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外文翻译--数字模拟冲击试验机的多液压缸电动液压的系统和控制器设计.doc

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外文翻译--数字模拟冲击试验机的多液压缸电动液压的系统和控制器设计.doc

附录英文原文NUMERICALMODELINGOFMULTICYLINDERELECTROHYDRAULICSYSTEMANDCONTROLLERDESIGNFORSHOCKTESTMACHINEAbstractAhighfidelitydynamicmodelofahighenergyhydraulicallyactuatedshocktestmachineforheavyweightdevicesispresentedtosatisfythenewlybuiltshockresistancestandardandsimulatetheactua1underwaterexplosionenvironmentsinlaboratoryaswel1asincreasethetestingcapabilityofshocktestmachine.Inordertoproducetherequirednegativeshockpulseinthegiventimeduration.fourhydraulicactuatorsareutilized.Themodelisthenusedtoformulateanadvancedfeedforwardcontrollerforthesystemtoproducetherequirednegativewaveformandtoaddressthemotionsynchronizationofthefourcylinders.Themode1providesasafeandeasilycontrollablewaytoperformavirtua1testingbeforestartingpotentiallydestructivetestsonspecimenandtopredictperformanceofthesystem.Simulationresultshavedemonstratedtheeffectivenessofthecontroller.KeywordsShocktestmachineNegativeshockpulseActuatorredundancyFeedforwardcontrollerVirtua1testing0INTRODUCTIONTheeffectsofunderwaterexplosionsUNDEXonshiphullsandequipmenthavebeenstudiedsincethel800sLU.Noncontactunderwaterexplosionsagainstsurfaceships,i.e.bymines,ormissilesmaycauseextensiveequipmentdamageandrendershipsinoperativeeventhoughhulldamageisnotcritica1.Thusshocktestmustbecarriedoutoneverycriticaldeviceorequipmentonsubmarineandsurfaceshiptoconfirmthatitwillstillfunction.orinsevercaseswillsurvive,aftertheoccurrenceoftheshockconditionswhichitcanbeexpectedtoencounterduringitsservice.Themosteffectiveanddirectwaytocheckouttheantishockcapabilityofdevicesistotestthemonavesselsubjectedtounderwaterexplosion.Testsconductedusingliveexplosiveshaveinherentlimitationsincludingenvironmentalimpact,significantcost,measuringresultsinthefieldandavailablequantityoftests.Atpresent,thecommonlyusedmethodtoassesswarshipequipmentsshockresistancecapabilityistoconducttestonashocktestmachineinacontrollableway.TheUNDEXenvironmentisverycomplex.composedofakickfromtheincidentshockwavefollowedbytheeffectsofcavitations,bubblepulse,andstructuralwhipping.Thebubblepulseoscillatesatafrequencyveryclosetothefirstbendingmodeoftheship.ItwillbeevenmoredestructivethantheincidentpressurewavewhenthebubblemigratesnearenoughtotheshiptoexcitethismodeHowever,thetraditionalshockmachines.1ikelightweightshockmachineLWSMandmediumweightshockmachineMWSM,cannotsimulateshockenvironmentforthebubblepulsesinducedbyUNDEX.andtheshockenvironmentsimulatedbytraditionalmachinesislargelydifferentfromtheactualUNDEXphysicalenvironment.AccordingtothenewlydesignspecificationsOfMIL.S.90lD.theinputforshocktestshouldbeshockresponsespectraSRS1,insteadofasingletime.history.accelerationwaveformsuchashalfsine.triangularsawtoothpulse.Besides.theshockinputinthedesignspecificationsOfBV043/85isadoubletransientshockpulse.i.e.apositiveaccelerationpulseanegativeone.IntheorytheSRScanbetransformedintotimedomainanditisequivalenttoadouble.waveforil1.Therefore.shockmachinesthatwillbebuiltshouldadapttotherequirementofthelatestshockcriteriontosimulatetheactualUNDEXenvironmentasmuchaspossible.Theaimofshocktestingistoimpartprecisereplicationsofhigh.energytransientshockpulseintotestspecimens.Thetestspecimensarevaluableandunique,andneedtobetestedtoexactshocklevelswithspecificenterspectratoomuchcandamagethespecimen,toolittleleavesquestionsaboutthespecimenrobustness.Owingtothetestseverity,itisthenessentialthatthetestshouldbecontrollable.Classiccontrolmethods,suchaspoleplacement.havebeeninvestigatedforshockcontrol,butwithlimitedsuccess.Themainreasonisthatthedurationofshocktestisveryshort.bythetimethesystemcandetectanerrorbetweencommandsandtheactualoutputs.itisalreadytoolatetorespondadequately.Thispaperformulatesahighfidelitynumericaldynamicmodelforadampingsystem.whichisapartofthewholeshockmachineusedtoproducetherequirednegativeshockpulseinthetestingprocess.Componentsofthesystemmodelareusedtoformelateanadvancedfeedforwardcontroller.Theactuatorredundancyissueisalsoconsideredduringthecontrollerdesign.Themodelandcontrollerprovideasafeandeasilycontrollablewaytoperformavirtualtestingbeforestartingpotentiallydestructivetestsonthespecimenandtopredicttheperformanceofthesystem.Furtherore.inordertosolvetheuncertaintyproblemofthetestspecimendynamicsforfeedforwardinversemodelcontrol,anewinitialtuningtechniqueisproposedforourspecialcases.Theorganizationofthispa1erisasfollowsInsectionl,adescriptionofthedampingsystemanditsdynamicmodelispresented.Variousfeaturesofthemodelarediscussed,includingthesettlementofactuatorsredundant.Insection2.thecontrolstrategiesareproposed.Thesimulationresultsarepresentedinsection3.Finally,theconclusionsectionfollows.1PROBLEMFORMULATIONANDDYNAMICMODELThestructureofthedampingsystemisshowninFig.1anditsfunctionistoproducetherequirednegativeshockpulseduringshocktestingprocess.Thedurationoftheshockwavetransientsisunder0.1s.withdesiredaccelerationsupto25~50gformegiventestspecimenalltheseparameterscanbeadjustedaccordingtodifferenttestingconditions.Thetestingcapacityofmeshockmachineisunder5000kgincludingfixture.Thetestspecimenisfixedonmeteststandmovingverticallyatmegivenspeed,whichisproducedbytheshocksysteminmepositiveshockpulsegeneratingprocess.Whenthemaximumspeedisachieved,thedampingsystembeginstoforceittostopinthegiventimeThemaindifficultyindesigningthedampingsystemliesinthatthesystemshouldproducetherequiredforcesinthegiventimetosaristhewaveformrequirement.Forthispurpose,fourcomplexandsophisticatedhydraulicactuatorsaredesignedtoexertthedampingforces.Theactuatorsareconnectedwiththeteststandthroughsphericalhingesandthefourramtypecylindersarearrangedinasymmetricalmanner.DetailsofthecontactingpointsbetweenteststandandcylinderscanbeseeninFig.2.Thepointsontheteststandthatcontactthecylindersvarywiththerotationoftheteststand.Itsmotiondependsontherotationangleand.Inrealitytherotationangleisverysmall,thismotioncanbeignoredandwejustfocusontheverticaldisplace.MendandtherotationalongtherollaxisrandthepitchaxisP.Eachcylinderiscontrolledbyfourthree.stageservovalves.ThehightransientenergyissuppliedbyaseriesofaccumulatorsseeFig.31.1SystemmodelingInwhatfollowing.mathematicalmodelofthecomponentsinthenegativepulsesystemwillbebuiltindetail.1.1.1TestspecimenFig.1showstheforcesactingonthehydrauliccylindersandFig.4isthetopviewofthesystemtoindicatethelocationofthespecimen.Sphericalcontactsurfacesareassumedbetweenthecylindersandtheteststand.TheteststandincludingtestspecimencanrotatefreelyaroundtherollaxisrandthepitchaxisP.Therol1axisrisdefinedtobeperpendiculartothe1ineconnectingcylinder1andcylinder2andthepitchaxisPisdefinedtobeparalleltothelineconnectingcylinder1andcylinder2.AccordingtoNewtonssecondlawandthetheoremofangularmomenturn,thefollowingequationscanbeobtainedtorepresentthemotionofthespecimen.wheremmsmt,msandmtrepresentmassofthetestspecimenandtheteststand,respectively.representsthereactionforceactingoncylinderi1,2,3,4gisthegravitationalconstantIiand12arethemomentam1forwithrespecttotherotationalaxisrandPjandJvrepresenttherotationalmomentofinertiaoftheload

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