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27th International Conference on Electrical Machines and Systems, ICEMS 2024

作者： Ma, Xiaochen Li, Bin Rui, Xuefeng Hou, Weijie School of Electrical and Information Engineering Tianjin University Tianjin300072 China Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin300301 China

ISBN: (纸本)9784886864406

This paper proposes a new harmonic current suppression scheme for dual three-phase permanent-magnet synchronous motor. First, based on the harmonic subspace in the classical vector space decomposition model, the two actual currents under rotating coordinate system are respectively shifted by 90 degrees to construct two virtual currents. Then, by further performing the 6th Park transformation on these actual and virtual currents, the main harmonic current components (5th and 7th) in the motor are naturally converted into four sets of DC values. As a result, there is no need to use any additional filters for harmonic extraction, and harmonic suppression can be achieved through simple proportional-integral control. Consequently, the drawbacks of conventional harmonic suppression schemes based on low-pass filters or resonant controllers can be avoided. Experimental results are provided to verify the effectiveness of the proposed scheme. © 2024 The Institute of Electrical Engineers of Japan.

关键词： Low pass filters

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Optimization Method for Control Parameters of a microgravity simulation System Based on Model Identification 19th

Optimization Method for Control Parameters of a Microgravity...

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19th Annual Conference of China Electrotechnical Society, ACCES 2024

作者： Liu, Tao Yuan, Weihan Hou, Weijie Zang, Libin Li, Yuehua Zhao, Baoshan Sun, Hao School of Electrical Engineering TianGong University Tianjin China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin China Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin China

ISBN: (纸本)9789819613861

As space technology advances, the exploration of small celestial bodies has become a major research focus, necessitating more stringent requirements for microgravity simulation technology. The microgravity simulation device featuring a magnetically induced zero-stiffness structure is utilized in ground simulation experiments for small celestial body detectors. This device integrates a magnetoelectric coupling system, motor control system, and stiffness coupling system to achieve a quasi-zero stiffness state under high load conditions. However, its complex structure and high nonlinearity complicate the tuning of control parameters. To tackle this issue, this paper presents a tuning method that merges model identification and parameter optimization for the magnetically induced zero-stiffness microgravity simulation device. The proposed approach employs a combination of pseudo-random signals and the instrumental variable method for model identification of the microgravity system. Subsequently, genetic algorithms are used to optimize the control parameters, thereby shortening the tuning process. simulation and experimental results indicate that the control accuracy of the microgravity simulation system surpasses 98%, demonstrating the method’s feasibility and effectiveness. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： microgravity

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A bio-inspired spider-like structure isolator for low-frequency vibration

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Applied Mathematics and Mechanics(English Edition) 2023年第8期44卷 1263-1286页

作者： Guangdong SUI Shuai HOU Xiaofan ZHANG Xiaobiao SHAN Chengwei HOU Henan SONG Weijie HOU Jianming LI State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Astronautics Harbin Institute of TechnologyHarbin 150001China Yangtze River Delta HIT Robot Technology Research Institute Wuhu 241000Anhui ProvinceChina Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin 300301China

This paper proposes a quasi-zero stiffness(QZS)isolator composed of a curved beam(as spider foot)and a linear spring(as spider muscle)inspired by the precise capturing ability of spiders in vibrating *** curved beam is simplified as an inclined horizontal spring,and a static analysis is carried out to explore the effects of different structural parameters on the stiffness performance of the QZS *** finite element simulation analysis verifies that the QZS isolator can significantly reduce the first-order natural frequency under the load in the QZS *** harmonic balance method(HBM)is used to explore the effects of the excitation amplitude,damping ratio,and stiffness coefficient on the system’s amplitude-frequency response and transmissibility performance,and the accuracy of the analytical results is verified by the fourth-order Runge-Kutta integral method(RK-4).The experimental data of the QZS isolator prototype are fitted to a ninth-degree polynomial,and the RK-4 can theoretically predict the experimental *** experimental results show that the QZS isolator has a lower initial isolation frequency and a wider isolation frequency bandwidth than the equivalent linear *** frequency sweep test of prototypes with different harmonic excitation amplitudes shows that the initial isolation frequency of the QZS isolator is 3 Hz,and it can isolate 90%of the excitation signal at 7 *** proposed biomimetic spider-like QZS isolator has high application prospects and can provide a reference for optimizing low-frequency or ultra-low-frequency isolators.

关键词： bionic isolation structure curved beam nonlinear stiffness quasi-zero stiffness(QzS) low-frequency vibration isolator

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Convex optimization of asteroid landing trajectories driven by solar radiation pressure

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Chinese Journal of Aeronautics 2022年第12期35卷 200-211页

作者： Chuanjun DONG Hongwei YANG Shuang LI Bo LI College of Astronautics Nanjing University of Aeronautics and AstronauticsNanjing 211106China Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin 300458China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin 300458China

High-area/mass ratio landers driven by Solar Radiation Pressure(SRP)have potential applications for future asteroid landing *** paper develops a new convex optimization-based method for planning trajectories driven by SRP.A Minimum Landing Error(MLE)control problem is formulated to enable planning SRP-controlled trajectories with different flight *** is transformed into Second Order Cone Programming(SOCP)successfully by a series of different convexification technologies.A trust region constraint and a modified MLE objective function are used to guarantee the convergence performance of the optimization ***,the SRP-driven trajectory optimal control problem is converted equivalently into a sequence of convex optimal control problems that can be solved effectively.A set of numerical simulation results has verified the effectiveness and feasibility of the proposed optimization method.

关键词： Asteroids Convex optimization Optimal control Soft landing Solar radiation pressure Trajectory optimization

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Investigation of Losses in the Integrated Charger by Using Variable Flux Reluctance Machine

Investigation of Losses in the Integrated Charger by Using V...

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2024 IEEE International Conference on Electrical Energy Conversion Systems and Control, IEECSC 2024

作者： Zang, Libin Hou, Weijie Li, Yuehua Du, Jingze Liu, Xu School of Mechanical Engineering Tianjin University Tianjin300350 China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin300301 China Hebei University of Technology State Key Lab of Reliability and Intelligence of Electrical Equipment Tianjin China

ISBN: (纸本)9798350389357

In order to reduce the cost and size of the on-board charger, it is proposed by using the integrated charger, which uses the multi-functional motor driver system for the battery charging. In this paper, an isolated integrated charger based on variable flux reluctance machine (VFRM) is investigated in terms of losses, since high efficiency is required for the integrated battery charger. Thus, in the paper the loss of the multi-functional VFRM at different frequencies with/without load will be investigated. Moreover, the losses in the converter are analyzed so as to explore the overall efficiency of the charging system, which can help to maximize the overall efficiency. For verification, a 12/10 VFRM was built and tested. It shows that at switch frequency of 20kHz, the overall loss of the integrated charging system is lowest. © 2024 IEEE.

关键词： Charging stations

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Gravity compensation method via magnetic quasi-zero stiffness combined with a quasi-zero deformation control strategy

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Science China(Technological Sciences) 2022年第8期65卷 1738-1748页

作者： ZHOU Rui ZHOU YiFan CHEN XueDong HOU WeiJie WANG Chang WANG Hao JIANG Wei State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin Institute of Aerospace Mechanical and Electrical EquipmentTianjin 300301China Institute of Artificial Intelligence Huazhong University of Science and TechnologyWuhan 430074China

Gravity compensation refers to the creation of a constant supporting force to fully or partly counteract the gravitational force for ground verification to simulate the spacecraft dynamics in outer space with zero-or micro-gravity. Gravity compensation is usually implemented via a very low stiffness suspension/supporting unit, and a servo system in series is adopted to extend the simulation range to hundreds of millimeters. The error of suspension force can be up to tens of Newton due to the contact/friction in the suspension/supporting unit and the error of the force/pressure sensor. It has become a bottleneck for the ground verification of spacecraft guidance, navigation, and control systems with extreme requirements, such as tons of payload and fine thrust in sub-Newtons. In this article, a novel gravity compensation method characterized by quasi-zero stiffness plus quasi-zero deformation(QZS-QZD) is proposed. A magnetic negative stiffness spring in parallel with positive springs and aerostatic bearing is adopted to form a QZS supporting unit, and disturbance forces, such as contact or friction, can be eliminated. The deformation of the QZS supporting unit is measured via a displacement sensor, and the QZD control strategy is applied to guarantee the force error of gravity compensation to be less than sub-newtons and irrelevant to the payload. The principle of gravity compensation with QZS-QZD is analyzed, and performance tests on a prototype are carried out. The results show that when the spacecraft moves smoothly, the absolute force error is less than 0.5 N, the relative error of gravity compensation is less than 0.1%, and when collisions with other objects occur, the relative errors are 0.32% and 0.65%. The proposed method can significantly improve the gravity compensation accuracy in comparison with conventional approaches.

关键词： gravity compensation zero-gravity ground verification quasi-zero stiffness quasi-zero deformation

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Adaptive Sliding Mode Control of Air Suspension with Auxiliary Chamber Subject to External Disturbance 2nd

Adaptive Sliding Mode Control of Air Suspension with Auxilia...

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2nd International Conference of Mechanical System Dynamics, ICMSD 2023

作者： Wang, Chuncheng Liu, Xiao-Ang Zhang, Xingqi Gong, Bo Jia, Xing Tianjin Key Laboratory of Power Transmission and Safety Technology for New Energy Vehicles School of Mechanical Engineering Hebei University of Technology Tianjin300131 China Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300457 China

ISBN: (纸本)9789819980475

Controlling the suspension system by using the air spring with auxiliary chamber system is a difficult and complicated challenge due to its strong non linearity, uncertainty and various external disturbances. To guarantee the smoothness of vehicle motion and driving stability, this paper proposes the integration of a nonlinear disturbance observer with sliding mode control, applied to the supplementary air spring with auxiliary chamber system. Firstly, based on thermodynamics and fluid mechanics, a nonlinear model of the air chamber, throttle element and auxiliary chamber are established, and active suspension model considering the variable stiffness of the air spring with auxiliary chamber is designed. Secondly, disturbance observer is designed to observe the uncertainties, and by employing disturbance estimation to design a novel sliding surface, even in the presence of unmatched disturbances. This ensures that the system state progressively converges to the desired equilibrium state along the sliding surface, granting the control strategy the ability to adapt to the suspension system state in real-time. Finally, based on MATlab/Simulink, the proposed control strategy's effectiveness and robustness are verified through simulations of random road excitation (general conditions) and bump road excitation (harsh conditions). © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Sliding mode control

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Machine-Hydraulic Coupling Pose Stabilization Adjustment Based on Backstepping Control 2nd

Machine-Hydraulic Coupling Pose Stabilization Adjustment Bas...

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2nd International Conference of Mechanical System Dynamics, ICMSD 2023

作者： An, Chunyu Liu, Xiao-Ang Wang, Chuncheng Gong, Bo Jia, Xing Tianjin Key Laboratory of Power Transmission and Safety Technology for New Energy Vehicles School of Mechanical Engineering Hebei University of Technology Tianjin300131 China Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300457 China

ISBN: (纸本)9789819980475

To solve the problem of tilting of the body due to the slope of the road surface during the driving process of heavy-duty vehicles, a machine-hydraulic coupling position attitude leveling control method based on backstep control is proposed. Firstly, based on the vehicle dynamics model, the continuous flow equation of the hydraulic system, the force balance equation of the hydraulic cylinder, and the throttling equation of the servo valve, the machine-hydraulic coupling model of the vehicle with seven degrees of freedom is constructed. Then, the backstepping controller is used to build the electro-hydraulic servo system control model to realize the displacement tracking control of the hydraulic system. Finally, based on the displacement tracking control of the electro-hydraulic servo system, the angle error decoupling method is used to control the roll angle and pitch angle of the body, to achieve the purpose of body leveling. The effectiveness of the proposed method is compared with the traditional passive suspension through numerical simulation, and it is evident from the results that the machine-hydraulic coupling position attitude leveling control method based on backstep control can effectively reduce the pitch angle and roll angle generated during the driving process of heavy-duty vehicles, and show a good posture adjustment effect. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Degrees of freedom (mechanics)

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Iterative weighted algorithm for 9-dof pose solution and its application 8

Iterative weighted algorithm for 9-dof pose solution and its...

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2022 8th International Conference on Mechanical Engineering, Materials and Automation technology, MMEAT 2022

作者： Zuo, Xiangyun Li, Zhanxin Li, Jianming Xu, Shuo He, Huadong Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300301 China Tianjin Key Lab of Microgravity and Hypogravity Environment Simulation Technology Tianjin300301 China

Nine-axis motion parameters need to be calculated according to the relative pose to be simulated when the precision calibration test of rendezvous and docking optical imaging sensor is carried out with nine-degree of freedom motion simulator. Based on the structural characteristics of the system and the principle of homogeneous coordinate transformation, the inverse kinematics equations are established in this paper, in order to improve the test efficiency and ensure the accuracy of pose simulation, the iterative algorithm with fixed degrees of freedom was adopted to approximate the solution results, at last, the nine-axis weighting algorithm was used to judge the end of iteration and obtain the solution results of relative pose optimization. © Published under licence by IOP Publishing Ltd.

关键词： Inverse kinematics

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Coordinated Control of Longitudinal, Lateral and Vertical Motions for Active Suspension Based on Vehicle Dynamic Model 2nd

Coordinated Control of Longitudinal, Lateral and Vertical Mo...

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2nd International Conference of Mechanical System Dynamics, ICMSD 2023

作者： Zhang, Xingqi Liu, Xiaoang An, Chunyu Jia, Xing Gong, Bo TianJin Key Labaratory of Power Transmission and Safety Techology for New Energy Vehicles School of Mechanical Engineering Hebei University of Technology Tianjin300130 China Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300000 China

ISBN: (纸本)9789819980475

In order to realize the vertical cooperative control of active suspension considering the lateral and longitudinal motion of the vehicle and solve the uncertainty disturbance problem in the vehicle suspension system. In this paper, a 14 degree of freedom vehicle dynamics model is established, and an active suspension control strategy based on the vehicle model is proposed. The proposed active suspension control strategy can adaptively deal with the uncertain disturbance of the suspension system to improve the ride comfort of the vehicle. Firstly, the vehicle dynamics model, which includes six degrees of freedom of the body and spin and vertical motion of the wheel total 14 degrees of freedom is established. Secondly, the uncertainty disturbances that may exist in the vehicle suspension system model are fully considered, and the expanded state observer (ESO) is used to observe the uncertainty disturbances. Finally, the extended state observer and model predictive control (MPC) are combined to realize the uncertain disturbance adaptive active suspension control. Through simulation, the proposed control strategy is compared with the passive suspension, the active suspension that does not consider the horizontal vertical coordinated control and the uncertain disturbances. The simulation results show that the active suspension control strategy proposed in this paper, which considers the horizontal longitudinal vertical coordination and disturbance control of the whole vehicle, effectively reduces the acceleration, body roll angle and pitch angle of the body, and can achieve better ride comfort under the conditions of single lane change and double lane change. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Model predictive control

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