1、附录英文原文NUMERICALMODELINGOFMULTICYLINDERELECTRO-HYDRAULICSYSTEMANDCONTROLLERDESIGNFORSHOCKTESTMACHINEAbstract：Ahighfidelitydynamicmodelofahigh-energyhydraulically-actuatedshocktestmachineforheavyweightdevicesispresentedtosatisfythenewly-builtshockresistancestandardandsimulatetheactua1underwaterexplosi
2、onenvironmentsinlaboratoryaswel1asincreasethetestingcapabilityofshocktestmachineInordertoproducetherequirednegativeshockpulseinthegiventimedurationfourhydraulicactuatorsareutilizedThemodelisthenusedtoformulateanadvancedfeedforwardcontrollerforthesystemtoproducetherequirednegativewaveformandtoaddress
3、themotionsynchronizationofthefourcylindersThemode1providesasafeandeasilycontrollablewaytoperforma“virtua1testing”beforestartingpotentiallydestructivetestsonspecimenandtopredictperformanceofthesystemSimulationresultshavedemonstratedtheeffectivenessofthecontroller/Keywords：ShocktestmachineNegativeshoc
4、kpulseActuatorredundancyFeedforwardcontrollerVirtua1testing0INTRODUCTIONTheeffectsofunderwaterexplosions(UNDEX)onshiphullsandequipmenthavebeenstudiedsincethel800sLUNon-contactunderwaterexplosionsagainstsurfaceships，iebymines，ormissilesmaycauseextensiveequipmentdamageandrendershipsinoperativeeventhou
5、ghhulldamageisnotcritica1Thusshocktestmustbecarriedoutoneverycriticaldeviceorequipmentonsubmarineandsurfaceshiptoconfirmthatitwillstillfunctionorinsevercaseswillsurvive，aftertheoccurrenceoftheshockconditionswhichitcanbeexpectedtoencounterduringitsserviceThemosteffectiveanddirectwaytocheckouttheantis
6、hockcapabilityofdevicesistotestthemonavesselsubjectedtounderwaterexplosionTestsconductedusingliveexplosiveshaveinherentlimitationsincludingenvironmentalimpact，significantcost，measuringresultsinthefieldandavailablequantityoftestsAtpresent，thecommonlyusedmethodtoassesswarshipequipmentsshockresistancec
7、apabilityistoconducttestonashocktestmachineinacontrollablewayTheUNDEXenvironmentisverycomplexcomposedofa“kick”fromtheincidentshockwavefollowedbytheeffectsofcavitations，bubblepulse，andstructuralwhippingThebubblepulseoscillatesatafrequencyveryclosetothefirstbendingmodeoftheshipItwillbeevenmoredestruct
8、ivethantheincidentpressurewavewhenthebubblemigratesnearenoughtotheshiptoexcitethismodeHowever/thetraditionalshockmachines1ikelightweightshockmachine(LWSM)andmediumweightshockmachine(MWSM)，cannotsimulateshockenvironmentforthebubblepulsesinducedbyUNDEXandtheshockenvironmentsimulatedbytraditionalmachin
9、esislargelydifferentfromtheactualUNDEXphysicalenvironmentAccordingtothenewlydesignspecificationsOfMILS90lDtheinputforshocktestshouldbeshockresponsespectra(SRS1，insteadofasingletimehistoryaccelerationwaveformsuchashalf-sinetriangularsawtoothpulseBesidestheshockinputinthedesignspecificationsOfBV04385i
10、sadoubletransientshockpulseieapositiveaccelerationpulseanegativeone/IntheorytheSRScanbetransformedintotimedomainanditisequivalenttoadoublewaveforil1ThereforeshockmachinesthatwillbebuiltshouldadapttotherequirementofthelatestshockcriteriontosimulatetheactualUNDEXenvironmentasmuchaspossibleTheaimofshoc
11、ktestingistoimpartprecisereplicationsofhighenergytransientshockpulseintotestspecimensThetestspecimensarevaluableandunique，andneedtobetestedtoexactshocklevelswithspecificenterspectra：toomuchcandamagethespecimen，toolittleleavesquestionsaboutthespecimenrobustnessOwingtothetestseverity/itisthenessential
12、thatthetestshouldbecontrollableClassiccontrolmethods，suchaspoleplacementhavebeeninvestigatedforshockcontrol，butwithlimitedsuccessThemainreasonisthatthedurationofshocktestisveryshortbythetimethesystemcandetectanerrorbetweencommandsandtheactualoutputsitisalreadytoolatetorespondadequatelyThispaperformu
13、latesahighfidelitynumericaldynamicmodelforadampingsystemwhichisapartofthewholeshockmachineusedtoproducetherequirednegativeshockpulseinthetestingprocessComponentsofthesystemmodelareusedtoformelateanadvancedfeedforwardcontrollerTheactuatorredundancyissueisalsoconsideredduringthecontrollerdesignThemode
14、landcontrollerprovideasafeandeasilycontrollablewaytoperformavirtualtesting”beforestartingpotentiallydestructivetestsonthespecimenandtopredicttheperformanceofthesystemFurtheroreinordertosolvetheuncertaintyproblemofthetestspecimendynamicsforfeedforwardinversemodelcontrol，anewinitialtuningtechniqueispr
15、oposedforourspecialcasesTheorganizationofthispa1)erisasfollows：Insectionl，adescriptionofthedampingsystemanditsdynamicmodelispresentedVariousfeaturesofthemodelarediscussed，includingthesettlementofactuatorsredundantInsection2thecontrolstrategiesareproposedThesimulationresultsarepresentedinsection3Fina
16、lly/theconclusionsectionfollows1PROBLEMFORMULATIONANDDYNAMICMODELThestructureofthedampingsystemisshowninFig1anditsfunctionistoproducetherequirednegativeshockpulseduringshocktestingprocessThedurationoftheshockwavetransientsisunder01swithdesiredaccelerationsupto2550gformegiventestspecimenalltheseparam
17、eterscanbeadjustedaccordingtodifferenttestingconditionsThetestingcapacityofmeshockmachineisunder5000kg(includingfixture)Thetestspecimenisfixedonmeteststandmovingverticallyatmegivenspeed，whichisproducedbytheshocksysteminmepositiveshockpulsegeneratingprocessWhenthemaximumspeedisachieved，thedampingsyst
18、embeginstoforceittostopinthegiventimeThemaindifficultyindesigningthedampingsystemliesinthatthesystemshouldproducetherequiredforcesinthegiventimetosaristhewaveformrequirementForthispurpose/fourcomplexandsophisticatedhydraulicactuatorsaredesignedtoexertthedampingforcesTheactuatorsareconnectedwiththete
19、ststandthroughsphericalhingesandthefourram-typecylindersarearrangedinasymmetricalmannerDetailsofthecontactingpointsbetweenteststandandcylinderscanbeseeninFig2ThepointsontheteststandthatcontactthecylindersvarywiththerotationoftheteststandItsmotiondependsontherotationangleandInrealitytherotationanglei
20、sverysmall，thismotioncanbeignoredandwejustfocusontheverticaldisplaceMendandtherotationalongtherollaxisrandthepitchaxisPEachcylinderiscontrolledbyfourthreestageservovalvesThehightransientenergyissuppliedbyaseriesofaccumulators(seeFig3)1/1SystemmodelingInwhatfollowingmathematicalmodelofthecomponentsin
21、thenegativepulsesystemwillbebuiltindetail1/1/1TestspecimenFig1showstheforcesactingonthehydrauliccylindersandFig4isthetopviewofthesystemtoindicatethelocationofthespecimenSphericalcontactsurfacesareassumedbetweenthecylindersandtheteststandTheteststand(includingtestspecimen)canrotatefreelyaroundtheroll
22、axisrandthepitchaxisPTherol1axisrisdefinedtobeperpendiculartothe1ineconnectingcylinder1andcylinder2andthepitchaxisPisdefinedtobeparalleltothelineconnectingcylinder1andcylinder2AccordingtoNewtonssecondlawandthetheoremofangularmomenturn，thefollowingequationscanbeobtainedtorepresentthemotionofthespecimen/wherem：ms+mt，msandmtrepresentmassofthetestspecimenandtheteststand，respectivelyrepresentsthereactionforceactingoncylinder(i=1，2，3，4)；gisthegravitationalconstant；Iiand12arethemomentam1forwithrespecttotherotationalaxisrandP；jandJvrepresenttherotationalmomentofinertiaoftheload
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