actuation technology, which is normally restricted to lower force levels and mechanical/aerospace applications. The rig also uses novel control techniques to enable the actuators to behave as spring-dashpots, allowing the rig to respond to loads imparted by the human test subjects as a dynamic system with user-defined natural frequency and damping. It is believed that this is the first time such techniques have been applied to experiments involving human participants. The rig is being used to study the factors influencing crowd coordination when jumping and bobbing on a compliant structure, and to assess acceptability limits for grandstand vibrations. Early findings suggest structural motion generated by the second harmonic of the group-jumping load does not adversely affect jumping coordination levels. This observation has significant implications for modern cantilever grandstands.     

Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming

This paper presents a systematic approach based on Mixed Integer Linear Programming for finding an optimal singularity-free reconfiguration path of the 5-DOF Gantry-Tau parallel kinematic machine. The results in the paper demonstrate that singularity-free reconfiguration (change of assembly mode) of the machine is possible, which significantly increases the usable workspace. The method has been applied to a full-scale prototype and the singularity-free path has been verified both in simulations and with physical experiments using real-time control of the prototype. The toolpoint positions have been verified by using measurements from a high precision laser tracker.     

Modelling of Silicon in inertial confinement fusion conditions

In ICF experiments recently undertaken at the National Ignition Facility (NIF), the high-Z dopant in the capsule ablator material has been changed from Germanium to Silicon for some experiments [1]. In this paper two issues involving the modelling of Silicon in the ablator of an ICF capsule will be addressed. Firstly, we consider the differences between LTE and non-LTE modelling of Silicon in the prediction of the opacity and of the mean charge state. Secondly, the necessary size of the photon groups (or ‘bins’) used in the radiation transport modelling will be discussed, and radiative transport calculations with varying bin sizes will be presented in order to support the conclusions.     

High-speed electrospindle running on air bearings: design and experimental verification

In high-speed machining there are a number of applications in which the spindle is supported by air bearings. This type of bearings has very low friction and wear, resulting in virtually unlimited life. If the system is designed correctly the radial stiffness on the tool is comparable to that of ceramic ball bearings. A mathematical model of rotor-air bearing system and experimental work on high-speed spindle for machining applications are presented. The model is numerically solved paying special attention to boundary condition of supply ports. The discharge coefficient c _d is considered on the basis of experimental findings. The influence of clearance and supply port diameter is discussed for radial bearings and axial thrust bearings. The aim is to find an optimum solution representing the compromise between high stiffness, supply flow and stability. The prototype of a high-speed electrospindle running on air bearings is described. The rotor, 50 mm in dia. and weighing 7 kg, is designed for 100 krpm. The spindle is driven by a high frequency asynchronous motor featuring closed loop speed control. Experimental stiffness curves are shown at different supply pressure ratings.