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Multimodal modeling and identification study of a quadrotor robot 4

Multimodal modeling and identification study of a quadrotor ...

引用

2024 4th International Conference on mechatronics, Automation and Intelligent Control, MAIC 2024

作者： Wang, Chunyi Liang, Binyan Fu, Tianhua Zheng, Zaiping Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Innovation Center for Control Actuators Beijing100076 China

The flight control system of a flying robot plays a crucial role. Therefore, it is imperative to establish various flight mode control models. Traditional modeling methods face challenges in meeting the demands of rapid research and development due to the emergence of diverse aircraft shapes and load forms. To address these issues, this study focuses on multiconditions modeling and system identification. Based on flight dynamics theory, a comprehensive quadrotor robot dynamics model along with its state space model was established. Flight tests were designed for system identification under different flight modes. The data obtained from the flight test was preprocessed using an extended Kalman filter algorithm based on flight path reconstruction technology to reduce constant deviation from airborne sensors. Frequency response identification technology was employed to identify control models for hovering mode and forward flight at 10m/s mode in the quadrotor robot. Model structures were determined based on precision index evaluation criteria. Time-domain validation method was utilized to simulate fitting error RMS for each channel model under multiple conditions using different signal excitations derived from datasets collected during experiments. The results confirmed that the proposed aircraft system identification method is effective and feasible. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Extended Kalman filters

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2022 International Conference on Electronic Information Technology, EIT 2022

作者： Yang, Yujie Yu, Zikou Duan, Yongyong Jinsong, Xue Zhao, Yadong Beijing Institute of Precision Mechatronics and Controls China

ISBN: (纸本)9781510655096

In order to fully apply the data, mine the relevant information in the existing data, judge and analyse the equipment faults that have occurred, and provide intelligent solutions, this paper studies the equipment similarity recommendation algorithm. Referring to the similarity of spatial coordinate points, this paper expands the equipment attribute to spatial coordinate points, and gives different weights to the attributes according to the different influence factors, the attribute domain space is further expanded, and the parameter calculation is carried out by means of matrix analysis and linear fitting. The algorithm is applied to the actual production management system and achieves good results. © 2022 SPIE. All rights reserved.

关键词： Image processing

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Research on high-speed milling of high-strength steel 10

Research on high-speed milling of high-strength steel

引用

2024 10th International Forum on Manufacturing Technology and Engineering Materials, ICMTEM 2024

作者： Luo, Zhiwen Huang, Kui Yuan, Guifang Liang, Binyan He, Chao Liu, Hongwei Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

PCrNi3MoVA is a prevalently employed high-strength steel, primarily utilized in aerospace, the national defense industry, the nuclear industry, medicine, and other domains. This study mainly probed into the milling forces and surface roughness of PCrNi3MoVA steel when it was milled at high speed with a 10 mm solid carbide end mill on the side and made a comparison by end milling. The primary factors influencing surface roughness and milling forces in both milling approaches were determined, and a prediction model for cutting forces was obtained. © Published under licence by IOP Publishing Ltd.

关键词： Milling (machining)

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RESEARCH AND DESIGN OF DIGITAL SERVO SYSTEM ASSEMBLY TEST PLATFORM

RESEARCH AND DESIGN OF DIGITAL SERVO SYSTEM ASSEMBLY TEST PL...

引用

2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Yang-Zhen, Zhu Li-Yuan, Yan Tao, Niu Beijing Research Institute of Precise Mechatronics and Controls Beijing China Innovation Center for Control Actuators Address Beijing China

Aiming at the limitation of traditional servo system testing methods, a digital servo system performance testing platform based on virtual instrument technology and PLC technology is proposed. Based on the custom-made CMPAC Series PLC products as the hardware core, the platform adopts the C + + language and the virtual instrument technology, and adopts the system architecture that the control unit and the execution unit are separated, carry on the data analysis and processing through the host computer. The platform can complete the single machine performance test, system assembly test and electrical characteristics test, and can test the static and dynamic performance parameters of the servo system, the platform can be used to realize the control of the electromechanical servo system. The practical application shows that the platform has the advantages of accurate test, strong practicability, good versatility and portability, and has a good application prospect in engineering. © The Institution of Engineering & Technology 2024.

关键词： C++ (programming language)

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Multidisciplinary modeling and simulation of the electric lift system for a cargo aircraft door

Multidisciplinary modeling and simulation of the electric li...

引用

2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Wang, Xiaolu Wang, Jiaao Wu, Hao Wang, Danyang Wang, Xin Pan, Zhe Innovation Center for Control Actuators Beijing Institute of Precision Mechatronics and Controls No. I South Da Hong Men Road Beijing100076 China Beijing Institute of Precision Mechatronics and Controls No. 1 South Da Hong Men Road Beijing100076 China

To evaluate the performance and power adaptability of the cargo aircraft door lifting system driven by an AC asynchronous motor, a comprehensive model incorporating elements such as a three-phase power supply, electromechanical actuators, and loads was constructed using Simulink. A simplified method for calculating the actuator breaker coefficient was proposed to assess the startup process and breaker margin. The simulation yielded load curves, and actuator dynamic and steady-state performance under rated conditions. Additionally, parametric simulations were conducted to analyze performance under various combinations of AC voltage and frequency deviations. Results indicate that the door opening time is less than 75 seconds and the breaker coefficient is below 0.5, meeting system performance and basic power characteristics requirements. This research can be utilized for performance evaluation and test design of similar equipment. © The Institution of Engineering & Technology 2024.

关键词： Flight simulators

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KALMAN FILTER-BASED ADAPTIVE IMPEDANCE CONTROL STRATEGY FOR ELECTROHYDROSTATIC ACTUATOR

KALMAN FILTER-BASED ADAPTIVE IMPEDANCE CONTROL STRATEGY FOR ...

引用

2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Yang, Yuwei Zhang, Peng Feng, Wei Zhang, Lijuan Tuo, Xilong Ning, Zhenlei Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Innovation Center for Control Actuators Beijing100076 China

In the process of EHA used in force control, due to the nonlinearity of EHA, the uncertainty of the model and the unknown load environmental parameters, the force tracking error, the impact oscillation in the transition process and the poor dynamic characteristics of EHA, this paper proposes a Kalman filter-based adaptive impedance control strategy. Aiming at the problem of unknown load environment parameters, a nonlinear mathematical model of the system is established. The causes of steady-state errors are analyzed and the adaptive control law is derived to estimate the environmental stiffness and environmental position. Aiming at the system nonlinearity and model uncertainty, the force feedback value after the interaction between the inner loop output and environment is regarded as a signal incorporating process and measurement noise. The Kalman filter principle is used to optimally estimate and correct the system state of the impedance controller. Simulation results show that the Kalman filter-based adaptive impedance control is superior to traditional impedance control in convergence speed and force tracking accuracy. The effectiveness and stability of this control strategy for EHA system under different environmental conditions are confirmed, which lays a solid foundation for precise force control of EHA in engineering applications. © The Institution of Engineering & Technology 2024.

关键词： Kalman filters

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Dynamic simulation analysis of constant speed valve based on AMESim 3

Dynamic simulation analysis of constant speed valve based on...

引用

3rd International Conference on Intelligent Mechanical and Human-Computer Interaction Technology, IHCIT 2024

作者： Wang, Xiangling Li, Guanghui Ma, Xiaochen Yu, Bin Wei, Guanju Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Innovation Center for Control Actuators Beijing100076 China

ISBN: (纸本)9781510683105

The working principle of the constant speed valve was introduced, and the static characteristics of the constant speed valve were analyzed through the establishment of a mathematical model. The modeling and simulation of the constant speed valve were carried out using AMESim software. The influence of inlet pressure on the dynamic response of constant speed valve is analyzed. And by changing the main spring stiffness of the constant speed valve, the size of the oil outlet, the area of the fixed orifice, the outer diameter of the valve core and other structural parameters, the influence on the performance of the constant speed valve is analyzed. It provides a basis for further improving the dynamic characteristics and design optimization of the constant speed valve. © 2024 SPIE.

关键词： Valves (mechanical)

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GENERATION MECHANISM OF THE FLOW NONLINEARITY IN SINGLE FAILURE MODE OF A TRIPLEX REDUNDANCY SERVO VALVE

GENERATION MECHANISM OF THE FLOW NONLINEARITY IN SINGLE FAIL...

引用

2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Chen, Junguang Zhang, Yu Mao, Rui Chen, Zuxi Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Innovation Center for Control Actuators Beijing100076 China

Aiming at the flow nonlinearity problem in the single failure mode of the electrical open circuit of the triplex redundancy servo valve, the mechanism analysis is carried out from the motion of the flapper of the fault pilot stage, and it is proposed that the cause of the flow nonlinearity is the contact between the flapper and the nozzle. Aiming at the characteristics of the flapper of the fault pilot stage, which is subjected to reverse motion by the feedback force, the equivalent reverse current method is proposed to simulate the flapper's contact action with the nozzle. The quantification method of flow nonlinearity is proposed based on the principle of the Douglas-Peukcer algorithm, and the flow nonlinearity is evaluated using the evaluation index related to the flow gain mutation point. Through the related simulation and experiment, the idea that the flow nonlinearity comes from the contact effect between the flapper and the nozzle is verified, and the effectiveness of using this quantification method on the flow nonlinearity problem of single failure mode is also proved. © The Institution of Engineering & Technology 2024.

关键词： Nozzles

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Optimization design of gearbox based on response surface optimization and topology optimization

Optimization design of gearbox based on response surface opt...

引用

2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Chen, Wei Guo, Yaxing Chen, Zhong Zhang, Zhaojing Dou, Yongqiang Wei, Shi Zheng, Jigui Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Innovation Center for Control Actuators Beijing100076 China

Firstly, the static simulation analysis and modal characteristic analysis were carried out on the reducer box, and the parts with weak stiffness and easy deformation were obtained from the simulation results. The important dimensional parameters were extracted, and the model was parameterized. The optimal response surface model of the reducer box was established by using the optimal space filling design method, and the sensitivity analysis was carried out. Based on the results of response surface optimization, multi-objective topology optimization based on variable density method was carried out on the reducer as a whole. Based on the optimization results, the reducer model was reconstructed and the simulation and comparative analysis were carried out. The results showed that after two optimizations, the quality of the box decreased, the comprehensive mechanical properties improved, and the first-order mode frequency increased. © The Institution of Engineering & Technology 2024.

关键词： Sensitivity analysis

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Dynamic Characterization of Grease-Lubricated Ball Screws 9

Dynamic Characterization of Grease-Lubricated Ball Screws

引用

2023 9th International Forum on Manufacturing Technology and Engineering Materials, ICMTEM 2023

作者： Zhang, Zixuan Zhou, Weifeng Cui, Peijuan Yang, Linhui Fan, Yuanxun Nanjing University of Science and Technology Nanjing210094 China Beijing Institute of Precision Mechatronics and Controls Beijing100076 China

According to the lubrication characteristics of grease and lubrication mechanism, concerning the Hamrock-Dowson minimum film thickness formula, this paper analyses the trend and size of oil film thickness change of grease-lubricated ball screw sub under different aviation working conditions to identify the lubrication status. ABAQUS software is used to carry out dynamic simulation and the friction coefficient is selected according to the lubrication state and Stribeck curve to define the contact conditions to obtain the friction torque change curve and the fluctuation curve of axial velocity of the nut under different aerospace working conditions. Finally, a test bench is set up to test and calculate the friction torque of grease-lubricated ball screws to analyze the influence of different aviation working conditions on the dynamic characteristics of grease-lubricated ball screws and to investigate the reasons for the change of dynamic characteristics. © Published under licence by IOP Publishing Ltd.

关键词： Ball screws

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