In this study,a modeling method for investigating the dynamic characteristics of a hydraulically driven shell manipulator with revolute clearance joints is presented.This model accounts for the effect of the clearance...In this study,a modeling method for investigating the dynamic characteristics of a hydraulically driven shell manipulator with revolute clearance joints is presented.This model accounts for the effect of the clearance,the flexibility of the rotating beam,and the coupled dynamic characteristics of the hydraulic cylinder.A modified contact force model was developed to simulate the physical properties of realistic revolute joints with small clearances,heavy loads,and variable contact stiffnesses and damping coefficients with variations of the indentations.Considering the strong coupling relationship between the hydraulic cylinder and the flexible beam,a system equation of motion combining the state variables of the hydraulic cylinder and mechanical system was established.The complex nonlinear friction force of the hydraulic cylinder motion was constructed using a modified Lu Gre model,and the parameters of the friction model were identified using intelligent identification algorithms.Moreover,a test system for the shell manipulator was established to achieve experimental validation.Finally,the effects of the clearance size and the stiffness of the cylinder support on the dynamic response were investigated.展开更多
Complex field environments,diverse crop conditions,and varying feed rate fluctuations commonly result in a decline in the threshing performance and the clogging of the threshing cylinder for maize harvesters.In order ...Complex field environments,diverse crop conditions,and varying feed rate fluctuations commonly result in a decline in the threshing performance and the clogging of the threshing cylinder for maize harvesters.In order to overcome these problems,an electric-hydraulic concave clearance automatic control system for the threshing unit was developed based on the maize feed rate monitoring,which can automatically realize the best match between the concave clearance and diverse feed rates during harvesting.The threshing performance of the electric-hydraulic control system was evaluated for varying and uneven maize feed rate fluctuations,such as the feed rate increased(6-8-10 kg/s),the feed rate decreased after an increase(6-10-8 kg/s,8-10-6 kg/s),the feed rate increased after a decrease(8-6-10 kg/s,10-6-8 kg/s),and the feed rate decreased(10-8-6 kg/s).In particular,the threshing rotor shaft peak torque,the range of threshing rotor shaft torque,the rate of broken grains(BGR),and the rate of unthreshed grains(UGR)with and without the electric-hydraulic control system were tested.Treatments with the electric-hydraulic control system were adjustable concave clearance with the value of 45 mm,50 mm,and 55 mm.Treatments without the electric-hydraulic control system were constant concave clearance(50 mm).Results demonstrate that the threshing unit with the electric-hydraulic control system outperformed the one without the electric-hydraulic control system,with threshing rotor peak torque,the range of threshing rotor axis torque,the BGR,and the UGR decreasing by 18.38%,38.27%,2.08%,and 0.10%,respectively.Moreover,the rate of broken grains was lower than 5.00%,better than the national standard.Thus,the feed rate fluctuations and timely adjustment of the concave clearance were able to avoid blocking the rotor and improve the threshing performance compared to the constant concave clearance.展开更多
In this work, the influence of internal combustion engine parameters (cylinder-piston clearance, piston head height, the first segment position, gap of the first piston ring and gap of the second piston ring, piston r...In this work, the influence of internal combustion engine parameters (cylinder-piston clearance, piston head height, the first segment position, gap of the first piston ring and gap of the second piston ring, piston rings’ axial clearance, intake valve debit coefficient) gas leakage from the combustion chamber through the piston rings’ area was investigated. This influence was studied by making an initial forming operation over gas leakage in the analyzed area.展开更多
基金supported by the National Natural Science Foundation of China [grant number 11472137]the Fundamental Research Funds for the Central Universities [grant numbers 309181A8801,30919011204]。
文摘In this study,a modeling method for investigating the dynamic characteristics of a hydraulically driven shell manipulator with revolute clearance joints is presented.This model accounts for the effect of the clearance,the flexibility of the rotating beam,and the coupled dynamic characteristics of the hydraulic cylinder.A modified contact force model was developed to simulate the physical properties of realistic revolute joints with small clearances,heavy loads,and variable contact stiffnesses and damping coefficients with variations of the indentations.Considering the strong coupling relationship between the hydraulic cylinder and the flexible beam,a system equation of motion combining the state variables of the hydraulic cylinder and mechanical system was established.The complex nonlinear friction force of the hydraulic cylinder motion was constructed using a modified Lu Gre model,and the parameters of the friction model were identified using intelligent identification algorithms.Moreover,a test system for the shell manipulator was established to achieve experimental validation.Finally,the effects of the clearance size and the stiffness of the cylinder support on the dynamic response were investigated.
基金This study was financially supported by the China Agriculture Research System of MOF and MARA,Mount Tai Industry Leading Talents Project(LJNY201708)the Soil-Machine-Plant Key Laboratory of the Ministry of Agriculture of China.
文摘Complex field environments,diverse crop conditions,and varying feed rate fluctuations commonly result in a decline in the threshing performance and the clogging of the threshing cylinder for maize harvesters.In order to overcome these problems,an electric-hydraulic concave clearance automatic control system for the threshing unit was developed based on the maize feed rate monitoring,which can automatically realize the best match between the concave clearance and diverse feed rates during harvesting.The threshing performance of the electric-hydraulic control system was evaluated for varying and uneven maize feed rate fluctuations,such as the feed rate increased(6-8-10 kg/s),the feed rate decreased after an increase(6-10-8 kg/s,8-10-6 kg/s),the feed rate increased after a decrease(8-6-10 kg/s,10-6-8 kg/s),and the feed rate decreased(10-8-6 kg/s).In particular,the threshing rotor shaft peak torque,the range of threshing rotor shaft torque,the rate of broken grains(BGR),and the rate of unthreshed grains(UGR)with and without the electric-hydraulic control system were tested.Treatments with the electric-hydraulic control system were adjustable concave clearance with the value of 45 mm,50 mm,and 55 mm.Treatments without the electric-hydraulic control system were constant concave clearance(50 mm).Results demonstrate that the threshing unit with the electric-hydraulic control system outperformed the one without the electric-hydraulic control system,with threshing rotor peak torque,the range of threshing rotor axis torque,the BGR,and the UGR decreasing by 18.38%,38.27%,2.08%,and 0.10%,respectively.Moreover,the rate of broken grains was lower than 5.00%,better than the national standard.Thus,the feed rate fluctuations and timely adjustment of the concave clearance were able to avoid blocking the rotor and improve the threshing performance compared to the constant concave clearance.
文摘In this work, the influence of internal combustion engine parameters (cylinder-piston clearance, piston head height, the first segment position, gap of the first piston ring and gap of the second piston ring, piston rings’ axial clearance, intake valve debit coefficient) gas leakage from the combustion chamber through the piston rings’ area was investigated. This influence was studied by making an initial forming operation over gas leakage in the analyzed area.
