Actuators最新文献_第5页

A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum 一种新颖的倒立摆分层递归非奇异终端滑模控制

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-11 DOI: 10.3390/act12120462

Hiep Dai Le, T. Nestorović

{"title":"A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum","authors":"Hiep Dai Le, T. Nestorović","doi":"10.3390/act12120462","DOIUrl":"https://doi.org/10.3390/act12120462","url":null,"abstract":"This paper aims to develop a novel hierarchical recursive nonsingular terminal sliding mode controller (HRNTSMC), which is designed to stabilize the inverted pendulum (IP). In contrast to existing hierarchical sliding mode controllers (HSMC), the HRNTSMC significantly reduces the chattering problem in control input and improves the convergence speed of errors. In the HRNTSMC design, the IP system is first decoupled into pendulum and cart subsystems. Subsequently, a recursive nonsingular terminal sliding mode controller (RNTSMC) surface is devised for each subsystem to enhance the error convergence rate and attenuate chattering effects. Following this design, the HRNTSMC surface is constructed by the linear combination of the RNTSMC surfaces. Ultimately, the control law of the HRNTSMC is synthesized using the Lyapunov theorem to ensure that the system states converge to zero within a finite time. By invoking disturbances estimation, a linear extended state observer (LESO) is developed for the IP system. To validate the effectiveness, simulation results, including comparison with a conventional hierarchical sliding mode control (CHSMC) and a hierarchical nonsingular terminal sliding mode control (HNTSMC) are presented. These results clearly showcase the excellent performance of this approach, which is characterized by its strong robustness, fast convergence, high tracking accuracy, and reduced chattering in control input.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"79 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138981578","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

Design and Analysis of an Adaptive Cable-Driven Manipulator Capable of Actively Transitioning between Two-Point Clamping and Envelope Grasping 设计和分析能够在两点夹紧和包络抓取之间主动转换的自适应线缆驱动机械手

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-11 DOI: 10.3390/act12120461

Huiling Wei, Jin Liu, Qinghua Lu, Weilin Chen, Lufeng Luo, Chengbin Liang

{"title":"Design and Analysis of an Adaptive Cable-Driven Manipulator Capable of Actively Transitioning between Two-Point Clamping and Envelope Grasping","authors":"Huiling Wei, Jin Liu, Qinghua Lu, Weilin Chen, Lufeng Luo, Chengbin Liang","doi":"10.3390/act12120461","DOIUrl":"https://doi.org/10.3390/act12120461","url":null,"abstract":"Actively transitioning between clamping and grasping is a challenging problem for most manipulators with limited degrees of freedom. To overcome this problem, a cable-driven rigid–flexible combined manipulator capable of actively transitioning between clamping and grasping is proposed in this paper, which has a certain adaptability and compliance to achieve adaptive operation. First, the cable-driven unit and compliant unit of the cable-driven rigid–flexible combined manipulator are designed. Then, the sensitivity of the mechanism parameters is analyzed using the Monte Carlo method, and then the structure of the cable-driven rigid–flexible combined manipulator is optimized. After that, the force on the finger in two-point clamping mode is modelled using Newton’s second law. Furthermore, the input–output relationship modelling of the finger in envelope grasping mode is deeply analyzed using the principle of energy conservation. Finally, the stable grasping performance of the cable-driven rigid–flexible combined manipulator is verified using numerical simulation and physical prototype tests. The results show that the cable-driven rigid–flexible combined manipulator has good adaptability and compliance, which verifies the effectiveness and rationality of the design and modelling.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"74 10","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138979004","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 Physics-Informed Hybrid Modeling Method for Dynamic Vibration Response Simulation of Rotor–Bearing System 用于转子轴承系统动态振动响应模拟的新型物理信息混合建模方法

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-11 DOI: 10.3390/act12120460

Mengting Zhu, Cong Peng, Bingyun Yang, Yu Wang

{"title":"A Novel Physics-Informed Hybrid Modeling Method for Dynamic Vibration Response Simulation of Rotor–Bearing System","authors":"Mengting Zhu, Cong Peng, Bingyun Yang, Yu Wang","doi":"10.3390/act12120460","DOIUrl":"https://doi.org/10.3390/act12120460","url":null,"abstract":"For rotor–bearing systems, their dynamic vibration models must be built to simulate the vibration responses that affect the safe and reliable operation of rotating machinery under different operating conditions. Single physics-based modeling methods can be used to produce sufficient but inaccurate vibration samples at the cost of computational complexity. Moreover, single data-driven modeling methods may be more accurate, employing larger numbers of measured samples and reducing computational complexity, but these methods are affected by the insufficient and imbalanced samples in engineering applications. This paper proposes a physics-informed hybrid modeling method for simulating the dynamic responses of rotor–bearing systems to vibration under different rotor speeds and bearing health statuses. Firstly, a three-dimensional model of a rolling bearing and its supporting force are introduced, and a physics-based dynamic vibration model that couples flexible rotors and rigid bearings is constructed using multibody dynamics simulation. Secondly, combining the simulation vibration data obtained using the physics-based model with measured vibration data, algorithms are designed to learn vibration generation and data mapping networks in series connection to form a physics-informed hybrid model, which can quickly and accurately output the vibration responses of a rotor–bearing system. Finally, a case study on the single-span rotor platform is provided. By comparing the signal output by the proposed physics-informed hybrid modeling method with the measured signal in the time and frequency domains, the effectiveness of proposed method under both constant- and variable-speed operating conditions are illustrated.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"38 12","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138981010","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

Enhancing Vibration Control in Cable–Tip–Mass Systems Using Asymmetric Peak Detector Boundary Control 利用非对称峰值检波器边界控制加强缆尖-质量系统的振动控制

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-11 DOI: 10.3390/act12120463

L. Acho, Gisela Pujol-Vázquez

引用次数: 0

Design and Unbiased Control of Nine-Pole Radial Magnetic Bearing 九极径向磁悬浮轴承的设计与无偏控制

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-09 DOI: 10.3390/act12120458

Myounggyu D. Noh, Wonjin Jeong

{"title":"Design and Unbiased Control of Nine-Pole Radial Magnetic Bearing","authors":"Myounggyu D. Noh, Wonjin Jeong","doi":"10.3390/act12120458","DOIUrl":"https://doi.org/10.3390/act12120458","url":null,"abstract":"Typical radial active magnetic bearings are structurally symmetric. For example, an eight-pole bearing uses two opposing pairs to control one axis by winding the pair in series. The magnetic force produced by an active magnetic bearing is quadratically proportional to coil currents and inversely proportional to the square of the gap between the bearing and the journal. Bias linearization is widely used to linearize the relationship of coil currents to the magnetic force. However, the bias currents increase ohmic losses and require a larger than necessary capacity of power amplifiers to supply the sum of bias and control currents. Unbiased control of symmetric bearings has the critical issue of slew-rate limiting. Unbiased control of unsymmetrical bearings can eliminate the need for bias currents while avoiding slew-rate singularity except in extreme cases. Although a generalized inversion of the force–current relationship of unbiased unsymmetrical bearings has been proposed previously, no experimental validation is reported. The main objective of this research is to implement the unbiased control strategy and show that exactly the same linear control strategy for eight-pole symmetric bearings can be applied to nine-pole unsymmetrical bearings on industry-scale compressor test rigs. Two test rigs are built: one with eight-pole symmetric bearings and another with nine-pole unsymmetrical bearings. Linear control algorithms are designed and applied. Both control algorithms are linear and consist of lead filters and notch filters. The test results show that the linear control design used for unsymmetrical bearings can achieve the same level of stability that the symmetric bearings provide, satisfying the sensitivity criterion specified by ISO 14839-3.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"258 ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139010777","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

Multi-Objective Point Motion Planning for Assembly Robotic Arm Based on IPQ-RRT* Connect Algorithm 基于 IPQ-RRT* 连接算法的装配机械臂多目标点运动规划

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-09 DOI: 10.3390/act12120459

Qinglei Zhang, Haodong Li, Jianguo Duan, Jiyun Qin, Ying Zhou

{"title":"Multi-Objective Point Motion Planning for Assembly Robotic Arm Based on IPQ-RRT* Connect Algorithm","authors":"Qinglei Zhang, Haodong Li, Jianguo Duan, Jiyun Qin, Ying Zhou","doi":"10.3390/act12120459","DOIUrl":"https://doi.org/10.3390/act12120459","url":null,"abstract":"Six-axis industrial assembly robotic arms are pivotal in the manufacturing sector, playing a crucial role in the production line. The IPQ-RRT* connect motion planning algorithm for the robotic arm is proposed to improve the assembly process by reducing the time of motion planning and improving the assembly efficiency. The new IPQ-RRT* connect algorithm improves the original PQ-RRT* algorithm applied to UAVs in two dimensions by adding a node-greedy bidirectional scaling strategy. An obstacle detection range is set on the node-greedy bidirectional scaling strategy, in which the existence of obstacles is judged, and different sampling strategies are used according to the judgment results to get rid of obstacles faster, while bidirectional sampling can further improve the operation efficiency of the algorithm. In addition, effective collision detection is realized by combining the hierarchical wraparound box method. Finally, the Bezier curve is utilized to smooth the trajectory of the assembly robotic arm, which improves the trajectory quality while ensuring that the assembly robotic arm does not collide with obstacles. This paper takes the actual assembly process of an intelligent assembly platform as an example and proves the feasibility and effectiveness of the algorithm through simulation experiments and real I5 assembly robotic arm experiments.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"44 2","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138983294","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 Review of Nonlinear Mechanisms for Frequency Up-Conversion in Energy Harvesting 能量收集中频率上转换的非线性机制综述

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-08 DOI: 10.3390/act12120456

Michele Rosso, R. Ardito

{"title":"A Review of Nonlinear Mechanisms for Frequency Up-Conversion in Energy Harvesting","authors":"Michele Rosso, R. Ardito","doi":"10.3390/act12120456","DOIUrl":"https://doi.org/10.3390/act12120456","url":null,"abstract":"Vibration-based energy harvesting has garnered considerable attention from researchers over the past two decades, using different transduction mechanisms. In this context, the utilization of piezoelectric materials has proven to be highly successful, due to their power density, across a broad range of voltages. A primary challenge in environmental vibration harvesting lies in the frequency mismatch between the devices, which typically exhibit optimal performance at hundreds or thousands of hertz due to their small size (centimeter or millimeter) and the environmental vibration. The latter has considerable energy density around tens of hertz. For this reason, over the last 15 years, the scientific community has concentrated on exploring techniques for band broadening or frequency up-conversion by intentionally introduced (or designed) nonlinearities. This review, following an introduction to the topic of vibration energy harvesting, provides a description of the primarily developed mechanisms, presenting a chronological development for each, from the initial works to the most recent advancements. Additionally, the review touches upon implementation efforts at the micro-electromechanical systems (MEMS) scale for each described technique. Finally, the incorporation of nonlinearities through electronic circuits to enhance performance is briefly discussed.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"46 37","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138588340","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 Review of Piezoelectric Energy Harvesting: Materials, Design, and Readout Circuits 压电能量收集综述：材料、设计和读出电路

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-08 DOI: 10.3390/act12120457

Eugenio Brusa, Anna Carrera, C. Delprete

{"title":"A Review of Piezoelectric Energy Harvesting: Materials, Design, and Readout Circuits","authors":"Eugenio Brusa, Anna Carrera, C. Delprete","doi":"10.3390/act12120457","DOIUrl":"https://doi.org/10.3390/act12120457","url":null,"abstract":"Mechanical vibrational energy, which is provided by continuous or discontinuous motion, is an infinite source of energy that may be found anywhere. This source may be utilized to generate electricity to replenish batteries or directly power electrical equipment thanks to energy harvesters. The new gadgets are based on the utilization of piezoelectric materials, which can transform vibrating mechanical energy into useable electrical energy owing to their intrinsic qualities. The purpose of this article is to highlight developments in three independent but closely connected multidisciplinary domains, starting with the piezoelectric materials and related manufacturing technologies related to the structure and specific application; the paper presents the state of the art of materials that possess the piezoelectric property, from classic inorganics such as PZT to lead-free materials, including biodegradable and biocompatible materials. The second domain is the choice of harvester structure, which allows the piezoelectric material to flex or deform while retaining mechanical dependability. Finally, developments in the design of electrical interface circuits for readout and storage of electrical energy given by piezoelectric to improve charge management efficiency are discussed.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"49 18","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138588145","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

Soft-Coiled Pneumatic Actuator with Integrated Length-Sensing Function for Feedback Control 集成长度感应功能的软线圈气动执行器，用于反馈控制

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-08 DOI: 10.3390/act12120455

Jacob R. Greenwood, Wyatt Felt

引用次数: 0

Parameter Identification of Permanent Magnet Synchronous Motor with Dynamic Forgetting Factor Based on H∞ Filtering Algorithm 基于 H∞ 滤波算法的带动态遗忘因子的永磁同步电机参数识别

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-07 DOI: 10.3390/act12120453

Tianqing Yuan, Jiu Chang, Yupeng Zhang

{"title":"Parameter Identification of Permanent Magnet Synchronous Motor with Dynamic Forgetting Factor Based on H∞ Filtering Algorithm","authors":"Tianqing Yuan, Jiu Chang, Yupeng Zhang","doi":"10.3390/act12120453","DOIUrl":"https://doi.org/10.3390/act12120453","url":null,"abstract":"To address system parameter changes during permanent magnet synchronous motor (PMSM) operation, an H∞ filtering algorithm with a dynamic forgetting factor is proposed for online identification of motor resistance and inductance. First, a standard linear discrete PMSM parameter identification model is established; then, the discrete H∞ filtering algorithm is derived using game theory reducing state and measurement noise influence. A cost function is defined, solving extremes values of different terms. A dynamic forgetting factor is introduced to the weighted combination of initial and current measurement noise covariance matrices, eliminating identification issues from different initial values. On this basis, a dynamic forgetting factor is added to weigh the combination of the initial measurement noise covariance matrix and the current measurement noise covariance matrix, which eliminates the influence of the discrimination error caused by the different initial values. Finally, the identification model is built in MATLAB/Simulink for simulation analysis to verify the feasibility of the proposed algorithm. The simulation results show the proposed H∞ filtering algorithm rapidly and accurately identifies resistance and inductance values with significantly improved robustness. The forgetting factor enables quick stable recognition even with poor initial values, enhancing PMSM control performance.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"45 22","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138594026","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