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附錄英文原文NUMERICALMODELINGOFMULTICYLINDERELECTRO-HYDRAULICSYSTEMANDCONTROLLERDESIGNFORSHOCKTESTMACHINEAbstract：Ahighfidelitydynamicmodelofahigh-energyhydraulically-actuatedshocktestmachineforheavyweightdevicesispresentedtosatisfythenewly-builtshockresistancestandardandsimulatetheactua1underwaterexplosionenvironmentsinlaboratoryaswel1asincreasethetestingcapabilityofshocktestmachineInordertoproducetherequirednegativeshockpulseinthegiventimedurationfourhydraulicactuatorsareutilizedThemodelisthenusedtoformulateanadvancedfeedforwardcontrollerforthesystemtoproducetherequirednegativewaveformandtoaddressthemotionsynchronizationofthefourcylindersThemode1providesasafeandeasilycontrollablewaytoperforma“virtua1testing”beforestartingpotentiallydestructivetestsonspecimenandtopredictperformanceofthesystemSimulationresultshavedemonstratedtheeffectivenessofthecontroller.Keywords：ShocktestmachineNegativeshockpulseActuatorredundancyFeedforwardcontrollerVirtua1testing0INTRODUCTIONTheeffectsofunderwaterexplosions(UNDEX)onshiphullsandequipmenthavebeenstudiedsincethel800sLUNon-contactunderwaterexplosionsagainstsurfaceships，iebymines，ormissilesmaycauseextensiveequipmentdamageandrendershipsinoperativeeventhoughhulldamageisnotcritica1Thusshocktestmustbecarriedoutoneverycriticaldeviceorequipmentonsubmarineandsurfaceshiptoconfirmthatitwillstillfunctionorinsevercaseswillsurvive，aftertheoccurrenceoftheshockconditionswhichitcanbeexpectedtoencounterduringitsserviceThemosteffectiveanddirectwaytocheckouttheantishockcapabilityofdevicesistotestthemonavesselsubjectedtounderwaterexplosionTestsconductedusingliveexplosiveshaveinherentlimitationsincludingenvironmentalimpact，significantcost，measuringresultsinthefieldandavailablequantityoftestsAtpresent，thecommonlyusedmethodtoassesswarshipequipmentsshockresistancecapabilityistoconducttestonashocktestmachineinacontrollablewayTheUNDEXenvironmentisverycomplexcomposedofa“kick”fromtheincidentshockwavefollowedbytheeffectsofcavitations，bubblepulse，andstructuralwhippingThebubblepulseoscillatesatafrequencyveryclosetothefirstbendingmodeoftheshipItwillbeevenmoredestructivethantheincidentpressurewavewhenthebubblemigratesnearenoughtotheshiptoexcitethismodeHowever,thetraditionalshockmachines1ikelightweightshockmachine(LWSM)andmediumweightshockmachine(MWSM)，cannotsimulateshockenvironmentforthebubblepulsesinducedbyUNDEXandtheshockenvironmentsimulatedbytraditionalmachinesislargelydifferentfromtheactualUNDEXphysicalenvironmentAccordingtothenewlydesignspecificationsOfMILS90lDtheinputforshocktestshouldbeshockresponsespectra(SRS1，insteadofasingletimehistoryaccelerationwaveformsuchashalf-sinetriangularsawtoothpulseBesidestheshockinputinthedesignspecificationsOfBV04385isadoubletransientshockpulseieapositiveaccelerationpulseanegativeone.IntheorytheSRScanbetransformedintotimedomainanditisequivalenttoadoublewaveforil1ThereforeshockmachinesthatwillbebuiltshouldadapttotherequirementofthelatestshockcriteriontosimulatetheactualUNDEXenvironmentasmuchaspossibleTheaimofshocktestingistoimpartprecisereplicationsofhighenergytransientshockpulseintotestspecimensThetestspecimensarevaluableandunique，andneedtobetestedtoexactshocklevelswithspecificenterspectra：toomuchcandamagethespecimen，toolittleleavesquestionsaboutthespecimenrobustnessOwingtothetestseverity,itisthenessentialthatthetestshouldbecontrollableClassiccontrolmethods，suchaspoleplacementhavebeeninvestigatedforshockcontrol，butwithlimitedsuccessThemainreasonisthatthedurationofshocktestisveryshortbythetimethesystemcandetectanerrorbetweencommandsandtheactualoutputsitisalreadytoolatetorespondadequatelyThispaperformulatesahighfidelitynumericaldynamicmodelforadampingsystemwhichisapartofthewholeshockmachineusedtoproducetherequirednegativeshockpulseinthetestingprocessComponentsofthesystemmodelareusedtoformelateanadvancedfeedforwardcontrollerTheactuatorredundancyissueisalsoconsideredduringthecontrollerdesignThemodelandcontrollerprovideasafeandeasilycontrollablewaytoperformavirtualtesting”beforestartingpotentiallydestructivetestsonthespecimenandtopredicttheperformanceofthesystemFurtheroreinordertosolvetheuncertaintyproblemofthetestspecimendynamicsforfeedforwardinversemodelcontrol，anewinitialtuningtechniqueisproposedforourspecialcasesTheorganizationofthispa1)erisasfollows：Insectionl，adescriptionofthedampingsystemanditsdynamicmodelispresentedVariousfeaturesofthemodelarediscussed，includingthesettlementofactuatorsredundantInsection2thecontrolstrategiesareproposedThesimulationresultsarepresentedinsection3Finally,theconclusionsectionfollows1PROBLEMFORMULATIONANDDYNAMICMODELThestructureofthedampingsystemisshowninFig1anditsfunctionistoproducetherequirednegativeshockpulseduringshocktestingprocessThedurationoftheshockwavetransientsisunder01swithdesiredaccelerationsupto2550gformegiventestspecimenalltheseparameterscanbeadjustedaccordingtodifferenttestingconditionsThetestingcapacityofmeshockmachineisunder5000kg(includingfixture)Thetestspecimenisfixedonmeteststandmovingverticallyatmegivenspeed，whichisproducedbytheshocksysteminmepositiveshockpulsegeneratingprocessWhenthemaximumspeedisachieved，thedampingsystembeginstoforceittostopinthegiventimeThemaindifficultyindesigningthedampingsystemliesinthatthesystemshouldproducetherequiredforcesinthegiventimetosaristhewaveformrequirementForthispurpose,fourcomplexandsophisticatedhydraulicactuatorsaredesignedtoexertthedampingforcesTheactuatorsareconnectedwiththeteststandthroughsphericalhingesandthefourram-typecylindersarearrangedinasymmetricalmannerDetailsofthecontactingpointsbetweenteststandandcylinderscanbeseeninFig2ThepointsontheteststandthatcontactthecylindersvarywiththerotationoftheteststandItsmotiondependsontherotationangleandInrealitytherotationangleisverysmall，thismotioncanbeignoredandwejustfocusontheverticaldisplaceMendandtherotationalongtherollaxisrandthepitchaxisPEachcylinderiscontrolledbyfourthreestageservovalvesThehightransientenergyissuppliedbyaseriesofaccumulators(seeFig3)1.1SystemmodelingInwhatfollowingmathematicalmodelofthecomponentsinthenegativepulsesystemwillbebuiltindetail1.1.1TestspecimenFig1showstheforcesactingonthehydrauliccylindersandFig4isthetopviewofthesystemtoindicatethelocationofthespecimenSphericalcontactsurf
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