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The regularities of the relationship between the anomalies of physicomechanical properties of nonferrous alloys and phase equilibrium diagrams 非铁合金物理力学性能异常与相平衡图之间关系的规律
Pub Date : 2020-01-01 DOI: 10.18323/2073-5073-2020-3-53-64
K. Shakhnazarov
: The existing numerous experimentally-built phase equilibrium diagrams of nonferrous alloys reflect the specific character of interaction of the components at their different ratios and different temperatures and give an idea of the so-called “metallographic” structure of alloys. In general, the literature sources establish a rather good relation between the structu re and the properties, which allows controlling properties, predicting their possible change when varying the components concentrations and the structure forming conditions. However, the applied criteria, which sometimes allow explaining and predicting the level of the achieved properties according to phase equilibrium diagram appearance, do not make it possible to explain the nature of a rather large number of existing anomalies of physicomechanical properties of the industrially used nonferrous alloys. Based on the study of numerous literature data, the author identified the regularity, which allows establishing a relationship between the anomalies in the physicomechanical properties of nonferrous alloys and phase equilibrium diagrams. The author introduced the concept of phase equilibrium diagram as the concentration dependence of the qualitative changes in the crystallization (recrystallization) intervals, which makes it possible to associate the phase equilibrium diagram with the extreme values of physicomechanical properties, which cannot be explained by the peculiarities of the phase composition or structure. The author developed the technique that allows associating anomalies in the properties of alloys with phase equilibrium diagrams based on the first established criterion – a qualitative change (temperature ex-tension) of the cr ystallization (recrystallization) interval (Q∆LS), as well as with a difference in the structural heredity (g e-nealogy) of the component atoms that make up the dual system. The joint analysis of the anomalies in the properties of binary alloys with state di agrams (based on the established criterion (Q∆LS)) allows relating the latter to the presence of intermediate phases in the Cu – Zn, Cu – Sn, Cu – Si, Al –Cu, Al−Si, Al−Mg, Al– Cu – Mg, Cu – Mn systems. Based on the identified regularity of the relationship between the anomalies of physicomechanical properties of alloys and the qualitative changes in the crystallization (recrystallization) interval (Q∆LS), the author proposes an alternative version of Kurnakov’s law.
现有的许多有色合金的实验建立的相平衡图反映了不同比例和不同温度下的组分相互作用的具体特征,并给出了合金的所谓“金相”组织的概念。总的来说,文献资料建立了较好的结构与性能之间的关系,可以控制性能,预测其随组分浓度和结构形成条件的变化可能发生的变化。然而,应用的标准有时允许根据相平衡图的外观来解释和预测达到的性能水平,但不能解释工业用有色金属合金的大量物理力学性能异常的本质。通过对大量文献资料的研究,发现了非铁合金物理力学性能异常与相平衡图之间的规律。短句来源引入了相平衡图的概念,认为相平衡图是结晶(再结晶)过程中质变的浓度依赖关系,从而可以把相平衡图与物理力学性能的极值联系起来,这是不能用相组成或相结构的特殊性来解释的。作者开发了一种技术,该技术可以将合金性能的异常与基于第一个建立标准的相平衡图联系起来- cr结晶(再结晶)间隔(Q∆LS)的质变(温度延伸张力),以及组成二元系统的组成原子的结构遗传(g -nealogy)的差异。用状态图(基于已建立的判据(Q∆LS))对二元合金的异常性质进行联合分析,可以将后者与Cu - Zn、Cu - Sn、Cu - Si、Al - Cu、Al - Si、Al - Mg、Al - Cu - Mg、Cu - Mn体系中中间相的存在联系起来。在确定了合金物理力学性能异常与结晶(再结晶)间隔(Q∆LS)质变之间关系的规律性的基础上,作者提出了另一种版本的Kurnakov定律。
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引用次数: 0
On the hydrogen state in magnesium alloys after corrosive effect 腐蚀作用后镁合金中氢的状态
Pub Date : 2020-01-01 DOI: 10.18323/2073-5073-2020-1-49-56
P. Myagkikh, E. Merson, V. Poluyanov, D. Merson, A. Vinogradov
: Low resistance to corrosion and stress corrosion cracking (SCC) hinders the widespread introduction of the magnesium alloys as the construction materials. Considered, that the SCC of the magnesium alloys may be related to the hydrogen fragility. Nevertheless, at the moment, the role of hydrogen in the SCC mechanism of magnesium alloys is not fully evident. In the previous papers, the authors identified that the role of diffusion-active hydrogen in the SCC process of magnesium alloys is highly doubtful: the results both of mechanical tests and gas analysis show that the concentration of diffusion-active hydrogen in tested materials is negligibly small; normally, hydrogen locates in the corrosion products. However, these studies have not identified the influence of external strains on the concentration and state of hydrogen, therefore, it is not clear if the results obtained are typical for SCC only or valid for the corrosion without external load. In this context, the authors set the goal to identify the concentration and the state of hydrogen in magnesium alloys after corrosive action without external strains. Samples of MA14 and MA2-1 alloys and pure magnesium were exposed in a corrosive medium, after which, each sample was divided into two parts: the corrosion products were removed from the first part and left untouched in the second part. Next, the authors studied the samples by gas analysis; and obtained extraction curves and hydrogen concentration values for each of them. The results of the study showed that the removal of corrosion products leads to a strong decline of hydrogen concentration, and at temperatures below 300 °C, it practically ceases. This indicates that most of the hydrogen is in the corrosion products and not in the diffusion-active form in the matrix metal, which is similar to the results obtained when studying the SCC.
镁合金抗腐蚀和应力腐蚀开裂(SCC)能力差,阻碍了镁合金作为建筑材料的广泛应用。考虑到镁合金的SCC可能与氢脆性有关。然而,目前,氢在镁合金SCC机制中的作用还不完全清楚。在之前的论文中,作者发现扩散活性氢在镁合金SCC过程中的作用非常值得怀疑:力学试验和气体分析结果表明,被测材料中扩散活性氢的浓度可以忽略不计;通常,氢位于腐蚀产物中。然而,这些研究并没有确定外部应变对氢的浓度和状态的影响,因此,不清楚所获得的结果是否仅适用于SCC,还是适用于没有外部载荷的腐蚀。在这种情况下,作者设定的目标是确定在没有外部应变的腐蚀作用后镁合金中氢的浓度和状态。将MA14、MA2-1合金和纯镁样品暴露在腐蚀介质中,然后将每个样品分成两部分,第一部分去除腐蚀产物,第二部分保持原状。然后,对样品进行气相分析;并得到了它们的萃取曲线和氢浓度。研究结果表明,腐蚀产物的去除导致氢浓度的强烈下降,并且在温度低于300℃时,氢浓度几乎停止下降。这表明大部分氢以腐蚀产物的形式存在,而不是以扩散活性形式存在于基体金属中,这与研究SCC时得到的结果相似。
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引用次数: 0
The effect of hydrogen charging on the mechanical properties and fracture mechanisms of high-nitrogen chromium-manganese steels after age-hardening 充氢对高氮铬锰钢时效硬化后力学性能及断裂机制的影响
Pub Date : 2020-01-01 DOI: 10.18323/2073-5073-2020-1-57-67
M. Panchenko, A. Mikhno, I. Tumbusova, G. Maier, V. Moskvina, E. Melnikov, S. Astafurov, E. Astafurova
: Currently, many technical problems require a comprehensive study of the properties of materials operating in hydrogen-containing environments. The authors investigated the effect of age-hardening on the hydrogen embrittlement and fracture micromechanisms of high-nitrogen austenitic Fe-23Cr-17Mn-0.1C-0.6N (wt. %) steel. For this purpose, using heat treatments, the authors formed in specimens of Fe-23Cr-17Mn-0.1C-0.6N steel the structural phase states characte-rized by different distribution and content of dispersed phases. The experiment determined that the accumulation of hydrogen atoms occurs predominantly in the grains in solution-treated specimens without dispersed phases. This causes the effects of solid solution hardening and leads to a change in the micromechanism of steel fracture from a ductile dimple fracture in the absence of hydrogen to a transgranular fracture by the quasi-cleavage mechanism in hydrogen-charged specimens. It was established that the discontinuous decomposition of austenite with the formation of Cr 2 N cells and austenite depleted in nitrogen, predominantly along the grain boundaries causes the formation of a large fraction of interphase (aus-tenite/Cr 2 N particles) boundaries. Cells of discontinuous decomposition promote hydrogen accumulation along the grain boundaries and cause brittle intergranular fracture of hydrogen-charged specimens during plastic deformation. The study showed that in specimens with the discontinuous decomposition of austenite both along the grain boundaries and spreading into the grain body, plenty of intragranular interphase boundaries (Cr 2 N plates in austenite) are formed, which causes the formation of a transgranular brittle fracture in the hydrogen-charged specimens.
当前,许多技术问题需要对材料在含氢环境下的性能进行全面的研究。研究了时效硬化对高氮奥氏体Fe-23Cr-17Mn-0.1C-0.6N (wt. %)钢氢脆及断裂微观机制的影响。为此,通过热处理,在Fe-23Cr-17Mn-0.1C-0.6N钢试样中形成了分散相分布和含量不同的组织相态。实验确定,在溶液处理的样品中,氢原子的积累主要发生在晶粒中,没有分散相。这导致了固溶硬化效应,导致钢的断裂微观机制由无氢时的韧性韧窝断裂转变为含氢试样的准解理穿晶断裂。结果表明,奥氏体的不连续分解(cr2n细胞的形成)和贫氮奥氏体主要沿晶界形成了大量的间相(奥氏体/ cr2n颗粒)晶界。不连续分解细胞促进氢沿晶界积累,导致充氢试样在塑性变形过程中发生脆性晶间断裂。研究表明,在奥氏体沿晶界不连续分解并向晶体扩散的试样中,形成了大量的晶内相界面(奥氏体中的cr2n板),导致充氢试样形成穿晶脆性断口。
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引用次数: 0
Effect of the precipitation hardening on regularities of plastic deformation and fracture mode of V-alloyed high nitrogen austenitic steel 沉淀硬化对v合金高氮奥氏体钢塑性变形规律及断裂方式的影响
Pub Date : 2020-01-01 DOI: 10.18323/2073-5073-2020-2-42-50
A. Mikhno, M. Panchenko, G. Maier, V. Moskvina, E. Melnikov, S. Astafurov, E. Astafurova
: Nitrogen alloying of austenitic steels increases their corrosion resistance and improves mechanical properties. During heat treatment, high-nitrogen austenitic steels tend to the precipitation hardening and the increase of strength characteristics. In the current paper, the authors studied the effect of the duration of age-hardening at the temperatures of 700 °С and 800 °С on the structure, phase composition, plastic flow behavior, and fracture mechanisms of V -alloyed high nitrogen chrome-manganese austenitic Fe-19Cr-22Mn-1.5V-0.3C-0.86N (mass %) steel. The study revealed that after wa-ter-quenching at 1200 °С, the specimens possess the high strength properties, ductility and contain large (300– 500 nm) (V,Cr)(N,C) particles. Aging at temperatures of 700 °С and 800 °С facilitates complex reactions of austenite discontinuous decomposition with the Cr 2 N-plate formation in grains and continuous decomposition with the formation of vanadium nitride-based particles in austenite. During the long-term aging (50 h at 700 °C and 10 h at 800 °C), the intermetallic σ -phase appears in specimens. At age-hardening, the observed phase transformations cause the changes in macro- and mi-cro-mechanism of fracture in the specimens of steel under the study. In the initial state, the specimens show mainly the ductile transgranular fracture. After age-hardening, the fracture mechanism changes into the mixed mechanism with the elements of brittle intergranular and ductile transgranular fractures. When increasing the duration of aging and imple-mentation of complex reactions of decomposition of solid solution, the specimens are fractured by the quasi-cleavage mechanism. The specimens aged at temperatures of 700 °С and 800 °С have quite similar precipitation hardening mech a-nisms, though the increase in aging temperature leads to the rising of the decomposition rate of solid solution. The sequence of transformations described above and the corresponding sequence of changes in the mechanisms of steel fracture are implemented faster when increasing the aging temperature.
奥氏体钢的氮合金化提高了它们的耐腐蚀性并改善了机械性能。高氮奥氏体钢在热处理过程中表现出析出硬化和强度增加的特点。本文研究了700°С和800°С时效硬化时间对V合金高氮铬锰奥氏体钢Fe-19Cr-22Mn-1.5V-0.3C-0.86N(质量%)钢的组织、相组成、塑性流动行为和断裂机制的影响。研究表明,在1200°С水淬后,试样具有较高的强度和延展性,并含有较大的(300 ~ 500 nm) (V,Cr)(N,C)颗粒。700°С和800°С时效有利于奥氏体不连续分解(晶粒中形成Cr 2 n -板)和连续分解(奥氏体中形成氮化钒基颗粒)的复杂反应。在700℃时效50 h和800℃时效10 h的过程中,试样中出现了金属间化合物σ -相。在时效硬化过程中,观察到的相变引起了钢试样宏观和微观断裂机制的变化。在初始状态下,试样主要表现为韧性穿晶断裂。时效硬化后,断裂机制转变为脆性沿晶断裂和韧性穿晶断裂混合机制。随着时效时间的延长和固溶体分解的复杂反应的发生,试样发生准解理断裂。在700°С和800°С时效时,试样的析出硬化机制非常相似,但时效温度的升高导致固溶体分解速率的升高。随着时效温度的升高,上述转变的顺序和相应的钢断裂机制变化的顺序发生得更快。
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引用次数: 0
Calculation-theoretical study of characteristics of the two-phase flow in a sandblasting machine 喷砂机两相流特性的计算理论研究
Pub Date : 2020-01-01 DOI: 10.18323/2073-5073-2020-2-32-41
Горелов Николай Дмитриевич, Попов Всеволод Валериевич, Берников Владимир Владиславович
: The paper considers the possibility of conversion applying of a rocket engine as a sandblasting machine for thermo-abrasive treatment. The higher performance characteristics of a treated surface can be achieved through the expo-sure of the high-temperature two-phase flow accelerated in the device nozzle barrel on the object. The ejection feed of granular abrasive substances determines the relative structural simplicity of the device structure. The authors prove the efficiency of such a device using the gas-dynamic process modeling in the CFD software package, the calculations of which are based on combined equations including the key parameters of both the carrier gas and the solid phase particles. The process modeling considers the influence of the geometry and the specifics equal to the real operating prototype. During further analysis, to determine the optimal mode, the authors investigated the influence of various border conditions on the supersonic two-phase flow. The study considers the mutual influence of gas flow and abrasive solid particles starting from the powder delivery section to the nozzle outlet section. The study presents the comparison of temperature and pressure fields depending on the input values, as well as the fluid velocity fields based on these values. The authors carried out the analysis of the dependence of solid particle motion speed on the coordinate at various initial data of temperature and pressure. The study pays special attention to the consideration of the impact of the k -phase particle size on the speed parameters. During the study, the authors identified the main methods of device adjustment to achieve the required mode parameters. As a result of the analysis, the paper concludes on the efficiency and competitive ability of the thermo-abrasive treatment method under the study.
本文探讨了将火箭发动机转换为喷砂机进行热磨料处理的可能性。处理表面的更高性能特性可以通过在装置喷嘴筒内加速的高温两相流对物体的暴露来实现。颗粒状磨料的喷射进料决定了该装置结构的相对结构简洁性。作者利用CFD软件包中的气体动力学过程建模,根据包含载气和固相颗粒关键参数的组合方程进行计算,证明了该装置的效率。过程建模考虑了几何形状的影响和与实际操作原型相等的细节。在进一步分析中,为了确定最佳模态,研究了不同边界条件对超音速两相流的影响。研究考虑了从出粉段到喷嘴出口段的气流和磨料固体颗粒的相互影响。研究比较了不同输入值下的温度场和压力场,以及基于这些输入值的流体速度场。分析了不同温度和压力初始数据下固体粒子运动速度与坐标的关系。该研究特别注意考虑了k相粒度对速度参数的影响。在研究过程中,作者确定了实现所需模态参数的主要器件调整方法。通过分析,对所研究的热磨料处理方法的效率和竞争力进行了总结。
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引用次数: 0
The influence of carbon nanotubes on the electric conductivity of thermosetting plastics and elastomers 碳纳米管对热固性塑料和弹性体电导率的影响
Pub Date : 2020-01-01 DOI: 10.18323/2073-5073-2020-3-65-72
A. Shchegolkov, F. Komarov, I. Parfimovich, O. Milchanin, A. Shchegolkov, A. V. Khrobak, A. V. Semenkova
: In the technology of electricity-conducting polymer composites, the up-to-date topic is the application of modifiers with nanoscale geometric parameters. Such materials are both single-wall and multi-wall carbon nanotubes. The use of multi-wall carbon nanotubes as additives to polymers allows achieving good results associated with the electrical conductivity manifestation at the low percentage ratios of the introduced carbon nanotubes. The study considered two different types of polymers: epoxy resin and silicone. For modification, the authors used the multilayer carbon nanotubes (MCNT). For silicone, the authors studied the electrical conductivity at the mechanical deformations, in particular, at torsion with different twist angles. The study considered the influence of MCNT with different bulk density on the electrical conductivity of composites. At the 100 Hz measurement frequencies for identical additive concentrations with 1, 2, 4, and 8 wt.% in composites with the “Taunit - M” MCNT, the conductivity is about by 2 orders of magnitude larger than in co m-posites with “Taunit” MCNT. A polymer modified by an MCNT with a specific surface a rea of 202.3 m2/g has a lower specific resistivity (3.8 × 105 Ohm×cm). The MCNT modifier with a specific surface area of 202.3 m2/g, which is smaller in comparison with other types of MCNT, and a bulk density of 42.6 kg/m3 allows obtaining the lowest electrical resistivity. An MCNT with a high specific surface area of 541.5 m2/g causes the formation of electrical conductivity by 2 orders of magnitude lower than an MCNT with a specific surface area of 202.3 m2/g. The study identified that at the mass content of MCNT 1.5 and 2 mass.%, the composites are characterized by an increase in electrical resistivity at torsion angles from 0 to 900°.
在导电聚合物复合材料技术中,纳米级几何参数改性剂的应用是当前研究的热点。这种材料包括单壁和多壁碳纳米管。使用多壁碳纳米管作为聚合物的添加剂,可以在引入的碳纳米管的低百分比比下获得与电导率表现相关的良好结果。该研究考虑了两种不同类型的聚合物:环氧树脂和硅树脂。为了进行修饰,作者使用了多层碳纳米管(MCNT)。对于有机硅,作者研究了机械变形时的电导率,特别是不同扭转角度下的电导率。研究了不同体积密度的MCNT对复合材料电导率的影响。在100 Hz的测量频率下,“Taunit - M”MCNT复合材料中的添加剂浓度分别为1、2、4和8 wt.%,电导率比“Taunit”MCNT复合材料中的co - M -posites高出约2个数量级。由MCNT修饰的聚合物的比表面积为202.3 m2/g,具有较低的比电阻率(3.8 × 105 Ohm×cm)。MCNT改进剂的比表面积为202.3 m2/g,比其他类型的MCNT小,体积密度为42.6 kg/m3,可以获得最低的电阻率。具有541.5 m2/g高比表面积的MCNT比具有202.3 m2/g比表面积的MCNT产生的电导率低2个数量级。研究发现,在MCNT的质量含量为1.5和2时。%,复合材料的特点是在扭转角从0到900°时电阻率增加。
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引用次数: 1
The analysis of double-action press slider movement 双动压力机滑块运动分析
Pub Date : 2020-01-01 DOI: 10.18323/2073-5073-2020-2-61-67
E. N. Pocheckuev, P. A. Puteev
: The complex sheet parts forming uses double-action presses with an external slider for clamping the workpiece. The quality of sheet metal parts depends on many factors, including the equipment parameters. The part forming shows the external slider displacements during clamping. The kinematics of the multi-link double-action press mechanism affects these displacements. The external slider movement during clamping leads to the clamping force chang-ing and, as a result, to folding. To determine the kinematic displacement of the external slider during clamping, the authors analyzed the kinematics of the press multilink mechanism. The solution proposes a mathematical model of the double-action press kinematics. The authors built a wire-frame CAD-model of the press working parts and, using NX Siemens PLM Software, analyzed its kinematics. It allowed building a cyclogram of the external slider movement and finding the crankshaft rotation angle interval for clamping. This interval contains several local extrema. To find the exact value of the slider displacement in the lower position, the authors built the system of nonlinear displacement equations. Such a system did not have an analytical solution; therefore, its solution was found with numerical analysis. For the local extrema points, the authors found the nonlinear system solutions and obtained the displacement extremal values using the MATLAB software. The study showed that to prevent folding, it is necessary to set the gap between the clamp and matrix, taking into account the kinematic displacement of the external slider during clamping, which can amount up to 1/3 of the thickness of a workpiece of the exterior parts of a vehicle.
:复杂的板料零件成型采用双动压力机与外部滑块夹紧工件。钣金件的质量取决于许多因素,包括设备参数。零件成形显示夹紧期间外部滑块的位移。多连杆双动压力机机构的运动学影响这些位移。在夹紧期间,外部滑块运动导致夹紧力变化,从而导致折叠。为了确定夹紧过程中外滑块的运动位移,对压力机多连杆机构进行了运动学分析。该方案提出了双动压力机运动学的数学模型。建立了压力机工作部件的线框cad模型,并利用NX Siemens PLM软件对其进行了运动学分析。它允许建立一个外部滑块运动的环图,并找到曲轴旋转角度间隔夹紧。这个区间包含几个局部极值。为了求出滑块下位位移的精确值,作者建立了非线性位移方程系统。这样的系统没有解析解;因此,通过数值分析找到了其解。对于局部极值点,利用MATLAB软件求出非线性系统解并求出位移极值。研究表明,为了防止折叠,考虑到夹紧过程中外部滑块的运动位移,有必要设置夹紧与矩阵之间的间隙,该间隙可达车辆外部零件一个工件厚度的1/3。
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引用次数: 0
The technologies of improving the process of air-fuel mixture combustion in spark ignition engines 改进火花点火发动机空气燃料混合气燃烧过程的技术
Pub Date : 2020-01-01 DOI: 10.18323/2073-5073-2020-4-51-57
A. Shaikin, I. Galiev, D. A. Pavlov, M. V. Sazonov
The paper considers the turbulence intensity and the fuel chemical composition impact on the flame propagation velocity at the initial and main combustion phases when changing the air-fuel mixture composition. The relevance of the study is caused by the fact that currently, the improvement of conventional engine operation characteristics is mainly achieved through the improvement of the fuel mixture combustion process. However, there are no data on the influence of chemical and gas-dynamic factors on the peculiarities of flame propagation at the initial and main combustion phases. The gas reciprocating internal combustion engine was the object of the research, and the subject of the study was the fuel combustion process. Fuel chemical composition changed due to the promoting addition of hydrogen to the natural gas and variations of the excess-air coefficient. The experiments carried out on the UIT-85 power plant (i.e. under the simulated internal combustion engine conditions) show that the promoting addition of hydrogen stronger influences the flame velocity in the initial combustion phase compared to the second combustion phase, as a combustion source in the first phase is a laminar flame bent front and depends only on chemical and thermo-physical properties of the fuel-air mixture. The analysis of experimental data showed the dual impact of turbulence intensity on the flame propagation velocity. In particular, at the beginning of the combustion process, the fluctuating velocity scarcely influences the flame propagation velocity, as opposed to the main combustion phase, where the flame propagation velocity increases at the increase of turbulence intensity.
本文考虑了改变空气-燃料混合成分时,湍流强度和燃料化学成分对燃烧初期和主燃烧阶段火焰传播速度的影响。研究的相关性是由于目前常规发动机工作特性的改善主要是通过改进燃油混合气燃烧过程来实现的。然而,没有关于化学和气体动力学因素对燃烧初期和主燃烧阶段火焰传播特性影响的数据。以燃气往复式内燃机为研究对象,研究对象为燃料燃烧过程。燃料化学成分的变化是由于天然气中氢的加入和过量空气系数的变化引起的。在unit -85电厂(即在模拟内燃机条件下)进行的实验表明,由于第一阶段的燃烧源是层流火焰弯曲前缘,仅取决于燃料-空气混合物的化学和热物理性质,因此促进氢的添加对燃烧初始阶段的火焰速度的影响比第二燃烧阶段更大。对实验数据的分析表明,湍流强度对火焰传播速度有双重影响。特别是在燃烧初期,波动速度对火焰传播速度几乎没有影响,而在主燃烧阶段,随着湍流强度的增加,火焰传播速度增加。
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引用次数: 0
Two approaches to study the effect of surface stresses in an elastic body with a nearly circular nanodefect 研究具有近圆形纳米缺陷的弹性体中表面应力影响的两种方法
Pub Date : 2020-01-01 DOI: 10.18323/2073-5073-2020-1-7-14
A. B. Vakaeva, G. Shuvalov, S. Kostyrko, O. Sedova
: Most of the advanced construction and functional materials are elastically nonuniform, moreover, for many of them, the elongated holes and inclusions are typical, which are similar to a cylinder in form. The strength and physico-chemical properties of a material, to a great extent, depend on the peculiarities of the strain-stress state of the near-surface and boundary layers of the materials in the heterogeneous systems. The development of the processes of elastic defor-mation and fracture in these areas, to a large extent, determines the mechanical behavior of a material in general and arouses much interest. The authors study the influence of interfacial stresses on the strain-stress state of elastic bimaterial with smooth waveform interface; consider the 2-D solid mechanics problem of an elastic body with nanoscale boundary surface texture, which appears between the nearly circular inclusion and the matrix. It is expected that a body is situated within a uniform stress field. To solve the problem, the authors used the simplified Gurtin–Murdoch’s surface/interface elasticity model, where the interfacial boundary is the negligibly thin layer exactly bordered on the bulk phases. It is acknowledged that there are no displacement discontinuities on the interfacial boundary, and the stress jump is determined by the effect of surface/interfacial stress according to the generalized Laplace–Young law. Using the boundary perturbation method, the problem solution for each-order approximation is limited to a singular integrodifferential equation against the unknown surface/interfacial stress. The paper gives the numerical results for the problem to a first-order approximation. As a result, the authors carry out the comparative analysis of the strain-stress state using the finite-element method and analytical boundary perturbation method.
:大多数先进的建筑和功能材料具有弹性不均匀性,其中许多材料具有典型的细长孔和夹杂物,其形状类似圆柱体。材料的强度和物理化学性质在很大程度上取决于材料在非均相体系中近表面和边界层的应变-应力状态的特殊性。这些区域的弹性变形和断裂过程的发展,在很大程度上决定了材料的力学性能,引起了人们的广泛关注。研究了界面应力对具有光滑波形界面的弹性双材料的应变-应力状态的影响;考虑具有纳米级边界表面织构的弹性体的二维固体力学问题,该边界表面织构出现在近圆形夹杂物和基体之间。预期物体处于均匀应力场中。为了解决这个问题,作者使用了简化的Gurtin-Murdoch的表面/界面弹性模型,其中界面边界是与体相精确接壤的可忽略的薄层。根据广义拉普拉斯-杨定律,在界面边界上不存在位移不连续,应力跳变是由表面/界面应力的作用决定的。利用边界摄动法,每阶近似的问题解被限制为一个对未知表面/界面应力的奇异积分微分方程。本文给出了该问题的一阶近似的数值结果。因此,作者采用有限元法和解析边界摄动法对其应变-应力状态进行了对比分析。
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引用次数: 0
THE FORMATION OF THE BANK OF GAITS FOR A CRAWLING SEARCH ROBOT WITH CONTROLLABLE FRICTION IN BEARING SUPPORTS 具有可控支承摩擦的爬行搜索机器人步态库的形成
Pub Date : 2019-12-30 DOI: 10.18323/2073-5073-2019-4-19-28
L. Vorochaeva, S. Savin
The paper considers a three-link crawling snake-like robot, the links of which are connected by two-axis hinges. The robot is equipped with four bearing supports with the controlled coefficient of friction between them and the surface. The device is designed to move inside buildings after the emergencies to search for people under the debris and to transport the essentials to them. The robot is controlled by the operator in two modes: the sequential execution of commands (forward, backward, turn, etc.) and moving from the starting point to the final one. Working in each of the control modes requires the use of the gaits bank. The authors developed the classification of gaits for a crawling robot based on several criteria: the admissible periodic separation of links from a surface, the ability to control by friction in the supports, the combinations of controllable bearing supports, and the implemented type of motion. The authors studied in detail the controllable planar gaits of a robot when moving it forward and distinguished four types of gaits: longitudinal, transverse, transverse s-shaped, and longitudinal-transverse. For each gait the sequence of stages is developed, the conditions of their beginning and end imposed on the movements of the links are formulated and the vector of generalized coordinates is defined. As a result of numerical simulation, the authors built the graphs of trajectories of the centers of mass of links and the center of mass of the entire device for each gait, as well as the graphs of time dependences of the angles of rotation of links. The study identified the influence of angles of links relative positions on the distance traveled by the robot. It is revealed that for the same time of movement, the robot will pass the greatest distance with a longitudinal gait irrespective of angles of links relative position. The device will be able to march the same distance at two types of transverse gaits at the maximum possible angle of the links relative position.
本文研究了一种三连杆蛇形爬行机器人,其连杆由两轴铰链连接。机器人配备了四个轴承支撑,它们与表面之间的摩擦系数是可控的。该设备的设计目的是在紧急情况发生后进入建筑物内,搜寻废墟下的人员,并向他们运送必需品。机器人由操作者以两种模式控制:顺序执行命令(前进、后退、转弯等)和从起点移动到终点。在每种控制模式下工作都需要使用步态库。作者根据以下几个标准对爬行机器人的步态进行了分类:可接受的连杆与表面的周期性分离,通过支撑中的摩擦控制的能力,可控轴承支撑的组合以及实现的运动类型。详细研究了机器人前进时的可控平面步态,并将其分为纵向、横向、横向s型和纵向-横向四种步态。对每一步态建立了阶段序列,给出了连杆运动的起始和结束条件,定义了广义坐标向量。通过数值仿真,建立了各步态下连杆质心轨迹图和整个装置的质心轨迹图,以及连杆转角的时间依赖性图。该研究确定了连杆相对位置的角度对机器人行进距离的影响。结果表明,在相同的运动时间内,无论连杆相对位置的角度如何,机器人都会以纵向步态走过最大的距离。该装置将能够以两种类型的横向步态在链接相对位置的最大可能角度下行进相同的距离。
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