Table of Content

10 July 2015, Volume 26 Issue 13

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Non-time Reference Point Tracking Control for Car-like Mobile Robots

Li Hong, Guo Konghui, Song Xiaolin, Huang Jiang

2015, 26(13):  1705-1711. 

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According to velocity and acceleration saturation restriction in mobile robot control system, a non-time reference point tracking control method was proposed. A variable that monotononicly increasing over time was selected as the control logic variable, so velocity and acceleration saturation phenomenon in time domain was avoided. Control logic model was built using Simulink, then single point tracking simulation and tracking simulation of multiple continuous target points were done. Single point tracking simulation results show that, robot reaches the target state eventually with any initial state under the control method. Tracking simulation results of multiple continuous target points show that the point tracking control method can be used in path tracking for car-like robot.

Structure Design Method of Robotic Leg Based on Joint or Limb Stiffness

Zhao Wentao, Wang Sen, Luo Wei

2015, 26(13):  1712-1719. 

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Because the stiffness curve of robotic leg has a certain deviation from the joint or limb stiffness, the structure design method of robotic leg was proposed based on biological joint or limb stiffness. Firstly, according to the principle of virtual work, the equation of joint or limb stiffness curve which could be obtained by using curve interpolation, the structure design method of robotic leg was obtained based on joint or limb stiffness. Then, integrated simulation and structure optimization of rigid-flexible coupling robotic leg were implemented based on Patran, Nastran and Adams. After that, according to the basic parameters of the human and the relevant parameter of ankle stiffness during human hopping, the structure design and its optimization were implemented respectively, at the same time, the simulation results were given to prove the effectiveness and advantages of the mothed.
 

Research on Driving Mechanism Dynamics in UHV Breaker with Multiple Clearance Joints

Wu Shijing, Li Fei, Zhao Wenqiang, Hu Jicai, Zhang Zenglei

2015, 26(13):  1719-1724. 

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A dynamics model of the driving mechanism in UHV breaker with multiple clearances was established to study the effects of clearances on its dynamics characteristics. In this model, a spring-damper model was used to simulate the normal contact force, and a modified Coulomb friction model was used to simulate the tangential contact force. Dynamics simulation analysis was presented according to the driving mechanism during the breaking process of UHV breaker under special working condition with a multi-body dynamics analysis software ADAMS. The simulation results show that the effects of kinematic pair clearance are not obvious on the displacement of the driving mechanism, while obvious on its speed and acceleration. With the clearance increasing, these effects are more obvious, and the stability of the mechanism's movement is worse.

Life on Wing Prediction of Aeroengine Based on CBM Strategy

Cao Huiling, Wu Zemin, Qu Chungang, Kang Liping

2015, 26(13):  1725-1730. 

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Based on CBM strategy, the life on wing prediction of aeroengine was made herein, aiming at providing airlines with a scientific and reasonable basis for the engine's plans of removal. Firstly, according to the aeroengine's historical data of removal, a mathematical model of the maintenance decision-making control limit was established. And the establishment of this model was based on the proportional hazards-proportional odds model. Then using time series prediction method based on least squares support vector machine, and combined with the condition trend prediction of engine, life on wing of engine was predicted. Finally, in the case study of a concrete instance, the method was proved to be effective and to have a high practical value.

Research  on  Vibration  Behaviors  of  Roll  System  Influenced  by  Dynamic Characteristic  of  Rolling  Force

Liu Fei, Liu Bin, , Liu Haoran, Hou Dongxiao

2015, 26(13):  1731-1735,1741. 

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Considering  the dynamic characteristics of  the rolling force influenced by roller  vibration,a  nonlinear vibration model of strip mill roll system  was established.Average method was  adopted to get the amplitude frequency response of the vibration system,the amplitude  frequency characteristics of  the  system were analyzed with the changing rolling   speeds  and  external  excitation  amplitudes.The  singularity theory was  used to analyze the static bifurcation behavior,and to get the transition set and the critical conditions of different forms of vibration behavior of this system.The  dynamic bifurcation behavior was  researched with the  changing rolling  speeds.The  results show that vibration behavior  of  rolling  mill  is  very sensitive to the changing rolling speeds,the vibration amplitude increases  with the increasing of  excitation amplitudes  and rolling speeds,the frequency range of instability decreases with the increasing  of  rolling speeds,increases  with the increasing of  external excitation.The intermittence chaos is appeared with the changing   of  rolling speeds,and the speed range of steadying rolling is obtained with the maximum Lyapunov exponent curve.The results provide  a  theoretical reference for the vibration suppression and guarantying stable operation for rolling.

Design of Vibration Energy Harvester Based on Bistability

Yao Bingmeng, Liu Zhiping, Li Wenfeng

2015, 26(13):  1736-1741. 

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An energy harvester was designed by permanent magnets, a cantilever beam, piezoelectric material and so on, and the influence factors were studied experimentally and theoretically herein.The conclusion is made that the system has a bistable behavior under the suitable magnetic distance, which broadens the range of frequency response and increases the response amplitude, and the nonlinear bistable system has a higher efficiency of energy harvesting than that of a linear system under the suitable excitation amplitude and excitation frequency.

Magnetic Field Analysis and Characteristics Research of Cylindrical Permanent Magnet Adjustable Speed Drive

Sun Zhongsheng, Zhou Liping, Wang Xiangdong, Huang Zhongnian

2015, 26(13):  1742-1747. 

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The permanent magnet adjustable speed drive (PMASD) is a new kind of power transmission device for motor drive systems, which can realize the speed control of a centrifugal load and the energy saving of a motor by adjusting the confronting area between the permanent magnet rotor and the conductor rotor. Based on the 3D moving eddy current field, the complete finite element model of a cylindrical PMASD was presented, and the transient analysis was carried on for intense research of magnetic field and characteristics of the device. The distribution of magnetic field and eddy current were obtained. On the basis of that, the corresponding curves of output power and torque in different slip ratios and confronting area were acquired and analyzed. An experiment was conducted, which validated the correctness of the finite element analysis method by comparison.

On-machine Measurement Technology of Camshaft High Speed NC Grinding

Wan Linlin, Deng Zhaohui, Huang Qiang, Liu Zhijian

2015, 26(13):  1747-1751. 

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An on-machine measurement device was proposed based on the USB bus technology and re-centering grating displacement sensor. Cam lift was measured directly on the grinding machine. The on-machine measuring principles and lift measuring process were studied. To solve the cam lift initial turning angle and get cam measured lift, the sensitive point method were used to process the measured lift data combining with cubic uniform B-spline interpolation fitting and least square method. A grinded camshaft was measured by the on-machine measurement device and BG1310-10 cam contour detector, and the measuring results were compared to confirm the validity of the proposed device.

Optimal Control of a Hybrid Electric Vehicle Based on Fuzzy-PID Torque Identification

Qian Lijun, Qiu Lihong, Chen Peng

2015, 26(13):  1752-1759. 

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A method wss put forward based on fuzzy-PID torque identification K, thus the drive mode of the vehicle was preliminarily decided by K. The particle swarm-ant colony algorithm was used to optimize the key parameters of the control strategy and the power components of the vehicle. After optimization, fuel consumption and emissions were reduced with power performances guaranteed. The optimized control strategy was simulated hardware in loop. The results indicate that the control strategy based on fuzzy-PID torque identification can realize basic energy management, and the control effectiveness is better than the controller without fuzzy-PID torque identification.

Chaos Identification of Two Rotational and One Translational Decoupled Parallel Mechanism Concerning Clearance

Hou Yulei, Wang Yi, Li Mingyang, Zeng Daxing, Li Huijian

2015, 26(13):  1759-1766. 

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Taking a two rotational and one translational decoupled parallel mechanism PU-RCRR-CRRR proposed independently as research object, aiming at the clearances existing in the Hooke joints, and combining Lankarani-Nikravesh contact force model and Newton-Euler method, the mechanism dynamics model was established. The dynamic responses were analyzed, in addition, the chaos phenomenon contained in the mechanism was identified with Poincare map and the largest Lyapunov exponent. The results indicate that chaotic phenomena exists in the dynamic responses of the two rotational and one translational decoupled parallel mechanism concerning clearances.

Applications of Sequential Two Angles Method in Pavement Surface Measurement

He Weiming, Feng Zuowei, Song Xiaoqi, Jia Jiangsen, Gan Yi, Zhu Jianmin

2015, 26(13):  1767-1771. 

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Because the existing pavement measuring methods were unable to set the accuracy, universality, portability and cost performance all in one,a measuring system was designed based on STAM. The distance encoder collected the data of device's running distance,and the angle encoder collected the angle changes between front and rear rods. The data was processed by MATLAB. Substituting the above data into STAM formula, the curve of the pavement surface fluctuation was acquired. The accumulated errors, inclination errors, sampling interval errors were analyzed and compensated,and the tests verified its accuracy. The relative error in slope test is as 0.6%. The relative errors in radius test is as 0.5%. In the 10 meters concrete pavement measurement, compared with the results with level gauge method, the deviation is less than 3mm. The SATM provides an alternative method of the road roughness measurement.
 

Adaptive Parameter Identification Method for Thermal Finite Element Model of High-speed Spindle

Wang Shuting, Liu Junlong, Liu Tao, Tan Bo, Gou Weidong

2015, 26(13):  1772-1775,1782. 

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High-speed spindle worked in the state of thermo-mechanical coupling, the thermal characteristics were extremely difficult due to their dependence on different influences.The desired calculation accuracy of joints was the bottleneck of high-speed spindle design and performance prediction. A new method was proposed based on least squares SVM and genetic algorithm to automatically find the optimal thermal characteristics in spindle.On the basis of little test data, the thermal boundary parameters for FEM model could be accepted adaptively. Resultantly, the validity of presented method was validated by experimental calibration with a high-speed spindle of HMC-80 machine tool.

Extraction of  Unbalance  Signals  Based  on  Correlation  Analysis  in  Adjustable  Sampling  Length

Zhang Li, Luo Yichao, Xu Juan, Niu Qingbo, Liu Zhengyu

2015, 26(13):  1776-1782. 

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According to the principles of correlation analysis method for extracting amplitude and phase of signals,this paper defined a concept, interference degree of noise near unbalanced signals in frequency, and established a model about interference degree, revealed its distribution law. Then the method for extraction of unbalance vibration signals was  proposed  based on correlation analysis in adjustable sampling length.It obtained the frequency of nearby interference signal of large amplitude from pseudo spectrum under short data acquisition time calculated by MUSIC,and  reasonable sampling time length  was  selected  based on distribution law of interference degree for extraction of unbalance signals.The results of simulation and experiments show that,compared with the traditional fixed sampling length correlation filtering method, this method obtains smaller variance of amplitude and phase under shorter sampling time, being free from signal-to-noise ratio fluctuation and nosie at the frequency near that of signal.

Optimization Design and Performance Simulation of Reverse Double Foot Linear Ultrasonic Motor

Sun Shiping, Hu Zheng

2015, 26(13):  1783-1788. 

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A new linear ultrasonic motor with reverse double foot was presented to precisely positioning a pair of micro components with inverse synchronized actions. The motor used the first longitudinal and the second bending vibration modes of rectangular plate in-plane as working mode. Excited vibrations amplified by triangular structure were superposed at double foot to form elliptical trajectories, which drove rotors to obtain linear outputs with opposite directions. Motor structural optimization were carried out to achieve the consistency of working frequencies, and harmonic response was analyzed to verify the feasibility of motor design. Motor output performance simulation were performed by rigid-soft contact finite element model of stator and rotor. The simulation results show that the motor presented has a desired stability, and the moving speed and the thrust force can reach 120mm/s and 30N respectively.

Simulation and Experiments for Urethral Valve Driven by Ultrasonic-vaporized Steam

Hu Zhen, Li Xiao, Guan Ting

2015, 26(13):  1789-1793. 

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Aiming at the problem of severe urinary incontinence caused by urethral sphincter dysfunction, a urethral valve driven by ultrasonic-vaporized steam was presented herein. The mathematical model of urethral valve was built based on the theories of ultrasonics, thermodynamics and magnetism. The effects of ultrasonic control parameters on driving performance of urethral valve was studied by simulation and experiments. The opening/closing performance of urethral valve was verified by experiments. The results show that the principle of urethral valve is feasible and mathematical model is simple and effective; the driving performance of urethral valve is improved by increasing ultrasonic intensity, radiation area and frequency; the opening/closing performance of urethral valve is good.
 

Research on Natural Vibration Frequency of Fully Compliant Parallel Mechanism Configuration Based on Multi-objective Topology Optimization

Zhu Dachang, Song Majun

2015, 26(13):  1794-1801. 

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In order to effectively suppress the influence of random vibration on the ultra precision positioning and processing equipment performance, and to improve the inherent frequency response, a fully compliant parallel mechanism design method was proposed based on multi-objective topology optimization. Based on compromise programming method and average frequency method, the multi-objective optimization function was defined, and volume fraction was adopted as constraint conditions to establish SIMP topology optimization model of planar fully compliant parallel mechanism. According to Optistruct software and the criterion of optimization algorithm, and combining with differential vector isomorphism mapping Jacobian matrix, multi-objective topology optimization design for the configuration of fully compliant parallel mechanism was achieved. The results indicate that the differential movement characteristics of the 3-PRR fully compliant parallel mechanism are the same as prototype of parallel mechanism, and the crossover oscillation of the frequency weakens and convergences obviously during the optimization process.

Expand Performance and Simulation Verification of Line-styled Folding-wing

Hu Ming, Zhang Bin, Chen Wenhua, Tian Fangfei, Zhang Hong, Zhou Xiaohong

2015, 26(13):  1801-1805. 

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Aiming at researching deployable mechanism of line-styled folding-wing, a spreading experimental device was designed, multiple spreading experiments were carried out in different torques, and the key performance parameter regulations were researched. A virtual prototype model of the folding-wing was established in ADAMS based on the actual geometric parameters, physical characteristics and constraints of the line-styled folding-wing. The simulation were used to study the folding-wing under different driving force of motion parameters and performance parameters regulations. Comparing simulation results with the test data, both of the dynamic simulation results and the group test data show that the folding-wing can unfurl to the appointed place quickly, can be located accurately and locked reliably. There are no interferences among each parts during the deployment process of folding-wing.

Research on Micro-droplet Controllable Jetting in Fine Circuit Formation Using Jet Printing and Chemical Deposition

Xiao Yuan, Huang Yachao, Jiang Long, Chen Lan

2015, 26(13):  1806-1810. 

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In order to solve the existing problems such as complex process,high cost and poor flexibility in the preparation of  the fine circuit in intelligent textiles，a new method was proposed to prepare the fine circuit by combining jet printing with chemical deposition technology. The experiments were conducted using developed pneumatic driven generator to inject ascorbic acid and silver nitrate solution with nozzle of 100μm. Micro-droplet controllable jetting and sedimental formations for two solutions were researched.The experimental results show that stable process parameters, uniform droplet lattice and consistent width of the forming line are obtained. Moreover, the forming sliver lines possess conductivity.

A Nondestructive Testing Method Based on Electric Field Measurement

Li Donglin, Kang Yihua, Sun Yanhua, Ye Zhijian

2015, 26(13):  1810-1814. 

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An EFM nondestructive testing method was presented herein. This method offered a possible route to perform the no-contacting inspection for internal and external defects by detecting the electric field variations outside the current-carrying specimen. The electric field of a current-carrying specimen was simulated, and the signal characteristics of defects were discussed. In the preliminary experiments, a semiconductor material was used as the tested specimen, and a passive coplanar capacitor probe was employed to induce the electric field variations. In the case of high voltage exciting, the probe detected the electric field signals of internal and external defects. The consistency of the simulation and experimental results imply that the EFM method has the potential of inspecting internal and external defects in the metal and nonmetal materials. 

Research on Magnetic Levitation Permanent Magnet Linear Motor and Its Control System

Lan Yipeng, Liu Yufei

2015, 26(13):  1815-1819. 

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According to the special structure and operation mechanism of the maglev permanent magnet linear motor, a mathematical model of electromagnetic thrust and levitation force of the motor was given. The finite element calculation model of maglev permanent magnet linear motor was established. The air gap flux density, magnetic thrust and levitation force were calculated by finite element method, and the air gap flux density was carried out by harmonic analysis method. A research prototype of the maglev permanent magnet linear motor was design. The magnetic suspension subsystem and the feed servo subsystem were made. The results of the magnetic suspension subsystem and feed subsystem were obtained by experiments. Experimental results show that adopting the maglev permanent magnet linear motor can achieve the feasibility of direct drive and frictionless operation.
 

Investigation on Digital Integrated  Controller of Active Magnetic Bearings

Zhao Jing, Xie Zhenyu, Yang Hongjin, Wang Xiao

2015, 26(13):  1820-1826. 

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A digital integrated controller of active magnetic bearing was developed based on digital signal processor(TMS320F28335  DSP). The controller could  take the place of the general displacement controller and some parts of the power amplifier.The corresponding control algorithm was programmed,and the static and dynamic performances of the controller were  investigated by experiments.The digital integrated controller was also introduced into five degree-of-freedom active magnetic bearing flexible rotor system,and the system could operate at high rotation speeds safely. The results show that digital integrated method possesses low cost, transportability,high  reliability,small size,and is helpful to optimize the performance of electronic control system.

Nonequilibrium Tire Contour Design for Radial Tires and Performance Analysis

Yang Jian, Wang Guolin, Wan Zhijun

2015, 26(13):  1827-1833. 

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The contours of radial truck tire 12.00R20 and 385/55 R22.5 were redesigned by using the Sakai Hideo's nonequilibrium contour theory, Frank's nonequilibrium contour theory and the optimized nonequilibrium contour theory, which were based on the current nonequilibrium contour design theories of radial tire. Tire wear, rolling resistance and grip performances of radial tires with designed contours were analyzed comprehensively through finite element analysis. The results show that, Sakai Hideo's design theory suits for the tires with small aspect ratio; Frank's design theory suits for the tires with large aspect ratio; the optimized nonequilibrium tire contour will enhance the tire performances such as tire wear, rolling resistance and so on. Tire inner contour holds great influences on the performances of the tires, especially on tire rolling resistance. The optimized nonequilibrium contour provides a guidance to reduce the tire rolling resistance. The optimized nonequilibrium tire contour design can breakthrough the target conflicts in tire performance.

Analysis and Validation of Vertical Resonance Reason of a Certain Truck Crane at Running

Zhong Minghui, Tan Songtao, He Xianwei, Wu Fengfei

2015, 26(13):  1834-1839,1845. 

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This paper tested acceleration signals at even velocity running of a certain truck crane with LMS vibration testing system, for the resonance phenomenon. Being integrated with the theory of excitation of tire and computed method, it has discovered that the frequency of its resonance is agreed with the frequency of the wheels' excitation and the quantity of their vibration is directly proportional to the quantity of their non-uniformity, and then can estimate that the resonance of the crane is excited by excitation of the wheels. An improved method was made and carried into effect and then its function was tested in reality. The results indicate that the root of mean square of the acceleration responsibility is reduced a percentage of 35 and the resonance phenomenon has disappeared.

Design and Research of  Automotive  Vacuum Auxiliary Braking System

Liu Shuwei, Guo Lixin, Hao Liang

2015, 26(13):  1840-1845. 

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An automotive vacuum auxiliary braking system was designed when the driver urgently braked the automobile. The system mainly contained five parts,such  as mechanical actuator,braking sucker, vacuum system,ejection  retracting  system, the control system and so on.The vacuum auxiliary braking system could  increase  significantly the braking efficiency and shorten the braking distance of automobile emergency braking. After the theoretical analysis and the experimental research, the system will reduce effectively the probability and the damage degree of traffic accidents.