Substructuring technique for dynamics analysis of flexible beams with large deformation

In this paper, the substructuring technique is extended for the dynamics simulation of flexible beams with large deformation. The dynamics equation of a spatial straight beam undergoing large displacement and small deformation is deduced by using the Jourdain variation principle and the model synthesis method. The longitudinal shortening effect due to the transversal deformation is taken into consideration in the dynamics equation. In this way, the geometric stiffening effect, which is also called stress stiffening effect, is accounted for in the dynamics equation. The transfer equation of the flexible beam is obtained by assembling the dynamics equation and the kinematic relationship between the two connection points of the flexible beam. Treating a flexible beam with small deformation as a substructure, one can solve the dynamics of a flexible beam with large deformation by using the substructuring technique and the transfer matrix method. The dynamics simulation of a flexible beam with large deformation is carried out by using the proposed approach and the results are verified by comparing with those obtained from Abaqus software.     

Dynamic Stress and Pore Pressure Around Circular Cavity in Saturated Porous Elastic Half-space Under Harmonic Plane Dilatational Waves

Dynamic stress concentration and pore pressure concentration around an infinitely long cylindrical cavity of circular cross-section subjected to harmonic plane dilatational waves in fluid-saturated porous elastic half-space were obtained by a complex function method based on potential function and multi-polar coordinate. The steady state Biot‘s dynamic field equations of porous elastic solid with a viscous liquid were uncoupled into Helmholtz equations via given potential functions. A circular cavity with large radius is used to replace the straight boundary of the saturated porous elastic half-space. The stresses and pore pressures were obtained by using complex functions in multi-polar coordinates with certain boundary conditions of the solid matrix and the fluid matrix. The approximate solutions were compared to existing numerical solutions. Then the variations of the coefficients of dynamic stress concentration and the pore pressures concentration on boundaries of the cavity were discussed with different parameter conditions. The results of the given numerical example indicate that the method used is useful and efficient to the scattering and dynamic stress concentration of plane dilatational waves in saturated porous elastic half-space.     

基于弹性车体模型的高速客车动态响应

为了在动力学仿真模型中考虑车体的弹性,使仿真计算结果更接近实际,并为车体轻量化提供理论基础,建立了基于车体弹性和刚性的高速客车非线性动力学模型,分析了车体弹性振动对运行平稳性的影响。通过该车的整车滚振试验台试验,对动态响应的仿真计算结果进行了试验验证。车辆一阶垂向弯曲自振频率对车辆心盘和车体中心测点的平稳性指标影响曲线表明：在车体中心点,两个模型的平稳性指标差异较大,客车运行速度的提高使车体弹性对车体响应的影响加大,因此对采用铝合金等轻型材料的高速客车车体,设计中必须提高车体的一阶垂向弯曲频率。     

基于多维数据的高速公路服务水平实时判别方法

随着高速公路的不断发展,交通信息逐渐呈现多元化,而将这些信息进行整合并对高速公路服务水平进行实时判别,对于后期的交通控制管理及实时高效提供道路信息至关重要.本文考虑了时间、天气、出行日期等多因素的影响,选用车速、密度作为高速公路服务水平评价指标,结合最小二乘支持向量机与聚类分析相关算法,提出了一种基于多维数据的高速公路服务水平实时判别模型,以实现对高速公路服务水平的参数预测及实时判别.选用河北省237 360组训练样本数据和6 048组预测样本数据验证了该模型的有效性.结果显示,该模型获得了较高的判别精度和较好的预测效果,是一种有效的高速公路服务水平实时判别方法.     

Modeling Study of Planar Flexible Manipulator Undergoing Large Deformation

The planar flexible manipulator undergoing large deformation is investigated by using finite element method (FEM). Three kinds of reference frames are employed to describe the deformation of arbitrary point in the flexible manipulator, which are global frame, body-fixed frame and co-rotational frame. The rigid-flexible coupling dynamic equation of the planar flexible manipulator is derived using the Hamilton’s principle. Numerical simulations are carried out in the end of this paper to demonstrate the effectiveness of the proposed model. The simulation results indicate that the proposed model is efficient not only for small deformation but also for large deformation.     

NTSC-A型制冷装置模拟器软件系统设计

NTSC-A型制冷模拟器软件系统主要由上位机程序和PLC程序构成。在上位机程序中,详细阐述了制冷元件数学模型的建立、控制逻辑的设计以及控制界面的开发,这构成了功能完善、相对独立的桌面操作系统。PLC程序实现了数据通讯,并通过梯形图来完成相关的控制功能。培训效果显示,本系统功能完善、结构稳健,实时性、仿真性强,可以满足《STCW公约》的培训需要。     

铁路重载货车轮对弹性振动及其动态影响

为研究轮对弹性振动特性及其对重载货车动力学性能的影响，以30 t轴重重载货车为研究对象，对轮对刚、柔建模时的整车运动稳定性、曲线通过性能等进行了对比研究. 首先，给出了多体动力学中弹性体的数学建模方法；其次，建立轮对柔性体有限元模型，分析了轮对的弹性振动模态，进一步将其集成于多刚体系统中，形成重载货车刚柔耦合动力学分析模型；最后，针对货车多刚体和刚柔耦合两类建模方法，以干线不平顺叠加短波不平顺作为系统激励源，对比分析了重载货车的轮对振动响应、蛇行运动稳定性以及动态曲线通过性能的差异. 研究结果表明:相对刚性轮对而言，柔性轮对的变形能够缓和轮轨刚性冲击，同时弱化轮轨间的刚性约束能力，导致其振动幅度降低，使得车辆非线性临界速度下降约9%，通过小半径曲线时，轮轨横向力也降低了约13.7%，轮对弹性振动对重载货车动态性能的影响同样不容忽视.      

UAV's Coverage Search Planning Algorithm Based on Action Combinations

The autonomous route planning in coverage search is an important subject of unmanned aerial vehicle(UAV) mission planning. Pre-planning is simple and feasible for the coverage search mission of single UAV in regular areas. As to the dynamic mission in complicated environment of multi-UAV, the route planning will encounter the difficulties of reasonable task distribution and the real-time environment changes which include the changes of the mission area, the detection of threat area, the interference of communication and so on. At this point, making the UAV to do real-time autonomous planning is necessary. However, it is hard to fulfil requirements of real-time, autonomous and efficient at the same time. According to a scalable knowledge base,this paper proposes a coverage search algorithm which is based on the mapping between the basic behavior combination and surroundings. A UAV's coverage search simulation model with random shapes is built with a discrete map to update the environment and the changes of the mission on time. Comparison of the simulation analysis and the dynamic programming shows that the method has amazing expandability and can change the search strategy feasibly. It is efficient, and the ratio of coverage redundancy can be decreased to 1.21. It also has the potentiality in real-time calculation, and the computing time can be shortened to about 2 s.     

高速列车动态间隔优化的弹性调整策略

为保证列车运行安全性, 提高铁路线路运载效能, 针对移动闭塞系统, 研究了高速列车追踪运行的间隔弹性调整策略和操纵轨迹的动态优化问题; 以高速列车运行安全性、效率、能耗和乘客舒适度作为列车运行控制策略曲线的优化目标, 研究了列车的追踪运行过程; 采用差分进化算法求解了列车运行过程多目标优化模型, 设计了离线最优运行控制策略曲线; 提出了列车弹性追踪间隔模型, 分析了列车运行过程中追踪间隔的实时变化; 基于弹性间隔模型设计列车追踪运行控制策略动态调整机制, 采集列车实际运行数据, 实时监测相邻列车间的实际追踪间隔, 评估其是否符合安全性与效率约束条件, 并分析了评估结果; 依据工况调整原则在线调整追踪列车的运行状态与工况, 实时优化列车追踪间隔; 应用武广高速铁路赤壁北—长沙南区间的实际运行数据进行了仿真验证。仿真结果表明: 与真实区间运行数据相比, 采用离线最优运行控制策略曲线后, 运行能耗降低了6.86%;与固定追踪时间间隔模型相比, 采用基于弹性模型的控制策略动态调整机制有效提升了铁路整体运输效能, 将临界安全发车间隔从234 s缩短至161 s, 线路整体运行效率由6 434 s缩短至6 376 s, 与真实运行数据相比, 追踪列车的运行能耗降低了7.194%。      

CAD/CAE集成的高速列车子系统仿真分析一体化平台

为了使现有的通用商业多体动力学与有限元软件能满足高速列车子系统仿真建模的需求,利用开源组件和动态封装技术实现了可扩展弹性仿真平台架构框架,并基于该框架以高速列车弓网系统为例开发了高速列车子系统仿真平台(TPL. PC). 该仿真平台的构建表明,所提出的框架能够提供几何建模、网格生成与编辑、数值代码求解和三维实时可视化高速列车仿真平台所需的常用功能,解决了子系统几何模型和仿真模型在这些环节中的互用性问题,使得各异构子系统之间在仿真计算迭代步的中间结果数据和最终仿真结果文件交换通畅.      

高速列车弹性车体与转向架耦合振动分析

建立了某高速列车车体有限元模型,采用Guyan缩减进行模态求解,结合SIMPACK多体动力学软件建立包含弹性车体的系统动力学模型。运用模型分析了车体弹性模态对运行平稳性的影响,研究了弹性车体与转向架构架垂向耦合振动。分析结果表明：当车体垂向一阶弯曲频率与车体点头振动空响应点频率接近时,会发生车体的垂向弹性共振;当车体菱...     

自然循环转强迫循环时反应堆功率瞬态特性研究

采用一套完整的仿真分析系统,研究了船用核动力装置一回路自然循环向强迫循环过渡时反应堆功率变化的瞬态特性.计算结果表明,初始反应堆功率水平对过渡过程有着重要的影响,较高的初始功率水平有可能威胁反应堆的安全.针对过渡过程中的潜在风险,提出了手动下插控制棒的人为干预措施.分析结果表明,该干预措施可以有效地改善过渡过程的安全性.     

Nonlinear Dynamic Analysis of Three Dimensional Flexible Multibody Systems

The nonlinear dynamic problems of three dimensional flexible multibody systems are investigated. The elastic deformation fields of flexible space beams are decomposed into axial deformation and bending deformation, and described by each exact vibration modes in the body coordinate systems. The constrainted nonlinear dynamic equations are derived by using Lagrange multiplier method. A numerical procedure for solving the resulting differential algebraic equations is presented based on Newmark direct integration method combined with the modified Newton-Raphson iterative method. Numerical results verify the effectiveness of the proposed method.     

Face Hallucination with Weighted Nuclear Norm Constraint

Face hallucination via patch-pairs leaning based methods has been wildly used in the past several years. Some position-patch based face hallucination methods have been proposed to improve the representation power of image patch and obtain the optimal regressive weighted vector. The rationale behind the position-patch based face hallucination is the fact that human face is always highly structured and consequently positioned and it plays an increasingly important role in the reconstruction. However, in the existing position-patch based methods, the probe image patch is usually represented as a linear combination of the corresponding patches of some training images, and the reconstruction residual is usually measured using the vector norm such as 1-norm and 2-norm. Since the vector norms neglect two-dimensional structures inside the residual, the final reconstruction performance is not very satisfactory. To cope with this problem, we present a weighted nuclear-norm constrained sparse coding (WNCSC) model for position-patch based face hallucination. In addition, an efficient algorithm for the WNCSC is developed using the alternating direction method of multipliers (ADMM) and the method of augmented Lagrange multipliers (ALM). The advantages of the proposed model are twofold: in order to fully make use of low-rank structure information of the reconstruction residual, the weighted nuclear norm is applied to measure the residual matrix, which is able to alleviate the bias between input patches and training data, and it is more robust than the Euclidean distance (2-norm); the more flexible selection method for rank components can determine the optimal combination weights and adaptively choose the relevant and nearest hallucinated neighbors. Finally, experimental results prove that the proposed method outperforms the related state-of-the-art methods in both quantitative and visual comparisons.     

柔性双层隔振系统振动能量解耦方法及应用

为解决难以利用能量解耦法设计柔性双层隔振系统的问题,提出一种能够表示柔性设备和中间质量弹性模态特点的多自由度模型;基于该模型,提出采用广义弹性力对柔性隔振系统进行解耦的方法,并推广到柔性结构中;以某内燃动车动力总成双层隔振系统为例,基于所提方法探讨了构架弹性模态下刚体振动与弹性振动的耦合情况;最后通过振动实验台验证了该方法的有效性.研究结果表明：机组一级隔振系统垂向频率从12 Hz降低到8 Hz后,系统所有模态频率均得到不同幅度的下降,前两阶刚体振动模态频率下降最明显,分别下降50.00%和49.98%;构架弹性模态频率比机组弹性模态频率更低,影响更大,构架弹性模态频率下降8.32%,机组弹性模态频率下降0.80%;在构架弹性振动模态振动中,构架弹性振动能量所占比例提高14.88%,刚体振动能量所占比例降低90.64%,降低一级隔振系统垂向频率能够提高振动解耦效果,减少振动传递.     

高速动车组弹性车体和设备耦合振动特性

为研究车体和车下设备之间的耦合振动关系,建立了高速动车组的车辆刚柔耦合系统动力学模型;考虑车体弹性模态振动,采用扫频激励法,仿真分析设备质量、刚度、阻尼和安装位置对系统振动的影响;研究了不同参数相互作用下的振动特性.研究结果表明:与设备采用固接方式相比,弹性联接可显著降低车体弹性振动,设备质量越大且越靠近车体中部安装,对抑制弹性振动效用越显著;设备质量小于1.0 t或者距离车体中心6 m以上时,降低弹性振动的效果较小,阻尼比为5%~30%时,效果较好.利用机车车辆滚动振动试验台进行设备悬挂振动特性测试,表明设备采用弹性联接可显著改善高速动车组的乘坐平稳性,运行速度等级越高,效果越显著,最大可改善约15%.      

集装箱中心站柔性优化设计

针对传统铁路场站设计以能力放大法赋予其应对不确定因素的能力所存在问题,结合工程设计中的优化设计和现代制造系统中的柔性设计思想,提出了集装箱中心站柔性优化设计是采用优化设计方法,协调中心站系统柔性大小、柔性增值效益以及费用函数三者关系的过程. 运用随机规划方法建立了集装箱中心站优化设计模型,并利用遗传算法对模型进行了求解. 最后,以昆明铁路集装箱中心站柔性优化设计为例,对模型及算法进行了验证. 结果表明,所建模型及算法在赋予集装箱中心站应对市场变化的柔性能力方面具有高效和实用的特点.     

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针对传统铁路场站设计以能力放大法赋予其应对不确定因素的能力所存在问题,结合工程设计中的优化设计和现代制造系统中的柔性设计思想,提出了集装箱中心站柔性优化设计是采用优化设计方法,协调中心站系统柔性大小、柔性增值效益以及费用函数三者关系的过程. 运用随机规划方法建立了集装箱中心站优化设计模型,并利用遗传算法对模型进行了求解. 最后,以昆明铁路集装箱中心站柔性优化设计为例,对模型及算法进行了验证. 结果表明,所建模型及算法在赋予集装箱中心站应对市场变化的柔性能力方面具有高效和实用的特点.     

A comprehensive evaluation method for kinematic accuracy of space manipulator based on analytic hierarchy process

The kinematic accuracy of space manipulator determines whether the spacecraft performs normally or not. Problems pertaining to structural deformation have received increased attention in recent times. In the space manipulator systems, flexible arms and joints can induce drastic dynamic instabilities. In applications such as the space station, kinematic error due to structural deformation can jointly affect the performance characteristics. And it is crucial for accuracy control of space manipulator to establish a precision index. Here we analyze the dynamics characteristic of flexible space manipulator considering the hysteresis of harmonic reducer based on method of nonconstraint boundary modal. For the sake of describing the output accuracy, we integrate the method of analytic hierarchy process(AHP) to establish a comprehensive evaluation index. A numerical simulation is performed to analyze the nonlinear dynamic characteristics of space manipulator with harmonic reducer. With the analysis of accuracy assessment, the relation among the hysteresis angle, rigidity and output accuracy is revealed. Considering the elastic modulus of flexible space manipulator and the hysteresis angle of harmonic reducer, we conduct an evaluation of output characteristics of flexible space manipulator with the proposed comprehensive evaluation index. The accuracy evaluation of output characteristics based on the proposed comprehensive evaluation index is implemented in the initial stage of space manipulator’s design, which can not only solve the problems existing in the design but also save cost savings for ground tests. The results can be used in designing and optimizing future space manipulators, which may provide valuable references for design and thermal control of the space manipulator.     

基于知识和神经网络的动画模拟优化方法论

本文提出并论述基于知识和神经网络的动画模拟优化方法。作者以柔性制造系统为研究对象，讨论了智能动画模拟优化的概念方法、多目标动和动画模拟优化机理、专家知识利用、推理前提、规则开发、基于神经网络的动画模拟模型描述与推分析。