In order to set up the dynamic model of swimming micro robot , this dissertation builds up the statics model and analyses the micro motion amplifying performance of micro robot mechanism , builds up the vibration model of micro robot and analyses the vibrating performance without and with damp , researches the propelling force of driven wing and the resistance of micro robot in liquid based on the theory of flat board resisting stream , builds up the dynamic model of swimming micro robot for the first time in nation and analyses its swimming performance which is influenced by driving signal frequency , amplifying performance of main machanism , area of driven wing , character of fluid and so on . this dissertation manufactures the micro robot and sets up the experimental environment and tests the amplifying effect and the vibrating performance 本文建立了主体机构静力学模型,研究了主体机构的结构参数对微位移放大性能的影响;建立了主体机构振动模型,研究了主体机构在无液体阻尼和有液体阻尼情况下的振动特性;根据流体力学平板绕流理论,研究了驱动翼产生的推进力和微机器人在流体中受到的阻力;在此基础上国内首次建立了泳动微机器人的动力学模型,并对模型进行了深入的研究,详细阐明了驱动信号频率、主体机构放大性能、主体机构振动特性、驱动翼面积、液体性质等因素对微机器人泳动特性的影响。
Secondly , the basic geological general conditions are analyzed in the area of daliushu dame site . at the same time , a primary conclusion is drowned : the big scope of relaxed rockmass in daliushu dame site district are caused by exterior motive force geological effect and interior motive force geological effect which dominated by seismic activity . in the following , this standpoint is testified through the model tests of vibration on the axis of the dam 其次,本文对大柳树坝址区的基本地质概况进行了分析,得出初步结论:大柳树坝址区大范围的松动岩体是外动力地质作用和以地震活动为主的内动力地质作用造成的,接着对坝轴处岩体作了振动模型试验,证明了这一观点。
Main differences and torsional property of system response are compared with and without considering torsional vibration . and the influences of several factors on rubbing rotor are discussed thoroughly . the feasibility that torsional vibration characteristic and nonlinear characteristic are used for the faults diagnosis of rubbing rotor is proved by the analysis results fully 建立了碰摩转子的弯扭耦合振动模型,利用标准的四阶runge - kutta法对碰摩特性进行了数值分析,比较了有无考虑扭振的情况下,系统振动响应的主要区别和相应的扭振特性,并详细讨论了几种因素对碰摩转子弯振和扭振特性的影响。
Using the simulation calculation procedure imitate calculating vibration of the driver seat in sample car , the center of the compartment , distance 300 mm of the backboard of the compartment . the result of calculation and experimental result are relatively well identical . have shown the exactness of the vehicle vibration models that are set up and validity of the vehicle vibration simulation calculation procedure 用该程序对样车的司机座椅、货厢中心、距货厢后板300mm三处的振动进行了模拟计算,计算结果与实验结果基本稳合,表明了所建立的车辆振动模型的正确性和车辆振动模拟计算程序的有效性。
In order to investigate the seismic torsional response of base - isolated structures with frame - shear walls , the lateral - torsion coupling vibration model and the corresponding motion equation are formulated for the high - storey structure with frame - shear wall and isolated foundation under seismic action 摘要为了研究框架剪力墙基础隔震结构的地震扭转反应,建立了地震作用下高层框架剪力墙基础隔震结构的平移扭转耦联振动模型和运动方程,分析了单轴偏心基础隔震结构的平移扭转耦联地震响应,并探讨了不同偏心率下隔震结构的地震反应。
In the article , it is emphasized on the generally applied adaptive control , sky - hook control and optimum control integrating with the theory and technique of active vibration control on the base of vibration model of vehicle suspension . three performance targets : acceleration of vehicle body , dynamic flexibility of suspension and dynamic load of tyre are evaluated 论文在建立汽车悬架振动模型的基础上,结合振动主动控制的理论和技术,着重研究了被广泛应用的自适应控制、空钩控制和最优控制,并通过计算机进行仿真,对车身加速度、悬架动挠度和轮胎动载荷三个性能指标进行了评价。
This paper combine the properties of railway bridge to establish the model of vehicle and three - dimension finite model of wan zhou yangtze river bridge individually , then according to the basic hypothesis and through the relations of geometry displacement compatibility and force and adopting the mode superposition to establish the coupling model of vehicles and bridge 本文结合铁路桥梁的特点,分别建立了车辆模型和万州长江大桥的三维有限元模型,根据桥梁结构的基本假设,采用模态综合法,通过轮对与轮轨之间的几何相容关系和力的关系建立了车桥耦合振动模型。
It analyses static errors and dynamic errors , calculates vehicle plane every parts static and dynamic steel and bend distortion effect . it discusses testing means and testing equipment to oscillation , puts forward disposal means to oscillation data , fetches oscillation model of vehicle plane , does predigestion and coupling to all kinds of oscillations 分析了车载平台的静态误差和动态误差,计算车载平台的各部分静态、动态的刚度以及弯曲变形的影响。对振动的测试方法和测试设备进行了论述,提出对振动数据进行处理的方法,推导出车载平台的振动模型,对各种振动进行了相应的简化和耦合处理。
A detailed model of non - linear parametric excitation vibration coupling the stay cable and the girder , in which the static sag as well as the geometric non - linearity are considered , is proposed in this paper . based on several numeric examples investigated by the galerkin method composed with the integration strategy , several kinds of factors effecting stay cable parameter vibration are studied . another parameter vibration model by the axial excitation is presented and the corresponding nonlinear equations are derived 本文创新地提出了斜拉桥拉索-桥面耦合参数振动模型,推导了索-桥耦合非线性参数振动方程组,联合galerkin法及数值积分方法,对各种特性的拉索进行了数值求解,得出了影响拉索参数振动的各种因素;提出了斜拉索受轴向端激励参数振动模型,导出了模型的非线性振动方程,使用谐波平衡法得出了产生参数振动需要的最小激励幅值、共振时瞬态及稳态的振动幅值及索拉力的变化特性,并用数值积分方法对实际斜拉桥拉索进行了计算,分析了拉索阻尼对参数振动的影响。
According to the finite element method result , the parametric vibration of cables in cable - stayed arch bridge becomes prone to be exhibited . then a model of non - linear parametric excitation vibration coupling the stayed cable and the girder , namely , the mode of cable - stayed beam , is proposed in the thesis . and the nonlinear dynamical 3 、首先利用有限元分析方法,得出了斜拉索发生参数共振的可能,然后建立了斜拉拱桥拉索-桥面耦合参数振动模型,即索-梁组合结构模型,推导了索-梁组合结构非线性运动方程,利用多尺度方法研究斜拉索的参数共振和亚谐波共振,并对稳态解的稳定性进行了分析。