Pub Date : 2024-09-06DOI: 10.1177/10775463241275720
Ruiqi Gao
Tower crane jibs are prone to vibration due to their lightweight structure. The complex dynamics of coupled vibrations pose significant challenges in designing effective damping control systems. This study addresses the vibration suppression problem for a nonlinear tower crane model with a flexible jib undergoing slewing motion. We derive the fully coupled differential equation for the crane system by utilizing Euler–Bernoulli beam theory and Lagrange’s equations. The effect of the parameters on the vibration characteristics is analyzed and verified by experiments. Furthermore, we propose a novel boundary control method to suppress distributed deformation as the jib approaches the desired angle. Applying the Barrier Lyapunov Function (BLF) can keep the output states within the designed range. Finally, we conduct numerical simulations to verify the effectiveness of the designed control strategy.
{"title":"Output-constrained control of beam-swing dynamics of tower cranes with elastic jibs","authors":"Ruiqi Gao","doi":"10.1177/10775463241275720","DOIUrl":"https://doi.org/10.1177/10775463241275720","url":null,"abstract":"Tower crane jibs are prone to vibration due to their lightweight structure. The complex dynamics of coupled vibrations pose significant challenges in designing effective damping control systems. This study addresses the vibration suppression problem for a nonlinear tower crane model with a flexible jib undergoing slewing motion. We derive the fully coupled differential equation for the crane system by utilizing Euler–Bernoulli beam theory and Lagrange’s equations. The effect of the parameters on the vibration characteristics is analyzed and verified by experiments. Furthermore, we propose a novel boundary control method to suppress distributed deformation as the jib approaches the desired angle. Applying the Barrier Lyapunov Function (BLF) can keep the output states within the designed range. Finally, we conduct numerical simulations to verify the effectiveness of the designed control strategy.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"51 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142208021","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-06DOI: 10.1177/10775463241280426
Hangbo Duan, Zongyan Cai, Qingtao Liu, Ke Zhao, Dan Zhang
Domain adaptation methods based on average statistical metrics or single-source domains may encounter performance deficiencies of rotating machinery fault diagnosis. To this end, this paper proposes a multi-source domain adaptive network with the residual enhancement attention module (MDAN-REAM). Firstly, extracting feature information was performed for each combination of source and target domains by common feature extractor with the REAM. Secondly, domain-specific features were extracted by a domain adaptation method based on mean square statistics discrepancy (MSSD). Finally, fault diagnosis on the target domain was performed using all source domain classifiers. And the multi-classifier metric was applied to align the prediction discrepancies among all classifiers to improving fault diagnosis accuracy. Two experimental cases were designed to evaluate the proposed method. Experimental results demonstrate that the proposed method exhibits superior performance compared to many popular methods.
{"title":"A multi-source unsupervised fault diagnosis network with residual enhancement attention module for rotating machinery cross-operating conditions","authors":"Hangbo Duan, Zongyan Cai, Qingtao Liu, Ke Zhao, Dan Zhang","doi":"10.1177/10775463241280426","DOIUrl":"https://doi.org/10.1177/10775463241280426","url":null,"abstract":"Domain adaptation methods based on average statistical metrics or single-source domains may encounter performance deficiencies of rotating machinery fault diagnosis. To this end, this paper proposes a multi-source domain adaptive network with the residual enhancement attention module (MDAN-REAM). Firstly, extracting feature information was performed for each combination of source and target domains by common feature extractor with the REAM. Secondly, domain-specific features were extracted by a domain adaptation method based on mean square statistics discrepancy (MSSD). Finally, fault diagnosis on the target domain was performed using all source domain classifiers. And the multi-classifier metric was applied to align the prediction discrepancies among all classifiers to improving fault diagnosis accuracy. Two experimental cases were designed to evaluate the proposed method. Experimental results demonstrate that the proposed method exhibits superior performance compared to many popular methods.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"58 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142208019","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-06DOI: 10.1177/10775463241273780
Mingde Gong, Jiaming Bi, Haoran Yang, Xueliang Xu, Tianshuo Sun
This paper aims to optimize the conflicting performance indicators of ride comfort and suspension dynamic displacement by introducing a balance control strategy for active suspension. An unknown nonlinear estimator (UNE) based on a low-pass filter is devised to accurately estimate the unknown nonlinear forces generated by springs and tires. In the designed control strategy, balance controller adjusts the ride comfort when the suspension dynamic displacement is lower than the set threshold, and adjusts the suspension dynamic displacement when it is higher. The boundedness of all variables in a closed-loop system is proved by Lyapunov functions. Simulation investigations and comparison results on different road surfaces are provided to show the satisfactory performance of the designed control method.
{"title":"Balance control for dynamic displacement of active suspension and ride comfort","authors":"Mingde Gong, Jiaming Bi, Haoran Yang, Xueliang Xu, Tianshuo Sun","doi":"10.1177/10775463241273780","DOIUrl":"https://doi.org/10.1177/10775463241273780","url":null,"abstract":"This paper aims to optimize the conflicting performance indicators of ride comfort and suspension dynamic displacement by introducing a balance control strategy for active suspension. An unknown nonlinear estimator (UNE) based on a low-pass filter is devised to accurately estimate the unknown nonlinear forces generated by springs and tires. In the designed control strategy, balance controller adjusts the ride comfort when the suspension dynamic displacement is lower than the set threshold, and adjusts the suspension dynamic displacement when it is higher. The boundedness of all variables in a closed-loop system is proved by Lyapunov functions. Simulation investigations and comparison results on different road surfaces are provided to show the satisfactory performance of the designed control method.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"12 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142208020","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The flexible rotor of an aero-engine must pass through several critical speeds within its working speed range, but its reliability can be compromised by intense vibration caused by the resonance at these critical speeds. A novel method for reducing multiple resonant peaks of a flexible rotor is explored based on multiple supports of variable stiffness in this paper. Firstly, to determine the optimal stiffness change path of these supports, a pseudo-steady approximation method (PSAM) considering the influence of support stiffness change rate is proposed for predicting time-domain responses based on frequency-domain calculations. This approach has a definite advantage in time-domain solutions as it is less time-consuming. Then, to verify the effectiveness of the PSAM, time-domain simulations are conducted, which yielded highly consistent results with the PSAM calculation results with the Structural Similarity Index (SSIM) up to 93.7%. Finally, with the assistance of the PSAM, the Dijkstra algorithm was used to identify the most efficient path of variable stiffness for controlling multiple resonant peaks of a flexible rotor. A rotor test was carried out utilizing variable stiffness supports which are made of shape memory alloy (SMA) springs. The efficiency of the optimal variable stiffness path acquired through PSAM was verified through testing, which demonstrated that displacement can be reduced by up to 70.8%.
{"title":"Response prediction and optimization of a rotor with variable stiffness supports based on pseudo-steady approximation","authors":"Fuyi Jin, Chaoping Zang, Guangpeng Xing, Yuxiang Ma, Shanhu Yuan, Zhigang Jia","doi":"10.1177/10775463241276246","DOIUrl":"https://doi.org/10.1177/10775463241276246","url":null,"abstract":"The flexible rotor of an aero-engine must pass through several critical speeds within its working speed range, but its reliability can be compromised by intense vibration caused by the resonance at these critical speeds. A novel method for reducing multiple resonant peaks of a flexible rotor is explored based on multiple supports of variable stiffness in this paper. Firstly, to determine the optimal stiffness change path of these supports, a pseudo-steady approximation method (PSAM) considering the influence of support stiffness change rate is proposed for predicting time-domain responses based on frequency-domain calculations. This approach has a definite advantage in time-domain solutions as it is less time-consuming. Then, to verify the effectiveness of the PSAM, time-domain simulations are conducted, which yielded highly consistent results with the PSAM calculation results with the Structural Similarity Index (SSIM) up to 93.7%. Finally, with the assistance of the PSAM, the Dijkstra algorithm was used to identify the most efficient path of variable stiffness for controlling multiple resonant peaks of a flexible rotor. A rotor test was carried out utilizing variable stiffness supports which are made of shape memory alloy (SMA) springs. The efficiency of the optimal variable stiffness path acquired through PSAM was verified through testing, which demonstrated that displacement can be reduced by up to 70.8%.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"46 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142208025","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-04DOI: 10.1177/10775463241273826
Mohammad Hadi Rezaei, Morteza Ghaseminezhad, Meisam Kabiri
In this paper, based on the implicit function theorem and mean value theorem, a novel neural network controller for trajectory tracking of uncertain non-affine nonlinear systems with input saturation, unknown control direction, and external disturbance is designed. To compensate for actuator saturation, the controller employs an auxiliary system and a modified tracking error. Radial basis function neural networks are employed to approximate uncertainties within the system dynamics. A Nussbaum-type function tackles the challenge of unknown control direction. Adaptive control techniques are implemented to handle actuator saturation and compensate for neural network approximation errors and disturbance. For output feedback control where some states are unavailable, a high-gain observer is utilized for state estimation. Lyapunov analysis guarantees asymptotic convergence of closed-loop error signals. The effectiveness of the proposed approach is validated through simulations.
{"title":"Control of uncertain non-affine nonlinear systems using neural networks subject to input saturation with unknown control direction","authors":"Mohammad Hadi Rezaei, Morteza Ghaseminezhad, Meisam Kabiri","doi":"10.1177/10775463241273826","DOIUrl":"https://doi.org/10.1177/10775463241273826","url":null,"abstract":"In this paper, based on the implicit function theorem and mean value theorem, a novel neural network controller for trajectory tracking of uncertain non-affine nonlinear systems with input saturation, unknown control direction, and external disturbance is designed. To compensate for actuator saturation, the controller employs an auxiliary system and a modified tracking error. Radial basis function neural networks are employed to approximate uncertainties within the system dynamics. A Nussbaum-type function tackles the challenge of unknown control direction. Adaptive control techniques are implemented to handle actuator saturation and compensate for neural network approximation errors and disturbance. For output feedback control where some states are unavailable, a high-gain observer is utilized for state estimation. Lyapunov analysis guarantees asymptotic convergence of closed-loop error signals. The effectiveness of the proposed approach is validated through simulations.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"15 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142208024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Due to frequent acceleration and deceleration and large passenger capacity, metro vehicles generally experience eccentric wear on the wheels. Moreover, the highest running speed is between 80 km/h and 100 km/h, and the corresponding wheel rotation frequency is mainly between 7 Hz and 11 Hz, which is close to the first-order vertical bending modal frequency of the carbody. Therefore, the dynamic performance of the carbody would be deteriorated in the later stage of wheel wear. In order to suppress the vibration caused by eccentric wear, this study intends to design the underframe equipment as a dynamic vibration absorber. Unlike the traditional fixed-point theory method, this paper takes the external time-varying running speed as the input, a suspension frequency optimal design method based on probability distribution of wheel rotation frequency is proposed. And the design principle is experimentally verified based on the full-scale railway vehicle vibration test rig. Compared with the design method based on fixed-point theory, the results show that the acceleration rms value of carbody by optimal design method is reduced by 8% ∼ 20%. It is suggested that the design of underframe equipment for metro vehicles should be combined with the characteristics of time-varying service environment.
由于频繁的加减速和较大的载客量，地铁车辆的车轮普遍存在偏心磨损。此外，最高运行速度在 80 km/h 至 100 km/h 之间，相应的车轮旋转频率主要在 7 Hz 至 11 Hz 之间，接近车体的一阶垂直弯曲模态频率。因此，在车轮磨损的后期，车身的动态性能会恶化。为了抑制偏心磨损引起的振动，本研究拟将底架设备设计为动态吸振器。与传统的定点理论方法不同，本文以外部时变运行速度为输入，提出了一种基于车轮旋转频率概率分布的悬架频率优化设计方法。并基于全尺寸铁路车辆振动试验台对设计原理进行了实验验证。结果表明，与基于定点理论的设计方法相比，优化设计方法的车体加速度均方根值降低了 8% ∼ 20%。建议地铁车辆车底设备的设计应结合时变服务环境的特点。
{"title":"Optimal design of dynamic vibration absorber for elastic vibration control of vehicle carbody in time-varying service environment","authors":"Fansong Li, Xiang Du, Letian Liu, Hao Wang, Chaotao Liu, Hao Wu","doi":"10.1177/10775463241280328","DOIUrl":"https://doi.org/10.1177/10775463241280328","url":null,"abstract":"Due to frequent acceleration and deceleration and large passenger capacity, metro vehicles generally experience eccentric wear on the wheels. Moreover, the highest running speed is between 80 km/h and 100 km/h, and the corresponding wheel rotation frequency is mainly between 7 Hz and 11 Hz, which is close to the first-order vertical bending modal frequency of the carbody. Therefore, the dynamic performance of the carbody would be deteriorated in the later stage of wheel wear. In order to suppress the vibration caused by eccentric wear, this study intends to design the underframe equipment as a dynamic vibration absorber. Unlike the traditional fixed-point theory method, this paper takes the external time-varying running speed as the input, a suspension frequency optimal design method based on probability distribution of wheel rotation frequency is proposed. And the design principle is experimentally verified based on the full-scale railway vehicle vibration test rig. Compared with the design method based on fixed-point theory, the results show that the acceleration rms value of carbody by optimal design method is reduced by 8% ∼ 20%. It is suggested that the design of underframe equipment for metro vehicles should be combined with the characteristics of time-varying service environment.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"82 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142208027","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper extends the three-dimensional Bao system to the four-dimensional one by incorporating a smooth third-order nonlinear magnetic flux-controlled memristor as the feedback element. The four-dimensional Bao system is proved to be hyperchaotic and some of its dynamical characteristics are shown. The design of the system’s analog circuit is presented, and the results of circuit simulation aligns with numerical simulation ones. In addition, a predefined-time sliding mode filter controller is designed by employing an adaptive term to address the system’s unknown parameters to keep the system stable under external interference. Numerical simulation results demonstrate that the proposed controller exhibits faster convergence and less chattering compared to previous predefined-time sliding mode controller.
本文通过加入平滑三阶非线性磁通量控制记忆晶闸管作为反馈元件，将三维 Bao 系统扩展到四维系统。证明了四维 Bao 系统是超混沌的，并展示了它的一些动力学特性。介绍了系统模拟电路的设计，电路仿真结果与数值模拟结果一致。此外，还设计了一个预定义时间滑模滤波器控制器，采用自适应项来处理系统的未知参数，从而使系统在外部干扰下保持稳定。数值模拟结果表明，与之前的预定义时间滑模控制器相比，所提出的控制器收敛更快，颤振更少。
{"title":"Predefined-time sliding mode filtering control of memristor-based Bao hyper-chaotic system","authors":"Shixiang Zhu, Rongfeng Li, Yuming Feng, Dongfang Yan, Babatunde Oluwaseun Onasanya","doi":"10.1177/10775463241272821","DOIUrl":"https://doi.org/10.1177/10775463241272821","url":null,"abstract":"This paper extends the three-dimensional Bao system to the four-dimensional one by incorporating a smooth third-order nonlinear magnetic flux-controlled memristor as the feedback element. The four-dimensional Bao system is proved to be hyperchaotic and some of its dynamical characteristics are shown. The design of the system’s analog circuit is presented, and the results of circuit simulation aligns with numerical simulation ones. In addition, a predefined-time sliding mode filter controller is designed by employing an adaptive term to address the system’s unknown parameters to keep the system stable under external interference. Numerical simulation results demonstrate that the proposed controller exhibits faster convergence and less chattering compared to previous predefined-time sliding mode controller.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"5 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142208026","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-03DOI: 10.1177/10775463241276327
Bingguang Wen, Gongquan Tao, Zefeng Wen
Periodic track irregularities (PTIs) are an important and sensitive source of vehicle vibration and have attracted considerable attention from railway researchers. However, previous studies have mainly focused on the irregularities themselves, with limited investigation of how the rail wear band (RWB) generated by PTIs excitation affects vehicle responses. To assess this, a three-dimensional rail wear prediction model is developed in this study to simulate the evolution of the RWB under PTIs conditions and then the effect of RWB excitation on the vehicle dynamic performance is investigated. The results show that the spatial trace of the rail contact points generated by the PTIs also exhibits clear periodic characteristics. Accordingly, the distribution pattern of the RWB also reflects these periodic features. The excitation of the periodic rail wear band (PRWB) has a negative effect on the vehicle running stability, especially when the vehicle is traveling at speeds that induce coupling resonance, which exacerbates the consequences. As the wear level of the PRWB increases, there is also an escalation in the vibration of the carbody. Furthermore, the amplitude of the change in the wheelset balance position resulting from variations in rail profile is found to serve as an effective descriptor for characterizing the wear intensity of PRWB, and the vibration amplitude of the carbody exhibits a clear linear correlation with PRWB excitation. The research results are helpful for understanding the relationship between PRWB excitation and vehicle vibration behavior and serve as a theoretical basis for track maintenance and profile optimization.
{"title":"Prediction of rail wear band evolution under excitation by periodic track irregularities and its influence on vehicle dynamic performance","authors":"Bingguang Wen, Gongquan Tao, Zefeng Wen","doi":"10.1177/10775463241276327","DOIUrl":"https://doi.org/10.1177/10775463241276327","url":null,"abstract":"Periodic track irregularities (PTIs) are an important and sensitive source of vehicle vibration and have attracted considerable attention from railway researchers. However, previous studies have mainly focused on the irregularities themselves, with limited investigation of how the rail wear band (RWB) generated by PTIs excitation affects vehicle responses. To assess this, a three-dimensional rail wear prediction model is developed in this study to simulate the evolution of the RWB under PTIs conditions and then the effect of RWB excitation on the vehicle dynamic performance is investigated. The results show that the spatial trace of the rail contact points generated by the PTIs also exhibits clear periodic characteristics. Accordingly, the distribution pattern of the RWB also reflects these periodic features. The excitation of the periodic rail wear band (PRWB) has a negative effect on the vehicle running stability, especially when the vehicle is traveling at speeds that induce coupling resonance, which exacerbates the consequences. As the wear level of the PRWB increases, there is also an escalation in the vibration of the carbody. Furthermore, the amplitude of the change in the wheelset balance position resulting from variations in rail profile is found to serve as an effective descriptor for characterizing the wear intensity of PRWB, and the vibration amplitude of the carbody exhibits a clear linear correlation with PRWB excitation. The research results are helpful for understanding the relationship between PRWB excitation and vehicle vibration behavior and serve as a theoretical basis for track maintenance and profile optimization.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"408 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142208073","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-03DOI: 10.1177/10775463241276026
Seyed Mehdi Mousavi, Vahid Fakhari
Vibration-driven robots constitute an innovative paradigm for achieving locomotion, leveraging periodic vibrations to meticulously control the movement of an internal mass, thus affording them a high degree of precision while navigating surfaces with varying friction characteristics. This paper is dedicated to the refinement of trajectory tracking in planar vibration-driven robots, achieved through the meticulous design and implementation of a Proportional-Integral-Derivative (PID) controller and Sliding Mode Controller (SMC). The considered vibration-driven robot is propelled using two parallel reciprocating unbalanced masses which allows the robot to have various maneuvers in two dimensions. The movement of the robot is improved by employing bristles to make non-isotropic Coloumb’s friction on the surfaces. At first, the governing dynamic equations of the robot are derived by considering the stick-slip effect and using the Euler–Lagrange method. Moreover, a PID controller for accurate trajectory tracking within the robot’s natural coordinate system is designed and employed. The fine-tuning of the PID controller’s coefficients is accomplished through the application of the NSGA-II optimization method. Subsequently, a SMC strategy is introduced to enable the robot’s control in an absolute coordinate system. The paper culminates with the presentation, in-depth analysis, and evaluation of the simulation results, shedding light on the significant enhancements in performance and capabilities achieved by vibration-driven robots. In conclusion, the pivotal role of the NSGA II algorithm in optimizing controller parameters is emphasized, and although the PID controller excels in trajectory tracking, challenges with sudden acceleration changes are identified.
{"title":"Design and development of closed-loop controllers for trajectory tracking of a planar vibration-driven robot","authors":"Seyed Mehdi Mousavi, Vahid Fakhari","doi":"10.1177/10775463241276026","DOIUrl":"https://doi.org/10.1177/10775463241276026","url":null,"abstract":"Vibration-driven robots constitute an innovative paradigm for achieving locomotion, leveraging periodic vibrations to meticulously control the movement of an internal mass, thus affording them a high degree of precision while navigating surfaces with varying friction characteristics. This paper is dedicated to the refinement of trajectory tracking in planar vibration-driven robots, achieved through the meticulous design and implementation of a Proportional-Integral-Derivative (PID) controller and Sliding Mode Controller (SMC). The considered vibration-driven robot is propelled using two parallel reciprocating unbalanced masses which allows the robot to have various maneuvers in two dimensions. The movement of the robot is improved by employing bristles to make non-isotropic Coloumb’s friction on the surfaces. At first, the governing dynamic equations of the robot are derived by considering the stick-slip effect and using the Euler–Lagrange method. Moreover, a PID controller for accurate trajectory tracking within the robot’s natural coordinate system is designed and employed. The fine-tuning of the PID controller’s coefficients is accomplished through the application of the NSGA-II optimization method. Subsequently, a SMC strategy is introduced to enable the robot’s control in an absolute coordinate system. The paper culminates with the presentation, in-depth analysis, and evaluation of the simulation results, shedding light on the significant enhancements in performance and capabilities achieved by vibration-driven robots. In conclusion, the pivotal role of the NSGA II algorithm in optimizing controller parameters is emphasized, and although the PID controller excels in trajectory tracking, challenges with sudden acceleration changes are identified.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"7 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142208069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-03DOI: 10.1177/10775463241273014
Jingzhen Chen, Jingtao Du, Yang Liu, Long Liu
Thermoacoustic instability is a common problem in the operation of modern gas turbines. The prediction of thermoacoustic instability and the clarification of its mechanism are the research focus and difficulty in the gas turbine industry. As a response function of flame to acoustic disturbance, flame transfer function is a key parameter in the study of thermoacoustic instability. In this paper, based on the scaled adaptive simulation (SAS) model combined with the eddy dissipation concept (EDC) combustion model, the time-domain flow field data are processed by the system identification method, and the results of flame transfer function extraction are in good agreement with the experimental values. Then, the detailed derivation process of the low-order thermoacoustic network model (LOTAN) is given to capture the behavior characteristics of the acoustic wave in the thermoacoustic system. On this basis, the effects of acoustic boundary conditions and hysteresis time on the thermoacoustic instability of the combustion system are analyzed, and the relationship between the mode shape, pressure, vibration velocity phase, and thermoacoustic instability is explored. It is found that the phase relationship between pressure and vibration mode can be used to determine the thermoacoustic instability of the system. This is of great practical significance for determining the thermoacoustic instability of the system and clarifying the internal mechanism of its generation and provides theoretical support for the subsequent thermoacoustic instability control.
{"title":"Identification of flame transfer function and mechanism analysis of the influence of boundary impedance characteristics on thermoacoustic instability","authors":"Jingzhen Chen, Jingtao Du, Yang Liu, Long Liu","doi":"10.1177/10775463241273014","DOIUrl":"https://doi.org/10.1177/10775463241273014","url":null,"abstract":"Thermoacoustic instability is a common problem in the operation of modern gas turbines. The prediction of thermoacoustic instability and the clarification of its mechanism are the research focus and difficulty in the gas turbine industry. As a response function of flame to acoustic disturbance, flame transfer function is a key parameter in the study of thermoacoustic instability. In this paper, based on the scaled adaptive simulation (SAS) model combined with the eddy dissipation concept (EDC) combustion model, the time-domain flow field data are processed by the system identification method, and the results of flame transfer function extraction are in good agreement with the experimental values. Then, the detailed derivation process of the low-order thermoacoustic network model (LOTAN) is given to capture the behavior characteristics of the acoustic wave in the thermoacoustic system. On this basis, the effects of acoustic boundary conditions and hysteresis time on the thermoacoustic instability of the combustion system are analyzed, and the relationship between the mode shape, pressure, vibration velocity phase, and thermoacoustic instability is explored. It is found that the phase relationship between pressure and vibration mode can be used to determine the thermoacoustic instability of the system. This is of great practical significance for determining the thermoacoustic instability of the system and clarifying the internal mechanism of its generation and provides theoretical support for the subsequent thermoacoustic instability control.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"14 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142208070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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