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附录英文原文NUMERICALMODELINGOFMULTICYLINDERELECTRO-HYDRAULICSYSTEMANDCONTROLLERDESIGNFORSHOCKTESTMACHINEAbstract:Ahighfidelitydynamicmodelofahigh-energyhydraulically-actuatedshocktestmachineforheavyweightdevicesispresentedtosatisfythenewly-builtshockresistancestandardandsimulatetheactua1underwaterexplosionenvironmentsinlaboratoryaswel1asincreasethetestingcapabilityofshocktestmachineInordertoproducetherequirednegativeshockpulseinthegiventimedurationfourhydraulicactuatorsareutilizedThemodelisthenusedtoformulateanadvancedfeedforwardcontrollerforthesystemtoproducetherequirednegativewaveformandtoaddressthemotionsynchronizationofthefourcylindersThemode1providesasafeandeasilycontrollablewaytoperforma“virtua1testing”beforestartingpotentiallydestructivetestsonspecimenandtopredictperformanceofthesystemSimulationresultshavedemonstratedtheeffectivenessofthecontroller.Keywords:ShocktestmachineNegativeshockpulseActuatorredundancyFeedforwardcontrollerVirtua1testing0INTRODUCTIONTheeffectsofunderwaterexplosions(UNDEX)onshiphullsandequipmenthavebeenstudiedsincethel800sLUNon-contactunderwaterexplosionsagainstsurfaceships,iebymines,ormissilesmaycauseextensiveequipmentdamageandrendershipsinoperativeeventhoughhulldamageisnotcritica1Thusshocktestmustbecarriedoutoneverycriticaldeviceorequipmentonsubmarineandsurfaceshiptoconfirmthatitwillstillfunctionorinsevercaseswillsurvive,aftertheoccurrenceoftheshockconditionswhichitcanbeexpectedtoencounterduringitsserviceThemosteffectiveanddirectwaytocheckouttheantishockcapabilityofdevicesistotestthemonavesselsubjectedtounderwaterexplosionTestsconductedusingliveexplosiveshaveinherentlimitationsincludingenvironmentalimpact,significantcost,measuringresultsinthefieldandavailablequantityoftestsAtpresent,thecommonlyusedmethodtoassesswarshipequipmentsshockresistancecapabilityistoconducttestonashocktestmachineinacontrollablewayTheUNDEXenvironmentisverycomplexcomposedofa“kick”fromtheincidentshockwavefollowedbytheeffectsofcavitations,bubblepulse,andstructuralwhippingThebubblepulseoscillatesatafrequencyveryclosetothefirstbendingmodeoftheshipItwillbeevenmoredestructivethantheincidentpressurewavewhenthebubblemigratesnearenoughtotheshiptoexcitethismodeHowever,thetraditionalshockmachines1ikelightweightshockmachine(LWSM)andmediumweightshockmachine(MWSM),cannotsimulateshockenvironmentforthebubblepulsesinducedbyUNDEXandtheshockenvironmentsimulatedbytraditionalmachinesislargelydifferentfromtheactualUNDEXphysicalenvironmentAccordingtothenewlydesignspecificationsOfMILS90lDtheinputforshocktestshouldbeshockresponsespectra(SRS1,insteadofasingletimehistoryaccelerationwaveformsuchashalf-sinetriangularsawtoothpulseBesidestheshockinputinthedesignspecificationsOfBV04385isadoubletransientshockpulseieapositiveaccelerationpulseanegativeone.IntheorytheSRScanbetransformedintotimedomainanditisequivalenttoadoublewaveforil1ThereforeshockmachinesthatwillbebuiltshouldadapttotherequirementofthelatestshockcriteriontosimulatetheactualUNDEXenvironmentasmuchaspossibleTheaimofshocktestingistoimpartprecisereplicationsofhighenergytransientshockpulseintotestspecimensThetestspecimensarevaluableandunique,andneedtobetestedtoexactshocklevelswithspecificenterspectra:toomuchcandamagethespecimen,toolittleleavesquestionsaboutthespecimenrobustnessOwingtothetestseverity,itisthenessentialthatthetestshouldbecontrollableClassiccontrolmethods,suchaspoleplacementhavebeeninvestigatedforshockcontrol,butwithlimitedsuccessThemainreasonisthatthedurationofshocktestisveryshortbythetimethesystemcandetectanerrorbetweencommandsandtheactualoutputsitisalreadytoolatetorespondadequatelyThispaperformulatesahighfidelitynumericaldynamicmodelforadampingsystemwhichisapartofthewholeshockmachineusedtoproducetherequirednegativeshockpulseinthetestingprocessComponentsofthesystemmodelareusedtoformelateanadvancedfeedforwardcontrollerTheactuatorredundancyissueisalsoconsideredduringthecontrollerdesignThemodelandcontrollerprovideasafeandeasilycontrollablewaytoperformavirtualtesting”beforestartingpotentiallydestructivetestsonthespecimenandtopredicttheperformanceofthesystemFurtheroreinordertosolvetheuncertaintyproblemofthetestspecimendynamicsforfeedforwardinversemodelcontrol,anewinitialtuningtechniqueisproposedforourspecialcasesTheorganizationofthispa1)erisasfollows:Insectionl,adescriptionofthedampingsystemanditsdynamicmodelispresentedVariousfeaturesofthemodelarediscussed,includingthesettlementofactuatorsredundantInsection2thecontrolstrategiesareproposedThesimulationresultsarepresentedinsection3Finally,theconclusionsectionfollows1PROBLEMFORMULATIONANDDYNAMICMODELThestructureofthedampingsystemisshowninFig1anditsfunctionistoproducetherequirednegativeshockpulseduringshocktestingprocessThedurationoftheshockwavetransientsisunder01swithdesiredaccelerationsupto2550gformegiventestspecimenalltheseparameterscanbeadjustedaccordingtodifferenttestingconditionsThetestingcapacityofmeshockmachineisunder5000kg(includingfixture)Thetestspecimenisfixedonmeteststandmovingverticallyatmegivenspeed,whichisproducedbytheshocksysteminmepositiveshockpulsegeneratingprocessWhenthemaximumspeedisachieved,thedampingsystembeginstoforceittostopinthegiventimeThemaindifficultyindesigningthedampingsystemliesinthatthesystemshouldproducetherequiredforcesinthegiventimetosaristhewaveformrequirementForthispurpose,fourcomplexandsophisticatedhydraulicactuatorsaredesignedtoexertthedampingforcesTheactuatorsareconnectedwiththeteststandthroughsphericalhingesandthefourram-typecylindersarearrangedinasymmetricalmannerDetailsofthecontactingpointsbetweenteststandandcylinderscanbeseeninFig2ThepointsontheteststandthatcontactthecylindersvarywiththerotationoftheteststandItsmotiondependsontherotationangleandInrealitytherotationangleisverysmall,thismotioncanbeignoredandwejustfocusontheverticaldisplaceMendandtherotationalongtherollaxisrandthepitchaxisPEachcylinderiscontrolledbyfourthreestageservovalvesThehightransientenergyissuppliedbyaseriesofaccumulators(seeFig3)1.1SystemmodelingInwhatfollowingmathematicalmodelofthecomponentsinthenegativepulsesystemwillbebuiltindetail1.1.1TestspecimenFig1showstheforcesactingonthehydrauliccylindersandFig4isthetopviewofthesystemtoindicatethelocationofthespecimenSphericalcontactsurf
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