Actuators最新文献

{"title":"Diagnosis of Power Switch Faults in Three-Phase Permanent Magnet Synchronous Motors via Current-Signature Technique","authors":"A. Suti, G. Di Rito","doi":"10.3390/act13010025","DOIUrl":"https://doi.org/10.3390/act13010025","url":null,"abstract":"The paper deals with the development of a model-based current-signature algorithm for the detection and isolation of power switch faults in three-phase Permanent Magnet Synchronous Motors (PMSMs). The algorithm, by elaborating the motor currents feedbacks, reconstructs the current phasor trajectories in the Clarke plane through elliptical fittings, up to detecting and isolating the fault depending on the characteristics of the signature deviation from the nominal one. As a rough approximation, as typically proposed in the literature, the fault of one out of six power switches implies that, at constant speed operation, the phasor trajectory deviates from the nominal circular path up to a semi-circular “D-shape” signature, the inclination of which depends on the failed converter leg. However, this evolution can significantly deviate in practical cases, due to the dynamics related to the transition of motor phase connections from failed to active switches. The study demonstrates that an online ellipse fitting of the current signature can be effective for diagnosis, through correlating the ellipse centre to the location of the failed switch. The performances of the proposed monitoring technique are here assessed via the nonlinear simulation of a PMSM employed for the propulsion of a lightweight fixed-wing Unmanned Aerial Vehicle (UAV), by quantifying the fault latencies and the related transients.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"18 9","pages":""},"PeriodicalIF":2.6,"publicationDate":"2024-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139445528","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Improved Analytical Model of a Thrust Stand with a Flexure Hinge Structure Considering Stiffness Drift and Rotation Center Offset","authors":"Xingyu Chen, Liye Zhao, Jiawen Xu, Zhikang Liu","doi":"10.3390/act13010021","DOIUrl":"https://doi.org/10.3390/act13010021","url":null,"abstract":"Micro-newton thrust stands are widely used in thruster ground calibration procedures for a variety of space missions. The conventional analytical model does not consider the gravity-induced extension effect and systematic error in displacement for thrust stands consisting of hanging pendulums based on flexure hinge structures. This paper proposes an improved analytical model of a hanging pendulum for thrust measurement, where an elliptical notched flexure hinge is the key component. A parametric model of the bending stiffness of the flexure hinge is developed. Equally, both the bending stiffness shift under the gravity-induced extension effect and the systematic error in displacement due to the assumed rotational center offset of the hinge are investigated. The presented stiffness equations for elliptical notched hinges can be degenerated into stiffness equations for circular notched as well as leaf-type hinges. The improved model aims to evaluate and highlight the influence of the two considered factors for use in thrust stand parameter design and thrust analysis. A finite element modeling solution is proposed to validate the proposed analytical model. The results show that the proposed model can quantify the hinge bending stiffness shift, which also demonstrates that even a small bending stiffness shift may introduce great uncertainty into the thrust analysis.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"3 12","pages":""},"PeriodicalIF":2.6,"publicationDate":"2024-01-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380954","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and Research of Series Actuator Structure and Control System Based on Lower Limb Exoskeleton Rehabilitation Robot","authors":"Chenglong Zhao, Zhen Liu, Liucun Zhu, Yuefei Wang","doi":"10.3390/act13010020","DOIUrl":"https://doi.org/10.3390/act13010020","url":null,"abstract":"Lower limb exoskeleton rehabilitation robots have become an important direction for development in today’s society. These robots can provide support and power to assist patients in walking and movement. In order to achieve better interaction between humans and machines and achieve the goal of flexible driving, this paper addresses the shortcomings of traditional elastic actuators and designs a series elastic–damping actuator (SEDA). The SEDA combines elastic and damping components in parallel, and the feasibility of the design and material selection is demonstrated through finite element static analysis. By modeling the dynamics of the SEDA, using the Bode plot and Nyquist plot, open-loop and closed-loop frequency domain comparisons and analyses were carried out, respectively, to verify the effect of damping coefficients on the stability of the system, and the stiffness coefficient ks = 25.48 N/mm was selected as the elastic element and the damping coefficient cs = 1 Ns/mm was selected as the damping element. A particle swarm optimization (PSO)-based algorithm was proposed to introduce the fuzzy controller into the PID control system, and five parameters, namely the the fuzzy controller’s fuzzy factor (ke, kec) and de-fuzzy factor (kp1, ki1, kd1), are taken as the object of the algorithm optimization to obtain the optimal fuzzy controller parameters of ke = 0.8, kec = 0.2, kp1 = 0.5, ki1 = 8, kd1 = −0.1. The joint torque output with and without external interference is simulated, and the simulation model is established in the MATLAB/Simulink environment The results show that when fuzzy PID control is used, the amount of overshooting in the system is 14.6%, and the regulation time is 0.66 s. This has the following advantages: small overshooting amount, short rise time, fast response speed, short regulation time, good stability performance, and strong anti-interference ability. The SEDA design structure and control method breaks through limitations of the traditional series elastic actuator (SEA) such as its lack of flexibility and stability, which is very helpful to improve the output effect of flexible joints.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"52 7","pages":""},"PeriodicalIF":2.6,"publicationDate":"2024-01-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139381820","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Direct Adaptive Fuzzy Control with Prescribed Tracking Accuracy for Orbit Adjustment of Satellites","authors":"Weijun Yang, Shizhuan Zou, Liang Li, Kai Huang, Guanyu Lai","doi":"10.3390/act13010019","DOIUrl":"https://doi.org/10.3390/act13010019","url":null,"abstract":"In this paper, we investigate the orbit-adjustment problem of satellite systems in the presence of nonlinear uncertainties in kinematics and dynamics. We propose a novel direct adaptive fuzzy control scheme with prescribed tracking accuracy to address uncertain nonlinear dynamics by employing advanced fuzzy logic systems and integrating a class of sophisticated smooth functions, thereby ensuring convergence of the tracking error within a precisely defined interval. The ingeniously designed control scheme guarantees negative semi-definiteness of the Lyapunov function, ensuring boundedness for all variables. Moreover, our groundbreaking control approach requires only one adaptive law, completely eliminating any direct correlation with the number of nonlinear functions. Simulation results unequivocally validate the remarkable effectiveness and superiority of our innovative control approach.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"63 11","pages":""},"PeriodicalIF":2.6,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139386223","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm","authors":"Zhenzhuo Yan, Hongwei Ji, Qing Chang","doi":"10.3390/act13010018","DOIUrl":"https://doi.org/10.3390/act13010018","url":null,"abstract":"Energy consumption is one of the most critical factors in determining the kinematic performance of quadruped robots. However, existing research methods often encounter challenges in quickly and efficiently reducing the energy consumption associated with quadrupedal robotic locomotion. In this paper, the deep deterministic policy gradient (DDPG) algorithm was used to optimize the energy consumption of the Cyber Dog quadruped robot. Firstly, the kinematic and energy consumption models of the robot were established. Secondly, energy consumption was optimized by reinforcement learning using the DDPG algorithm. The optimized plantar trajectory was then compared with two common plantar trajectories in simulation experiments, with the same period and the number of synchronizations but varying velocities. Lastly, real experiments were conducted using a prototype machine to validate the simulation data. The analysis results show that, under the same conditions, the proposed method can reduce energy consumption by 7~9% compared with the existing optimal trajectory methods.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"19 2","pages":""},"PeriodicalIF":2.6,"publicationDate":"2024-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139452092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and Analysis of a New Dual-Stator Hybrid Magnet Flux Modulation Machine","authors":"Yao Meng, Xinyu Yang, Haitao Wang, Xingzhen Bai","doi":"10.3390/act13010017","DOIUrl":"https://doi.org/10.3390/act13010017","url":null,"abstract":"This paper proposes a new dual-stator hybrid-magnet flux modulation machine (DS-FMHMM) for direct-drive applications, which employs NdFeB magnet excitation and Ferrite magnet excitation on the rotor and outer stator sides, respectively. With this design, the proposed DS-FMHMM can not only fully use the bidirectional flux modulation effect, but also effectively alleviate the magnetic saturation issue. The machine configuration is described, together with the operating principle. Then, the design parameters of DS-FMHMM are globally optimized for obtaining high torque quality, and the influence of magnet dimensions on torque is analyzed. To evaluate the merits of the proposed DS-FMHMM, the electromagnetic performances of machines under different magnet excitation sources are analyzed, and a comprehensive electromagnetic performance comparison of DS-FMHMM and two existing dual-stator flux modulation machines (DSFMMs) is developed.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"87 9","pages":""},"PeriodicalIF":2.6,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139125124","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimization Design and Experiment of High-Speed Drag-Reducing Trencher Based on Conservation Tillage","authors":"Weipeng Zhang, Suchun Liu, Yuxi Ji, Shengbo Gao, Bo Zhao, Liming Zhou, Ping Xie, Xinhai Jin, Zhaomei Qiu, Yanwu Ma","doi":"10.3390/act13010016","DOIUrl":"https://doi.org/10.3390/act13010016","url":null,"abstract":"In the realm of high-speed precision broadcasting, the existing seeder opener proves inadequate for the speed of the seeding operation. We focus on the duckbill opener and employ the quadratic regression orthogonal rotation combination test design method to optimize the structural parameters of the opener. Throughout the experiment, the primary performance metrics encompassed the opener’s working resistance and the side dumping distance. The selected experimental factors comprised the penetration angle, the angle of soil entry gap, the shovel body width, and the shovel length. The optimal arrangement of structural parameters has been determined: a penetration angle, a soil entry gap angle, a shovel body width of 21 mm, and a shovel length of 142 mm. These parameters contribute to increased velocity, reduced operational resistance, and minimal soil disturbance. Under this combination, the relative deviations between the recorded measurements and the theoretical outcomes for working resistance and the side dumping distance stand at 4.24% and 1.06%, respectively; these confirm the credibility of the optimization results. We performed adaptability testing and conducted a comparative analysis under various operational conditions to assess the innovative opener’s ability to reduce force, minimize soil disruption, and maintain depth stability. The findings are as follows: At a depth of 5 cm and velocities ranging from 6 km/h to 8 km/h, an average working resistance reduction of 19.73%, a 5.64% decrease in the side dumping distance, and an average depth stability of 89.5% were observed. When operated at a speed of 7 km/h with a depth ranging from 3 cm to 5 cm, an average reduction of 19.66% in operational resistance, a 2.59% decrease in the side dumping distance, and an average depth stability of 91.1% were recorded. These results illustrate the innovative opener’s capacity to significantly reduce working resistance and side dumping distance while satisfying the depth stability requisites.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"81 10","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139132188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Electric Actuation of Transport Vehicles: Overview of Technical Characteristics and Propulsion Solutions through a Systematic Patent Analysis","authors":"Davide Consolati, Paolo Marmaglio, Lorenzo Canziani, M. Tiboni, C. Amici","doi":"10.3390/act13010015","DOIUrl":"https://doi.org/10.3390/act13010015","url":null,"abstract":"Electric transport vehicles offer sustainable transportation solutions with benefits, such as reduced emissions, noise, and operating costs. This paper draws an overview of the available technical solutions to actuate transport vehicles with electric drives, as depicted by patent literature. A dataset of 1784 patents was created; the documents were selected through a systematic approach, and the patents were then classified according to a number of user-defined categories. The dataset was analyzed by applying two different methods: (i) a quantitative analysis (literature overview), enabling glance evaluations about the defined categories, and (ii) a qualitative analysis (detailed analysis), which focuses on the detection of interesting design features or innovative solutions. The results of this work not only provide an alternative and complementary overview to the analysis of solutions that may emerge from a scientific literature review, but can also offer support in strategic planning to companies wishing to protect their innovations and remain competitive in the evolving market of transport vehicles.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":" 36","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139137464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimal Design of a Surface Permanent Magnet Machine for Electric Power Steering Systems in Electric Vehicle Applications Using a Gaussian Process-Based Approach","authors":"Gilsu Choi, Gwan-Hui Jang, Mingyu Choi, Jungmoon Kang, Ye Gu Kang, Sehwan Kim","doi":"10.3390/act13010013","DOIUrl":"https://doi.org/10.3390/act13010013","url":null,"abstract":"The efficient design optimization of electric machines for electric power steering (EPS) applications poses challenges in meeting demanding performance criteria, including high power density, efficiency, and low vibration. Traditional optimization approaches often fail to find a global solution or suffer from excessive computation time. In response to the limitations of traditional approaches, this paper introduces a novel methodology by incorporating a Gaussian process-based adaptive sampling technique into a surrogate-assisted optimization process using a metaheuristic algorithm. Validation on a 72-slot/8-pole interior permanent magnet (IPM) machine demonstrates the superiority of the proposed approach, showcasing improved exploitation–exploration balance, faster convergence, and enhanced repeatability compared to conventional optimization methods. The proposed design process is then applied to two surface PM (SPM) machine configurations with 9-slot/6-pole and 12-slot/10-pole combinations for EPS applications. The results indicate that the 12-slot/10-pole SPM design surpasses the alternative design in torque density, efficiency, cogging torque, torque ripple, and manufacturability.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":" 12","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139142200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Study of Error Flow for Hydraulic System Simulation Models for Construction Machinery Based on the State-Space Approach","authors":"Deying Su, Hongyan Rao, Shaojie Wang, Yongjun Pan, Yubing Xu, Liang Hou","doi":"10.3390/act13010014","DOIUrl":"https://doi.org/10.3390/act13010014","url":null,"abstract":"This study presents an error flow research method for simulation models of hydraulic systems in construction machinery based on the state-space approach, aiming to ensure the reliable application of digital twin models. Initially, a comprehensive analysis of errors in the simulation modeling of hydraulic systems in construction machinery was conducted, highlighting simulation model parameters as the primary error sources. Subsequently, a set of metrics for assessing the accuracy of simulation models was developed. Following this, an error flow analysis method for simulation models of hydraulic systems in construction machinery was explored based on the state space approach, delving into the sources, transmission, and accumulation of errors in the simulation modeling of valve-controlled cylinder systems. The research results unequivocally indicate that the spring stiffness, viscous damping coefficient, and hydraulic cylinder external leakage coefficient are critical parameters affecting the accuracy of valve-controlled cylinder system simulation models. Furthermore, it was observed that the simulation model of the control valve has a significantly greater impact on the errors in the valve-controlled cylinder system simulation model than the hydraulic cylinder model. In conclusion, the reliability of the error flow model was confirmed through simulation experiments, revealing a maximum relative error of only 3.73% between the error flow model and the results of the simulation experiments.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":" 15","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139144348","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}