Abstract:In order to control the 5R manipulator to track arc trace or to avoid obstacles effectively, and avoid the discontinuity of joint angle in space, firstly, position interpolation of the arc motion trajectory of the Cartesian space is made. The inverse solution of position value was gotten in Cartesian space to joint space based on two kinds of artificial constraint mode. Then the least square solution of joint angle deviation was obtained by least square method (LSM). Finally, the trajectory of the end and the joints were simulated. The results show that the circular arc trajectory of the end of robot manipulator is smooth, and the joint angles change continuously and the motion is stable.

Abstract:In order to detect the flaws on the wall of steel structures, the control system of the wall-climbing robot is designed, and the fuzzy control effect which is used to realize the function of the robot’s intelligent barrier-avoiding in automatic mode is tested. The robot owning the corresponding structural features was designed based on the design background, the application occasions and the functions. The every composition modules of the robot’s control system were designed and selected, and the controller needed by the automatic barrier-avoiding was designed based on the fuzzy control theory. The designed fuzzy controller was tested by the software of Matlab. The generating look-up tables of the fuzzy control can be used to write the programs of the fuzzy control. The fuzzy control effect needed to realize has been well validated by the testing results.

Abstract:A kind of three degree of freedom (3-DOF) parallel machine tool with two redundant actuation is taken as the research object. The inverse displacement equation and velocity Jacobian matrix were first established. After discussing the constraints which influence the size and shape of workspace, the workspace of different locations where redundant actuation located in was obtained by using the method of limit boundary searching, and the workspace boundary of different sections was analyzed. Simulation shows that compared with a redundant drive machine tool, the top and bottom of the workspace of this parallel machine tool is enlarged and filled, which is more regular and can meet the requirements of large workpiece’〖KG-*2〗s process. The research results can be used as reference for the practical application of the machine tool.

Abstract:Machine vision technology has brought profound changes to traditional industry. Fast calibration with machine vision of the parallel robot fetching system is studied. The rapid calibration of the system was mainly included of the camera calibration and the man-machine (camera and robots) calibration. The hardware of calibration device was adopted of Germany Basler series Ace industrial camera and a Delta Robot body. Camera calibration software using C# programming tools by calling the image processing software HALCON function library development of image processing software, the calibration of the camera was achieved. Man-machine calibration using the open software platform CODESYS has developed a robot eye calibration transformation module. The experimental results show that the calibration method is convenient, reliable and stable.

Abstract:Facing the problem of appeared in the process of mushroom and sorting manual picking and packing with large amount of labor, low productivity and difficult to precise control classification indexes, a flexible drive five degree of freedom (5-DoF) manipulator is designed, used for high quality mushroom and sorting. The overall flexible transmission mechanism was designed, including the design of mechanical arm, steel wire rope fixed, the adjustment of pre-tightening force and the base of the motor configuration and fixing. The overall manipulator control system was designed, including hardware circuit and image processing. The robot was used of the precision flexible transmission technology, effective motivation mechanism and separation of the actuator, the structure of the mechanical arm counterweight was optimized. At the same time, using visual inspection system and the image processing technology, enhanced the movement of intelligent, the capture of high quality edible fungus was accurately realized. Closed loop control system was composed of sensors, improved the repositioning precision of the robot, which could realize the full range of close to 360 degrees fetching station materials. The product applicability is wide, and can not only be applied to sort of processing line of edible fungi, but also applied to other pre-packaged food sorting.

Abstract:With the increasing yearly of patients with lower limb movement disorder，a lower limb rehabilitation robot with micro movement feedback motion control has been designed．According to the requirements of lower limb rehabilitation training，the whole mechanical structure had been designed with the analysis of kinematics and dynamics．Meanwhile，the strategy of micro movement feedback motion control was researched，using the real time feedback of micro movement from the initiative motion consciousness of patients to participate in motion control. This motion control method further improves the rehabilitation effect of lower limb.

Abstract:A self-lifting obstacle crossing guide robot is designed. The robot could quickly and safely walk on flat roads，make a sound of the speech information when encounter obstacles，and cross the lower obstacle shoulder of a road. The robot was used of a new obstacle crossing mechanism with smooth movement. The working principle of the obstacle crossing mechanism was introduced，the model of obstacle crossing mechanism was built，the dynamic analysis using the Lagrange equation was completed, and the appropriate power components were selected. Through experimental verification，the robot can easily realize the obstacle crossing function with smooth movement.

Abstract:Taking the rice noodle production of a factory as the research background, a robot with double arms that can move independently is designed. The robot was mainly composed of actuator, drive system, control system and position detection sensor. The integral framework and working flowchart of grasping robot were described. The working principle and design scheme of grasping mechanism, shift system as well as Programmable Logical Controller (PLC) control system were described in detail. The rice noodle to be bundled was transported from the end of the support platform to an automatic strapping machine for binding by the robot, cooperating with original conveyor. The result shows that, the productivity can be improved and the labor intensity can be reduced with the grasping robot designed.

Abstract:Aiming at problem of the inspection robot for the high voltage power transmission line with a small working space that caused the robots could not cross drainage line efficiently, a new type of inspection robot with three manipulate arms is proposed. The front and rear arm of the robot was designed of a parallel quadrilateral structure, with a local closed-chain mechanism, was not entirely open-chain structure but mixed. So a new approach for constructing the kinematic equation for the robot arm was also presented based of analysis of the characteristics of local closed chain mechanism. Using MATLAB software to analyze the robot arm’s operating space for crossing obstacles, and the process of the robot crossing the drainage line and walking on the lines was simulated through Adams software verifying the rationality of the robot arm’s structure. The inspection robot with three arms which adopt local closed-chain can cross various obstacles on the line more stably and reliably.

Abstract:A 2P3R robot for up-down material of vertical machining center is designed in self-creating. The first, based on the established of D-H coordinate system, by adopting Lagrangian mechanics method, the dynamics equation of robot was established. The three dimensional (3D) solid assembly model of the 2P3R robot was established in UG software and imported into ADAMS to make dynamics simulation analysis of loading process. In the ADAMS, metal was defined and constraints and drive were added. The changing curves of the force/torque of each joint for 2P3R robot are gained in simulation analysis process of the feeding and unloading job by ADAMS. Research results provide the theoretical basis and reference for the dynamic design and control of 2P3R robot.

Abstract:In order to realize the automatic detection of zero value insulator in power transmission line, based on the demand analysis of insulator detection application in Extra-high Voltage (EHV) transmission line, designing and developing a kind of insulator detection robot based on STM32 which can climb EHV horizontal and vertical insulator strings with the EHV line background. Emphatically the system design, mechanical structure design and field test of robot were introduced. It is achieved of EHV transmission line insulator of zero value automatic detection based on STM32 as core data processor.

Abstract:Taking the flexible manufacturing line of multi-robot as the object of study, a scheme of automatic line modeling and virtual production for multi-robot based on using SolidWorks and RobotStudio is presented. Firstly, the production line layout was constructed, followed by the design of the special fixture for the robot for loading and down loading, based on the production line for continuous operation, a simulation of Input/Output (I/O) signal and dynamic Smart components were created, and finally the off-line programming and Simulation of production line were realized. The simulation results show that the robot speed trajectory and the production time can be dynamically output by changing the parameters such as robot Tool Center Point (TCP) speed in real time. The design scheme can provide a theoretical basis and experimental platform for the popularization and application of multi-robot automatic production line in modern industrial manufacturing field.

Abstract:Research is aimed at the 7 degrees of freedom (DOF) of Explosive Ordnance Disposal (EOD) manipulator which working inside the bus. Redundant dimensional modeling of the manipulator was made use of three-dimensional (3-D) modeling software to create a coordinate system in the foundation of D-H theory, positive kinematics analysis of the manipulator was carried out, and the pose matrix of the manipulator was set up. Research was carried out of workspace of the end of manipulator using Monte Carlo method, under the environment of MATLAB drawing a figure of bitmap of the manipulator, the workspace and operating blind spot of the end of manipulator were analyzed. The relationship between target space and work space is made out by research, which puts forward an optimization in the use of robotic arm to avoid a blind spot.

Abstract:The general design model is attained taking the cotton barrel replacement robot as the research object using Solidworks to model and assemble the robot. The stress contour and displacement contour of the robot in workplace were obtained by analyzing the static characteristics of the cotton barrel robots terminal position under the maximum load condition using the ANSYS Workbench software. The fact that the lumbar rotary bracket is the weakest link was indicated after an integrated research of the distribution characteristics of the robot strength and stiffness. The conclusion is drawn that the maximum equivalent stress and displacement of the robot can be reduced to some extent by thickening the stiffening rib on the bottom rotary bracket and this can further improve the structure properties of the robot.

Abstract:Pose repeatability is one of the important parameters of industrial robots. Repetitive accuracy testing system for robots is mainly used for Pose repeatability detection.The laser tracker is selected as the contrast instrument to verify the repetitive accuracy test system of the robot. According to the GB/T 12642-2013 Industrial robots performance criteria and related test methods, a periodic verification method was put forward for the repeatability of the robot pose of repetitive accuracy test system, which ensured the duration of the robot of repetitive accuracy test system. It can maintain the reliability of equipment calibration status and get the best measurement ability, so as to ensure and maintain credibility of the test results.

Abstract:A four-bar parallel palletizing robot is used as the object of research. The dynamic model of palletizing robot is established by using the Lagrange functional equilibrium method in robot dynamics. On the basis of classical Proportion Integral Derivative (PID) control, Iterative Learning Control (ILC) was used to compensate the unknown parameters and disturbances of the system, and the tracking control of the desired trajectory of each joint of the robot system was realized. Through the analysis and simulation of the control system, under the premise of stable operation of the robot system, the iterative learning rate was set to 0.75. After 10 iterations, the ratio of the maximum absolute value of the system error over the desired trajectory could be controlled below 10%. The experimental results show that the PID iterative learning tracking control of the palletizing robot can obtain quite high tracking precision.

Abstract:In order to improve the production efficiency, the unmanned automatic factory is developed. The motion control development system, the computer numerical control (CNC) system, the machining center of machine tool body and the four-degree-of-freedom (4-DOF) manipulator automatic feeding mechanism were used as the development platform. Through the motion control development system, the transport route planning of the 4-DOF manipulator was designed, in collaborative of the CNC system and machining center of machine tool body to form a flexible manufacturing unit (FMU). So that the platform has automatic feeding, automatic clamping, automatic processing, and automatic cutting function for the transformation and upgrading of traditional manufacturing technology to provide a certain technical guidance effect.

Abstract:According to the control core of the pneumatic circuit and Programmable Logical Controller (PLC), the material pneumatic manipulator is designed. The methods and procedures of using stepper motor to control the precise position were analyzed, and the design and application of pneumatic manipulator of operational system were completed. The system has the advantages of stable and reliable operation, simple and flexible control, actuating accuracy and so on, and its application prospect is very extensive.

Abstract:The existing flow valve basically uses the mechanical pressure compensator or the flow sensor to compensate the pressure difference, which scheme can lead to the increase of system complexity, the loss of energy and the low precision of flow control, and other problems. Aiming at the above problems, digital differential pressure compensation scheme is proposed to control the flow accurately. The mathematical model of Valvistor valve was established, which could obtain the approximate linear relationship of output flow, pilot control voltage and square root of pressure difference through analysis. Therefore, flow compensation controller based on bilinear interpolation as operational principle was designed. And the simulation model of proportional flow valve was established based on bilinear interpolation principle. The simulation results show that the valve has a high precision of static control and good equal flow characteristics, meanwhile, the valve has high flow compensation accuracy when the load is disturbed, and has fast dynamic response.

Abstract:In order to implement efficient and speedy chamfering tooth crest for spiral bevel gear, a chamfering method is proposed by using conical grinding wheel. Solid models of spiral bevel gear and grinding wheel were established, and spatial kinematics transformation relationship between gear and conical grinding wheel was calculated based on the principle of maximal cutting depth along the direction which is perpendicular to the face cone element on axial section of gear by using analytic method of solid contact. Machining simulation of chamfering was implemented based on the spatial kinematics relationship. Simulation result shows that grinding wheel can efficiently cut two sides of tooth crest simultaneously on general five-axis machining center. A method of quantitative measurement is proposed to evaluate machining effect of chamfering, some measurement locations are chosen on the machining simulation model, and measurement effects of chamfering are compared with theoretical model. Optimal cone angle of grinding wheel is determined by comparing error values.

Abstract:With the constant development of China’s automobile manufacturing industry, automatization level of auto production improves unceasingly. As the important part of automatic production line, the evolution and development of the trolley slide effectively promote the improvement of overall productivity. The problem of motor selection as one of the kernel problems of trolley slide design is great significance in guiding the improvement of the trolley slide’s structure and nature. Aiming at this problem of motor selection for trolley slide, based on a certain rule of production rhythm planning, the application of the virtual prototype technology was used for the theoretical analysis for its mechanism. So that the driving load of motor is acquired, and by using the peak torque and rotational speed limits criterion, the motor optimization selection can be realized.

Abstract:A new technique which called cutting and axial pushing-grinding process based on crack propagation of plane Silicon Carbide (SiC) is a kind of low cost, high efficiency processing on plane ceramics. Cutting process was its first step. By carrying out the orthogonal experiment, the research of influence law how three processing parameters such as grinding wheel speed n, pushing-grinding velocity，pushing-grinding depth，affect single particle average grinding force was laid special stress on. On the basis of the traditional empirical formula of grinding force，ternary linear regression analysis was carried out with the least square method (LSM) in Eviwes8.0，then establishing diamond wheel deeply cutting and slowly feeding ceramic average grinding force model, which provides a processing parameter optimization for the above process.

Abstract:Two kinds of magnetorheological sandwich beam structures which were fabricated by magnetorheological fluid (MRF) and magnetorheological elastomer (MRE) materials were respectively designed . The test rig was set up to investigate the natural frequency and dynamic response characteristics of MRF sandwich beam and MRE sandwich beam under different magnetic field intensity and different external applied magnetic regions. The experimental results show that the natural frequencies of MRF and MRE sandwich beams decrease with the increasing of the external magnetic field intensity；when the magnets move from the fixed end to the free end, the natural frequencies of the MRF and MRE sandwich beam decrease, and the decline rate of MRE sandwich beam is larger than that of MRF sandwich beam.

Abstract:In order to comprehensively evaluate the material removal rate, surface quality and electrode loss in the process of short arc machining nickel base superalloy, the orthogonal test of the adjustable process parameters of peak current, pulse width, duty cycle and voltage is carried out on the new type Numerical Control (NC) short arc milling machine. Experimental data were analyzed by using grey theory. The complex multi process target was transformed into a single evaluation index, i.e. grey relational grade. The test process could be greatly simplified by the method, and finally the optimal combination of process parameters was gotten. The experimental results show that the combination of parameters can improve the machining efficiency and reduce the electrode loss under the premise of ensuring the surface quality.

Abstract:The high pressure and low temperature of special environment in deepsea will lead to change of the property of hydraulic oil. The change of hydraulic oil will seriously affect the efficiency of gear pump as a working medium. In order to study the influence of the deep-sea environment on the efficiency of the gear pump, the internal flow field model of the gear pump is established by using the Computational Fluid Dynamics (CFD) method. The efficiency of gear pump with different sea-depth was studied. The results indicate that the efficiency of gear pump decreases with the increase of sea-depth. The influence of environmental pressure on the efficiency is higher than that of sea temperature, and the pressure of that is more obvious. With the increase of seadepth, the effect of environmental pressure on the efficiency is more obvious when the rotational speed is more than 1 900 r/min, the efficiency is reduced by about 6% and when the rotational speed is less than 1 900 r/min, the efficiency is reduced by only about 3%. The effect of temperature on the efficiency is obvious when the rotational speed is less than 1 900 r/min, the efficiency is reduced by about 4%, and when the rotational speed is higher than 1 900 r/min, the efficiency is reduced by only about 2.5%.

Abstract:Underwater diamond wire sawing machine is a kind of clean and environmentally friendly machinery that is developed in recent years. Its structure and working principle are introduced. The force of single bead cutting process was analyzed，aiming at the pipe cutting, the mechanical model was established. Through the analysis of the model, the calculation formula of the pressure on the bead in the process of wire saw cutting was obtained. In order to make the bead rope saw in the cutting process achieve a certain degree of circumferential rotation, a certain torque might be applied to the bead rope saw in advance, and the corresponding calculation formula was obtained. The underwater wire sawing machine test system was set up, the characteristics of bead wire saw in cutting process were experimentally studied. The results show that the experimental results are in good agreement with the corresponding theory, which provide a basis for further rational optimization of cutting parameters of underwater wire sawing machine.

Abstract:In order to reduce the overall energy consumption of the hydraulic excavator, the potential energy recovery system of boom with closedcircuit of hydraulic excavator is proposed using to the energy storage equipment of hydraulic accumulator. 80 kN hydraulic excavator is selected as the study object. The torque balance equation of the shaft system of the motor-pump for energy recovery was established on the basis of the working principle of system, which showed that the average work pressure of accumulator is twice the load pressure of boom arm when the motor was not input power for the shaft system of motor-pump. The relation between the average accumulator work pressure and load pressure was analyzed in considering the torque balance equation of the shaft system of motor-pump. The results show that minimum and maximum work pressures are 16.04 MPa和19.56 MPa respectively for 8-ton hydraulic excavator according to the boom descending experiment under half load condition.

Abstract:The armless type Automatic Tool Center (ATC) has such advantages as simple structure，low cost, so it is widely used. The design of control system for armless type ATC is introduced. The armless type ATC was connected with Computer Numerical Control (CNC) system by generic interface, which enabled Armless Type ATC support different CNC system in application, can achieve its high efficiency and multifunction in operation.

Abstract:An auxiliary support device is required in the fiber placement process of the composite material fuselage of a certain aircraft. In order to meet this requirement, a two wheels type servo intermediate support device is designed. The automatic generation algorithm of transient position information of support wheel was researched based on the characteristics of the device. Firstly, the whole calculation formula of the transient position of the supporting wheel was given in detail based on the Computer Aid Design (CAD) pattern of the supported core-mold. The calculation method of the position coordinate change of the support wheel with the increase of fiber placement layers was given on the basis of the above. The algorithm lays a theoretical foundation for the development of the control system. The experimental device based on tail section of LE-500 aircraft as supporting is made, and the experimental results show that the device can meet the engineering requirements of following support for large scale weak rigid components.

Abstract:In order to study the performance of cutting H13 hard steel with Titanium Nitride (TiN) coated cutting tool, cutting tests of H13 hard steel with TiN coated tools are carried out. The influences of cutting parameters on the cutting force, cutting temperature were studied. The wear and breakage mechanism of carbide coated tool wear were analyzed. It is found that cutting speed，depth of cut and feed rate have great influence on the main cutting force Fz and cutting depth resistance Fx, while less effect on feed resistance Fy. Cutting speed has the greatest influence on cutting temperature. Tool rake face has obvious crater wear and the tool tip occurs micro breakage phenomenon, abrasive wear appears on the flank from observed the tool wear. This study results can provide technical support and experimental guidance for optimization of cutting parameters and improvement of tool life in the machining production.

Abstract:The titanium (Ti) metal diaphragm tank is the key component of the power system of the aerospace vehicle, and its thickness is the key factor influencing its turning characteristics. In order to analyze the influence of the thickness on the reverse turning characteristics, the turning characteristics of the diaphragm with different thicknesses were analyzed by finite element simulation technique. The rules of turnover efficiency and transverse deformation were investigated. The optimum thickness of metal diaphragm is obtained by comparing and analyzing, which provides a theoretical basis for production practice.

Abstract:In reaction to the phenomenon of the pressure pulse within the Continuous Inkjet ink circulatory system, used the bellows as energy storage and diaphragm pump as a primary components, build the hydraulic simulation model of ink circulatory system via analyzing the critical components: diaphragm pump (including membrane, the suction valve and the outlet valve) and bellows. By analyzing the impact of pressure pulse restraint under the different bellows stiffness and the inner diameter of the restrictor, the optimal parameters of the bellows components were determined. The simulation results were verified by experiment on the test bench. The key point of the pressure pulse restraint is the proper matching of the bellows stiffness and the working pressure of the diaphragm pump.

Abstract:According to the stipulation of GJB 4225-2001, the tested grenade is required to be safely dropped during loading and unloading (simulated altitude 3 m) or during shipment (simulated height 12 m). In order to assess whether the test grenade fall is safe, a device is needed to simulate the grenade any posture in free fall test requirements. A set of test device for grenade dropping experiment is designed from the flexible gripping device. Tensile spring preloading system was used for the experimental device to realize the guarantee of reliability and safety during gripping process. The laser sensor was used to complete the measurement of the key data of the drop height. Through ADAMAS and MATLAB combined simulation and field test, it is proved that the system can meet the drop of grenade at any posture and get stable and reliable test data.

Abstract:Considering the electromechanical coupling characteristics of a ball screw feed system into account, the system structure is subdivided to several fine parts. By reducing the complexity and coupling degree of feed system, a block-lumped modeling method for the screw feed system is proposed. Based on the dynamic theory, the dynamic model of the ball screw feed system was established by using the instantaneous variation method, and the ball screw system was processed by the multi-degree-of-freedom (DOF) flexible system. The bending, torsion and axial deformation were also taken into account. The coupling effect of the flexible bodies and the bending deformation of the screw shaft were analyzed and deduced, which was different from the coupling effect between the vibration of the concentrated mass model (or mixed model) of the ball screw feed system and equations. Finally, the validity of the established dynamic model is verified by the vibration experiment and principal component analysis (PCA), which provides the study basis for the dynamic analysis of the screw feed drive system.

Abstract:By analyzing the energy consumption feature of aluminum profile extrusion machine, the basic energy flow of the Variable Displacement Pump Volume Speed Regulating Extruder is defined in the production process. Based on power bond graph, the energy consumption features of the hydraulic system were modeled, and then the state equation was derived, and the dynamic characteristics were simulated by Simulink simulation software. The simulation results were compared with the experimental data collected in order to verify the reliability of the model. The energy distribution characteristics of the hydraulic system and the influence of process parameters on the energy consumption of the hydraulic system were analyzed by simulation. The results show that, the main reason for the low efficiency of Variable Displacement Pump Volume Speed Regulating Extruder is the overflow energy loss, and second reason is that the variable pump efficiency is low. The overflow loss of the relief valve could be reduced or cancelled or other variable flow transmission method was adopted to realize the extrusion machine of hydraulic system of energy saving. Increase the extrusion speed under the premise of ensuring the quality of aluminum profile, is conducive to reducing energy consumption and production costs.

Abstract:Due to the viscosity and terrain roughness, there is a large wind gradient near ground inside the Planetary Boundary Layer, which will result in the torque variation and the pitching moment of the blade, thus in the change of power output. In order to improve the output power, a new kind of configuration of wind chiral blade is put forward based on Magnus effect. For the whole study, a reference model of NACA 4418 was chosen and compared as the classical blade and the chiral blade was simplified as rotating cylinder in segment. The theory of blade element momentum (BEM) was used for the analysis and computation of two kinds of blades. The studies show that the loss of efficiency of classical blade due to Planetary Boundary Layer is estimated to 10% and the gain in efficiency when substitute the classical blade by chiral blade reached to nearly 70%. Meanwhile to get a more accurate result, the Computational Fluid Dynamics (CFD) software FLUENT was used to simulate under the pseudorotating condition. The results show that the loss of efficiency of traditional blade is estimated to 4~5% and the gain in efficiency of chiral blade reached to around 60%. (Therefore, chiral blade has advantage over classical blade turbine in retrieving energy inside the Planetary Boundary Layer.

Abstract:In view of the problem of unable continuous simulation for large curved surface thin-wall parts milling deformation, Python scripting language is used in pre-processing module of ABAQUS for secondary development. Through the Python script program for the cutting force dynamic loading, the machining deformation prediction problem for large size curved thin-walled parts was solved. The sample simulation and calculation show that the simulation results accord with the actual rule, which proves the machining deformation of large size curved thin-walled parts can be better predicted by using finite element secondary development technique, it provides reference for its application in other fields.

Abstract:Aiming at the problem of sliding protection of Friction Hoist, a kind of Friction Hoist Sliding Protection Device with Hydraulic Loading System as power source is designed. The schematic diagram of Hydraulic Loading System was given, and the analysis model was established by AMEsim. The influence of different parameters such as hydraulic cylinder, accumulator and pipeline on the performance of the system was obtained through analysis. The results show that in order to improve the response time of Hydraulic Loading System, the volume of accumulator can be increased and the length of piping can be shortened. While, the size parameter of hydraulic cylinder should coordinate the displacement response speed of piston rod and the output positive pressure for its optimal design.

Abstract:In order to analyze the performance of the hydraulic steering system of the dump truck during running, the AMESim/SIMPACK co-simulation model of hydraulic steering system of dump truck is established. By analyzing the hydraulic steering system in different pavement conditions, the changing process of the cylinder displacement, pressure and the vehicle steering angle was obtained, which can provide a good analytical method for the prediction of vehicle steering performance.

Abstract:The differential cylinder hydraulic control system is proposed according to requirements for sail drive control. Cosimulation research for sail control system was carried out with advantages in integration of AMEsim and Simulink software design which established hydraulic system control simulation model. With use of Co-simulink, the advantages of differential cylinder control system of the sail were verified by comparison of conventional valve control asymmetrical cylinder and differential cylinder control system proposed. The step dynamic response under a certain constant force load and tracking angle curve under the condition of the actual force load of the sail were analyzed. The simulation shows that the control scheme of the sail drive control is effective and reliable, which can provide technical support for control of sail-assisted ships.

Abstract:When ship works at sea, the stable platform is needed to compensate the swing of ship. In the working process of the stabilized platform, control algorithm is needed to control each channel. Due to the influence of inertia about the hydraulic cylinder and the electro-hydraulic servo valve mechanical components, the system responded with a lag when using the conventional Proportion Integral Derivative (PID) algorithm, so the compensation precision of the stabilized platform is reduced. Therefor, a feedforward PID control algorithm is proposed. The algorithm not only had the advantages of conventional PID algorithm such as easy to operate, but also could solve the problem of system response lag. Based on single channel of the stable platform as a research object, the method of the combination of simulation and experiment is adopted to prove the validity of feedforward PID control algorithm.

Abstract:Using a platform with an INV1612 multifunctional single disc flexible rotor, experimental research are performed to analyze the influences of the cleanliness degree and viscosity of lubricating oil on the working characteristics of a stable rotorbearing system. The influences were investigated through controlling the viscosity of lubricating oil and adding different quantities of pulverized coal to the types of lubricating oil. The results of research show that the overall vibration amplitude of the rotor increases with the decrease of the cleanliness degree and the enhancement of quantities of pulverized coal added. The increase of the kinematic viscosity and hyperthermal viscosity of lubricating oil enhances the lubricity, and the maximum amplitude of the rotor decreases. The hypothermal viscosity of lubricating oil has no significant influence on the amplitude of rotor. In addition, the relationship between the critical speed of rotor and the cleanliness of lubricating oil needs to be further studied.