Cargo Pendulation Reduction of Ship-Mounted Cranes

Ship-mounted cranes are used to transfer cargo from large container ships to smaller lighters when deep-water ports are not available. The wave-induced motion of the crane ship can produce large pendulations of the cargo being hoisted and cause operations to be suspended. In this work, we show that it is possible to reduce these pendulations significantly by controlling the slew and luff angles of the boom. Such a control can be achieved with the heavy equipment that is already part of the crane so that retrofitting existing cranes would require a small effort. Moreover, the control is superimposed on the commands of the operator transparently. The successful control strategy is based on delayed feedback of the angles of the cargo-hoisting cable in and out of the plane of the boom and crane tower. Its effectiveness is demonstrated in a fully nonlinear three-dimensional computer simulation and in an experiment with a 1/24th-scale model of a T-ACS (The Auxiliary Crane Ship) crane mounted on a platform moving with three degrees of freedom. The results demonstrate that the pendulations can be significantly reduced, and therefore the range of sea conditions in which cargo-transfer operations can take place can be greatly expanded.     

大型多支承变刚度回转窑支承载荷分配问题

回转窑是冶金、水泥、耐火材料生产中的核心设备，是一种重载、大扭矩、多支点、静不定运行系统，由于其载荷和刚度分布复杂、各支承存在偏移，作用在它托轮上的支承载荷分配严重不均。本文针对回转窑载荷和刚度分布的特点，建立支承载荷求解的力学模型和线性方程组，导出支承载荷分配与支承偏差的关系式；用该方法对现场回转窑进行计算，得出该窑支承载荷分配的线性公式和一些分析结论，为生产中回转窑的状态分析、优化调控提供依据。     

High-Velocity Laminar and Turbulent Flow in Porous Media

We model high-velocity flow in porous media with the multiple scale homogenization technique and basic fluid mechanics. Momentum and mechanical energy theorems are derived. In idealized porous media inviscid irrotational flow in the pores and wall boundary layers give a pressure loss with a power of 3/2 in average velocity. This model has support from flow in simple model media. In complex media the flow separates from the solid surface. Pressure loss effects of flow separation, wall and free shear layers, pressure drag, flow tube velocity and developing flow are discussed by using phenomenological arguments. We propose that the square pressure loss in the laminar Forchheimer equation is caused by development of strong localized dissipation zones around flow separation, that is, in the viscous boundary layer in triple decks. For turbulent flow, the resulting pressure loss due to average dissipation is a power 2 term in velocity.     

Problems of non-uniqueness when interpreting the effect of fluid inertia on the complex viscosity function

A theoretical investigation is carried out into the interpretation of the effect of fluid inertia on the complex viscosity function as measured on a controlled stress rheometer. The problem of non-unique solutions to the governing equations is considered for the parallel plate geometry. The locations of these solutions are investigated by considering the critical points of the complex mapping associated with the linear viscoelastic equations of motion. It is shown that these critical points play an important role in determining where convergence problems are likely to occur when applying numerical methods of solution to the governing equations. Analytical approximations based on a series expansion about a critical point are developed as an alternative approach to a numerical solution in the neighbourhood of a critical point. In order to verify the theoretical predictions a numerical simulation of the behaviour of a single element Maxwell fluid on a controlled stress rheometer is carried out for a parallel plate geometry. Received: 27 July 1998 Accepted: 9 April 1999     

混合式光纤陀螺惯导系统在线自主标定

混合式光纤陀螺惯导系统IMU的安装误差、光纤陀螺的漂移及标度因数等参数会随着时间发生变化,对系统误差产生影响,使系统在使用一段时间之后精度发生变化,因而需要重新标定。在混合式系统中,通过台体旋转调制,惯性元件常值漂移误差对系统的影响得到抑制,但安装误差和标度因数误差对系统的影响无法得到完全调制,这些误差会与地速及旋转角速率耦合,引起锯齿形速度误差,降低了系统的各项性能。针对混合式惯导系统,建立了IMU误差模型,设计出一种在线自主标定方法,并进行了可观性分析。该方法采用"速度+位置"匹配,对惯导系统30项相关误差项进行在线标定。系统实验结果表明,系统级在线标定参数较分立式标定参数在导航定位精度上提高了半个数量级。     

一种新型稳定平台伺服控制系统

深入研究了三自由度并串联混合机构稳定平台,设计了一个非线性自适应控制器。考虑到实际系统工作中存在摩擦、负载扰动和动力学参数误差,分离出动力学模型中的未建模动力学参数、摩擦力参数和负载扰动,建立了关于待辨识参数的线性动力学模型。运用Lyapunov方法设计了一个非线性自适应控制器。构建了并串联光电稳定平台伺服系统实验平台。分别将所设计的控制器与计算力矩控制器分别在高速和低速扰动情况进行了实验,实验表明所提出非线性自适应控制器在低速0.006(°)/s时,跟踪精度分别为滚转轴0.071°、俯仰轴0.064°、偏转轴0.038°,在20(°)/s高速状态下,跟踪精度分别为滚转轴0.045°、俯仰轴0.042°、偏转轴0.029°,其控制效果明显好于传统控制。     

Analysis of hydrodynamic and thermal dispersion in porous media by means of a local approach

A pore scale analysis is implemented in this numerical study to investigate the behavior of microscopic inertia and thermal dispersion in a porous medium with a periodic structure. The macroscopic characteristics of the transport phenomena are evaluated with an averaging technique of the controlling variables at a pore scale level in an elementary cell of the porous structure. The Darcy–Forchheimer model describes the fluid motion through the porous medium while the continuity and Navier–Stokes equations are applied within the unit cell. An average energy equation is employed for the thermal part of the porous medium. The macroscopic pressure loss is computed in order to evaluate the dominant microscopic inertial effects. Local fluctuations of velocity and temperature at the pore scale are instrumental in the quantification of the thermal dispersion through the total effective thermal diffusivity. The numerical results demonstrate that microscopic inertia contributes significantly to the magnitude of the macroscopic pressure loss, in some instances with as much as 70%. Depending on the nature of the porous medium, the thermal dispersion may have a marked bearing on the heat transfer, particularly in the streamwise direction for a highly conducting fluid and certain values of the Peclet number.     

无约束修正Timoshenko梁的冲击问题

介绍了修正后的Timoshenko梁运动方程,并比较了修正Timoshenko梁与经 典Timoshenko梁的运动方程. 推导了考虑剪切变形引起的转动惯量的修正Timoshenko 梁的正交条件,推导了集中质量对无约束修正Timoshenko梁的正碰撞对梁所引起的瞬态冲 击响应公式,并用算例进行了分析,且与集中质量对经典的无约束Timoshenko梁的正碰撞 对梁所引起的冲击响应进行了比较,另外还用算例分析了梁的刚度的变化和冲击质量比对其 冲击响应产生的影响.     

SOLITARY WAVES IN FINITE DEFORMATION ELASTIC CIRCULAR ROD

A new nonlinear wave equation of a finite deformation elastic circular rod simultaneously introducing transverse inertia and shearing strain was derived by means of Hamilton principle. The nonlinear equation includes two nonlinear terms caused by finite deformation and double geometric dispersion effects caused by transverse inertia and transverse shearing strain. Nonlinear wave equation and corresponding truncated nonlinear wave equation were solved by the hyperbolic secant function finite expansion method. The solitary wave solutions of these nonlinear equations were obtained. The necessary condition of these solutions existence was given also.     

双层旋转壳流固耦合振动有限元分析

本文采用旋转壳体元和流体元分析了双层旋转壳体流固耦合振动特性,基于Novozhilov壳体理论、水弹性理论以及Hamilton变分原理推导出耦合系统运动方程,计算结果与实测值比较表明本分析方法有较好的精度。