AISI 304/304L Stainless hlau coil tube tshuaj tiv thaiv, Optimizing Folding Wing Spring Parameters Siv Honeybee Algorithm

Ua tsaug rau koj tuaj xyuas Nature.com.Koj siv lub browser version nrog kev txhawb nqa CSS tsawg.Rau qhov kev paub zoo tshaj plaws, peb xav kom koj siv qhov browser tshiab (lossis lov tes taw Compatibility Hom hauv Internet Explorer).Tsis tas li ntawd, txhawm rau xyuas kom muaj kev txhawb nqa tsis tu ncua, peb qhia lub vev xaib tsis muaj qauv thiab JavaScript.
Sliders qhia peb kab lus rau ib tus swb.Siv cov nyees khawm rov qab thiab tom ntej kom txav mus los ntawm cov slides, lossis cov khawm tswj swb thaum kawg kom txav mus los ntawm txhua tus swb.

AISI 304/304L Stainless hlau capillary coiled tubing

AISI 304 stainless hlau kauj yog txhua yam khoom siv nrog kev ua haujlwm zoo thiab nws tsim nyog rau ntau yam kev siv uas yuav tsum tau ua kom zoo thiab weldability.

Sheye Hlau stocks 304 coils hauv 0.3mm txog 16mm thickness thiab 2B tiav, BA tiav, No.4 tiav yog ib txwm muaj.

Ib sab ntawm peb hom ntawm qhov chaw, 304 stainless hlau kauj tuaj yeem xa tuaj nrog ntau yam ntawm qhov chaw tiav.Qib 304 stainless muaj ob qho tib si Cr (feem ntau 18%) thiab npib tsib xee (feem ntau 8%) hlau ua cov khoom tseem ceeb uas tsis yog hlau.

Hom coils no feem ntau yog austenitic stainless hlau, belongs rau tus qauv Cr-Ni stainless hlau tsev neeg.

Lawv feem ntau yog siv rau cov khoom siv hauv tsev thiab cov neeg siv khoom, cov khoom siv hauv chav ua noj, sab hauv tsev thiab sab nraum zoov cladding, handrails, thiab qhov rais thav ntawv, khoom noj khoom haus thiab dej haus kev lag luam khoom, cia tso tsheb hlau luam.

Nyob rau hauv txoj kev tshawb no, tus tsim ntawm lub torsion thiab compression springs ntawm lub tis folding mechanism siv nyob rau hauv lub foob pob ua ntxaij yog xam raws li ib tug optimization teeb meem.Tom qab lub foob pob hluav taws tawm ntawm lub raj xa tawm, cov tis kaw yuav tsum qhib thiab ruaj ntseg rau qee lub sijhawm.Lub hom phiaj ntawm txoj kev tshawb no yog kom ua kom lub zog loj tshaj plaws uas khaws cia rau hauv lub qhov dej kom cov tis tuaj yeem xa mus rau lub sijhawm luv tshaj plaws.Nyob rau hauv cov ntaub ntawv no, lub zog sib npaug nyob rau hauv ob qho tib si luam tawm tau txhais raws li lub hom phiaj muaj nuj nqi nyob rau hauv lub optimization txheej txheem.Txoj kab uas hla ntawm txoj kab uas hla, coil txoj kab uas hla, tus naj npawb ntawm cov coils, thiab deflection tsis xav tau rau lub caij nplooj ntoos hlav tsim tau txhais raws li qhov hloov pauv tau zoo.Muaj cov kev txwv geometric ntawm qhov sib txawv vim qhov loj ntawm lub tshuab, nrog rau cov kev txwv ntawm qhov kev nyab xeeb vim yog cov khoom thauj los ntawm cov springs.Cov zib muv (BA) algorithm tau siv los daws qhov teeb meem kev ua kom zoo no thiab ua lub caij nplooj ntoos hlav tsim.Cov nqi zog tau txais nrog BA yog qhov zoo tshaj rau cov uas tau txais los ntawm Kev Tshawb Fawb Kev Tshawb Fawb (DOE) yav dhau los.Springs thiab cov txheej txheem tsim los siv cov kev ntsuas tau los ntawm kev ua kom zoo dua qub tau raug tshuaj xyuas thawj zaug hauv ADAMS program.Tom qab ntawd, kev sim kev sim tau ua tiav los ntawm kev sib xyaw cov khoom tsim tawm rau hauv cov txheej txheem tiag tiag.Raws li qhov tshwm sim ntawm qhov kev sim, nws tau pom tias cov tis qhib tom qab li ntawm 90 milliseconds.Tus nqi no zoo tshaj qhov project lub hom phiaj ntawm 200ms.Tsis tas li ntawd, qhov sib txawv ntawm qhov kev soj ntsuam thiab kev sim ua tau tsuas yog 16 ms.
Nyob rau hauv dav hlau thiab marine tsheb, folding mechanisms yog qhov tseem ceeb.Cov tshuab no yog siv hauv kev hloov kho dav hlau thiab kev hloov pauv los txhim kho kev ua haujlwm dav hlau thiab tswj.Nyob ntawm hom davhlau, cov tis quav thiab nthuav dav sib txawv kom txo tau qhov cuam tshuam aerodynamic1.Qhov xwm txheej no tuaj yeem muab piv rau kev txav ntawm tis ntawm qee cov noog thiab kab thaum lub sij hawm txhua hnub ya thiab dhia dej.Ib yam li ntawd, gliders quav thiab nthuav tawm hauv cov submersibles kom txo tau cov teebmeem hydrodynamic thiab ua kom zoo tshaj plaws 3.Txawm li cas los xij, lwm lub hom phiaj ntawm cov txheej txheem no yog los muab cov txiaj ntsig zoo rau cov tshuab xws li folding ntawm lub nyoob hoom qav taub 4 rau kev khaws cia thiab thauj.Cov tis ntawm lub foob pob hluav taws kuj quav cia kom txo qhov chaw cia.Yog li, ntau lub foob pob hluav taws tuaj yeem muab tso rau ntawm thaj chaw me me ntawm lub launcher 5. Cov khoom siv uas siv tau zoo hauv folding thiab unfolding feem ntau yog cov springs.Thaum lub sijhawm folding, lub zog yog khaws cia rau hauv nws thiab tso tawm thaum lub sijhawm nthuav tawm.Vim nws cov qauv hloov tau yooj yim, khaws cia thiab tso tawm lub zog sib npaug.Lub caij nplooj ntoos hlav yog tsim los rau lub kaw lus, thiab qhov kev tsim no nthuav tawm cov teeb meem kev ua kom zoo6.Vim hais tias thaum nws suav nrog ntau yam sib txawv xws li txoj kab uas hla, txoj kab uas hla ntawm lub coil, tus naj npawb ntawm lem, lub kaum sab xis helix thiab hom khoom, kuj tseem muaj cov txheej txheem xws li huab hwm coj, ntim, yam tsawg kawg nkaus kev ntxhov siab los yog muaj zog tshaj plaws 7.
Txoj kev tshawb no tso lub teeb ntawm kev tsim thiab kev ua kom zoo ntawm cov springs rau tis folding mechanisms siv nyob rau hauv foob pob ua ntxaij systems.Nyob rau hauv lub raj xa tawm ua ntej lub davhlau, cov tis nyob twj ywm folded rau saum npoo ntawm lub foob pob hluav taws, thiab tom qab tawm ntawm lub raj xa tawm, lawv nthuav dav rau ib lub sijhawm thiab tseem nias rau saum npoo.Cov txheej txheem no tseem ceeb heev rau kev ua haujlwm ntawm lub foob pob hluav taws.Nyob rau hauv lub tsim folding mechanism, qhib lub tis yog nqa tawm los ntawm torsion springs, thiab lub xauv yog nqa tawm los ntawm compression springs.Txhawm rau tsim lub caij nplooj ntoo hlav tsim nyog, cov txheej txheem kev ua kom zoo yuav tsum tau ua.Nyob rau hauv lub caij nplooj ntoos hlav optimization, muaj ntau yam kev siv nyob rau hauv cov ntaub ntawv.
Paredes et al.8 tau txhais qhov siab kawg ntawm lub neej qaug zog raws li lub hom phiaj muaj nuj nqi rau kev tsim cov helical springs thiab siv quasi-Newtonian txoj kev ua ib txoj kev optimization.Kev hloov pauv hauv kev ua kom zoo tau raug txheeb xyuas raws li txoj kab uas hla, coil txoj kab uas hla, tus naj npawb ntawm cov lem, thiab lub caij nplooj ntoos hlav ntev.Lwm qhov parameter ntawm lub caij nplooj ntoos hlav qauv yog cov khoom siv los ntawm nws tau ua.Yog li ntawd, qhov no tau coj mus rau hauv tus account hauv kev tsim thiab kev tshawb fawb optimization.Zebdi et al.9 teem lub hom phiaj ntawm qhov siab tshaj plaws nruj thiab qhov hnyav tsawg kawg nkaus hauv lub hom phiaj ua haujlwm hauv lawv txoj kev kawm, qhov twg qhov hnyav qhov tseem ceeb.Hauv qhov no, lawv txhais cov khoom siv caij nplooj ntoos hlav thiab cov khoom geometric raws li qhov sib txawv.Lawv siv cov genetic algorithm ua ib txoj kev optimization.Hauv kev lag luam automotive, qhov hnyav ntawm cov ntaub ntawv muaj txiaj ntsig zoo hauv ntau txoj hauv kev, los ntawm kev ua haujlwm ntawm lub tsheb mus rau kev siv roj.Qhov hnyav txo qis thaum optimizing coil springs rau kev ncua yog qhov kev kawm paub zoo10.Bahshesh thiab Bahshesh11 tau txheeb xyuas cov ntaub ntawv xws li E-iav, carbon thiab Kevlar raws li qhov hloov pauv hauv lawv txoj haujlwm hauv ANSYS ib puag ncig nrog lub hom phiaj ntawm kev ua tiav qhov hnyav tsawg kawg nkaus thiab lub zog tensile siab tshaj plaws hauv ntau yam kev ncua caij nplooj ntoos hlav sib xyaw tsim.Cov txheej txheem tsim khoom yog qhov tseem ceeb hauv kev tsim cov khoom sib xyaw.Yog li, ntau yam sib txawv tuaj rau hauv kev ua si hauv qhov teeb meem optimization, xws li cov txheej txheem ntau lawm, cov kauj ruam ua hauv cov txheej txheem, thiab cov qib ntawm cov kauj ruam 12,13.Thaum tsim cov springs rau dynamic systems, lub ntuj frequencies ntawm lub system yuav tsum tau coj mus rau hauv tus account.Nws raug pom zoo tias thawj zaus ntawm lub caij nplooj ntoos hlav yog tsawg kawg yog 5-10 npaug ntawm lub ntuj zaus ntawm qhov system kom tsis txhob muaj qhov resonance14.Taktak et al.7 txiav txim siab kom txo qis qhov loj ntawm lub caij nplooj ntoos hlav thiab ua kom lub cev muaj zog thawj zaug raws li lub hom phiaj ua haujlwm hauv lub caij nplooj ntoos hlav coil tsim.Lawv siv cov qauv tshawb nrhiav, qhov taw tes sab hauv, cov txheej txheem nquag, thiab cov txheej txheem genetic algorithm hauv Matlab optimization cuab yeej.Kev tshawb fawb soj ntsuam yog ib feem ntawm kev tshawb fawb tsim lub caij nplooj ntoos hlav, thiab txoj kev Finite Element yog nrov hauv cheeb tsam no15.Patil et al.16 tau tsim ib txoj kev ua kom zoo rau kev txo qhov hnyav ntawm compression helical caij nplooj ntoos hlav siv cov txheej txheem analytical thiab kuaj cov analytical sib npaug siv txoj kev finite element.Lwm qhov kev ntsuas rau kev ua kom muaj txiaj ntsig ntawm lub caij nplooj ntoo hlav yog qhov nce hauv lub zog nws tuaj yeem khaws cia.Cov ntaub ntawv no tseem ua kom ntseeg tau tias lub caij nplooj ntoo hlav khaws nws cov txiaj ntsig rau lub sijhawm ntev.Rahul thiab Rameshkumar17 Nrhiav kom txo lub caij nplooj ntoos hlav ntim thiab ua kom muaj zog hauv lub tsheb kauj vab caij nplooj ntoos hlav tsim.Lawv kuj tau siv genetic algorithms hauv kev tshawb fawb txog kev ua kom zoo.
Raws li tuaj yeem pom, cov kev txwv hauv kev kawm optimization txawv ntawm qhov system mus rau qhov system.Feem ntau, nruj thiab shear kev nyuaj siab tsis yog ib qho tseem ceeb nyob rau hauv ib tug system uas lub load nws yog tus txiav txim yam tseem ceeb.Kev xaiv cov khoom muaj nyob rau hauv qhov kev txwv qhov hnyav nrog ob qhov kev txwv no.Ntawm qhov tod tes, ntuj frequencies raug soj ntsuam kom tsis txhob muaj resonances hauv cov tshuab muaj zog heev.Hauv cov kab ke uas siv hluav taws xob tseem ceeb, lub zog yog maximized.Hauv kev tshawb fawb txog kev ua kom zoo, txawm hais tias FEM yog siv rau kev tshawb fawb soj ntsuam, nws tuaj yeem pom tau tias metaheuristic algorithms xws li genetic algorithm14,18 thiab grey hma algorithm19 yog siv ua ke nrog cov txheej txheem Newton classical nyob rau hauv ntau yam tsis muaj.Metaheuristic algorithms tau tsim los raws li kev hloov pauv ntawm ntuj tsim uas ua rau lub xeev pom zoo nyob rau lub sijhawm luv luv, tshwj xeeb tshaj yog nyob rau hauv kev cuam tshuam ntawm cov pejxeem 20,21.Nrog rau kev faib tawm ntawm cov pej xeem hauv thaj chaw tshawb nrhiav, lawv zam kev optima hauv zos thiab txav mus rau lub ntiaj teb optima22.Yog li, nyob rau xyoo tas los no nws tau siv ntau zaus hauv cov ntsiab lus ntawm cov teeb meem kev lag luam tiag23,24.
Qhov teeb meem tseem ceeb rau lub folding mechanism tsim nyob rau hauv txoj kev tshawb no yog tias cov tis, uas nyob rau hauv qhov chaw kaw ua ntej ya davhlau, qhib ib lub sij hawm tom qab tawm hauv lub raj.Tom qab ntawd, lub xauv lub ntsiab thaiv lub tis.Yog li ntawd, cov springs tsis ncaj qha cuam tshuam rau lub davhlau dynamics.Nyob rau hauv cov ntaub ntawv no, lub hom phiaj ntawm kev ua kom zoo tshaj plaws yog ua kom lub zog khaws cia kom nrawm nrawm ntawm lub caij nplooj ntoo hlav.Dov txoj kab uas hla, hlau txoj kab uas hla, tus naj npawb ntawm yob thiab deflection tau txhais raws li optimization tsis.Vim lub caij nplooj ntoos hlav me me, qhov hnyav tsis suav tias yog lub hom phiaj.Yog li ntawd, cov khoom siv yog txhais tau tias yog tsau.Cov npoo ntawm kev nyab xeeb rau cov tshuab deformations yog txiav txim siab raws li qhov kev txwv tseem ceeb.Tsis tas li ntawd, qhov sib txawv ntawm qhov loj me muaj feem cuam tshuam rau qhov kev ua haujlwm ntawm lub tshuab.Txoj kev BA metaheuristic tau xaiv los ua txoj kev ua kom zoo.BA tau txais kev pom zoo rau nws cov qauv yooj yim thiab yooj yim, thiab rau nws cov kev nce qib hauv kev tshawb fawb txog kev kho tshuab kom zoo25.Hauv qhov thib ob ntawm txoj kev tshawb no, cov ncauj lus kom ntxaws txog lej suav nrog hauv lub hauv paus ntawm cov qauv tsim thiab lub caij nplooj ntoos hlav tsim ntawm lub folding mechanism.Qhov thib peb muaj cov optimization algorithm thiab optimization tau.Tshooj 4 ua kev tshuaj xyuas hauv ADAMS program.Qhov tsim nyog ntawm cov springs yog soj ntsuam ua ntej ntau lawm.Ntu kawg muaj cov txiaj ntsig kev sim thiab cov duab sim.Cov txiaj ntsig tau txais hauv txoj kev tshawb no kuj tau muab piv nrog cov haujlwm dhau los ntawm cov kws sau ntawv siv DOE mus kom ze.
Cov tis tsim nyob rau hauv txoj kev tshawb no yuav tsum fold rau saum npoo ntawm lub foob pob ua ntxaij.tis tig los ntawm folded mus rau unfolded txoj hauj lwm.Rau qhov no, ib tug tshwj xeeb mechanism tau tsim.Ntawm daim duab.1 qhia txog qhov folded thiab unfolded configuration5 nyob rau hauv lub foob pob ua ntxaij tswj system.
Ntawm daim duab.2 qhia ib seem saib ntawm lub mechanism.Lub tshuab muaj ntau yam khoom siv: (1) lub cev tseem ceeb, (2) tis ncej, (3) cov kabmob, (4) lub cev xauv, (5) lub qhov rooj xauv, (6) nres tus pin, (7) lub caij nplooj ntoos hlav torsion thiab ( 8) compression springs.Lub tis ncej (2) txuas nrog lub caij nplooj ntoos hlav torsion (7) los ntawm lub tes tsho xauv (4).Tag nrho peb ntu tig ib txhij tom qab lub foob pob hluav taws tawm.Nrog rau qhov kev hloov pauv no, cov tis tig mus rau lawv txoj haujlwm kawg.Tom qab ntawd, tus pin (6) yog actuated los ntawm compression caij nplooj ntoos hlav (8), yog li thaiv tag nrho cov mechanism ntawm lub xauv lub cev (4)5.
Elastic modulus (E) thiab shear modulus (G) yog cov qauv tsim tseem ceeb ntawm lub caij nplooj ntoos hlav.Nyob rau hauv txoj kev tshawb no, high carbon caij nplooj ntoos hlav steel hlau (Suab paj nruag hlau ASTM A228) raug xaiv los ua cov khoom caij nplooj ntoos hlav.Lwm yam tsis muaj xws li hlau txoj kab uas hla (d), nruab nrab coil txoj kab uas hla (Dm), tus naj npawb ntawm coils (N) thiab caij nplooj ntoos hlav deflection (xd rau compression springs thiab θ rau torsion springs) 26.Lub zog khaws cia rau compression springs \({(SE}_{x})\) thiab torsion (\({SE}_{\theta}\)) tuaj yeem xam los ntawm qhov sib npaug.(1) thiab (2) 26.(Lub shear modulus (G) tus nqi rau lub caij nplooj ntoos hlav compression yog 83.7E9 Pa, thiab elastic modulus (E) tus nqi rau lub caij nplooj ntoos hlav torsion yog 203.4E9 Pa.)
Lub tshuab qhov ntev ntawm qhov system ncaj qha txiav txim siab geometric txwv ntawm lub caij nplooj ntoos hlav.Tsis tas li ntawd, cov xwm txheej nyob rau hauv lub foob pob hluav taws yuav tsum tau coj mus rau hauv tus account.Cov yam ntxwv no txiav txim siab qhov txwv ntawm lub caij nplooj ntoos hlav tsis muaj.Lwm qhov kev txwv tseem ceeb yog qhov kev nyab xeeb.Lub ntsiab txhais ntawm qhov kev nyab xeeb yog piav qhia meej los ntawm Shigley li al.26.Lub compression caij nplooj ntoos hlav kev ruaj ntseg yam tseem ceeb (SFC) yog txhais raws li qhov siab tshaj plaws tso cai kev ntxhov siab muab faib los ntawm kev ntxhov siab nyob rau hauv lub nruam ntev.SFC tuaj yeem suav nrog kev sib npaug.(3), (4), (5) thiab (6) 26.(Rau cov khoom siv caij nplooj ntoos hlav siv hauv txoj kev tshawb no, \({S}_{sy}=980 MPa\)).F sawv cev rau lub zog hauv kab zauv thiab KB sawv cev rau Bergstrasser yam ntawm 26.
Lub torsion kev nyab xeeb ntawm lub caij nplooj ntoos hlav (SFT) yog txhais tias M faib los ntawm k.SFT tuaj yeem xam los ntawm qhov sib npaug.(7), (8), (9) thiab (10) 26.(Rau cov khoom siv hauv qhov kev tshawb fawb no, \({S}_{y}=1600 \mathrm{MPa}\)).Hauv kab zauv, M yog siv rau torque, \({k}^{^{\prime}}\) yog siv rau lub caij nplooj ntoos hlav tsis tu ncua (torque/rotation), thiab Ki yog siv rau kev kho kev ntxhov siab.
Lub hom phiaj tseem ceeb ntawm kev ua kom zoo tshaj plaws hauv txoj kev tshawb no yog kom ua kom lub zog ntawm lub caij nplooj ntoos hlav.Lub hom phiaj muaj nuj nqi yog formulated los nrhiav \(\overrightarrow{\{X\}}\) uas maximizes \(f(X)\).\({f}_{1}(X)\) thiab \({f}_{2}(X)\) yog lub zog ua haujlwm ntawm compression thiab torsion caij nplooj ntoos hlav, feem.Cov lej suav thiab cov haujlwm uas siv rau kev ua kom zoo yog qhia hauv cov kab zauv hauv qab no.
Cov kev txwv ntau yam muab tso rau ntawm tus qauv tsim ntawm lub caij nplooj ntoos hlav tau muab rau hauv qhov sib npaug hauv qab no.Qhov sib npaug (15) thiab (16) sawv cev rau kev nyab xeeb rau compression thiab torsion springs, ntsig txog.Hauv txoj kev tshawb no, SFC yuav tsum ntau dua lossis sib npaug rau 1.2 thiab SFT yuav tsum siab dua lossis sib npaug rau θ26.
BA tau txais kev tshoov siab los ntawm muv' pollen-nrhiav tswv yim27.Bees nrhiav los ntawm kev xa ntau cov tsiaj txhu mus rau thaj chaw paj ntoos zoo nkauj thiab tsawg dua cov tsiaj txhu mus rau cov paj ntoo uas tsis muaj qoob loo.Yog li, qhov ua tau zoo tshaj plaws los ntawm cov neeg muv tau ua tiav.Ntawm qhov tod tes, scout muv txuas ntxiv mus nrhiav thaj chaw tshiab ntawm paj ntoos, thiab yog tias muaj thaj chaw tsim khoom ntau dua li yav dhau los, ntau tus tsiaj txhu yuav raug coj mus rau thaj chaw tshiab no28.BA muaj ob ntu: kev tshawb nrhiav hauv zos thiab kev tshawb nrhiav thoob ntiaj teb.Kev tshawb nrhiav hauv zos nrhiav ntau cov zej zog nyob ze qhov tsawg kawg nkaus (cov chaw tseem ceeb), xws li muv, thiab tsawg dua ntawm lwm qhov chaw (qhov zoo tshaj plaws lossis qhov chaw tshwj xeeb).Ib qho kev tshawb nrhiav arbitrary yog ua nyob rau hauv lub ntiaj teb no kev tshawb fawb ib feem, thiab yog hais tias muaj nuj nqis zoo tau pom, cov chaw nres tsheb yuav tsiv mus nyob rau hauv lub zos nrhiav ib feem nyob rau hauv lub tom ntej no iteration.Cov algorithm muaj qee qhov tsis sib xws: tus naj npawb ntawm cov muv scout (n), tus naj npawb ntawm cov chaw tshawb fawb hauv zos (m), tus naj npawb ntawm cov chaw tseem ceeb (e), tus naj npawb ntawm foragers hauv cov neeg tseem ceeb qhov chaw (nep), tus naj npawb ntawm foragers hauv thaj chaw zoo.Qhov chaw (nsp), thaj tsam loj (ngh), thiab tus naj npawb ntawm cov lus qhia (I)29.BA pseudocode yog qhia hauv daim duab 3.
Lub algorithm sim ua haujlwm ntawm \({g}_{1}(X)\) thiab \({g}_{2}(X)\).Raws li qhov tshwm sim ntawm txhua qhov iteration, cov txiaj ntsig zoo tau txiav txim siab thiab cov pej xeem tau sau los ntawm cov txiaj ntsig no hauv kev sim kom tau txais cov txiaj ntsig zoo tshaj plaws.Cov kev txwv raug txheeb xyuas hauv cov chaw tshawb fawb hauv zos thiab thoob ntiaj teb.Hauv kev tshawb nrhiav hauv zos, yog tias cov xwm txheej no tsim nyog, tus nqi hluav taws xob raug xam.Yog tias tus nqi hluav taws xob tshiab ntau dua li qhov zoo tshaj tus nqi, muab tus nqi tshiab rau qhov zoo tshaj tus nqi.Yog tias qhov txiaj ntsig zoo tshaj plaws nyob rau hauv cov txiaj ntsig tshawb fawb ntau dua li cov khoom tam sim no, cov khoom tshiab yuav raug suav nrog hauv kev sau.Daim duab thaiv ntawm kev tshawb nrhiav hauv zos tau pom hauv daim duab 4.
Cov pej xeem yog ib qho tseem ceeb ntawm BA.Nws tuaj yeem pom los ntawm cov kev tshawb fawb yav dhau los uas nthuav dav cov pej xeem txo cov naj npawb ntawm cov iterations xav tau thiab ua rau kom muaj kev vam meej.Txawm li cas los xij, tus naj npawb ntawm kev ntsuas kev ua haujlwm kuj tseem nce ntxiv.Lub xub ntiag ntawm ntau qhov chaw tseem ceeb tsis cuam tshuam rau kev ua haujlwm.Tus naj npawb ntawm cov chaw tseem ceeb tuaj yeem qis yog tias nws tsis yog xoom30.Qhov loj ntawm scout muv pejxeem (n) feem ntau yog xaiv ntawm 30 thiab 100. Nyob rau hauv txoj kev tshawb no, ob qho tib si 30 thiab 50 scenarios tau khiav los txiav txim seb tus lej tsim nyog (Table 2).Lwm qhov kev ntsuas yog txiav txim siab nyob ntawm cov neeg.Tus naj npawb ntawm cov chaw xaiv (m) yog (kwv yees) 25% ntawm cov pej xeem loj, thiab tus naj npawb ntawm cov chaw tseem ceeb (e) ntawm cov chaw xaiv yog 25% ntawm m.Tus naj npawb ntawm kev pub muv (tus naj npawb ntawm kev tshawb nrhiav) raug xaiv los ua 100 rau cov neeg tseem ceeb thaj av thiab 30 rau lwm thaj av hauv zos.Kev tshawb nrhiav ib puag ncig yog lub ntsiab lus tseem ceeb ntawm txhua qhov kev hloov pauv algorithms.Nyob rau hauv txoj kev tshawb no, txoj kev tapering neeg zej zog txoj kev tau siv.Txoj kev no txo ​​qhov loj ntawm cov neeg nyob ib puag ncig ntawm ib tus nqi thaum lub sij hawm txhua iteration.Hauv kev rov ua dua yav tom ntej, cov nqi me me hauv zej zog 30 tuaj yeem siv rau kev tshawb nrhiav kom raug.
Rau txhua qhov xwm txheej, kaum qhov kev sim sib law liag tau ua los xyuas qhov kev rov ua dua tshiab ntawm kev ua kom zoo dua qub.Ntawm daim duab.5 qhia cov txiaj ntsig ntawm optimization ntawm lub caij nplooj ntoos hlav torsion rau lub tswv yim 1, thiab hauv daim duab.6 - rau lub tswv yim 2. Cov ntaub ntawv xeem kuj tau muab rau hauv cov lus 3 thiab 4 (ib lub rooj uas muaj cov txiaj ntsig tau txais rau lub caij nplooj ntoos hlav compression yog nyob rau hauv Cov Ntaub Ntawv Ntxiv S1).Cov muv pej xeem intensifies qhov kev tshawb fawb rau qhov zoo muaj nuj nqis nyob rau hauv thawj iteration.Hauv qhov xwm txheej 1, cov txiaj ntsig ntawm qee qhov kev xeem tau qis dua qhov siab tshaj plaws.Hauv Scenario 2, nws tuaj yeem pom tau tias txhua qhov kev ua tau zoo tau nce mus txog qhov siab tshaj plaws vim qhov nce ntawm cov pej xeem thiab lwm yam tsis raug.Nws tuaj yeem pom tias qhov tseem ceeb hauv Scenario 2 yog qhov txaus rau cov algorithm.
Thaum tau txais tus nqi siab tshaj plaws ntawm lub zog nyob rau hauv iterations, ib qho kev nyab xeeb tseem ceeb yog qhov txwv rau txoj kev tshawb no.Saib lub rooj rau kev nyab xeeb.Lub zog qhov tseem ceeb tau txais kev siv BA yog muab piv nrog cov uas tau siv 5 DOE txoj kev hauv Table 5. (Rau qhov yooj yim ntawm kev tsim khoom, tus naj npawb ntawm cov lem (N) ntawm lub caij nplooj ntoos hlav torsion yog 4.9 es tsis txhob 4.88, thiab deflection (xd ) yog 8 hli es tsis txhob 7.99 hli nyob rau hauv lub compression caij nplooj ntoos hlav.) Nws tuaj yeem pom tias BA yog qhov zoo dua.BA ntsuas tag nrho cov txiaj ntsig los ntawm kev tshawb nrhiav hauv zos thiab thoob ntiaj teb.Txoj kev no nws tuaj yeem sim ntau txoj kev xaiv sai dua.
Hauv txoj kev tshawb no, Adams tau siv los txheeb xyuas qhov txav ntawm lub tis mechanism.Adams yog thawj zaug muab 3D qauv ntawm lub tshuab.Tom qab ntawd txhais lub caij nplooj ntoos hlav nrog cov kev txwv uas tau xaiv hauv ntu dhau los.Tsis tas li ntawd, qee qhov kev ntsuas yuav tsum tau txhais rau qhov kev tshuaj xyuas tiag tiag.Cov no yog lub cev tsis xws li kev sib txuas, cov khoom siv, kev sib cuag, kev sib txhuam, thiab lub ntiajteb txawj nqus.Nws muaj qhov sib koom ua ke ntawm cov hniav ncej thiab cov kabmob.Muaj 5-6 cylindrical pob qij txha.Muaj 5-1 cov pob qij txha ruaj khov.Lub cev tseem ceeb yog ua los ntawm cov khoom siv aluminium thiab ruaj khov.Cov khoom siv ntawm cov khoom seem yog steel.Xaiv qhov coefficient ntawm kev sib txhuam, kev sib cuag nruj thiab qhov tob ntawm qhov nkag ntawm qhov sib txhuam ntawm qhov chaw nyob ntawm seb hom khoom siv.(stainless steel AISI 304) Hauv qhov kev tshawb fawb no, qhov tseem ceeb tsis zoo yog lub sijhawm qhib ntawm lub tshuab tis, uas yuav tsum tsawg dua 200 ms.Yog li ntawd, khaws lub qhov muag ntawm lub tis qhib lub sij hawm thaum lub sij hawm tsom xam.
Raws li qhov tshwm sim ntawm Adas 'kev tshuaj xyuas, lub sijhawm qhib ntawm lub tis mechanism yog 74 milliseconds.Cov txiaj ntsig ntawm dynamic simulation ntawm 1 mus rau 4 yog pom nyob rau hauv daim duab 7. Thawj daim duab hauv daim duab.5 yog lub sij hawm simulation pib thiab cov tis nyob rau hauv txoj hauj lwm tos folding.(2) Qhia qhov chaw ntawm tis tom qab 40ms thaum lub tis tau tig 43 degrees.(3) qhia txoj hauj lwm ntawm tis tom qab 71 milliseconds.Tsis tas li hauv daim duab kawg (4) qhia qhov kawg ntawm qhov tig ntawm lub tis thiab qhib txoj hauj lwm.Raws li qhov tshwm sim ntawm kev tsom xam dynamic, nws tau pom tias lub tis qhib mechanism yog luv dua li lub hom phiaj tus nqi ntawm 200 ms.Tsis tas li ntawd, thaum sizing cov springs, cov kev txwv kev nyab xeeb tau raug xaiv los ntawm cov txiaj ntsig siab tshaj plaws tau pom zoo hauv cov ntaub ntawv.
Tom qab ua tiav tag nrho cov tsim, optimization thiab simulation kev tshawb fawb, ib tug qauv ntawm lub mechanism yog tsim thiab kev koom ua ke.Tom qab ntawd tus qauv raug sim los xyuas qhov kev simulation.Ua ntej ruaj lub plhaub loj thiab quav cov tis.Tom qab ntawd cov tis raug tso tawm los ntawm txoj hauj lwm folded thiab ib qho yeeb yaj kiab tau ua los ntawm kev sib hloov ntawm cov tis los ntawm txoj hauj lwm folded mus rau lub deployed.Lub timer kuj tau siv los txheeb xyuas lub sijhawm thaum kaw video.
Ntawm daim duab.8 qhia cov duab thav duab 1-4.Ncej tus naj npawb 1 hauv daim duab qhia lub sijhawm tso tawm ntawm cov tis folded.Lub sijhawm no suav tias yog lub sijhawm pib ntawm lub sijhawm t0.Ncej 2 thiab 3 qhia cov haujlwm ntawm tis 40 ms thiab 70 ms tom qab pib lub sijhawm.Thaum txheeb xyuas cov thav duab 3 thiab 4, nws tuaj yeem pom tias qhov txav ntawm lub tis stabilizes 90 ms tom qab t0, thiab qhib lub tis ua tiav ntawm 70 thiab 90 ms.Qhov xwm txheej no txhais tau hais tias ob qho tib si simulation thiab cov qauv kev sim muab kwv yees li tib lub sijhawm xa mus rau lub tis, thiab tus qauv tsim ua tau raws li qhov yuav tsum tau ua ntawm lub tshuab.
Nyob rau hauv tsab xov xwm no, lub torsion thiab compression springs siv nyob rau hauv lub tis folding mechanism yog optimized siv BA.Cov tsis tuaj yeem ncav cuag sai nrog ob peb qhov rov ua dua.Lub caij nplooj ntoos hlav torsion yog ntsuas ntawm 1075 mJ thiab lub caij nplooj ntoos hlav compression ntsuas ntawm 37.24 mJ.Cov txiaj ntsig no yog 40-50% zoo dua li cov kev tshawb fawb DOE yav dhau los.Lub caij nplooj ntoos hlav tau muab tso rau hauv cov txheej txheem thiab tshuaj xyuas hauv ADAMS program.Thaum soj ntsuam, nws tau pom tias cov tis qhib tsis pub dhau 74 milliseconds.Tus nqi no zoo tshaj qhov project lub hom phiaj ntawm 200 milliseconds.Hauv kev sim tom ntej, lub sijhawm tig-raug ntsuas yog li 90 ms.Qhov no 16 millisecond qhov sib txawv ntawm kev txheeb xyuas yuav yog vim ib puag ncig yam tsis tau ua qauv hauv software.Nws ntseeg tau tias qhov optimization algorithm tau los ntawm txoj kev tshawb no tuaj yeem siv rau ntau lub caij nplooj ntoos hlav tsim.
Cov khoom siv caij nplooj ntoos hlav tau txhais ua ntej thiab tsis tau siv los ua qhov sib txawv hauv kev ua kom zoo.Txij li muaj ntau hom kev sib txawv ntawm cov khoom siv hauv cov dav hlau thiab cov foob pob hluav taws, BA yuav raug siv los tsim lwm hom springs siv cov khoom sib txawv kom ua tiav qhov kev tsim lub caij nplooj ntoos hlav zoo hauv kev tshawb fawb yav tom ntej.
Peb tshaj tawm tias cov ntawv no yog thawj, tsis tau luam tawm yav dhau los, thiab tam sim no tsis raug txiav txim siab rau kev tshaj tawm lwm qhov.
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