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检索条件"机构=Mechatronics and Controls"

共 567 条记录，以下是11-20 订阅

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Kinematic Coupling Planning Method for Position and Attitude of Manipulator

Kinematic Coupling Planning Method for Position and Attitude...

引用

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Chen, Ting Jia, Longfei Hu, Xiaobin Guo, Yajing Wu, Fei Wang, Qing Innovation Center for Control Actuators Beijing Institute of Precision Mechatronics and Controls Beijing China

ISBN: (纸本)9781665481090

In this paper, we introduce a novel coupling motion planning method that addresses the end position and orientation of a manipulator. Through the central point mapping algorithm, the distance from the end effector to the central point is proportionally mapped to the end effector's orientation, thereby determining the manipulator's end position and attitude through normalization. This approach enhances the flexibility and precision of multi-degree-of-freedom manipulators by examining the coupling dynamics inherent in their structural design. Specifically, this study delineates two constraint methods: fixed attitude and attitude variation with position. The efficacy of this method is confirmed through simulation experiments. The outcomes demonstrate that, with optimal selection of proportional parameters, the manipulator's joint deflection angles are minimized, and motion control is optimized. Furthermore, the simulations illustrate the motion traj ectory and dynamic behavior of the manipulator's end effector under various parameter settings, offering valuable insights for the manipulator's design and control strategy development. © 2024 IEEE.

关键词： Degrees of freedom (mechanics)

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Simulation and Experimental Analysis of Thermal Characteristics of Valve Body Active Cooling Structure 19th

Simulation and Experimental Analysis of Thermal Characteris...

引用

19th Chinese Intelligent Systems Conference, CISC 2023

作者： Hu, Na Zhang, Hengxuan Cai, Cunkun Zheng, Que Wang, Peng Qiu, Libo Beijing Institute of Precision Mechatronics and Controls Beijing100076 China

ISBN: (纸本)9789819968855

This article analyzed the cooling problem research method based on the working conditions of high-temperature valves, completed simulation model debugging, design and comparative analysis of the active cooling structure scheme of the valve body, and based on the analysis of the flow channel configuration scheme, completed the detailed design of the valve body cooling structure (including the design of the shell, spool, and cooling plate). On the basis of the aforementioned work, the valve body processing was completed, also the simulation and testing analysis based on detailed cooling structure design. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Structural design

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Analysis of the Problem of Zero Deviation Characteristics Exceeding the Tolerance of a Hydraulic Servo Actuator 19th

Analysis of the Problem of Zero Deviation Characteristics...

引用

19th Chinese Intelligent Systems Conference, CISC 2023

作者： Hu, Na Yang, Wenxiang Pan, Ying Zhang, Yu Zhang, Wenyi Beijing Institute of Precision Mechatronics and Controls Beijing100076 China

ISBN: (纸本)9789819968855

This paper analyzes the problem of zero deviation characteristics exceeding the tolerance in the performance test of hydraulic servo actuator of launch vehicle, and carefully analyzes and investigates several causes that may cause this problem, the cause of the failure is located at excrescence exists in the nozzle hole of the servo valve, a key component of the hydraulic servo system, which causes the servo valve zero deviation to become larger, thus the zero deviation of the servo actuator to exceed the technical requirements of the product. In this paper, the influence of excrescence in the nozzle hole on the zero deviation characteristics of the system is analyzed based on the composition of servo control loop, and the prevention and control measures of excrescence are proposed. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Nozzles

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Servo system Cascade Linear Active Disturbance Rejection Control Based on Motor Models 4

Servo system Cascade Linear Active Disturbance Rejection Con...

引用

4th International Conference on Industrial Automation, Robotics and Control Engineering, IARCE 2024

作者： He, Yuang Zheng, Qijia Liu, Jialun Wang, Yan Fan, Qian Beijing Institute of Precision Mechatronics and Controls Innovation Center for Control Actuators Beijing China

ISBN: (纸本)9798350380323

The electromechanical servo system is usually implemented by three closed loops, with the inner loop being the current loop, the middle loop being the speed loop, and the outer loop being the position loop. The traditional system tuning method is the PI parameter trial and error method, which cannot achieve the optimal performance of the system. This article innovatively adopts the LADRC three closed-loop cascade control method. Compared with previous control methods, the control method applied in this article can ensure that the current loop, speed loop, and position loop control circuits all meet the requirements of the Bode theorem, which provides a basis for the control objectives. This article provides a detailed description of the selection methods for the control order, observer bandwidth, controller bandwidth, and loop gain of each control loop. This method was validated and ultimately achieved stable control of the electromechanical servo system. © 2024 IEEE.

关键词： Disturbance rejection

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Analysis of the Flow Pulsation Characteristics of the Gear Pump Used in Electro-Hydrostatic Actuator 8

Analysis of the Flow Pulsation Characteristics of the Gear P...

引用

2022 8th International Forum on Manufacturing Technology and Engineering Materials, IFEMMT 2022

作者： Tian, Yan-Quan Zhang, Yu-Qiang Han, Xu Wang, Yuan-Yin Beijing Institute of Precision Mechatronics and Controls Beijing100076 China

Linear conjugate internal gear pump has low noise and a smooth flow, but the mechanism of flow pulsation, especially the experiment, is seldom studied. In this paper, the flow rate formula of instantaneous, flow pulsation rate and relative volume change of the trapped oil cavity are derived by means of theoretical calculation. The pressure fluctuation characteristics of the trapped oil chamber and flow pulsation characteristics of the pump outlet are studied by using the three-dimensional fluid dynamics finite element simulation analysis method. According to the international standard of ISO10767-1-2015, the pump outlet flow pulsation test was conducted. The flow pulsation rate of a certain type of linear conjugate internal gear pump with a displacement of 10mL/r is about 6.35% under the condition of the speed of 750r/min and outlet pressure of 7.5MPa, and the flow pulsation is small. © Published under licence by IOP Publishing Ltd.

关键词： Gear pumps

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Modeling analysis of force-thermal coupling for high-speed planetary roller screw 19th

Modeling analysis of force-thermal coupling for high-speed p...

引用

19th Chinese Intelligent Systems Conference, CISC 2023

作者： Jigui, Zheng Bin, Yang Qing, Tian Yaxing, Guo Wei, Shi Zhenglei, Cui Beijing Institute of Precision Mechatronics and Controls Beijing100076 China

ISBN: (纸本)9789819968817

Taking the high-speed planetary roller screw required by electromechanical servo system as the research objective, a force-thermal coupling model of highspeed planetary roller screw under preload conditions is established in this paper. Based on the model, the parameter design of planetary roller screws was carried out, and the simulation analysis under preload was carried out, by which the change law of load force and temperature under high speed was obtained. Finally, the experiment of the force-heat model with preload is carried out, which verifies the correctness of the theoretical model and the consistency of the experiment. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Screws

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Simulation Analysis of the Performance of the Front Stage and the Deflector Jet Servo Valve 3

Simulation Analysis of the Performance of the Front Stage an...

引用

3rd International Conference on Electrical Engineering and mechatronics Technology, ICEEMT 2023

作者： Pan, Ying Cai, Cunkun Zhang, Hengxuan Li, Fengwei Liu, Di Beijing Research Institute of Precise Mechatronics and Controls Beijing China

ISBN: (纸本)9798350303698

In order to improve the consistency of the commissioning performance of the engineering application products of the deflector jet servo valve, this paper studies the influence of the deflector of the front stage of the deflector jet servo valve on the performance of the front stage and the whole valve at different positions of the jet disc. By using CFD simulation software, the Flow field characteristics, pressure gain and flow gain of deflector jet amplifier under different deflector positions deviation are analyzed. MATLAB/Simulink is used to model and simulate the deflector jet servo valve, and to further analyze the influence of differential pressure and flow characteristics of the deflector jet amplifier on the flow characteristic curve and dynamic performance of the whole valve. The simulation results show that when the deflector is close to the receiving port of the jet disc, the pressure gain and flow gain of the deflector jet amplifier are reduced, and the dynamics of the servo valve is also reduced. According to the simulation analysis results, suggestion is proposed to standardize the position requirements of the deflector in the jet disc in the commissioning, so as to improve the performance consistency of the servo valve. © 2023 IEEE.

关键词： Differential amplifiers

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Research on the technology of using turning instead of grinding for aerospace titanium alloy thin wall parts 19th

Research on the technology of using turning instead of grind...

引用

19th Chinese Intelligent Systems Conference, CISC 2023

作者： Guizhen, Kong Huajin, Zhang Yaxing, Guo Qiang, Yang Dongwei, Li Zhe, Zhang Beijing Institute of Precision Mechatronics and Controls Beijing100076 China

ISBN: (纸本)9789819968817

Titanium alloy TA15 has the characteristics of poor thermal conductivity and small elastic modulus. In aerospace products, the surface roughness of titanium alloy thin-walled parts is 0.8μm, the ratio of excircle to wall thickness is D/t > 16 (D is excircle diameter and t is wall thickness), and the dimensional accuracy and form and position tolerance are required to be high. In this paper, the structural characteristics and machining elements of titanium alloy thin-walled parts are analyzed. By means of turning instead of grinding, continuous experiments and research, technological innovation and corresponding technological measures, the stability of machining dimensions and surface quality accuracy of titanium alloy thin-walled parts in batch production is solved, and the feasibility and rationality of machining this titanium alloy thin-walled parts are verified. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Titanium alloys

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Method of inverter with inductive load based on instantaneous current 1

引用

19th Chinese Intelligent Systems Conference, CISC 2023

作者： Tao, Jiang Long, Huang Yu Chao, He Shuai, Liu Beijing Research Institute Precision Mechatronics and Controls Beijing100076 China

ISBN: (数字)9789819968824

ISBN: (纸本)9789819968817

In response to the issue of the ability of general inverters to carry inductive loads, this paper proposes a method of using instantaneous load current to match the output modulation ratio to enhance the inverter’s ability to carry inductive loads. When the inductive load is input, it will generate 5–10 times the impact current, and the inverter is converted by semiconductor devices with weaker overload capacity, so its ability to withstand the impact current is weak, resulting in a weaker ability of the inverter to carry the inductive load. Usually, if a slightly larger inductive load is applied, the inverter will malfunction. Multiple applications of inductive loads can even cause damage and burning of the inverter. Moreover, general-purpose inverters carry multiple loads and cannot use a slow start strategy that adapts to the motor like inverters, which can lead to accidents such as other load shedding. This article timely reduces the output modulation ratio of the inverter based on the detected instantaneous load current. The instantaneous method is used to reduce the load current within the rated current range. After the inductive load is put into operation, it will gradually stabilize and the output modulation ratio will gradually return to normal value, completing the start-up of the inductive load. Because the instantaneous current is only large at the top of the sinewave, the change in output voltage is limited to the top, and the actual loss of voltage effective value is not too large, which can ensure that other loads do not lose power. This method has been widely used in oil field energy storage power sources. After practical testing and application, the ability of the inverter to carry inductive loads can be increased from 20% rated to 70% rated. It can carry 3 KW water pumps, large refrigerators, and air conditioners on site, meeting the urgent electricity needs of the oil field. © The Author(s), under exclusive license to Springer Nature Singapore Pte

关键词： Air conditioning

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Influence of position and current sensor on torque ripple harmonic orders in electric drives

Influence of position and current sensor on torque ripple ha...

引用

2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Singh, Anant Joseph, Jyothis Raja, Ramakrishnan Sebastian, Tomy Hl Mechatronics Motor Controls Bay CityMI United States

ISBN: (纸本)9798350316445

Position and current sensors are integral components in the majority of drive applications. In scenarios where torque ripple sensitivity is of utmost importance, these sensors contribute to the end torque ripple in the system. The interaction of motor design, type, and sensor error collectively influences the torque ripple at the system level. This paper aims to present generalized equations that enable the quantification of the magnitudes and order of the torque ripple at the system level. The proposed equations will aid in better understanding the impact of these sensors on torque ripple in drive applications, thus enhancing the overall system performance. © 2023 IEEE.

关键词： current control position error harmonics sensor gain sensor offset torque ripple

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