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Phenomenological Modeling and End-Point Trajectory Tracking control of a Flexible Beam with Pneumatic Soft Actuators

Phenomenological Modeling and End-Point Trajectory Tracking ...

引用

IEEE International Conference of intelligent Robotic and control Engineering (IRCE)

作者： Xuefeng Sun Qingxin Meng Jundong Wu Mingliang Zhu School of Automation China University of Geosciences Wuhan Hubei China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan Hubei China

As the basic construction of flexible mechanical systems, the flexible beam and its control problem have attracted widespread attention in recent years. This paper takes a flexible beam with pneumatic soft actuators (FBPSA) as the research object and studies its phenomenological modeling and end-point trajectory tracking control strategy. Firstly, we develop an experimental platform for the FBPSA and perform tests on it, gathering its input and output data. Using these collected data, we analyzed the motion characteristics of the FBPSA. Subsequently, a phenomenological model is established to describe the motion characteristics of the system, and the parameters of this model are identified through a large amount of the collected experimental data. Then, a combined feedforward-feedback control strategy is proposed to achieve the end-point trajectory tracking control of the system. Finally, three sets of experiments are carried out to verify the accuracy of the established model and the effectiveness and superiority of the control strategy.

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Modeling and Tracking control for Dielectric Elastomer Actuator with Sliding Mode Feedback controller 7

Modeling and Tracking Control for Dielectric Elastomer Actua...

引用

7th International Conference on control Science and Systems Engineering, ICCSSE 2021

作者： Zhang, Yue Huang, Peng Zhang, Pan Wang, Yawu China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Hubei Wuhan430074 China

ISBN: (纸本)9781665444057

This paper proposes the modeling and tracking control methods for the dielectric elastomer actuator (DEA). A dynamic model of the DEA is built, which is composed of an asymmetric hysteresis model, a creep model and a linear system. To compensate the hysteresis and creep nonlinearities of the DEA, an inverse compensation feedforward controller (ICFC) is designed based on the creep model and the inverse of the asymmetric hysteresis model. Besides, an extended state observer (ESO) is designed to estimate the unmeasurable state of the DEA, as well as uncertainties including the modeling errors, parameter perturbations and external disturbances. Then, a sliding mode feedback controller (SMFC) is designed cooperating with the ICFC to realize the high precision tracking control of the DEA. The convergence of the ESO and the whole control system are proved through the Lyapunov method. Finally, some experiments are executed to verify the effectiveness of the proposed modeling and control methods. © 2021 IEEE.

关键词： Linear systems

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Parametric Study on Performance of Parallel Asymmetric Nonlinear Energy Sinks

Parametric Study on Performance of Parallel Asymmetric Nonli...

引用

International Conference on Applied Nonlinear Dynamics, Vibration, and control, ICANDVC 2023

作者： Li, Huiyang Chen, Jianen 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)9789819705535

The complexification-averaging method is utilized to study the amplitude-frequency response of a system connected to a parallel asymmetric nonlinear energy sink (NES) under harmonic excitation, and the Runge-Kutta method is used to analyze the change law of the frequency band of the higher branches of response and the strongly modulated responses with the assistance of the complexification-averaging method. Under shock loading, the effect of parallel asymmetric NES parameters on its vibration absorption efficiency is investigated. The results demonstrate that the frequency band of higher branches of response is widened by reducing the stiffness ratio, mass ratio, and damping ratio of the two NES, emphasizing the fact that the frequency band of the strongly modulated response can be widened or narrowed with the reduction of these parameters. Moreover, reducing the mass ratio and damping ratio of the two NESs decreases the vibration absorption efficiency when the system is subjected to a shock load. However, the vibration absorption efficiency increases by reducing the stiffness ratio. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Energy dissipation

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An Order Demodulation Analysis Method for Planetary Gearboxes

An Order Demodulation Analysis Method for Planetary Gearboxe...

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TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Chen, Jiwei Xie, Ruitong Zhu, Songsong Zhao, Mengxiong Wang, Zhiyuan Zhang, Mian Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Binshuixidao 391 Xiqing District Tianjin300384 China State Key Laboratory of Water Resources Engineering and Management Wuhan University Wuhan430072 China

ISBN: (纸本)9783031694820

In addressing challenges such as the speed change of planetary gearbox (PG) during operation and the complexity in extracting fault features, an order demodulation analysis method based on order tracking (OT) and variational mode decomposition (VMD) is proposed. Non-stationary time domain signals are transformed into relatively stable angular domain signals through angular resampling. The intrinsic mode function (IMF) is obtained by demodulation of the angular multi-component signal using the VMD method. The instantaneous order of a proper IMF is calculated via Hilbert Transform. The sensitive single component is selected by matching the meshing order and the central order of the instantaneous order. Finally, the amplitude of the characteristic order components extracted from the instantaneous order spectrum was used as features and Support Vector Machine (SVM) was employed for the classification of four different conditions in the sun gear. Comparing the results of the proposed method with Deep Neural Networks (DNN) and Convolutional Neural Networks (CNN), the experimental results demonstrate the effectiveness of the proposed method in diagnosing PGs under non-stationary conditions. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Epicyclic gears

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Dynamic Sensing Modeling of Dielectric Elastomer Sensors Based on GRU Neural Network

Dynamic Sensing Modeling of Dielectric Elastomer Sensors Bas...

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IEEE International Conference of intelligent Robotic and control Engineering (IRCE)

作者： Mingyi Zhang Peng Huang Yawu Wang School of Automation China University of Geosciences Wuhan Hubei China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan Hubei China

Dielectric elastomer sensor (DES) is a flexible sensor that can perform free bending deformation, thus it has broad application prospects in the fields of medical electronics, wearable devices, soft robots, etc. Previous studies have mostly focused on exploring the static sensing characteristics of the DES. Considering that the DES may be used in dynamic conditions, it is very meaningful to study its dynamic sensing characteristics to broaden its application ranges. In this paper, a dynamic sensing model of the DES is established based on the gate recurrent unit (GRU) neural network. Firstly, the structure of the DES and the construction of the experimental system are introduced. In addition, the dynamic sensing characteristics of the DES are analyzed by conducting several sets of experiments, which shows that the DES has significant rate-dependent hysteresis nonlinearities, multivalued mapping and memory characteristics. After that, the dynamic sensing model of the DES is built based on the GRU neural network to describe the above dynamic sensing characteristics. Next, the dynamic displacement and force sensing models of the DES are trained according to the dynamic displacement-capacitance and dynamic force-capacitance experimental data, respectively. Finally, several experiments are performed to verify the effectiveness and generalization ability of the established dynamic sensing model.

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Vibration Absorption of Nonlinear Energy Sink for Non-resonant Frequency Band of Rectangular Plate

Vibration Absorption of Nonlinear Energy Sink for Non-resona...

引用

International Conference on Applied Nonlinear Dynamics, Vibration, and control, ICANDVC 2023

作者： Wu, Jie Chen, Jianen 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)9789819705535

In this paper, a nonlinear energy sink (NES) is designed to suppress the vibrations of a rectangular plate, where the vibrations within a non-resonant band of the plate are mainly investigated. The selected frequency range is 9–11 Hz with a loading frequency interval of 0.5 Hz. The harmonic excitation experiments with fixed frequency are conducted within the non-resonant band to obtain its amplitude-frequency curves. The results indicate that the NES always has effective vibration absorption with the variations in NES mass and spring stiffness under low excitation accelerations. However, the rectangular plate exhibits a higher branch of response within the low-frequency range under high excitation accelerations. Metrics such as the effective value of response acceleration and the vibration level are introduced to evaluate the experimental results to analyze the vibration absorption of the NES. The study reveals that optimal performance is achieved when a non-weighted NES with a spring having a wire diameter of 1.2 mm and an external diameter of 10 mm is attached to the rectangular plate. This device yields a reduction of vibration level by 7.29 dB. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Rectangular plate

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Research on Task Scheduling Algorithms for Cloud-Edge Collaboration 19th

Research on Task Scheduling Algorithms for Cloud-Edge Collab...

引用

19th EAI International Conference on Heterogeneous Networking for Quality, Reliability, Security and Robustness, QShine 2023

作者： Lu, Shuai Zhou, Haibo Zhao, Shuaishuai Xu, Wangbei Fang, Kai Tianjin300384 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China College of Mathematics and Computer Sciences Zhejiang A&F University Hangzhou311300 China

ISBN: (纸本)9783031651229

With the advent of the 5G era, the development of IoT technology has been accelerated. Due to the continuous increase in the amount of data waiting to be processed from the edge, edge nodes may struggle to handle such a vast amount of data. Therefore, the technology of cloud-edge collaboration has emerged, and how to achieve cloud-edge collaborative task scheduling has become a current research hotspot. This article provides a detailed exposition of the relevant work on task scheduling in the cloud-edge environment, and outlines the common optimization objectives in the cloud-edge collaboration scenario. The methods used to solve task scheduling problems are classified and summarized, including heuristic, heuristic algorithm based on linear programming, and meta-heuristic algorithms. The advantages and disadvantages of each algorithm are analyzed. Finally, the development trends of large-scale task scheduling in the cloud-edge environment are discussed, providing valuable insights for achieving real-time performance, efficiency, and energy conservation in the Internet of Things. © ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2024.

关键词： Scheduling algorithms

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Research on intelligent Fault Diagnosis Method of Planetary Gearbox based on ITD and CNN 15

Research on Intelligent Fault Diagnosis Method of Planetary ...

引用

15th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Beijing 2024

作者： Zhu, Songsong Chen, Jiwei Xie, Ruitong Song, Yuhao Zhang, Mian Zhao, Mengxiong 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)9798350354010

Accurate fault diagnosis of planetary gearboxes (PGs) is crucial for preventing equipment failures and extending their lifespan. To enhance the efficiency and accuracy of PG fault diagnosis, this paper proposes a novel method integrating intrinsic time scale decomposition (ITD) with convolutional neural network (CNN). The proposed method leverages the demodulation capability of ITD to decompose and reconstruct the original signal, effectively removing irrelevant noise and isolating core fault features, and the learning ability of CNN to accurately identify the fault features. Compared to methods relying on CNN only, the proposed method not only improves the computational efficiency but also achieves higher fault diagnosis accuracy. © 2024 IEEE.

关键词： Convolutional neural networks

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Study on Rotating Speed control of Dissimilar Metal Friction Stir Welding based on Fuzzy PID 6

Study on Rotating Speed Control of Dissimilar Metal Friction...

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2021 6th International Conference on Applied Mechanics and Structural Materials, AMSM 2021

作者： Liu, Yongning Qiao, Zhifeng Liu, Qingjian Huang, Jiahao Fu, Kang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

The demand for lightweight vehicles that achieve energy conservation and emission reduction continues to grow. Aluminum alloys were commonly applied to the automotive industry to reduce the structural quality of the entire vehicle. However, the cost of aluminum alloy was higher than that of steel, so the industry considered the use of aluminum in combination with low-cost materials such as steel. Traditional welding technology was limited by the great physical difference between aluminum alloy and steel. Friction Stir Welding, a solid phase welding technology, can overcome the connection problem of aluminum and its alloys with steel, but the process parameters of FSW directly affect the welding quality. This paper established the FSW process of two different metals of DC05 and AL6061. Aimed to get a good welding joint, the error of tool speed is reduced by fuzzy PID system established in this paper, and the tool speed is controlled stably. Simulink simulation was established, and compared with the simulation results, fuzzy PID control can control the precision and stability of the tool speed of FSW, improve the welding quality, and provide a certain theoretical basis for the tool speed control. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Friction stir welding

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Smart Infrared Temperature Measurement System Based On Elastic Compute Service Platform

Smart Infrared Temperature Measurement System Based On Elast...

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2021 China Automation Congress, CAC 2021

作者： Li, Yongbo Yuan, Li Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9781665426473

In the fight against the novel coronavirus, this paper designs a smart infrared temperature measurement system based on the Elastic Compute Service platform. In the perceptual layer part of the Internet of Things(IoT), the system uses infrared temperature sensors to quickly collect the temperature of the forehead or arm of the human body and Uses the MCU to automatically transmits the measured data to the Elastic Compute Service through the WiFi module. In the network layer part of the Internet of Things,the data written into the database of the Elastic Compute Service through the program deployed on the Elastic Compute Service. In the application layer of the Internet of Things, the remote management terminal monitors the collected body temperature data in real-time and provides quick warnings. Finally, the User can log in to the applet on his mobile phone to quickly and easily obtain personal information. © 2021 IEEE

关键词： Internet of things

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