During quenching, the residual stresses are affected by the crystallographic orientation of martensite, because the nonuniform thermal stresses affect the crystallographic orientation of the lathshaped martensite and induce the anisotropic expansion. To simulate this process, the model of anisotropic transformation induced plasticity(TRIP) was built using the WLR-BM phenomenological theory. The equivalent expansion coefficient was introduced considering the thermal and plastic strains, which simplified the numerical simulation. Furthermore, the quenching residual stresses in carbon steel plates were calculated using the finite element method under ANSYS Workbench simulation environment. To evaluate the simulative results, distributions of residual stresses from the surface to the interior at the center of specimen were measured using the layer-by-layer hole-drilling method. Compared to the measured results, the simulative results considering the anisotropic expansion induced by the crystallographic orientation of martenstic laths were found to be more accurate than those without considering it.
Most existing force feedback methods are still difficult to meet the requirements of real-time force calculation in virtual assembly and operation with complex objects. In addition, there is often an assumption that the controlled objects are completely free and the target object is only completely fixed or free, thus, the dynamics of the kinematic chain where the controlled objects are located are neglected during the physical simulation of the product manipulation with force feedback interaction. This paper proposes a physical simulation method of product assembly and operation manipulation based on statistically learned contact force prediction model and the coupling of force feedback and dynamics. In the proposed method, based on hidden Markov model(HMM) and local weighting learning(LWL), contact force prediction model is constructed, which can estimate the contact force in real time during interaction. Based on computational load balance model, the computing resources are dynamically assigned and the dynamics integral step is optimized. In addition, smoothing process is performed to the force feedback on the synchronization points. Consequently, we can solve the coupling and synchronization problems of high-frequency feedback force servo, low-frequency dynamics solver servo and scene rendering servo, and realize highly stable and accurate force feedback in the physical simulation of product assembly and operation manipulation. This research proposes a physical simulation method of product assembly and operation manipulation.
Achieving highly efficient extrication of the tunnel boring machine(TBM)cutter-head driving system from the collapsed surrounding rock has become a key problem globally,and significant effort has been directed to improve TBM cutter-head extricating ability.In this study,the characteristics of a hydro-viscous device have been investigated to improve extricating performance of the TBM cutter-head.A numerical method based on an explicit pressure-linked equation is presented for computing the film parameters of the HVC,which is then applied to investigate extrication characteristics of a TBM cutter-head with a hydro-viscous clutch(HVC).The explicit pressure-linked equation is derived from the Navier–Stokes equations and the conservation equation,where boundary conditions are involved.The model of a cutter-head driving system with an HVC is established,and the extrication characteristics of the cutterhead driving system are analyzed and compared with three extrication strategies.The variation in extrication torque shows that the linear strategy or positive parabolic strategy are preferred for their relatively high extrication efficiency and low rigid impact,and the effects of throughflow rate on torque transmission are also investigated.The test rig of the TBM cutter-head driving system was set up to validate the numerical method and the model of a cutter-head driving system,and the feasibility of the proposed numerical method for researching the extrication of the TBM cutter-head is verified.
For the primary mirror of a large-scale telescope, an electro-hydraulic position control system(EHPCS) is used in the primary mirror support system. The EHPCS helps the telescope improve imaging quality and requires a micron-level position control capability with a high convergence rate, high tracking accuracy, and stability over a wide mirror cell rotation region. In addition, the EHPCS parameters vary across different working conditions, thus rendering the system nonlinear. In this paper, we propose a robust closed-loop design for the position control system in a primary hydraulic support system. The control system is synthesized based on quantitative feedback theory. The parameter bounds are defined by system modeling and identified using the frequency response method. The proposed controller design achieves robust stability and a reference tracking performance by loop shaping in the frequency domain. Experiment results are included from the test rig for the primary mirror support system, showing the effectiveness of the proposed control design.
Xiong-bin PENGGuo-fang GONGHua-yong YANGHai-yang LOUWei-qiang WUTong LIU
Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.
