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control Strategy of Permanent Magnet Synchronous Motor and Brushed DC Servo Motor Based on ADRC 20

Control Strategy of Permanent Magnet Synchronous Motor and B...

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Liu, Liang Liu, Haikui Nie, Guangyin Gao, Yang Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350320831

Adaptive disturbance rejection control (ADRC) is a rapidly evolving and promising control method that has been widely applied in various industrial fields and may yield better results than traditional method. In order to promote the controller performance, ADRC technology was employed to construct a three-loop structure for the controllers of permanent magnet synchronous motor (PMSM) and brushed DC Servo Motor (BDSM). Firstly, the mathematical models of the both kinds of motors were presented and combined with the ADRC, respectively. Secondly, the simulation models based on ADRC were constructed in MATLAB/SIMULINK, respectively. Finally, comparative experiments were carried out by ADRC and Proportional-Integral (PI) methods. The simulation results showed that ADRC outperforms PI control in terms of response speed, overshoot reduction, and anti-interference capability, which verified the proposed method can exhibit superior dynamic properties in the induction motor control. © 2023 IEEE.

关键词： controllers

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Swimming characteristics of soft robot with magnetoelastic material

Swimming characteristics of soft robot with magnetoelastic m...

引用

2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Xiang, Hongbiao Li, Mengwei Zhang, Tilei Wang, Shoujun Yang, Xiuping Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728163215

Cable-less micro-robots have exhibit great capabilities for remote applications in small and constrained environments, especially in biotechnology and healthcare. This paper presents a swimmer propelled by its undulatory deformation using magnetoelastic composite material. The robot can move freely on water surface driven through a function of magnetic field, such as forward, backward and steering with different velocity. The magnetic field is generated by 3D Helmholtz coils, and the locomotion of the micro swimming robot is controlled by different applied magnetic field. To understand the characteristics of the swimmer, the force balance equation is established, and the morphologies of swimmer with different magnetic field are analyzed and described through finite element analysis method. Furthermore, we discuss and analyze relationship between the parameters of magnetic field and the speed of the swimmer. The experimental results verified the speed model of the swimming robot, which is influenced by the frequency and strength of magnetic field. © 2019 IEEE.

关键词： Magnetic fields

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Automated Creation of Topological Structure Models of Parallel Mechanisms for Kinematic Performance Evaluation 8

Automated Creation of Topological Structure Models of Parall...

引用

8th IEEE International Conference on advanced Robotics and Mechatronics, ICARM 2023

作者： Wu, Hongye Lin, Ping Ma, Yue Li, Bin Liu, Qi Li, Hongqing School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350300178

Considering the diversity of topological structures of parallel mechanisms (PMs), this paper presents an approach for the automated generation of topological structure models based on CAD technology. In this method, joints and links are treated as fundamental elements in the skeleton model of a mechanical system, leading to the development of a library of fundamental components readily available to compose a variety of limbs and PMs. A connection graph and its data structure are then developed for describing, in a hierarchical manner, the assembly information among the fundamental components. Equipped with the knowledge and information mentioned above, the limbs and PMs can finally be assembled automatically by identifying and imposing the geometrical constraints that have been already embedded in the models. The merit of this method lies in that 3D schematic diagrams (termed topological structure models) of various limbs and PMs can be created in an illustrative manner by properly selecting a set of fundamental components and then setting their connections, leading to the digitalized and visible topological structure models that are readily for kinematic performance evaluation. Combined with the CAD-CAE integration technology for the mechanical structure design and static/dynamic performance evaluation, a digital design and simulation framework can be formulated for the rapid design of parallel robotic equipment. © 2023 IEEE.

关键词： Topology

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Visual servoing of magnetic swimming robot based on mean shift and fast template matching algorithm

Visual servoing of magnetic swimming robot based on mean shi...

引用

2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Xiang, Hongbiao Zhang, Tilei Li, Mengwei Wang, Shoujun Yang, Xiuping Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728163215

The actuation and control of mini-scale swimming robots have exhibit promising potential in limited and constrained environments, such as biomedical, micro-assembly and microfluidic applications. However, closed-loop control is still a challenging for the precision and repeatability in those applications. In this paper, a new type of soft-micro swimming robot based on magnetoelastic composite material is designed, and the swimmer can move freely on the water surface controlled by a rotating magnetic field with visual servoing. The visual feedback control strategy is proposed based on Mean Shift Algorithm and Fast Template Matching. The algorithm includes three parts: prediction, template matching, target positioning and template updating. To understand the characteristics of the swimmer, the relationship between swimming speed and magnetic field strength and frequency is verified by the algorithm in experiments. Furthermore, the proposed path following method with visual servoing applied in this control system. The experimental results show that the algorithm runs fast, has high accuracy and good real-time performance, and can provide great potential in mini-scale robot applications. © 2019 IEEE.

关键词： Visual servoing

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Exploration and Practice of Hierarchical Graduation Project under the Background of Science Collaborative Education and engineering Education Accreditation 5

Exploration and Practice of Hierarchical Graduation Project ...

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5th International Conference on Advances in Artificial Intelligence, ICAAI 2021

作者： Gao, Lilan Tan, Yansong Sun, Yanfang Lv, Linwei Li, Bin Gao, Qijun Wang, Xiaofei Zhao, Yijiao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781450390699

Graduation project is an important integrated practice segment for undergraduate education, since the quality of undergraduate education can be directly evaluated by the quality of graduation project. Under the background of science collaborative education and engineering education accreditation, it is necessary to explore an intelligent and integrated graduation project system to train students by all sorts of engineering and research projects, thus improve students' practical ability and innovation ability. This paper first analyzed the problems of the graduation project in the major of process equipment and control engineering, then introduced a novel hierarchical graduation project system to adapt to the concept of science collaborative education and engineering education. By putting the novel graduation project system into effect, the quality of graduation project has significantly improved. © 2021 ACM.

关键词： Accreditation

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Research on control Strategy of Manipulator Based on Deep Reinforcement Learning 23

Research on Control Strategy of Manipulator Based on Deep Re...

引用

3rd International Conference on Artificial Intelligence, Automation and Algorithms, AI2A 2023

作者： Xu, Nuo Shao, Yanpeng Fan, Xiaoyan National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9798400707605

Abstract: Today, the traditional control algorithm of the manipulator is difficult to meet in the complex and changing working environment, and the development of artificial intelligence has achieved remarkable results in the field of manipulator control. As a branch of artificial intelligence, deep reinforcement learning combines the perception ability of deep learning with the decision-making ability of reinforcement learning, which can greatly improve the work efficiency and adaptability of the manipulator. This paper expounds on the principle of deep reinforcement learning, compares and analyzes the application examples of the single manipulator and multi-manipulator control algorithms based on deep reinforcement learning, and demonstrates the achievements of deep reinforcement learning in the motion control of manipulators. The intelligent control research provides a reference. © 2023 ACM.

关键词： Reinforcement learning

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Dynamic modeling and simulation of flexible load system operated by reconfigurable manipulators under different constraints 15

Dynamic modeling and simulation of flexible load system oper...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Ma, Huidong Guo, Jinjin Ge, Weimin Wang, Xiaofeng School of Mechanical Engineering Tianjin University of Technology China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Binshui Xidao 391 Xiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

This paper aims at solving the problems that the manipulator will be constrained by the flexible load, and the caused constraint force is difficult to control. Based on the deflection screw theory, the dynamic model of the manipulator system is established by using the Lagrange equation. Firstly, according to the interaction of the end effector, the flexible load and the environmental constraints of the manipulator, the equation of motion of the entire system is built. Secondly, the dynamic model of the manipulator system is set up, that the system including the flexible load and the manipulator. Finally, Under the certain known environmental constraints, the dynamic modeling of a manipulator is performed. The effectiveness of the proposed method is verified by the simulation of a flexible beam operated by a 3-DOF manipulator. © 2018 IEEE.

关键词： Screws

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Direct Visual Odometry by Fusing Luminosity and Depth Information

Direct Visual Odometry by Fusing Luminosity and Depth Inform...

引用

2021 International Conference on Robotics Automation and Intelligent control, ICRAIC 2021

作者： Yin, Jinming Zhou, Haibo Zhang, Haoxin Li, Chenming Sun, Guoqing Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384 China

In the traditional direct visual odometry, it is difficult to satisfy the photometric invariant assumption due to the influence of illumination changes in the real environment, which will lead to errors and drift. This paper proposes an improved direct visual odometry system, which combines luminosity and depth information. The algorithm proposed in this paper uses Kinect 2 to collect RGB images with the corresponding depth information, and selects points with large changes of gray gradient to construct a luminosity error function and uses the corresponding depth information to construct a depth error function. The two error functions are merged into one function and converted into the least squares function of the pose of camera, the Levenberg-Marquardt algorithm is used to solve the camera pose. Finally, the Graph optimization theory and the g2o library are used to optimize the initial pose. Experiments show that the algorithm can reduce the error to a certain extent and reduce the drift caused by illumination changes. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Vision

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Dimensional synthesis and static/dynamic analysis of a robot in automobile hubs polishing 20

Dimensional synthesis and static/dynamic analysis of a robot...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Chen, Long Xi, Manru Ma, Yue Li, Bin Liu, Qi Li, Changrui Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350320831

Focusing on the polishing operation of automobile hubs, this paper proposed a polishing robot by combining a 1T2R parallel mechanism (PM) and an X-Y worktable. The dimensional synthesis and static/dynamic performance analysis of the 1T2R PM are also presented with the key points as follows. Firstly, the inverse displacement model and velocity model of the PM are built to formulate the motion/force transmissibility indices on the basis of the generalized Jacobian matrix. Secondly, the dimensional synthesis problem is formulated to determine the optimized normalized dimensional parameters by maximizing the global force/motion transmissibility of the PM subject to geometric constraints without mechanical interference. Finally, the finite element (FE) model of the 1T2R PM is built with the aid of the SAMCEF, and the static stiffness and lower-order natural frequencies of the PM are evaluated. The research results of this paper provide dimensions and mechanical structures for developing the physical prototype of the automobile hub polishing robot. © 2023 IEEE.

关键词： Finite element method

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Structure design and analysis of reconfigurable fixture robot based on the auto-body panels 15

Structure design and analysis of reconfigurable fixture robo...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, Jilong Liu, Jun Wang, Xiaofeng Ge, Weimin School of Mechanical Engineering Tianjin University of Technology China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Binshui Xidao 391 Xiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

The fixture is an important equipment, and is widely used in the auto-body panels to be assembled and welded. However, most fixtures, which installed on the production lines, are special to make the production cost higher and the production efficiency lower. Therefore, the reconfigurability of the fixture becomes a key factor that effects the production efficiency of automobiles. To handle the above problems, the new reconfigurable fixture robot is proposed in this paper, which can meet the handing, assembling and welding requirements of different automobile's sheet parts on the automobile production lines. First, the three-dimensional model and the kinematic equations of the proposed reconfigurable fixture robot are established. Then, the working space of the reconfigurable fixture robot is also obtained. Finally, the modal analysis of the reconfigurable fixture robot is performed to determine the cause of resonances. Reconfigurable fixture robots are capable of gripping the auto-body panels with the different radii of curvature, which can also meet the work scopes on the production lines. © 2018 IEEE.

关键词： Production efficiency

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