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检索条件"机构=Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control"

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A Model-Data Compound Driven Method For Compensating Robot Tracking Error

A Model-Data Compound Driven Method For Compensating Robot T...

引用

IEEE International Conference on Mechatronics and Automation

作者： Pai Peng Qi Liu Bin Li Wei Peng Xinjie Wang Jinyuan Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Industrial robots are widely used in industrial production because of their high work efficiency and high flexibility, but their low tracking accuracy makes them unable to be applied on a large scale in high-precision manufacturing. Considering the modeling error of robot, the problem of low tracking accuracy should be solved by combining model-based methods and data-based methods. Thus, a model-data compound approach is proposed for compensating robot tracking error. This method comprehensively considers two error compensation methods of model-driven and data-driven, which constructed the input matrix by using the model-based information and the data-based information. The former includes the desired position, velocity, acceleration, torque and friction torque; and the latter includes the actual torque. For the purpose of predicting the correlation between the joint error and the historical joint motion state, the historical information of the joint motion is also added in the input matrix for improving the error prediction accuracy. Then, a convolutional neural network prediction model is constructed for predicting and compensating the tracking error of each actuated joint. The experimental results show that the proposed method has good prediction accuracy and compensation effect. Compared to joint control without using the proposed method, the root mean square of joint tracking errors was reduced by up to more than 69%.

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An optimal design and fuzzy control method for a new flapping-wing robot

An optimal design and fuzzy control method for a new flappin...

引用

Electrical Engineering and control Science (IC2ECS), International Conference on

作者： Chunxiao Zhang Yansen Zhao Ting Zhang Qi Liu Bin Li Yue Ma Mengze Suo Changrui Li Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Bionic flapping-wing robot has the advantages of good maneuverability, low noise and strong stealth performance. It is widely used in military intelligence collection, field rescue and investigation. In this paper, an optimal design method of bionic flapping-wing robot non-phase difference driving mechanism is proposed. By setting the constraints of flapping angle amplitude, fuselage height and slider stroke, the scale parameters of the mechanism are optimized by using the minimum transmission angle; on this basis, the effectiveness of fuzzy PD control in improving the tracking accuracy of the drive system is verified by means of ADAMS and MATLAB / Simulink electromechanical coupling simulation. This research has practical value for designing new flapping-wing robot and improving its control quality.

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Gait Planning and Simulation of 3-RRP Legged Mobile Robot

Gait Planning and Simulation of 3-RRP Legged Mobile Robot

引用

IEEE International Conference on Mechatronics and Automation

作者： Jinyuan Wang Bin Li Yue Ma Xinjie Wang Pai Peng Wei Peng Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

In order to meet the requirements of keeping the body posture level with the ground during the movement of the quadruped robots, this paper designs a quadruped robot with three joints and three degrees of freedom in each leg, which is a 3-RRP kinematic chain. The legs and body of the quadruped robot are virtually modeled by SolidWorks. Combining the forward and inverse kinematics analysis, the reasonable and ideal foot trajectory and body motion trajectory are planned in Matlab. The gait stability is based on the ZMP stability criterion and is quantified by the stability margin. According to the structural characteristics of the quadruped robot in this paper, the body posture adjustment strategy is proposed. Finally, the simulation is carried out under the two gait plannings of straight driving and turning using ADAMS. The simulation results show that the quadruped robot has a reasonable walking gait on the flat road surface with little impact on the body. The minimum stability margin of the strategy with body adjustment is improved compared with the strategy without body adjustment.

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intelligent Diagnosis of Planetary Gearboxes Based on DAE-CNN

Intelligent Diagnosis of Planetary Gearboxes Based on DAE-CN...

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Prognostics and system Health Management Conference (PHM-Qingdao)

作者： Tianbo Kang Mian Zhang Ruitong Xie Jiwei Chen Hongbiao Xiang Yuhang Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology) Tianjin China

Planetary gearboxes (PGs) are the core transmission components of complex rotating machinery. The diverse forms of internal gear faults often complicate diagnosis and maintenance work. To improve the fault diagnosis accuracy of PGs, this paper proposes a method for diagnosing PG faults based on deep autoencoders (DAE) and convolutional neural networks (CNN). The method fully utilizes the deep learning capability of DAE and combines it with the precise recognition ability of CNN for fault features. Through precise learning in the encoding layer, it achieves deep dimensionality reduction of fault features and further learns these features after dimensionality reduction by CNN. Compared to traditional CNN, the method reduces the computation parameters and resource consumption, resulting in higher precision intelligent fault diagnosis. Experimental results demonstrate that DAE-CNN exhibits stronger fault diagnosis ability than traditional networks.

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

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

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IEEE International Conference on Mechatronics and Automation

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

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.

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Exploring the Reform of mechanical Drawing Teaching and Undergraduate Training Based on the “Integration of Competition-Oriented Education and Industry-University Collaboration”

Exploring the Reform of Mechanical Drawing Teaching and Unde...

引用

International Conference on Educational and Information Technology (ICEIT)

作者： Zhang Runfeng Ming Yankun Liu Zhenzhong Wu Jianguo Wang Xiaofei Sun Yanfang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin Hanhailanfan Marine Technology Co. Ltd. Tianjin China

ISBN: (数字)9798350372663

ISBN: (纸本)9798350372670

This study aims to explore the reform of mechanical drawing teaching and the undergraduate training model with the goal of cultivating high-quality mechanical engineering undergraduate students. Grounded in the concepts of “synergy between science and education” and “integration of competition-oriented education and industry-university collaboration,” this research places talent cultivation as the central focus, linking it with discipline construction and emphasizing scientific research. The study promotes the reform of a collaborative education mechanism known as “integration of competition-oriented education and industry-university collaboration,” effectively establishing a multi-level and multi-dimensional undergraduate training model for mechanical engineering students that incorporates the “dual mentor system” and integrates theory, practice, and application. To apply this model in teaching practice, this research has undertaken the reform of traditional engineering drawing education, specifically addressing the issue of the gap between theory and practice in conventional teaching approaches. The proposed training program not only facilitates the development of innovative mechanical engineering professionals but also offers insights for the reform of undergraduate teaching models in the context of constructing “new engineering disciplines”.

关键词： Training Couplings Technological innovation Engineering drawings Collaboration mechanical engineering Machinery

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Structure design and kinematics modeling of a new continuum parallel robot

Structure design and kinematics modeling of a new continuum ...

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IEEE International Conference on Mechatronics and Automation

作者： Xinjie Wang Bin Li Yue Ma Wei Peng Pai Peng Jinyuan Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Compared with the traditional rigid robots, the continuum robot has been widely studied because of its advantages of compact design and flexible motion. The design of continuum parallel robots are similar to that of the traditional rigid-link parallel robot, and the precision, stability and strength characteristics of rigid-link parallel robots are combined with the compactness and flexibility characteristics of continuum robots. In recent research advances, it is well appreciated to suggest that the use of parallel continuum robots with passive supports is supported by elastic rods. The passive branch undergoes deformation along its entire length and uses complex formulas to describe its shape and kinematics. According to different methods, this paper proposes the design of a parallel robot dual continuum translation passive branch chain. This continuum joint will assume a constant curvature bend and use this assumption for kinematic modeling. Since the continuum joint is a flexible joint that utilizes the characteristics of new materials, it uses material deformation to replace the motion pair, which successfully realizes that the passive branch joint can replace the universal joint and the ball hinge in the parallel robot, and the joint can be bent more than 90 0 to achieve a larger range of workspace. Each passive branch of the new continuum robot is a continuum structure composed of two mutually coupled flexible hinge joints, and the translational motion of the end effector is inherently realized by using its material properties. The paper includes a new mechanism description and kinematics modeling.

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

Automated Creation of Topological Structure Models of Parall...

引用

International Conference on advanced Robotics and Mechatronics (ICARM)

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

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.

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Nonlinear vibration mechanism of elastic beam in large overall rotation with rotor eccentricity effect

Nonlinear vibration mechanism of elastic beam in large overa...

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2021 International Conference on mechanical Engineering, intelligent Manufacturing and Automation Technology, MEMAT 2021

作者： Zhao, Lei Yan, Zhao-Fang Zhao, Xin-Hua Li, Bin Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China Tianjin China School of Mechanic Engineering Tianjin University of Technology Tianjin China

The eccentric effect of rotor has seriously affected on the stability and precision of the mechanism at high speed for light and flexible mechanism in industrial application. The analysis of nonlinear vibration mechanism must be completed to realize precision and stable control of elastic beam in a large overall rotation. Firstly, the slender flexible rod is assumed as Euler-Bernoulli beam. We apply the deformation theory of elastic beam to establish its kinematic constraint relationship. Its dynamic model is built with Galerkin method and Hamilton principle. Then the Lagrange method is used to establish the rotor dynamics model based on the Jeffcott rotor. The coupling part between the motor and the elastic beam is assumed to be rigidly connected, and the dynamic model of the motor-elastic beam system can be obtained. Lastly, we analyze the nonlinear vibration mechanism of the elastic beam with rotor eccentricity effect through applying the fourth-order Runge-Kutta method and the superposition principle of traveling wave. It provides an important theoretical basis for making an effective vibration suppression strategy for elastic beam. © Published under licence by IOP Publishing Ltd.

关键词： Dynamic models

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Structural Optimization of a Magnetically Operated Actuator Mechanism for 10kV Circuit Breaker

Structural Optimization of a Magnetically Operated Actuator ...

引用

system Simulation Technology and its Application (CCSSTA), IEEE China Conference on

作者： Chao Liang He Tian Guanqiao Zhao Jiangping Li Ziliang Zhu Ruixuan Shen Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China Tianjin Sanyuan Power Equipment Manufacturing Co. Ltd Tianjin China

ISBN: (数字)9798350366600

ISBN: (纸本)9798350366617

As the demand for reliable power supply in power systems grows, ensuring the performance of circuit breaker operating mechanisms is crucial. This performance is pivotal to the stability of the power grid, the speed of fault recovery, and the equipment’s lifespan. In this paper, we introduce a structural optimization plan for a new magnetic control operating mechanism designed for 10kV circuit breakers. Employing three-dimensional and mathematical modeling, complemented by finite element analysis with Maxwell software, we delved into an in-depth study of the mechanism’s structure, performance, and materials. We further conducted a parametric design and comparative analysis of key components. The simulation results, which exclude the spring load, demonstrate that the optimized circuit breaker can achieve a closing velocity of 3.07 m/s, an electromagnetic force peaking at 2.7 kN, and a closure time minimized to 8.5 ms. These enhancements notably improve the mechanism’s closing efficiency. Consequently, our research introduces a novel perspective to the field of reliability studies for magnetic control operating mechanisms.

关键词： Magnetic cores Circuit breakers Magnetic domains Power system stability Power system reliability Magnetic analysis Magnetosphere Integrated circuit reliability Magnetic circuits Optimization

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