Actuators最新文献

{"title":"Review on the Nonlinear Modeling of Hysteresis in Piezoelectric Ceramic Actuators","authors":"Yingli Dai, Dequan Li, Dong Wang","doi":"10.3390/act12120442","DOIUrl":"https://doi.org/10.3390/act12120442","url":null,"abstract":"Piezoelectric ceramic actuators have the advantages of fast response speed and high positioning accuracy and are widely used in micro-machinery, aerospace, precision machining machinery, and other precision positioning fields. However, hysteretic nonlinearity has a great influence on the positioning accuracy of piezoelectric ceramic actuators, so it is necessary to establish a hysteretic model to solve this problem. In this paper, the principles of the Preisach model, the Prandtl Ishilinskii (PI) model, the Maxwell model, the Duhem model, the Bouc–Wen model, and the Hammerstein model and their application and development in piezoelectric hysteresis modeling are described in detail. At the same time, the classical model, the asymmetric model and the rate-dependent model of these models are described in detail, and the application of the inverse model corresponding to these models in the feedforward compensation is explained in detail. At the end of the paper, the methods of inverse model acquisition and control frequency of these models are compared. In addition, the future research trend of the hysteresis model is also prospected. The ideas and suggestions highlighted in this paper will guide the development of piezoelectric hysteresis models.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"22 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139218898","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":"Research on Climbing Robot for Transmission Tower Based on Foot-End Force Balancing Algorithm","authors":"Zhuo Liu, Jiawei Lu, Haibo Du, Yansheng Liu, Wenwu Zhu, Junyi You","doi":"10.3390/act12120441","DOIUrl":"https://doi.org/10.3390/act12120441","url":null,"abstract":"This paper aims to introduce robot technology to carry out the safety inspection of transmission towers in long-distance power transmission, so as to improve the safety and efficiency of inspection. However, aiming at the problem that the existing climbing robots are mainly used for large load applications, which leads to the large size and lack of flexibility of the robot, we propose an innovative solution. Firstly, a lightweight quadruped climbing robot is designed to improve portability and operational flexibility. Then, a one-dimensional force sensor is added at the end of each leg of the robot, and a special swing phase trajectory is designed. The robot can judge whether the electromagnetic adsorption is effective and avoid potential safety hazards. Finally, based on the principle of virtual model control (VMC), a foot-end force balancing algorithm is proposed to achieve uniform distribution and continuous change in force, and improve safety and load capacity. The experiments show that the scheme has a stable climbing ability in the environments of angle steel, vertical ferromagnetic plane and transmission tower.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"2 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139236257","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":"Nonlinear Modeling and Analysis of Wound-Rotor Synchronous Starter/Generator (WRSSG) in Generating State for More Electric Aircraft","authors":"Haoran Du, Yongzhi Liu, Tianxing Li, Peirong Zhu","doi":"10.3390/act12120439","DOIUrl":"https://doi.org/10.3390/act12120439","url":null,"abstract":"The nonlinear modeling and analyzing of wound-rotor synchronous starter/generators (WRSSGs) plays a vital role in the analysis and monitoring of aircraft power systems. Moreover, they are of great significance with regard to the establishment of a future aircraft smart grid. However, owing to its nonlinear, high-dimensional, and strong coupling characteristics, this modeling has always remained in the frequency domain stage and the progress of more intuitive time domain modeling has been slow. This paper presents a nonlinear model of a WRSSG in a generating state. When the WRSSG is in power generation mode, most cases indicate that the aircraft is in flight mode. The establishment of the nonlinear model of the system in the power generation state is of great significance for the research of the health management and state monitoring of the aircraft power system and can improve the safety and reliability of the aircraft during flight. The model uses FE analysis and neural network to solve the nonlinear problem of the motor in the system and uses the improved variable parameter average model to solve the nonlinear problem of the rotating rectifier. According to the principle of signal transmission, a time domain model for the whole system is developed. Finally, the model is compiled by the RT-LAB real-time simulator. The nonlinear model performs well when compared with FE analysis results and tested against the MIL-STD-704F standard. The proposed nonlinear model and analysis results can be used for the condition monitoring and fault diagnosis of aircraft power systems. The hardware-in-the-loop test platform based on an accurate nonlinear model is a feasible means to study the failure of expensive equipment, and it can aid the study of irreversible failures of equipment at a low cost.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"88 S1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139237703","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":"Plasma Actuators for Cycloidal Rotor Thrust Vectoring Enhancement in Airships","authors":"A. Benmoussa, F. Rodrigues, J. Páscoa","doi":"10.3390/act12120436","DOIUrl":"https://doi.org/10.3390/act12120436","url":null,"abstract":"Airships are a method of transportation with reduced fuel consumption and great potential for different applications. However, these aerial vehicles still present considerable control and maneuverability problems. To overcome these issues, in the current work, we propose the use of plasma-enhanced cycloidal rotor thrusters to increase the controllability and maneuverability of airships. Numerical simulations are carried out to demonstrate the potential of plasma actuators to enhance the efficiency and thrust vectoring capabilities of cycloidal rotors. The fluid dynamics of the flow effects created via the operation of the cycloidal rotor is analyzed with and without plasma actuation. In addition, smart combined plasma actuation is proposed to further optimize the plasma-coupled cycloidal rotor device. The results demonstrated that by using this novel approach, the lift coefficient was increased by about 27%. To summarize, the obtained results for a rotational speed of 100 rpm are compared with results for 200 rpm, and it is demonstrated that for lower rotational speeds, the plasma effect is increased and more significant. This allows us to conclude that airships are an ideal application for plasma-enhanced cycloidal rotors, because since the lift is mostly generated via aerostatic principles, the plasma-enhanced thruster can be operated at lower rotational speeds and effectively increase the controllability and maneuverability of the aerial vehicle.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"75 4","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139240368","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":"Hybrid Nursing Robot Based on Humanoid Pick-Up Action: Safe Transfers in Living Environments for Lower Limb Disabilities","authors":"Jiabao Li, Chengjun Wang, Hailong Deng","doi":"10.3390/act12120438","DOIUrl":"https://doi.org/10.3390/act12120438","url":null,"abstract":"This research paper outlines the development of a modular and adjustable transfer care robot aimed at enhancing safe and comfortable transfers for individuals with lower limb disabilities. To design this robot, we utilized a 3D motion capture system to analyze the movements of a person assisting another person and to determine the necessary range of motion and workspace for the robot. Based on this analysis, we developed a 3-UPS + UPR parallel spreader to transfer the person receiving care. We also conducted kinematic and dynamic analyses of the parallel spreader to validate its operational space and to obtain the force change curve for the drive. To evaluate the robot’s performance, we enlisted the help of ten volunteers with varying heights and weights. Our findings indicate that the pressure distribution during transfers remained largely consistent. Additionally, the surveys revealed that those receiving care perceived the robot as being capable of securely and comfortably transferring individuals between different assistive devices. This modular and adaptable transfer assistance robot presents a promising solution to the challenges encountered in caregiving.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"129 6","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139239340","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":"Optimized Design of Fixture Mechanism for Cotton Bundle Fiber","authors":"Daiyu Jiang, Huting Wang, Ruoyu Zhang, Rong Hu, Hong Liu","doi":"10.3390/act12120435","DOIUrl":"https://doi.org/10.3390/act12120435","url":null,"abstract":"The linkage mechanism of a cotton bundle fiber strength tester will have an unstable clamping force when clamping fiber bundle samples with uneven thickness, resulting in slippage or damage to the fibers increasing the pectin residue, leading to inaccurate test results and increased maintenance costs. To address this problem, according to the structural principle of the connecting rod-clamping mechanism, through the geometric relationship between the connecting rods to establish a parametric model of the mechanism and the use of the principle of virtual work on the mechanism to solve the force, the proposed new Dynamic Alternative Static Approximate Analysis Method (DASAAM) was based on Adams 2020. The Isight integrated Adams automatic optimization design framework was built. The variance of the change curve of the end force of the mechanism when clamping samples of different thicknesses was used as the evaluation function and the assembly conditions were used as the constraints. The dimensional parameters and angles of the mechanism were optimized using the multi-island genetic algorithm. The simulation results showed that when the thickness of the clamped sample varied in the range of 0–4 mm, the clamping force of the mechanism varied in the range of 8920–8630 N. Finally, the variance of the clamping force measured by the clamping force measurement component was 0.0367. The above results show that the DASAAM provided a new method for solving the static problem of mechanism morphological and position change, and the optimized linkage mechanism had better clamping force stability, which made the strength detection of cotton fiber more accurate, thus improving the quality of textile products.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"122 ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139245055","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":"Development of Wearable Finger Prosthesis with Pneumatic Actuator for Patients with Partial Amputations","authors":"Hyunho Kim, Sujin Jang, Phuoc Thien Do, Chang Kee Lee, B. Ahn, Suncheol Kwon, Handdeut Chang, Yeongjin Kim","doi":"10.3390/act12120434","DOIUrl":"https://doi.org/10.3390/act12120434","url":null,"abstract":"As the number of patients with amputations increases, research on assistive devices such as prosthetic limbs is actively being conducted. However, the development of assistive devices for patients with partial amputations is insufficient. In this study, we developed a finger prosthesis for patients with partial amputations. The design and mathematical modeling of the prosthesis are briefly presented. A pneumatic actuator, based on the McKibben muscle design, was employed to drive the finger prosthesis. We characterized the relationship between the actuator’s force and axial length changes with varying pressure. An empirical model derived from conventional mathematical modeling of force and axis length changes was proposed and compared with experimental data, and the error was measured to be between about 3% and 13%. In order to control the actuator using an electromyography (EMG) signal, an electrode was attached to the user’s finger flexors. The EMG signal was measured in relation to the actual gripping force and was provided with visual feedback, and the magnitude of the signal was evaluated using root mean square (RMS). Depending on the evaluated EMG signal magnitude, the pressure of the actuator was continuously adjusted. The pneumatic pressure was adjusted between 100 kPa and 250 kPa, and the gripping force of the finger prosthesis ranged from about 0.7 N to 6.5 N. The stiffness of the prosthesis can be varied using the SMA spring. The SMA spring is switched to a fully austenite state at 50 °C through PID control, and when the finger prosthesis is bent to a 90° angle, it can provide approximately 1.2 N of assistance force. Finally, the functional evaluation of the finger prosthesis was performed through a pinch grip test of eight movements.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"7 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139242296","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":"Practical Adaptive Fast Terminal Sliding Mode Control for Servo Motors","authors":"Kamran Ali, Z. Cao, Kamal Rsetam, Zhihong Man","doi":"10.3390/act12120433","DOIUrl":"https://doi.org/10.3390/act12120433","url":null,"abstract":"Position control of servo motor systems is a challenging task because of inevitable factors such as uncertainties, nonlinearities, parametric variations, and external perturbations. In this article, to alleviate the above issues, a practical adaptive fast terminal sliding mode control (PAFTSMC) is proposed for better tracking performance of the servo motor system by using a state observer and bidirectional adaptive law. First, a smooth-tangent-hyperbolic-function-based practical fast terminal sliding mode control (PFTSM) surface is designed to ensure not only fast finite time tracking error convergence but also chattering reduction. Second, the PAFTSMC is proposed for the servo motor, in which a two-way adaptive law is designed to further suppress the chattering and overestimation problems. More importantly, the proposed adaptive technique can update the switching gain according to the system uncertainties, which can provide high gain in the reaching phase and then decrease to the smallest value in the sliding phase to avoid the monotonically increasing gain that exists in most adaptation methods. Third, the finite-time stability of the closed-loop system is proved based on the Lyapunov theorem. Finally, the simulation studies and experimental tests verify the effectiveness of the proposed control in terms of better tracking, strong robustness, and reduced chattering, compared to existing algorithms.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"47 ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139250187","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":"Experimental Investigation on Flow Control over a Circular Cylinder Using Antiphase Pulsed Jets","authors":"Jiaxin Pan, Wanbo Wang, Xunnian Wang, Chaoqun Li, Xinhai Zhao, Kun Tang","doi":"10.3390/act12120432","DOIUrl":"https://doi.org/10.3390/act12120432","url":null,"abstract":"To investigate the flow control characteristics of antiphase pulsed jet technology and explore a more efficient method to control unsteady flow with minimal impact on flow turbulence, wind tunnel experiments were conducted. The aim was to address the issue of flow separation control on the surface of a cylindrical model. The model had a diameter of 100 mm, and an experimental setup utilizing an antiphase pulsed jet excitation was developed. The optimisation of unsteady jet control involved adjusting parameters such as jet momentum coefficient, slot position, and excitation frequency. The flow separation control effect on the cylinder surface was compared between in-phase and antiphase pulsed jet using a particle image velocimetry (PIV) technique. The mechanisms of flow control for these two methods were analysed. The results showed that in still air, increasing the jet momentum led to a gradual decrease in the high-velocity region, which also moved away from the wall. Under incoming flow conditions, positioning the slot closer to the separation point resulted in better flow separation control, particularly when the excitation frequency matched the main flow frequency. Both in-phase and antiphase pulsed jet excitations effectively suppressed flow separation. In the near-wall region within the symmetric plane between the two slots, the antiphase excitation reduced the root mean square of velocity fluctuations by approximately 1.9% and increased the average velocity by approximately 15.5% compared to in-phase pulsed jet excitation. In-phase pulsed jets exhibited low-frequency, high-velocity characteristics near the separation point, while antiphase pulsed jets, due to the alternating discharge of the two jets, had a lesser impact on the flow field turbulence.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"22 10","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139253014","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":"EEG Investigation on the Tactile Perceptual Performance of a Pneumatic Wearable Display of Softness","authors":"F. Carpi, Michele C. Valles, G. Frediani, Tanita Toci, Antonello Grippo","doi":"10.3390/act12120431","DOIUrl":"https://doi.org/10.3390/act12120431","url":null,"abstract":"Multisensory human–machine interfaces for virtual- or augmented-reality systems are lacking wearable actuated devices that can provide users with tactile feedback on the softness of virtual objects. They are needed for a variety of uses, such as medical simulators, tele-operation systems and tele-presence environments. Such interfaces require actuators that can generate proper tactile feedback, by stimulating the fingertips via quasi-static (non-vibratory) forces, delivered through a deformable surface, so as to control both the contact area and the indentation depth. The actuators should combine a compact and lightweight structure with ease and safety of use, as well as low costs. Among the few actuation technologies that can comply with such requirements, pneumatic driving appears to be one of the most promising. Here, we present an investigation on a new type of pneumatic wearable tactile displays of softness, recently described by our group, which consist of small inflatable chambers arranged at the fingertips. In order to objectively assess the perceptual response that they can elicit, a systematic electroencephalographic study was conducted on ten healthy subjects. Somatosensory evoked potentials (SEPs) were recorded from eight sites above the somatosensory cortex (Fc2, Fc4, C2 and C4, and Fc1, Fc3, C1 and C3), in response to nine conditions of tactile stimulation delivered by the displays: stimulation of either only the thumb, the thumb and index finger simultaneously, or the thumb, index and middle finger simultaneously, each repeated at tactile pressures of 10, 20 and 30 kPa. An analysis of the latency and amplitude of the six components of SEP signals that typically characterise tactile sensing (P50, N100, P200, N300, P300 and N450) showed that this wearable pneumatic device is able to elicit predictable perceptual responses, consistent with the stimulation conditions. This proved that the device is capable of adequate actuation performance, which enables adequate tactile perceptual performance. Moreover, this shows that SEPs may effectively be used with this technology in the future, to assess variable perceptual experiences (especially with combinations of visual and tactile stimuli), in objective terms, complementing subjective information gathered from psychophysical tests.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"313 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139254043","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}