Actuators最新文献_第5页

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

An Accurate Dynamic Model Identification Method of an Industrial Robot Based on Double-Encoder Compensation 基于双编码器补偿的工业机器人精确动态模型识别方法

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-07 DOI: 10.3390/act12120454

Xun Liu, Yangshuyi Xu, Xiaogang Song, Tuochang Wu, Lin Zhang, Yanzheng Zhao

{"title":"An Accurate Dynamic Model Identification Method of an Industrial Robot Based on Double-Encoder Compensation","authors":"Xun Liu, Yangshuyi Xu, Xiaogang Song, Tuochang Wu, Lin Zhang, Yanzheng Zhao","doi":"10.3390/act12120454","DOIUrl":"https://doi.org/10.3390/act12120454","url":null,"abstract":"Aiming at the challenges to accurately simulate complex friction models, link dynamics, and part uncertainty for high-precision robot-based manufacturing considering mechanical deformation and resonance, this study proposes a high-precision dynamic identification method with a double encoder. Considering the influence of the dynamic model of the manipulator on its control accuracy, a three-iterative global parameter identification method based on the least square method and GMM (Gaussian Mixture Model) under the optimized excitation trajectory is proposed. Firstly, a bidirectional friction model is constructed to avoid using residual torque to reduce the identification accuracy. Secondly, the condition number of the block regression matrix is used as the optimization objective. Finally, the joint torque is theoretically identified with the weighted least squares method. A nonlinear model distinguishing between high and low speeds was established to fit the nonlinear friction of the robot. By converting the position and velocity of the motor-side encoder to the linkage side using the deceleration ratio, the deformation quantity could be calculated based on the discrepancy between theoretical and actual values. The GMM algorithm is used to compensate the uncertainty torque that was caused by model inaccuracy. The effectiveness of the proposed method is verified by a simulation and experiment on a 6-DoF industrial robot. Results prove that the proposed method can enhance the online torque estimation performance by up to 20%.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"56 44","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138593156","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 Study on Eddy Current Reduction Shape of Single-Phase Claw-Pole Motor 单相爪极电机涡流抑制形状研究

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-07 DOI: 10.3390/act12120451

Na-Rim Jo, Ye-Seo Lee, Hyun-Jo Pyo, Dong-Hoon Jung, Kwang-Soo Kim, Won-Ho kim

引用次数: 0

Mechanical Design and Experiments of a New Rotational Variable Stiffness Actuator for Hybrid Passive–Active Stiffness Regulation 用于被动-主动混合刚度调节的新型旋转可变刚度致动器的机械设计与实验

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-04 DOI: 10.3390/act12120450

Caidong Wang, Pengfei Gao, Xinjie Wang, Hong Wang, Xiaoli Liu, Huadong Zheng

{"title":"Mechanical Design and Experiments of a New Rotational Variable Stiffness Actuator for Hybrid Passive–Active Stiffness Regulation","authors":"Caidong Wang, Pengfei Gao, Xinjie Wang, Hong Wang, Xiaoli Liu, Huadong Zheng","doi":"10.3390/act12120450","DOIUrl":"https://doi.org/10.3390/act12120450","url":null,"abstract":"To improve collision safety in robot–human collaborative applications, increasing attention has been paid to rotational variable stiffness actuators. A new rotational variable stiffness actuator, which works in two stages, is proposed for hybrid passive–active stiffness regulation. The passive stage is based on the motions of springs driven by the rack-and-pinion systems, elastically converting the shaft’s rotation into the inner shell rotation fixed to the internal gear of the active stage. The active stage is designed to achieve the movement of the pivot point located on the roller actuated by the adjustment motor, providing the output angle of the output shaft. The two pairs of rack-and-pinion systems of the passive stage and the two pairs of planetary gears of the active stage are designed for side-by-side placement, improving the stability and balance of the stiffness regulation process. Two symmetrical cam-slider mechanisms acting as leverage pivots ensure the synchronous movements of the two rollers. The variable stiffness actuator is designed and validated by simulations and experiments. Strength analysis and stiffness analysis are presented. The designed actuator can obtain the range of stiffness adjustment of 35–3286 N·mm/deg. The range of the angle difference between the input and output shafts is ±48°.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"16 2","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138603031","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