Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science最新文献

{"title":"Adaptive fuzzy sliding-mode control of under-actuated systems with unknown input gain function","authors":"Alireza Mousavi, Amir HD Markazi","doi":"10.1177/09544062231207456","DOIUrl":"https://doi.org/10.1177/09544062231207456","url":null,"abstract":"This research addresses the design of an Adaptive Fuzzy Sliding-Mode Control (AFSMC) for a group of nonlinear under-actuated systems with unknown input gain functions. In the proposed approach, to provide a structure for controlling the under-actuated subsystem, the sliding manifold corresponding to the whole dynamic system is derived based on the backstepping technique. In addition, two separate fuzzy inference systems are utilized for approximating the system’s internal dynamics and the unknown input gain function. In order to derive the robust part of the controller, a novel method is proposed to define the upper bound of the uncertain term in the form of a state-dependent second-degree polynomial. It should be mentioned that the output vectors of the fuzzy systems and the coefficients of the robust part of the controller are obtained by the designed adaptation laws. The asymptotic stability analysis for the proposed AFSMC structure is provided by the second theorem of Lyapunov and Barbalat’s lemma. In the end, the AFSMC effectuality is confirmed by the depth control of a REMUS Autonomous Underwater Vehicle (AUV).","PeriodicalId":509477,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"15 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380757","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Research on traction guidance cooperative control of virtual track train based on path-tracking and articulation hinge forces optimisation","authors":"Zehan Wang, Zhenggang Lu","doi":"10.1177/09544062231207212","DOIUrl":"https://doi.org/10.1177/09544062231207212","url":null,"abstract":"Virtual track train (VTT) is a new urban public transportation system that adopts rubber wheel and rail transit management mode. Its characteristics of all-wheel-driving all-axle-steering (AWDAAS) enable this multi-articulated vehicle to run along the target path (virtual track) with high precision. This paper proposes a new traction guidance cooperative control strategy aiming at path-tracking and hinge forces optimisation. Firstly, the vehicle dynamics model is established using the two-step method, which mainly includes the centre of gravity (CG) forces model between the wheel steering angles, torques and the generalised forces at every unit. Secondly, the vehicle multi-body dynamics model is built with the CG generalised forces as the control input and carries on the concrete modelling for the three-unit six-axle AWDAAS-VTT. This modelling method can satisfy the rapid expansion and reconstruction according to the different marshalling numbers and axles. Then the hinge forces are analysed and expressed quantitatively by vehicle state and control inputs. A traction guidance cooperative control strategy based on a hierarchical framework is proposed, which has mainly three parts: the cooperative distribution of path-tracking and longitudinal speed targets, the CG generalised forces calculation of every unit based on improved model predictive control (MPC) and Stanley algorithm, and the control allocation (CA) of wheel torque and angle. The control strategy is verified by Co-simulation. The results show that the proposed control strategy can achieve excellent tracking accuracy and effectively reduce hinge forces. In addition, the vehicle under cooperative control also has excellent curve passing stability and continuous curve adaptability. The control strategy has high robustness under different running speeds, curve radii and payloads. Even under the extreme condition of passing through the R20 m curve at 14 m/s, the maximum tracking error is less than 0.035 m.","PeriodicalId":509477,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"18 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380903","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A parametric study of a bolted joint rotor-bearing system with an unbalanced offset disk","authors":"Zhimin Zhu, Yuqi Li, Chuanmei Wen, Tianliang Long, Long Jin","doi":"10.1177/09544062231214616","DOIUrl":"https://doi.org/10.1177/09544062231214616","url":null,"abstract":"The turbine disk is the core component of an aero-engine whose position and unbalanced force seriously affect the vibration stability of the rotor system. Ignoring the influence of the offset disk may result in discrepancies between real-world scenarios and numerical simulation results. The present work aims to explore the nonlinear dynamic characteristics of rotor systems under the coupling of bolted joint and offset disk effect, as well as the influence of offset disk position and its unbalanced force on the system dynamic behavior and bending stiffness of bolted joint also investigated. The governing equations of a bolted joint rotor-bearing system with an offset disk were established based on the finite element method and derived as a dimensionless expression in the first. Then, the Newmark method was employed for the numerical solution of the motion equations, and then a bifurcation analysis of the rotor system and the evolution of bending stiffness for the bolted joint was studied. Next, by comparing the frequency-amplitude diagrams, bifurcation diagrams, time history, shaft obits, and bending stiffness diagrams of the bolted joint, the effect of the offset disk position and its unbalanced force on the nonlinear system dynamic was revealed. Finally, an experimental study was carried out to verify the numerical result using the bolted joint rotor test rig with an offset disk. The analysis result of the present work can provide theoretical guidance for structure design and stability analysis on the aero-engine.","PeriodicalId":509477,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"12 14","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380157","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Free vibration analysis of functionally graded shallow shells with variable thickness and physical neutral surface effects","authors":"P. Thang, Dieu T. T. Do, T. Nguyen-Thoi, Jaehong Lee, Phuong Tran","doi":"10.1177/09544062231207183","DOIUrl":"https://doi.org/10.1177/09544062231207183","url":null,"abstract":"The study and manufacture of functionally graded (FG) shallow shells with the variable thickness are essential for the actual application of these types of structures. Previously, many researchers have developed different approaches to analyzing the mechanical behaviors of the FG structures, in which the thickness parameter has been assumed to be constant. Moreover, studies on these types of structures with the variable thickness are still quite limited. For this reason, this paper provides an effective and simple approach via mathematical formulations for analyzing the free vibrational responses of FG shallow shells with the variable thickness. Also, the presence of porosities that can occur during the fabrication of FG materials is considered. One of the highlights here is to consider the influence of the physical neutral surface. Before conducting the analysis of these FG structures, firstly, it is important to establish governing equations based on the classical shell theory. These essential equations are used for the FG shallow shells. Then, by setting the Navier solution with the help of simply supported boundary conditions, the natural frequencies are obtained. Finally, the numerical examples will be given to illustrate the effects of porosity coefficient, material and geometry parameters as well as the physical neutral surface on the natural frequencies. In addition, two numerical examples for verification will also be performed and thereby show the accuracy of the current method and model. It is hoped that the main results of this study can be useful not only to designers and researchers but also to be extended to more complex problems.","PeriodicalId":509477,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"12 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"HCDR-based motion planning for mobile manipulators with the continuous trajectory task","authors":"Jingjing Xu, Long Tao, Yanhu Pei, Zhifeng Liu, Tiantian Liu, Jianzhou Chen","doi":"10.1177/09544062231215745","DOIUrl":"https://doi.org/10.1177/09544062231215745","url":null,"abstract":"Mobile manipulators have been widely used in modern industrial fields due to their advantages of large operating workspace and high motion dexterity. For the application, the path planning has been a core foundation for its motion control. However, as the environmental complexity and performance requirements increase, existing methods are limited by low execution efficiency, and lack of comprehensive consideration of motion performances. A motion planning technique is proposed for mobile manipulators with continuous trajectory task. In this technique, a hierarchical constraints dimension reduction (HCDR) strategy is presented based on the task decomposition and performance requirements analysis of each stage. HCDR strategy aims to improve the execution efficiency of the algorithm through local operations of performance constraints and the local simplification of the distance calculation at different stages of the task. Models of inverse kinematics and performance indexes are established to provide basis for constraint conditions, including distance models with different accuracy, manipulability index model and trajectory tracing error model. Two optimization strategies are presented to solve the motion planning problem considering the overall performance of the system. And simulation results show that the three-level strategy has the higher convergence efficiency than the bi-level strategy, as well as can guarantee the motion performance of the system.","PeriodicalId":509477,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"7 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Research on gait generation and gait conversion of (2UPS-U) +R series-parallel hybrid wheel-legged quadruped robot","authors":"Shanshan Li, Hongbo Wang, Dong Li, Jing An, Xingchao Zhang, Jun-hong Tian, J. Niu","doi":"10.1177/09544062231208474","DOIUrl":"https://doi.org/10.1177/09544062231208474","url":null,"abstract":"This paper proposes a gait control method considering lateral stability for a four-wheeled foot robot that can realize wheel-foot transformation to achieve foot-stable walking, uses the CPG gait generator to study the generation methods of different gait patterns of the robot, selects the Hopf oscillator to establish the whole CPG control network, and analyzes the relevant parameters in its mathematical model; To analyze the CPG output signal and gait generation strategy in terms of joint swing angle and foot-end coordinates, to model the CPG gait generator model using Simulink, to verify the Walk gait and Tort gait by numerical simulation; The lateral adjustment of the body is introduced into the motion control of the robot, the Walk gait, the Tort gait, and the transition strategy between gaits are simulated and verified. The trajectory of the foot end of the robot is analyzed during in situ rotation and turn-turn walking, and the CPG control network for in situ rotation and turn-turn walking is established and simulated to verify the correctness of gait generation. The gait generation and conversion strategy studied in this paper can meet the stability of the robot’s walking, and at the same time, can be converted between gait according to the road conditions and the demand for travel speed, and also provides a high reference significance for the research of multiple gait control methods for quadruped robots.","PeriodicalId":509477,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"5 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380862","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Dynamic instability of an eccentrically rotating ring-shaped structure","authors":"Zhenhang Wei, Shiyu Wang, Yifan Wang","doi":"10.1177/09544062231213216","DOIUrl":"https://doi.org/10.1177/09544062231213216","url":null,"abstract":"Ring-shaped structures are widely used in engineering. However, their rotation axes are typically not coincident with the geometric axes, thus resulting in a rotational centrifugal force and significant vibration. This study focuses on the dynamic instability caused by constant and time-varying eccentricities. An analytical model is established using Hamilton’s principle and the Galerkin method, in which the rotational centrifugal forces resulting from constant and time-varying eccentricities are incorporated. Based on this model, the effects of rotation, revolution, eccentricity ratio, and damping on instability behaviors are examined. The instabilities caused by constant eccentricity are predicted using eigensolutions, whereas those caused by time-varying eccentricity with single- and multifrequency components are estimated by applying the Floquét theory. The results show that the instability domains from the multifrequency eccentricity are not a simple superposition of those from the single-frequency eccentricity but contain more instability domains originating from their combinations. The instability suppressions imposed by damping and gyroscopic effects are compared. Finally, the instability domains from constant and time-varying eccentricities are verified via numerical calculations.","PeriodicalId":509477,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"51 8","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139381626","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Mechanical performance of stitched foam-filled honeycomb sandwich panels","authors":"VA Nagarajan, E. Dhanesh, K. V. Vinod Kumar","doi":"10.1177/09544062231217614","DOIUrl":"https://doi.org/10.1177/09544062231217614","url":null,"abstract":"Foam-filled Honeycomb Sandwich panels (FHS) are widely used in various industrial applications due to their superior multifunctional properties. However, these sandwich panels fail in some extreme conditions due to interfacial failure between the face sheet and core. To overcome this issue, novel stitched foam-filled honeycomb sandwich panels (SFHS) were fabricated by integrating the top face sheet and bottom face sheet by the stitching technique. Stitching through the face sheet and core is to improve the interfacial strength and increases the mechanical properties of the sandwich panel. FHS and SFHS were prepared by the Vacuum Assisted Resin Transfer molding (VARTM). Flexural, flatwise, and edgewise compression analysis values for SFHS panels are 2.02, 1.28, and 1.25 times higher than for FHS panels. SFHS panel weight increased slightly but had superior mechanical properties than FHS. These innovative SFHS panels can be broadly used for applications including structural, flooring, and body panels.","PeriodicalId":509477,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"29 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139383888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Investigating tooth surface reconstruction principle of a gear rack and pinion system with variable transmission ratio pinion","authors":"Niu Ziru, Cao Da, Liu Fuhui, Liangliang Zou, Yang Deqiu, Zhenbo Xin, Xinghua Liu, Wang Peng","doi":"10.1177/09544062231209619","DOIUrl":"https://doi.org/10.1177/09544062231209619","url":null,"abstract":"Rack-and-pinion gear sets with variable transmission ratios have gradually become a standard core component in steering systems, as the harmony between portability and sensitivity in vehicle steering can be achieved with such applications. When the conventional meshing theory is adopted to calculate point clouds of variable-ratio tooth surfaces, drawbacks will occur with respect to unevenness in point cloud density, inaccessible tooth surface boundaries, and point cloud fusion at the interface between the working tooth surface and fillet. Thus, the generated point cloud of variable ratio tooth surfaces is inapplicable for computer-aided engineering (CAE) and plastic forming. In this study, the point cloud reconstruction of pinion tooth surfaces with variable transmission ratio was investigated. Meanwhile, based on the analysis of transient length in contact lines that occur during gear meshing, various criteria were proposed to determine the validity of the variable-ratio rack-and-pinion design in terms of whether continuous and reverse driving can be achieved. By adopting the proposed methods, the designed variable-ratio pinion tooth surfaces demonstrate point clouds with equidistant distributions and clear boundaries. CAE analysis results also indicate a good quality in gear meshing. The real-time gear meshing status of variable-ratio rack-and-pinion sets is characterized by the transient length of contact lines. The measured variation curves for the transmission ratios of a prototype demonstrate significant consistency with the theoretical curves, indicated by attaining transmission ratio errors within a reasonable range. The validity of the design methods proposed in this study has been verified by the aforementioned results.","PeriodicalId":509477,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"32 14","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139383765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A double load spectrum extrapolation for drill pipe of rotary drilling rig considering load sequence","authors":"Yuying Shen, Yi Li, Jixin Wang, Haijin Wang","doi":"10.1177/09544062231221623","DOIUrl":"https://doi.org/10.1177/09544062231221623","url":null,"abstract":"The load spectrum of rotary drilling rig’s drill pipe is used for drill pipe design, simulated fatigue testing, and reliability assessment. However, the proper extrapolation of the drill pipe double load is challenging, especially to meet the requirements of both load sequence and load strengthening. In this paper, an extrapolation technique for a double load of drill pipe is proposed. The time sequence rainflow counting technique is proposed to keep the torque and pressure sequence. Meanwhile, the individual distributions of the loads are accurately estimated. Finally, the torque and pressure are simulated and extrapolated by the percentile extrapolation method. The results show that the proposed extrapolation method for maintaining the load sequence enriches the dynamics and diversity of the loads while ensuring the load sequence.","PeriodicalId":509477,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"58 19","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139384875","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}