Pub Date : 2024-08-22DOI: 10.1177/14644193241274204
Shi Wu, Mingzhu Wang, Weidong Zhu
Planetary gear train is an important part of automatic transmission. The oil film between teeth is one of the key factors affecting the torsional vibration of planetary gear train. Selecting the appropriate oil film stiffness is of great significance for analyzing the nonlinear dynamic characteristics of planetary gear train. A method for analyzing the nonlinear dynamic characteristics of planetary gear system torsional vibration considering the oil film force between teeth is proposed in this paper. A 3-DOF torsional vibration model of planetary gear train considering oil film is established. In this model, the oil film between teeth is equivalent to a time-varying nonlinear spring-damper element, and nonlinear factors such as backlash and meshing error are also considered. The effects of meshing oil film thickness on oil film stiffness and damping are analyzed, and the torsional vibration characteristics of planetary gear train under different meshing stiffness, meshing damping ratio, and rotational speed are analyzed based on bifurcation diagrams. The results show that in one meshing cycle, the meshing oil film thickness first becomes larger and then becomes smaller. When the meshing oil film thickness increases, the meshing oil film stiffness and the equivalent meshing oil film damping become smaller. The torsional vibration of planetary gear train can be effectively reduced by increasing meshing stiffness, damping ratio, rotational speed within a certain range. This method provides technical support for reducing torsional vibration of planetary gear train and realizing stable transmission of planetary gear train.
{"title":"Nonlinear dynamic characteristics analysis method of planetary gear train torsional vibration considering meshing oil film force","authors":"Shi Wu, Mingzhu Wang, Weidong Zhu","doi":"10.1177/14644193241274204","DOIUrl":"https://doi.org/10.1177/14644193241274204","url":null,"abstract":"Planetary gear train is an important part of automatic transmission. The oil film between teeth is one of the key factors affecting the torsional vibration of planetary gear train. Selecting the appropriate oil film stiffness is of great significance for analyzing the nonlinear dynamic characteristics of planetary gear train. A method for analyzing the nonlinear dynamic characteristics of planetary gear system torsional vibration considering the oil film force between teeth is proposed in this paper. A 3-DOF torsional vibration model of planetary gear train considering oil film is established. In this model, the oil film between teeth is equivalent to a time-varying nonlinear spring-damper element, and nonlinear factors such as backlash and meshing error are also considered. The effects of meshing oil film thickness on oil film stiffness and damping are analyzed, and the torsional vibration characteristics of planetary gear train under different meshing stiffness, meshing damping ratio, and rotational speed are analyzed based on bifurcation diagrams. The results show that in one meshing cycle, the meshing oil film thickness first becomes larger and then becomes smaller. When the meshing oil film thickness increases, the meshing oil film stiffness and the equivalent meshing oil film damping become smaller. The torsional vibration of planetary gear train can be effectively reduced by increasing meshing stiffness, damping ratio, rotational speed within a certain range. This method provides technical support for reducing torsional vibration of planetary gear train and realizing stable transmission of planetary gear train.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142204753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-16DOI: 10.1177/14644193241271763
Meng Lin, Chunjun Chen, Ji Deng, Huijie Qin
A dynamic track stabiliser vehicle is an unconventional vehicle for maintaining the quality of ballasted tracks, and its dynamic performance has a significant impact on its working efficiency. For the first time, this paper proposes a comprehensive dynamic track stabiliser vehicle–track coupled vertical and lateral multi-body dynamics model based on classical vehicle–track coupling dynamics theory. In this model, detailed attention is given to the vertical, lateral, roll, yaw, and pitch motions of the components, including the vehicle body, bogies, wheelsets and stabilisers. The Shen–Hedrick–Elkins theory is employed to describe non-linear wheel–rail contact relationships between the bogie wheelsets and the rails, and three various methodologies are adopted to address complicated wheel–rail interaction problems between the stabiliser wheelsets and the rails. This comprehensive multi-body dynamics model enables a detailed investigation of the dynamic performance of the system under complex excitations, such as the lateral excitation of the stabilisers and vertical downward pressure exerted by hydraulic cylinders, especially the dynamic response of the stabilisers in the vibration environment of the complete vehicle. The dynamics model was fully validated by comparing its results with time- and frequency-domain data obtained from field tests. The results indicate that the model is capable of being used for analysis of the dynamic performance of dynamic track stabiliser vehicles.
{"title":"Dynamic modelling and experimental validation of a dynamic track stabiliser vehicle–track spatially coupling dynamics system","authors":"Meng Lin, Chunjun Chen, Ji Deng, Huijie Qin","doi":"10.1177/14644193241271763","DOIUrl":"https://doi.org/10.1177/14644193241271763","url":null,"abstract":"A dynamic track stabiliser vehicle is an unconventional vehicle for maintaining the quality of ballasted tracks, and its dynamic performance has a significant impact on its working efficiency. For the first time, this paper proposes a comprehensive dynamic track stabiliser vehicle–track coupled vertical and lateral multi-body dynamics model based on classical vehicle–track coupling dynamics theory. In this model, detailed attention is given to the vertical, lateral, roll, yaw, and pitch motions of the components, including the vehicle body, bogies, wheelsets and stabilisers. The Shen–Hedrick–Elkins theory is employed to describe non-linear wheel–rail contact relationships between the bogie wheelsets and the rails, and three various methodologies are adopted to address complicated wheel–rail interaction problems between the stabiliser wheelsets and the rails. This comprehensive multi-body dynamics model enables a detailed investigation of the dynamic performance of the system under complex excitations, such as the lateral excitation of the stabilisers and vertical downward pressure exerted by hydraulic cylinders, especially the dynamic response of the stabilisers in the vibration environment of the complete vehicle. The dynamics model was fully validated by comparing its results with time- and frequency-domain data obtained from field tests. The results indicate that the model is capable of being used for analysis of the dynamic performance of dynamic track stabiliser vehicles.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142204754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-23DOI: 10.1177/14644193241261899
Zhaoping Tang, Menghui Lu, Song Tu, Jianping Sun, Li Yan
The traction gear train is subjected to various internal excitations under different traction conditions, such as stiffness excitation, error excitation, meshing shock excitation, and tooth side clearance. The optimal modification scheme is different for each state, and the optimal modification plan based on a single working condition may not be applicable to every working condition. In this paper, we investigate the vibration response characteristics of electric multiple unit gearing under multiple conditions and propose a multi-condition modification scheme. Under different traction conditions, the mapping between gear modification parameters and vibration acceleration in gear transmissions is investigated using support vector machines. Genetic algorithms are used to solve the gear-modifying parameters to minimise the maximum vibration acceleration. A weight assignment principle is proposed to calculate the electric multiple unit traction gear transmission under different conditions, with the operating time and the amount of vibration in each condition as the measurement index. The results of the simulation show that the vibration acceleration under continuous conditions is reduced by 3.55 m/s2, a decrease of 69.88%; the vibration acceleration under high-speed conditions is reduced by 3.301 m/s2, a reduction of 58.74%, and the results show that the overall index of the electric multiple unit traction gear transmission system under different conditions has been improved after the optimisation of the multi-conditions modification, the gear transmission system's vibration is significantly reduced.
{"title":"Support vector machine-based optimisation of traction gear modifications for multiple-condition electric multiple unit","authors":"Zhaoping Tang, Menghui Lu, Song Tu, Jianping Sun, Li Yan","doi":"10.1177/14644193241261899","DOIUrl":"https://doi.org/10.1177/14644193241261899","url":null,"abstract":"The traction gear train is subjected to various internal excitations under different traction conditions, such as stiffness excitation, error excitation, meshing shock excitation, and tooth side clearance. The optimal modification scheme is different for each state, and the optimal modification plan based on a single working condition may not be applicable to every working condition. In this paper, we investigate the vibration response characteristics of electric multiple unit gearing under multiple conditions and propose a multi-condition modification scheme. Under different traction conditions, the mapping between gear modification parameters and vibration acceleration in gear transmissions is investigated using support vector machines. Genetic algorithms are used to solve the gear-modifying parameters to minimise the maximum vibration acceleration. A weight assignment principle is proposed to calculate the electric multiple unit traction gear transmission under different conditions, with the operating time and the amount of vibration in each condition as the measurement index. The results of the simulation show that the vibration acceleration under continuous conditions is reduced by 3.55 m/s<jats:sup>2</jats:sup>, a decrease of 69.88%; the vibration acceleration under high-speed conditions is reduced by 3.301 m/s<jats:sup>2</jats:sup>, a reduction of 58.74%, and the results show that the overall index of the electric multiple unit traction gear transmission system under different conditions has been improved after the optimisation of the multi-conditions modification, the gear transmission system's vibration is significantly reduced.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141785100","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-23DOI: 10.1177/14644193241264076
Zhan Wei, Zanyong Wang, Dandan Li, Dong Liang
Combination mechanism of conjugate cam and four-bar is a complex type of multi-body system, in which the coupling problems such as cam profile law, flexible deformation of connecting rods, and multiple joint clearance collision make it difficult to model and optimise its dynamics. Just as the beating-up mechanism of high-speed rapier looms for multi-layer weaving is a representative conjugate cam four-bar mechanism. In response to the current development of textile machinery in the direction of high-speed and precision, and in order to improve the work efficiency and operational accuracy of the conjugate cam four-bar beating-up mechanism, the following work is done for the purpose of taking into account the multi-joint clearance and the flexible rod based on the mechanism. Firstly, based on Kane's equation, a multi-body dynamic model with multiple clearances is established combined with clearance collision theory. Secondly, a dynamic model of a rigid-flexible coupling system with multiple revolute clearances is established using finite element method combined with modal synthesis technology. Subsequently, the variables separation method and mode superposition method are used to solve the dynamic equations of the coupled system. Finally, numerical examples are used to analyse the effects of clearance quantity, clearance size, mode truncation order, cam speed, and component material properties on the dynamic response and accuracy of the system. The results show that, in the rotational speed range of 600–800 rpm, the dynamic performance of the system is little affected by the speed; Through comparative analysis of multiple materials, it is found that selecting carbon fibre composite materials has the smallest impact on the motion accuracy of the system. In this paper, the clearance collision model, finite element model and rigid-flexible coupling dynamic model are integrated, which are applied to the cam-linkage combined multi-body mechanism, and the dynamic problems of the actual machine are analysed and solved.
{"title":"Rigid-flexible coupling dynamic modelling and dynamic accuracy analysis of planar cam four-bar mechanism with multiple clearance joints","authors":"Zhan Wei, Zanyong Wang, Dandan Li, Dong Liang","doi":"10.1177/14644193241264076","DOIUrl":"https://doi.org/10.1177/14644193241264076","url":null,"abstract":"Combination mechanism of conjugate cam and four-bar is a complex type of multi-body system, in which the coupling problems such as cam profile law, flexible deformation of connecting rods, and multiple joint clearance collision make it difficult to model and optimise its dynamics. Just as the beating-up mechanism of high-speed rapier looms for multi-layer weaving is a representative conjugate cam four-bar mechanism. In response to the current development of textile machinery in the direction of high-speed and precision, and in order to improve the work efficiency and operational accuracy of the conjugate cam four-bar beating-up mechanism, the following work is done for the purpose of taking into account the multi-joint clearance and the flexible rod based on the mechanism. Firstly, based on Kane's equation, a multi-body dynamic model with multiple clearances is established combined with clearance collision theory. Secondly, a dynamic model of a rigid-flexible coupling system with multiple revolute clearances is established using finite element method combined with modal synthesis technology. Subsequently, the variables separation method and mode superposition method are used to solve the dynamic equations of the coupled system. Finally, numerical examples are used to analyse the effects of clearance quantity, clearance size, mode truncation order, cam speed, and component material properties on the dynamic response and accuracy of the system. The results show that, in the rotational speed range of 600–800 rpm, the dynamic performance of the system is little affected by the speed; Through comparative analysis of multiple materials, it is found that selecting carbon fibre composite materials has the smallest impact on the motion accuracy of the system. In this paper, the clearance collision model, finite element model and rigid-flexible coupling dynamic model are integrated, which are applied to the cam-linkage combined multi-body mechanism, and the dynamic problems of the actual machine are analysed and solved.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141785101","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The temperature variation alters the contact state of each component during the operating process of oil-jet lubricated rolling bearings, which directly affects the dynamic performance of the bearing. However, previous studies on the dynamics of oil-jet lubricated rolling bearings do not comprehensively consider the influence of temperature factors. In addition, the impact of the temperature on the dynamic contact characteristics of the bearing is rarely investigated. To fill these gaps, this study develops a finite element model based on the mechanism of heat generation and transfer of the bearing to simulate the bearing temperature field and obtain the temperature of various components. On this basis, a dynamic model of an oil-jet lubricated axle box bearing is established to explore the influence of the radial clearance, internal temperature of the axle box and lubricating oil temperature on the contact force between the race and the rolling body by considering the influence of temperatures on the thermal deformation, lubricating oil parameters and equivalent stiffness. It was found that the influence of the temperature on bearings is primarily manifested in the elastic modulus, lubricating oil viscosity, oil film thickness, equivalent stiffness and thermal deformation. The contact force between the rolling body and the race increases significantly when the lubricating oil temperature is high, which may result in bearing pitting failure. These analysis results can provide a theoretical foundation for bearing parameter design and life research.
{"title":"Influence of temperature on dynamic contact characteristics of oil-jet lubricated rolling bearings","authors":"Wenbing Tu, Hao Wang, Chenlu Liu, Dengliang Hu, Wennian Yu","doi":"10.1177/14644193241257207","DOIUrl":"https://doi.org/10.1177/14644193241257207","url":null,"abstract":"The temperature variation alters the contact state of each component during the operating process of oil-jet lubricated rolling bearings, which directly affects the dynamic performance of the bearing. However, previous studies on the dynamics of oil-jet lubricated rolling bearings do not comprehensively consider the influence of temperature factors. In addition, the impact of the temperature on the dynamic contact characteristics of the bearing is rarely investigated. To fill these gaps, this study develops a finite element model based on the mechanism of heat generation and transfer of the bearing to simulate the bearing temperature field and obtain the temperature of various components. On this basis, a dynamic model of an oil-jet lubricated axle box bearing is established to explore the influence of the radial clearance, internal temperature of the axle box and lubricating oil temperature on the contact force between the race and the rolling body by considering the influence of temperatures on the thermal deformation, lubricating oil parameters and equivalent stiffness. It was found that the influence of the temperature on bearings is primarily manifested in the elastic modulus, lubricating oil viscosity, oil film thickness, equivalent stiffness and thermal deformation. The contact force between the rolling body and the race increases significantly when the lubricating oil temperature is high, which may result in bearing pitting failure. These analysis results can provide a theoretical foundation for bearing parameter design and life research.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141165567","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The dynamic meshing force affects the stability and wear life of PEEK polymer composite involute spline couplings, but most of the dynamic meshing force is obtained by empirical formula, and there is no effective calculation method in practice. Aiming at the viscoelasticity and nonlinear behavior of PEEK material, this work established a nonlinear dynamic model of the drive system of PEEK-based polymer composite involute spline pair by using the concentrated mass method, taking into account time-varying meshing stiffness, tooth side gap, and comprehensive transmission error, and obtained a dimensionless dynamic matrix that eliminates rigid body displacement. Aiming at the thermal stability of PEEK material, the dynamic meshing stiffness and dynamic meshing force of the involute spline of PEEK-based polymer composite were calculated by considering the thermal effect of misalignment and meshing deformation. The influence of misalignment on the dynamic characteristics of the system under dynamic and static loads was studied. The results show that the dynamic meshing stiffness and dynamic meshing force of involute spline coupling of PEEK-based polymer composite materials under misalignment represent complex nonlinear characteristics; Vibration, load, and viscoelastic deformation have an impact on transmission accuracy and efficiency; And the optimal selection range for friction coefficient, Poisson's ratio, and Young's modulus were determined within the parameter range of involute spline coupling of PEEK-based polymer composite materials as the matrix. It provides a theoretical foundation for designing high-performance, high-precision, and highly reliable PEEK-based polymer composite components.
{"title":"Nonlinear dynamic meshing force analysis of PEEK-based polymer composite involute spline coupling system","authors":"Xiangzhen Xue, Wei Yu, Kuan Lin, Ning Zhang, Xindang He, Yiqiang Jiang","doi":"10.1177/14644193241245542","DOIUrl":"https://doi.org/10.1177/14644193241245542","url":null,"abstract":"The dynamic meshing force affects the stability and wear life of PEEK polymer composite involute spline couplings, but most of the dynamic meshing force is obtained by empirical formula, and there is no effective calculation method in practice. Aiming at the viscoelasticity and nonlinear behavior of PEEK material, this work established a nonlinear dynamic model of the drive system of PEEK-based polymer composite involute spline pair by using the concentrated mass method, taking into account time-varying meshing stiffness, tooth side gap, and comprehensive transmission error, and obtained a dimensionless dynamic matrix that eliminates rigid body displacement. Aiming at the thermal stability of PEEK material, the dynamic meshing stiffness and dynamic meshing force of the involute spline of PEEK-based polymer composite were calculated by considering the thermal effect of misalignment and meshing deformation. The influence of misalignment on the dynamic characteristics of the system under dynamic and static loads was studied. The results show that the dynamic meshing stiffness and dynamic meshing force of involute spline coupling of PEEK-based polymer composite materials under misalignment represent complex nonlinear characteristics; Vibration, load, and viscoelastic deformation have an impact on transmission accuracy and efficiency; And the optimal selection range for friction coefficient, Poisson's ratio, and Young's modulus were determined within the parameter range of involute spline coupling of PEEK-based polymer composite materials as the matrix. It provides a theoretical foundation for designing high-performance, high-precision, and highly reliable PEEK-based polymer composite components.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140626111","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-01DOI: 10.1177/14644193241243158
Heisei Yonezawa, Ansei Yonezawa, Itsuro Kajiwara
To address vehicle drivetrain vibrations that cause discomfort and poor drivability, this study proposes a new active damping strategy with simple backlash compensation based on the simultaneous perturbation stochastic approximation (SPSA) with norm-limited update vector. First, an experimental device developed for a simplified drivetrain mechanism is demonstrated. A mechanism for reproducing both the contact mode and the backlash mode is included in the device. For the contact mode, a model-based [Formula: see text] controller is employed as the baseline damping strategy. Further, to mitigate the backlash effect, a simple algorithm based on mode-switching-based compensation is used with the [Formula: see text] controller. In particular, for the critical controller parameters, this article presents a systematic design approach to search for their optimal values. The key parameters, which are needed for the backlash and contact mode controllers, are simultaneously auto-tuned using norm-limited update vector-based SPSA, which ensures the stability in the iterative tuning. The novelty of this study is that both the backlash mode controller and the contact mode controller are simultaneously optimized by the improved version of SPSA, thus realizing a comprehensive auto-tuning design of an active drivetrain damping system. Finally, the active controller is experimentally verified using the actual test device. Comparative studies show that the proposed approach significantly reduces drivetrain vibrations and is robust against fluctuations in the backlash.
{"title":"Experimental verification of active oscillation controller for vehicle drivetrain with backlash nonlinearity based on norm-limited SPSA","authors":"Heisei Yonezawa, Ansei Yonezawa, Itsuro Kajiwara","doi":"10.1177/14644193241243158","DOIUrl":"https://doi.org/10.1177/14644193241243158","url":null,"abstract":"To address vehicle drivetrain vibrations that cause discomfort and poor drivability, this study proposes a new active damping strategy with simple backlash compensation based on the simultaneous perturbation stochastic approximation (SPSA) with norm-limited update vector. First, an experimental device developed for a simplified drivetrain mechanism is demonstrated. A mechanism for reproducing both the contact mode and the backlash mode is included in the device. For the contact mode, a model-based [Formula: see text] controller is employed as the baseline damping strategy. Further, to mitigate the backlash effect, a simple algorithm based on mode-switching-based compensation is used with the [Formula: see text] controller. In particular, for the critical controller parameters, this article presents a systematic design approach to search for their optimal values. The key parameters, which are needed for the backlash and contact mode controllers, are simultaneously auto-tuned using norm-limited update vector-based SPSA, which ensures the stability in the iterative tuning. The novelty of this study is that both the backlash mode controller and the contact mode controller are simultaneously optimized by the improved version of SPSA, thus realizing a comprehensive auto-tuning design of an active drivetrain damping system. Finally, the active controller is experimentally verified using the actual test device. Comparative studies show that the proposed approach significantly reduces drivetrain vibrations and is robust against fluctuations in the backlash.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140593239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-13DOI: 10.1177/14644193241238082
Yuchen An, Chaofan Liu, Jing Liu, Guang Pan
This paper presented a multibody dynamic model for the shaft system in an unmanned underwater vehicle (UUV), the model considers the flexible coupling, ball bearing and flexible support. The stiffness characteristics of flexible coupling are calculated by using the finite-element analysis. The effects of load condition, bearing location and support stiffness on shaft vibrations are investigated. Then, an optimization for the bearing locations and support stiffness is conducted. This study provides some guidance for the design and vibration optimization of the shaft system in UUVs.
{"title":"Multibody dynamic study and optimization for a flexible support shaft system in unmanned underwater vehicle","authors":"Yuchen An, Chaofan Liu, Jing Liu, Guang Pan","doi":"10.1177/14644193241238082","DOIUrl":"https://doi.org/10.1177/14644193241238082","url":null,"abstract":"This paper presented a multibody dynamic model for the shaft system in an unmanned underwater vehicle (UUV), the model considers the flexible coupling, ball bearing and flexible support. The stiffness characteristics of flexible coupling are calculated by using the finite-element analysis. The effects of load condition, bearing location and support stiffness on shaft vibrations are investigated. Then, an optimization for the bearing locations and support stiffness is conducted. This study provides some guidance for the design and vibration optimization of the shaft system in UUVs.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140128965","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-07DOI: 10.1177/14644193241232353
Tarun Sharma, Yuping He
This article proposes a design of a tracking controller for autonomous articulated heavy vehicles (AAHVs) using a nonlinear model predictive control (NLMPC) technique. Despite economic and environmental benefits in freight transportation, articulated heavy vehicles (AHVs) exhibit poor directional performance due to their large sizes, multi-unit vehicle configurations, and high centers of gravity (CGs). AHVs represent a 7.5 times higher risk of traffic accidents than single-unit vehicles (e.g. rigid trucks, cars, etc.) in highway operations. Human driver errors cause about 94% of traffic collisions. However, little attention has been paid to autonomous driving control of AHVs. To increase the safety of AHVs, we design a novel NLMPC-based tracking controller for an AHV, that is, a tractor/semi-trailer combination, and this tracking controller is distinguished from others with the feature of controlling both the lateral and longitudinal motions for both the leading and trailing units. To design the tracking controller, a new prediction AHV model is developed, which represents both the lateral and longitudinal dynamics of the vehicle and captures its rearward amplification feature over high-speed evasive maneuvers. With the proposed tracking controller, the AAHV tracks the predefined reference path and follows a planned forward-speed scheme. Co-simulation demonstrates the effectiveness and robustness of the proposed NLMPC tracking controller.
{"title":"Design of a tracking controller for autonomous articulated heavy vehicles using a nonlinear model predictive control technique","authors":"Tarun Sharma, Yuping He","doi":"10.1177/14644193241232353","DOIUrl":"https://doi.org/10.1177/14644193241232353","url":null,"abstract":"This article proposes a design of a tracking controller for autonomous articulated heavy vehicles (AAHVs) using a nonlinear model predictive control (NLMPC) technique. Despite economic and environmental benefits in freight transportation, articulated heavy vehicles (AHVs) exhibit poor directional performance due to their large sizes, multi-unit vehicle configurations, and high centers of gravity (CGs). AHVs represent a 7.5 times higher risk of traffic accidents than single-unit vehicles (e.g. rigid trucks, cars, etc.) in highway operations. Human driver errors cause about 94% of traffic collisions. However, little attention has been paid to autonomous driving control of AHVs. To increase the safety of AHVs, we design a novel NLMPC-based tracking controller for an AHV, that is, a tractor/semi-trailer combination, and this tracking controller is distinguished from others with the feature of controlling both the lateral and longitudinal motions for both the leading and trailing units. To design the tracking controller, a new prediction AHV model is developed, which represents both the lateral and longitudinal dynamics of the vehicle and captures its rearward amplification feature over high-speed evasive maneuvers. With the proposed tracking controller, the AAHV tracks the predefined reference path and follows a planned forward-speed scheme. Co-simulation demonstrates the effectiveness and robustness of the proposed NLMPC tracking controller.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140070240","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-09DOI: 10.1177/14644193231211233
Linlin Liu, Sanmin Wang, Haoran Zou, Zhibin Li, Jinshuai Ge
With the continuous development of high-speed and high-power gear transmission technology, as well as the new demand for vibration and noise reduction in high-speed and heavy-duty gear transmission systems in fields such as aviation and navigation, the herringbone gear branch transmission system is subject to higher requirements in terms of its dynamic characteristics. Therefore, it is necessary to conduct research on the dynamic characteristics of high-power and high-torque herringbone gear branch transmission systems. Based on the lumped parameter method, a bending-torsion coupling dynamic model of the transmission system is established, and a calculation method for load-sharing coefficients (LSCs) is proposed. The LSCs are obtained for each gear pair in the same meshing period of the transmission system that is under the interaction of time-varying internal excitation. The meshing force of the six-branch gearing system was calculated in ADAMS to verify the validity of the established dynamic model. The study results indicate that errors have a negative impact on the sharing performance. To maintain a sharing coefficient below 1.15, the manufacturing and installation errors of gears Z 5 and Z 6 should be restricted to 9 µm and 7 µm, respectively. Special attention should be given to gear Z 5 in terms of support stiffness, with a value of 1 × 10 8 N/m being the most favorable. During the system design, the initial phase of the installation error should be considered and preferably selected near 180°. Additionally, the system exhibits easier load sharing with higher input power. The optimal torsional stiffness of the duplex shaft is 5 × 10 7 N/m, while the optimal bending stiffness is 5 × 10 8 N/m. This study aimed to provide a theoretical foundation for the design and optimization of marine high-power gear transmission systems.
{"title":"Research on load-sharing characteristics of six-branch herringbone gear transmission system","authors":"Linlin Liu, Sanmin Wang, Haoran Zou, Zhibin Li, Jinshuai Ge","doi":"10.1177/14644193231211233","DOIUrl":"https://doi.org/10.1177/14644193231211233","url":null,"abstract":"With the continuous development of high-speed and high-power gear transmission technology, as well as the new demand for vibration and noise reduction in high-speed and heavy-duty gear transmission systems in fields such as aviation and navigation, the herringbone gear branch transmission system is subject to higher requirements in terms of its dynamic characteristics. Therefore, it is necessary to conduct research on the dynamic characteristics of high-power and high-torque herringbone gear branch transmission systems. Based on the lumped parameter method, a bending-torsion coupling dynamic model of the transmission system is established, and a calculation method for load-sharing coefficients (LSCs) is proposed. The LSCs are obtained for each gear pair in the same meshing period of the transmission system that is under the interaction of time-varying internal excitation. The meshing force of the six-branch gearing system was calculated in ADAMS to verify the validity of the established dynamic model. The study results indicate that errors have a negative impact on the sharing performance. To maintain a sharing coefficient below 1.15, the manufacturing and installation errors of gears Z 5 and Z 6 should be restricted to 9 µm and 7 µm, respectively. Special attention should be given to gear Z 5 in terms of support stiffness, with a value of 1 × 10 8 N/m being the most favorable. During the system design, the initial phase of the installation error should be considered and preferably selected near 180°. Additionally, the system exhibits easier load sharing with higher input power. The optimal torsional stiffness of the duplex shaft is 5 × 10 7 N/m, while the optimal bending stiffness is 5 × 10 8 N/m. This study aimed to provide a theoretical foundation for the design and optimization of marine high-power gear transmission systems.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135242614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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