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The paper addresses the problems of depth regulation control of a torpedo-like autonomous underwater vehicle (AUV) in wave circumstance. A mathematical model of AUV's pith motion in vertical plane is established by simplifying and linearizing the nonlinear 6 degrees of freedom equations of motion at a specified operating point. Sliding mode control (SMC) is introduced for depth regulation and a second-order...
This paper builds the analytical force/torque-decomposing model of a multi-degree-of-freedom magnetically levitated stage with moving-coils by the plane integration of Lorenz Law based on the first harmonic model of Halbach Permanent Magnet Array and the surface current model of current-carrying coil. The test by multi-dimensional force sensor verified that the analytical force/torque-decomposing...
This paper focused on modeling and performance analysis of linear inverted pendulum and design and simulation of LQR controller. Main to introduce how to built the mathematic model and the analysis of it's system performance, then design a LQR controller in order to get the much better control. Simulation is done to show the efficiency and feasibility of proposed approach.
By using explicit dynamic simulation software ANSYS / LS-DYNA, the sugarcane-cutter system dynamics simulation model has been established. The precision of the simulation model was verified by physical experiment. The dynamics simulation of one-blade cutting sugarcane has been carried out. The research on one-blade cutting sugarcane process and the influencing mechanism of cutting force was done....
Heavy duty machinery and constructive engineering need low height force transducer to measure great force. Because assembling space is not enough, it is necessary to design a special force transducer. Thus, hollow cylinder type force transducer with ultra low height is designed and experimented especially. The ratio of the height of hollow cylinder-type force transducer to the diameter of hollow cylinder-type...
The axes angle between torque windings and levitation windings in Power Magnetic Bearing is an important parameter for the levitation force model, and it is also the foundation of coordinates conversion utilized in flux oriented control strategy. In addition, as the coefficients in control system model are usually determined basing on a series of hypotheses, there is significant difference between...
Viscosity-radius expression was deduced based on the measured viscosity-temperature relationship of YLA-N32 hydraulic oil. Taking account of the effect of pressure difference and inertia force on the oil film, respectively, the analytic solutions for pressure and torque with variable viscosity were derived by using the deduced viscosity-radius expression. The results found that when the viscosity...
The experiments concerning the flow around flat rudder controlled by streamwise and spanwise Lorentz force are conducted. The rudders are surface-mounted with the actuator with interlaced electrodes and magnets, and immerged into low-conducting electrolyte, such as seawater. Due to the interaction between a magnetic field and a current density, the fluid motion is induced by utilizing the Lorentz...
A research method of side-tipping rigid characteristic of hydro-pneumatic suspension is presented. The diagram of double tube hydro-pneumatic spring is given. With regard to the structural feature of double tube hydro-pneumatic spring, the chamber pressure and rigid are deduced through the equation of state of real gas. Meanwhile, the equations that calculate the vertical and side-tipping rigid independent...
Multi-segment Primary Permanent Magnet Linear Synchronous Motor (MP-PMLSM) drives is investigated in this study for vertical linear transportation applications such as a ropeless elevator. The optimization model of MP-PMLSM is established for various considerations of force ripple, driving force, weight and cost. Single primary unit length and the number of primary units are newly chosen as important...
Radial magnetic force acts on the motor stator cause large vibration and acoustic noise, that have limit the application of switched reluctance motors (SRMs). They can be aggravated when there is unbalanced force due to rotor eccentricity. This paper analyzed the function of bearingless technique in compensating the unbalanced magnetic attraction force; Then the stator radial force mathematic model...
On the basis of reasonably simplifying the structure of disc cutter, the rolling force is used as the vibration source and based on equivalent stiffness method, the method to establish a general vibration differential equation of rolling rock in the rolling direction is further discussed. Through theoretical derivation, a conclusion can be drawn that the range of the vibration frequency is ωf-1.414ω...
The loader drive bridge is the main bearing components of the loader and is also the axle housing of transmission system. This paper detailed deduces the force status for the drive axle housing in four kinds of typical operating conditions. Then, the finite element analysis was executed for the axle housing structure. The force state of weld part of axle tube was focused in analysis where it is easy...
The dynamic performance of a fully pre-stressed six-component force sensor is simulated based on the software of ADAMS. The dynamics theoretical model of the sensor is built first, and the natural frequency and mode vector are deduced. Two simulation methods based on rigid-flexible model and spring-limb model are proposed. The natural frequency and mode shapes of the sensor are obtained by dynamic...
Defining the magnitude of pretightening force on bolts precisely is one problem that puzzled the designer for a long time. Magnitude of pretightening force on bolts defined by traditional method is not accurate. In this paper, an inversion on FEA to determine the magnitude of pretightening force on bolts is introduced. By FEA, an inversion can define the pretightening force on bolts in special structure...
Short stator single-side linear induction motors (SLIM) which are applied in the propulsion of transit vehicles are widely used in recent years. The SLIM is capable of adhesion independent braking and acceleration levels which ensures safe, fast running. This paper presents a novel slip frequency control scheme with feed-forward compensation for SLIM. Experimental results for the control scheme from...
How to reduce Peak to Average Power Ratio (PAPR) of multi-carrier jam signal was analyzed. A method to reduce PAPR of multi-carrier signal with improved Genetic Algorithm (GA) is proposed with non-linear coding. Fitness function and coding rule was proposed. Peak of multi-carrier signal was optimized by seek combination of carrier phase. The multi-carrier signals which have 16 or 32 carriers were...
The magneto hydrodynamic (MHD) propulsion by surfaces is performed by the total force of reaction electromagnetic body force (i.e. Lorentz force, LF) and hydrodynamic forces. The electromagnetic body force with certain spatial distribution in navigating model's surfaces and fluid boundary layer is generated by near-wall electromagnetic and magnetic fields. The surfaces of the navigating model are...
The existence of the holding and firing current critical values that maintain the solenoid valve's armature in a pick-up state exactly are discovered, and analyzed from the perspective of the electromagnetic and motion characteristics. Validation of the optimal holding and firing value of 2A and 11A took place on the Delphi E1 EUP. At the same time, different solenoid valve drive currents and their...
The sports project has always been an important carrier of the world's leading technology, which makes many chances for computer-aided design and analysis of the emergence system to be plagued with sport. Along with the development of high-tech industries, the diversification of the computer functions can be used to achieve analysis in the technology itself of sports. Within sports field research,...
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