Electrostatic Suspension System Nonlinear Character Analysis and Its Internal Model Control

Nonlinearity is an important characteristic in electrostatic suspension system (ESS). This paper concludes the nonlinear parts in ESS, which generally result from the relationships between rotor displacement and capacitance, rotor displacement and electrostatic force, and control voltage and electrostatic force. In terms of the nonlinearities, a new control method with modified internal model control (IMC) was proposed to analyze the ESS, deduce the transfer function of the modified IMC controller in ESS, and simulate this new application in ESS. Comparing with proportional integral derivative (PID) control, IMC has only a parameter, and has better performance. As a result, IMC solves nonlinearity error well in ESS with only one uncertain parameter, and performs well when the rotor has large displacement.     

Dynamic Analysis of Micro-machined Diamagnetic Stable Permanent Magnet Levitation System

A novel micro-machined diamagnetic stable levitation system (MDSLS) which is composed of a free permanent magnetic rotor, a ring lifting permanent magnet and two diamagnetic stabilizers was presented. The static and dynamic stable characters of MDSLS were analyzed. The coupled non-linear differential equations were used to describe six-degree-of-freedom motion of the levitated rotor, and the equivalent surface current and combined diamagnetic image current method were utilized to model the interaction forces and torques between the lifting permanent magnet and rotor permanent magnet and also between the rotor permanent magnet and diamagnetic substrates. Because of difficulty to get analytical solution, the numerical calculation based on Runge-Kutta method was used to solve the dynamic model. The vibration frequencies were identified by fast Fourier transform (FFT) analysis. According to their resonance characteristics and parameters, the translational and angular dynamic stiffness were also calculated. The results show that the levitation of the rotor in MDSLS is stable, and the MDSLS is potential for the application in levitation inertial sensor.     

Study on lift-up speed of aerodynamic compliant foil thrust bearings

Objective The experimental study on the lift-up speed of a new kind of compliant aerodynamic foil thrust hearings was performed on the multifunetional test rig established for testing the performances of foil gas bearings. Methods The lift-up speed of foil gas thrust hearing under given axial load was analyzed through the spectrum of axial displacement response in frequency domain. Results The test results indicated that the difference in the spectrum of axial displacement responses before and after lifting up of the rotor was obvious. After lifting up of the rotor, there were only larger components of rotation frequency and lower harmanie frequencies. If the rotor wasn＇t lift-up, there were also larger components of other frequencies in the spectrum. Conclusion So by analyzing the spectrum of axial displacement response, the results showed that the lift-up speed was about 1 860 rpm when the axial load was 31N.     

基于柔性神经网络自适应PID的磁轴承径向力控制

针对电机磁轴承径向力控制的严重非线性,提出了利用神经网络自适应整定PID参数,从而直接调节磁轴承径向悬浮绕组电流实现转子径向稳定悬浮的控制方案.在利用BP神经网络结合PID控制实现转子径向稳定悬浮的基础上,为改善径向位移跟踪的动静态性能,提出了基于柔性神经网络的径向力控制,给出了详细的控制算法,并仿真比较了柔性神经网络控制与BP神经网络控制下转子在空载和突加负载时径向悬浮情况,仿真结果表明柔性神经网络控制具有更好的动静态性能,为智能控制的进一步应用研究提供了基础.     

关于对流体激振及离心叶轮转子分岔特性的研究

将叶轮转子系统简化为Jeffcott转子系统,并考虑到系统流体激振力,采用短轴承非线性油膜力模型,求出了在非线性油膜力作用下的运动微分方程,采用Runge-Kutte法计算了转子在不同转速下的响应,通过分岔图,轨迹图,相图和Poincare映射图,研究了转子系统的分叉特性.并通过改变系统参数质量偏心,做了系统分岔特性的比较,结果表明流体激振力和质量偏心将影响系统的稳定性能.     

预制装配式板梁桥的模型修正方法

为反映在役桥梁的实际状况,提出了板梁桥的模型修正方法.假设铰缝相对位移与铰缝剪力成正比,并将铰缝刚度、板梁抗弯刚度和板梁抗扭刚度均作为未知量进行修正.基于板梁边实测位移建立位移方程,并采用QR分解法得到矛盾方程组的最优解.模型考虑了多个静载试验工况、多个荷载及荷载偏心的特点,可以直接应用于桥梁荷载试验.对有防撞护栏和有损伤的板梁桥进行了数值模拟,结果表明:无论是板梁有较大损伤,还是有复杂附属结构,该修正方法均可给出准确的修正系数;试验应尽可能采用多个试验工况,并将荷载布置在被测试的铰缝和板梁附近.      

翼吊发动机转子系统在大气紊流下的响应分析

针对翼吊发动机高空工作时受大气紊流影响这一现象,基于机翼气动弹性力学和转子动力学理论, 采用Dryden紊流模型作为大气速度模型,建立了翼吊发动机转子系统在大气紊流下的动力学模型,运用虚拟激励法对模型进行数值计算.结果表明:转子系统中各转盘站的位移响应功率谱密度变化趋势与大气紊流速度功率谱密度变化趋势基本相似,但在固有频率处会出现位移响应强度峰值;当角频率大于100 rad/s时,大气紊流引起的位移响应强度随着角频率的增大而减小,并且不可忽视转子系统本身特性对位移响应强度的影响.      

组合载荷作用下动车牵引电机转子系统弯扭耦合振动特性

为了研究组合载荷作用下动车组用牵引电机转子弯扭振动机理和识别典型故障特征, 依据动车牵引电机结构特点, 将其转子结构离散化为集总质量盘轴系统, 得到了电机转子系统的10自由度弯扭力学模型; 考虑定转子静动气隙偏心引起的不平衡磁拉力、转子质量偏心引起的机械不平衡力、转子重力以及电机驱动转矩和负载转矩等径向和扭转载荷作用, 利用拉格朗日方程法建立了牵引电机转子系统弯扭耦合运动微分方程; 基于Runge-Kutta法求解和分析了不同组合载荷工况作用下的转子系统弯扭振动特性。分析结果表明: 由转子质量偏心造成的系统弯扭自由度耦合关系, 使得牵引电机转子系统的弯扭振动特性受到转子径向和扭转载荷的共同影响, 且影响规律符合转子质量偏心耦合规律; 在全部径向和扭转载荷作用下, 牵引电机转子的径向振动包含零频、转频、二倍转频、弯振固有频率、二倍供电频、二倍供电频与转频组合、脉动转矩频率与转频组合等频率成分, 其中转频成分对应的弯振幅值最大, 而脉动转矩频率与转频的组合频率的振幅非常小, 说明脉动转矩对牵引电机转子径向振动的贡献并不明显; 在全部载荷作用下牵引电机转子的扭转振动包含转频、二倍转频、弯振固有频率与转频组合、二倍供电频与转频组合、脉动转矩频率等频率成分, 其中脉动转矩频率成分对应的扭振幅值最大, 其次由重力和不平衡磁拉力引起的转频成分对应的扭振幅值也较大, 且基本具有同一数量级, 表明它们对扭振的贡献均不能忽略。      

新型转子结构的三自由度混合磁轴承损耗分析

为减少六极径向-轴向混合磁轴承（radial-axial hybrid magnetic bearing，RAHBM）高速下转子产生的损耗，提出了一种部分叠片的转子结构. 首先，用等效磁路法推导了六极RAHMB的悬浮力数学模型，依据该模型设计磁轴承结构参数，对不同转子叠片深度下的铁损和悬浮力进行仿真分析，选择叠片深度最优值；然后，在有限元仿真软件中设定转子转速为50000 r/min，向六极RAHMB分别施加径向和轴向最大控制电流，分析磁轴承产生最大承载力情况下实心转子与部分叠片转子的损耗；最后，对部分叠片转子在正弦扰动电流下的涡流损耗和磁滞损耗进行计算和仿真. 研究结果表明:在产生最大承载力条件下，部分叠片转子结构能够将损耗降低69.7%，虽然轴向承载力减小了14.7%，但仍能够满足设计要求；部分叠片转子可将正弦扰动电流下铁损降低55.4%.      

用置换法解有固定端的超静定小型刚架系统

对多种梁挠曲线与悬臂梁挠曲线的关系研究作介绍,给出了求解各梁位移的置换法位移方程,包括转角方程和挠度方程．鉴于对刚架求解中稀有几何类方法的情况,运用所述的置换法,把解梁问题的手段应用于刚架的解算．给出了用置换法求解有固定端的超静定小型刚架系统的分析步骤,具体求解过程所用的计算为代数方程的分式四则运算,方法较通俗简便,结果是解析解．提供了两例不同类型刚架的计算全程,关键是由置换法位移方程表示出有关结点或转角或挠度的位移,以此找到包含未知反力的关系式．     

倾斜荷载下基桩P-Δ效应等效剪力有限元迭代法研究

假定桩身位移为三次幂函数,结合倾斜偏心荷载下单桩受力微分方程确定的桩身弯矩、剪力与桩身水平位移关系,在此基础上引入等效剪力增量概念,提出了基桩P-Δ效应的等效剪力有限元迭代法,相应编制了Matlab分析程序,并结合算例对成层地基中倾斜偏心荷载、桩自重、水平分布荷载、竖向分布荷载和竖向荷载综合作用下基桩内力位移进行了分析。结果表明:等效剪力有限元迭代法用于倾斜荷载下基桩P-Δ效应计算分析是有效的;当墩身较高时,墩身倾斜、墩顶偏心弯矩、水平力等对基桩产生的P-Δ效应显著。     

A Simplified Approach to Analysis of High—Rise Frame Tube Structures

Based on finite element method and finite strip method, a simplified approach was presented to analyze high-rise frame tube structures. The generalized strip element is introduced and then the generalized stiffness matrices for beam and column-line are derived by using the displacement functions that describe the nodal displace-ments and displacement transforms. Furthermore, the formulas for the generalized stiffness matrix of generalized strip element and load arrays corresponding to the displacement parameters were developed. It is shown through a series of numerical computation that the nodal angular displacements at the same floor in a generalized strip element are approximately identical. A comparison of the finite element method and the finite strip method shows that the simolified approach not only is accurate, but also reduces the number of basic unknown quantities.     

有初应力的钢管混凝土偏压构件极限承载力计算

应用有限元方法对有初应力的钢管混凝土偏压试件进行了非线性分析,算例计算结果与试验结果吻合良好．应用该方法,以长细比、偏心率和初应力度为主要参数对有初应力的钢管混凝土偏压构件进行了受力性能分析．分析结果表明,初应力度对于偏压短柱受力的影响与初应力对轴压柱的影响基本相同;对于偏压长柱,稳定极限承载力随着初应力增大呈非线性下降趋势,最大下降幅度可达20％,同时稳定极限荷载所对应的挠度也相应增大．增加钢号等参数,对大量进行了有限元计算,给出了极限承载力的初应力度影响系数（有初应力构件的极限承载力与无初应力构件的极限承载力之比）的简化计算公式．最后,以表格的形式给出仅含两个主要参数（长细比和初应力度）的初应力度影响系数,以供工程中更加简便、偏安全的应用．     

Mutual information optimization based dynamic log-polar image registration

Log-polar transformation(LPT)is widely used in image registration due to its scale and rotation invariant properties.Through LPT,rotation and scale transformation can be made into translation displacement in log-polar coordinates,and phase correlation technique can be used to get the displacement.In LPT based image registration,constant samples in digitalization processing produce less precise and effective results.Thus,dynamic log-polar transformation(DLPT)is used in this paper.DLPT is a method that generates several sample sets in axes to produce several results and only the effective results are used to get the final results by using statistical approach.Therefore,DLPT can get more precise and effective transformation results than the conventional LPT.Mutual information(MI)is a similarity measure to align two images and has been used in image registration for a long time.An optimal transform for image registration can be obtained by maximizing MI between the two images.Image registration based on MI is robust in noisy,occlusion and illumination changing circumstance.In this paper,we study image registration using MI and DLPT.Experiments with digitalizing images and with real image datasets are performed,and the experimental results show that the combination of MI with DLPT is an effective and precise method for image registration.     

高速动车组柔性转向架蛇行运动频谱分析

为分析高速动车组在不同运行速度下的转向架蛇行运动频谱,推导了自由轮对蛇行运动模型,建立了与纵向、横向速度和摇头角速度相关的3个一阶微分方程;建立了柔性转向架蛇行运动模型,给出了与轮对和构架的横移和摇头自由度相关的9自由度蛇行运动方程;结合车辆悬挂和实测轮轨接触关系等参数,联立自由轮对蛇行运动方程,求解不同轮对初始横移下...     

剪切变形对单层单跨框架稳定的影响

根据Timoshenko二广义位移梁理论,导出了考虑剪切变形影响压弯构件的解析解和弯矩-转角位移方程.利用位移法分析了单层单跨框架柱下端分别为铰接或固结时的对称与反对称失稳问题,建立了失稳时关于计算长度系数的超越方程.在此基础上,计算了单层单跨框架不同剪弯刚度比的计算长度系数,并与不考虑剪切变形影响的结果进行了比较,得出了剪切变形显著影响无侧移失稳框架的计算长度系数,但不影响有侧移失稳框架的计算长度系数,且得到现行的不考虑剪切变形影响的计算长度系数法偏不安全等结论,指出本研究所用方法可推广至多层多跨框架稳定分析中.     

现浇分段长度对平转连续梁桥受力的影响

针对工程实例建立有限元分析模型,研究了不同分段长度对平转连续梁转体段受力的影响,分析了不同分段长度时转体段各截面上、下缘应力以及各节点累计水平和竖向位移。结果表明:不同分段长度方案对转体段的应力影响较小,但对位移有着显著影响。     

结合双向光流约束的特征点匹配车辆跟踪方法

针对复杂交通场景中动态光照变化、目标尺度变化和部分遮挡等因素带来的影响,提出了一种基于特征点的稳定可靠的车辆跟踪方法.针对运动车辆高速行驶时具有较大帧间运动的特点,构造KLT算法的金字塔模型,根据前向和后向跟踪偏移量,对稳定性较差的特征点进行剔除.同时,采用SURF特征匹配算法对目标特征点集进行更新和校正.最后,利用特征点之间的位置信息,确定目标的尺度和旋转变化因子,从而实现当前帧中目标区域的定位.实验结果表明,提出的车辆跟踪方法可以有效地解决复杂场景中目标形变和部分遮挡等问题,对尺度和旋转变化也具有较强的鲁棒性.     

磁浮开关磁阻电机悬浮力的变结构控制

以磁浮开关磁阻电机轴向力为对象,研究了其转子稳定悬浮的控制.根据电磁场理论,建立了轴向悬浮力数学模型,针对悬浮力控制的非线性特点,采用基于离散时间趋近率的变结构控制方案,完成了电流、位移双环控制的轴向悬浮力控制器,实现了轴向悬浮力的稳定控制,分析了实现稳定跟踪的滑动模态的存在条件,并进行了仿真分析,仿真结果验证了该控制策略的有效性.     

非对称式凸轮转子型双定子叶片泵及流量特性分析

针对传统液压泵的不足,研制了一种新型非对称式凸轮转子型双定子叶片泵. 该泵将凸轮转子型叶片泵的结构和双定子的思想相结合,在泵的壳体内设置了内外两个定子和一个转子,其中转子内外凸起数不同,使该泵可输出多级定流量,也能够同时对多个系统供油. 阐述了泵的工作原理与特点,通过非对称式凸轮转子型双定子叶片泵内部结构的分析,归纳出凸轮转子在不同转角下内外泵的理论流量,进而得到泵在不同工作方式下的瞬时流量. 搭建了非对称式凸轮转子型双定子叶片泵试验平台,试验结果表明:与传统的对称式双凸起凸轮转子型叶片泵相比,非对称式凸轮转子型叶片泵的流量脉动更小,大约降低了2%左右,试验结果与理论分析基本一致,验证了理论分析的正确性.