Mechatronics最新文献_第8页

Model predictive path-following control for truck–trailer systems with specific guidance points — design and experimental validation 具有特定引导点的卡车拖车系统的模型预测路径跟踪控制 - 设计与实验验证

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-04-17 DOI: 10.1016/j.mechatronics.2024.103190

Markus Lukassek , Julian Dahlmann , Andreas Völz , Knut Graichen

{"title":"Model predictive path-following control for truck–trailer systems with specific guidance points — design and experimental validation","authors":"Markus Lukassek , Julian Dahlmann , Andreas Völz , Knut Graichen","doi":"10.1016/j.mechatronics.2024.103190","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103190","url":null,"abstract":"<div><p>This article presents an experimental validation of a model predictive path-following control algorithm (PF-MPC ) applied to a truck–trailer system, encompassing both forward and backward motions. The proposed controller is designed to precisely follow a predefined path generated by a path planner, with a designated guidance point positioned on either the truck or the trailer. The algorithm’s performance is assessed through implementation and validation on a model-scaled truck–trailer system, where MPC, state estimation, and low-level control are executed on a microcontroller (MCU ). The experimental results demonstrate the effectiveness of the proposed control approach in achieving highly accurate path-following performance, even when operating in the challenging context of unstable backward motion, and with the involvement of up to two trailers. Moreover, the successful implementation of the algorithm on a microcontroller underscores its suitability for real-time control applications. The results of this study collectively highlight the promising potential of the proposed control algorithm for practical utilization in autonomous driving systems.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103190"},"PeriodicalIF":3.3,"publicationDate":"2024-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000552/pdfft?md5=4d6fa64b383ea463492a1c63ffef3d8b&pid=1-s2.0-S0957415824000552-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140557570","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive torque control of wet dual clutch based on dynamic friction coefficient estimation 基于动态摩擦系数估算的湿式双离合器自适应扭矩控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-04-13 DOI: 10.1016/j.mechatronics.2024.103175

Antai Li, Datong Qin, Zheng Guo

{"title":"Adaptive torque control of wet dual clutch based on dynamic friction coefficient estimation","authors":"Antai Li, Datong Qin, Zheng Guo","doi":"10.1016/j.mechatronics.2024.103175","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103175","url":null,"abstract":"<div><p>Fluctuations in oil temperature, changes in friction plate temperature, and friction plate wear significantly influence the precision of torque control in wet clutches, consequently impacting vehicle launch and gear shift quality. In this study, we introduce a novel approach for estimating the dynamic friction coefficient of wet clutches and develop a feedforward torque controller tailored to dual-clutch transmissions. This controller adeptly compensates for the effects of oil temperature variations, friction plate temperature shifts, and wear. We also incorporated an observer for real-time estimation of clutch torque. The dynamic friction coefficient of the clutch is continuously estimated using models that account for the influence of oil temperature, friction plate temperature, and service mileage. Leveraging this estimated dynamic friction coefficient, the clutch torque is precisely controlled during slip engagement. Our co-simulation results affirm the accuracy of the controller presented in this paper. Even after changes in factors affecting friction coefficients, it consistently maintains control precision, surpassing non-adaptive controllers based on pressure-torque and pressure-speed difference-torque models. Bench testing further validates the controller's accuracy in torque control and its adaptability to fluctuations in oil temperature, friction plate temperature, and wear.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103175"},"PeriodicalIF":3.3,"publicationDate":"2024-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140550842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Operability evaluation of manual operation control for force-sensorless power-assist transport cart 无力传感器动力辅助运输车手动操作控制的可操作性评估

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-04-13 DOI: 10.1016/j.mechatronics.2024.103189

Ryuki Sato , Ryuga Nishida , Susumu Hara , Hiroyuki Okuda , Mitsuru Nagatsuka , Masahiko Tsuji , Tatsuya Suzuki

{"title":"Operability evaluation of manual operation control for force-sensorless power-assist transport cart","authors":"Ryuki Sato , Ryuga Nishida , Susumu Hara , Hiroyuki Okuda , Mitsuru Nagatsuka , Masahiko Tsuji , Tatsuya Suzuki","doi":"10.1016/j.mechatronics.2024.103189","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103189","url":null,"abstract":"<div><p>In large-scale factories and warehouses, power-assisted carts are effective in transporting cargo to reduce the burden on workers. Herein, we developed a force-sensorless power-assisted cart system that can detect the operating force applied by the operator without using a force sensor and control the power-assisted drive. In this system, the operator directly grasps and operates the body of the cart, and the applied force is estimated from the cart body sway caused by the operation. The transport cart is controlled based on the estimated hand force. In such closed-loop systems formed by humans and machines, mechanical interactions affect the operability of the equipment. In this study, we experimentally verified the power-assisted manual operability of the proposed force-sensorless power-assisted transport cart. We examined the accuracy of the path tracking in manual operation experiments with 20 subjects and analyzed the results of the subjective evaluation. Based on the experimental results, the influence of the control parameters on operability was considered, and design guidelines were presented.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103189"},"PeriodicalIF":3.3,"publicationDate":"2024-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140550843","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Human–robot kinematic mapping method based on index constraint 基于指数约束的人机运动学映射方法

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-04-11 DOI: 10.1016/j.mechatronics.2024.103183

Xin Wang , Jing Zhao , Ziqiang Zhang

{"title":"Human–robot kinematic mapping method based on index constraint","authors":"Xin Wang , Jing Zhao , Ziqiang Zhang","doi":"10.1016/j.mechatronics.2024.103183","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103183","url":null,"abstract":"<div><p>Mimicry-based teleoperation has been widely used in various fields due to its superior scalability. Converting the mapping information of the human arm to the robotic arm is a key problem in teleoperation. However, existing methods only study how to map the motion information but do not consider the performance of the robotic arm after mapping, which often leads to task failure due to the substandard performance of the robotic arm. Therefore, for a class of robotic arms with wrist structures, a new kinematic mapping method is proposed to enable the robotic arm to meet the requirements of the index in real-time. First, an index space module is built to efficiently solve the index space containing all mapping information and indexes. Then, the mapping model solving module is established, which can make the robotic arm meet the index requirements when following the human arm. On this basis, the kinematic mapping module is proposed to convert the mapping information into the joint angle of the robot arm. Finally, numerical simulations and physical prototype experiments are conducted to verify the effectiveness of the proposed method.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103183"},"PeriodicalIF":3.3,"publicationDate":"2024-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140542987","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multirate repetitive control for an industrial print-belt system 工业印刷带系统的多脉冲重复控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-04-08 DOI: 10.1016/j.mechatronics.2024.103187

Leontine Aarnoudse , Kevin Cox , Sjirk Koekebakker , Tom Oomen

引用次数: 0

Vision-based collaborative robots for exploration in uneven terrains 基于视觉的协作机器人在凹凸不平的地形中进行探索

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-04-06 DOI: 10.1016/j.mechatronics.2024.103184

Christyan Cruz Ulloa, Javier Álvarez, Jaime del Cerro, Antonio Barrientos

{"title":"Vision-based collaborative robots for exploration in uneven terrains","authors":"Christyan Cruz Ulloa, Javier Álvarez, Jaime del Cerro, Antonio Barrientos","doi":"10.1016/j.mechatronics.2024.103184","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103184","url":null,"abstract":"<div><p>Exploring tasks in unknown environments has become a relevant search and rescue robotics approach. Ground robots are a better alternative to rescuers for first exploration. However, exploration progress is often limited by uneven terrains that exceed the kinematic capabilities of robots, including those with complex locomotion systems. This work proposes an innovative solution based on collaborative behaviours to overcome even terrains. A method employing two collaborative robots designed to operate in a marsupial configuration to surmount uneven terrains has been implemented. These robots, denoted as R1 (enhanced with a mobile ramp) and R2 (serving as an explorer), interact synergistically to expand the explored area autonomously. A state machine has been implemented to manage the progression of the mission, based on a perception (RGB-D) system, for both decision-making and autonomous execution of the process. In the initial stage, the terrain and ascent zones to be explored are characterized using point clouds and unsupervised learning. Subsequently, the second stage manages the interaction between the robots by controlling the R2 ascent through the R1 ramp using artificial vision algorithms and beacons. Outdoor tests have been performed to validate the method. The main results show an effectiveness of 95% in automatically identifying access zones.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103184"},"PeriodicalIF":3.3,"publicationDate":"2024-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000497/pdfft?md5=3e977abec64397f2b2ef755491983601&pid=1-s2.0-S0957415824000497-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140533511","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive hybrid-mode assist-as-needed control of upper limb exoskeleton for rehabilitation training 用于康复训练的上肢外骨骼的自适应混合模式按需辅助控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-04-04 DOI: 10.1016/j.mechatronics.2024.103188

Yida Guo , Yang Tian , Haoping Wang , Shuaishuai Han

{"title":"Adaptive hybrid-mode assist-as-needed control of upper limb exoskeleton for rehabilitation training","authors":"Yida Guo , Yang Tian , Haoping Wang , Shuaishuai Han","doi":"10.1016/j.mechatronics.2024.103188","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103188","url":null,"abstract":"<div><p>In this paper, a novel adaptive hybrid-mode assist-as-needed (AHMAAN) control algorithm is designed for the exoskeleton-assisted upper limb rehabilitation training. The overall control framework includes an outer control loop to calculate the required interaction force, and an inner control loop to drive the exoskeleton track subject’s motion, and provide specific target interaction force obtained from the outer control loop. In the outer control loop, a hybrid control mode is proposed, which consists of resistive mode and assistive mode. In this regard, a virtual tunnel is firstly established around the defined training task path, and the training mode is switched according to the deviation between the subject’s position and the boundary of the virtual tunnel. Furthermore, for tuning the strength of the resistance or assistance to the subjects with different motor capabilities, two adjustable gain factors are designed, whose values are adaptively adjusted according to the subject’s training performance by using a fuzzy logic. Then, for the inner control loop, a barrier Lyapunov function-based controller is designed to constrain exoskeleton tracking errors within the defined boundary. Meanwhile, time delay estimation (TDE) technology is used to estimate the uncertain terms of the system, and a robust adaption law is developed to compensate TDE error. Experimental tests have been performed on an upper limb exoskeleton with three healthy subjects to evaluate the effectiveness of the developed method. The results show that the proposed control scheme can be effectively applied in a variety of rehabilitation requirements and achieves better training performance than classical hybrid-mode assist-as-needed control method.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103188"},"PeriodicalIF":3.3,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140344299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Nondimensional analysis and experimental assessment of the PII1/2DD1/2 position control of a rotary axis 旋转轴 PII1/2DD1/2 位置控制的非尺寸分析和实验评估

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-28 DOI: 10.1016/j.mechatronics.2024.103169

Luca Bruzzone , Chiara Micheli

{"title":"Nondimensional analysis and experimental assessment of the PII1/2DD1/2 position control of a rotary axis","authors":"Luca Bruzzone , Chiara Micheli","doi":"10.1016/j.mechatronics.2024.103169","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103169","url":null,"abstract":"<div><p>Fractional Order controllers, based on derivatives and integrals of non-integer order, represent a propitious and promising research area since they can improve the performance of mechatronic systems compared to traditional Integer Order PID controllers without requiring hardware upgrades, but only using their higher tuning flexibility. Nevertheless, Fractional Order controllers are still rarely applied in real automation tasks, since their tuning is more complex and in general requires a model-based optimization for full exploitation of their capabilities. Recently, the PII<sup>1/2</sup>DD<sup>1/2</sup> controller has been proposed, extending the classical PID by introducing a half-integral and a half-derivative term. A Bode plot-based tuning method has been presented for this controller, deriving the PII<sup>1/2</sup>DD<sup>1/2</sup> parameters from a given set of PID gains. This method enables a significant reduction in tracking error for position control of a mechatronic axis without the need for complex model-based optimizations. In this paper, the previous results of this PII<sup>1/2</sup>DD<sup>1/2</sup> tuning methodology have been generalized by employing a nondimensional approach. This approach highlights the conditions under which the benefits of this Fractional Order controller over the PID are most significant. The findings have been validated through experimental tests on a rotary axis, confirming the correctness and usefulness of the method.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103169"},"PeriodicalIF":3.3,"publicationDate":"2024-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000345/pdfft?md5=b2974d03795b5e0e127b7d4a3efe7198&pid=1-s2.0-S0957415824000345-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140320746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A hybrid ankle-foot orthosis with soft pneumatic actuation 带软气动驱动装置的混合型踝足矫形器

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-21 DOI: 10.1016/j.mechatronics.2024.103171

Grace P. Marconi , Alpha A. Gopalai , Sunita Chauhan

{"title":"A hybrid ankle-foot orthosis with soft pneumatic actuation","authors":"Grace P. Marconi , Alpha A. Gopalai , Sunita Chauhan","doi":"10.1016/j.mechatronics.2024.103171","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103171","url":null,"abstract":"<div><p>This paper presents the design, development, and analysis of a powered ankle-foot orthosis for dorsiflexion assistance which aims to improve gait restoration by addressing issues related to orthosis misalignment, limited degrees of freedom, restricted range of motion, and muscular disuse. The proposed orthosis utilizes a novel hybrid design with a combination of both traditional and soft robotics for compliant and unrestrictive ankle dorsiflexion assistance for sufferers of footdrop. This article describes the complete design of the orthosis including analytical modeling and experimental testing of the soft pneumatic actuator and the development of gait phase detection and ankle angular feedback systems using wearable sensors for accurate and responsive control. Preliminary analysis was completed which validates the orthosis as a lightweight, unrestrictive, and compliant device that is capable of dorsiflexing the ankle of a person up to 100 kg, and at walking speeds appropriate for safe and effective community ambulation of up to 1.04 m/s. The novel design of the device demonstrates the potential for improved rehabilitative outcomes for patients with footdrop, due to the ability to adjust the assistive force of the device, throughout the progression of rehabilitation, which encourages muscular participation of the user and therefore reduces issues caused by muscular disuse.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103171"},"PeriodicalIF":3.3,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000369/pdfft?md5=1c07cd8fe33a3ed810b88e2ec9277382&pid=1-s2.0-S0957415824000369-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140180430","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Accurate Contour Error Estimation-based robust contour control for dual-linear-motor-driven gantry stages 基于精确轮廓误差估计的双线性电机驱动龙门平台鲁棒轮廓控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-21 DOI: 10.1016/j.mechatronics.2024.103174

Zhuang Kang , Weiyang Lin , Zhitai Liu , Ruiqi Xu

{"title":"Accurate Contour Error Estimation-based robust contour control for dual-linear-motor-driven gantry stages","authors":"Zhuang Kang , Weiyang Lin , Zhitai Liu , Ruiqi Xu","doi":"10.1016/j.mechatronics.2024.103174","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103174","url":null,"abstract":"<div><p>This article presents a novel adaptive contour control scheme for dual-linear-motors-driven gantry stages (DLMDGSs) with time-varying model parameters and disturbances, aiming to realize high-precision contour control. Specifically, a novel adaptive contour controller based on a coupled model is proposed, incorporating powerful projection adaption laws, to achieve the synchronization of multi-axis motors, regression of adaptive parameters, and high-precision contour performance. Additionally, a contour error estimation (CEE) method with four-order convergence rate is designed to ensure estimation accuracy, enhance estimation robustness, and reduce estimation time. Moreover, considering the periodicity of common control contour tasks, an iterative learning control (ILC) reference trajectory compensation structure is adopted to further improve the contour control effect. Finally, the stability and convergence of the closed-loop system are rigorously proven, and comparative experiments are conducted on a DLMDGS platform to demonstrate the superiority of the proposed control strategy.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103174"},"PeriodicalIF":3.3,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140181343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0