A new type of impedance-balanced ship equipment foundation structure based on the principle of impedance balancing using a“discontinuous panel-vibration isolation liquid layer-foundation structure”is proposed to sol...A new type of impedance-balanced ship equipment foundation structure based on the principle of impedance balancing using a“discontinuous panel-vibration isolation liquid layer-foundation structure”is proposed to solve the problem of poor low-frequency vibration isolation of the foundation under unbalanced excitation of shipboard equipment.Based on the finite element method,the influence of characteristic parameters of the foundation panel structure on its vibration reduction characteristics under unbalanced excitation is explored.The results show that the vibration isolation level of the impedance-balanced foundation is 10 dB higher than the traditional foundation in the low-frequency band of 10-500 Hz when subjected to combined excitation of concentrated force and moment.Increasing the thickness of the impedance-balanced foundation panel can enhance the isolation effect.Increasing the number of sub-panels can effectively reduce the vibration response of the foundation panel and enhance the isolation performance of the foundation.The connection stiffness between sub-panels has a small effect on the isolation performance of the foundation.展开更多
Serving the Stewart mechanism as a wheel-legged structure,the most outstanding superiority of the proposed wheel-legged hybrid robot(WLHR)is the active vibration isolation function during rolling on rugged terrain.How...Serving the Stewart mechanism as a wheel-legged structure,the most outstanding superiority of the proposed wheel-legged hybrid robot(WLHR)is the active vibration isolation function during rolling on rugged terrain.However,it is difficult to obtain its precise dynamic model,because of the nonlinearity and uncertainty of the heavy robot.This paper presents a dynamic control framework with a decentralized structure for single wheel-leg,position tracking based on model predictive control(MPC)and adaptive impedance module from inside to outside.Through the Newton-Euler dynamic model of the Stewart mechanism,the controller first creates a predictive model by combining Newton-Raphson iteration of forward kinematic and inverse kinematic calculation of Stewart.The actuating force naturally enables each strut to stretch and retract,thereby realizing six degrees-of-freedom(6-DOFs)position-tracking for Stewart wheel-leg.The adaptive impedance control in the outermost loop adjusts environmental impedance parameters by current position and force feedback of wheel-leg along Z-axis.This adjustment allows the robot to adequately control the desired support force tracking,isolating the robot body from vibration that is generated from unknown terrain.The availability of the proposed control methodology on a physical prototype is demonstrated by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate strips.By comparing the proportional and integral(PI)and constant impedance controllers,better performance of the proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder,as well as an inertial measurement unit(IMU)mounted on the robot body.The proposed algorithm structure significantly enhances the control accuracy and vibration isolation capacity of parallel wheel-legged robot.展开更多
Based on the principle of impedance mismatching,the performance of rigid vibration isolation mass in impeding vibration wave propagation was discussed from the perspective of wave approach.Based on FEM,the influence o...Based on the principle of impedance mismatching,the performance of rigid vibration isolation mass in impeding vibration wave propagation was discussed from the perspective of wave approach.Based on FEM,the influence of its weight as well as the cross-section shape parameters on the isolation performance of rigid vibration isolation mass was studied through numerical simulation.The results show that rigid vibration isolation mass can effectively impede the propagation of the medium and high frequency vibration waves,and the heavier the vibration isolation mass,the better the isolation performance.For low frequency waves,the vibration isolation effect is not so obvious;for a rectangular vibration isolation mass,the isolation performance could be effectively improved by increasing the cross-section height and reducing the cross-section width.A useful reference was provided for the application of rigid vibration isolation masses to the vibration isolation and noise reduction of ship structure.展开更多
基金funded by the National Natural Science Foundation of China(Grant Numbers.U2006229 and 52101351)。
文摘A new type of impedance-balanced ship equipment foundation structure based on the principle of impedance balancing using a“discontinuous panel-vibration isolation liquid layer-foundation structure”is proposed to solve the problem of poor low-frequency vibration isolation of the foundation under unbalanced excitation of shipboard equipment.Based on the finite element method,the influence of characteristic parameters of the foundation panel structure on its vibration reduction characteristics under unbalanced excitation is explored.The results show that the vibration isolation level of the impedance-balanced foundation is 10 dB higher than the traditional foundation in the low-frequency band of 10-500 Hz when subjected to combined excitation of concentrated force and moment.Increasing the thickness of the impedance-balanced foundation panel can enhance the isolation effect.Increasing the number of sub-panels can effectively reduce the vibration response of the foundation panel and enhance the isolation performance of the foundation.The connection stiffness between sub-panels has a small effect on the isolation performance of the foundation.
基金Supported by National Natural Science Foundation of China(Grant No.61773060).
文摘Serving the Stewart mechanism as a wheel-legged structure,the most outstanding superiority of the proposed wheel-legged hybrid robot(WLHR)is the active vibration isolation function during rolling on rugged terrain.However,it is difficult to obtain its precise dynamic model,because of the nonlinearity and uncertainty of the heavy robot.This paper presents a dynamic control framework with a decentralized structure for single wheel-leg,position tracking based on model predictive control(MPC)and adaptive impedance module from inside to outside.Through the Newton-Euler dynamic model of the Stewart mechanism,the controller first creates a predictive model by combining Newton-Raphson iteration of forward kinematic and inverse kinematic calculation of Stewart.The actuating force naturally enables each strut to stretch and retract,thereby realizing six degrees-of-freedom(6-DOFs)position-tracking for Stewart wheel-leg.The adaptive impedance control in the outermost loop adjusts environmental impedance parameters by current position and force feedback of wheel-leg along Z-axis.This adjustment allows the robot to adequately control the desired support force tracking,isolating the robot body from vibration that is generated from unknown terrain.The availability of the proposed control methodology on a physical prototype is demonstrated by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate strips.By comparing the proportional and integral(PI)and constant impedance controllers,better performance of the proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder,as well as an inertial measurement unit(IMU)mounted on the robot body.The proposed algorithm structure significantly enhances the control accuracy and vibration isolation capacity of parallel wheel-legged robot.
文摘基于传统微带线定向耦合器的方向性和耦合性,利用端口阻抗的失配效应,设计出一种隔离度高、方向性好的改进型耦合器。测试结果表明,改进后定向耦合器的隔离度大大提高,在中心频率915MHz 处隔离度高达58.875dB,方向性约为45dB,能有效抑制载波泄漏到接收链路中,能很好地满足902MHz～928MHz 频段 RFID 阅读器收发隔离的需求。
基金Supported by the Shipbuilding Industry of National Defense Science and Technology Research Projects in Advance under Grant No.153010110031
文摘Based on the principle of impedance mismatching,the performance of rigid vibration isolation mass in impeding vibration wave propagation was discussed from the perspective of wave approach.Based on FEM,the influence of its weight as well as the cross-section shape parameters on the isolation performance of rigid vibration isolation mass was studied through numerical simulation.The results show that rigid vibration isolation mass can effectively impede the propagation of the medium and high frequency vibration waves,and the heavier the vibration isolation mass,the better the isolation performance.For low frequency waves,the vibration isolation effect is not so obvious;for a rectangular vibration isolation mass,the isolation performance could be effectively improved by increasing the cross-section height and reducing the cross-section width.A useful reference was provided for the application of rigid vibration isolation masses to the vibration isolation and noise reduction of ship structure.
