The paper presents kinematic characteristics of the double 4-link coupler system, used in actual powertrain of low-floor trams (NGT6-Kr). The spatial kinematic model of the couplings was formulated assuming ideal joints and rigid members. The constraints equations of the mechanism were solved iteratively and differentiated to obtain the Jacobian matrix. The mobility and singularity analysis of the coupler mechanism was performed on the basis of the Jacobian matrix. Kinematic characteristics of the single and double coupler system were analyzed for gross angular and linear axle displacements (misalignments), taking the advantage of the fully nonlinear model. The coupling system was evaluated based on criteria describing homokinetics, balancing and clearance demands, and angular displacements in the joints. These criteria were determined for different design parameters like: coupler proportions, platform shift and angle, middle shaft length.
I n this second interview in our series with scientist-couples who are partners both at work and in life, we talk to Joanna Sułkowska and Piotr Sułkowski about science as discussed on morning talk shows as well as the need for understanding and keeping distance.
The permanent magnet synchronous motor (PMSM) driven by an inverter is widely used in the industrial field, but the inverter has a significant impact on the operational stability of the PMSM. The torque ripple of the PMSM is directly affected by the coupling of multiple harmonic voltages in the motor windings. In order to analyze its influence, a water-cooled PMSM with 20 kW 2000 r/min is taken as an example to establish the finite element model of the prototype, and the correctness of the model is verified by experiments. Firstly, based on the finite element method, the electromagnetic field of the PMSM is numerically solved in different operating states, and the performance parameters of the PMSM are obtained. Based on these parameters, the influence of the harmonic voltage amplitude on the torque ripple is studied, and the influence law is obtained. Secondly, combined with the decoupling analysis method, the influence of harmonic voltage coupling on the torque ripple is compared and analyzed, and the variation law of harmonic voltage coupling on the torque ripple is obtained. In addition, the influence of different harmonic voltage coupling on the average torque of the PMSM is studied, and the influence degree of different harmonic voltage amplitude on the torque fluctuation is determined. The conclusion of this paper provides reliable theoretical guidance for improving motor performance.
In multi-axis motion control systems, the tracking errors of single axis load and the contour errors caused by the mismatch of dynamic characteristics between the moving axes will affect the accuracy of the motion control system. To solve this issue, a biaxial motion control strategy based on double-iterative learning and cross-coupling control is proposed. The proposed control method improves the accuracy of the motion control system by improving individual axis tracking performance and contour tracking performance. On this basis, a rapid control prototype (RCP) is designed, and the experiment is verified by the hardware and software platforms, LabVIEW and Compact RIO. The whole design shows enhancement in the precision of the motion control of the multiaxis system. The performance in individual axis tracking and contour tracking is greatly improved.
The paper discusses the modelling of magnetic coupling in ignition coils by fractional differential equations. The use of fractional-order coupling allows us to consider the losses caused by the non-linearity of the ferromagnetic core of the ignition coil and obtain the waveform of the ignition coil’s secondary voltage closest to the values obtained experimentally.
An algorithm of determination of mechanical stresses and deformations of the magnetic circuit shape, caused by forces of magnetic origin, is presented in this paper. The mechanical stresses cause changes of magnetizing characteristics of the magnetic circuit. The mutual coupling of magnetic and mechanical fields was taken into account in the algorithm worked out. A computational experiment showed that it was possible to include the interaction of both fields into one numerical model. The elaborated algorithm, taking into account the impact of mechanical stresses on magnetic parameters of construction materials, can be used in both the 2D and the 3D type field-model.
Entries in steeply pitching seams have a more complex stress environment than those in flat seams. This study targets techniques for maintaining the surrounding rock mass stability of entries in steep seams through a case study of a steep-seam entry at a mine in southern China. An in-depth study of the deformation and instability mechanisms of the entry is conducted, employing field measurement, physical simulation experiment, numerical simulation, and theoretical analysis. The study results show that the surrounding rock mass of the entry is characterised by asymmetrical stress distribution, deformation, and failure. Specifically, 1) the entry deformation is characterised by a pattern of floor heaving and roof subsidence; 2) broken rock zones in the two entry walls are larger than those in the roof and floor, and the broken rock zone in the seam-floor side wall is larger than that in the seam-roof side wall; 3) rock bolts in the middle-bottom part of the seam-floor side wall of the entry are prone to failure due to tensile stress; and 4) rock bolts in the seam-roof side wall experience relatively even load and relatively small tensile stress. Through analysis, disturbances were found to occur in both temporal and spatial dimensions. Specifically, in the initial mining stage, the asymmetrical rock structure and stress distribution cause entry deformation and instability; during multiple-seam multiple-panel mining operations, a wedge-shaped rock mass and a quasi-arc cut rock stratum formed in the mining space may cause subsidence in the seam-floor side wall of the entry and inter-stratum transpression, deformation, and instability of the entry roof and floor. The principles for controlling the stability of the surrounding rock mass of the entry are proposed. In addition, an improved asymmetrical coupled support structure design for the entry is proposed to demonstrate the effective control of entry deformation.
The nonlinear interaction of wave and non-wave modes in a gas planar flow are considered. Attention is mainly paid to the case when one sound mode is dominant and excites the counter-propagating sound mode and the entropy mode. The modes are determined by links between perturbations of pressure, density, and fluid velocity. This definition follows from the linear conservation equations in the differential form and thermodynamic equations of state. The leading order system of coupling equations for interacting modes is derived. It consists of diffusion inhomogeneous equations. The main aim of this study is to identify the principle features of the interaction and to establish individual contributions of attenuation (mechanical and thermal attenuation) in the solution to the system.
The Halbach array structure rotor of the aero motor can satisfy the requirements of high power density and high air-gap flux for aeronautical motors. The size parameters of the rotor are determined by the power rating of the motor based on an analytic method. Producing a Halbach array structure is difficult. Comparison and analysis of the structure of the aero motor showthat the overall structure of the rotor adopts a three-axial-section classic Halbach-array hollow structure, and the rotor magnetic steel adopts a discrete structure of 4 blocks per pole and a single 45◦ magnetisation mode, which reduces the processing difficulty of the rotor magnetic steel. The finite element method was used to analyse the magnetic flux density distribution of the aeronautical motor under various working conditions. The results show that the motor can produce uniform air-gap flux density at various working conditions and present good sinusoidal periodicity. Furthermore, the axial segment did not produce obvious magnetic flux leakage. Finally, considering the eddy current loss of the stator under the rated power-generation condition with high-frequency magnetic field, we conducted coupling analysis of electromagnetic and heat flows to verify that the thermal characteristics of the rotor magnetic steel material could meet the requirements for the aero motor.