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Muchidzidzo ichi, Stainless steel coil tube dhizaini yematsime ekutenderedza mapapiro uye ekumanikidza emuchina wekupeta mapapiro unoshandiswa muroketi inoonekwa sedambudziko rekugadzirisa. Mushure mekunge roketi yabuda muchubhu yekuburitsa, mapapiro akavharwa anofanira kuvhurwa uye kuvharwa kwenguva yakati. Chinangwa chechidzidzo ichi chaive chekuwedzera simba rakachengetwa mumatsime kuitira kuti mapapiro agone kubhururuka munguva pfupi. Muchiitiko ichi, energy equation muzvinyorwa zvese zvakatsanangurwa sebasa rechinangwa mukuita kwekugadzirisa. Dhayamita yewaya, dhayamita yecoil, nhamba yemacoil, uye maparamita ekuchinja anodiwa pakugadzira chitubu zvakatsanangurwa semavariable ekugadzirisa. Kune miganho yejometri pane mavariable nekuda kwehukuru hwemuchina, pamwe nemiganhu pane safety factor nekuda kwemutoro unotakurwa nematsime. Algorithm yehuchi (BA) yakashandiswa kugadzirisa dambudziko iri rekugadzirisa uye kuita dhizaini yechitubu. Simba rakawanikwa neBA rakakwirira pane rakawanikwa kubva muzvidzidzo zveDesign of Experiments (DOE) zvekare. Masipiringi nemashandiro akagadzirwa achishandisa maparamita akawanikwa kubva mukugadzirisa zvakatanga kuongororwa muchirongwa cheADAMS. Mushure meizvozvo, bvunzo dzekuedza dzakaitwa nekubatanidza maspring akagadzirwa muzvinhu chaizvo. Nekuda kwebvunzo iyi, zvakaonekwa kuti mapapiro acho akavhurika mushure memamirisekonzi angangoita makumi mapfumbamwe. Kukosha uku kuri pasi pechinangwa chepurojekiti chemamiriyoni mazana maviri. Pamusoro pezvo, musiyano uripo pakati pemhedzisiro yekuongorora neyekuedza i16 ms chete.
Mundege nemotokari dzemugungwa, nzira dzekupeta dzeStainless steel coil tube dzakakosha. Maitiro aya anoshandiswa mukugadzirisa nekushandura ndege kuti dzivandudze mashandiro ekubhururuka uye kudzora. Zvichienderana nemaitiro ekubhururuka, mapapiro anopeta nekuvhura zvakasiyana kuderedza kukanganiswa kwemhepo1. Mamiriro aya anogona kufananidzwa nekufamba kwemapapiro eshiri nezvipembenene panguva yekubhururuka kwezuva nezuva nekunyura. Saizvozvowo, magliders anopeta nekuvhura mupasi kuti aderedze mhedzisiro yehydrodynamic uye kuwedzera kubata3. Chimwe chinangwa chenzira idzi ndechekupa mabhenefiti evolumetric kune masisitimu akadai sekupeta kwehelikoputa propeller 4 yekuchengetedza nekutakura. Mapapiro eroketi anopetawo pasi kuti aderedze nzvimbo yekuchengetera. Saka, zvombo zvakawanda zvinogona kuiswa panzvimbo diki yelauncher 5. Zvikamu zvinoshandiswa zvinobudirira mukupeta nekuvhura zvinowanzova masprings. Panguva yekupeta, simba rinochengetwa mariri uye rinoburitswa panguva yekuvhura. Nekuda kwechimiro chayo chinochinjika, simba rakachengetwa nekuburitswa rinoenzana. Chitubu chakagadzirirwa zvakanyanya sisitimu, uye dhizaini iyi inopa dambudziko rekugadzirisa6. Nekuti kunyangwe ichisanganisira zvinhu zvakasiyana-siyana zvakaita sedhayamita yewaya, dhayamita yekoiri, nhamba yekutenderera, kona yehelix uye rudzi rwechinhu chacho, kunewo zvinodiwa zvakaita sehukuru, vhoriyamu, kugoverwa kwesimba shoma kana kuwanikwa kwesimba rakawanda7.
Chidzidzo ichi chinojekesa dhizaini uye kugadziriswa kwemasprings enzira dzekupeta mapapiro dzinoshandiswa mumaroketi. Ari mukati mechubhu yekuburitsa mapapiro asati abhururuka, mapapiro acho anoramba akapetwa pamusoro peroketi, uye mushure mekubuda muchubhu yekuburitsa mapapiro, anovhurika kwenguva yakati uye anoramba akamanikidzwa pamusoro. Maitiro aya akakosha pakushanda zvakanaka kweroketi. Munzira yekupeta yakagadzirwa, kuvhurwa kwemapapiro kunoitwa nemasprings ekutenderedza mapapiro, uye kukiya kunoitwa nemasprings ekudzvanya. Kuti ugadzire chitubu chakakodzera, maitiro ekugadzirisa mapapiro anofanira kuitwa. Mukati mekugadzirisa mapapiro, kune mashandisirwo akasiyana-siyana mumabhuku.
Paredes nevamwe 8 vakatsanangura chinhu chikuru chinorema pakuneta sebasa rekugadzira ma helical springs uye vakashandisa nzira ye quasi-Newtonian senzira yekugadzirisa. Zvinhu zvakasiyana-siyana mukugadzirisa zvakaonekwa se wire diameter, coil diameter, nhamba yekutendeuka, uye urefu hwe spring. Chimwe chinoratidza chimiro chechitubu ndicho chinhu chakagadzirwa nacho. Nokudaro, izvi zvakafungwa muzvidzidzo zvekugadzira nekugadzirisa. Zebdi nevamwe 9 vakaisa zvinangwa zvekuomarara kwakanyanya uye huremu hushoma mubasa rechinangwa mukudzidza kwavo, uko huremu hwaive hwakakosha. Muchiitiko ichi, vakatsanangura zvinhu zvechitubu uye hunhu hwe geometric sezvinhu zvakasiyana-siyana. Vanoshandisa genetic algorithm senzira yekugadzirisa. Muindasitiri yemotokari, huremu hwezvinhu hunobatsira munzira dzakawanda, kubva pakushanda kwemotokari kusvika pakushandisa mafuta. Kuderedza huremu uku vachigadzirisa ma coil springs e suspension chidzidzo chinozivikanwa zvikuru10. Bahshesh naBahshesh11 vakaona zvinhu zvakaita seE-glass, carbon neKevlar sezvinhu zvakasiyana-siyana mubasa ravo munzvimbo yeANSYS nechinangwa chekusvika pahuremu hushoma uye simba guru rekusimba mumagadzirirwo akasiyana-siyana e suspension spring composite. Maitiro ekugadzira akakosha mukugadzirwa kwezvitubu zvecomposite. Saka, zvinhu zvakasiyana-siyana zvinoshanda mudambudziko rekugadzirisa, senge nzira yekugadzira, matanho anotorwa mukuita, uye kutevedzana kwematanho iwayo12,13. Pakugadzira zvitubu zvemasisitimu anochinja-chinja, mafrequency echisikigo anofanira kutariswa. Zvinokurudzirwa kuti frequency yekutanga yechisikigo ive kanenge ka5-10 kanopfuura frequency yechisikigo kudzivirira resonance14. Taktak et al. 7 vakasarudza kuderedza huremu hwechitubu uye kuwedzera frequency yekutanga yechisikigo semabasa ekutarisira mukugadzira chitubu checoil. Vakashandisa pattern search, interior point, active set, uye genetic algorithm methods muMatlab optimization tool. Analytical research chikamu chespring design research, uye Finite Element Method inozivikanwa munzvimbo iyi15. Patil et al. 16 vakagadzira nzira yekuvandudza yekuderedza huremu hwepressure helical spring vachishandisa analytical procedure uye vakaedza analytical equations vachishandisa finite element method. Chimwe chinodiwa chekuwedzera kushanda kwechitubu kuwedzera kwesimba rachinogona kuchengeta. Nyaya iyi inoitawo kuti chitubu chirambe chichishanda kwenguva yakareba. Rahul naRameshkumar17 Vanotsvaga kuderedza huwandu hwechitubu uye kuwedzera simba rekumanikidzwa mumagadzirirwo echitubu chemota. Vakashandisawo ma genetic algorithms mukutsvagisa kwekugadzirisa.
Sezvatinoona, maparamita ari muchidzidzo chekugadzirisa anosiyana kubva pane sisitimu kuenda kune imwe. Kazhinji, maparamita ekuomarara uye kusvuta kwekucheka zvakakosha musystem umo mutoro wayo ndiwo unosarudza. Kusarudzwa kwezvinhu kunosanganisirwa musystem yekuyera uremu nemaparamita maviri aya. Kune rumwe rutivi, mafrequency echisikigo anotariswa kudzivirira ma resonances mumasisitimu ane simba rakawanda. Mumasisitimu uko utility inokosha, simba rinowedzerwa. Muzvidzidzo zvekugadzirisa, kunyangwe FEM ichishandiswa muzvidzidzo zvekuongorora, zvinogona kuonekwa kuti maalgorithms emetaheuristic akadai se genetic algorithm14,18 uye grey wolf algorithm19 anoshandiswa pamwe chete nenzira yekare yeNewton mukati memamwe maparamita. Maalgorithms emetaheuristic akagadzirwa zvichibva panzira dzechisikigo dzekugadzirisa dzinosvika padanho rakanaka munguva pfupi, kunyanya pasi pesimba revanhu20,21. Nekugoverwa kwevanhu zvisina kurongeka munzvimbo yekutsvaga, vanodzivisa local optima uye vanoenda kune global optima22. Saka, mumakore achangopfuura yagara ichishandiswa mumamiriro ezvinhu ematambudziko chaiwo eindasitiri23,24.
Nyaya yakakosha yemuchina wekupeta wakagadzirwa muchidzidzo ichi ndeyekuti mapapiro, ayo aive munzvimbo yakavharwa asati abhururuka, anovhurika nguva yakati mushure mekubuda muchubhu. Mushure meizvozvo, chinhu chinokiya chinovhara bapiro. Naizvozvo, masprings haakanganisi zvakananga dynamics yekubhururuka. Muchiitiko ichi, chinangwa chekugadzirisa kwaive kuwedzera simba rakachengetwa kuti kukurumidze kufamba kwechitubu. Dhayamita yeroll, dhayamita yewaya, huwandu hwemarolls uye deflection zvakatsanangurwa semaparameter ekugadzirisa. Nekuda kwehukuru hudiki hwechitubu, huremu hwakanga husingaonekwe sechinangwa. Naizvozvo, rudzi rwezvinhu runotsanangurwa serwakagadzika. Muganho wekuchengetedza kwekuchinja kwemechanical unoonekwa semuganho wakakosha. Pamusoro pezvo, zvirambidzo zvehukuru hunoshanduka zvinobatanidzwa muchiyero chemuchina. Nzira yeBA metaheuristic yakasarudzwa senzira yekuvandudza. BA yaifarirwa nekuda kwechimiro chayo chinochinjika uye chiri nyore, uye nekuda kwekufambira mberi kwayo mukutsvaga kwekugadzirisa kwemechanical25. Muchikamu chechipiri chechidzidzo, kutaura kwakadzama kwemasvomhu kunosanganisirwa muchimiro chekugadzira kwekutanga uye dhizaini yechitubu chemuchina wekupeta. Chikamu chechitatu chine algorithm yekuvandudza uye mhedzisiro yekuvandudza. Chitsauko 4 chinoita ongororo muchirongwa cheADAMS. Kukodzera kwematsime kunoongororwa usati wagadzira. Chikamu chekupedzisira chine mhedzisiro yekuyedza uye mifananidzo yekuyedza. Mhedzisiro yakawanikwa muchidzidzo ichi yakaenzaniswawo nebasa rekare revanyori vachishandisa nzira yeDOE.
Mapapiro akagadzirwa muchidzidzo ichi anofanira kupeta akananga pamusoro peroketi. Mapapiro anotenderera kubva panzvimbo yakapeta kuenda panzvimbo yakatambanudzwa. Pakuita izvi, pakagadzirwa nzira yakakosha. Pamufananidzo 1 panoratidza magadzirirwo akapeta uye akatambanudzwa5 muroketi coordinate system.
Pamufananidzo wechipiri pane chinoratidza chikamu chemuchina wacho. Muchina wacho une zvikamu zvakasiyana-siyana zvemuchina: (1) muviri mukuru, (2) mubato wemapapiro, (3) bearing, (4) muviri wekukiya, (5) bhandi rekukiya, (6) pin yekumisa, (7) chitubu chekukombama uye (8) maspring ekumanikidza. Mubato wemapapiro (2) wakabatana nechitubu chekukombama (7) kuburikidza neruoko rwekukiya (4). Zvikamu zvese zvitatu zvinotenderera panguva imwe chete mushure mekunge roketi yabhururuka. Nekufamba uku kwekutenderera, mapapiro anotendeukira kunzvimbo yawo yekupedzisira. Mushure meizvozvo, pini (6) inofambiswa nechitubu chekukombama (8), nokudaro ichivhara mashandiro ese emuviri wekukiya (4)5.
Elastic modulus (E) uye shear modulus (G) ndiwo magadzirirwo akakosha echitubu. Muchidzidzo ichi, waya yesimbi yechitubu ine kabhoni yakawanda (Music wire ASTM A228) yakasarudzwa sechitubu. Mamwe ma parameter ndeaya dhayamita yewaya (d), avhareji yedhayamita ye coil (Dm), nhamba yema coil (N) uye kutsauka kwechitubu (xd yezvitubu zvekumanikidza uye θ yezvitubu zvekutenderera)26. Simba rakachengetwa rezvitubu zvekumanikidza \({(SE}_{x})\) uye torsion (\({SE}_{\theta}\)) zvinogona kuverengerwa kubva muequation. (1) na (2)26. (Kukosha kwe shear modulus (G) kwechitubu chekumanikidza i83.7E9 Pa, uye kukosha kwe elastic modulus (E) kwechitubu chekutenderera i203.4E9 Pa.)
Zviyero zvemakanika zvesystem zvinosarudza zvakananga zvipingamupinyi zvejometri zvechitubu. Pamusoro pezvo, mamiriro ezvinhu ayo roketi ichave iri anofanirawo kufungwa nezvawo. Zvinhu izvi zvinosarudza miganhu yezvikamu zvechitubu. Chimwe chiganho chakakosha ndicho chinhu chekuchengetedza. Tsananguro yechinhu chekuchengetedza inotsanangurwa zvakadzama naShigley et al.26. Chinhu chekuchengetedza chitubu checompression (SFC) chinotsanangurwa sesimba guru rinobvumirwa rakakamurwa nekumanikidzwa pamusoro pehurefu hunoenderera mberi. SFC inogona kuverengerwa uchishandisa maequations. (3), (4), (5) uye (6)26. (Kune zvinhu zvechitubu zvakashandiswa muchidzidzo chino, \({S}_{sy}=980 MPa\)). F inomiririra simba muequation uye KB inomiririra Bergstrasser factor ye26.
Chiyero chekuchengetedza torsion chechitubu (SFT) chinotsanangurwa seM chakakamurwa na k. SFT inogona kuverengerwa kubva muequation. (7), (8), (9) uye (10)26. (Pane zvakashandiswa muchidzidzo chino, \({S}_{y}=1600 \mathrm{MPa}\)). Muequation, M inoshandiswa pa torque, \({k}^{^{\prime}}\) inoshandiswa pa spring constant (torque/rotation), uye Ki inoshandiswa pa stress correction factor.
Chinangwa chikuru chekugadzirisa mukudzidza uku ndechekuwedzera simba rechitubu. Basa rechinangwa rakagadzirwa kuti riwane \(\overrightarrow{\{X\}}\) rinosimudzira \(f(X)\). \({f}_{1}(X)\) uye \({f}_{2}(X)\) ndiwo mabasa esimba echitubu chekudzvanya netorsion, zvichiteerana. Mavariables akaverengerwa uye mabasa anoshandiswa pakugadzirisa anoratidzwa muequation dzinotevera.
Zvirambidzo zvakasiyana-siyana zvinoiswa pakugadzirwa kwechitubu zvinopihwa muequations dzinotevera. Equations (15) na (16) dzinomiririra zvinhu zvekuchengetedza zvemasprings ekudzvanywa uye ekutenderera, zvichiteerana. Muchidzidzo ichi, SFC inofanira kunge yakakura kupfuura kana yakaenzana ne1.2 uye SFT inofanira kunge yakakura kupfuura kana yakaenzana neθ26.
BA yakafemerwa nemazano ekutsvaga mukume nyuchi27. ​​Nyuchi dzinotsvaga nekutumira nyuchi dzakawanda kumunda wemupore wakaorera uye nyuchi shoma kumunda wemupore wakaorera zvishoma. Saka, kushanda zvakanaka kubva muhuwandu hwenyuchi kunowanikwa. Kune rumwe rutivi, nyuchi dzinotsvaga dzichiramba dzichitsvaga nzvimbo itsva dzemupore, uye kana paine nzvimbo dzinobereka zvakawanda kupfuura kare, nyuchi zhinji dzinotsvaga dzichaendeswa kunzvimbo itsva iyi28. BA ine zvikamu zviviri: kutsvaga kwemuno nekutsvaga kwepasi rose. Kutsvaga kwemuno kunowanikwa munharaunda dzakawanda dziri pedyo nedzishoma (nzvimbo dzepamusoro), dzakadai senyuchi, uye kutsvaga zvishoma kune dzimwe nzvimbo (nzvimbo dzakanaka kana dzakasarudzwa). Kutsvaga kwekusarongeka kunoitwa muchikamu chekutsvaga chepasi rose, uye kana hunhu hwakanaka hukawanikwa, nzvimbo dzinotamisirwa kuchikamu chekutsvaga chemuno mukudzokorora kunotevera. Algorithm ine mamwe ma parameter: huwandu hwenyuchi dzinotsvaga (n), huwandu hwenzvimbo dzekutsvaga dzemuno (m), huwandu hwenzvimbo dzepamusoro (e), huwandu hwenyuchi dzinotsvaga munzvimbo dzepamusoro (nep), huwandu hwenyuchi dzinotsvaga munzvimbo dzakanaka. Nzvimbo (nsp), saizi yenzvimbo (ngh), uye huwandu hwekudzokorora (I)29. BHA pseudocode inoratidzwa muMufananidzo 3.
Algorithm iyi inoedza kushanda pakati pe \({g}_{1}(X)\) uye \({g}_{2}(X)\). Nekuda kwekudzokorora kwega kwega, manhamba akakodzera anosarudzwa uye huwandu hwevanhu hunounganidzwa hwakatenderedza manhamba aya mukuyedza kuwana manhamba akanakisa. Zvirambidzo zvinotariswa muzvikamu zvekutsvaga zvemunharaunda uye zvepasi rose. Mukutsvaga kwemunharaunda, kana zvinhu izvi zvakakodzera, kukosha kwesimba kunoverengerwa. Kana simba idzva rakakura kupfuura kukosha kwakakodzera, isa kukosha kutsva kune kukosha kwakakodzera. Kana kukosha kwakanakisa kunowanikwa mumhedzisiro yekutsvaga kwakakura kupfuura chinhu chiripo, chinhu chitsva chichabatanidzwa muunganidzwa. Dhayagiramu yebhuroko yekutsvaga kwemunharaunda inoratidzwa muMufananidzo 4.
Huwandu hwevanhu ndeimwe yemipimo mikuru muBA. Zvinogona kuonekwa kubva muzvidzidzo zvekare kuti kuwedzera huwandu hwevanhu kunoderedza huwandu hwekudzokorora kunodiwa uye kunowedzera mukana wekubudirira. Zvisinei, huwandu hwekuongorora kwebasa huri kuwedzerawo. Kuvapo kwenzvimbo dzakawanda dzepamusoro hakukanganisi zvakanyanya mashandiro. Huwandu hwenzvimbo dzepamusoro hunogona kuva hwakaderera kana husiri zero30. Hukuru hwehuwandu hwenyuchi dzescout (n) hunowanzo sarudzwa pakati pe30 ne100. Muchidzidzo ichi, mamiriro ese ari maviri 30 ne50 akatorwa kuti aone huwandu hwakakodzera (Tafura 2). Mamwe maparameter anotsanangurwa zvichienderana nehuwandu hwevanhu. Huwandu hwenzvimbo dzakasarudzwa (m) i (inenge) 25% yehukuru hwevanhu, uye huwandu hwenzvimbo dzepamusoro (e) pakati penzvimbo dzakasarudzwa i25% yem. Huwandu hwenyuchi dzinodyisa (nhamba yekutsvaga) hwakasarudzwa kuti huve 100 yenzvimbo dzepamusoro uye 30 yedzimwe nzvimbo dzemunharaunda. Kutsvaga munharaunda ndiyo pfungwa huru yealgorithms dzese dzekushanduka-shanduka. Muchidzidzo ichi, nzira yekudzikisa vavakidzani yakashandiswa. Nzira iyi inoderedza saizi yenzvimbo nenguva yakatarwa panguva imwe neimwe yekudzokorora. Mukudzokorora kunotevera, zvidimbu zvidiki zvenzvimbo30 zvinogona kushandiswa pakutsvaga kwakarurama.
Pachiitiko chimwe nechimwe, bvunzo gumi dzakatevedzana dzakaitwa kuti dzitarise kugona kudzokororwa kwealgorithm yekuvandudza. Pamufananidzo 5 panoratidza mhedzisiro yekuvandudza chitubu chetorsion chechirongwa 1, uye pamufananidzo 6 - chechirongwa 2. Data rekuyedza rinopiwawo mumatafura 3 ne4 (tafura ine mhedzisiro yakawanikwa yechitubu chekudzvanya iri muSupplementary Information S1). Huwandu hwenyuchi hunowedzera kutsvaga kwehunhu hwakanaka mukudzokorora kwekutanga. Muchiitiko 1, mhedzisiro yemimwe bvunzo yaive pasi pepamusoro. MuChiitiko 2, zvinogona kuonekwa kuti mhedzisiro yese yekuvandudza iri kusvika pakakwirira nekuda kwekuwedzera kwehuwandu uye mamwe ma parameter akakodzera. Zvinogona kuonekwa kuti hunhu huri muChiitiko 2 hwakakwana kune algorithm.
Pakuwana kukosha kwakanyanya kwesimba mukudzokorora, chinhu chekuchengetedza chinopiwawo sechipingamupinyi chekudzidza. Ona tafura yechinhu chekuchengetedza. Simba rakawanikwa uchishandisa BA rinoenzaniswa nerakawanikwa uchishandisa nzira ye5 DOE muTafura 5. (Kuti zvive nyore kugadzira, nhamba yekutenderera (N) yechitubu chetorsion i4.9 pachinzvimbo che4.88, uye deflection (xd) i8 mm pachinzvimbo che7.99 mm muchitubu chekumanikidza.) Zvinogona kuonekwa kuti BA iri nani. BA inoongorora zvese kukosha kuburikidza nekutsvaga kwemuno nepasi rose. Nenzira iyi inogona kuedza dzimwe nzira nekukurumidza.
Muchidzidzo ichi, Adams akashandiswa kuongorora kufamba kwenzira yemapapiro. Adams anotanga apiwa modhi ye3D yenzira yacho. Wobva watsanangura chitubu chine maparamita akasarudzwa muchikamu chapfuura. Pamusoro pezvo, mamwe maparamita anofanirwa kutsanangurwa kuti aongorore chaiwo. Aya maparamita emuviri akadai sekubatana, hunhu hwezvinhu, kubata, kukweshana, uye simba rinokwevera pasi. Pane chinotenderera pakati pemubato webanga nebheyaringi. Kune majoini ecylindrical 5-6. Kune majoini akasimba 5-1. Muviri mukuru wakagadzirwa nezvinhu zvealuminium uye wakasimba. Zvinhu zvezvimwe zvikamu isimbi. Sarudza coefficient yekukweshana, kuomarara kwekubatana uye kudzika kwekupinda kwenzvimbo yekukweshana zvichienderana nerudzi rwezvinhu. (stainless steel AISI 304) Muchidzidzo ichi, parameter inokosha inguva yekuvhura kwenzira yemapapiro, iyo inofanira kunge iri pasi pe200 ms. Saka, ramba uchitarisa nguva yekuvhura kwemapapiro panguva yekuongorora.
Nekuda kwekuongorora kwaAdams, nguva yekuvhurwa kwenzira yemapapiro i74 milliseconds. Mhedzisiro ye dynamic simulation kubva pa1 kusvika pa4 inoratidzwa muMufananidzo 7. Mufananidzo wekutanga muMufananidzo 5 inguva yekutanga simulation uye mapapiro ari munzvimbo yekumirira kupetwa. (2) Inoratidza nzvimbo yebapiro mushure me40ms apo bapiro ratenderera 43 degrees. (3) inoratidza nzvimbo yebapiro mushure me71 milliseconds. Zvakare mumufananidzo wekupedzisira (4) inoratidza kuguma kwekutenderera kwebapiro nenzvimbo yakavhurika. Nekuda kwekuongorora kwakasimba, zvakaonekwa kuti nzira yekuvhura bapiro ipfupi zvakanyanya pane kukosha kwakatarwa kwe200 ms. Pamusoro pezvo, pakuenzanisa saizi yemasprings, miganhu yekuchengetedza yakasarudzwa kubva pamitengo yepamusoro inokurudzirwa mumabhuku.
Mushure mekupedza zvidzidzo zvese zvekugadzira, kugadzirisa uye kutevedzera, muenzaniso wemuchina wacho wakagadzirwa uye wakabatanidzwa. Muenzaniso wacho wakazoedzwa kuti uone mhedzisiro yekufananidzira. Kutanga simbisa goko guru wopeta mapapiro. Zvadaro mapapiro acho akasunungurwa kubva panzvimbo yakapetwa uye vhidhiyo yekutenderera kwemapapiro kubva panzvimbo yakapetwa kuenda kune yakatumirwa yakaitwa. Timer yakashandiswawo kuongorora nguva panguva yekurekodha vhidhiyo.
Pamufananidzo 8 panoratidza mafuremu evhidhiyo ane nhamba 1-4. Furemu nhamba 1 mumufananidzo inoratidza nguva yekuburitswa kwemapapiro akapetwa. Nguva iyi inoonekwa senguva yekutanga t0. Mafuremu 2 ne3 anoratidza nzvimbo dzemapapiro 40 ms uye 70 ms mushure menguva yekutanga. Pakuongorora mafuremu 3 ne4, zvinogona kuonekwa kuti kufamba kwebapiro kunogadzikana 90 ms mushure me t0, uye kuvhurwa kwebapiro kunopedzwa pakati pe70 ne90 ms. Izvi zvinoreva kuti kuyedzwa kwekufananidzira uye prototype kunopa nguva imwechete yekuiswa kwebapiro, uye dhizaini inosangana nezvinodiwa zvekushanda kwemuchina.
Muchinyorwa chino, matsime etorsion necompression anoshandiswa mu mapapiro anopetwa anogadziriswa uchishandisa BA. Ma parameter anogona kusvikwa nekukurumidza nekudzokorora kushoma. Chitubu chetorsion chakayerwa pa1075 mJ uye chitubu checompression chakayerwa pa37.24 mJ. Aya ma qualities ari nani ne40-50% pane zvidzidzo zveDOE zvekare. Chitubu chakasanganiswa mu mechanism uye chakaongororwa muchirongwa cheADAMS. Pakaongororwa, zvakaonekwa kuti mapapiro akavhurika mukati me74 milliseconds. Kukosha uku kuri pasi pechinangwa chepurojekiti che200 milliseconds. Mukudzidza kwakatevera, nguva yekutendeuka yakayerwa kuva ingangoita 90 ms. Musiyano uyu we16 milliseconds pakati pekuongorora ungangove nekuda kwezvinhu zvezvakatipoteredza zvisina kutevedzera musoftware. Zvinotendwa kuti optimization algorithm yakawanikwa semhedzisiro yekudzidza inogona kushandiswa kune akasiyana magadzirirwo echitubu.
Chitubu chakagadziriswa kare uye hachina kushandiswa sechinhu chinoshanduka pakugadzirisa. Sezvo mhando dzakasiyana dzezvitubu dzichishandiswa mundege nemaroketi, BA ichashandiswa kugadzira mamwe marudzi ezvitubu uchishandisa zvinhu zvakasiyana kuti uwane dhizaini yakanaka yezvitubu mukutsvaga mune ramangwana.
Tinozivisa kuti chinyorwa ichi ndechepakutanga, hachina kumboburitswa kare, uye parizvino hachisi kutariswa kuti chibudiswe kune dzimwe nzvimbo.
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