Actuators最新文献_第4页

Effects of Macro-Pitting Fault on Dynamic Characteristics of Planetary Gear Train Considering Surface Roughness 考虑表面粗糙度的宏观点蚀故障对行星齿轮系动态特性的影响

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-19 DOI: 10.3390/act13010001

Ronghui Li, Xin Xiong, Jun Ma, Mengting Zou

{"title":"Effects of Macro-Pitting Fault on Dynamic Characteristics of Planetary Gear Train Considering Surface Roughness","authors":"Ronghui Li, Xin Xiong, Jun Ma, Mengting Zou","doi":"10.3390/act13010001","DOIUrl":"https://doi.org/10.3390/act13010001","url":null,"abstract":"The planetary gearbox plays a vital role in a wide range of mechanical power transmission systems, including high-speed trains, wind turbines, vehicles, and aircraft. At the same time, the planetary gear train inside the gearbox is regarded as the most susceptible to failure in the entire transmission system. To analyze the influence of surface roughness on the dynamic characteristics of the planetary gear train, a dynamic modeling method based on fractal theory is proposed. Firstly, the tooth surface contact model was established based on the W-M fractal function, and the time-varying mesh stiffness (TVMS) of the planetary gear train was calculated under healthy and tooth macro-pitting. Then, the lumped-parameter method is introduced to construct a planetary gear train translation-torsion dynamic model that comprehensively considers TVMS and tooth backlash. The vibration acceleration signals of the planetary gear train under different macro-pitting states and surface roughness are simulated and calculated, allowing a quantificative analysis of the influence of surface roughness on system vibration response. Finally, the correctness of the model for the planetary gear train is verified by experiments. The results show that compared with the planetary gear train modeling method based on Hertz contact theory, the root mean squared error of the vibration signal of this work under a macro-pitting fault state is reduced by 8.7%, further improving the reliability of the model.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":" 74","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138961113","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}

引用次数: 0

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines 高压输电线路双臂轮式巡检机器人的防摆动控制方法研究

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-18 DOI: 10.3390/act12120472

Zhiyong Yang, Kai Yan, Ziyu Zhang, Hua Duan, Xing Liu, Yi Li, Daode Zhang, Yu Yan, Shaosheng Fan

{"title":"Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines","authors":"Zhiyong Yang, Kai Yan, Ziyu Zhang, Hua Duan, Xing Liu, Yi Li, Daode Zhang, Yu Yan, Shaosheng Fan","doi":"10.3390/act12120472","DOIUrl":"https://doi.org/10.3390/act12120472","url":null,"abstract":"This paper presents an anti-swing control method to prevent situations where inspection robots detach and fall off transmission lines during obstacle crossing due to excessive swing angles caused by the rotation of the robot around the transmission line. Firstly, an obstacle-crossing model for the inspection robot was constructed and the causes of robot swinging phenomena were analyzed, in addition to their impact on obstacle crossing stability. By combining this with the obstacle-crossing model, a moment balance equation was established for the inspection robot. This equation can be used to solve mapping relationships between body offset and the tilt angle of transmission line gripping arms. We propose an anti-swing control strategy by adjusting the angle of the transmission line gripping arm’s pitching joint to make the body offset approach zero, and by utilizing the advantages of fuzzy logic in the fuzzy PID algorithm compared with the traditional PID algorithm, it can adaptively avoid the occurrence of robot swinging phenomena. The experimental results of obstacle-crossing experiments under no wind and wind turbulence conditions indicated that the proposed anti-swing control method in this study can effectively keep the body offset to within 3 mm. Compared with the methods of not using anti-swing control and using traditional PID anti-swing control, in the absence of wind effects, the peak values of body offset were reduced by 96.53% and 18.85%, respectively. Under the influence of wind turbulence, the peak values of body offset were reduced by 97.02% and 27.12%, respectively. The effectiveness of the anti-swing control method proposed in this paper has thus been verified.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"69 ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139176075","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}

引用次数: 0

Vibration Suppression of a Flexible Beam Structure Coupled with Liquid Sloshing via ADP Control Based on FBG Strain Measurement 通过基于 FBG 应变测量的 ADP 控制抑制与液体滑动耦合的柔性梁结构的振动

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-17 DOI: 10.3390/act12120471

Chunyang Kong, Dangjun Zhao, Buge Liang

{"title":"Vibration Suppression of a Flexible Beam Structure Coupled with Liquid Sloshing via ADP Control Based on FBG Strain Measurement","authors":"Chunyang Kong, Dangjun Zhao, Buge Liang","doi":"10.3390/act12120471","DOIUrl":"https://doi.org/10.3390/act12120471","url":null,"abstract":"In this study, an adaptive dynamic programming (ADP) control strategy based on the strain measurement of a fiber Bragg grating (FGB) sensor array is proposed for the vibration suppression of a complicated flexible-sloshing coupled system, which usually exists in aerospace engineering, such as launch vehicles with a large amount of liquid propellant as well as a flexible beam structure. To simplify the flexible-sloshing coupled dynamics model, the equivalent spring-mass-damper (SMD) model of liquid sloshing is employed, and a finite-element method (FEM) dynamic model for the beam structure coupled with the liquid sloshing is mathematically established. Then, a strain-based vibration dynamic model is derived by employing a transformation matrix based on the relationship between displacement and strain of the beam structure. To facilitate the design of a strain-based control, a tracking differentiator is designed to provide the strains’ derivative signals as partial states’ estimations. Feeding the system with the strain measurements and their derivatives’ estimations, an ADP controller with an action-dependent heuristic dynamic programming structure is proposed to suppress the vibration of the flexible-sloshing coupled system, and the corresponding Lyapunov stability of the closed-loop system is theoretically guaranteed. Numerical results show the proposed method can effectively suppress coupled vibration depending on limited strain measurements irrespective of external disturbances.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"16 4","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138966256","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}

引用次数: 0

A 4 mm Micro Servo Control System in Fiber Positioner 光纤定位器中的 4 毫米微型伺服控制系统

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-17 DOI: 10.3390/act12120470

Shaoxiong Guo, Yan Yang, Chao Zhai

{"title":"A 4 mm Micro Servo Control System in Fiber Positioner","authors":"Shaoxiong Guo, Yan Yang, Chao Zhai","doi":"10.3390/act12120470","DOIUrl":"https://doi.org/10.3390/act12120470","url":null,"abstract":"As multi-object spectrographs (MOSs) continue to evolve, a notable trend has emerged—the increasing accommodation of fiber positioners on ever-more compact focal planes. This progression has seen the traditional stepper motors being supplanted by more space-efficient miniature hollow-cup motors. A significant challenge faced in the employment of these 4 mm diameter motors is the absence of compatible angle sensors, resulting in reliance on open-loop control methods for positioning. Addressing this challenge, this paper introduces a novel miniature angle sensor designed specifically for 4 mm hollow-cup motors, and presents a newly formulated closed-loop control scheme, which leverages this sensor to achieve accurate positioning. This marks the first implementation of an angle closed-loop control system within a 4 mm miniature hollow-cup motor used in MOS fiber positioners. Experimental evidence suggests that this sensored closed-loop mode substantially improves upon the energy efficiency and precision of fiber positioner placement, compared with traditional open-loop stepper control methods. Furthermore, the integration of these microsensors mitigates collision risks during the concurrent operation of fiber positioners by deactivating the motor power supply to prevent potential damage to the system.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"28 20","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138965967","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}

引用次数: 0

Fault Diagnosis of Mine Truck Hub Drive System Based on LMD Multi-Component Sample Entropy Fusion and LS-SVM 基于 LMD 多分量样本熵融合和 LS-SVM 的矿车轮毂驱动系统故障诊断

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-16 DOI: 10.3390/act12120468

Le Xu, Wei Li, Bo Zhang, Yubin Zhu, Chaonan Lang

{"title":"Fault Diagnosis of Mine Truck Hub Drive System Based on LMD Multi-Component Sample Entropy Fusion and LS-SVM","authors":"Le Xu, Wei Li, Bo Zhang, Yubin Zhu, Chaonan Lang","doi":"10.3390/act12120468","DOIUrl":"https://doi.org/10.3390/act12120468","url":null,"abstract":"As the main transportation equipment in ore mining, the wheel drive system of mining trucks plays a crucial role in the transportation capacity of mining trucks. The internal components of the hub drive system are mainly composed of bearings, gears, etc. The vibration signals caused during operation are nonlinear and nonstationary complex signals, and there may be more than one factor that causes faults, which causes certain difficulties for the fault diagnosis of the hub drive system. A fault diagnosis method based on local mean decomposition (LMD) multi-component sample entropy fusion and LS-SVM is proposed to address this issue. Firstly, the LMD method is used to decompose the vibration signals in different states to obtain a finite number of PF components. Then, based on the typical correlation analysis method, the distribution characteristics and correlation coefficients of vibration signals in the frequency domain under different states are calculated, and effective PF multi-component sample entropy features are constructed. Finally, the LS-SVM multi-fault classifier is used to train and test the extracted multi-component sample entropy features to verify the effectiveness of the method. The experimental results show that, even in small-sample data, the LMD multi-component sample entropy fusion and LS-SVM method can accurately extract fault features of vibration signals and complete classification, achieving fault diagnosis of wheel drive systems.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"12 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138966865","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}

引用次数: 0

An Adaptive Magnetorheological Fluid-Based Robotic Claw with an Electro-Permanent Magnet Array 基于磁流变液的电永磁阵列自适应机械爪

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-16 DOI: 10.3390/act12120469

Young Choi, Keith Drake, Mark Jesik, Christine Hartzell, Norman Wereley

{"title":"An Adaptive Magnetorheological Fluid-Based Robotic Claw with an Electro-Permanent Magnet Array","authors":"Young Choi, Keith Drake, Mark Jesik, Christine Hartzell, Norman Wereley","doi":"10.3390/act12120469","DOIUrl":"https://doi.org/10.3390/act12120469","url":null,"abstract":"The increasing demand for the adept handling of a diverse range of objects in various grasp scenarios has spurred the development of more efficient and adaptable robotic claws. This study specifically focuses on the creation of an adaptive magnetorheological fluid (MRF)-based robotic claw, driven by electro-permanent magnet (EPM) arrays to enhance gripping capabilities across different task requirements. In pursuit of this goal, a two-finger MRF-based robotic claw was introduced, featuring two magnetorheological (MR) grippers equipped with MR elastomer (MRE) bladders and EPM arrays at the fingertips. The operational principle involved placing a target object between these MR grippers and adjusting the normal force applied to the object for effective grasping. During this process, the contact stiffness of the MR grippers was altered by activating the EPM arrays in three distinct operation modes: passive, short-range (SR), and long-range (LR). Through experimentation on a benchtop material testing machine, the holding performance of the MRF-based robotic claw with the integrated EPM arrays was systematically evaluated. This study empirically validates the feasibility and effectiveness of the MRF-based robotic claw when equipped with EPM arrays.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"17 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138967764","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}

引用次数: 0

Effect of Plasma Actuator Layout on the Passage Vortex Reduction in a Linear Turbine Cascade for a Wide Range of Reynolds Numbers 等离子体致动器布局对线性涡轮级联在宽雷诺数范围内减少通道涡流的影响

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-15 DOI: 10.3390/act12120467

T. Matsunuma, T. Segawa

{"title":"Effect of Plasma Actuator Layout on the Passage Vortex Reduction in a Linear Turbine Cascade for a Wide Range of Reynolds Numbers","authors":"T. Matsunuma, T. Segawa","doi":"10.3390/act12120467","DOIUrl":"https://doi.org/10.3390/act12120467","url":null,"abstract":"This study examined how various plasma actuator (PA) configurations affect the passage vortex (PV) reduction in a linear turbine cascade (LTC) utilizing dielectric barrier discharge PAs. The experiments were carried out under three specific layout conditions: axial placement of the PA, slanted placement at the blade inlet, and slanted placement inside the blade. Particle image velocimetry was employed to measure the velocity distribution of the secondary flow at the LTC exit, followed by an analysis of the streamline patterns, turbulence intensity distribution, and vorticity distribution. At a Reynolds number of 3.7 × 104, the PA with an oblique orientation at the blade inlet provided the most effective PV suppression. The average value of the secondary flow velocity and the peak vorticity value at the LTC exit decreased by 59.0% and 68.8%, respectively, compared to the no-control case. Furthermore, the wind tunnel blower’s rotation speed was modified, adjustments were made to the LTC’s mainstream velocity, and the Reynolds number transitioned from 1.0 × 104 to 9.9 × 104, approximately 10 times. When the slanted PA was used at the blade inlet, the PV suppression effect was the highest. The peak vorticity value owing to the PV at the LTC exit decreased by 62.9% at the lowest Reynolds number of 1.0 × 104. The Reynolds number increased with a higher mainstream velocity and decreased flow induced by the PA, consequently reducing the PV suppression effect. However, the drive of the PA was effective even under the most severe conditions (9.9 × 104), and the peak vorticity value was reduced by 20.2%.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"14 18","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139001050","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}

引用次数: 0

Reliability Analysis and Optimization Method of a Mechanical System Based on the Response Surface Method and Sensitivity Analysis Method 基于响应面法和灵敏度分析法的机械系统可靠性分析和优化方法

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-15 DOI: 10.3390/act12120465

Lei Zhao, Pengfei Yue, Yang Zhao, Shiyan Sun

引用次数: 0

Bearing Fault Diagnosis Method Based on Adversarial Transfer Learning for Imbalanced Samples of Portal Crane Drive Motor 基于逆向传递学习的门式起重机驱动电机不平衡样本轴承故障诊断方法

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-15 DOI: 10.3390/act12120466

Yongsheng Yang, Zhongtao He, Haiqing Yao, Yifei Wang, Junkai Feng, Yuzhen Wu

{"title":"Bearing Fault Diagnosis Method Based on Adversarial Transfer Learning for Imbalanced Samples of Portal Crane Drive Motor","authors":"Yongsheng Yang, Zhongtao He, Haiqing Yao, Yifei Wang, Junkai Feng, Yuzhen Wu","doi":"10.3390/act12120466","DOIUrl":"https://doi.org/10.3390/act12120466","url":null,"abstract":"Due to their unique structural design, portal cranes have been extensively utilized in bulk cargo and container terminals. The bearing fault of their drive motors is a critical issue that significantly impacts their operational efficiency. Moreover, the problem of imbalanced fault samples has a more pronounced influence on the application of novel fault diagnosis methods. To address this, the paper presents a new method called bidirectional gated recurrent domain adversarial transfer learning (BRDATL), specifically designed for imbalanced samples from portal cranes’ drive motor bearings. Initially, a bidirectional gated recurrent unit (Bi-GRU) is used as a feature extractor within the network to comprehensively extract features from both source and target domains. Building on this, a new Correlation Maximum Mean Discrepancy (CAMMD) method, integrating both Correlation Alignment (CORAL) and Maximum Mean Discrepancy (MMD), is proposed to guide the feature generator in providing domain-invariant features. Considering the real-time data characteristics of portal crane drive motor bearings, we adjusted the CWRU and XJTU-SY bearing datasets and conducted comparative experiments. The experimental results show that the accuracy of the proposed method is up to 99.5%, which is obviously higher than other methods. The presented fault diagnosis model provides a practical and theoretical framework for diagnosing faults in portal cranes’ field operation environments.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"5 17","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138999219","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}

引用次数: 0

Research on Neural Network Terminal Sliding Mode Control of Robotic Arms Based on Novel Reaching Law and Improved Salp Swarm Algorithm 基于新型到达律和改进 Salp Swarm 算法的机械臂神经网络终端滑模控制研究

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-13 DOI: 10.3390/act12120464

Jianguo Duan, Hongzhi Zhang, Qinglei Zhang, Jiyun Qin

{"title":"Research on Neural Network Terminal Sliding Mode Control of Robotic Arms Based on Novel Reaching Law and Improved Salp Swarm Algorithm","authors":"Jianguo Duan, Hongzhi Zhang, Qinglei Zhang, Jiyun Qin","doi":"10.3390/act12120464","DOIUrl":"https://doi.org/10.3390/act12120464","url":null,"abstract":"Modeling errors and external disturbances have significant impacts on the control accuracy of robotic arm trajectory tracking. To address this issue, this paper proposes a novel method, the neural network terminal sliding mode control (ALSSA-RBFTSM), which combines fast nonsingular terminal sliding mode (FNTSM) control, radial basis function (RBF) neural network, and an improved salp swarm algorithm (ALSSA). This method effectively enhances the trajectory tracking accuracy of robotic arms under the influence of uncertain factors. Firstly, the fast nonsingular terminal sliding surface is utilized to enhance the convergence speed of the system and achieve finite-time convergence. Building upon this, a novel multi-power reaching law is proposed to reduce system chattering. Secondly, the RBF neural network is utilized to estimate and compensate for modeling errors and external disturbances. Then, an improved salp swarm algorithm is proposed to optimize the parameters of the controller. Finally, the stability of the control system is demonstrated using the Lyapunov theorem. Simulation and experimental results demonstrate that the proposed ALSSA-RBFTSM algorithm exhibits superior robustness and trajectory tracking performance compared to the global fast terminal sliding mode (GFTSM) algorithm and the RBF neural network fast nonsingular terminal sliding mode (RBF-FNTSM) algorithm.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"112 22","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139003633","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}

引用次数: 0