Radial sliding bearings are widely used in ship shafting, its characteristics of lubricating oil film have important influence on the normal operation of the whole shaft system. In this work, the difference equations which is used to calculate the radial sliding bearing oil film features is transformed into matrix equations, the solving process be converted into solving matrix equation, combined with the powerful matrix calculation function of MATLAB, the solution process is simplified. It is not necessary to set the error precision and relaxation factor, so as to avoid the problem that the calculation result is not stable or even not convergent in the process of Successive Over Relaxation(SOR) method, and the calculation precision and stability are improved. The numerical results of matrix calculation method is compared with the result of SOR method, verified the correctness and feasibility of the matrix calculation method. Because the calculation is relatively stable, the matrix calculation method is more suitable for the calculation core of the relative computing software.
Ship’s propulsion shafting is one of the main sources of ship vibration and noise. The shafting, whirling vibrations, and alignment are important factors that affect the comfort, stability, and reliability during a ship’s navigation. However, the mechanism of the interacting of the both factors is not fully revealed. In this paper, the effect of shafting alignment on whirling vibration and the bearing temperature response is studied by experiment. The test scheme is designed reasonably according to the theoretical analysis. The results show that the horizontal component of the shafting whirling vibration can be effectively reduced by adjusting the shafting alignment state while the vertical component is not. The shafting axis balancing position (SABP) slightly moves upward in high speed, which should be considered in the dynamic alignment design of the shafting, especially for the high-speed shafting. Little ABSB (the angle between the shafting centre line and the No. 1 bearing centre line) is beneficial to the stable operation of shafting, while appropriately increasing the ABSB and bearing load is beneficial to reducing the shafting whirling vibration. By balancing the relationship between bearing load and ABSB, the performance of whirling vibration and bearing temperature response can be optimized.
This chapter discusses the trajectory planning of robot. First, the basic principle of trajectory planning is described, which is mainly determined by the geometric path and the motion law, and it is a motion law that defines time according to a given geometric path. Second, the characteristics of the joint space and the operational space are expounded. Then the trapezoidal trajectory and the trajectory with S velocity profile commonly used in industrial practice are introduced. Finally, point-to-point trajectories and multipoint trajectories are described. Point-to-point trajectories include a point-to-point trajectory in the joint space and a straight-line and circle trajectory in the operational space. Multipoint trajectories include Bezier and NURBS curves functions.
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