Jiří Žáček, J. Gołdasz, B. Sapiński, M. Sedlačík, Z. Strecker, M. Kubík
Magnetorheological (MR) fluids have been known to react to magnetic fields of sufficient magnitudes. While in the presence of the field, the material develops a yield stress. The tunable property has made it attractive in, e.g., semi-active damper applications in the vibration control domain in particular. Within the context of a given application, MR fluids can be exploited in at least one of the fundamental operating modes (flow, shear, squeeze, or gradient pinch mode) of which the gradient pinch mode has been the least explored. Contrary to the other operating modes, the MR fluid volume in the flow channel is exposed to a non-uniform magnetic field in such a way that a Venturi-like contraction is developed in a flow channel solely by means of a solidified material in the regions near the walls rather than the mechanically driven changes in the channel’s geometry. The pinch-mode rheology of the material has made it a potential candidate for developing a new category of MR valves. By convention, a pinch-mode valve features a single flow channel with poles over which a non-uniform magnetic field is induced. In this study, the authors examine ways of extending the dynamic range of pinch-mode valves by employing a number of such arrangements (stages) in series. To accomplish this, the authors developed a prototype of a multi-stage (three-stage) valve, and then compared its performance against that of a single-stage valve across a wide range of hydraulic and magnetic stimuli. To summarize, improvements of the pinch-mode valve dynamic range are evident; however, at the same time, it is hampered by the presence of serial air gaps in the flow channel.
{"title":"Assessment of the Dynamic Range of Magnetorheological Gradient Pinch-Mode Prototype Valves","authors":"Jiří Žáček, J. Gołdasz, B. Sapiński, M. Sedlačík, Z. Strecker, M. Kubík","doi":"10.3390/act12120449","DOIUrl":"https://doi.org/10.3390/act12120449","url":null,"abstract":"Magnetorheological (MR) fluids have been known to react to magnetic fields of sufficient magnitudes. While in the presence of the field, the material develops a yield stress. The tunable property has made it attractive in, e.g., semi-active damper applications in the vibration control domain in particular. Within the context of a given application, MR fluids can be exploited in at least one of the fundamental operating modes (flow, shear, squeeze, or gradient pinch mode) of which the gradient pinch mode has been the least explored. Contrary to the other operating modes, the MR fluid volume in the flow channel is exposed to a non-uniform magnetic field in such a way that a Venturi-like contraction is developed in a flow channel solely by means of a solidified material in the regions near the walls rather than the mechanically driven changes in the channel’s geometry. The pinch-mode rheology of the material has made it a potential candidate for developing a new category of MR valves. By convention, a pinch-mode valve features a single flow channel with poles over which a non-uniform magnetic field is induced. In this study, the authors examine ways of extending the dynamic range of pinch-mode valves by employing a number of such arrangements (stages) in series. To accomplish this, the authors developed a prototype of a multi-stage (three-stage) valve, and then compared its performance against that of a single-stage valve across a wide range of hydraulic and magnetic stimuli. To summarize, improvements of the pinch-mode valve dynamic range are evident; however, at the same time, it is hampered by the presence of serial air gaps in the flow channel.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"9 3","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138603041","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}
To complete microinjection as quickly as possible, we have developed Vibratory Microinjection Systems (VMSs) that vibrate a micropipette in its longitudinal direction and can significantly reduce the time needed for pronuclear microinjection compared to ordinary (non-vibratory) microinjection. The longest breakdown of the time is the time required to pierce the cell membrane and the pronuclear membrane simultaneously. Because cytoplasmic microinjection, which pierces the cell membrane alone, is far more difficult and time-consuming than pronuclear microinjection, we next aimed to develop a VMS capable of penetrating the cell membrane instantly. In this new and latest version, two types of ultrasonic-wave vibrators were developed: the first for commercially available micropipettes (Femtotip) and the second for self-made micropipettes. The two vibrators differ only in their airtight structure, where the micropipettes connect to their respective vibrators: a female screw plus O-ring for the first vibrator (VMS6_1) and a silicone–-rubber tube for the second (VMS6_2). The tube-type joint used in VMS6_2 only slightly damped or amplified vibrations from the vibrator to the micropipette tip, propagating them much more accurately than the screw-type joint in VMS6_1. In addition, VMS6_2 significantly shortened the time taken to pierce the cell membrane of a fertilized egg: an average of 1.52 s (N = 410) vs. 3.62 s (N = 65) in VMS6_1. The VMS6_2 group achieved a piercing time of zero in 86.1% of the allocated eggs, while only 10.8% of the VMS6_1 group did. In each vibrator, we also compared vibratory microinjection (VM; N = 475) and ordinary microinjection (OM; N = 457), which uses injection pressure in place of vibration. None of the eggs in the OM group achieved the zero-second piercing time. Compared to the OM, the VM group showed a significantly shorter piercing time, 1.80 vs. 10.69 s on average, and a significantly better survival rate, 90.3 vs. 81.8% on average. VMS6_2 not only improved on the already demonstrated superiority of VM to OM but also enabled instantaneous piercing of the cell membrane.
为了尽快完成微注射，我们开发了振动微注射系统(VMSs)，该系统使微管在纵向上振动，与普通(非振动)微注射相比，可以显着减少原核微注射所需的时间。最长的击穿时间是同时击穿细胞膜和原核膜所需的时间。由于细胞质微注射比原核微注射更加困难和耗时，因此我们下一步的目标是开发一种能够瞬间穿透细胞膜的VMS。在这个新的和最新的版本中，开发了两种类型的超声波振动器:第一种用于市售的微移液器(Femtotip)，第二种用于自制的微移液器。这两个振动器的不同之处在于它们的密封结构，其中微移液管连接到各自的振动器:第一个振动器(VMS6_1)是一个内螺纹加o形环，第二个振动器(VMS6_2)是一个硅胶管。在VMS6_2中使用的管型接头对从振动器到微移管尖端的振动只有轻微的阻尼或放大，比在VMS6_1中使用的螺纹型接头更准确地传播振动。此外，VMS6_2显著缩短了受精卵穿透细胞膜的时间，平均为1.52 s (N = 410)，而VMS6_1为3.62 s (N = 65)。VMS6_2组86.1%的卵子穿刺时间为零，而VMS6_1组只有10.8%的卵子穿刺时间为零。在每个振动器中，我们还比较了振动显微注射(VM;N = 475)和普通显微注射(OM;N = 457)，用注射压力代替振动。OM组的卵子没有一个达到零秒的穿刺时间。与OM组相比，VM组穿刺时间明显缩短，平均为1.80 s比10.69 s，生存率明显提高，平均为90.3 s比81.8%。VMS6_2不仅改进了已经证明的VM相对于OM的优势，而且实现了瞬时穿膜。
{"title":"Development of Vibratory Microinjection System for Instantaneous Cell Membrane Piercing in Cytoplasmic Microinjection into Fertilized Eggs","authors":"Fujio Miyawaki, Jun Hasegawa","doi":"10.3390/act12120448","DOIUrl":"https://doi.org/10.3390/act12120448","url":null,"abstract":"To complete microinjection as quickly as possible, we have developed Vibratory Microinjection Systems (VMSs) that vibrate a micropipette in its longitudinal direction and can significantly reduce the time needed for pronuclear microinjection compared to ordinary (non-vibratory) microinjection. The longest breakdown of the time is the time required to pierce the cell membrane and the pronuclear membrane simultaneously. Because cytoplasmic microinjection, which pierces the cell membrane alone, is far more difficult and time-consuming than pronuclear microinjection, we next aimed to develop a VMS capable of penetrating the cell membrane instantly. In this new and latest version, two types of ultrasonic-wave vibrators were developed: the first for commercially available micropipettes (Femtotip) and the second for self-made micropipettes. The two vibrators differ only in their airtight structure, where the micropipettes connect to their respective vibrators: a female screw plus O-ring for the first vibrator (VMS6_1) and a silicone–-rubber tube for the second (VMS6_2). The tube-type joint used in VMS6_2 only slightly damped or amplified vibrations from the vibrator to the micropipette tip, propagating them much more accurately than the screw-type joint in VMS6_1. In addition, VMS6_2 significantly shortened the time taken to pierce the cell membrane of a fertilized egg: an average of 1.52 s (N = 410) vs. 3.62 s (N = 65) in VMS6_1. The VMS6_2 group achieved a piercing time of zero in 86.1% of the allocated eggs, while only 10.8% of the VMS6_1 group did. In each vibrator, we also compared vibratory microinjection (VM; N = 475) and ordinary microinjection (OM; N = 457), which uses injection pressure in place of vibration. None of the eggs in the OM group achieved the zero-second piercing time. Compared to the OM, the VM group showed a significantly shorter piercing time, 1.80 vs. 10.69 s on average, and a significantly better survival rate, 90.3 vs. 81.8% on average. VMS6_2 not only improved on the already demonstrated superiority of VM to OM but also enabled instantaneous piercing of the cell membrane.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"42 6","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138606754","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}
Ebrahim Shahabi, Behnam Kamare, Francesco Visentin, A. Mondini, Barbara Mazzolai
Soft pneumatic network (Pneu-net) actuators are frequently used to achieve sophisticated movements, but they face challenges in producing both bending and twisting motions concurrently. In this paper, we present a new Pneu-net twisting and bending actuator (PTBA) design that enables them to perform complex motions. We achieved this by adjusting the chamber angle, ranging from 15 to 75 degrees, to optimize the bending and twisting movements through finite element analysis and experimental verification. We also investigated the variation trends in bending and twisting motions and determined the actuator’s workspace and maximum grasping force for a variety of objects with different shapes, materials, and sizes. Our findings suggest that PTBA is a promising candidate for advanced applications requiring intricate and bioinspired movements. This new design method offers a path toward achieving these goals.
{"title":"Design of Soft Pneumatic Actuator with Two Oblique Chambers for Coupled Bending and Twisting Movements","authors":"Ebrahim Shahabi, Behnam Kamare, Francesco Visentin, A. Mondini, Barbara Mazzolai","doi":"10.3390/act12120446","DOIUrl":"https://doi.org/10.3390/act12120446","url":null,"abstract":"Soft pneumatic network (Pneu-net) actuators are frequently used to achieve sophisticated movements, but they face challenges in producing both bending and twisting motions concurrently. In this paper, we present a new Pneu-net twisting and bending actuator (PTBA) design that enables them to perform complex motions. We achieved this by adjusting the chamber angle, ranging from 15 to 75 degrees, to optimize the bending and twisting movements through finite element analysis and experimental verification. We also investigated the variation trends in bending and twisting motions and determined the actuator’s workspace and maximum grasping force for a variety of objects with different shapes, materials, and sizes. Our findings suggest that PTBA is a promising candidate for advanced applications requiring intricate and bioinspired movements. This new design method offers a path toward achieving these goals.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"41 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138626178","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}
Bin Chen, Lei Zhang, Gaoyun Cheng, Yiqing Liu, Junjie Chen
The development of virtual coupling technology provides solutions to the challenges faced by urban rail transit systems. Train tracking control is a crucial component in the operation of virtual coupling, which plays a pivotal role in ensuring the safe and efficient movement of trains within the train and along the rail network. In order to ensure the high efficiency and safety of train tracking control in virtual coupling, this paper proposes an optimization algorithm based on Soft Actor-Critic for train tracking control in virtual coupling. Firstly, we construct the train tracking model under the reinforcement learning architecture using the operation states of the train, Proportional Integral Derivative (PID) controller output, and train tracking spacing and speed difference as elements of reinforcement learning. The train tracking control reward function is designed. Then, the Soft Actor-Critic (SAC) algorithm is used to train the virtual coupling train tracking reinforcement learning model. Finally, we took the Deep Deterministic Policy Gradient as the comparison algorithm to verify the superiority of the algorithm proposed in this paper.
{"title":"A Novel Approach for Train Tracking in Virtual Coupling Based on Soft Actor-Critic","authors":"Bin Chen, Lei Zhang, Gaoyun Cheng, Yiqing Liu, Junjie Chen","doi":"10.3390/act12120447","DOIUrl":"https://doi.org/10.3390/act12120447","url":null,"abstract":"The development of virtual coupling technology provides solutions to the challenges faced by urban rail transit systems. Train tracking control is a crucial component in the operation of virtual coupling, which plays a pivotal role in ensuring the safe and efficient movement of trains within the train and along the rail network. In order to ensure the high efficiency and safety of train tracking control in virtual coupling, this paper proposes an optimization algorithm based on Soft Actor-Critic for train tracking control in virtual coupling. Firstly, we construct the train tracking model under the reinforcement learning architecture using the operation states of the train, Proportional Integral Derivative (PID) controller output, and train tracking spacing and speed difference as elements of reinforcement learning. The train tracking control reward function is designed. Then, the Soft Actor-Critic (SAC) algorithm is used to train the virtual coupling train tracking reinforcement learning model. Finally, we took the Deep Deterministic Policy Gradient as the comparison algorithm to verify the superiority of the algorithm proposed in this paper.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"80 4","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138622823","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 friction factor of harmonic reducers affects the transmission accuracy in electromechanical actuators (EMAs). In this study, we proposed a friction feedforward compensation method based on improved active disturbance rejection control (IADRC). A mathematical model of EMA was developed. The relationship between friction torque and torque current was derived. Furthermore, the compound ADRC control method of second-order speed loop and position loop was studied, and an IADRC control method was proposed. A real EMA was developed, and the working principles of the EMA driving circuit and current sampling were analyzed. The three methods—PI, ADRC, and IADRC—were verified by conducting speed step experiments and sinusoidal tracking experiments. The integral values of time multiplied by the absolute error of the three control modes under the step speed mode were approximately 47.7, 32.1, and 15.5, respectively. Disregarding the inertia of the reducer and assuming that the torque during no-load operation equals the friction torque during constant motion, the findings indicate that, under a load purely driven by inertia, the IADRC control method enhances tracking accuracy.
谐波减速器的摩擦因数会影响机电执行器（EMA）的传动精度。在这项研究中，我们提出了一种基于改进型主动干扰抑制控制（IADRC）的摩擦前馈补偿方法。我们建立了 EMA 的数学模型。得出了摩擦扭矩和扭矩电流之间的关系。此外，还研究了二阶速度环和位置环的复合 ADRC 控制方法，并提出了一种 IADRC 控制方法。开发了真实的 EMA，分析了 EMA 驱动电路和电流采样的工作原理。通过速度阶跃实验和正弦跟踪实验验证了三种方法--PI、ADRC 和 IADRC。在阶跃速度模式下，三种控制模式的时间乘以绝对误差的积分值分别约为 47.7、32.1 和 15.5。不考虑减速器的惯性，并假设空载运行时的扭矩等于匀速运动时的摩擦扭矩，研究结果表明，在纯粹由惯性驱动的负载下，IADRC 控制方法提高了跟踪精度。
{"title":"Research on Friction Compensation Method of Electromechanical Actuator Based on Improved Active Disturbance Rejection Control","authors":"Pan Zhang, Zhaoyao Shi, Bo Yu","doi":"10.3390/act12120445","DOIUrl":"https://doi.org/10.3390/act12120445","url":null,"abstract":"The friction factor of harmonic reducers affects the transmission accuracy in electromechanical actuators (EMAs). In this study, we proposed a friction feedforward compensation method based on improved active disturbance rejection control (IADRC). A mathematical model of EMA was developed. The relationship between friction torque and torque current was derived. Furthermore, the compound ADRC control method of second-order speed loop and position loop was studied, and an IADRC control method was proposed. A real EMA was developed, and the working principles of the EMA driving circuit and current sampling were analyzed. The three methods—PI, ADRC, and IADRC—were verified by conducting speed step experiments and sinusoidal tracking experiments. The integral values of time multiplied by the absolute error of the three control modes under the step speed mode were approximately 47.7, 32.1, and 15.5, respectively. Disregarding the inertia of the reducer and assuming that the torque during no-load operation equals the friction torque during constant motion, the findings indicate that, under a load purely driven by inertia, the IADRC control method enhances tracking accuracy.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"454 ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139203337","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}
M. Bassetto, G. Mengali, K. Abu Salem, G. Palaia, A. Quarta
The aim of this paper is to analyze the performance of a state-feedback guidance law, which is obtained through a classical sliding mode control approach, in a two-dimensional circle-to-circle orbit transfer of a spacecraft equipped with a continuous-thrust propulsion system. The paper shows that such an inherently robust control technique can be effectively used to obtain possible transfer trajectories even when the spacecraft equations of motion are affected by perturbations. The problem of the guidance law design is first addressed in the simplified case of an unperturbed system, where it is shown how the state-feedback control may be effectively used to obtain simple mathematical relationships and graphs that allow the designer to determine possible transfer trajectories that depend on a few control parameters. It is also shown that a suitable combination of the controller parameters may be exploited to obtain trade-off solutions between the flight time and the transfer velocity change. The simplified control strategy is then used to investigate a typical heliocentric orbit raising/lowering in the presence of bounded disturbances and measurement errors.
{"title":"A Sliding Mode Control-Based Guidance Law for a Two-Dimensional Orbit Transfer with Bounded Disturbances","authors":"M. Bassetto, G. Mengali, K. Abu Salem, G. Palaia, A. Quarta","doi":"10.3390/act12120444","DOIUrl":"https://doi.org/10.3390/act12120444","url":null,"abstract":"The aim of this paper is to analyze the performance of a state-feedback guidance law, which is obtained through a classical sliding mode control approach, in a two-dimensional circle-to-circle orbit transfer of a spacecraft equipped with a continuous-thrust propulsion system. The paper shows that such an inherently robust control technique can be effectively used to obtain possible transfer trajectories even when the spacecraft equations of motion are affected by perturbations. The problem of the guidance law design is first addressed in the simplified case of an unperturbed system, where it is shown how the state-feedback control may be effectively used to obtain simple mathematical relationships and graphs that allow the designer to determine possible transfer trajectories that depend on a few control parameters. It is also shown that a suitable combination of the controller parameters may be exploited to obtain trade-off solutions between the flight time and the transfer velocity change. The simplified control strategy is then used to investigate a typical heliocentric orbit raising/lowering in the presence of bounded disturbances and measurement errors.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"1 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139209880","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 reports the design of an iterative-learning-scheme-based fault-estimation method for interconnected nonlinear multi-flexible manipulator systems with arbitrary initial value. For state estimation, observers are employed to reconstruct the state. The proposed scheme ensures that each flexible manipulator subsystem’s states can track their desired reference signals within a finite time. In the next step, an iterative learning fault-estimation law is proposed to track the actual fault signal. In contrast to the previous literature, this approach utilizes potential information from previous iterations to enhance the accuracy of the estimation in the current iteration. Based on these efforts, the obstacle caused by the arbitrary initial value is circumvented, and addressing the fault-estimation errors of each flexible manipulator subsystem are uniformly ultimately bounded is successfully achieved. Then, the λ-norm is developed to explore the convergence conditions of the presented methods. Finally, the effectiveness and feasibility of the proposed approach are verified through assessment of simulation results.
{"title":"Fault-Estimation Design Based on an Iterative Learning Scheme for Interconnected Multi-Flexible Manipulator Systems with Arbitrary Initial Value","authors":"Li Feng, Guangxi Chen, Shuiqing Xu, Kenan Du","doi":"10.3390/act12120443","DOIUrl":"https://doi.org/10.3390/act12120443","url":null,"abstract":"This paper reports the design of an iterative-learning-scheme-based fault-estimation method for interconnected nonlinear multi-flexible manipulator systems with arbitrary initial value. For state estimation, observers are employed to reconstruct the state. The proposed scheme ensures that each flexible manipulator subsystem’s states can track their desired reference signals within a finite time. In the next step, an iterative learning fault-estimation law is proposed to track the actual fault signal. In contrast to the previous literature, this approach utilizes potential information from previous iterations to enhance the accuracy of the estimation in the current iteration. Based on these efforts, the obstacle caused by the arbitrary initial value is circumvented, and addressing the fault-estimation errors of each flexible manipulator subsystem are uniformly ultimately bounded is successfully achieved. Then, the λ-norm is developed to explore the convergence conditions of the presented methods. Finally, the effectiveness and feasibility of the proposed approach are verified through assessment of simulation results.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"115 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139216678","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}
Piezoelectric ceramic actuators have the advantages of fast response speed and high positioning accuracy and are widely used in micro-machinery, aerospace, precision machining machinery, and other precision positioning fields. However, hysteretic nonlinearity has a great influence on the positioning accuracy of piezoelectric ceramic actuators, so it is necessary to establish a hysteretic model to solve this problem. In this paper, the principles of the Preisach model, the Prandtl Ishilinskii (PI) model, the Maxwell model, the Duhem model, the Bouc–Wen model, and the Hammerstein model and their application and development in piezoelectric hysteresis modeling are described in detail. At the same time, the classical model, the asymmetric model and the rate-dependent model of these models are described in detail, and the application of the inverse model corresponding to these models in the feedforward compensation is explained in detail. At the end of the paper, the methods of inverse model acquisition and control frequency of these models are compared. In addition, the future research trend of the hysteresis model is also prospected. The ideas and suggestions highlighted in this paper will guide the development of piezoelectric hysteresis models.
{"title":"Review on the Nonlinear Modeling of Hysteresis in Piezoelectric Ceramic Actuators","authors":"Yingli Dai, Dequan Li, Dong Wang","doi":"10.3390/act12120442","DOIUrl":"https://doi.org/10.3390/act12120442","url":null,"abstract":"Piezoelectric ceramic actuators have the advantages of fast response speed and high positioning accuracy and are widely used in micro-machinery, aerospace, precision machining machinery, and other precision positioning fields. However, hysteretic nonlinearity has a great influence on the positioning accuracy of piezoelectric ceramic actuators, so it is necessary to establish a hysteretic model to solve this problem. In this paper, the principles of the Preisach model, the Prandtl Ishilinskii (PI) model, the Maxwell model, the Duhem model, the Bouc–Wen model, and the Hammerstein model and their application and development in piezoelectric hysteresis modeling are described in detail. At the same time, the classical model, the asymmetric model and the rate-dependent model of these models are described in detail, and the application of the inverse model corresponding to these models in the feedforward compensation is explained in detail. At the end of the paper, the methods of inverse model acquisition and control frequency of these models are compared. In addition, the future research trend of the hysteresis model is also prospected. The ideas and suggestions highlighted in this paper will guide the development of piezoelectric hysteresis models.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"22 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139218898","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}
Zhuo Liu, Jiawei Lu, Haibo Du, Yansheng Liu, Wenwu Zhu, Junyi You
This paper aims to introduce robot technology to carry out the safety inspection of transmission towers in long-distance power transmission, so as to improve the safety and efficiency of inspection. However, aiming at the problem that the existing climbing robots are mainly used for large load applications, which leads to the large size and lack of flexibility of the robot, we propose an innovative solution. Firstly, a lightweight quadruped climbing robot is designed to improve portability and operational flexibility. Then, a one-dimensional force sensor is added at the end of each leg of the robot, and a special swing phase trajectory is designed. The robot can judge whether the electromagnetic adsorption is effective and avoid potential safety hazards. Finally, based on the principle of virtual model control (VMC), a foot-end force balancing algorithm is proposed to achieve uniform distribution and continuous change in force, and improve safety and load capacity. The experiments show that the scheme has a stable climbing ability in the environments of angle steel, vertical ferromagnetic plane and transmission tower.
{"title":"Research on Climbing Robot for Transmission Tower Based on Foot-End Force Balancing Algorithm","authors":"Zhuo Liu, Jiawei Lu, Haibo Du, Yansheng Liu, Wenwu Zhu, Junyi You","doi":"10.3390/act12120441","DOIUrl":"https://doi.org/10.3390/act12120441","url":null,"abstract":"This paper aims to introduce robot technology to carry out the safety inspection of transmission towers in long-distance power transmission, so as to improve the safety and efficiency of inspection. However, aiming at the problem that the existing climbing robots are mainly used for large load applications, which leads to the large size and lack of flexibility of the robot, we propose an innovative solution. Firstly, a lightweight quadruped climbing robot is designed to improve portability and operational flexibility. Then, a one-dimensional force sensor is added at the end of each leg of the robot, and a special swing phase trajectory is designed. The robot can judge whether the electromagnetic adsorption is effective and avoid potential safety hazards. Finally, based on the principle of virtual model control (VMC), a foot-end force balancing algorithm is proposed to achieve uniform distribution and continuous change in force, and improve safety and load capacity. The experiments show that the scheme has a stable climbing ability in the environments of angle steel, vertical ferromagnetic plane and transmission tower.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"2 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139236257","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 nonlinear modeling and analyzing of wound-rotor synchronous starter/generators (WRSSGs) plays a vital role in the analysis and monitoring of aircraft power systems. Moreover, they are of great significance with regard to the establishment of a future aircraft smart grid. However, owing to its nonlinear, high-dimensional, and strong coupling characteristics, this modeling has always remained in the frequency domain stage and the progress of more intuitive time domain modeling has been slow. This paper presents a nonlinear model of a WRSSG in a generating state. When the WRSSG is in power generation mode, most cases indicate that the aircraft is in flight mode. The establishment of the nonlinear model of the system in the power generation state is of great significance for the research of the health management and state monitoring of the aircraft power system and can improve the safety and reliability of the aircraft during flight. The model uses FE analysis and neural network to solve the nonlinear problem of the motor in the system and uses the improved variable parameter average model to solve the nonlinear problem of the rotating rectifier. According to the principle of signal transmission, a time domain model for the whole system is developed. Finally, the model is compiled by the RT-LAB real-time simulator. The nonlinear model performs well when compared with FE analysis results and tested against the MIL-STD-704F standard. The proposed nonlinear model and analysis results can be used for the condition monitoring and fault diagnosis of aircraft power systems. The hardware-in-the-loop test platform based on an accurate nonlinear model is a feasible means to study the failure of expensive equipment, and it can aid the study of irreversible failures of equipment at a low cost.
{"title":"Nonlinear Modeling and Analysis of Wound-Rotor Synchronous Starter/Generator (WRSSG) in Generating State for More Electric Aircraft","authors":"Haoran Du, Yongzhi Liu, Tianxing Li, Peirong Zhu","doi":"10.3390/act12120439","DOIUrl":"https://doi.org/10.3390/act12120439","url":null,"abstract":"The nonlinear modeling and analyzing of wound-rotor synchronous starter/generators (WRSSGs) plays a vital role in the analysis and monitoring of aircraft power systems. Moreover, they are of great significance with regard to the establishment of a future aircraft smart grid. However, owing to its nonlinear, high-dimensional, and strong coupling characteristics, this modeling has always remained in the frequency domain stage and the progress of more intuitive time domain modeling has been slow. This paper presents a nonlinear model of a WRSSG in a generating state. When the WRSSG is in power generation mode, most cases indicate that the aircraft is in flight mode. The establishment of the nonlinear model of the system in the power generation state is of great significance for the research of the health management and state monitoring of the aircraft power system and can improve the safety and reliability of the aircraft during flight. The model uses FE analysis and neural network to solve the nonlinear problem of the motor in the system and uses the improved variable parameter average model to solve the nonlinear problem of the rotating rectifier. According to the principle of signal transmission, a time domain model for the whole system is developed. Finally, the model is compiled by the RT-LAB real-time simulator. The nonlinear model performs well when compared with FE analysis results and tested against the MIL-STD-704F standard. The proposed nonlinear model and analysis results can be used for the condition monitoring and fault diagnosis of aircraft power systems. The hardware-in-the-loop test platform based on an accurate nonlinear model is a feasible means to study the failure of expensive equipment, and it can aid the study of irreversible failures of equipment at a low cost.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"88 S1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139237703","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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