角加速度

The effect of tribology factors on bearing vibration is studied experimentally. AR model and WPT are used to processing the normal arid abnormal signals. The results are as follows:1. The vibration of ball bearings is caused by the tribology action of contact pairs of ball and ring races and has the essential of tribo-dynamics. Any factors affecting the tribology characteristics of contact pairs will affect vibration and noise of bearings consequently.2. Vibration characteristics of bearing keep almostly unchanged with the increasing of axial load expecting the increasing of nature frequencies. When radial load increasing with axial load unchanged, nature frequencies keep unchanged but some new vibration peaks appears in the spectrum.3. Vibration amplitudes are damped and nature frequency are enhanced with sufficient lubrication. Vibration and noise of bearings increase obviously and roar can happen and the contact surfaces scratch slightly under insufficient and unclean lubrication state. Bearing will be disabled in a few minutes without any lubrication.4. Bearing vibration is unstable under low speed. With the speed increasing, the vibration become stable and natural frequencies increase slightly but the amplitudes increase apparently.5. Bearing vibration can be excited only by some harmonics ofwaviness without lubrication and by all harmonics with lubrication based on the theoretical analysis.6. The nature frequencies of ball bearings decrease with the increasing sizes. When international clearance increasing, nature frequencies decrease in radial and increase in axial and angular and the amplitudes increase in radial and decrease in axial and angular. When the number of balls increasing, nature frequencies increase and amplitudes decrease. When the pitch diameter increasing, axial nature frequency increase and others nearly keep no change. When outer race groove curvature radius increasing, nature frequencies increase in radial and decrease in axial and angular and amplitudes keep no change in radial and increase in axial and angular. When inner race groove curvature radius increasing, nature frequencies decrease and amplitudes increase.7. The distortion in amplitude and frequency components of bearing vibration signals picked up by the present probe measurement method is founded and right conclusions cannot be achieved by the signals. When accelerometer is rigidly screwed with steel stud onto a flat outer surface of a ball bearing, vibration signal can be got without distortion and the reliability of research on bearing vibration is assured.8. AR model is suitable for large samples of bearing vibration signals, square root of length of samples can be used as the upper limitation of order determination and the FPE order selection criterion is effective. Many advantages of AR spectrum are founded over the classical based on FFT.9. Time-Frequency analysis is necessary for abnormal noise of ball bearings. WPT overcomes the principle shortcomings of STFT and proved to be a best tool to process the abnormal signals.

理论分析和试验研究表明： 1球轴承振动是钢球—滚道接触副中的各种摩擦学作用引起的，具有摩擦动力学的本质，任何对接触副的摩擦学特性有影响的因素都将对球轴承的振动和噪声特性产生影响； 2中心轴向载荷作用下，载荷增大使球轴承的固有振动频率升高，载荷越大同样的载荷增幅引起的频率升幅减小，足够大的中心轴向载荷作用下载荷的变化对球轴承振动的频率特性不会产生明显的影响； 3轴向和径向联合载荷作用下，径向载荷不大时球轴承振动的固有频率基本不变，但是可能引起变刚度激励的非线性振动，出现新的频峰，过大的径向载荷将使部分钢球脱离接触，使球轴承的振动和噪声呈现不稳定状态； 4润滑对球轴承的振动和噪声特性有重要的影响，良好的润滑对振动有明显的抑制作用，润滑不充分时，振动和噪声的水平会有明显增高，一定条件下还会激发接触副中的谐振，发出啸声，造成接触表面的伤害，无润滑干接触时，短时的运转就会损伤接触副表面，使振动和噪声迅速增大，并随时可能引发严重的磨损和卡滞失效；接触副润滑良好时，油膜的"刚化效应"使球轴承振动的固有频率有所提高，润滑剂中含有弥散性污浊时，振动的幅度总体升高，但弥散性污浊不会改变球轴承振动的频率特性；浙江大学博士学位论文：球轴承振动的研究 5低速时，球轴承振动的基本特征呈现不稳定状态，随着转速的提高，球轴承振动的频率特性趋于稳定，固有频率频峰升高； 6理论分析表明，干接触时钢球和滚道表面波纹度的某些谐波分量能激励球轴承的振动，振动的幅值与谐波幅值成正比，实际球轴承中钢球的分布不可能完全均匀，波纹度的激励作用会随时发生；润滑接触的分析表明，波纹度的任意谐波分量均能激励球轴承的振动； 7球轴承的几何和结构参数分析表明，球轴承尺寸越大，径向、轴向和角振动的固有频率越低；钢球中心圆直径增大，球轴承的径向和轴向振动的固有频率基本不变，角振动的固有频率有所上升，振动的幅频特性基本不变；径向游隙加大使球轴承的径向振动固有频率降低，轴向和角振动的固有频率有所升高，径向振动幅频特性的幅值升高，而轴向和角向降低；钢球的数量增多使球轴承振动的固有频率上升，幅频特性的幅值下降，径向振动的幅值下降最为明显；外圈沟曲率半径系数增大使球轴承径向振动的固有频率升高，轴向和角振动的固有频率降低，径向幅频特性基本不变，轴向和角向幅频特性幅值升高；内圈沟曲率半径系数增大使径向、轴向和角振动固有频率均下降，振动幅频特性的幅值均有升高； 8试验对比表明，传感器采用探针式安装时，由于探针接触副接触特性的影响，钡(量得到的球轴承振动信号有失真，采用专门设计和制作的试验球轴承，以固定式安装加速度计，首次测量得到了球轴承振动的真实信号，通过对振动信号的分析，验证了球轴承振动的理论模型； 9)基于时间序列分析的AR模型适用于大样本球轴承振动信号的分析，以样本长度的均方根值作定阶上界，FPE做判阶准则，给出的AR谱光滑，频率分辨率高，是球轴承振动分析的简便而可靠的手段； 10以时频域分析的小波包变换分析球轴承异音信号能够比较好地定位和聚焦异音发生的时间，时间间隔，频率范围，同样是球轴承振动分析的可靠的手段，可用作球轴承故障诊断技术。

In order to design lighter and faster hydraulic excavator, a rigid-flexible hybrid modeling method based on rigid multi-body dynamics and finite element method was put forward to study the dynamic characteristic of hydraulic excavator in its whole working cycle. The working equipment with characteristic of time-varying structure was taken as research object, and radial acceleration was computed as tags of key load.

为适应液压挖掘机高速、轻量化的要求，以具有时变固频特性的液压挖掘机工作装置为研究对象，提出了以角加速度判断时变结构的关键工况，利用刚性多体动力学和有限元方法对液压挖掘机在整个作业循环中的动力学特性进行建模和分析。

Moreover we formulize the optimal path according to the theory of B-spline Curve, so the path which is composed by the grid point can transform into a continuous and smooth curve. By formulizing path we can also calculate angular velocity, angle acceleration, and torque in dynamics.

另外我们根据B-spline Curve的理论将最佳路径参数化，使由格点所组成的最佳路径转换为一条连续且平滑的曲线，藉此我们也可以计算动力学中的瞬间角速度、角加速度与力矩。

There was a negative correlation between the overall magnitude of acceleration and both the center-edge angle and the acetabular head index, and there was a positive correlation between the overall magnitude of acceleration and both the acetabular roof angle and the Sharp angle.

在所有的加速度量值与CE角和臼头指数之间有负相关，在所有加速度量值与臼顶角和Sharp角之间有正相关。

The conclusion is that the extent of the zenith blind zone was restricted by three parameters: maximum azimuth angular velocity of tracking mount, flight level and airspeed of the target. In astronomical coordinates (reference mark is north latitude 43. 9°), analyzed is the effect of azimuth angular velocity, acceleration and altitude angular velocity, acceleration etc. Some formulae were given to compute all correlative quantities.

在观测坐标系中推导出确定天顶盲区理论范围公式和满足过天顶跟踪条件的关系式；在天文坐标系中以长春卫星观测站（北纬43.9°）作为计算基准，分别讨论了方位、俯仰方向的角速度、角加速度等对天顶盲区的影响，在理论分析上为解决过天顶跟踪问题打下了基础。

The conclusion is that the extent of the zenith blind zone was restricted by three parameters: maximum azimuth angular velocity of tracking mount, flight level and airspeed of the target. In astronomical coordinates (reference mark is north latitude 43.9 ), analyzed is the effect of azimuth angular velocity, acceleration and altitude angular velocity, acceleration etc. Some formulae were given to compute all correlative quantities.

在观测坐标系中推导出确定天顶盲区理论范围公式和满足过天项跟踪条件的关系式；在天文坐标系中以长春卫星观测站(北纬43.9°)作为计算基准，分别讨论了方位、俯仰方向的角速度、角加速度等对天顶盲区的影响，在理论分析上为解决过天顶跟踪问题打下了基础。

The angular accelerations after planning are easy to be implemented.

并且规划后的关节角加速度规律比较容易实现。

Since the feature of joint's movement. Both knee's angular accelerations in two techniques are different from each other.

由于关节活动的特征，两种技术在两膝的角加速度上存在差异。

Motion sickness is one of the most important problems in the field of space medicine.

运动病是指当人或动物所处环境的直线或角加速度改变时出现的一系列植物神经功能紊乱症状，表现为眩晕、恶心、呕吐、冷汗、苍白等，严重的可引起脱水、休克。

Numerical simulation results demonstrate that active suspension with a proper control strategy can decrease the roll angle and roll angle acceleration of the truck cab, the active suspension can improve both the ride comfort and driving safety.

大量的仿真结果显示，主动控制悬置系统明显降低了驾驶室的俯仰角加速度和俯仰角，采用主动控制悬置系统可有效地改善卡车行驶平顺性和乘坐舒适性。

In the United States, chronic alcoholism and hepatitis C are the most common ones.

在美国，慢性酒精中毒，肝炎是最常见的。

If you have any questions, you can contact me anytime.

如果有任何问题，你可以随时联系我。