Actuators最新文献

Design and Implementation of Bulk Feeders Using Voice Coil Motors 使用音圈电机设计和实现散装给料机

Actuators Pub Date : 2024-07-26 DOI: 10.3390/act13080281

Yu-Ting Yang, Wen-Tan Wang, C. Wong

{"title":"Design and Implementation of Bulk Feeders Using Voice Coil Motors","authors":"Yu-Ting Yang, Wen-Tan Wang, C. Wong","doi":"10.3390/act13080281","DOIUrl":"https://doi.org/10.3390/act13080281","url":null,"abstract":"Bulk feeders that can automatically feed materials are one of the most commonly used vibration devices in the electronics industry. This study uses voice coil motors to design and implement a dual-axis bulk feeder and a quad-axis bulk feeder, allowing them to handle many kinds of materials. The implemented feeders can improve some of the problems in traditional bulk feeders, such as only one direction of movement, can only handle one kind of material, the contact time between the material and the platform is too long, and the feeder is not suitable to process materials with particular shapes. Two or four voice coil motors are placed under the platform of the implemented feeder. The vibration of the platform is controlled by the up-and-down movements of the voice coil motors, so that the bulk materials on the platform can be moved to the desired direction according to the feeding requirements. This study proposes a control method to control voice coil motors. For example, using different combinations of up-and-down movements of these four voice coil motors, the quad-axis voice coil feeder can move the material in eight horizontal directions, such as up, down, right, left, up right, up left, down right, and down left, as well as vertically flip. Since the frequency and amplitude of each vibration of the voice coil motor can be easily and instantly adjusted through the program, the implemented feeder can handle other types of materials without modifying the hardware of the device. Finally, some experimental results illustrate that the implemented dual-axis and quad-axis voice coil feeders can indeed effectively handle various bulk materials.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"59 25","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141799178","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Disturbance Sliding Mode Observer Designed for Enhancing the LQR Current-Control Scheme of a Permanent Magnet Synchronous Motor 为增强永磁同步电机 LQR 电流控制方案而设计的扰动滑模观测器

Actuators Pub Date : 2024-07-26 DOI: 10.3390/act13080283

Zhidong Zhang, Gongliu Yang, Jing Fan, Tao Li, Qingzhong Cai

{"title":"A Disturbance Sliding Mode Observer Designed for Enhancing the LQR Current-Control Scheme of a Permanent Magnet Synchronous Motor","authors":"Zhidong Zhang, Gongliu Yang, Jing Fan, Tao Li, Qingzhong Cai","doi":"10.3390/act13080283","DOIUrl":"https://doi.org/10.3390/act13080283","url":null,"abstract":"This paper introduces a current control method for permanent magnet synchronous motors (PMSMs) using a disturbance sliding mode observer (DSMO) in conjunction with a linear quadratic regulator (LQR). This approach enhances control performance, streamlines the tuning of controller parameters, and offers robust optimal control that is resistant to system disturbances. The LQR controller based on state feedback is advantageous for its simplicity in parameter adjustment and achieving an optimal control effect easily under specific performance indicators. It is suitable for the optimal control of strong linear systems that can be accurately modeled. However, most practical systems are difficult to model accurately, and the time-varying system parameters and existing nonlinearity limit the engineering application of LQR. In the PMSM current control loop, there is strong nonlinear disturbance manifesting as the nonlinearity of its dynamic model. Additionally, substantial noise and variations in system parameters within actual motor circuits hinder the linear quadratic regulator from attaining optimal performance. A disturbance sliding mode observer is proposed to enhance the LQR controller, enabling superior performance in nonlinear current loop control. Simulation and actual hardware experiments were conducted to verify the performance and robustness of the control scheme proposed in this paper. Compared with the widely used PI controller in engineering and sliding mode control (SMC) specialising in disturbance rejection, it offers the advantage of straightforward parameter tuning and can swiftly achieve the robust and optimal control performance that engineers prioritize.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"13 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141801726","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Double Air Chambers Pneumatic Artificial Muscle and Non-Hysteresis Position Control 双气室气动人工肌肉和无滞后位置控制

Actuators Pub Date : 2024-07-26 DOI: 10.3390/act13080282

N. Saito, T. Satoh, N. Saga

{"title":"Double Air Chambers Pneumatic Artificial Muscle and Non-Hysteresis Position Control","authors":"N. Saito, T. Satoh, N. Saga","doi":"10.3390/act13080282","DOIUrl":"https://doi.org/10.3390/act13080282","url":null,"abstract":"In this paper, we propose a double air chambers artificial muscle to eliminate the hysteresis in the extension and contraction movement of pneumatic artificial muscles. In this paper, the basic structure of the double air chambers artificial muscle is a rubberless artificial muscle with a particularly large hysteresis loop. The double air chambers artificial muscle aims to eliminate hysteresis by directly pressurizing the inside and outside of the air chamber and actively deforming the air chamber. The hysteresis is reduced by the pressure outside of the air chamber (external pressure). Since the appropriate external pressure varies depending on the contraction force and amount of contraction, we proposed a method to regulate the appropriate external pressure by feedback control. The experimental results show that hysteresis was eliminated in the static characteristics. It was also found that the output gain decreased, and the phase lag increased as the target frequency increased. The output gain did not change with increasing load. The phase lag tended to improve with the PID controller compared to the PI controller. These results suggest that the combination of double air chambers artificial muscle and external pressure-regulated feedback control can achieve non-hysteresis position control, and it is useful as an actuator in mechatronic systems.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"49 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141799746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Two-Stage Control Strategy Based on Motion Planning for Planar Prismatic–Rotational Underactuated Robot 基于运动规划的平面棱柱旋转欠动机器人两级控制策略

Actuators Pub Date : 2024-07-25 DOI: 10.3390/act13080278

Dawei Li, Ziang Wei, Zixin Huang

{"title":"Two-Stage Control Strategy Based on Motion Planning for Planar Prismatic–Rotational Underactuated Robot","authors":"Dawei Li, Ziang Wei, Zixin Huang","doi":"10.3390/act13080278","DOIUrl":"https://doi.org/10.3390/act13080278","url":null,"abstract":"Intelligent robots are often used to explore various areas instead of humans. However, when the driving joint is damaged, the actuated robot degenerates to an underactuated robot, and the traditional control method is not suitable for the underactuated robot. In this work, a two-stage control approach for a planar prismatic–rotational (PR) underactuated robot is introduced. Firstly, we establish the dynamic model and describe the underactuated constraint between an underactuated rotational joint and active prismatic joint. Secondly, the trajectory with multiple parameters is planned to ensure that the two joints reach the target position. Based on underactuated constraints and the evaluation function, the differential evolution algorithm (DEA) is used to optimize these parameters. After that, in stage 1, we design the controller to move the active prismatic joint to the desired position. Meanwhile, the underactuated rotational joint is rotating freely. In stage 2, we design the controller for the active prismatic joint to track the planned trajectory. By means of this strategy, both joints reach their target locations simultaneously. The final simulation result demonstrates that this strategy is effective.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"5 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141803372","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Optimal Control-Based Algorithm Design and Application for Trajectory Tracking of a Mobile Robot with Four Independently Steered and Four Independently Actuated Wheels 基于优化控制的算法设计与应用，用于带有四个独立转向轮和四个独立驱动轮的移动机器人的轨迹跟踪

Actuators Pub Date : 2024-07-25 DOI: 10.3390/act13080279

B. Ćaran, V. Milić, M. Švaco, B. Jerbić

{"title":"Optimal Control-Based Algorithm Design and Application for Trajectory Tracking of a Mobile Robot with Four Independently Steered and Four Independently Actuated Wheels","authors":"B. Ćaran, V. Milić, M. Švaco, B. Jerbić","doi":"10.3390/act13080279","DOIUrl":"https://doi.org/10.3390/act13080279","url":null,"abstract":"This paper deals with the synthesis and implementation of a controller for asymptotic tracking of the desired trajectory of a mobile robot. The mobile robot used for the experimental validation has eight motors with an inner control loop. Four steering actuators are controlled using position controllers and four driving actuators are controlled using velocity controllers. A complex robot kinematic model is converted into a control-oriented linear time-varying system, which is then used to design a time-varying control law that minimizes the quadratic optimality criterion. In contrast to conventional methodologies for solving the corresponding Riccati differential equations, a computational approach that explicitly determines the time-varying controller matrix by employing recurrent matrix computations is proposed. Mobile robot control inputs (linear velocity, steering angles and steering velocities) are forwarded to the steering and driving actuators with properly tuned position and velocity controllers using an inverse kinematic model of the mobile robot. The obtained control law is evaluated on an experimental set-up of a real mobile robot system. The controller is implemented using the Robot Operating System.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"54 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141804658","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Simulation Training System for Parafoil Motion Controller Based on Actor–Critic RL Approach 基于行为批判 RL 方法的副翼运动控制器仿真训练系统

Actuators Pub Date : 2024-07-25 DOI: 10.3390/act13080280

Xi He, Jingnan Liu, Jing Zhao, Ronghua Xu, Qi Liu, Jincheng Wan, Gang Yu

引用次数: 0

The Actuating Characteristics of Magnetorheological Fluids Subjected to Particle Sedimentation and Temperature Variation 受颗粒沉积和温度变化影响的磁流变流体的驱动特性

Actuators Pub Date : 2024-07-24 DOI: 10.3390/act13080277

E. T. Maharani, Dong-Hoon Lee, Young-Jun Kim, Jong-Seok Oh, Seung-Bok Choi

{"title":"The Actuating Characteristics of Magnetorheological Fluids Subjected to Particle Sedimentation and Temperature Variation","authors":"E. T. Maharani, Dong-Hoon Lee, Young-Jun Kim, Jong-Seok Oh, Seung-Bok Choi","doi":"10.3390/act13080277","DOIUrl":"https://doi.org/10.3390/act13080277","url":null,"abstract":"Magnetorheological (MR) fluids are known for their controllable characteristics under the influence of magnetic fields and, hence, widely used as semi-active actuators for vibration control. Regardless of advantages such as fast response time and reversible property, MR fluids inevitably experience sedimentation caused by significant density mismatches between magnetic particles and carrier liquids. Moreover, the effect of the temperature on actuating characteristics is also one of the problems to be resolved for practical implementation. This study experimentally investigates the sedimentation behavior under various temperatures ranging from 25 to 70 °C using a multiguide-arm magnetic device that generates a uniform magnetic flux density across MR fluids. The sedimentation stability is then observed after 168 h at current inputs of 0, 1, and 2 A, respectively. Subsequently, the field-dependent rheological properties of MR fluids are evaluated using a rheometer and discussed, showing actuating capability, which depends on the viscosity, shear stress, and yield stress before (initial state) and after the sedimentation (sedimentation state). The field-dependent yield stresses, which directly represent the actuating force of the semi-active actuator, are specifically evaluated. Under the on-state condition (2 A) at a temperature of 70 °C, the yield stress decreased from 2.747 kPa (initial state) to 2.352 kPa (sedimentation state). By using this yield stress, the field-dependent damping force was evaluated, showing a decrement from 1672 N (initial state) to 1623 N (sedimentation state) at a velocity of 0.8 m/s. It is shown that the temperature causes the reduction of the actuating properties after the long-term operation. The insightful findings achieved in this work will provide useful information for the evaluation of actuating characteristics of smart MR fluids and the design of MR application systems subjected to particle sedimentation and temperature variation.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"41 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141807624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Minitype Arrays of Acoustically Actuated Magnetoelectric Antennas for Magnetic Induction Communication 用于磁感应通信的微型声控磁电天线阵列

Actuators Pub Date : 2024-07-23 DOI: 10.3390/act13080276

Shiyu Wang, Gaoqi Dou, Guangming Song

{"title":"Minitype Arrays of Acoustically Actuated Magnetoelectric Antennas for Magnetic Induction Communication","authors":"Shiyu Wang, Gaoqi Dou, Guangming Song","doi":"10.3390/act13080276","DOIUrl":"https://doi.org/10.3390/act13080276","url":null,"abstract":"The magnetoelectric (ME) antennas rely on the mechanical movement of magnetic dipoles, making it possible to break the constraints on physical dimensions decided by the wavelength of the electromagnetic wavelength. The ME antennas achieve super-low frequency (SLF) communications with a smaller size to provide a novel solution for long-range, underwater, and underground communications; navigation over the horizon; and geological exploring. As a result, further theoretical research and optimization of ME antennas have been an open challenge for decades. Here, we report on minitype arrays of acoustically actuated ME antenna and their more rigorous equivalent circuits. These arrays of ME antenna adjust amplitude-frequency response through the mechanical regulation method. The mechanical parameters of ME antennas in the arrays result in regulating amplitude-frequency response, such as working frequency, fractional bandwidth, and intensity of magnetic induction. Our work provides a more accurate theoretical model and diverse array form over state-of-the-art ME antenna arrays. The frequency, fractional bandwidth, and magnetic induction strength of the ME antenna arrays were achieved to be adjustable in the ranges of 84 to 181 Hz, 3.9% to 8.3%, and two to four times, respectively. In addition, we have calculated the attenuation characteristics of ME antennas and their minitype arrays in seawater. The results show that the ME antenna array described in this manuscript is able to enhance the radiation intensity and information-loading capability, which has a positive potential for application in SLF communication systems.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"124 45","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141811370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A High Torque Density Dual-Stator Flux-Reversal-Machine with Multiple Poles Halbach Excitation on Outer Stator 外定子采用多极哈尔巴赫励磁的高扭矩密度双定子磁通反转机

Actuators Pub Date : 2024-07-23 DOI: 10.3390/act13080275

Siwei Tang, Yuanying Xu, Chao He, Jiquan Yang

{"title":"A High Torque Density Dual-Stator Flux-Reversal-Machine with Multiple Poles Halbach Excitation on Outer Stator","authors":"Siwei Tang, Yuanying Xu, Chao He, Jiquan Yang","doi":"10.3390/act13080275","DOIUrl":"https://doi.org/10.3390/act13080275","url":null,"abstract":"This paper proposes a high torque density dual-stator flux-reversal-machine with multiple poles Halbach excitation (MPHE-DSFRM), which uses two pole pairs’ numbers (PPNs) of PM excitation on one outer stator tooth, and one PPN of PM excitation on one inner stator tooth. The introduction of different PPNs of PM excitation on the outer and the inner stators can optimize magnetic circuit and airgap flux density. A Halbach array is formed by inserting three pieces of circumferentially magnetized PMs into four pieces of radially magnetized permanent magnets (PMs) on the outer stator, which aims to further enhance torque density, and reduce torque ripple. Based on the flux modulation effect, the analytical modeling of the proposed MPHE-DSFRM is established, together with the evolution process, and the working principle is presented. Then, the key design parameters of MPHE-DSFRM are optimized to achieve high torque density and low torque ripple for high torque quality. Three representative DSFRMs and a conventional FRM are designed and analyzed, and they share the same design key parameters, including PM usage, outer radius of the outer stator, and active airgap length. The electromagnetic performances, including airgap flux density, back electromotive force (back-EMF), and torque characteristics, are analyzed and compared by finite element analysis (FEA). The calculated results show that the proposed MPHE-DSFRM can provide high torque density and high PM utilization.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"119 33","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141811962","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","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 Spatial Developable Mechanism Considering Revolute Clearance Joints with Irregular Rough Surfaces 考虑不规则粗糙表面的外齿合关节的空间可展机构研究

Actuators Pub Date : 2024-07-21 DOI: 10.3390/act13070274

Junyu Wang, Huibo Zhang, Wenyu Wang, Chaoqun Qi, Jianan Xu, Yang Zhao, Chao Ma, Jian Tian

{"title":"Research on Spatial Developable Mechanism Considering Revolute Clearance Joints with Irregular Rough Surfaces","authors":"Junyu Wang, Huibo Zhang, Wenyu Wang, Chaoqun Qi, Jianan Xu, Yang Zhao, Chao Ma, Jian Tian","doi":"10.3390/act13070274","DOIUrl":"https://doi.org/10.3390/act13070274","url":null,"abstract":"Due to assembling, manufacturing errors, and wear, irregular rough surfaces inevitably exist in joints, which will increase the contact stiffness nonlinearity at the joint of the spatial developable mechanism, and the traditional contact force model is difficult to accurately predict the contact force change of irregular rough surface clearance. Aiming at the difficulty of accurately predicting the dynamic behavior of the spatial developable mechanism caused by rough joint clearance, an improved clearance contact force modeling method based on an uncoordinated contact model is proposed in this paper. The influence of rough peak distribution on the contact area is analyzed. The stiffness of the traditional Hertz model is modified based on the probability distribution density function of the rough peak, and an improved contact force model based on dynamic contact stiffness is established. Based on the Lagrange multiplier method, the dynamics model of spatial developable mechanism is constructed. Based on the model, the dynamic analysis of the spatial expansion mechanism is carried out, and the influence of the roughness of the contact surface and the size of the clearance on the dynamic characteristics of the system are explored; as well, the influence of different clearance parameters on the dynamic characteristics of the development mechanism is revealed. Through the analysis, this paper provides a theoretical basis for predicting the effect of a spatial revolute clearance joint on the dynamic characteristics of the mechanism and lays a good foundation for the manufacture and application of the mechanism.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"33 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141818266","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0