Actuators最新文献_第5页

Quadcopter Trajectory Tracking Control Based on Flatness Model Predictive Control and Neural Network 基于平整度模型预测控制和神经网络的四旋翼飞行器轨迹跟踪控制

IF 2.6 3区工程技术

Actuators Pub Date : 2024-04-18 DOI: 10.3390/act13040154

Yong Li, Qidan Zhu, A. Elahi

引用次数: 0

Integrated Spatial Kinematics–Dynamics Model Predictive Control for Collision-Free Autonomous Vehicle Tracking 用于无碰撞自主车辆跟踪的空间运动学-动力学集成模型预测控制

IF 2.6 3区工程技术

Actuators Pub Date : 2024-04-18 DOI: 10.3390/act13040153

Weishan Yang, Yixin Su, Yuepeng Chen, Cheng Lian

{"title":"Integrated Spatial Kinematics–Dynamics Model Predictive Control for Collision-Free Autonomous Vehicle Tracking","authors":"Weishan Yang, Yixin Su, Yuepeng Chen, Cheng Lian","doi":"10.3390/act13040153","DOIUrl":"https://doi.org/10.3390/act13040153","url":null,"abstract":"The development of intelligent transportation technology has provided a significant impetus for autonomous driving technology. Currently, autonomous vehicles based on Model Predictive Control (MPC) employ motion control strategies based on sampling time, which fail to fully utilize the spatial information of obstacles. To address this issue, this paper proposes a dual-layer MPC vehicle collision-free trajectory tracking control strategy that integrates spatial kinematics and vehicle dynamics. To fully utilize the spatial information of obstacles, we designed a vehicle model based on spatial kinematics, enabling the upper-layer MPC to plan collision avoidance trajectories based on distance sampling. To improve the accuracy and safety of trajectory tracking, we designed an 8-degree-of-freedom vehicle dynamic model. This allows the lower-layer MPC to consider lateral stability and roll stability during trajectory tracking. In collision avoidance trajectory tracking experiments using three scenarios, compared to two advanced time-based algorithms, the trajectories planned by the proposed algorithm in this paper exhibited predictability. The proposed algorithm can initiate collision avoidance at predetermined positions and can avoid collisions in predetermined directions, with all state variables within safe ranges. In terms of time efficiency, it also outperformed the comparative algorithms.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140689621","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

Dielectric Elastomer-Based Actuators: A Modeling and Control Review for Non-Experts 基于介电弹性体的致动器：面向非专业人士的建模与控制综述

IF 2.6 3区工程技术

Actuators Pub Date : 2024-04-17 DOI: 10.3390/act13040151

Hector Medina, Carson Farmer, Isaac Liu

{"title":"Dielectric Elastomer-Based Actuators: A Modeling and Control Review for Non-Experts","authors":"Hector Medina, Carson Farmer, Isaac Liu","doi":"10.3390/act13040151","DOIUrl":"https://doi.org/10.3390/act13040151","url":null,"abstract":"Soft robotics are attractive to researchers and developers due to their potential for biomimicry applications across a myriad of fields, including biomedicine (e.g., surgery), the film industry (e.g., animatronics), ecology (e.g., physical ‘animats’), human–robot interactions (e.g., social robots), and others. In contrast to their rigid counterparts, soft robotics offer obvious actuation benefits, including their many degrees of freedom in motion and their potential to mimic living organisms. Many material systems have been proposed and used for soft robotic applications, involving soft actuators, sensors, and generators. This review focuses on dielectric elastomer (DE)-based actuators, which are more general electro-active polymer (EAP) smart materials. EAP-based soft robots are very attractive for various reasons: (a) energy can be efficiently (and readily) stored in electrical form; (b) both power and information can be transferred rapidly via electrical phenomena; (c) computations using electronic means are readily available. Due to their potential and benefits, DE-based actuators are attractive to researchers and developers from multiple fields. This review aims to (1) provide non-experts with an “easy-to-follow” survey of the most important aspects and challenges to consider when implementing DE-based soft actuators, and (2) emphasize current solutions and challenges related to the materials, controls, and portability of DE-based soft-actuator systems. First, we start with some fundamental functions, applications, and configurations; then, we review the material models and their selection. After, we outline material limitations and challenges along with some thermo-mechano-chemical treatments to overcome some of those limitations. Finally, we outline some of the control schemes, including modern techniques, and suggest using rewritable hardware for faster and more adaptive controls.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140692436","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

Development of a Tool to Manipulate Flexible Pieces in the Industry: Hardware and Software 开发用于在工业中操作柔性部件的工具：硬件和软件

IF 2.6 3区工程技术

Actuators Pub Date : 2024-04-16 DOI: 10.3390/act13040149

Francisco José Martínez-Peral, Jorge Borrell Méndez, José Vicente Segura Heras, Carlos Pérez-Vidal

引用次数: 0

Non-Electrically Driven Acoustic Actuator 非电力驱动声学致动器

IF 2.6 3区工程技术

Actuators Pub Date : 2024-04-16 DOI: 10.3390/act13040148

Takeru Niwano, Mitsuharu Matsumoto

引用次数: 0

Progressive Optimal Fault-Tolerant Control Combining Active and Passive Control Manners 结合主动和被动控制方式的渐进式最佳容错控制

IF 2.6 3区工程技术

Actuators Pub Date : 2024-04-16 DOI: 10.3390/act13040150

Dan Du, Ze-tao Li, Boutaib Dahhou

{"title":"Progressive Optimal Fault-Tolerant Control Combining Active and Passive Control Manners","authors":"Dan Du, Ze-tao Li, Boutaib Dahhou","doi":"10.3390/act13040150","DOIUrl":"https://doi.org/10.3390/act13040150","url":null,"abstract":"This study develops a progressive optimal fault-tolerant control method based on insufficient fault information. By combining passive and active fault-tolerant control manners during the process of fault diagnosis, insufficient fault information is fully used, and optimal fault-tolerant control effect is achieved. In addition, the fault-tolerant control method based on guaranteed robust cost control is introduced. The proposed progressive optimal fault-tolerant control method considers two aspects. First, as the amount of fault information continually increases, the performance index of the progressive optimal fault-tolerant controller improves. Second, at each moment, based on the corresponding insufficient fault information and prior knowledge, optimal fault-tolerant control is achieved according to current fault information. The process of progressive optimal fault-tolerant control converges to active fault-tolerant control when the fault is completely identified, and the optimal fault-tolerant controller is no longer reconfigured until no more useful fault information can be provided. Furthermore, a progressive optimal fault-tolerant control algorithm based on the grid segmentation in the parameter uncertainty domain and the selection of different auxiliary center points is introduced. Simulation results verified the feasibility of the proposed algorithm and the validity of the proposed theory.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140696754","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 Novel Thermal Deformation Self-Stabilization Flexible Connection Mechanism 新型热变形自稳定柔性连接机制

IF 2.6 3区工程技术

Actuators Pub Date : 2024-04-15 DOI: 10.3390/act13040146

Fahui Feng, Zhihang Lin, Hui Tang

{"title":"A Novel Thermal Deformation Self-Stabilization Flexible Connection Mechanism","authors":"Fahui Feng, Zhihang Lin, Hui Tang","doi":"10.3390/act13040146","DOIUrl":"https://doi.org/10.3390/act13040146","url":null,"abstract":"In micro-LED chip repair, a nanopositioner is commonly used to adjust the positioning of the LED chip. However, during the bonding process, the heat generated can cause the positioning system to deform, leading to inaccurate alignment and poor-quality chip repair. To solve this issue, a novel flexible connection structure has been proposed that can eliminate thermal deformation. The principle of this novel flexible connection structure is that the thermal distortion self-elimination performance is achieved via three flexible connection modules (FCM) so that the thermal stress is automatically eliminated. First, the paper introduces the principle of thermal deformation elimination, and then the design and modeling process of the proposed structure are described. A heat transfer model is then developed to determine how temperature is distributed within the structure. A thermal deformation model is established, and the size of the FCM is optimized using a genetic algorithm (GA) to minimize the thermal deformation. Finite element analysis (FEA) is used to simulate and evaluate the thermal distortion self-elimination performance of the optimized mechanism. Finally, experiments are conducted to verify the reliability and accuracy of the simulation results. The simulations and experiments show that the proposed structure can eliminate more than 38% of the thermal deformation, indicating an excellent thermal deformation self-eliminating capability.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140703437","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

Terminal Sliding Mode Force Control Based on Modified Fast Double-Power Reaching Law for Aerospace Electro-Hydraulic Load Simulator of Large Loads 基于修正的快速双倍力达到定律的终端滑模力控制用于大载荷航空航天电液载荷模拟器

IF 2.6 3区工程技术

Actuators Pub Date : 2024-04-15 DOI: 10.3390/act13040145

Yingna Zhao, Cheng Qiu, Jing Huang, Qifan Tan, Shuo Sun, Zheng Gong

{"title":"Terminal Sliding Mode Force Control Based on Modified Fast Double-Power Reaching Law for Aerospace Electro-Hydraulic Load Simulator of Large Loads","authors":"Yingna Zhao, Cheng Qiu, Jing Huang, Qifan Tan, Shuo Sun, Zheng Gong","doi":"10.3390/act13040145","DOIUrl":"https://doi.org/10.3390/act13040145","url":null,"abstract":"This paper addresses the force-tracking problem of aerospace electro-hydraulic load simulators under the influence of high inertia, large loads, and a strong coupling force disturbance. An accurate mathematical model is initially derived to describe the characteristics of the load simulator system, the cause of the surplus force, and the strong phase lag due to large inertia. In order to overcome the position interference of the system and the large phase lag problem, a terminal sliding mode control strategy based on the modified fast double-power reaching law is proposed, based on the accurate mathematical model. This control strategy effectively suppresses the chattering problem of the sliding control and implements the finite time convergence of the system through the design of the reaching law and terminal sliding surface, ensuring the robustness of the system and the accuracy of the force-tracking problem. Finally, a comparison of the simulation and experimental results based on the design of different strategy controllers is performed to verify the effectiveness of the control strategy and system adaptability.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140699068","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 Bearing Mechanism of Spherical Valve Pairs of Axial Piston Pumps 轴向柱塞泵球形阀对的轴承机理研究

IF 2.6 3区工程技术

Actuators Pub Date : 2024-04-15 DOI: 10.3390/act13040147

Shunhai Xu, Chunxiao Zhao, Dian He, Nan Xu, Bin Zhang, Guofang Gong

{"title":"Research on Bearing Mechanism of Spherical Valve Pairs of Axial Piston Pumps","authors":"Shunhai Xu, Chunxiao Zhao, Dian He, Nan Xu, Bin Zhang, Guofang Gong","doi":"10.3390/act13040147","DOIUrl":"https://doi.org/10.3390/act13040147","url":null,"abstract":"The hydraulic system drives the cutter head mechanism to realize the excavation of large tunnel boring equipment, which puts forward the technical requirements of high pressure and large flow to the pump source. The traditional small displacement axial piston pump uses a planar valve plate. However, under high flow and heavy load conditions, the planar valve plate configuration is prone to uneven wear due to the high-pressure and -velocity (PV) value and pressure shock, which ultimately affects the reliability of the system. A simulation analysis of the load-bearing characteristics of the spherical valve plate mechanism is conducted. The Computational Fluid Dynamics (CFD) method was used to construct flow field models for different valve plate oil film structures to calculate differences in their load-bearing capacities. Additionally, the reasons for variations in load-bearing characteristics based on the curvature radius of the spherical valve plate were analyzed. The simulation results demonstrate that the spherical valve plate exhibits superior leak and load-bearing performance compared to the traditional flat valve plate. Furthermore, the curvature radius of the spherical valve plate directly affects the pulsation characteristics of the piston pump. Smaller curvature radii increase the contact area of the oil film, resulting in greater fluctuation in oil film load-bearing, whereas larger curvature radii lead to increased oil film leakage. Using simulation calculations on heavy-load, high-displacement axial piston pumps, it is determined that the optimal curvature radius for stable load-bearing is 350 mm.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140703511","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

Eco-Driving on Hilly Roads in a Mixed Traffic Environment: A Model Predictive Control Approach 混合交通环境下丘陵道路上的生态驾驶：模型预测控制方法

IF 2.6 3区工程技术

Actuators Pub Date : 2024-04-14 DOI: 10.3390/act13040144

A. Bakibillah, M.A.S. Kamal, J. Imura, Masakazu Mukai, Kou Yamada

{"title":"Eco-Driving on Hilly Roads in a Mixed Traffic Environment: A Model Predictive Control Approach","authors":"A. Bakibillah, M.A.S. Kamal, J. Imura, Masakazu Mukai, Kou Yamada","doi":"10.3390/act13040144","DOIUrl":"https://doi.org/10.3390/act13040144","url":null,"abstract":"Human driving behavior significantly affects vehicle fuel economy and emissions on hilly roads. This paper presents an ecological (eco) driving scheme (EDS) on hilly roads using nonlinear model predictive control (NMPC) in a mixed traffic environment. A nonlinear optimization problem with a relevant prediction horizon and a cost function is formulated using variables impacting the fuel economy of vehicles. The EDS minimizes vehicle fuel usage and emissions by generating the optimum velocity trajectory considering the longitudinal motion dynamics, the preceding vehicle’s state, and slope information from the digital road map. Furthermore, the immediate vehicle velocity and angle of the road slope are used to tune the cost function’s weight utilizing fuzzy inference methods for smooth maneuvering on slopes. Microscopic traffic simulations are used to show the effectiveness of the proposed EDS for different penetration rates on a real hilly road in Fukuoka City, Japan, in a mixed traffic environment with the conventional (human-based) driving scheme (CDS). The results show that the fuel consumption and emissions of vehicles are significantly reduced by the proposed NMPC-based EDS compared to the CDS for varying penetration rates. Additionally, the proposed EDS significantly increases the average speed of vehicles on the hilly road. The proposed scheme can be deployed as an advanced driver assistance system (ADAS).","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140706111","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