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31.
The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods. 相似文献
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1历史沿革20世纪70年代以前长江搞托拉斯,长江干线运输是独家经营,支流小船基本上没有搞船型标准化。长江的船型标准化工作,始于20世纪50年代中期,先从干线客货轮、拖轮、驳船开始。长江干线客货轮主要有行驶汉申线的东方红11型(客位1400~1500个),行驶汉渝线的江蓉型(客位700个),2640匹马力的推轮,1500吨级甲板驳,800吨级装载件杂货的舱口驳,长江水系分节驳船型尺度系列等。70年代末从美国引进了先进的6000匹马力推轮和与其配套2000吨级有盖舱口驳,推轮船队总吨位达3万t。这些密西西比河的先进船型,在长江投入营运后,效果较好。加以长江葛… 相似文献
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LIU He-ping LUO A-ni MENG Qing-xin 《船舶与海洋工程学报》2007,6(1):58-62
The virtual prototype technology is applied to the design of the hydraulic impingement shovel, which is to increase the reliability of the design. The work principle of hydraulic impingement shovel is expatiated, and its dynamic equations are established. The 3D model of virtual prototype is built by PRO/E. Then the couple between the mechanical body of prototype and the hydraulic system is completed by virtue of ADAMS. Finally, the simulation is made on the virtual prototype. The simulation results show that the design of underwater hydraulic impingement shovel is rational. The virtual prototype technology could lay sound foundation of successful manufacturing of physical prototype for the first time and offer highly effective and feasible means for the design and production of underwater equipments. 相似文献
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In this paper, a new cellular automata model is proposed to simulate the car and bicycle heterogeneous traffic on urban road. To capture the complex interactions between these two types of vehicles, a novel occupancy rule is adopted in the proposed model to consider the variable lateral distances of mixed vehicular traffic. Based on massive simulations, microscopic fundamental diagrams under different bicycle densities are devised. With these, the bicycle's spilling behavior is then investigated and discussed. In order to reflect the interference of a bicycle on a car, the interference transformation from friction state to block state is modeled explicitly. Finally, different simulation results under different occupancy rules indicate that the constant and fixed occupancy rule adopted in the previous studies might lead to overestimation of car flux in the heterogeneous traffic flows with different bicycle densities. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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由于沉管隧道管段体积大、结构形式复杂、施工工艺复杂,容易因温度、收缩以及约束等原因,造成管段结构在预制阶段出现危害性裂缝,进而影响结构的服役性能和耐久性能。文章依托在建港珠澳大桥沉管隧道工程实例,开展了足尺试验,对"工厂法"沉管管节关键部位的温度和应变发展实施了监测,分析对比了温度发展规律和应变发展规律。分析结果表明:在早期因混凝土水化热引起温度上升,整个管段结构膨胀受拉,温度到达峰值后逐渐下降,结构也收缩恢复;但由于混凝土自收缩等因素的存在,结构最终收缩受压。研究所提供的试验结果可作为深入进行数值分析的一个基础。 相似文献
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为解决某车型售后用户抱怨在汽车刚开始行驶时(冷启动,尤其每天早晨)的后轮制动抱死问题,分析可能造成潮湿环境下后轮制动抱死的原因。通过分析试验得出:鼓式制动器的摩擦片材料锈粘着问题是导致潮湿环境下制动抱死的主要原因。 相似文献
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