Pub Date : 2023-03-14DOI: 10.1177/00202940221100298
X. Shao, Yuqi Fan, Junpeng Shao, Guitao Sun
To enhance the joint control performance in hydraulic quadruped robots, active disturbance rejection control was used in the leg joint controller design of a hydraulic quadruped robot in combination with the self-growing lévy-flight salp swarm algorithm in this paper. First, the robot-leg structure of the hydraulic system model was built to analyze system operation details in terms of the mathematical construction. Second, the self-growing lévy-flight salp swarm algorithm was introduced. Then, the active disturbance rejection control parameters required were defined based on the composition and principle of the third-order active disturbance rejection control model. Third, the system evaluation function ITSE was selected, and the parameter tuning problem was converted into an algorithm optimization problem. Finally, the joint system of the hydraulic quadruped robot was taken as the research object, the self-growing lévy-flight salp swarm algorithm was added to the active disturbance rejection control to tune parameters, and this paper compared three different algorithms in the same environments to show the good control ability of the proposed method. To comprehensively show the performances of robot joint systems controlled by the proposed controller, the temporal response results, the frequency response results, the sawtooth response results, the ramp response, and the random response were displayed. All results reveal the effectiveness and excellent performance of the proposed controller in joint systems of a hydraulic quadruped robot.
{"title":"Improved active disturbance rejection control with the optimization algorithm for the leg joint control of a hydraulic quadruped robot","authors":"X. Shao, Yuqi Fan, Junpeng Shao, Guitao Sun","doi":"10.1177/00202940221100298","DOIUrl":"https://doi.org/10.1177/00202940221100298","url":null,"abstract":"To enhance the joint control performance in hydraulic quadruped robots, active disturbance rejection control was used in the leg joint controller design of a hydraulic quadruped robot in combination with the self-growing lévy-flight salp swarm algorithm in this paper. First, the robot-leg structure of the hydraulic system model was built to analyze system operation details in terms of the mathematical construction. Second, the self-growing lévy-flight salp swarm algorithm was introduced. Then, the active disturbance rejection control parameters required were defined based on the composition and principle of the third-order active disturbance rejection control model. Third, the system evaluation function ITSE was selected, and the parameter tuning problem was converted into an algorithm optimization problem. Finally, the joint system of the hydraulic quadruped robot was taken as the research object, the self-growing lévy-flight salp swarm algorithm was added to the active disturbance rejection control to tune parameters, and this paper compared three different algorithms in the same environments to show the good control ability of the proposed method. To comprehensively show the performances of robot joint systems controlled by the proposed controller, the temporal response results, the frequency response results, the sawtooth response results, the ramp response, and the random response were displayed. All results reveal the effectiveness and excellent performance of the proposed controller in joint systems of a hydraulic quadruped robot.","PeriodicalId":18375,"journal":{"name":"Measurement and Control","volume":"7 1","pages":"1359 - 1376"},"PeriodicalIF":0.0,"publicationDate":"2023-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76458606","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-07DOI: 10.1177/00202940221118128
Jingyue Wang, Tuojiang Chen, Jiangang Li, Haotian Wang, Junnian Wang
For the sake of deriving the signature frequencies of the composite malfunctions of broken and worn teeth of gearbox, the essay raised a method on account of local mean decomposition and Hilbert demodulation to diagnose gearbox composite fault. The local mean decomposition translates a complicated multi-component AM-FM signal into several PF elements with certain physical significance. Every PF component can be approximately regarded as a simplex component AM-FM signal. Using correlation coefficient method, the Hilbert envelope demodulation spectrum is analyzed by selecting the PF component which is strongly relevant to the incipient composite malfunction signal, and the malfunction signature frequency is identified from the demodulation spectrum. Through analyzing the emulation signal and the vibration signal of the actual gear box broken-wear complex fault, and compared with EMD, it is shown that the means can effectually discern the malfunction characteristic frequency in the composite fault signal.
{"title":"Research on the composite fault diagnosis of gearbox based on local mean decomposition and Hilbert demodulation","authors":"Jingyue Wang, Tuojiang Chen, Jiangang Li, Haotian Wang, Junnian Wang","doi":"10.1177/00202940221118128","DOIUrl":"https://doi.org/10.1177/00202940221118128","url":null,"abstract":"For the sake of deriving the signature frequencies of the composite malfunctions of broken and worn teeth of gearbox, the essay raised a method on account of local mean decomposition and Hilbert demodulation to diagnose gearbox composite fault. The local mean decomposition translates a complicated multi-component AM-FM signal into several PF elements with certain physical significance. Every PF component can be approximately regarded as a simplex component AM-FM signal. Using correlation coefficient method, the Hilbert envelope demodulation spectrum is analyzed by selecting the PF component which is strongly relevant to the incipient composite malfunction signal, and the malfunction signature frequency is identified from the demodulation spectrum. Through analyzing the emulation signal and the vibration signal of the actual gear box broken-wear complex fault, and compared with EMD, it is shown that the means can effectually discern the malfunction characteristic frequency in the composite fault signal.","PeriodicalId":18375,"journal":{"name":"Measurement and Control","volume":"15 1","pages":"1350 - 1358"},"PeriodicalIF":0.0,"publicationDate":"2023-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87009408","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-03DOI: 10.1177/00202940231158392
Dun Lyu, Yibo Ren, Shijie Chen, Hui Liu
In view of that the tracking error originates from the amplitude attenuation and phase lag of the setpoints frequency component caused by the servo control system at each moment, this paper puts forward the idea of obtaining the setpoints time-frequency response (STFR) by solving the amplitude attenuation and phase lag of each frequency component of the setpoints at each moment. First, the feasibility of the proposed idea is proved theoretically; Then, the setpoints time-frequency transform is carried out and the solving method of STFR and setpoints time-frequency response error (STFRE) is established; Finally, taking the servo control system as the object, the STFR and STFRE are solved, and the corresponding relationship with the output time-frequency transformation and tracking error is analyzed to verify the proposed method. The contributions of the proposed method are: the method achieves the solution of STFR based on the amplitude attenuation and phase lag of the servo system; it avoids the limitation that only harmonic wavelet bases must be used in the existing method and can be applied to the solution of the time-frequency response of actual setpoints; it can separate the setpoints loss or tracking error caused by amplitude attenuation and phase lag; it can determine the redundancy or lack of strategies such as filters for certain setpoints and servo control system.
{"title":"Solution method for time-frequency responds of servo control systems based on frequency domain characteristics","authors":"Dun Lyu, Yibo Ren, Shijie Chen, Hui Liu","doi":"10.1177/00202940231158392","DOIUrl":"https://doi.org/10.1177/00202940231158392","url":null,"abstract":"In view of that the tracking error originates from the amplitude attenuation and phase lag of the setpoints frequency component caused by the servo control system at each moment, this paper puts forward the idea of obtaining the setpoints time-frequency response (STFR) by solving the amplitude attenuation and phase lag of each frequency component of the setpoints at each moment. First, the feasibility of the proposed idea is proved theoretically; Then, the setpoints time-frequency transform is carried out and the solving method of STFR and setpoints time-frequency response error (STFRE) is established; Finally, taking the servo control system as the object, the STFR and STFRE are solved, and the corresponding relationship with the output time-frequency transformation and tracking error is analyzed to verify the proposed method. The contributions of the proposed method are: the method achieves the solution of STFR based on the amplitude attenuation and phase lag of the servo system; it avoids the limitation that only harmonic wavelet bases must be used in the existing method and can be applied to the solution of the time-frequency response of actual setpoints; it can separate the setpoints loss or tracking error caused by amplitude attenuation and phase lag; it can determine the redundancy or lack of strategies such as filters for certain setpoints and servo control system.","PeriodicalId":18375,"journal":{"name":"Measurement and Control","volume":"1 1","pages":"1333 - 1349"},"PeriodicalIF":0.0,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87730035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1177/00202940221126037
{"title":"RETRACTION NOTICE: Hybrid blockchain–based privacy-preserving electronic medical records sharing scheme across medical information control system","authors":"","doi":"10.1177/00202940221126037","DOIUrl":"https://doi.org/10.1177/00202940221126037","url":null,"abstract":"","PeriodicalId":18375,"journal":{"name":"Measurement and Control","volume":"135 1","pages":"894 - 894"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89488030","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1177/00202940221126031
{"title":"RETRACTION NOTICE: Composite observer-based integral sliding mode dynamical tracking control for nonlinear systems subject to actuator faults and mismatched disturbances","authors":"","doi":"10.1177/00202940221126031","DOIUrl":"https://doi.org/10.1177/00202940221126031","url":null,"abstract":"","PeriodicalId":18375,"journal":{"name":"Measurement and Control","volume":"60 1","pages":"892 - 892"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84472505","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1177/00202940221107620
Zhijie Xie, Di Yu, C. Zhan, Qiancheng Zhao, Junxiang Wang, Jiuqing Liu, Jiaxiu Liu
Due to extreme operating conditions such as high-speed and heavy loads, ball screws are prone to damages, that affect the accuracy and operational safety of the mechanical equipment. As strong background noise and weak fault characteristics, it is difficult to capture the inherent fault state only depending on the time-domain or frequency-domain information from the vibration signal. In this paper, a fault diagnosis method for the ball screw based on continuous wavelet transform (CWT) and two-dimensional convolutional neural network (2DCNN) is proposed. The noise-reducing vibration signal is obtained via CWT. The time-frequency graph of the noise reduction signal can more comprehensively reflect the fault information of the ball screw. The time-frequency graph is used as the input to train and test the 2DCNN. Finally, diagnosis results of different types of faults reveal that the proposed CWT-2DCNN fault diagnosis method can achieve an average recognition rate of 99.67%. Compared with one-dimensional convolutional neural network (1DCNN) and traditional BP neural network, the proposed method has fast network convergence and high recognition accuracy. Time-frequency graphs of the noise-reduced signal used as fault features for classification can effectively avoid the problem of uncertainty due to the manual extraction of features. The proposed method has high application potential in the field of ball screw pair fault diagnosis.
{"title":"Ball screw fault diagnosis based on continuous wavelet transform and two-dimensional convolution neural network","authors":"Zhijie Xie, Di Yu, C. Zhan, Qiancheng Zhao, Junxiang Wang, Jiuqing Liu, Jiaxiu Liu","doi":"10.1177/00202940221107620","DOIUrl":"https://doi.org/10.1177/00202940221107620","url":null,"abstract":"Due to extreme operating conditions such as high-speed and heavy loads, ball screws are prone to damages, that affect the accuracy and operational safety of the mechanical equipment. As strong background noise and weak fault characteristics, it is difficult to capture the inherent fault state only depending on the time-domain or frequency-domain information from the vibration signal. In this paper, a fault diagnosis method for the ball screw based on continuous wavelet transform (CWT) and two-dimensional convolutional neural network (2DCNN) is proposed. The noise-reducing vibration signal is obtained via CWT. The time-frequency graph of the noise reduction signal can more comprehensively reflect the fault information of the ball screw. The time-frequency graph is used as the input to train and test the 2DCNN. Finally, diagnosis results of different types of faults reveal that the proposed CWT-2DCNN fault diagnosis method can achieve an average recognition rate of 99.67%. Compared with one-dimensional convolutional neural network (1DCNN) and traditional BP neural network, the proposed method has fast network convergence and high recognition accuracy. Time-frequency graphs of the noise-reduced signal used as fault features for classification can effectively avoid the problem of uncertainty due to the manual extraction of features. The proposed method has high application potential in the field of ball screw pair fault diagnosis.","PeriodicalId":18375,"journal":{"name":"Measurement and Control","volume":"21 1","pages":"518 - 528"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89797817","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1177/00202940221104870
Chia-Nan Wang, Tran Quynh Le, Thanh-Tuan Dang
Vietnam has enormous potential for solar power thanks to its favorable geographical location. In recent years, the Vietnamese government has strived to develop renewable energy. The objective of this paper is to measure the operational efficiency of solar photovoltaic (PV) power plants using data envelopment analysis (DEA) with the epsilon-based measure (EBM) model. The utilization of the EBM model is due to its advantage to integrate radial and non-radial measurements to get a more exact estimate of relative efficiency. Using the merits of the EBM model, a case study of 18 decision-making units (DMUs) in Vietnam is presented. In the proposed model, three input variables are selected, which are capital cost, installed capacity, solar irradiation, while energy production and consumer density are considered as output variables. Following that, the technique for order of preference by similarity to ideal solution (TOPSIS) method is used to assess the validity and applicability of results. The results illustrate that two methods reach common rankings, in which the priority rankings of the best performing DMUs are very similar. This shows that the applied models are robust in nature. This paper offers significant materials that serve as practical and timelier solutions for decision-makers in the operating and management strategies of the solar energy industry, also a critical guideline in many related decision-making problems for any other industries around the world.
{"title":"Measuring operating efficiency of solar photovoltaic power plants using epsilon-based measure model: A case study in Vietnam","authors":"Chia-Nan Wang, Tran Quynh Le, Thanh-Tuan Dang","doi":"10.1177/00202940221104870","DOIUrl":"https://doi.org/10.1177/00202940221104870","url":null,"abstract":"Vietnam has enormous potential for solar power thanks to its favorable geographical location. In recent years, the Vietnamese government has strived to develop renewable energy. The objective of this paper is to measure the operational efficiency of solar photovoltaic (PV) power plants using data envelopment analysis (DEA) with the epsilon-based measure (EBM) model. The utilization of the EBM model is due to its advantage to integrate radial and non-radial measurements to get a more exact estimate of relative efficiency. Using the merits of the EBM model, a case study of 18 decision-making units (DMUs) in Vietnam is presented. In the proposed model, three input variables are selected, which are capital cost, installed capacity, solar irradiation, while energy production and consumer density are considered as output variables. Following that, the technique for order of preference by similarity to ideal solution (TOPSIS) method is used to assess the validity and applicability of results. The results illustrate that two methods reach common rankings, in which the priority rankings of the best performing DMUs are very similar. This shows that the applied models are robust in nature. This paper offers significant materials that serve as practical and timelier solutions for decision-makers in the operating and management strategies of the solar energy industry, also a critical guideline in many related decision-making problems for any other industries around the world.","PeriodicalId":18375,"journal":{"name":"Measurement and Control","volume":"2 1","pages":"874 - 890"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74326534","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1177/00202940221110946
Qian Fang, Pengjun Mao, Lirui Shen, Jun Wang
Unmanned Aerial Manipulation (UAM) is a novel type of Unmanned Aerial Vehicle (UAV) equipped with manipulators instead of manual operation in hazardous and unreachable environments. The combination of UAV and manipulator unavoidably causes a significant predicament due to the increase of nonlinearity and coupling of the UAM system. Consequently, the system’s robustness becomes more vulnerable in the presence of system uncertainty and external disturbance. In addition, as a real-time embedded system, rapid and precise tracking of the desired trajectory is an essential aspect of UAM performance. This study aims to establish the dynamic model of UAM and propose a global fast terminal sliding mode controller for trajectory tracking. The controller is derived from Lyapunov theory to ensure the stability of the closed-loop system. We propose a set of illustrative metrics to evaluate the performance of the designed controller and compare it with the other two controllers by simulation. The results show that the proposed controller can effectively reduce the convergence time of tracking error and has good robustness and mechanical properties. And experimental results also verified its effectiveness.
{"title":"A global fast terminal sliding mode control for trajectory tracking of unmanned aerial manipulation","authors":"Qian Fang, Pengjun Mao, Lirui Shen, Jun Wang","doi":"10.1177/00202940221110946","DOIUrl":"https://doi.org/10.1177/00202940221110946","url":null,"abstract":"Unmanned Aerial Manipulation (UAM) is a novel type of Unmanned Aerial Vehicle (UAV) equipped with manipulators instead of manual operation in hazardous and unreachable environments. The combination of UAV and manipulator unavoidably causes a significant predicament due to the increase of nonlinearity and coupling of the UAM system. Consequently, the system’s robustness becomes more vulnerable in the presence of system uncertainty and external disturbance. In addition, as a real-time embedded system, rapid and precise tracking of the desired trajectory is an essential aspect of UAM performance. This study aims to establish the dynamic model of UAM and propose a global fast terminal sliding mode controller for trajectory tracking. The controller is derived from Lyapunov theory to ensure the stability of the closed-loop system. We propose a set of illustrative metrics to evaluate the performance of the designed controller and compare it with the other two controllers by simulation. The results show that the proposed controller can effectively reduce the convergence time of tracking error and has good robustness and mechanical properties. And experimental results also verified its effectiveness.","PeriodicalId":18375,"journal":{"name":"Measurement and Control","volume":"123 1 1","pages":"763 - 776"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80212175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1177/00202940221126030
{"title":"RETRACTION NOTICE: An investigation of various actuation mechanisms in robot arm","authors":"","doi":"10.1177/00202940221126030","DOIUrl":"https://doi.org/10.1177/00202940221126030","url":null,"abstract":"","PeriodicalId":18375,"journal":{"name":"Measurement and Control","volume":"25 1","pages":"895 - 895"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82315572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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