Most researches focused on the analytical stabilized algorithm for the modular simulation of single domain, e.g., pure mechanical systems. Only little work has been performed on the problem of multi-domain simulation stability influenced by algebraic loops. In this paper, the algebraic loop problem is studied by a composite simulation method to reveal the internal relationship between simulation stability and system topologies and simulation unit models. A stability criterion of multi-domain composite simulation is established, and two algebraic loop compensation algorithms are proposed using numerical iteration and approximate function in multi-domain simulation. The numerical stabilized algorithm is the Newton method for the solution of the set of nonlinear equations, and it is used here in simulation of the system composed of mechanical system and hydraulic system. The approximate stabilized algorithm is the construction of response surface for inputs and outputs of unknown unit model, and it is utilized here in simulation of the system composed of forging system, mechanical and hydraulic system. The effectiveness of the algorithms is verified by a case study of multi-domain simulation for forging system composed of thermoplastic deformation of workpieces, mechanical system and hydraulic system of a manipulator. The system dynamics simulation results show that curves of motion and force are continuous and convergent. This paper presents two algorithms, which are applied to virtual reality simulation of forging process in a simulation platform for a manipulator, and play a key role in simulation efficiency and stability.
Parallel manipulators with less than six degrees of freedom （DOF） have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a characteristic that is particularly significant when these manipulators are used in high-speed machine tools. However, normal kinematic control method cannot satisfy the requirements of the control system. Many researchers use model-based dynamic control methods, such as the dynamic feedforward control method. However, these methods are rarely used in hybrid machine tools because of the complex dynamic model of the parallel manipulator. In order to study the dynamic control method of parallel manipulators, the dynamic feedforward control method is used in the dynamic control system of a 3-PSP （prismatic-spherical-prismatic） 3-DOF spatial parallel manipulator used as a spindle head in a high-speed hybrid machine tool. Using kinematic analysis as basis and the Newton-Euler method, we derive the dynamic model of the parallel manipulator. Furthermore, a model-based dynamic feedforward control system consisting of both kinematic control and dynamic control subsystems is established. The dynamic control subsystem consists of two modules. One is used to eliminate the influence of the dynamic characteristics of high-speed movement, and the other is used to eliminate the dynamic disturbances in the milling process. Finally, the simulation model of the dynamic feedforward control system of the 3-PSP parallel manipulator is constructed in Matlab/Simulink. The simulations of the control system eliminating the influence of the dynamic characteristics and dynamic disturbances are conducted. A comparative study between the simulations and the normal kinematic control method is also presented.The simulations prove that the dynamic feedforward control method effectively eliminates the influence of the dynamic disturbances and dynamic characteristics of the parallel manipulator on high-speed machine tools, and significantly improves
Magnetohydrodynamic behaviors in a resistance spot weld nugget under different welding currents are investigated based on a multiphysics coupled numerical model, which incorporates phase change and variable electrical contact resis-tances at faying surface and electrode-workpiece contact surface. The patterns of the flow field and thermal field at the end of the welding phase under different welding currents are obtained. The evolutions of fluid flow and heat transfer during the whole welding process are also revealed systematically. The analysis results are also compared with a traditional electrothermal coupled model to obtain the quantitative effects of the magnetohydrodynamic behaviors on the resistance spot weld nugget formation.
