分析动力学

This course introduces basic knowledge of Analytical Mechanics and theory of movement stability, and focuses on dynamics knowledge related tightly with engineering technique such as orbit moment in central gravitation field, electromechanical coupling dynamics, rigid-body dynamics, gyroscopic dynamics, manipulator dynamics et al.

本课程较系统地叙述了分析力学和运动稳定性理论的基础知识，着重介绍与工程技术密切相关的动力学知识，如中心引力场中的轨道运动、机电耦合系统动力学、刚体动力学与陀螺力学、机械臂的动力学分析方法。

As the example, robot mechanism is considered, including the topology graph representation. compotation of the mathematical model. This method based on Riemann geometry with simpler formulation is more suitable for computer-aided modeling and dynamic analysis.

讨论了机器人系统的拓扑图表示和动力学模型计算等，与已有的机器人动力学分析办法相比，基于黎曼几何和拓扑图表示方法的动力学分析更加简便，更加适合机器人动力学机械化建模。

This paper, which focused on the structure optimization theory and method, has finished such studies as follows: The three dimension model has been built, which provide the necessary conditions for the building of the dynamics equivalent model. By the launch dynamics simulation, the loads of the key joints when the rocket is launched has been got, which provide the necessary data for the finite element analysis and the structure optimization. The finite element model of the excess weight parts of the rocket has been built, buy the finite element intension analysis of the model in two conditions, the displacement and the stress of the key points have been got, which make us know the distributing of the stress and the transmogrification of the part. To satisfy the intension and the precision design request and to decrease the weight of the part as many as possible, the part has been topology optimized by the structure optimization theory and method. After that, the new model has been analysis in structure and launch dynamics. The contrast of the character change of the old part and the new part and the influence on the rocket system have been studied.

本文以结构优化理论和方法为核心，主要做了以下工作：建立了某自行火箭炮全炮三维实体模型，为建立该火箭炮系统的动力学等效模型提供了必要条件，进行了发射动力学仿真，得到该火箭炮发射装置各关键连接部位在发射状态下的载荷，为有限元分析和结构优化提供了必需的数据；建立了该火箭炮发射装置超重部分的有限元模型，分两种工况，对模型进行了有限元强度分析，得出了关键部位的位移和应力值，对其的应力和变形分布有了具体的了解；运用结构优化的理论和方法，对该火箭炮发射装置超重部分进行了拓扑优化，使其在满足强度和精度的要求下尽可能多地减轻重量，对优化后得到的模型进行了结构分析和发射动力学分析，对比了该部件优化前后的特性变化以及对火箭炮系统的影响。

In this project, we have deduced the joint inversion model of geodetic data, seismic data and geological data considering about their weight ratio; presented Bayes-iterative search inversion algorithm which improved on the traditional Bayes algorithm and strengthen the stability of inversion solutions; enriched and developed geodetic joint inversion theory and method of tectonic stress field; joint with geodetic, seismic, geological and geophysical data, we have inverted the temporal and spatial variation characteristics of crustal deformation of active tectonic blocks in North China and the present-day cruatal movement and strain-stress field by FEM, DDA and bi-cubic spline function fit method; especial for the crustal deformation result in some typical areas, we have presented geodynamical interpretation and done some seismic dangerous estimations.

大地测量联合反演构造应力场属于大地测量与地球动力学和地震学的交叉研究领域，主要内容是研究用大地测量地壳运动监测数据定量研究地壳运动和变形的动力学问题及分析预测地震，本项目推导了兼顾权比确定的大地测量、地震和地质三类数据的联合反演模型；提出贝叶斯-轮回搜索反演算法，改进传统的贝叶斯方法，改善反演解的稳定性；丰富、发展了大地测量反演构造应力场理论及方法；联合大地测量、地震、地质、地球物理数据采用有限单元法、块体不连续变形分析法和双三次样条函数拟合方法反演分析了华北地区活动地块运动时空变化特征以及中国大陆现今地壳运动与应变-应力场，对典型地区地表形变结果进行地球动力学解释并进行地震危险性估计。

By proximate and ultimate analysis, petrographical analysis, Scanning Electronic Microscope analysis, Mercury Porosimeter analysis, TG analysis and pilot scale fluidized bed combustion experiment, the combustion characteristics and particle properties of Longyan coal with different lithotype were studied, including the surface figure and pore structure of particle, the maceral content, the ignition and burnout temperature, and the reactivity, ect.

利用热天平实验测试数据，分别采用Freeman-Carroll微分法、改良Coats-Redfern积分法和Flynn-Wall-Ozawa法等热分析手段求解4种无烟煤的燃烧动力学参数。研究不同热天平试验工况、不同处理方法和不同拟合区间等对求解结果的影响，分析用不同热分析方法求解反应动力学参数的可靠性并计算得到了几种典型福建无烟煤的燃烧反应动力学参数；再次是研究流化床燃烧中无烟煤焦的反应性随燃尽度的变化。

Through simulation of the real process of thomcolumbar burst fracture and use of modem dynamics techniques, the present study was (1) to investigate the kinetic relationship between structural damage and impact energy absorption and dynamics mechanism of thoracolumbar burst fracture by quantitative analysis of various injured segments;(2) to explore the instability mechanism of L1 vertebral burst fracture and its injury threshold by three-dimensional analysis of the injured segment with stereophotogrammetry in combination of transient physical parameters, anatomy and image;(3) to explore the corresponding relationships between impact energy, geometry parameters and biomechanics by geometry and biomechanical analysis of thoracolumbar burst fracture, which may provide an objective standard for evaluation of spinal injury severity and experimental evidence for adoption of biomechanical treatment in clinic;(4) to evaluate the fixation effect of different instruments and the effect of intervertebral bone graft on segment fixation by analysis of the threedimensional stability of different internal fixation instruments and their decompression of the spinal canal, which may provide experimental evidence for therapeutical selection for thoracolumbar burst fracture in future; and finally to investigate the effect of various instrument fixation on dynamical characteristics by comparison and quantitative analysis of frequency and amplitude responses, which may provide certain theories and experimental evidence for application of vibration test to judge the stability of the spine.

本研究从胸腰段脊柱爆裂骨折发生的实际过程出发，以现代动力学检测及计算机多通道高性能数据采集分析系统等高新技术为基础，实时量化分析损伤节段的工程参数，揭示了结构破坏与能量吸收的变化规律，探讨了胸腰段脊柱爆裂骨折的瞬态损伤机制；利用三维立体摄像技术，对不同损伤程度的节段进行三维运动分析，结合瞬态物理参数、影像学和病理解剖，明确了〓椎体爆裂骨折的失稳机制及损伤阈值；通过对胸腰椎爆裂骨折的几何学变化及生物力学分析，明确了撞击能量与几何参数、几何参数与生物力学的相应关系，为评判脊柱损伤程度提供了客观标准，为治疗中采取适宜的生物力学方法提供了实验依据；通过对比分析不同内固定器械的三维稳定性和对椎管的减压作用，评价不同器械的复位固定作用，同时比较椎体间植骨对节段固定作用的影响，为今后临床胸腰段脊柱爆裂骨折的治疗选择提供依据；利用振动测试与分析技术，比较及量化分析了不同致伤状况的频幅响应特征，比较分析了各种器械固定对动力学特性的影响，为今后临床建立基于振动测试与分析技术判断脊柱稳定性的诊断方法，提供了一定的理论和实验依据。

By regression of experimental data, therules of the linkage between these factors, which will provide a theoretical basis for designing BBP with different scales.3 Using thermal analysis technology and dynamic thermogravimetry, the paper studies combustion kinetic characteristics of 3 types of agricultural crops at different rate of temperature rise, and thus, achieved dynamic parameters of these fuels at different rate of temperature, established dynamic model of straw combustion, which reflects the dynamic process in the fast combustion area.4 Characteristics of straw briquette combustion was experimented, focusing on the impact of straw type, temperature, air supply, and density, diameter, and weight of briquette on the combustion speed, and the following conclusions were drawn:(1) combustion of straw briquette fuel is static permeation diffusion combustion;(2) temperature has a larger impact on the speed of straw briquette combustion than air supply; the higher the combustion temperature is, the faster volatilizable component separates out, and the less steady the combustion is;(3) density of briquette fuel has impact on the speed of volatilizable component separation and therefore the combustion speed;(4) increase of diameter and weight of briquette fuel increases the average combustion speed in the initial stage, and that in the later stages is comparatively steady;(5) the proportion of volatilizable component in straw briquette fuel is high, therefore, the temperature control during combustion under the rational ventilation condition is essential to ensure its safe combustion.5 Using the above-mentioned results of experiments and theoretical analysis, and based on thought of hydraulic driven and bi-direction compression, the hydraulic system and compression parts of the HBP BBP are re-designed in terms of industrialization.

利用热分析技术，采用动态热重实验法，对我国的三大农作物秸秆在不同升温速率下的燃烧动力学特性进行了较系统的研究。得到了各原料在不同升温速率下的动力学参数；建立了秸秆燃烧的动力学模型，该模型反映了秸秆迅速燃烧区的动力学过程。 4 对秸秆成型燃料的燃烧特性进行了试验研究。着重研究了秸秆河南农业大学博士学位论文巫的种类、温度、空气供给量、成型燃料密度、直径、质量对成型燃料燃烧速度的影响并得出如下主要结论：①秸秆成型燃料的燃烧方式属于静态渗透式扩散燃烧。②秸秆成型燃料燃烧速度受温度的影响大于通风量燃烧速度的影响：燃烧温度越高，挥发分析出速度越快，燃烧平稳性愈差。③成型燃料密度影响成型燃料挥发分的析出速度，影响燃烧速度。④成型燃料直径和质量的增加，使得燃烧初期的平均燃烧速度增大，中后期的平均燃烧速度相对平稳。⑤秸秆成型燃料含挥发分比例高，因此合理配风下的控温燃烧是保证其完全燃烧的关键。 5运用已取得的试验和理论分析结果，以液压驱动、双向成型为基础，从产业化的角度对HBP型成型机进行了液压系统和成型部件的改进设计；同时采用了二级预压机构，使该成型机的生产率达到 500kg.hd；单位能耗 60kwh。上'左右，磨损件修复周期 300小时左右，基本解决了影响生物质固化技术在国内推广的技术难题。

In general, the major results are:(1) Established the geometrical model for the enwinding of the wire rope in the roller, such as the inclination of the wire rope and the climbing equation of roller in the commutation process;(2) Established the tensile force kinetic model for the enwinding wire rope used the Lagrange kinetic equation and the continual kinetic theory in the start up and retard moment. Solved the equations by the method of modal analysis and separation of variables(3) Based on the analysis on the enwinding mechanism of the wire rope, we did the research on the mechanics behavior of the wire ropes enwinding process.(4) According to the research above, we made the computer program to solve the mechanics models. And after parametric analysis, we made the suggestion for the improving of the current wire rope enwinding system.

主要研究工作有：(1)建立了钢丝绳在滚筒缠绕几何模型，研究了钢丝绳缠绕过程极限偏角及换向过程在滚筒爬坡机理及几何模型；(2)依据LAGRANGE系统广义动力学方程、连续体动力学理论分别建立起升系统启动及制动过程钢丝绳缠绕快绳拉力的动力学模型，并分别采用模态分析法及分离变量法求解；(3)结合对钢丝绳在钻机滚筒缠绕机理分析的基础上，研究了钢丝绳在滚筒缠绕过程力学行为；(4)编制计算机仿真程序对上述模型进行求解，在参数分析的基础上提出对目前钢丝绳缠绕系统结构改进建议。

The dynamics model of missile sealifts system for navy ships connected parallely is established. The dynamics simulation analysis of system is studied. The dynamics characteristic of missile box on the condition of different sea states and place parameters of crane are analyzed. The theory and technology bases for the design of system of missile sealifts or navy ships connected parallely are presented. The controlled multibody system dynamics of the system of missile sealifts with wave compensation for navy ships connected parallely is presented. On the condition of stochastic momevement of depot ship and incept ship and under the action of sealifts and wave compensation, the dynamics of sealifts system is studied by using discrete time transfer matrix method of multibody system. The calculate method of electric machine impule is developed in the process of supplying missile and action of wave compensate. Based on the PLC control system, the control method, which control supply process by testing torque of guide strings is presented.

本文建立了舰艇并靠导弹补给动力学模，进行了舰艇并靠导弹补给及波浪补偿系统动力学仿真分析，获得了导弹箱在不同海况下和舰用起重机不同位置参数的运动规律，为舰艇并靠导弹补给系统设计提供了理论依据和技术基础；建立了舰艇并靠导弹补给及波浪补偿受控系统多体动力学，在补给舰和被补给舰随机运动下，在补给和波浪补偿系统作用下，应用多体系统离散时间传递矩阵法进行了补给系统动力学分析，得到了导弹补给过程中，波浪补偿时，导引电机和卷扬电机输入电机脉冲计算方法；建立了以PLC 控制系统为核心，用扭矩传感器测量导引带产生的扭矩来控制补给过程的控制方法；对系统振动问题进行了研究，提出了通过调整伺服电机参数减少系统振动的方法。

The experiments for determining the reaction kinetics of Daqing atmospheric residue were performed in a continuous flow, expanded bed rector. Four-lumped reaction kinetic model was developed to account for various feed and product fractions of Daqing atmospheric residue (gases, gas oil, residue and coke). The amounts of olefins and alkyls in the gas products were further analyzed to determine reaction kinetics of gas product distributions. Hence, a combined five-lumped reaction kinetic model was obtained for catalytic pyrolysis of Daqing atmospheric residue. The kinetic constants both in four-lump model and five-lump model were evaluated. A simulator for catalytic pyrolysis process was developed by incorporating the five-lumped kinetic model into the hydrodynamic flow model.

其次利用改进的固定流化床装置考察大庆常压渣油催化裂解反应规律，筛选反应工艺参数；分析了催化裂解工艺存在的主要化学反应类型，提出了渣油一次反应和二次反应网络图；将反应原料油作为单独集总组分，而将产品中的轻质油、气体、焦炭分别作为集总，从而建立了四集总动力学模型；在此基础上，把气体产物中的目的产物低碳烯烃独立划分，得到五集总动力学模型；采用最小二乘法分析实验数据，分别得到四集总动力学模型和五集总动力学模型中各集总间相互反应转化的反应速率常数。

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失