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第二届计算智能、工程与技术国际研讨会

作者： Hongbo Wang Hao Yan Baoshan Niu Xincheng Wang Yafeng Li Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Academy for Engineering &Technology Fudan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University

This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor informationof fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling.

关键词： Comfort degree of patients rehabilitation training based on DSmT theory

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An Approach of Power Allocation Scheme for Relay Communication Networks Based on Seller-Buyer Game

An Approach of Power Allocation Scheme for Relay Communicati...

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第三十四届中国控制会议

作者： Peng Zhang Zhixin Liu Ling Zhao Hongjiu Yang Xinbin Li Institute of Electrical Engineering Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical Engineering Yanshan University

ISBN: (纸本)9781467374439

In this paper, a robust optimization problem is formulated for decode-and-forward relay network via game *** uncertainty of channel gain is considered to overcome the performance degradation in practical environment. In this study,a probability threshold method is used to suppress the channel fluctuation. Besides, a seller-buyer game is formulated to jointly consider the maximum utility of source node and relay node. To reduce the overhead information exchanging, a distributed iteration algorithm is applied. Numerical results show the effectiveness of the proposed schemes, and also present the robustness of the relay network. Moreover, the proposed game is proved to converge to the unique equilibrium point.

关键词： Relay network game theory robust optimization outage probability distributed algorithm

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A Study on Improving Friction and Wear Performance of Bearing Bush in Radial Piston Hydraulic Motor

SSRN

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SSRN 2024年

作者： Li, Ying Cui, Xueshi Yang, Yasen Zhang, Jin Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Ministry of Education of China China

The radial piston hydraulic motor is widely used due to its ability to provide high torque output and stable speed control. However, it exhibits poor lubrication performance in low-speed, heavy-load conditions. Specifically, the friction and wear performance of the piston-roller friction pair directly affect the motor's starting torque, operational efficiency, and service life. To address the friction and wear issues of the piston-roller friction pair, a self-lubricating composite bearing bush is introduced between the friction pairs. The present study investigates the wear and friction properties of self-lubricating material sliding against bearing steel(GCr15SiMn). The materials are neat Poly Ether Ether Ketone (PEEK), PEEK with 10% Polytetrafluoroethylene (PTFE) and15% Potassium Titanate Whiskers (PTW). Additionally, the role of filler (i.e., nano-silica) in the PEEK-PTFE-PTW-bearing steel hybrid wear system is investigated. The composite materials have undergone surface modification using a silane coupling agent (KH550) to enhance the adhesion performance between the filler and the matrix. Imitating the working condition of the piston-roller friction pair, experiments are conducted under boundary lubrication conditions on a ring-to-disc tribometer. The worn surfaces were examined using confocal laser scanning microscopy and scanning electron microscopy. The results indicate that self-lubricating materials filled with 2% and 3% nanoscale silicon dioxide achieved the best tribological performance. © 2024, The Authors. All rights reserved.

关键词： Friction

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Study on thin-walled tube forming by solid granule medium forming

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ICIC Express Letters 2014年第9期8卷 2649-2654页

作者： Du, Bing Zhao, Changcai Dong, Guojiang Ya, Yuanyuan Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Qinhuangdao 066004 China College of Vehicles and Energy Yanshan University No. 438 Hebei Avenue Haigang District Qinhuangdao 066004 China

Considering the limited forming force and oil leakage problem in the process of the hydraulic bulging, solid granule medium forming technology was used to meet the need of forming high precision thin-walled tube. The advantages of forming these parts by using the solid granule medium forming process are analyzed. Adopting Drucker- Prager yield model, numerical model of solid granule medium forming is developed. The matching relation between the tube axial force and the medium loading force by simulation is discussed. Compared with experimental results, the feasibility of Drucker-Prager model in the simulation of solid granule medium is confirmed. © 2014 ISSN 1881-803X.

关键词： Numerical models

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Study of ADRC on Fluid Power Transmission System Control Characteristics of 60MN Hydraulic Press

Study of ADRC on Fluid Power Transmission System Control Cha...

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2015 International Conference on Fluid Power and Mechatronics

作者： FENG Jingchang YU Bin LI Xuebing YAO Jing KONG Xiangdong GUO Haixin School of Mechanical Engineering Yanshan University Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China

Heavy forgings quality and production capacity represent an important symbol of the level of the country's industrial development. Large water press is the equipment for heavy forgings forming, and it's essential to improve the control performance of power transmission system. In this paper, the mathematical models of the key elements for fluid power transmission system, including water pump, accumulator, inlet valve, outlet valve, main distributor, prefill valve, pipeline, actuator, load, working medium, electro-hydraulic servo system, are established, and the complete mathematical model of fluid power transmission system is derived. Based on the mathematical model of electro-hydraulic position servo control system of hydraulic press, the load characteristics of the electro-hydraulic position servo control system are analyzed, the strategy of active disturbance rejection control(ADRC) is derived, the principle of selecting the control parameters is obtained. Furthermore, the effect of ADRC control and PI control of hydraulic press is analyzed under no load, step, sinusoidal and ramp disturbance force respectively. The results show that: compared to the PI control, the ADRC can make distributor more rapid and sensitive, and improve the control performance and anti-disturbance capability of electro-hydraulic servo system of hydraulic press, and improve the overall response speed and compensate the position control accuracy under the lowfrequency disturbances. Above research work can provide theoretical and experimental basis for studying on control method of fluid power transmission system of 60 MN hydraulic press.

关键词： Hydraulic press Fluid power transmission system Electro-hydraulic servo system Main distributor Active disturbance rejection control

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Research on the lower limb gait rehabilitation

Research on the lower limb gait rehabilitation

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IEEE International Conference on Mechatronics and Automation

作者： Hongbo Wang Jianshuang Wu Yubo Wang Lingxue Ren Dong Zhang Hao Lu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (纸本)9781479939800

This paper proposes a lower limbs gait rehabilitation machine which is used to help the patients to recover walking ability of lower limbs. The machine includes left leg gait training mechanism and right leg gait training mechanism, and each mechanism consists of a four-bar mechanism with one degrees of freedom and a foot plate. Since the crank of the four-bar mechanism on the both sides is driven by one motor and each foot plate on the both sides is driven by one motor, the robot has three degrees of freedom. The robot can simulate human walking to achieve the purpose of recovering walking function. In this paper, the design idea and parameter optimization are described, the kinematics and dynamics are analyzed, and the virtual prototype design and simulation are done. The simulation results can be further applied for the optimization of the mechanical parameters while supplying necessary data and building a theoretical foundation for subsequent research.

关键词： Training Trajectory Legged locomotion Foot Force Equations

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Mechanical properties in cyclic tension-compression loading process on sheet metal

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Procedia Manufacturing 2018年 15卷 1769-1776页

作者： Gaochao Yu Rui Ma Ruixue Zhai Jun Zhao Key Laboratory of Advanced Forging & Stamping Technology and Science (YanShan University) Ministry of Education of China Qinhuangdao 066004 P.R. China College of Mechanical Engineering Yanshan University Qinhuangdao 066004 P.R. China

In the process of reciprocating bending, any particle of the workpiece is subjected to cyclic tensile compression deformation. The workpiece undergoes a reciprocating bending deformation process, and each particle undergoes a cyclic tension-compression loading cycle. In this paper, cyclic tensile loading tests under different prestrains and strain amplitudes are carried out. The macroscopic behavior of 304 stainless steel and ST12 cold rolled plate under cyclic tension-compression loading and the effect of prestrain on the stable hysteresis loop of the two materials are studied. Thus, the evolution of macroscopic mechanical properties in the process of reciprocating bending deformation is deeply understood. The experimental results show that 304 stainless steel and ST12 cold rolled plate are characterized by cyclic softening; the prestrain has little effect on the stable hysteresis loop, the cyclic tension-compression loading eliminates the initial difference of the mechanical properties caused by the prestrain and makes the mechanical properties of materials tend to be uniform. It is also proved indirectly that the reciprocating bending has not only the effect of uniform curvature, but also makes the mechanical properties of the same layer of fibers be homogenized.

关键词： Cyclic tension-compression Prestrain Hysteresis loop Mechanical property Cyclic softening

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Research on two kinds of servo control elements effect on highly integrated valve-controlled cylinder

Research on two kinds of servo control elements effect on hi...

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2015 International Conference on Fluid Power and Mechatronics

作者： BA Kaixian YU Bin CAO Yuan WANG Zitong KONG Xiangdong School of Mechanical Engineering Yanshan University Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China

The joint drive of quadruped robot, the highly integrated valve-controlled cylinder(HIVC), whose control performance could effect on the whole machine of the robot directly. In this paper, based on the structure principles of flow servo valve and pressure-flow servo valve, the mathematical models of above two kinds of servo valve are established to analyze their dynamical performance respectively. To ensure the accuracy of the analysis results, the flow gain of above two kinds of servo valve are unified, then using them for force close loop control of HIVC on the performance test platform of HIVC, the effects of step force and sinusoidal force on the force control performance of HIVC with different forward channel gain are tested, moreover, the force control performance of HIVC under different frequency position disturbance are tested. The test results indicates both flow servo valve and pressure-flow servo valve can realize force close loop control of HIVC, but by comparison, due to the load pressure which is existed in pressureflow servo valve power level spool equilibrium process, the output flow decrease sharply with load force increasing, which can lead the load force control performance of HIVC which consists of pressure-flow servo valve is inferior to those which consists of flow servo valve. All the research conclusions can provide a theoretical and experimental foundation for the selection of servo control element of HIVC.

关键词： Quadruped robot Highly integrated valvecontrolled cylinder Force control system Flow servo valve Pressure-flow servo valve

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Dynamic Modeling Method of Spatial Passive Over-constrained Parallel Mechanism Based on Newton Euler Method

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2020年第11期56卷 48-57页

作者： Li, Yongquan Guo, Yu Zhang, Yang Zhang, Lijie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

The 4-RPTR four-degree-of-freedom space passive over-constrained (redundant constrained) parallel mechanism is taken as the research object, and the Newton Euler method combined with the complementary deformation coordination equation is used to analyze the dynamics. The number of dynamic equations based on Newton's Euler method is 78, but due to the existence of passive over-constraints of the mechanism, the unknown variables of the required solutions are 80. When the eight deformation coordination equations are added according to the method of planar over-constrained mechanism, it will be linearly related to the 78 equations built, resulting in the equations being unable to solve. Based on this, when proposing the dynamics modeling of passive over-constrained parallel mechanism, the reason for the passive over-constraint of the mechanism should be analyzed firstly. On this basis, adding the deformation of the member caused by the redundant constrained force (torque) and the position and posture error of the terminal platform as a complementary equation ensures that the equations are linearly independent and can be solved. To this end, the relationship between the deformation of the rod and the position and posture error of the terminal platform caused by the rotational joint restraining torque directly causing the redundant constraint is introduced, and eight deformation coordination equations are added, and six unknown variables are introduced, thereby obtaining 86 equations. Containing 86 unknowns, and the equations are linearly independent, the dynamic solution model of the mechanism is obtained. Based on matlab and adams software, the dynamics simulation of the mechanism is carried out. When the same motion trajectory is given at the terminal of the platform, the correctness of the dynamic model can be seen by comparing the driving force variation curves of the two methods. It provides a new idea for dynamic modeling of this type of space passive over-constrai

关键词： Dynamics

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Stiffness analysis of a planar 3-RPS parallel manipulator

Lecture Notes in Mechanical Engineering

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Lecture Notes in Mechanical Engineering 2017年 13-28页

作者： Hu, Bo Song, Chunxiao Li, Bo Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei066004 China

This paper studied the stiffness model and characteristics of a planar 3-RPS PM with 3-DOF. The 6 × 6 form stiffness matrix of the planar 3-RPS PM is derived with both active and constrained wrenches considered. To characteristic the stiffness of the planer 3-RPS PM, two decomposition methods including the eigenscrew decomposition and the principle axes decomposition are applied to the stiffness matrix. The stiffness matrix decomposition provides a physical interpretation and allows the identification of the compliant axes of the planar 3-RPS PM. © Springer International Publishing Switzerland 2017.

关键词： Stiffness

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