轮式移动机器人滑移轨迹跟踪控制策略研究

针对轮式移动机器人在滑移条件下的轨迹跟踪问题,提出一种自适应模糊控制策略。利用模糊状态观测器对未知的复杂系统模型进行速度估计和补偿,通过设计输出向量将位置约束转换为输出约束,并构造Barrier Lyapunov函数来保证机器人的运动约束,在此基础上设计更简单的纵向滑移模型,利用李亚普诺夫定理分析闭环系统的稳定性,证明了闭环系统中所有信号都是有界的。最后通过仿真和实验验证了自适应模糊控制策略在轮式机器人纵向滑移情况下的有效性和实用性。     

航空轴承内圈滚道磨削残余应力的工艺优化及试验研究

对国内外8Cr4Mo4V钢制航空轴承套圈滚道磨削残余应力进行了对比试验,根据航空轴承内套圈滚道磨削工艺特点,基于ABAQUS建立轴承内套圈滚道磨削残余应力的有限元分析模型并进行了数值计算,对内套圈滚道的残余应力进行了检测、分析及验证,进而优化了轴承内套圈滚道磨削工艺。结果表明：通过增加喷丸工序、适当提高进给速度和终磨采用220目白刚玉砂轮替代石墨砂轮可有效提高轴承内圈滚道残余压应力。     

微孔节流气体静压止推轴承跨缝过程时变特性研究

目前,大型气浮平台均采用花岗岩平台拼接而成,平台拼缝会对实验效果产生一定影响。针对上述问题,以微孔节流气体静压轴承运动中经过平台拼缝时的时变特性为研究对象,建立微孔节流止推轴承物理模型,并使用CFD软件与UDF相结合的动网格技术实现轴承跨越平台拼缝的动态过程仿真,研究不同气膜厚度、进气口压力、平台拼缝位置对轴承承载力和压力分布的影响。结果表明：当平台拼缝到达微孔分布圆附近时承载力急速下降,且平台拼缝到达轴承中心时承载力下降到最小值;随着气膜厚度的增加,轴承承载力的最大损失比例随之增加,并最终稳定到0.6;平台拼缝位于供气孔分布圆之外时,轴承边缘与平台拼缝之间的承载面将失效;通过增加进气口压力,轴承承载力整体有明显提升,但承载力损失速度也明显加快。     

基于多重移位复用的轴承健康监测报警存储方法研究

旋转机械正朝着高速化、智能化、高性能方向发展,为及时发现早期故障,需要研发健康监测系统。报警存储用于分析故障原因,是系统核心。针对大多系统报警存储存在缓存时间长度随采样率变化、缓存数据丢失、单次报警等问题,提出一种基于多重移位复用的方法,将多个移位寄存器、队列和循环索引相结合并利用LabVIEW平台实现该方法。实验结果表明,该方法可以自动存储报警前后10 s内所有数据,解决了数据丢失、单次报警等问题。     

Seismic performance of corrugated steel plate concrete composite shear walls

In this paper, composite shear walls with different encased steel plates (flat, horizontal corrugated, and vertical corrugated) were tested and simulated by Abaqus to investigate the seismic behavior of corrugated steel plate concrete composite shear walls (SPCSWs). The failure characteristics, deformation and energy dissipation capacity, and stiffness and bearing capacity of the structures under low‐frequency cyclic load were analyzed, and indexes of the seismic performance were obtained. The formulas of the shear‐bearing capacity of steel plate concrete composite shear walls are suggested, and the shear‐sharing ratio of each member is obtained. According to the obtained results, corrugated steel plates can bond with concrete well, and the bearing capacity of the vertical corrugated SPCSW are higher than that of the horizontal corrugated SPCSW. Compared with flat SPCSW, corrugated SPCSW has higher initial stiffness and lateral stiffness, better ductility and energy dissipation ability, and the degradation of bearing capacity and stiffness is slower. The shear‐sharing ratio of a steel plate is larger than that of reinforced concrete in the flat SPCSW and the vertical corrugated SPCSW, the shear force shared by steel plate and reinforced concrete in horizontal corrugated SPCSW is basically the same.     

Fuzzy‐sliding mode control of nonlinear smart base‐isolated building under earthquake excitation

In this paper, the effectiveness of the fuzzy sliding mode control strategy on three‐dimensional benchmark building with smart base isolation under seismic excitation has been examined. One of the appropriate control theories for such this nonlinear system is the sliding mode control theory; discontinuous sliding mode theory has weakness such as chattering phenomena. In this paper, we used a combination of fuzzy logic and sliding mode theory for the deletion of this defect. The proposed control theory has been scrutinized by applying on lately developed nonlinear three‐dimensional base‐isolated benchmark building. This building because of the three‐dimensional nature, coalescing of lateral and torsional responses, continuity of responses of the superstructure, and base is modeled with three degrees of freedom on every floor. In this building eight actuators assigned only at the base level and in the two directions (x, y). In other words, 16 actuators are located underneath the structure. Furthermore, the base isolation system has been modeled by considering lateral coupled equations for a better examination of the performance of the system. The results indicate that reduction of control performance is remarkable. Also, utilizing proposed control theory can decrease the responses of building in two main directions and, particularly, in the rotational degree of freedom.     

狭窄基坑条件下基于普朗德尔地基极限承载力公式的隆起稳定性研究

在市政行业的基坑支护工程中,支护桩+内支撑支护是广泛使用的支护形式。传统的基坑隆起稳定性分析方法是采用普朗德尔地基极限承载力计算公式分析,但是该地基极限承载力计算公式不适用于狭窄基坑。本文从提出狭窄基坑的定义出发,根据普朗德尔地基极限承载力计算公式的基本原理,重新假定了狭窄基坑条件下的破坏模式及相关参数,并推导了相应的地基极限承载力计算公式。算例显示,该公式能较好的反映狭窄基坑的实际条件,安全系数有适当提高。     

新型拉压复合型锚杆锚固性能研究Ⅲ：现场试验

针对传统拉力型锚杆存在受力集中、锚固体与岩土体界面黏结强度发挥不充分、抗拔承载力偏低的问题,研发了一种新型拉压复合型锚杆。通过开展现场破坏性试验,对拉力型锚杆及拉压复合型锚杆的承载能力、荷载位移曲线及应变数据进行分析,结果表明：3组拉压复合型锚杆TC12-3、TC11-1、TC21锚杆的平均破坏荷载分别提高至拉力型锚杆的2.81,2.01,2.52倍;拉压复合型锚杆套管内的拉力传递损失率最大为20.5%,在自由段内的拉力传递损失率最大仅为6.8%,拉力传递损失主要发生在承压锚固段上;TC12-3锚杆的受拉锚固段长度最短,单位受拉锚固段长度分担荷载最高;TC21-1锚杆的承压锚固段最短,单位承压锚固段长度分担荷载最高;锚杆破坏时,TC12-3、TC11-1、TC21-1锚杆的受拉承载系数分别为0.398,0.470,0.600;且TC11-1锚杆表现为承压锚固段与受拉锚固段同时破坏,TC12-3、TC21-1锚杆表现为先后破坏;拉压复合型锚杆锚固性能显著提高主要是由于荷载分解作用,界面剪应力双向传递机制及短锚承载效应;从荷载位移曲线来看,拉压复合型锚杆具有较好的抗变形能力,在岩土锚固工程中,具有显著的优势和广阔的应用前景。     

砂土中扩底应力对深埋扩底抗拔桩承载力的影响

采用极限平衡法计算深埋扩底抗拔桩的承载力,需要确定破坏面的形状参数和应力条件。针对已有模型试验的研究结果,结合不同桩长扩底抗拔桩统一破坏模式,对上述问题进行了初步探讨。基于应力莫尔圆研究认为,仅考虑自重应力条件得到的破坏面法向应力明显小于扩底附近的实际破坏面应力条件,导致破坏面影响高度计算结果偏大。基于模型试验的试验结果,对扩底应力的增强系数进行了反算,该值在1.3到2.7之间,比被动土压力系数3.4要小,对扩底角度变化不敏感。只是初步的机理探讨,考虑到深埋扩底桩的埋深影响,该问题值得进一步深入研究。     

基于静力触探试验的基坑开挖卸荷单桩水平承载力损失预测研究

选取典型成层地基场地并设计试坑开挖卸荷试验,开展了基于静力触探(CPT)测试的基坑开挖卸荷单桩水平承载力损失程度预测研究。通过在试坑开挖卸荷前后进行CPT原位测试,得到了试坑开挖卸荷前后的CPT贯入锥尖参数变化规律。进而基于CPT测试p–y模型研究了基坑开挖卸荷前后邻近既有单桩的水平承载力损失及桩身弯矩分布特征。分别考察了基坑开挖卸荷后邻近桩基试桩加载模式下的残余水平承载力和桩顶加载联合土体位移共同作用下的卸荷桩基水平承载特性。研究表明,依据真实卸荷土体CPT参数更能准确预测桩基水平承载力损失程度及损失特征,卸荷桩设计阶段须同时考虑卸荷桩较自由场地桩基的水平承载力损失及土体运动位移对桩基水平承载的影响。以上研究为合理确定基坑开挖引起的既有桩基水平承载力损失提供了一种技术思路,同时对卸荷桩水平承载性能评价具有参考意义。