Singular perturbation composite control of a free-floating flexible dual-arm space robot

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.     

分布电容对舰船电力系统接地方式选择的影响

本文主要讨论分布电容对舰船电力系统接地方式选择的影响,分析了舰船电力系统在高电阻接地和谐振接地的方式下分布电容对系统的影响,发现在中压系统中大分布电容的情况下,采用高电阻接地会产生超过有关标准的故障电流。在谐振接地的情况下,需要合理的配置消弧线圈来产生感性电流来抵消系统对地电容产生的容性残流。同时依据具体数据,利用高斯定理对电缆电容进行了估算,与实际结果相吻合。     

加快长江船型标准化探讨

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…     

Virtual prototype simulation on underwater hydraulic impingement shovel

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.     

Modeling the interactions between car and bicycle in heterogeneous traffic

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.     

“工厂法”沉管隧道早期性能的足尺试验研究

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。     

CATIA VBA二次开发在装配中批量搜索零件的应用

文章针对汽车开发过程中,经常需要对部分特定的零件进行批量选择用于校核或者作为报告用图,给出了装配中对指定的多个零件进行程序搜索选定的方法。在介绍VB编程语言及CATIA二次开发理论的基础上,给出程序自动搜索零件的基本流程,利用CATIA Automation调用Search方法,实现零件的批量搜索。通过实例验证,证明了CATIA批量搜索的优越性。结果表明,CATIA二次开发可以提高工作效率。     

某车型潮湿环境下制动抱死问题整改研究

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。     

汽车电动真空泵设计及应用

电动真空泵是电动汽车真空制动系统重要的零件,该文介绍电动真空泵的结构、工作原理,以及电动真空泵的三个重要性能;通过真空制动系统对真空源的需求,探讨电动真空泵的选型和整车布置。     

纯电骡子车开发及试制新方法应用

通过对比燃油汽车与纯电动汽车整车架构,分析燃油车改制纯电动骡子车的可行性。利用现有车型完成纯电动骡子车改制,不仅可以节省开发成本,还可以加快新产品升级换代。同时基于两种车型的差异性,制定相应的车型改制方案。阐述常见的改制内容与创新方法应用,为后续同平台新车型开发提供参考。