簡介：出處GUBRANAA,SINHAJKSHAFTINSTANTANEOUSANGULARSPEEDFORBLADEVIBRATIONINROTATINGMACHINEJMECHANICALSYSTEMSANDSIGNALPROCESSING,2014,4414759中文6044字附錄英文資料及翻譯SHAFTINSTANTANEOUSANGULARSPEEDFORBLADEVIBRATIONINROTATINGMACHINEAHMEDAGUBRAN,JYOTIKSINHASCHOOLOFMECHANICAL,AEROSPACEANDCIVILENGINEERINGMACE,THEUNIVERSITYOFMANCHESTER,SACKVILLESTREET,MANCHESTERM139PL,UKARTICLEINFOARTICLEHISTORYRECEIVED29JUNE2012RECEIVEDINREVISEDFORM19DECEMBER2012ACCEPTED3FEBRUARY2013KEYWORDSINSTANTANEOUSANGULARSPEEDIASBLADEVIBRATIONBLADEHEALTHMONITORINGBHMBLADEFAULTSSHAFTTORSIONALVIBRATIONORDERTRACKINGABSTRACTRELIABLEBLADEHEALTHMONITORINGBHMINROTATINGMACHINESLIKESTEAMTURBINESANDGASTURBINES,ISATOPICOFRESEARCHSINCEDECADESTOREDUCEMACHINEDOWNTIME,MAINTENANCECOSTSANDTOMAINTAINTHEOVERALLSAFETYTRANSVERSEBLADEVIBRATIONISOFTENTRANSMITTEDTOTHESHAFTASTORSIONALVIBRATIONTHESHAFTINSTANTANEOUSANGULARSPEEDIASISNOTHINGBUTTHEREPRESENTINGTHESHAFTTORSIONALVIBRATIONHENCETHESHAFTIASHASBEENEXTRACTEDFROMTHEMEASUREDENCODERDATADURINGMACHINERUNUPTOUNDERSTANDTHEBLADEVIBRATIONANDTOEXPLORETHEPOSSIBILITYOFRELIABLEASSESSMENTOFBLADEHEALTHANUMBEROFEXPERIMENTSONANEXPERIMENTALRIGWITHABLADEDDISKWERECONDUCTEDWITHHEALTHYBUTMISTUNEDBLADESANDWITHDIFFERENTFAULTSSIMULATIONINTHEBLADESTHEMEASUREDSHAFTTORSIONALVIBRATIONSHOWSADISTINCTDIFFERENCEBETWEENTHEHEALTHYANDTHEFAULTYBLADECONDITIONSHENCE,THEOBSERVATIONSAREUSEFULFORTHEBHMINFUTURETHEPAPERPRESENTSTHEEXPERIMENTALSETUP,SIMULATIONOFBLADEFAULTS,EXPERIMENTSCONDUCTED,OBSERVATIONSANDRESULTS1INTRODUCTIONROTATINGBLADESARECONSIDEREDASTHEMOSTCOMMONCAUSEOFFAILURESINROTATINGMACHINERYTHEEXTRACTIONPROCESSFROMTHEENCODERMEASUREMENT,RIGDETAILS,BLADEFAULTSSIMULATIONS,EXPERIMENTSCONDUCTEDANDTHEOBSERVATIONSONTHEBLADEDYNAMICSWHICHMAYPOSSIBLYLEADTOTHEBHMINFUTURE2INSTANTANEOUSANGULARSPEEDIASMEASUREMENTANENCODERTHATMEASURES360PULSESFOREVERYCOMPLETEROTATIONOFASHAFTHASBEENUSEDFORTHEPRESENTEXPERIMENTTOAIDTHEUNDERSTANDINGOFTHEIASSIGNALEXTRACTIONFROMTHEMEASUREDENCODERPULSETRAIN,ASIMPLIFIEDMEASUREMENTSCHEMEOFTHEENCODERANDTHEPULSETRAINISSHOWNINFIG1THESENSORSIMPLYMEASURESTHEGAPBETWEENEACHTOOTHONTHEGEARDURINGITSROTATIONWHICHRESULTSINTHEPULSETRAINOFTHEMEASUREDGAPVOLTAGEWITHTIMEASSHOWNINFIG1THEEXTRACTIONOFINSTANTANEOUSANGULARSPEEDIASSIGNALUSINGTHEPULSETRAININFIG1ISDISCUSSEDINTHEFOLLOWINGSTEPSIEACHSQUAREPULSEREPRESENTSATOOTHINTHEGEAROFTHEENCODER,HENCETHEDIFFERENCEOFTIMES,T2T1,T3T2,TN1TN,ETCREPRESENTSTHETIMEINTERVALREQUIREDTOCROSSTHE1ST,2ND,,NTHTOOTHRESPECTIVELYWHICHISWRITTENAS1NNNTTT????1FIG1PULSETRAINCREATEDFROMSHAFTENCODERITISALSOASSUMEDTHATTHETIMEINTERVALFORNTHTOOTHISMEASUREDATTHETIME,TNAS（2）21???NNNTTTWHEREN1,2,3,4,5,,NNUMBEROFTEETHINTHEGEAROFTHEENCODERIITHEANGULARDISPLACEMENTΔΘFORTHEEACHEQUALLYSPACEDTOOTHINTHEGEARWHEELOFTHEENCODERCANBEWRITTENAS

簡介：畢業(yè)論文（設(shè)計）畢業(yè)論文（設(shè)計）外文翻譯題目機(jī)械臂動力學(xué)與控制的研究系部名稱系部名稱機(jī)械工程系專業(yè)班級專業(yè)班級機(jī)自學(xué)生姓名學(xué)生姓名學(xué)號號指導(dǎo)教師指導(dǎo)教師教師職稱教師職稱2011年03月20日2圖、1一臺由賽格威RMP200和輕重量型庫卡機(jī)器人組成的平臺這項工作平臺用于如圖1所示,是由一個SEGWAY與一家機(jī)器人制造商制造的RMP200輕機(jī)器人。其有一個相對較小的軌跡和高機(jī)動性能的平臺使它適應(yīng)在室內(nèi)環(huán)境移動。庫卡工業(yè)機(jī)器人具有較長的長臂和高有效載荷比自身的重量,從而使其適合移動操作。當(dāng)控制移動機(jī)械臂系統(tǒng)時,有一個選擇是是否考慮一個或兩個系統(tǒng)的實體。在參考文獻(xiàn)1和2中是根據(jù)雅可比理論將機(jī)械手末端和移動平臺結(jié)合在一起形成一個單一的控制系統(tǒng)。另一方面,這項研究發(fā)表在3和4,認(rèn)為它們在設(shè)計時是獨立的實體,但不包括兩者之間的限制條件,如延伸能力和穩(wěn)定性。這種控制系統(tǒng)的提出是基于動態(tài)系統(tǒng)方法5,6。它分為兩個層次，其中我們在較低的水平，并考慮到移動平臺作為兩個獨立的實體，然后再以安全的方式結(jié)合在上層操縱者。在本文中主要的研究目的是展現(xiàn)動力系統(tǒng)方法可以應(yīng)用于移動機(jī)械臂和使用各級協(xié)調(diào)行為的控制。本文剩下的安排如下。第二部分介紹系統(tǒng)的總體結(jié)構(gòu)設(shè)計,其次是機(jī)械手末端移動平臺的控制在第三第四部分講述。在第五部分我們在結(jié)束本文之前將顯示一些實驗。然而,首先與動力學(xué)系統(tǒng)有關(guān)工作總結(jié)與方法將在在部分IA提供。

簡介：INTERNATIONALJOURNALOFTHERMALSCIENCES482009781–794WWWELSEVIERCOM/LOCATE/IJTSHEATTRANSFERINAMECHANICALFACESEALNO?LBRUNETIèRE?,BENOITMODOLOUNIVERSITéDEPOITIERS,UMRCNRS6610,LABORATOIREDEMéCANIQUEDESSOLIDES,SP2MI,BP30179,86962FUTUROSCOPECHASSENEUILCEDEX,FRANCERECEIVED28AUGUST2007RECEIVEDINREVISEDFORM18MARCH2008ACCEPTED17MAY2008AVAILABLEONLINE20JUNE2008ABSTRACTTHISPAPERPRESENTSANUMERICALANALYSISOFHEATTRANSFERINANEXPERIMENTALINNERPRESSURIZEDMECHANICALFACESEAL,USINGCFDTHECONFIGURATIONISSIMILARTOTHELAMINARFLOWBETWEENASTATICANDAROTATINGDISCBOUNDEDBYACOROTATINGSIDEWALLASERIESOFSIMULATIONSALLOWTHEAUTHORSTOPROPOSEACORRELATIONFORTHEGLOBALNUSSELTNUMBERFORTHEROTATINGRINGANDTHESTATICDISCTHENUSSELTNUMBERISAFUNCTIONOFTHEREYNOLDSNUMBEROFTHEFLOWANDTHEPRANDTLNUMBER,ASWELLASOFTHERATIOOFTHEFLUIDANDMATERIALTHERMALCONDUCTIVITIESTHISLASTCONCLUSIONARISESFROMTHEFACTTHATTHEHEATSOURCEISLOCATEDINTHECONTACTBETWEENTHEROTORANDTHESTATORANDDEPENDSONTHETEMPERATUREDISTRIBUTIONINTHESOLIDSTHECOOLINGOILFLOWAPPEARSNOTTOAFFECTTHENUSSELTNUMBERTHENUMERICALRESULTSWEREVALIDATEDBYCOMPARISONWITHMEASUREMENTSCARRIEDOUTONTHEEXPERIMENTALSEALBYMEANSOFANINFRAREDCAMERA?2008ELSEVIERMASSONSASALLRIGHTSRESERVEDKEYWORDSCONVECTIVEHEATTRANSFERINFRAREDTHERMOGRAPHYROTOR–STATORMECHANICALFACESEALCFDCOMPUTATIONALFLUIDDYNAMIC1INTRODUCTIONMECHANICALFACESEALSAREUSEDTOSEALPRESSURIZEDFLUIDSINROTATINGMACHINESSUCHASPUMPS,COMPRESSORSANDAGITATORS,WHEREPRESSURE,TEMPERATUREANDVELOCITYCONDITIONSPREVENTTHEUSEOFELASTOMERICSEALSTHESESEALSAREBASICALLYCOMPOSEDOFAROTATINGPARTMOUNTEDONTOTHESHAFTANDASTATIONARYPARTFIXEDTOTHEHOUSINGTHETWOPARTSAREMAINTAINEDINCONTACTBYTHEACTIONOFSPRINGSANDOFTHEPRESSURIZEDFLUIDFIG1GOODOPERATINGCONDITIONSAREACHIEVEDWHENTHESEALFACESAREPARTIALLYSEPARATEDBYATHINLUBRICATINGFLUIDFILMAFRACTIONOFMICROMETER,AVOIDINGWEARONTHEFACESWHILELIMITINGLEAKAGERATETOANACCEPTABLEVALUEACCORDINGTOLEBECK1,THEBEHAVIOURANDPERFORMANCEOFAMECHANICALFACESEALAREINFLUENCEDASMUCHBYTHETHERMALBEHAVIOUROFTHESEALASBYANYOTHERFACTORINDEED,THEDISSIPATEDPOWERDUETOVISCOUSFRICTIONANDASPERITIESCONTACTSINTHESEALINGINTERFACELEADSTOASIGNIFICANTINCREASEINTEMCORRESPONDINGAUTHOREMAILADDRESSNOELBRUNETIERELMSUNIVPOITIERSFRNBRUNETIèREFIG1EXAMPLEOFMECHANICALFACESEALPERATUREINTHEFLUIDFILMANDINTHECONTIGUOUSSOLIDS2,3CONSEQUENTLY,THELUBRICATIONCONDITIONSAREMODIFIEDBECAUSEOFFLUIDVISCOSITYVARIATION,THERMALDISTORTIONSOFTHESEALRINGSANDPOSSIBLEPHASECHANGEAPOSSIBLEEFFECTOFTHESEVARIATIONSISADRASTICINCREASEINLEAKAGERATEORSEALFAILURETHISISWHYTHEREHAVEBEENMANYSTUDIESDEALINGWITHTHERMALEFFECTSINRECENTDECADESABRIEFREVIEWISPRESENTEDIN4THEMAIN12900729/–SEEFRONTMATTER?2008ELSEVIERMASSONSASALLRIGHTSRESERVEDDOI101016/JIJTHERMALSCI200805014NBRUNETIèRE,BMODOLO/INTERNATIONALJOURNALOFTHERMALSCIENCES482009781–794783INALLTHESTUDIESDEALINGWITHHEATTRANSFERAROUNDAMECHANICALFACESEAL,NOAUTHORSETOUTTODEVELOPANUSSELTNUMBERCORRELATIONMOREOVER,THEAUTHORSWERECOMPARINGTHEIRFINDINGSWITHEMPIRICALFORMULASOBTAINEDINFLOWINVOLVINGAUNIFORMLYHEATEDROTATINGCYLINDERTHEREISASIGNIFICANTDIFFERENCEHEREFROMMECHANICALFACESEALS,WHERETHEHEATSOURCEISLOCATEDINTHESEALINGINTERFACETHUSTHENUSSELTNUMBERALSODEPENDSONTHETEMPERATUREDISTRIBUTIONINTHESEALRINGS,THISBEINGAFUNCTIONOFTHEMATERIALPROPERTIESINADDITION,NOSTUDIESWERECARRIEDOUTONINNERPRESSURIZEDMECHANICALFACESEALS,ALESSWIDESPREADTECHNOLOGYWHERETHESEALEDFLUIDISLOCATEDBETWEENTHEROTATINGSHAFTANDTHESEALRINGSTHEAIMOFTHEPRESENTWORKISTOANALYZENUMERICALLYAND,TOALESSEREXTENT,EXPERIMENTALLYAMECHANICALFACESEALTHISEXPERIMENTALSEALWASESSENTIALLYDESIGNEDTOVALIDATENUMERICALMODELSOFTHECONTACTBEHAVIOURTHROUGHINFRAREDTEMPERATUREMEASUREMENTS3,4ANDISTHUSQUITEDIFFERENTFROMINDUSTRIALMECHANICALFACESEALSMOREPARTICULARLY,THESEALISINNERPRESSURIZEDANDOPERATESWITHAHIGHLYVISCOUSMINERALOILRESULTINGINLAMINARFLOWMOREOVER,THESHAFTDOESNOTPASSTROUGHTHESEALCHAMBERLEADINGTOAROTORSTATORLIKEFLOWTHATISALSOOFINTEREST18NUMERICALSIMULATIONSALLOWTHEAUTHORSTOPROPOSEACORRELATIONFORTHENUSSELTNUMBERSONTHEROTATINGANDSTATIONARYPARTSOFTHESEALTHATAREFUNCTIONOFTHEREYNOLDSNUMBEROFTHEFLOW,THEPRANDTLNUMBER,THERATIOOFTHEFLUIDANDTHEMATERIALTHERMALCONDUCTIVITYTHEINFLUENCEOFGEOMETRICALPARAMETERSHASNOTBEENANALYZEDTHENUMERICALANDEXPERIMENTALTEMPERATUREDISTRIBUTIONANDNUSSELTNUMBERAREINREASONABLEAGREEMENT2GEOMETRICALANDOPERATINGCONFIGURATION21EXPERIMENTALDEVICETHEEXPERIMENTALMECHANICALFACESEALISPRESENTEDINFIG2THECARBONROTORISFIXEDONTHESHAFTBYMEANSOFASUPPORTANDACONEEXPANDERTHESTATOR,MADEOFAFLUORSPARDISCCAF2,ISFIXEDONANANNULARPISTONWHICHENSURESTHREEDEGREESOFFREEDOMWITHRESPECTTOTHEFRAMETHISENABLESADYNAMICTRACKINGOFANYROTORMISALIGNMENTTHESTATORISPRESSEDAGAINSTTHEROTORBYPRESSURIZEDAIRACTINGONTHETOPSURFACEOFTHEANNULARPISTONTHETHERMALPROPERTIESOFTHEMATERIALSOFTHESEALCOMPONENTSAREGIVENINTABLE1HYDRAULICEQUIPMENTPROVIDESOILATCONTROLLEDPRESSUREANDTEMPERATURETHEOILISAMINERALISOVG46ITSCHARACTERISTICSAREPRESENTEDINTABLE2THETYPICALOPERATINGCONDITIONSANDTHEMAINDIMENSIONSOFTHEMECHANICALFACESEALAREDETAILEDINTABLE322PHYSICALBACKGROUNDTHEOILFLOWINTHEMECHANICALFACESEALISSIMILARTOTHEFLOWBETWEENASTATICANDAROTATI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簡介：AUTOMATICIDENTIFICATIONOFGEOMETRICCONSTRAINTSINMECHANICALASSEMBLIESSHMULLINS?ANDDCANDERSON?MECHANICALASSEMBLIESOFMANUFACTUREDCOMPONENTSINVOLVESETSOFRELATIONSBETWEENMATINGSURFACESANDFUNCTIONALCHARACTERISTICSCOMPONENTSMUSTFITTOGETHERTOASSEMBLEANDFUNCTIONPROPERLY,PLACINGCONSTRAINTSONTHEALLOWABLEVALUESOFTHECOMPONENTDIMENSIONSKINEMATICMOTIONOFTHECOMPONENTSISOFTENNECESSARY,RESULTINGINOTHERGEOMETRICCONSTRAINTSIDENTIFICATIONOFCONSTRAINTSINMODELSOFMECHANICALASSEMBLIESISNECESSARYFORSIMULATIONSOFTHEEFFECTSOFDIMENSIONANDTOLERANCECHANGESTHISPAPERPRESENTSTECHNIQUESFORTHEAUTOMATICIDENTIFICATIONOFSUCHCONSTRAINTSINCOMPUTERMODELSOFTHREEDIMENSIONALASSEMBLIESWITHNONORTHOGONALCONTACTSBETWEENCOMPONENTSURFACESANDKINEMATICJOINTSTHEAPPROACHRELIESONAGRAPHBASEDREPRESENTATIONOFTHEASSEMBLYSEARCHALGORITHMSFORIDENTIFYINGASSEMBLYCONSTRAINTSINTHISGRAPHAREPRESENTED?1998ELSEVIERSCIENCELTDALLRIGHTSRESERVEDKEYWORDSASSEMBLYMODELING,MECHANICALASSEMBLIES,CONSTRAINTSINTRODUCTIONTHEIDENTIFICATIONANDSOLUTIONOFCONSTRAINTRELATIONSHIPSBETWEENCOMPONENTDIMENSIONSINMECHANICALASSEMBLIESISASIGNIFICANTPROBLEMINCOMPUTERAIDEDDESIGNPHYSICALCONTACTSBETWEENCOMPONENTSCREATECONSTRAINTSONTHERELATIVEPOSITIONOFTHECOMPONENTS,THEIRNOMINALDIMENSIONS,ANDTHETOLERANCESONTHOSEDIMENSIONSTHENUMBEROFSUCHCONSTRAINTSCANBELARGEEVENFORRELATIVELYSIMPLEASSEMBLIESSPECIALIZEDTECHNIQUESARENEEDEDTOACCOUNTFORSUCHGEOMETRICCONSTRAINTSTHECONSTRAINTSIDENTIFIEDCANBEUSEDTO1PROVIDEDIMENSIONSENSITIVITYFEEDBACKTOTHEDESIGNER2IDENTIFYRELATIONSHIPSTHATTHEDESIGNERMAYNOTRECOGNIZEORFULLYCOMPREHEND3ALLOWFORREDUCTIONOFDESIGNTIMEBYMAKINGITEASIERTOMODIFYTHEEXISTINGDESIGNAND4BEUSEFULFORBOTHTOPDOWNANDBOTTOMUPDESIGNMODESTOPDOWNASSEMBLYDESIGNSYSTEMSCREATEFUNCTIONALCONSTRAINTSWHICHTHEGEOMETRYMUSTSATISFYBOTTOMUPASSEMBLYDESIGNUSESTHEGEOMETRYTODEFINECONSTRAINTSONTHEDESIGN’SBEHAVIORBOTHAPPROACHESRESULTINCONSTRAINTSTHATARISEFROMCONTACTSANDCONNECTIONSBETWEENTHECOMPONENTSOFTHEASSEMBLY,ANDINEITHERAPPROACHITISNECESSARYTOMAINTAINTHECONSISTENCYOFTHEASSEMBLYTHROUGHOUTDESIGNCHANGESCOMPUTERSUPPORTFORINTEGRATEDDESIGNOFPARTSANDASSEMBLIESREQUIRESCONSTRAINTIDENTIFICATIONANDMANAGEMENTTHEREARETWOCATEGORIESOFGEOMETRICASSEMBLYRELATIONSHIPSMATINGCONDITIONSANDKINEMATICJOINTSINGENERALTERMS,AMATINGCONDITIONISAGEOMETRICRELATIONSHIPBETWEENTWOORMORECOMPONENTSTHATHASSIGNIFICANCEINTHEDESIGNORFABRICATIONPROCESSESMATINGCONDITIONSINCLUDERELATIONSHIPSWHICHINVOLVECONTACTBETWEENPARTS,ASWELLASRELATIONSHIPSINWHICHTWOPARTSDONOTHAVECONTACT,SUCHASCLEARANCECONDITIONSTHEDISTINCTIONBETWEENMATINGCONDITIONSANDKINEMATICJOINTSISTHATTHEGEOMETRICRELATIONSHIPOFAMATINGCONDITIONISSTATICAMATINGCONDITIONDEFINESARELATIONSHIPBETWEENCOMPONENTSTHATMAYNOTHOLDIFCHANGESOCCURINTHEDIMENSIONSOFTHECOMPONENTSINCONTRAST,AKINEMATICJOINTISAGEOMETRICRELATIONSHIPBETWEENTWOCOMPONENTSTHATALLOWSRELATIVEMOTIONANDHOLDSDESPITECHANGESINTHECOMPONENT’SDIMENSIONSTHEKINEMATICJOINTISAFUNCTIONALSPECIFICATION,BUTTHEMATINGCONDITIONISNOTEXAMPLESOFKINEMATICJOINTSARETHEREVOLUTEJOINTANDTHEPRISMATICJOINTAMATINGSURFACEISASURFACEONACOMPONENTTHATISINVOLVEDINAMATINGCONDITIONTHEMATINGSURFACESOFACOMPONENT,OROFAGROUPOFCOMPONENTSCONNECTEDBYKINEMATICJOINTS,CANRESTRICTTHERANGEOFVALUESOFTHECOMPONENTS’DIMENSIONSANDTHEDEGREESOFFREEDOMDOFOFTHEKINEMATICJOINTSASETOFCOMPONENTSTHATARERELATEDBYASETOFKINEMATICJOINTSISAKINEMATICGROUP,ANDASINGLECOMPONENTORAKINEMATICGROUPISACONSTRAINEDGROUPTHETERMCONSTRAINEDGROUPINFERSTHEREAREGEOMETRICRELATIONSHIPSBETWEENTHEMATINGSURFACESTHAT1ARENOTIDENTIFIABLEASASSEMBLYCONSTRAINTS,AND2AREUSEFULINIDENTIFYINGANDFORMULATINGASSEMBLYCONSTRAINTSFORASINGLECOMPONENT,THESEGEOMETRICRELATIONSHIPSARETHECOMPONENT’SDIMENSIONSANDTOLERANCESFORAKINEMATICGROUP,THEYALSOINCLUDETHEDOFOFTHEKINEMATICJOINTSANASSEMBLYCONSTRAINTISCREATEDBYMATINGCONDITIONSCOMPUTERAIDEDDESIGN,VOL30,NO9,PP715–726,1998?1998ELSEVIERSCIENCELTDALLRIGHTSRESERVEDPRINTEDINGREATBRITAIN00104485/98/1900000PIIS0010448598000268715TOWHOMCORRESPONDENCESHOULDBEADDRESSEDTEL7654945720FAX7654940811EMAILDAVEECNPURDUEEDU?STRUCTURALDYNAMICRESEARCHCORPORATION,MILFORD,OH451502789,USA?SCHOOLOFMECHANICALENGINEERING,PURDUEUNIVERSITY,WESTLAFAYETTE,IN479061288,USAPAPERRECEIVED5APRIL1996REVISED10MARCH1998ACCEPTED20MARCH1998MATINGSURFACESOFCOMPONENTACANCOMBINETORESTRICTITSMOTIONINTHETWODIMENSIONALSUBSPACEOFE3DEFINEDBYTHEPLANEOFTHEPAPERNOPAIROFMATINGSURFACESCANRESTRICTTHETRANSLATIONOFTHECOMPONENTINTHISSUBSPACESUCHASETOFMATINGSURFACESISDEFINEDASAPHYSICALLYCONSTRAININGFACESETPCFSTHEPCFSISSIGNIFICANTBECAUSEWITHOUTSUCHASETOFMATINGSURFACES,THECOMPONENTDIMENSIONSINTHECONSTRAINEDGROUPCOULDBECHANGEDWITHOUTREGARDTOTHEOTHERCOMPONENTSINTHEASSEMBLYTHECONSTRAINEDGROUPCOORDINATESYSTEMCOULDTRANSLATEDUETOCHANGESINTHEDIMENSIONSOFANYOFTHECOMPONENTSINTHEASSEMBLYTHENEXTSECTIONDESCRIBESAGENERALMATHEMATICALDEFINITIONOFPCFSTHATWILLENABLETHEIDENTIFICATIONOFGENERALTRANSLATIONALCONSTRAINTSONCOMPONENTSCHARACTERISTICVECTORSPACEEACHMATINGSURFACEHASACHARACTERISTICVECTORCVSPACEOFDIRECTIONSFORWHICHITPREVENTSTRANSLATIONOFTHEASSOCIATEDCONSTRAINEDGROUPFIGURE4DEMONSTRATESTHECVSPACESFORSEVERALTYPESOF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簡介：ORIGINALARTICLEASTUDYOFGATELOCATIONOPTIMIZATIONOFPLASTICINJECTIONMOLDINGUSINGSEQUENTIALLINEARPROGRAMMINGMINGZHAIYINGXIERECEIVED18AUGUST2009/ACCEPTED13OCTOBER2009SPRINGERVERLAGLONDONLIMITED2009ABSTRACTAGATELOCATIONISONEOFTHEMOSTIMPORTANTDESIGNVARIABLESCONTROLLINGTHEPRODUCTQUALITYOFINJECTIONMOLDINGINTHISPAPER,THENUMERICALSIMULATIONOFINJECTIONMOLDFILLINGPROCESSISCOMBINEDWITHTHEDESIGNOPTIMIZATIONMETHODTOFINDTHEOPTIMUMGATELOCATIONTOACHIEVEBALANCEDFLOWTHEOBJECTIVEFUNCTIONISEXPRESSEDINTERMSOFTHEDIFFERENCEBETWEENTHEMAXIMUMANDMINIMUMTIMESOFBOUNDARYFILLINGTHECOORDINATESOFGATEARECHOSENASDESIGNVARIABLES,ANDACONSTRAINTISEMPLOYEDTOLIMITTHECLAMPFORCELOWERTHANTHEREFERENCEVALUETHEOPTIMIZATIONPROBLEMISSOLVEDWITHTHESEQUENTIALLINEARPROGRAMMINGALGORITHM,ANDDESIGNSENSITIVITIESAREEVALUATEDVIATHEFINITEDIFFERENCEAPPROXIMATIONFINALLY,NUMERICALEXAMPLESAREGIVENTODEMONSTRATETHEEFFECTOFPROPOSEDMETHODSKEYWORDSINJECTIONMOLDINGGATELOCATIONOPTIMALDESIGNFLOWBALANCE1INTRODUCTIONINJECTIONMOLDINGISBYFARTHEMOSTPOPULARPROCESSFORTHEPRODUCTIONOFPLASTICPARTSASTHEINJECTIONMOLDINGPRODUCTIONISDOMINATEDBYCOMPLEXPROCESSDYNAMICS,ITISDIFFICULTTOFULLYUNDERSTANDANDPREDICTTHEFINALPARTQUALITYTHATISRELATEDTOVARIOUSMOLDINGPARAMETERSINTHEPASTTHREEDECADES,THENUMERICALSIMULATIONOFINJECTIONMOLDINGHASBEENGREATLYDEVELOPEDBYCLEARUNDERSTANDINGCHARACTERISTICSOFFLOWINGANDHEATTRANSFEROFPOLYMERMELTSTOPREDICATETHEQUALITYCHARACTERISTICSOFINJECTIONMOLDEDPARTSWITHOUTACTUALLYFABRICATINGAMOLDHOWEVER,THECOMPUTERAIDEDENGINEERINGCAESIMULATIONREQUIRESTHEMOLDDESIGNERTORUNTHESIMULATION,PERFORMTHEDESIGNEVALUATION,ANDREDESIGNBASEDONEXPERIENCE,UNTILASATISFACTORYDESIGNISOBTAINEDTHISMANUALDESIGNPROCESSDOESNOTGUARANTEETHEOPTIMALDESIGNSOLUTIONANDSOHASLEDTOINCREASINGINTERESTINTHEUTILIZATIONOFDESIGNOPTIMIZATIONTECHNIQUESINTHEMOLDDESIGNPROCEDURESEVERALSTUDIESREPORTEDHAVEINVESTIGATEDTHEOPTIMIZATIONOFTHEINJECTIONMOLDINGPROCESSPANDELIDISANDZHOU1PRESENTEDTHEOPTIMIZATIONOFGATELOCATIONUSINGTHECOMBINEDSCHEMEOFASIMULATEDANNEALINGANDHILLCLIMBINGMETHODTHEQUALITYOFAGATINGDESIGNWASPRESENTEDASANADDITIVEFUNCTIONOFATEMPERATUREDIFFERENTIALTERMANDANOVERPACKTERM,WITHAPPROPRIATEWEIGHTINGTERMYOUNG2DEVELOPEDAMETHODOFGATELOCATIONOPTIMIZATIONBASEDONTHEMINIMIZATIONOFTHEMOLDFILLINGPRESSURE,UNEVENFILLINGPATTERN,ANDTEMPERATUREDIFFERENCEDURINGTHEMOLDFILLINGPROCESSYEETAL3DEVELOPEDASCHEMETOOPTIMIZETHEPARTQUALITYININJECTIONMOLDINGAMATHEMATICALDEFINITIONOFPARTWARPAGEISPRESENTED,ANDSIMULATEDANNEALINGMETHODISUSEDTOSEARCHFOROPTIMUMPROCESSCONDITIONCHANGETAL4COMBINEDTHEUSAGEOFTAGUCHIAPPROACHANDCAEFLOWSIMULATIONSOFTWAREFOROPTIMALDESIGNOFINJECTIONMOLDINGPROCESSPARAMETERSIRANIETAL5DEVELOPEDASYSTEMTHATAUTOMATESTHEPROCESSOFGATEDESIGNTHEGATEDESIGNISPERFORMEDINTWOSTAGES,GLOBALSEARCHFOLLOWEDBYALOCALSEARCHDURINGTHEGLOBALSEARCH,THECANDIDATEGATINGPLANSAREGENERATEDUSINGFEATURECONNECTIVITYINFORMATIONTHESEGATINGPLANSAREEVALUATEDANDREDESIGNEDINITERATIVEUNTILTHEBESTCAVITYINLETCONDITIONSFOREACHPLANISOBTAINEDTHEN,THEBESTINTHETRIALSETISPERTURBEDLOCALLYINASEARCHFORABETTERGATINGPLANTHELIMITATIONOFTHISSYSTEMISTHATTHEFEATURESUSEDAREVERYSIMPLEGEOMETRYZHAIETAL6–9HASINVESTIGATEDTHEOBJECTIVEFUNCTIONANDSEARCHSCHEMEMZHAIYXIEDEPARTMENTOFENGINEERINGMECHANICS,ZHENGZHOUUNIVERSITY,ZHENGZHOU450002,PEOPLE’SREPUBLICOFCHINAEMAILMMZHAIHOTMAILCOMINTJADVMANUFTECHNOLDOI101007/S0017000923761THEMOSTIMPORTANTVARIABLESOFTHETOTALMOLDDESIGN,ANDITISNECESSARYTOSEARCHFORANOPTIMUMGATELOCATIONTOIMPROVEPARTQUALITYINTHISCONTEXT,THEOPTIMIZATIONOFGATELOCATIONISSTUDIEDAGATEISMODELEDASPOINTSOURCES,ANDCOORDINATESOFTHEGATELOCATIONARESELECTEDASDESIGNVARIABLESTOAPPLYOPTIMIZATIONTHEORYTOTHEINJECTIONMOLDINGPROCESS,QUANTITATIVEMEASUREOFTHEPARTQUALITYFIRSTNEEDTOBEDEVELOPEDSINCETHEULTIMATEGOALINOPTIMIZINGTHEINJECTIONMOLDINGDESIGNISTOIMPROVEPARTQUALITYTHEPARTQUALITYCANBEDESCRIBEDWITHMANYENDPRODUCTPROPERTIESSUCHASMECHANICAL,THERMAL,ELECTRICAL,OPTICAL,ORGEOMETRICALPROPERTIESTHEREARETWOTYPESOFPARTQUALITYMEASURESDIRECTANDINDIRECTMETHODDIRECTMETHODCANDETERMINETHEMEASURABLEQUANTITIESTHATCHARACTERIZEAPRODUCTINCONTRAST,ANINDIRECTMEASUREOFQUALITYISAQUANTITYTHATISCORRELATEDBUTDOESNOTPRODUCEADIRECTESTIMATEOFTHATQUALITYTHEINDIRECTQUALITYMEASURESUSEDINTHISPAPERARETHOSERELATEDTOWARPAGEPARTWARPAGE,ADIMENSIONALDISTORTIONTHATCAUSESSTRUCTURALUNFITNESSANDESTHETICPROBLEMS,ISONEOFTHECRITICALQUALITYISSUESFORINJECTIONMOLDEDPARTSWHENTHEMOLDEDPARTDOESNOTSATISFYADIMENSIONALTOLERANCE,ITISUSELESSASTHEFINALPRODUCTAMAJORCAUSEOFPARTWARPAGEISTHERESIDUALSTRESSESINDUCEDBYUNBALANCEDFILLINGWHENSUCHRESIDUALSTRESSHASNOCHANCETORELAX,THEPLASTICPARTSWILLGRADUALLYWARPUPONEJECTIONASTIMEPASSESFORTHISREASON,ACHIEVINGBALANCEDFLOWISTHEOBJECTIVEOFTHEOPTIMIZATIONSCHEMEINTHISSTUDYLAMETAL13,14HAVEDEVELOPEDTHEFLOWPATHCONCEPTFORCAVITYBALANCINGFORPLASTICINJECTIONMOLDING,FLOWPATHISDEFINEDASTHEPATHTRACEDBYAMELTPARTICLEWHENITISFIRSTINJECTEDINTOACAVITYUNTILTHEMOLDCAVITYHASBEENCOMPLETELYFILLEDITMAYBEVISUALIZEDASTHETRAJECTORYFROMTHEINJECTIONGATETOTHEEXTREMITIESOFTHECAVITYANAUTOMATICFLOWPATHGENERATIONROUTINEWASDEVELOPED15,16FORTHEPARTWITHUNIFORMTHICKNESS,BALANCEDFLOWISACHIEVEDIFALLFLOWPATHSAREOFEQUALLENGTHHOWEVER,EQUALFLOWPATHLENGTHCANNOTBEACHIEVEDPRACTICALLYINSTEAD,THEVARIATIONBETWEENTHELENGTHSOFTHEFLOWPATHISADOPTEDASAMEASUREOFTHEUNIFORMITYOFFILLTHELESSERTHEVARIATIONBETWEENTHELENGTHSOFTHEFLOWPATHSINDICATESTHATTHEMOREBALANCEDISTHEFLOWTHUS,LAMANDJIN16USEDTHESTANDARDDEVIATIONOFTHEFLOWPATHLENGTHSASTHEOBJECTIVEFUNCTIONFORGATELOCATIONOPTIMIZATIONTOACHIEVEABALANCEDFLOWHOWEVER,FORTHEPARTWITHNONUNIFORMTHICKNESS,THEFILLINGTIMEFOREACHELEMENTWILLVARYEVENTHOUGHTHEOTHERCONDITIONSARETHESAMEFORALLELEMENTSTHISMEANSTHATTHELENGTHOFFLOWPATHISNOLONGERPROPORTIONALTOTHEFILLINGTIME,ANDTHESTANDARDDEVIATIONOFFLOWLENGTHSCANNOTBEUSEDASTHEMEASUREMENTOFTHEUNIFORMITYOFTHEFILLPATTERNITIS,THEREFORE,BETTERTOEMPLOYTHESTANDARDDEVIATIONOFFILLINGTIMESFORALLBOUNDARYNODESDIRECTLY16LATER,ZHAIETAL8EMPLOYINJECTIONPRESSUREASAPROXYTOABALANCEDFLOWTHEINJECTIONPRESSUREFORADESIGNWITHANONUNIFORMFLOWPATTERNWILLBEHIGHERTHANTHATFORAUNIFORMFLOWPATTERN,ASANUNBALANCEDFLOWWILLLEADTOOVERPACKINGANDTHUS,HIGHERINJECTIONPRESSURETHEREFORE,UNIFORMFLOWPATTERNCANBEACHIEVEDTHROUGHMINIMIZINGINJECTIONPRESSUREUNDERCONSTANTINJECTIONRATEALTHOUGHTHESTANDARDDEVIATIONOFFILLINGTIMEDESCRIBESTHEOVERALLVARIATIONOFTHEFILLINGTIMEANDTHUS,UNIFORMITYOFFILL,ITDOESNOTDIRECTLYREFLECTTHEDIFFERENCEBETWEENTHEMAXIMUMANDMINIMUMBOUNDARYFILLINGTIMETHEDIFFERENCEBETWEENTHEMAXIMUMANDMINIMUMBOUNDARYFILLINGTIMECOULDALSOBEEMPLOYEDTOREFLECTTHEUNIFORMITYOFFILLANDISUSEDASANOBJECTIVEFUNCTIONINTHISPAPERTHUS,THEGATELOCATIONOPTIMIZATIONBASEDONTHEDIFFERENCEBETWEENTHEMAXIMUMANDMINIMUMBOUNDARYFILLINGTIMECANBESTATEDASMINIMIZEFDXT?TBOUNDARYNODE??MAX?TBOUNDARYNODE??MIND6TSUBJECTTOGDXT?GCLAMPX2ΩD7TWHEREFXISTHEOBJECTIVEFUNCTION,XX,Y,Z,X,Y,ZARETHECOORDINATESOFTHECORRESPONDINGGATE,ΩISTHEFEASIBLESEARCHSPACE,GISTHECALCULATEDCLAMPFORCE,ANDGCLAMPISTHEMAXIMUMCLAMPFORCETHECONSTRAINTFUNCTIONLIMITSTHECLAMPFORCEBELOWAREFERENCEVALUETBOUNDARYNODEISTHETIMEWHENTHEPOLYMERMELTREACHESABOUNDARYNODEINAFINITEELEMENTMODEL,ANDTHESUBSCRIPTMAXANDMINREFERTOTHEMAXIMUMANDMINIMUMTIMEOFPOLYMERMELTREACHINGTHEBOUNDARYNODES,RESPECTIVELYINAMOLDFILLINGSIMULATION,THETIMEOFRESINFLOWREACHINGEACHBOUNDARYNODECANBEDETERMINEDBYTHECONTROLVOLUMEFINITEFIG1MELTFRONTADVANCEMENTOFINITIALDESIGNATTHETIME,T0619SINTJADVMANUFTECHNOL

簡介：中文中文36503650字附錄一附錄一外文翻譯外文翻譯葉輪機(jī)械中的液壓非定常流動分析葉輪機(jī)械中的液壓非定常流動分析艾伯特魯普雷希特液壓機(jī)械與流體力學(xué)研究所斯圖加特大學(xué)，德國摘要摘要計算流體動力學(xué)（CFD）在當(dāng)今流體機(jī)械領(lǐng)域于流體機(jī)械搜索和發(fā)展，以及設(shè)計過程中得到了廣泛的應(yīng)用。不過在這些仿真過程中幾乎都是應(yīng)用了穩(wěn)態(tài)激勵。但是在本文中，將用非定常模擬顯示不同的例子。這里所提出的例子含有不穩(wěn)定的應(yīng)用程序與自激，如渦脫落或渦繩、尾水管，以及不穩(wěn)定的應(yīng)用程序與外部被迫改變或移動的幾何形狀，如轉(zhuǎn)子，定子之間的相互作用。這些例子中對非定常流動的要求，潛力和限定條件進(jìn)行了評估分析。同時特別對湍流模型和必要的計算工作要求進(jìn)行了討論。引言引言是雷諾應(yīng)力，這是從湍流模型計算。該不可壓縮流連續(xù)性方程讀取為IJ??（2）0???IIXU并且不包含隨時間變化的變量，需要強(qiáng)調(diào)的是，方程（1）及（2）表現(xiàn)在不同時間和空間。在空間它們顯示橢圓行為，因此它們應(yīng)具備所有表面的邊界條件。同時由于他們的拋物線性質(zhì)，在任何時候他們都不具備反饋。基于這個原因在將來他不需要任何的邊界條件。這正如SCHEMATI卡利圖所示（圖2），這就是時間離散與空間離散研究方法不同的原因。對于空間離散通常應(yīng)用有限體積或有限元逼近。時間離散則采用與其不同的方法。不過，大多是使用有限差分的方法。其中的幾個最常引用的有限差異近似如圖3示。除此之外，明確多點結(jié)構(gòu)的RUNGE庫塔型或預(yù)測校正圖表也常得到應(yīng)用。

簡介：DESIGNOFTHEDISTRIBUTEDARCHITECTUREOFAMACHINETOOLUSINGFIPFIELDBUSDAPINGSONG,THIENYDIVOUX,FRANCISLEPAGECENTREDERECHERCHEENAUTOMATIQUEDENANCYUNIVERSITEDENANCYI,BP239,54506VANDOEUVRELESNANCYCEDEX,FRANCEABSTRACTINTHISPAPERWEPROPOSEADISTRIBUTEDCONTROLSYSTEMBASEDONFIPFIELDBUSITISAPPLIEDTOMACHINETOOLASAREPLACEMENTFORTHETRADITIONALCNCCOMPUTERIZEDNUMERICALCONTROLLERTHESYSTEMISCOMPOSEDOFASETOFMICROPROCESSORBASEDMODULESPCS,MOTIONCONTROLLERS,I/OS,INTERCONNECTEDBYFLPREALTIMENETWORKTHEMAINIDEAISTOENABLEEACHMODULETOBEINTELLIGENT,IMPROVINGTHUSTHEJLEXIBILITYANDTHEFAULTTOLERANTCAPABILITYOFTHEWHOLESYSTEMEACHMODULEBEINGASUBCONTROLSYSTEM,ACCOMPLISHESITSOWNCONTROLTASK,SOMEOFTHEMFORMOTIONCONTROLANDOTHERSFOREVALUATINGSENSORSANDREGULATINGACTUATORSTHECOMMUNICATIONINFORMATIONEXCHANGESANDSYNCHRONIZATIONAMONGTHESEMODULESISENSUREDBYFPTHISSYSTEMALLOWSBOTHTASKDISTRIBUTIONASWELLASEQUIPMENTTOPOLOGICALDISTRIBUTIONWEDISCUSSSOMEDISTRIBUTIONCRITERIAANDDESCRIBEANEXPERIMENTALIMPLEMENTATION1INTRODUCTIONDISTRIBUTEDSYSTEMARCHITECTUREHASBEENTHESUBJECTOFMANYRESEARCHACTIVITIESINRECENTYEARSITPLAYSAMAJORROLEINSYSTEMSINTEGRATIONINTHEMACHINETOOLCONTROLDOMAIN,PRESENTCNCTECHNOLOGYHASITSINHERENTSHORTCOMINGSITISCENTRALIZED,LUNITEDTOAFIXEDNUMBEROFAXIS,TIMECONSUMING,INFLEXIBLEANDDIECULTTOBEINTEGRATEDINCIMENVIRONMENTTHERAPIDDEVELOPMENTOFVLSIMICROPROCESSORTECHNOLOGYANDCOMMUNICATIONNETWORKENABLESTHEDISTRIBUTEDCONTROLTOBECONSIDEREDDISTRIBUTEDCONTROLSYSTEMSPRESENTTHEADVANTAGEOFIMPROVINGPERFORMANCE,MODULARITY,INTEGRITYANDRELIABIHTYWHILEALLOWINGINCREMENTALEXPANSIONWITHOUTCOMPLETEHARDWAREREPLACEMENTITOFFERSAPROMISINGALTERNATIVETOCONTROLSYSTEMARCHITECTURETHISPAPERISDEDICATEDTOSTUDYADISTRIBUTEDMACHINETOOLARCHITECTUREITISBASEDONINTELLIGENTDEVICESINTERCONNECTEDONCOMMUNICATIONLINKITISCHARACTERIZEDBYDISTRIBUTEDTASKSANDDISTRIBUTEDDATA,BUTWITHUNIQUECONTROLACCESSSYSTEMSITISDESIGNEDBYUSINGSTANDARDDEVICESANDFIPFIELDBUSANDVERIFIEDBYAEXPERIMENTALIMPLEMENTATION,INWHICHTHESYSTEMCONTROLSAMULTIAXISMACHINETOSUCCESSFULLYEXECUTEACOORDINATEDMOTIONASWELLASTORESPONDTOSENSORSVALUESCHANGESTHEPAPERISORGANIZEDASFOLLOWSINSECTION2,THEMACHINETOOLCONTROLSYSTEMARCHITECTUREISDESCRIBEDSECTION3ISDEDICATEDTOFUNCTIONALANALYSIS,CONTROLFUNCTIONDISTRIBUTIONASWELLASTHECRITERIAANDCONSTRAINTSOFTHEDISTRIBUTIONSECTION4GIVESABRIEFDESCRIPTIONOFFEANDSECTION5OUTLINESOUREXPERIMENTALIMPLEMENTATIONWECONCLUDEINSECTION6WITHSOMEGENERALREMARKSANDFUTURERESEARCHPERSPECTIVES25010636862/9650001996IEEEPARALLELARCHITECTUREWILLSPEEDUPTHETOTALCOMPUTATIONANDIMPROVETHEMACHININGQUALITY,PRODUCTIVITYANDPRECISIONFORAUXILIARYOPERATIONCONTROL,THEREISTHESAMEPROBLEM,IE,THEMORETHEDEVICESTHEREARE,THEMORETHESENSORSANDACTUATORSARENEEDEDTHELOGICALAUTOMATISMISBASEDONAPERIODCPROCESSINGFORAGIVENSETOFSENSORSANDACTUATORS,THEIRVALUESAREREADLCOMPUTEDINAPERIODICWAYIFTHEPROCESSINGCANBEDISTRIBUTEDOVERSEVERALNODESANDCARRIEDOUTINAPARALLELWAY,THENTHEPERIODFORCOMPUTINGEACHSUBSETOFSENSORSANDACTUATORSWILLBESMALLER,LADINGTOACONSIDERABLEREDUCTIONOFTHEINITIALPERICDWHICHALLOWSUSTOMEETMOREEASILYREALTIMEREQUIREMENTS1P1I_“IFIG2MULTIAXISSERVOSYSTEMALLTHUSHAVELEDUSTOPROPOSEANEWDISTRIBUTEDARCHITECTUREFIG3FORMACHINETOOLCONTROL,WHEREEACHNODEINTEGRATESACOMMUNICATIONMODULEANDHASALOCALDECISIONPOWERFORACTIONSONTHEPHYSICALDEVICESTHEGENERALORGANIZATIONOFTHESENODESISMANAGEDBYADEDICATEDSYSTEMWHICHKEEPSGLOBALDECISIONANDDISTRIBUTESASWELLASCOORDINATESREMOTESTASKSNODE1FIG3DISTRIBUTEDMACHINETOOLCONTROLARCHITECTURE3DISTRIBUTIONCRITERIATHEFIMCTIONALARCHITECTUREWHICHISTHERESULTOFTHESPECIFICATIONSTAGEEXPRESSEDINAFORMALWAYTHISMODELISBUILTDISREGARDINGTHECHOICEOFHARDWAREANDCOMMUNICATIONNETWORKTHEDESIGNOFDISTRIBUTEDCONTROLSYSTEMISDIVIDEDINTOTHREESTEPS5252

簡介：INTERNATIONALJOURNALOFPRECISIONENGINEERINGANDMANUFACTURINGVOL11,NO5,PP697704OCTOBER2010/697DOI101007/S12541010008241INTRODUCTIONAMOBILEMANIPULATORTHATCONSISTSOFAMOBILEBASEANDAROBOTICMANIPULATORPROVIDESNUMEROUSADVANTAGESOVERAFIXEDBASEMANIPULATORTHEMOSTIMPORTANTADVANTAGEOFTHEMOBILEMANIPULATORISITSFLEXIBLEWORKSPACEALSO,THEMECHANICALCONFIGURATIONOFTHEROBOTICMANIPULATORMOUNTEDONTHEMOBILEBASERESULTSINAREDUNDANTSYSTEMTHATISADVANTAGEOUSFORDEXTEROUSMANIPULATION26WHILETHESEFEATURESENABLEVARIOUSAPPLICATIONS,CONTROLOFTHEMOBILEMANIPULATORISCHALLENGINGDUETOITSINTRINSICSTRUCTUREFIRST,THEREDUNDANTDOFSOFTHEMOBILEMANIPULATORCOMPLICATEMANIPULATIONCONTROLSECOND,THEOVERALLDYNAMICSOFTHEMOBILEMANIPULATORISFARMORECOMPLEXCOMPAREDTOFIXEDBASEMANIPULATORSTHIRD,MANYAPPLICATIONSINVOLVEDYNAMICINTERACTIONOFTHEMANIPULATORWITHITSENVIRONMENTMOBILEMANIPULATIONINHUMANPOPULATEDENVIRONMENTSBRINGSTHEISSUEOFSAFETYTOTHEFOREFRONTTHEREHAVEBEENANUMBEROFSTUDIESONMOBILEMANIPULATIONYAMAMOTOPROPOSEDKINEMATIC/DYNAMICMANIPULABILITYTORESOLVETHEREDUNDANCYINMOTIONPLANNINGANDANALYSISFORMOBILEMANIPULATOR1KHATIB2,3INTRODUCEDPOTENTIALFIELDINCONTROLLINGPOSITIONOFREDUNDANTMANIPULATORSANDPROVIDINGJOINTLIMITCONSTRAINTSALSO,HEPROPOSEDANOVELAPPROACHTOUTILIZETHEINTRINSICDYNAMICSCHARACTERISTICSOFMOBILEMANIPULATORINOPERATIONALSPACE2,3ADDITIONALLY,HEANALYZEDTHEREDUCEDINERTIAEFFECTOFREDUNDANTROBOTICARMWITHMACROMICROSTRUCTUREINOTHERSTUDIESONMOBILEMANIPULATION,ZMPZEROMOMENTPOINTWASPROPOSEDASAMEASUREFORMOBILEMANIPULATORSYSTEMSPERFORMINGHEAVYLOADTRANSFERRINGTASKS4,5THEREHAVEBEENSTUDIESONTHESTABLEMOTIONCONTROLOFAMOBILEMANIPULATORUNDERUNKNOWNEXTERNALFORCEAPPLICATIONFROMTHEENVIRONMENT6,7MANYOFTHESTUDIESMENTIONEDABOVEADAPTEDTHEIDEAOFCONVENTIONALFIXEDBASEDMECHANISMSTOMOBILEMANIPULATORSTHEREARESEVERALISSUESTOCONSIDERINMOBILEMANIPULATORCONTROLFIRST,THEMOBILEBASEPARTOFTHEMOBILEMANIPULATORISHEAVIERTHANTHEUPPERROBOTICMANIPULATORPART,WHICHLEADSSLOWERDYNAMICRESPONSEOFTHEMOBILEBASECOMPAREDWITHTHATOFTHEMANIPULATORPARTTHEOVERALLDYNAMICSOFTHEMOBILEMANIPULATORISSOMEWHATANALOGOUSTOTHATOFMACROMICROMANIPULATORSTHEMACROPARTISMUCHHEAVIERTHANTHEMICROPART2,3SECOND,THECONTROLOFIMPULSIVECONTACTFORCEBETWEENMOBILEMANIPULATORANDENVIRONMENTUSINGEFFECTIVEMASSANDDAMPINGCONTROLSSUNGCHULKANG1,KIYOSHIKOMORIYA2,KAZUHITOYOKOI2,TETSUOKOUTOKU2,BYUNGCHANKIM1ANDSHINSUKPARK3,1CENTERFORCOGNITIVEROBOTICSRESEARCH,KIST,HAWOLGOKDONG,SEONGBUKGU,SEOUL,SOUTHKOREA,1367912INTELLIGENCESYSTEMSRESEARCHINSTITUTE,AIST,TSUKUBA,IBARAKI,JAPAN,30585683SCHOOLOFMECHANICALENGINEERING,KOREAUNIVERSITY,ANAMDONG5GA,SEONGBUKGU,SEOUL,SOUTHKOREA,136713CORRESPONDINGAUTHOR/EMAILDRSSPARKKOREAACKR,TEL82232903868,FAX8229269290KEYWORDSMOBILEMANIPULATION,EFFECTIVEINERTIA,KINEMATICREDUNDANCY,NULLSPACEMOTIONRECENTLY,MOBILEMANIPULATORSAREBEINGWIDELYEMPLOYEDFORVARIOUSSERVICEROBOTSINHUMANENVIRONMENTSSAFETYISTHEMOSTIMPORTANTREQUIREMENTFORTHEOPERATIONOFMOBILEROBOTINAHUMANPOPULATEDENVIRONMENTINDEED,SAFEHUMANMACHINEINTERACTIONISONEOFGRANDCHALLENGESINROBOTICSRESEARCHTHISPAPERPROPOSESANOVELCONTROLMETHODTOREDUCEIMPULSIVECOMPACTFORCEBETWEENAMOBILEMANIPULATORANDITSENVIRONMENTBYUSINGOPTIMIZEDMANIPULATORINERTIAANDDAMPINGBASEDMOTIONCONTROLTOFINDTHEOPTIMIZEDCONFIGURATIONTHROUGHNULLSPACEMOTION,THECOMBINEDPOTENTIALFUNCTIONMETHODISPROPOSEDCONSIDERINGBOTHTHEMINIMUMEFFECTIVEMASSANDJOINTLIMITCONSTRAINTSTHERESULTSOFTHISSTUDYSHOWTHATTHEINERTIAOPTIMIZATIONALONGWITHADAMPINGCONTROLLERSIGNIFICANTLYREDUCESTHEIMPULSIVEFORCEUPONCOLLISIONANDTHECONTACTFORCEAFTERCOLLISIONMANUSCRIPTRECEIVEDJANUARY6,2009/ACCEPTEDJULY26,2010?KSPEANDSPRINGER2010INTERNATIONALJOURNALOFPRECISIONENGINEERINGANDMANUFACTURINGVOL11,NO5OCTOBER2010/699TABLE1DHPARAMETERSANDLINKMASSOFM3MOBILEMANIPULATORJOINT1IΑRAD1IAM1IΘRAD1IDMJOINTTYPEMASSKG1/2Π?000P90012/2Π?0/2Π0P300Π7R4/2Π?000R7815/2Π000R3416/2Π?00045R1187/2Π000R7458/2Π?0005R2649/2Π000R14610000008R024PPRISMATIC,RREVOLUTE21EFFECTIVEMASSOFMOBILEMANIPULATORFORAMOBILEMANIPULATOR,THEINERTIALPROPERTIESINJOINTSPACEAREDESCRIBEDBYKINETICENERGYMATRIXAQ,WHICHISAMATRIXFUNCTIONOFJOINTVARIABLESQWHENTHEDYNAMICRESPONSEORIMPACTFORCEATTHEENDEFFECTORISOFINTEREST,THEINERTIALPROPERTIESCANBEEVALUATEDATTHEENDEFFECTOR,WHICHISREPRESENTEDBYKINETICENERGYMATRIXAQINCARTESIANSPACEKINETICENERGYMATRIXAQISCALCULATEDFROMKINETICENERGYMATRIXAQUSINGJACOBIANMATRIXJQ1811T??ΛQJQAQJQ1THEINERTIAPERCEIVEDATTHEENDEFFECTORINANARBITRARYDIRECTIONUISREPRESENTEDBYEFFECTIVEMASSMUQASFOLLOWS11TM?UQUΛQU2EFFECTIVEMASSMUQREPRESENTSDIRECTIONALINERTIAPROPERTYOFTHEMANIPULATORATTHEENDEFFECTORWITHAREDUNDANTMANIPULATORSUCHASM3MOBILEROBOT,EFFECTIVEMASSMUQCANBEMANIPULATEDBYCHANGINGTHECONFIGURATIONOFTHEMANIPULATOR,EVENWHENTHEPOSITIONANDORIENTATIONOFTHEENDEFFECTORISFIXEDINCARTESIANSPACETHISFEATUREALLOWSUSTOCONTROLTHEIMPULSIVEFORCEBETWEENTHEENDEFFECTORANDTHEENVIRONMENTFORAGIVENPOSEPOSITIONANDORIENTATIONOFTHEENDEFFECTORIFEFFECTIVEMASSMUQISREDUCED,THEIMPULSIVEFORCEUPONCOLLISIONCANALSOBEREDUCEDSINCETHEFORCEISMAINLYDEPENDENTONTHEINERTIAANDVELOCITYDIFFERENCE19,2022CHANGEOFEFFECTIVEMASSBYNULLSPACEMOTIONFORAGIVENPOSEPOSITIONANDORIENTATIONOFTHEENDEFFECTOR,THECONFIGURATIONOFAREDUNDANTMANIPULATORCANBECHANGEDBYGENERATINGNULLSPACEMOTIONTHEFOLLOWINGEQUATIONDEPICTSINVERSEKINEMATICSOFAREDUNDANTMANIPULATOR21?QJQVIJQJQΦ?3HERE,JQISPSEUDOINVERSEOFJACOBIANMATRIXJQ,ANDΦREPRESENTSANARBITRARYJOINTMOTIONTHEMATRIXIJQJQDEFINESTHENULLSPACEASSOCIATEDWITHJQ,ANDTHEVECTORIJQJQΦCORRESPONDSTOTHEZEROVARIATIONOFTHEPOSEOFTHEENDEFFECTORBYSETTINGTHEVELOCITYOFTHEENDEFFECTORZEROV0,THEPOSEOFTHEENDEFFECTORISFIXEDINCARTESIANSPACEFORAREDUNDANTMOBILEMANIPULATOR,EFFECTIVEMASSMUQATAGIVENPOSEOFTHEENDEFFECTORCANBECHANGEDBYPRODUCINGTHENULLSPACEMOTIONOFTHEMOBILEBASEINCASEOFM3MOBILEROBOT,THENULLSPACEMOTIONCANBEPRODUCEDBYMOVINGTHEMOBILEBASEINXDIRECTIONΦK,0,0,,0TORYDIRECTIONΦ0,K,0,,0TOFTHECOORDINATESYSTEMSHOWNINFIGS1AND2FIGURE3ILLUSTRATESTHECHANGESOFEFFECTIVEMASSINXDIRECTIONMXQ,YDIRECTIONMYQANDZDIRECTIONMZQASTHEPOSITIONOFTHEMOBILEBASECHANGESINXYPLANEASCANBESEENINTHEFIGURE,EFFECTIVEMASSMUQISASIMPLEFUNCTIONOFXANDYFORTHEGIVENRANGEOFNULLSPACEMOTION,WHILEKINETICENERGYMATRIXINCARTESIANSPACEΛQISAHIGHLYCOUPLEDFUNCTIONOFJOINTVARIABLESQ23MINIMIZATIONOFEFFECTIVEINERTIAFROMTHEPLOTSOFTHEINERTIAPROPERTYOFM3MOBILEROBOTFORTHEGIVENRANGEOFNULLSPACEMOTIONFIG3,WECANEASILYFINDTHECONFIGURATIONTHATMINIMIZESTHEEFFECTIVEMASSINASPECIFICDIRECTIONBYUSINGOPTIMIZATIONTECHNIQUESTHISCANBEFORMULATEDASANOPTIMIZATIONPROBLEMWITHEQUALITYCONSTRAINTSINTHEOPTIMIZATIONPROBLEM,THEOBJECTIVEFUNCTIONTOBEMINIMIZEDISASCALARFUNCTIONMUQTHATISEFFECTIVEMASSINUDIRECTION,ANDTHECONSTRAINTFUNCTIONISTHEFORWARDKINEMATICSEQUATIONOFTHEMOBILEMANIPULATORGQΧ0,WHEREΧISAGIVENPOSEOFTHEENDEFFECTORTHUSTHISPROBLEMBECOMESMINIMIZEMUQSUBJECTTOGQΧ04SIMILARLY,THEMAXIMIZATIONPROBLEMYIELDSTOMAXIMIZEMUQSUBJECTTOGQΧ05FORAGIVENENDEFFECTORPOSE,JOINTANGLEVECTORQMOFTHECONFIGURATIONTHATMINIMIZESORMAXIMIZESEFFECTIVEMASSMUQCANBEOBTAINEDBYUSINGCONSTRAINEDOPTIMIZATIONFUNCTIONS22PROVIDEDINMATLABWHENTHEENDEFFECTOROFM3MOBILEMANIPULATORISKEPTHORIZONTALTOTHEGROUNDWITHTHEHEIGHTOF132M,THEMINIMUMANDMAXIMUMEFFECTIVEMASSESARECALCULATEDTOBE1175KGAND1528KG,RESPECTIVELYTHEMOBILEMANIPULATORCANMOVEFROMTHECURRENTCONFIGURATIONTOTHEMINIMUMINERTIACONFIGURATIONWITHJOINTTRAJECTORIESCALCULATEDFROMTHEINVERSEKINEMATICSEQUATIONOFEQ3ANDRESOLVEDMOTIONRATECONTROLNULLSPACEVECTORΦOFEQ3ISOFTENWRITTENASTHEGRADIENTOFANOBJECTIVEFUNCTIONTOBEMINIMIZEDINTHISSTUDYTHEOBJECTIVEFUNCTIONISCHOSENASTOMOVETHEMOBILEMANIPULATORTOTHEMINIMUMINERTIACONFIGURATIONSTHEOBJECTIVEFUNCTIONHASTHEFORMOFPOTENTIALFUNCTIONASFOLLOWS2NMIMIIVQQ?∑6HERE,NISTHENUMBEROFJOINTS,QIISTHECURRENTJOINTANGLEOFITHJOINT,ANDQMIISTHEJOINTANGLEOFITHJOINTATTHEMINIMUMINERTIACONFIGURATIONNULLSPACEVECTORΦISTHUSWRITTENASFOLLOWSMKV??Φ7WHEREKISAPOSITIVENUMBER

簡介：FEEDBACKCONTROLFORCANCELINGMECHANICALVIBRATIONS反饋控制消除機(jī)械振動反饋控制消除機(jī)械振動摘要線性二次高斯（LQG）控制被用于主動取消振動。通過加速度的測量來控制振動電機(jī)的虛擬量。終端控制器是一個經(jīng)過修改的LQG設(shè)計，它被用于設(shè)計和制定一種增強(qiáng)型的振動電機(jī)。這篇文章介紹了機(jī)械振動電機(jī)的建模和參數(shù)辨識，控制器性能規(guī)格的發(fā)展，LQG控制器的設(shè)計和實驗測試所產(chǎn)生的控制系統(tǒng)。振動電機(jī)的建模是以理論推導(dǎo)和實驗數(shù)據(jù)的收集為基礎(chǔ)的?？刂破鞯囊?guī)范性發(fā)展主要是在使用兩種不同傳遞函數(shù)返回率的頻域范疇?？刂破鞯脑O(shè)計采用的是連續(xù)時間的LQG算法。該控制器是作為一個帶有運算放大器的模擬電路來使用。在實驗測試中，一些閉環(huán)系統(tǒng)的穩(wěn)定性問題被發(fā)現(xiàn)，并就這些問題提出了一種解釋。一、引言一、引言本文介紹了一種反饋控制系統(tǒng)的設(shè)計，該系統(tǒng)可用于消除一個物體表面的機(jī)械振動。振動的消除是通過振動電機(jī)對物體表面施加一個交替的作用力來實現(xiàn)的。這種方法被渴望用于減少各種物體的震動，這些物體可以是家用電器和汽車乃至飛機(jī)和高速列車1，2，3。降低機(jī)械振動使用戶的舒適和安全得到了改善，而且通過減少磨損使產(chǎn)品的可靠性和耐用性都得到了提高。作為這一設(shè)計項目的一部分，需要進(jìn)行四項任務(wù)。首先，確定商用振動電機(jī)的屬性和數(shù)學(xué)模型是必要的，這種電機(jī)在過去經(jīng)常被用于消除振動。第二項任務(wù)就是制定一套系統(tǒng)的性能規(guī)格，以用于控制器的設(shè)計。第三項任務(wù)是利用反饋控制技術(shù)設(shè)計一個控制器，從運動傳感器接收到輸入信號后，該控制器將對電機(jī)輸出一個控制信號來抵消振動。和線性二次高斯（LQG）技術(shù)都被進(jìn)行?H了研究。終端控制器是一個經(jīng)過修改的LQG設(shè)計，它被用于設(shè)計一種增強(qiáng)型的振動電機(jī)。第四個任務(wù)是模擬電路控制器的執(zhí)行和測試閉環(huán)系統(tǒng)。前三個任務(wù)在本文中進(jìn)行介紹。隨著對一些實驗結(jié)果的解釋，介紹了控制器執(zhí)行和完全系統(tǒng)測試的結(jié)果。二、建模和辨識二、建模和辨識振動消除系統(tǒng)的主要組成部分是一個振動電機(jī)。這個電機(jī)將被附在任何一個需要消除表面振動的物體表面。在電機(jī)的外殼安裝一個加速計來檢測物體的振動。電機(jī)外殼的加速度可以被感應(yīng)，而電機(jī)通過被控制產(chǎn)生自身振動這樣一種方式來消除那些來自外部的干擾。消除振動通過消力電機(jī)完成。那也就是數(shù)，他能實現(xiàn)的價值遠(yuǎn)遠(yuǎn)高于開環(huán)質(zhì)量。這個虛擬的質(zhì)量也有一個與之相關(guān)的相位角，所以加速度并不是完全與干擾力在同一個相位。虛質(zhì)量以為單位，GK它代表從干擾輸入信號到輸出信號的傳遞函數(shù)的幅度大小。WYAA參數(shù)辨識參數(shù)辨識進(jìn)行試驗以確定兩個物塊、彈簧和阻尼值、電機(jī)強(qiáng)度的作用。首先，電機(jī)放置在一個厚的而且高度兼容的海綿中，使它從工作臺上孤立出來，近似成為一個自由的部署空間。通過觀察源頻率改變時的負(fù)載電壓，發(fā)現(xiàn)阻抗最大值出現(xiàn)在頻率為時。諧振頻率是HZ60（1）,/1202121MMMMMSRMKWRRR?????下一步，電機(jī)放置在實驗室的長凳上，使有效地連接到臺式物體上，在這種1M情況下的質(zhì)量非常大。由于質(zhì)量很大，的質(zhì)量接近于。有了這個設(shè)1M1MRM2M置，阻抗最大值的出現(xiàn)轉(zhuǎn)移到51HZ，所以（2）SRMKW/10222???整個電機(jī)的質(zhì)量為。假定懸掛的質(zhì)量可以忽略不計，根KGMM331121??據(jù)上述關(guān)系可以得到以下值,,KGM93701?KGM39402?MNK/100544??。通過的加速度的書面計算，來確定電機(jī)強(qiáng)度和粘性阻尼系數(shù)。1MSD（3）212122122221MMKSMMDSMMSFSMSFKDSSMSACDM????????是干擾力，是控制力。假定干擾力有一個零值，那么下面的大小關(guān)SFDSFC系會在高頻時保持。（4）,212111MMDSMIAMSIARWCMCMRR??????????在這里。CCISF??頻率響應(yīng)程度經(jīng)過了實驗測定。公式（4）中和的數(shù)值為SD。//318,/973SMNDANS??BB狀態(tài)空間模型狀態(tài)空間模型通過上一節(jié)對測量方式的描述，對狀態(tài)空間模型將作如下定義的位置1M

簡介：HITOSHIFUJIMOTODEPARTMENTOFENERGYSCIENCEANDTECHNOLOGY,GRADUATESCHOOLOFENERGYSCIENCE,KYOTOUNIVERSITY,KYOTO6068501,JAPANSATOSHIOGAWAGRADUATESTUDENTATKYOTOUNIVERSITYPRESENTLY,TOYOTAMOTORCORPHIROHIKOTAKUDADEPARTMENTOFENERGYSCIENCEANDTECHNOLOGY,GRADUATESCHOOLOFENERGYSCIENCE,KYOTOUNIVERSITY,KYOTO6068501,JAPANNATSUOHATTADEPARTMENTOFCIVILENGINEERING,NIPPONBUNRIUNIVERSITY,OITA,JAPANOPERATIONPERFORMANCEOFASMALLAIRLIFTPUMPFORCONVEYINGSOLIDPARTICLESTHEPUMPPERFORMANCEOFASMALLAIRLIFTSYSTEMFORCONVEYINGSOLIDPARTICLESISINVESTIGATEDEXPERIMENTALLYTHETOTALLENGTHOFTHEVERTICALLIFTINGPIPEIS3200MM,ANDTHEINNERDIAMETEROFTHEPIPEIS18MMTHEGASINJECTORISSETATACERTAINPOINTOFTHEPIPETHEFLOWSINTHELIFTINGPIPEAREWATER/SOLIDTWOPHASEMIXTURESBELOWTHEGASINJECTIONPOINT,ANDAIR/WATER/SOLIDTHREEPHASEMIXTURESABOVEITTHETIMEAVERAGEDCHARACTERISTICSOFTHEFLOWSAREEXAMINEDFORVARIOUSEXPERIMENTALCONDITIONSTHEEFFECTSOFPARTICLEDIAMETER,PARTICLEDENSITY,THEGASINJECTIONPOINT,ANDTHEVOLUMEFLUXOFAIRONTHEPUMPPERFORMANCEARESTUDIEDSYSTEMATICALLYTHECRITICALBOUNDARYATWHICHTHEPARTICLESCANBELIFTEDISDISCUSSEDINDETAILBASEDUPONONEDIMENSIONALMIXTUREMODEL?DOI101115/11514498?KEYWORDSAIRLIFTPUMP,GAS/LIQUID/SOLIDTHREEPHASEFLOW,PARTICLESIZE,GASINJECTIONPOINT,CRITICALBOUNDARYOFTRANSPORTOFSOLIDPARTICLES1INTRODUCTIONAIRLIFTPUMPSAREUTILIZEDTOTRANSPORTEXPLOSIVE/TOXICLIQUIDSINCHEMICALINDUSTRIES,ANDTOCONVEYSLURRIESINMININGINDUSTRIES?1?THEUTILIZATIONOFAIRLIFTPUMPSHASALSOBEENEMPLOYEDFORLIFTINGMARINEMINERALRESOURCESSUCHASMANGANESENODULESFROMTHEDEEPSEABEDTOTHESEASURFACE?2?THEAIRLIFTPUMPSCONSISTOFVERTICALLIFTINGPIPESANDGASINJECTORS?SEEFIG1?THEUPWARDFLOWOFMIXTURESINTHEVERTICALPIPESARISESFROMTHEBUOYANCYOFTHEINJECTEDGASINTHELIQUIDTHEFLOWOFTHEGASLIQUIDTWOPHASEORGASLIQUIDSOLIDTHREEPHASEMIXTURESINTHEPIPESISUNSTEADYANDCHAOTICINNATURETHUS,THETRANSPORTPHENOMENAAREVERYCOMPLICATEDDESPITETHESIMPLEPUMPMECHANISMTODATE,THEPERFORMANCEOFAIRLIFTPUMPSHASBEENSTUDIEDEXPERIMENTALLYASWELLASTHEORETICALLYSINCETHEPRESENTSTUDYTREATSTHEAIRLIFTPUMPFORCONVEYINGSOLIDPARTICLES,PRIOREXPERIMENTALSTUDIESCONCERNEDWITHTHISARECITEDBRIEFLYWEBERANDDEDEGIL?3?PERFORMEDEXPERIMENTSUSINGALARGESCALEDAIRLIFTPUMPWHOSELENGTHWASFROM50TO441MWITHADIAMETEROF300MMTHREEKINDSOFSOLIDPARTICLESWEREUSEDTHEYMEASUREDTHEVOLUMEOFDISCHARGEDPARTICLESFORDIFFERENTGASINJECTIONPOINTSSAITOETAL?4?STUDIEDTHEOPERATIONPERFORMANCEOFAIRLIFTPUMPSCHANGINGTHEPIPELENGTHFROM77MTO1966MTHEYALSOVARIEDTHEPIPEDIAMETERFROM467MMTO154MMKATOETAL?5?,YOSHINAGAETAL?6?,YOSHINAGAANDSATO?7?,ANDHATTAETAL?8?CARRIEDOUTTHEEXPERIMENTSUSINGRELATIVELYSMALLAIRLIFTPUMPSFORCONVEYINGSOLIDPARTICLESINORDERTOVALIDATETHEIRTHEORETICALMODELSFORPREDICTINGTHEOPERATINGPERFORMANCEOFTHEPUMPSTHETOTALPIPELENGTHWASLESSTHAN10MINTHEIREXPERIMENTSKAWASHIMAETAL?9?EXAMINEDTHERELATIONSHIPBETWEENTHEVOLUMETRICFLUXESOFSUPPLIEDAIRANDDISCHARGEDPARTICLESUNDERTHECONDITIONTHATTHELIFTINGPIPEWAS6MINLENGTHAND50MMINDIAMETER,ANDCRUSHEDROCKS?ABOUT17MMINDIAMETER?WEREUSEDASSOLIDPARTICLESTHEOPERATIONPERFORMANCEOFAIRLIFTPUMPSFORCONVEYINGSOLIDPARTICLESDEPENDSUPONMANYFACTORS,FOREXAMPLE,THESCALEOFLIFTINGPIPES,THEPHYSICALPROPERTIESOFLIQUIDANDSOLIDPHASES,THESIZEOFSOLIDPARTICLES,THEVOLUMEOFSUPPLIEDAIR,ANDTHESUBMERGENCERATIO?6,7?SINCETHEPUMPPOWEROFAIRLIFTSYSTEMSISSMALLCOMPAREDTOMECHANICALPUMPS,SUCHFACTORSCANAFFECTTHEPUMPOPERATIONDRASTICALLYTHUS,THEOPERATIONCONDITIONSOFTHEAIRLIFTPUMPSMUSTBECAREFULLYCHOSENTOSUITTHEIRACTUALUSEINORDERTODETERMINEPROPEROPERATINGCONDITIONS,SYSTEMATICEXPERIMENTSAREESSENTIALHOWEVER,THEREISSTILLINSUFFICIENTEXPERIMENTALDATAINTHELITERATURECONCERNINGTHEFLOWCHARACTERISTICSOFGASLIQUIDSOLIDMIXTURES,DESPITEMANYPRIORSTUDIESFURTHERMORE,INDESIGNINGAIRLIFTPUMPSFORCONVEYINGSOLIDPARTICLES,ONEOFTHEIMPORTANTREQUIREMENTSISTOESTIMATETHECRITICALBOUNDARYATWHICHTHESOLIDPARTICLESCANBETRANSPORTEDTHISHASNOTYETBEENINVESTIGATEDEXPERIMENTALLYINDETAILINTHEPRESENTSTUDY,THEOPERATIONPERFORMANCEOFARELATIVELYSMALLAIRLIFTPUMPFORCONVEYINGSOLIDPARTICLESISINVESTIGATEDTHETOTALLENGTHOFTHELIFTINGPIPEIS3200MMANDITSINNERDIAMETERIS18MMTHETIMEAVERAGEDCHARACTERISTICSOFTHEMIXTURESINTHEPIPEAREEXAMINEDUNDERSTABLEPUMPOPERATINGCONDITIONSEMPHASISISPLACEDONTHECRITICALBOUNDARYATWHICHTHESOLIDPARTICLESCANBELIFTEDALONGTHEPIPEWEALSOINTENDTOPROVIDEUSEFULEXPERIMENTALDATAFORTHEAIRLIFTPUMPSYSTEMINORDERTODOSO,THEPARTICLESIZE,THEPARTICLEDENSITY,THEGASINJECTIONPOINT,ANDTHESUPPLIEDGASFLUXONTHEPUMPPERFORMANCEARESYSTEMATICALLYCHANGEDASPARAMETERSTHETRANSPORTPHENOMENAOFGASLIQUIDSOLIDMIXTURESWILLBEDISCUSSEDFROMBOTHEXPERIMENTALANDTHEORETICALVIEWPOINTS2EXPERIMENTALMETHODFIGURE1?A?SHOWSASCHEMATICOFTHEEXPERIMENTALAPPARATUSTHEBODYOFTHEAIRLIFTPUMPCONSISTSOFALIFTINGPIPE,ARESERVOIR,ASUCTIONBOX,ACHAMBERTOINJECTAIRINTOTHELIFTINGPIPE?GASINJECTOR?,APARTICLEFEEDER,ANDANAIRSEPARATORTHETOTALLENGTH,L,OFTHELIFTINGPIPEMADEOFTRANSPARENTPLASTICIS3200MMTHEINNERDIAMETEROFTHEPIPE,D,IS18MMTHEGASINJECTORISSETATACERTAINPOINTOFTHEPIPETHEBOTTOMENDOFTHELIFTINGPIPEISCONNECTEDTOTHERESERVOIRTHROUGHASUFFICIENTLYLARGEPIPEOFDIAMETER146MMWATERISCONTINUOUSLYSUPPLIEDTOTHERESERVOIRATTHETOPENDDURINGEXPERIMENTSTHEWATERSURFACELEVELINTHERESERVOIRISMAINTAINEDATLS?2420MMAWAYFROMTHETOPOFTHESUCTIONBOXBYDISCHARGINGEXCESSWATERTHROUGHANOVERFLOWPIPESINCETHEINNERDIAMETEROFTHERESERVOIR??146MM?ISMUCHLARGERTHANTHATOFTHELIFTINGPIPE,THEDOWNWARDFLOWINTHERESERVOIRISVERYSLOWCOMPAREDTOTHEUPWARDFLOWINTHELIFTINGPIPEASSUCH,THEFLOWINTHERESERVOIRNEGLIGIBLYAFFECTSTHEOPERATIONPERFORMANCEOFTHEPUMPCONTRIBUTEDBYTHEPETROLEUMDIVISIONFORPUBLICATIONINTHEJOURNALOFENERGYRESOURCESTECHNOLOGYMANUSCRIPTRECEIVEDBYTHEPETROLEUMDIVISIONJUN2001REVISEDMANUSCRIPTRECEIVEDJUN2002ASSOCIATEEDITORJKKESKACOPYRIGHT?2003BYASMEJOURNALOFENERGYRESOURCESTECHNOLOGYMARCH2003,VOL125?17DOWNLOADEDFROMHTTP//MATERIALSTECHNOLOGYASMEDIGITALCOLLECTIONASMEORG/ON04/16/2015TERMSOFUSEHTTP//ASMEORG/TERMSSPHERICALSOLIDPARTICLESMADEOFALUMINAORGLASS,INTHEPARTICLEFEEDER,ARESUPPLIEDTOTHESUCTIONBOXTHROUGHTHEPIPE,TOGETHERWITHSOMEWATERTHEMATERIALDENSITY,?S,IS3600KG/M3FORALUMINA,AND2500KG/M3FORGLASS,RESPECTIVELY,ANDTHEPARTICLEDIAMETERS,DS,USEDINTHEEXPERIMENTSARE2,3,AND5MMTHEVOLUMERATEOFSUPPLIEDPARTICLESISCONTROLLEDBYTHEVOLUMEOFWATERANDTHENUMBEROFREVOLUTIONSOFTHESCREW,WHICHISSETATTHEBOTTOMOFTHEPARTICLEFEEDERBOTHTHEPARTICLESANDWATERARESUCKEDINTOTHELIFTINGPIPETHOUGHTHEBOTTOMENDOFTHESUCTIONPIPECOMPRESSEDAIRISSUPPLIEDTOTHECHAMBERTHROUGHANAIRFILTERANDAMASSFLOWCONTROLLERTHEAIRISINJECTEDINTOTHELIFTINGPIPEFROMTHECHAMBERDETAILSOFTHEGASINJECTORAREEXPLAINEDBELOWTHEGASINJECTIONPOINT,LG,FROMTHESUCTIONBOXISSETATLG?270MM,800MM,1300MM,OR2000MMINORDERTOEXAMINETHEEFFECTOFGASINJECTIONPOINTONOPERATINGPERFORMANCEATTHEOUTLETOFTHEPIPE,THEAIRISRELEASEDTOTHESURROUNDINGATMOSPHEREEXPERIMENTSARECARRIEDOUTUNDERSTABLEPUMPOPERATINGCONDITIONTHATTHEFLOWRATEOFTHEINJECTEDAIRISMAINTAINEDATAPRESETVALUEINSUCHCASES,THEMEANVOLUMEFLOWRATEFORWATERISALSOKEPTALMOSTCONSTANTTHUS,THEMEASUREMENTOFMEANFLOWPROPERTIESISPERFORMEDUNDERTHESTABLEOPERATINGCONDITIONTHEVOLUMEFLOWRATEOFTHEAIRISREGULATEDANDMEASUREDBYTHEGASMASSFLOWCONTROLLERTHEVOLUMERATEOFTHESUPPLIEDAIRISREPRESENTEDBYTHEGASVOLUMETRICFLUX?SUPERFICIALVELOCITY?,JGA,REDUCEDTOTHEATMOSPHERICSTATEITISWITHINTHERANGEOF0M/S?JGA?327M/SDUETOTHECAPACITYOFTHEAIRCOMPRESSORTHEMEASUREMENTACCURACYOFJGAISWITHIN?003M/STHEVOLUMEFLOWRATEOFWATER,QL,ISDETERMINEDBYTHEVOLUMEOFDISCHARGEDWATERANDTHESAMPLINGTIME,WHILETHEMASSFLOWRATEOFSOLIDPARTICLES,MS,ISMEASUREDBYTHEDISCHARGEDPARTICLEMASSANDTHESAMPLINGTIMETHEVOLUMEOFDISCHARGEDWATERISDIRECTLYMEASUREDBYAVOLUMETERTHEDISCHARGEDPARTICLEMASSISMEASUREDBYASCALE,AFTERTHEDISCHARGEDWETPARTICLESAREDRIEDUSINGHOTAIRDRYERINADDITION,THESAMPLINGTIMESEMPLOYEDARE10OR20SECONDSTHEVOLUMETRICFLUXES?SUPERFICIALVELOCITIES?,JS,FORSOLIDPHASEANDJL,FORLIQUIDPHASEAREDETERMINEDASFOLLOWS,JS?MS?SA,JL?QLA1INWHICHADENOTESTHECROSSSECTIONALAREAOFTHELIFTINGPIPETHEMEASUREMENTUNCERTAINTIESOFJLANDMSAREWITHIN?001M/S,AND?0002KG/S,RESPECTIVELYITSHOULDBENOTEDTHATBOTHJLANDJSARETIMEAVERAGEDVALUESTHEGASFLOWRATEANDTHEPARTICLEFLOWRATEARECONTROLLABLE,BUTTHEWATERFLOWRATECANNOTTHUS,THEGASANDPARTICLEFLOWRATESAREVARIEDSYSTEMATICALLYASPARAMETERSTOEXAMINETHEPUMPPERFORMANCESINCETHEMEASUREDWATERFLOWRATESSCATTERSLIGHTLYUNDERAFIXEDEXPERIMENTALCONDITION,FOURRUNSORMOREAREPERFORMED,ANDTHEARITHMETICMEANVALUESOFJLAREDETERMINEDINALMOSTCASES,THEDISPERSIONOFJLISAPPRECIABLYLARGERTHANTHEMEASUREMENTUNCERTAINTYBOTHTHEDISPERSIONOFJLANDTHEMEASUREMENTUNCERTAINTYARETAKENINTOACCOUNTFORDRAWINGTHEERRORBANDSOFJLINFIGURES2,4,5,7,AND8FIGURE1?B?SHOWSAGASINJECTORATTACHEDTOAVERTICALPIPEAIRISINJECTEDINTOTHECHAMBERTHROUGHTWOROUND5MMDIAMETERINTAKEPORTS,ANDTEMPORARILYSTOREDTHERETHEAIRISTHENINJECTEDINTOTHELIFTINGPIPETHROUGHSEVERALHOLESBOREDATREGULARINTERVALSALONGTHECIRCUMFERENTIALDIRECTIONSINCETHEREISTHEPOSSIBILITYTHATTHEHOLEDIAMETEROFTHEGASINJECTORASWELLASTHENUMBEROFHOLESAFFECTTHEPUMPPERFORMANCE,SOMEPRELIMINARYEXPERIMENTSWERECARRIEDOUTANDAREDESCRIBEDINTHEFOLLOWINGPARAGRAPHSFIGURE2?A?SHOWSTHEEFFECTOFTHEGASINJECTORHOLEDIAMETERONDISCHARGEDWATERFLUXINTHECASEOFGASLIQUIDTWOPHASEFLOWJS?0M/SWHENTHEGASINJECTIONPOINTISSETATLG?270MM,ANDTHENUMBEROFHOLESISFOUR,ITISFOUNDTHATTHEHOLEDIAMETERAFFECTSTHEDISCHARGEDWATERFLUXVERYSLIGHTLYTHEMEANRELATIVEPRESSURES,PG,INTHECHAMBERTOTHEATMOSPHERICONEARELISTEDINTABLE1THERELATIVEPRESSUREFORCASE1ISHIGHERTHANTHEOTHERCASESBECAUSEOFTHESMALLHOLEDIAMETERFIGURES2?B?AND?C?SHOWTHEEFFECTOFTHENUMBEROFHOLESONTHEWATERFLUXFORTHECASEOFGASLIQUIDTWOPHASEFLOW?B?ANDGASLIQUIDSOLIDTHREEPHASEFLOW?C?,RESPECTIVELYTHENUMBEROFHOLESISONEORFOURALUMINAPARTICLESOFDIAMETER3MMAREUSEDASTHESOLIDPHASETHEGASINJECTIONPOINTISSETATLG?270MMTHEEFFECTOFTHENUMBEROFHOLESCANNOTBESEENONTHEDISCHARGEDWATERINEITHERCASEOFGASLIQUIDTWOPHASEFLOWANDGASLIQUIDSOLIDTHREEPHASEFLOWTHEREFORE,ITISCONFIRMEDFROMTHESERESULTSTHATTHEEFFECTOFTHEGASINJECTIONMETHODONTHEFIG2EFFECTOFTHEGASINJECTIONMETHODONPUMPPERFORMANCETABLE1PRESSUREINTHECHAMBERGASFLUXJGA,M/SPRESSUREINTHECHAMBERPG,MPACASE1?1MM?4CASE2?3MM?4CASE3?5MM?4CASE4?10MM?40330022002100210020065002300200021002009800300020002100201310035001900210020164004400190021002019600530019002100202290064002000210020262007600200021002029500890020002100203270102002000210020JOURN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簡介：PROCEDIAENGINEERING1002015885–890AVAILABLEONLINEATWWWSCIENCEDIRECTCOM18777058?2015THEAUTHORSPUBLISHEDBYELSEVIERLTDTHISISANOPENACCESSARTICLEUNDERTHECCBYNCNDLICENSEHTTP//CREATIVECOMMONSORG/LICENSES/BYNCND/40/PEERREVIEWUNDERRESPONSIBILITYOFDAAAMINTERNATIONALVIENNADOI101016/JPROENG201501445SCIENCEDIRECT25THDAAAMINTERNATIONALSYMPOSIUMONINTELLIGENTMANUFACTURINGANDAUTOMATION,DAAAM2014DYNAMICBEHAVIOROFTHEHYDRAULICPRESSFORFREEFORGINGKARELRAZ,VACLAVKUBEC,MILANCECHURAUNIVERSITYOFWESTBOHEMIA,FACULTYOFMECHANICALENGINEERING,REGIONALTECHNOLOGICALINSTITUTE,UNIVERZITNI8,30614PILSEN,CZECHREPUBLICABSTRACTWORKONHYDRAULICPRESSESISDEFINEDBYASTATICFORGINGFORCETHISFORCEMAYHAVEINSPECIALCASESOFFORGINGPROPERTIESOFDYNAMICANDSHOCKLOADCOMMONLYUSEDHYDRAULICPRESSESCANUSESPEEDFORGINGWITHSPEEDUPTO180STROKESPERMINUTEOURGOALISTOCOMPAREDIFFERENTTYPESOFFRAMEDESIGNSUSEDFORHYDRAULICFORGINGPRESSESRESULTISDETERMINATIONOFTHESUITABILITYOFEACHSUPPORTINGSTRUCTURESFORTHESESPECIALOPERATIONSCOMPARINGISMADEUSINGFEMMODALANALYSISTHEPERFORMEDMODALANALYSISSHOWNEEDSFORLOWERINGOFFIRSTCRITICALNATURALFREQUENCYANOVERVIEWOFTHESEFREQUENCIESISSHOWNINATTACHEDTABLES?2015THEAUTHORSPUBLISHEDBYELSEVIERLTDPEERREVIEWUNDERRESPONSIBILITYOFDAAAMINTERNATIONALVIENNAKEYWORDSHYDRAULICPRESSFREEFORGINGMODALANALYSIS1MAINTEXTTHETASKOFEVERYRESEARCHGROUPISTOSOLVETHEIRRESEARCHTOPICSATLEASTONESTEPAHEADOFTHECURRENTNEEDSOFTHEINDUSTRYTHISISCONNECTEDWITHPREDICTIONOFDEVELOPMENTINTHISAREAASPARTOFTHEUNIVERSITYOFWESTBOHEMIAINPILSEN,WETRIEDINADVANCETODEALWITHITINCOOPERATIONWITHINDUSTRYWETRIEDTOFINDTASKSINTHEFIELDOFMETALFORMINGMACHINESDYNAMICBEHAVIOURISONEOFTHEKEYPROBLEMSINTHEDESIGNOFHYDRAULICPRESSESFORFREEFORGINGTHISTOPICISRELEVANTBECAUSECUSTOMERNEEDSHYDRAULICPRESSFORFORGINGWITHHIGHERNUMBEROFSTROKESPERMINUTEDIFFERENTDESIGNSOFHYDRAULICPRESSESWERENOTCOMPEREDSERIOUSLYUPTONOWWEDECIDEDTOPERFORMMONITORINGOFINDIVIDUALDESIGNOPTIONS,ANDTHENMAKEPRECISEMODALANALYSISTHISANALYSISISDONEONINDIVIDUALCORRESPONDINGAUTHORTEL420377638254EMAILADDRESSKRAZRTIZCUCZ?2015THEAUTHORSPUBLISHEDBYELSEVIERLTDTHISISANOPENACCESSARTICLEUNDERTHECCBYNCNDLICENSEHTTP//CREATIVECOMMONSORG/LICENSES/BYNCND/40/PEERREVIEWUNDERRESPONSIBILITYOFDAAAMINTERNATIONALVIENNA887KARELRAZETAL/PROCEDIAENGINEERING1002015885–890FIG2A,BHYDRAULICPRESS3AND43MODALANALYSISFORTHESESDESIGNSOFHYDRAULICPRESSES,WEPREPAREDAVIRTUALMODELS,WHICHINCLUDESALLTHEIMPORTANTPARTSOFTHEFRAMECOLUMNS,ANCHORNUTS,WORKINGCYLINDERS,PLUNGERSMOVABLEMEMBERSMOVABLECROSSBEAMAREINADEFINEDPOSITION,WHICHISBASEDONTHECOMMONDIMENSIONOFFORGEDPIECEATTHESELARGEHYDRAULICPRESSESTOINCLUDEALLINFLUENCESWASINTOFEMMODELADDED0DELEMENTPOINT7,8WITHMASSPROPERTYEQUALTOMASSOFWORKINGLIQUIDTHESIMULATIONINCLUDESDEFINITIONSOFCONTACTSINAREASOFRELATIVEMOTIONOFTHEPARTSAMONGLOWERANDUPPERANVILISDEFINEDBOUNDARYCONDITIONWHICHALLOWSTHEIRMOVEMENTINHORIZONTALDIRECTIONOTHERDIRECTIONSOFDEFORMATIONWEREAMONGBOTHANVILSCOUPLEDBEFOREEVALUATIONOFTHEFREQUENCYWASDONESTATICCALCULATION,WHICHGIVESRESULTSOFINITIALSTATEOFPRESTRESSEDFRAMETHERESULTSOFTHISCALCULATIONWERETHENUSEDASINPUTCONDITIONSFORMODALANALYSIS4,5,631PRESS1FIRSTMODALSHAPE6,496HZSECONDMODALSHAPE7,955HZTHIRDMODALSHAPE11,208HZFIG3MODALSHAPESPRESS1

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簡介：PROCEEDINGSOFTHE3RDINTERNATIONALMODELICACONFERENCE,LINK?PING,NOVEMBER34,2003,PETERFRITZSONEDITORPAPERPRESENTEDATTHE3RDINTERNATIONALMODELICACONFERENCE,NOVEMBER34,2003,LINK?PINGSUNIVERSITET,LINK?PING,SWEDEN,ORGANIZEDBYTHEMODELICAASSOCIATIONANDINSTITUTIONENF?RDATAVETENSKAP,LINK?PINGSUNIVERSITETALLPAPERSOFTHISCONFERENCECANBEDOWNLOADEDFROMHTTP//WWWMODELICAORG/CONFERENCE2003/PAPERSSHTMLPROGRAMCOMMITTEE?PETERFRITZSON,PELAB,DEPARTMENTOFCOMPUTERANDINFORMATIONSCIENCE,LINK?PINGUNIVERSITY,SWEDENCHAIRMANOFTHECOMMITTEE?BERNHARDBACHMANN,FACHHOCHSCHULEBIELEFELD,BIELEFELD,GERMANY?HILDINGELMQVIST,DYNASIMAB,SWEDEN?MARTINOTTER,INSTITUTEOFROBOTICSANDMECHATRONICSATDLRRESEARCHCENTER,OBERPFAFFENHOFEN,GERMANY?MICHAELTILLER,FORDMOTORCOMPANY,DEARBORN,USA?HUBERTUSTUMMESCHEIT,UTRC,HARTFORD,USA,ANDPELAB,DEPARTMENTOFCOMPUTERANDINFORMATIONSCIENCE,LINK?PINGUNIVERSITY,SWEDENLOCALORGANIZATIONVADIMENGELSONCHAIRMANOFLOCALORGANIZATION,BODILMATTSSONKIHLSTR?M,PETERFRITZSONPETERBEATERANDMARTINOTTERFACHHOCHSCHULESüDWESTFALENINSOESTDLR,GERMANYMULTIDOMAINSIMULATIONMECHANICSANDHYDRAULICSOFANEXCAVATORPP331340FIGURE1SCHEMATICDRAWINGOFEXCAVATORWHERETHEOPERATORISSITTINGITCANROTATEAROUNDAVERTICALAXISWITHRESPECTTOTHECHAINTRACKITALSOHOLDSTHEDIESELENGINE,THEHYDRAULICPUMPSANDCONTROLSYSTEMFURTHERMORE,THEREISABOOM,ANARMANDATTHEENDABUCKETWHICHISATTACHEDVIAAPLANARKINEMATICLOOPTOTHEARMBOOM,ARMANDBUCKETCANBEROTATEDBYTHEAPPROPRIATECYLINDERSFIGURE2SHOWSTHATTHEREQUIREDPRESSURESINTHECYLINDERSDEPENDONTHEPOSITIONFORTHE“STRETCHED”SITUATIONTHEPRESSUREINTHEBOOMCYLINDERIS60HIGHERTHANINTHERETRACTEDPOSITIONNOTONLYTHEPOSITIONBUTALSOTHEMOVEMENTSHAVETOBETAKENINTOACCOUNTFIGURE3SHOWSASITUATIONWHERETHEARMHANGSDOWNIFTHECARRIAGEDOESNOTROTATETHEREISAPULLINGFORCEREQUIREDINTHECYLINDERWHENROTATING–EXCAVATORSCANTYPICALLYROTATEWITHUPTO12REVOLUTIONSPERMINUTE–THEFORCEINTHEARMCYLINDERCHANGESITSSIGNANDNOWAPUSHINGFORCEISNEEDEDTHISCHANGEISVERYSIGNIFICANTBECAUSENOWTHE“ACTIVE”CHAMBEROFTHECYLINDERSWITCHESANDTHATMUSTBETAKENINTOACCOUNTBYTHECONTROLSYSTEMBOTHFIGURESDEMONSTRATETHATASIMULATIONMODELMUSTTAKEINTOACCOUNTTHECOUPLINGSBETWEENTHEFOURDEGREESOFFREEDOMTHISEXCAVATORHASASIMPLERMODELTHATUSESACONSTANTLOADFOREACHCYLINDERANDTHESWIVELDRIVELEADSTOERRONEOUSRESULTSJANSSONETAL1998FIGURE2DIFFERENTWORKINGSITUATIONSFIGURE3EFFECTOFCENTRIFUGALFORCES4LOADSENSINGSYSTEMEXCAVATORSHAVETYPICALLYONEDIESELENGINE,TWOHYDRAULICMOTORSANDTHREECYLINDERSTHEREEXISTDIFFERENTHYDRAULICCIRCUITSTOPROVIDETHECONSUMERSWITHTHEREQUIREDHYDRAULICENERGYATYPICALDESIGNISALOADSENSINGCIRCUITTHATISENERGYEFFICIENTANDUSERFRIENDLYTHEIDEAISTOHAVEAFLOWRATECONTROLSYSTEMFORTHEPUMPSUCHTHATITDELIVERSEXACTLYTHENEEDEDFLOWRATEASASENSORTHEPRESSUREDROPACROSSANORIFICEISUSEDTHEREFERENCEVALUEISTHERESISTANCEOFTHEORIFICEASCHEMATICDRAWINGISSHOWNINFIGURE4,AGOODINTRODUCTIONTOTHATTOPICISGIVENINANON1992THEPUMPCONTROLVALVEMAINTAINSAPRESSUREATTHEPUMPPORTTHATISTYPICALLY15BARHIGHERTHANTHEPRESSUREINTHELSLINELOADSENSINGLINEIFTHEDIRECTIONALVALVEISCLOSEDTHEPUMPHASTHEREFOREASTANDBYPRESSUREOF15BARIFITISOPENTHEPUMPDELIVERSAFLOWRATETHATLEADSTOAPRESSUREDROPOF15BARACROSSTHATDIRECTIONALVALVENOTETHEDIRECTIONALVALVEISNOTUSEDTOTHROTTLETHEPUMPFLOWBUTASAFLOWMETERPRESSUREDROPTHATISFEDBACKANDASAREFERENCERESISTANCETHECIRCUITISENERGYEFFICIENTBECAUSETHEPUMPDELIVERSONLYTHENEEDEDFLOWRATE,THETHROTTLINGLOSSESARESMALLCOMPAREDTOOTHERCIRCUITSIFMORETHANONECYLINDERISUSEDTHECIRCUITBECOMESMORECOMPLICATED,SEEFIGURE5EGIFTHEBOOMREQUIRESAPRESSUREOF100BARANDTHEBUCKETAPRESSUREOF300BARTHEPUMPPRESSUREMUSTBEABOVE300BARWHICHWOULDCAUSEANUNWANTEDFIGURE4SCHEMATICSOFASIMPLELSSYSTEMZ?HEPETERBEATERANDMARTINOTTERMULTIDOMAINSIMULATIONMECHANICSANDHYDRAULICSOFANEXCAVATORTHEMODELICAASSOCIATIONMODELICA2003,NOVEMBER34,2003

簡介：英文翻譯系別自動化系專業(yè)自動化班級191003學(xué)生姓名周兵學(xué)號103658指導(dǎo)教師聶聰1引言萬向者往往是在當(dāng)代運用戰(zhàn)術(shù)導(dǎo)彈。他們應(yīng)該提供快速，準(zhǔn)確的由目標(biāo)檢測器產(chǎn)生的視軸誤差信號的跟蹤設(shè)在內(nèi)部萬向支架，在導(dǎo)引頭控制的要求更為嚴(yán)重的結(jié)局部分參與。性能結(jié)果丟失的距離不夠大因此降低了一個成功的截取的概率。一個兩自由度的（2DOF）的速率陀螺儀通常安裝在內(nèi)部萬向支架，并直接饋送慣性角速率，以扭矩裝置提供瞄準(zhǔn)誤差跟蹤和穩(wěn)定反對基地運動1，2。后者是導(dǎo)彈的角和直線運動的參與過程的結(jié)果并通過機(jī)械裝置傳送到平衡環(huán)。準(zhǔn)確的尋求穩(wěn)定的成像是至關(guān)重要的減少圖像涂抹,足夠的目標(biāo)獲取,進(jìn)而影響分割和跟蹤。此外,小質(zhì)量的平衡增加干擾的平衡環(huán)的導(dǎo)彈加速度。在戰(zhàn)術(shù)導(dǎo)彈子系統(tǒng)的包裝嚴(yán)重受容積和空氣動力學(xué)限制，最終規(guī)定的可操作性。萬向求職者通常定位在導(dǎo)彈的前末端。不是很少的大小導(dǎo)引頭及其配套制度決定的形狀導(dǎo)彈的前部尖端。在這種情況下，形狀笨重，更激烈成為產(chǎn)生沖擊波的降低導(dǎo)彈的性能。導(dǎo)引頭可以通過減少從萬向部件卸下速率陀螺和使用一個捷聯(lián)式結(jié)構(gòu)。然而，這種方法要求內(nèi)部萬向支架角速率相對于該的估計彈體。的相對角速度分化萬向節(jié)，并進(jìn)一步匹配濾波，以減少噪音一直在一個線性化方法中使用3，以穩(wěn)定的單一軸萬向成像導(dǎo)引頭的運動不安。不正確由圖像分割算法的輸出被忽視?；？刂埔咽褂?下的假設(shè)的非耦合相同俯仰和偏航通道再次單軸萬向?qū)б^和評價對代表命令信號。需要提出的控制律的第一和第二時間導(dǎo)數(shù)的計算命令信號，以及萬向架的完美測量角位移和相對彈體率。本文提出延長上述配方，以應(yīng)付具有偏航和俯仰控制成像的動態(tài)導(dǎo)引頭。該方法是基于模型的非線性與在其隨時間變化的慣性導(dǎo)引頭使用動態(tài)擴(kuò)展卡爾曼濾波（EKF），針對的估計相對角位移的平衡環(huán)。此外，圖像序列分析，假設(shè)目標(biāo)分割已經(jīng)解決，并在其質(zhì)心位置的有噪聲估計圖像平面是可供在光學(xué)方面解決流21估計的視覺反饋的扭矩裝置。該方法是通過評估與脫靶的統(tǒng)計評估通過蒙特卡羅模擬閉環(huán)包括導(dǎo)引頭的控制和戰(zhàn)術(shù)十字形的動態(tài)模型導(dǎo)彈。該導(dǎo)彈是由純

簡介：PROCEEDINGSOFTHEIEEERASINTERNATIONALCONFERENCEONHUMANOIDROBOTSCOPYRIGHT?2001MECHANICALSYSTEMANDCONTROLSYSTEMOFADEXTEROUSROBOTHANDDIRKOSSWALD,HEINZW?RNUNIVERSITYOFKARLSRUHEDEPARTMENTOFCOMPUTERSCIENCEINSTITUTEFORPROCESSCONTROLANDROBOTICSIPRENGLERBUNTERING8BUILDING4028D76131KARLSRUHEEMAILOSSWALDIRAUKADE,WOERNIRAUKADEABSTRACTINRECENTYEARSNUMEROUSROBOTSYSTEMSWITHMULTIFINGEREDGRIPPERSORHANDSHAVEBEENDEVELOPEDALLAROUNDTHEWORLDMANYDIFFERENTAPPROACHESHAVEBEENTAKEN,ANTHROPOMORPHICANDNONANTHROPOMORPHICONESNOTONLYTHEMECHANICALSTRUCTUREOFSUCHSYSTEMSWASINVESTIGATED,BUTALSOTHENECESSARYCONTROLSYSTEMWITHTHEHUMANHANDASANEXEMPLAR,SUCHROBOTSYSTEMSUSETHEIRHANDSTOGRASPDIVERSEOBJECTSWITHOUTTHENEEDTOCHANGETHEGRIPPERTHESPECIALKINEMATICABILITIESOFSUCHAROBOTHAND,LIKESMALLMASSESANDINERTIA,MAKEEVENCOMPLEXMANIPULATIONSANDVERYFINEMANIPULATIONSOFAGRASPEDOBJECTWITHINTHEOWNWORKSPACEOFTHEHANDPOSSIBLESUCHCOMPLEXMANIPULATIONSAREFOREXAMPLEREGRASPINGOPERATIONSNEEDEDFORTHEROTATIONOFAGRASPEDOBJECTAROUNDARBITRARYANGLESANDAXISWITHOUTDEPOSITINGTHEOBJECTANDPICKINGITUPAGAININTHISPAPERANOVERVIEWONTHEDESIGNOFSUCHROBOTHANDSINGENERALISGIVEN,ASWELLASAPRESENTATIONOFANEXAMPLEOFSUCHAROBOTHAND,THEKARLSRUHEDEXTEROUSHANDIITHEPAPERTHENENDSWITHTHEPRESENTATIONOFSOMENEWIDEASWHICHWILLBEUSEDTOBUILDANENTIRENEWROBOTHANDFORAHUMANOIDROBOTUSINGFLUIDICACTUATORSKEYWORDSMULTIFINGEREDGRIPPER,ROBOTHAND,FINEMANIPULATION,MECHANICALSYSTEM,CONTROLSYSTEM1INTRODUCTIONTHESPECIALRESEARCHAREAHUMANOIDROBOTSFOUNDEDINKARLSRUHE,GERMANYINJULY2001ISAIMEDATTHEDEVELOPMENTOFAROBOTSYSTEMWHICHCOOPERATESANDINTERACTSPHYSICALLYWITHHUMANBEINGSINNORMALENVIRONMENTSLIKEKITCHENORLIVINGROOMSSUCHAROBOTSYSTEMWHICHISDESIGNEDTOSUPPORTHUMANSINNONSPECIALIZED,NONINDUSTRIALSURROUNDINGSLIKETHESEMUST,AMONGMANYOTHERTHINGS,BEABLETOGRASPOBJECTSOFDIFFERENTSIZE,SHAPEANDWEIGHTANDITMUSTALSOBEABLETOFINEMANIPULATEAGRASPEDOBJECTSUCHGREATFLEXIBILITYCANONLYBEREACHEDWITHANADAPTABLEROBOTGRIPPERSYSTEM,ASOCALLEDMULTIFINGEREDGRIPPERORROBOTHANDTHEHUMANOIDROBOT,WHICHWILLBEBUILTINTHEABOVEMENTIONEDRESEARCHPROJECT,WILLBEEQUIPPEDWITHSUCHAROBOTHANDSYSTEMTHISNEWHANDWILLBEBUILTBYTHECOOPERATIONOFTWOINSTITUTES,THEIPRINSTITUTEFORPROCESSCONTROLANDROBOTICSATTHEUNIVERSITYOFKARLSRUHEANDTHEIAIINSTITUTEFORAPPLIEDCOMPUTERSCIENCEATTHEKARLSRUHERESEARCHCENTERBOTHORGANIZATIONSALREADYHAVEEXPERIENCEINBUILDINGSUCHKINDOFSYSTEMS,BUTFROMSLIGHTLYDIFFERENTPOINTSOFVIEWTHEKARLSRUHEDEXTEROUSHANDIISEEFIGURE1BUILTATTHEIPR,WHICHISDESCRIBEDHEREINDETAIL,ISAFOURFINGEREDAUTONOMOUSGRIPPERTHEHANDSBUILTATTHEIAISEEFIGURE17AREBUILTASPROSTHESISFORHANDICAPPEDPEOPLETHEAPPROACHTAKENSOFARWILLBEPRESENTEDANDDISCUSSEDINTHEFOLLOWINGSECTIONS,ASITFOUNDSTHEBASISFORTHENOVELHANDOFTHEHUMANOIDROBOTFIGURE1KARLSRUHEDEXTROUSHANDIIFROMIPRPROCEEDINGSOFTHEIEEERASINTERNATIONALCONFERENCEONHUMANOIDROBOTSCOPYRIGHT?2001GRASPSTATESENSORSPROVIDEINFORMATIONABOUTTHECONTACTSITUATIONBETWEENTHEFINGERANDTHEOBJECTTHISTACTILEINFORMATIONCANBEUSEDTODETERMINETHEPOINTINTIMEOFTHEFIRSTCONTACTWITHTHEOBJECTWHILEGRASPING,ANDTOAVOIDUNDESIREDGRASPS,LIKEGRASPINGATANEDGEORATIPOFTHEOBJECTBUTITCANALSOBEUSEDTODETECTSLIPPAGEOFANALREADYGRASPEDOBJECT,WHICHMIGHTLEADTOALOSSOFTHEOBJECTOBJECTSTATEORPOSESENSORSAREUSEDTODETERMINETHESHAPE,POSITIONANDORIENTATIONOFANOBJECTINTHEWORKSPACEOFTHEGRIPPERTHISISNECESSARYIFTHESEDATAISNOTKNOWNEXACTLY,PRIORTOGRASPINGTHEOBJECTIFTHEOBJECTSTATESENSORSSTILLWORKSONAGRASPEDOBJECTITCANBEUSEDTOCONTROLTHEPOSEPOSITIONANDORIENTATIONOFAGRASPEDOBJECTTOO,EGTODETECTSLIPPAGEDEPENDINGONTHEACTUATORSYSTEMTHEGEOMETRICALINFORMATIONABOUTTHEFINGERJOINTPOSITIONCANBEMEASUREDATTHEMOVEMENTGENERATORORDIRECTLYATTHEJOINTFOREXAMPLEIFTHEREISASTIFFCOUPLINGBETWEENANELECTRICMOTORANDTHEFINGERJOINTTHENTHEJOINTPOSITIONCANBEMEASUREDBYANANGLEENCODERATTHEAXISOFTHEMOTORBEFOREORAFTERTHEGEARTHISISNOTPOSSIBLEIFTHECOUPLINGISLESSSTIFFANDAHIGHPOSITIONPRECISIONISDESIRED34THEMECHANICALSYSTEMOFTHEKARLSRUHEDEXTEROUSHANDIIINORDERTOPERMITMORECOMPLEXMANIPULATIONSLIKEREGRASPINGTHECURRENTKARLSRUHEDEXTEROUSHANDIIKDHIIWASBUILTWITH4FINGERSAND3INDEPENDENTJOINTSPERFINGERITISDESIGNATEDFORAPPLICATIONSININDUSTRIALENVIRONMENTSSEEFIGURE2ANDFORMANIPULATIONOFOBJECTSLIKEBOXES,CYLINDERS,SCREWSORNUTSTHEREFOREASYMMETRIC,NONANTHROPOMORPHICCONFIGURATIONOFFOURIDENTICALFINGERS,EACHROTATEDBY90°WASCHOSENSEEFIGURE3DUETOTHEEXPERIENCESGAINEDWITHTHEFIRSTKARLSRUHEDEXTEROUSHAND,LIKEEGMECHANICALPROBLEMSCAUSEDBYTHEDRIVEBELTSORCONTROLLINGPROBLEMSCAUSEDBYLARGEFRICTIONFACTORS,SOMEDIFFERENTDESIGNDECISIONSWERECHOSENFORTHEKDHIITHEDCMOTORSFORJOINT2AND3OFEACHFINGERAREINTEGRATEDINTOTHEPREVIOUSFINGERLIMBSEEFIGURE4THISPERMITSTHEUSEOFVERYSTIFFBALLSPINDLEGEARSFORTHEFORWARDINGOFTHEMOVEMENTTOTHEFINGERJOINTANGLEENCODERSDIRECTLYONTHEMOTORAXISBEFORETHEGEARAREUSEDASVERYPRECISEPOSITIONSTATESENSORSFIGURE4SIDEVIEWOFTHEKDHII3LASERSENSORSFIXATIONFRAMEONECOMPLETEFINGERCONTROLHARDWAREMICROCONTROLLERFIGURE3TOPVIEWOFTHEKDHIIFIGURE2KDHIIMOUNTEDONANINDUSTRIALROBOT