A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- ...A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.展开更多
The aerodynamic performance of a high-load low-pressure turbine blade cascade has been analyzed for three different distributed surface roughness levels(Ra) for steady and unsteady inflows. Results from CFD simulation...The aerodynamic performance of a high-load low-pressure turbine blade cascade has been analyzed for three different distributed surface roughness levels(Ra) for steady and unsteady inflows. Results from CFD simulations and experiments are presented for two different Reynolds numbers(300000 and 70000 representative of take-off and cruise conditions, respectively) in order to evaluate the roughness effects for two typical operating conditions. Computational fluid dynamics has been used to support and interpret experimental results, analyzing in detail the flow field on the blade surface and evaluating the non-dimensional local roughness parameters, further contributing to understand how and where roughness have some influence on the aerodynamic performance of the blade. The total pressure distributions in the wake region have been measured by means of a five-hole miniaturized pressure probe for the different flow conditions, allowing the evaluation of profile losses and of their dependence on the surface finish, as well as a direct comparison with the simulations. Results reported in the paper clearly highlight that only at the highest Reynolds number tested(Re=300000) surface roughness have some influence on the blade performance, both for steady and unsteady incoming flows. In this flow condition profile losses grow as the surface roughness increases, while no appreciable variations have been found at the lowest Reynolds number. The boundary layer evolution and the wake structure have shown that this trend is due to a thickening of the suction side boundary layer associated to an anticipation of transition process. On the other side, no effects have been observed on the pressure side boundary layer.展开更多
This paper introduces the finding of a unified Lorenz-like system.By gradually tuning the only parameter d,the reported system belongs to Lorenz-type system in the sense defined by Clikovsky.Meanwhile,this system belo...This paper introduces the finding of a unified Lorenz-like system.By gradually tuning the only parameter d,the reported system belongs to Lorenz-type system in the sense defined by Clikovsky.Meanwhile,this system belongs to Lorenz-type system,Lu-type system,Chen-type system with d less than,equivalent to and greater than 1.5,respectively,according to the classification defined by Yang.However,this system can only generate a succession of Lorenz-like attractors.Some basic dynamical properties of the system are investigated theoretically and numerically.Moreover,the tracking control of the system with exponential convergence rate is studied.Theoretical analysis and computer simulation show that the proposed scheme can allow us to drive the output variable x\ to arbitrary reference signals exponentially,and the guaranteed exponential convergence rate can be estimated accurately.展开更多
文摘A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.
基金part of a joint research project between GE Avio,University of Genova,and University of Florence
文摘The aerodynamic performance of a high-load low-pressure turbine blade cascade has been analyzed for three different distributed surface roughness levels(Ra) for steady and unsteady inflows. Results from CFD simulations and experiments are presented for two different Reynolds numbers(300000 and 70000 representative of take-off and cruise conditions, respectively) in order to evaluate the roughness effects for two typical operating conditions. Computational fluid dynamics has been used to support and interpret experimental results, analyzing in detail the flow field on the blade surface and evaluating the non-dimensional local roughness parameters, further contributing to understand how and where roughness have some influence on the aerodynamic performance of the blade. The total pressure distributions in the wake region have been measured by means of a five-hole miniaturized pressure probe for the different flow conditions, allowing the evaluation of profile losses and of their dependence on the surface finish, as well as a direct comparison with the simulations. Results reported in the paper clearly highlight that only at the highest Reynolds number tested(Re=300000) surface roughness have some influence on the blade performance, both for steady and unsteady incoming flows. In this flow condition profile losses grow as the surface roughness increases, while no appreciable variations have been found at the lowest Reynolds number. The boundary layer evolution and the wake structure have shown that this trend is due to a thickening of the suction side boundary layer associated to an anticipation of transition process. On the other side, no effects have been observed on the pressure side boundary layer.
基金Supported by the Research Foundation of Education Bureau of Hunan Province of China under Grant No.13C372Jiangsu Provincial Natural Science Foundation of China under Grant No.14KJB120007the Outstanding Doctoral Dissertation Project of Special Funds under Grant No.27122
文摘This paper introduces the finding of a unified Lorenz-like system.By gradually tuning the only parameter d,the reported system belongs to Lorenz-type system in the sense defined by Clikovsky.Meanwhile,this system belongs to Lorenz-type system,Lu-type system,Chen-type system with d less than,equivalent to and greater than 1.5,respectively,according to the classification defined by Yang.However,this system can only generate a succession of Lorenz-like attractors.Some basic dynamical properties of the system are investigated theoretically and numerically.Moreover,the tracking control of the system with exponential convergence rate is studied.Theoretical analysis and computer simulation show that the proposed scheme can allow us to drive the output variable x\ to arbitrary reference signals exponentially,and the guaranteed exponential convergence rate can be estimated accurately.
