Shape memory alloys (SMAs) exhibit a unique property that undergoes deformation in response to temperature variation. This characteristic can be utilized via the application of a filiform SMA wire to tendon-driven robotic actuators for biomimetic joint movements. However, due to the inefficiencies in heat dissipation, conventional SMA tendon-driven actuators are characterized by their lower relaxation speeds than other actuators. This paper proposes a novel cooling design for an SMA tendon-driven actuator using thin-fin heat sinks based on a multi-layer wrapped SMA tendon design. In addition, the electric circuit and the controller are refined. Prototype devices are constructed to validate the performance of SMA-based actuators under PID control. The results indicate that the proposed design exceeds previous models in terms of relaxation performance by up to 5.8 times while also being able to stabilize at a target angle within 0.5 s under control.
{"title":"A Novel Cooling Design for An Agonistic–Antagonistic SMA Tendon-Driven Actuator","authors":"Renke Liu, Shuyao Zhang, Yusuke Baba, Hideyuki Sawada","doi":"10.3390/act12110415","DOIUrl":"https://doi.org/10.3390/act12110415","url":null,"abstract":"Shape memory alloys (SMAs) exhibit a unique property that undergoes deformation in response to temperature variation. This characteristic can be utilized via the application of a filiform SMA wire to tendon-driven robotic actuators for biomimetic joint movements. However, due to the inefficiencies in heat dissipation, conventional SMA tendon-driven actuators are characterized by their lower relaxation speeds than other actuators. This paper proposes a novel cooling design for an SMA tendon-driven actuator using thin-fin heat sinks based on a multi-layer wrapped SMA tendon design. In addition, the electric circuit and the controller are refined. Prototype devices are constructed to validate the performance of SMA-based actuators under PID control. The results indicate that the proposed design exceeds previous models in terms of relaxation performance by up to 5.8 times while also being able to stabilize at a target angle within 0.5 s under control.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135474635","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 research project investigated the additive manufacturing of pneumatic actuators based on the principle of droplet dosing using an Arburg Freeformer 300-3X 3D printer. The developed structure consists of a porous inner filling and a dense, airtight chamber. By selectively varying the filling densities of the porous inner filling, different membrane deflections of the actuator were achieved. By linking the actuators, a pneumatic network actuator was developed that could be used in endorobotics. To describe the membrane deflection of an additively manufactured pneumatic actuator, a mathematical model was developed that takes into account the influence of additive manufacturing and porous filling. Using a dedicated test rig, the predicted behavior of the pneumatic actuators was shown to be qualitatively consistent. In addition, a pneumatic network actuator (PneuNet) with a diameter of 17 mm and a height of 76 mm, consisting of nine chambers with different filling densities, could be bent through 82° under a pressure of 8 bar. Our study shows that the variation of filling densities during production leads to different membrane deflections. The mathematical model developed provides satisfactory predictions, although the influence of additive manufacturing needs to be determined experimentally. Post-processing is still a necessary step to realize the full bending potential of these actuators, although challenges regarding air-tightness remain. Future research approaches include studying the deflection behavior of the chambers in multiple directions, investigating alternative materials, and optimizing the printing process to improve mechanical properties and reliability.
{"title":"Additively Manufactured Porous Filling Pneumatic Network Actuator","authors":"Giuliano A. Giacoppo, Julia Hötzel, Peter P. Pott","doi":"10.3390/act12110414","DOIUrl":"https://doi.org/10.3390/act12110414","url":null,"abstract":"This research project investigated the additive manufacturing of pneumatic actuators based on the principle of droplet dosing using an Arburg Freeformer 300-3X 3D printer. The developed structure consists of a porous inner filling and a dense, airtight chamber. By selectively varying the filling densities of the porous inner filling, different membrane deflections of the actuator were achieved. By linking the actuators, a pneumatic network actuator was developed that could be used in endorobotics. To describe the membrane deflection of an additively manufactured pneumatic actuator, a mathematical model was developed that takes into account the influence of additive manufacturing and porous filling. Using a dedicated test rig, the predicted behavior of the pneumatic actuators was shown to be qualitatively consistent. In addition, a pneumatic network actuator (PneuNet) with a diameter of 17 mm and a height of 76 mm, consisting of nine chambers with different filling densities, could be bent through 82° under a pressure of 8 bar. Our study shows that the variation of filling densities during production leads to different membrane deflections. The mathematical model developed provides satisfactory predictions, although the influence of additive manufacturing needs to be determined experimentally. Post-processing is still a necessary step to realize the full bending potential of these actuators, although challenges regarding air-tightness remain. Future research approaches include studying the deflection behavior of the chambers in multiple directions, investigating alternative materials, and optimizing the printing process to improve mechanical properties and reliability.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"124 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135540330","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}
In this article, a method is proposed to effectively extract weak fault features and accurately diagnose faults in ball screws, even in the presence of strong background noise. This method combines singular value decomposition (SVD), complete ensemble empirical mode decomposition with adaptive noise (CEEMDAN), and the 1.5-dimensional spectrum (1.5D) to process and analyze fault vibration signals. The first step involves decomposing the fault signal using the SVD algorithm. The singular values are then screened, and the part of the screen containing more noise information is extracted to complete the first denoising step. The second step involves decomposing the signal after the initial denoising process using CEEMDAN and removing some of the false components from the intrinsic mode function (IMF) components, based on the kurtosis correlation function index. The signal is then reconstructed to complete the second denoising step. Finally, the denoised signal is analyzed using Teager energy operator demodulation and 1.5D spectral analysis to extract the fault frequency and determine the location of the fault in the ball screw. This method has been compared with other denoising methods, such as wavelet packet decomposition combined with CEEMDAN or SVD combined with variational mode decomposition (VMD), and the results show that under the condition of strong background noise, the proposed method can better extract the fault frequency of ball screw.
{"title":"Fault Feature Extraction Method of Ball Screw Based on Singular Value Decomposition, CEEMDAN and 1.5DTES","authors":"Qin Wu, Jun Niu, Xinglian Wang","doi":"10.3390/act12110416","DOIUrl":"https://doi.org/10.3390/act12110416","url":null,"abstract":"In this article, a method is proposed to effectively extract weak fault features and accurately diagnose faults in ball screws, even in the presence of strong background noise. This method combines singular value decomposition (SVD), complete ensemble empirical mode decomposition with adaptive noise (CEEMDAN), and the 1.5-dimensional spectrum (1.5D) to process and analyze fault vibration signals. The first step involves decomposing the fault signal using the SVD algorithm. The singular values are then screened, and the part of the screen containing more noise information is extracted to complete the first denoising step. The second step involves decomposing the signal after the initial denoising process using CEEMDAN and removing some of the false components from the intrinsic mode function (IMF) components, based on the kurtosis correlation function index. The signal is then reconstructed to complete the second denoising step. Finally, the denoised signal is analyzed using Teager energy operator demodulation and 1.5D spectral analysis to extract the fault frequency and determine the location of the fault in the ball screw. This method has been compared with other denoising methods, such as wavelet packet decomposition combined with CEEMDAN or SVD combined with variational mode decomposition (VMD), and the results show that under the condition of strong background noise, the proposed method can better extract the fault frequency of ball screw.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"156 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135480607","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}
Max Pfizenmaier, Thomas Pippes, Artur Bohr, Jens Falkenstein
For the investigation of new types of internal gear pumps under realistic conditions, a test bench is presented that enables dynamic load emulation via the pressure with simultaneous dynamic speed control of the pump. For pressure control, a hydraulic half-bridge with separate control edges is used on both sides of the pump and a pressure control is presented. An error-based adaptive controller is used for pressure control and tested experimentally. It is shown that the error-based adaptive controller has a better performance compared to a simple PID control.
{"title":"Load Emulation with Independent Metering for a Pump Test Bench","authors":"Max Pfizenmaier, Thomas Pippes, Artur Bohr, Jens Falkenstein","doi":"10.3390/act12110413","DOIUrl":"https://doi.org/10.3390/act12110413","url":null,"abstract":"For the investigation of new types of internal gear pumps under realistic conditions, a test bench is presented that enables dynamic load emulation via the pressure with simultaneous dynamic speed control of the pump. For pressure control, a hydraulic half-bridge with separate control edges is used on both sides of the pump and a pressure control is presented. An error-based adaptive controller is used for pressure control and tested experimentally. It is shown that the error-based adaptive controller has a better performance compared to a simple PID control.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135724605","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}
Zhenyu Wang, Dong Jiang, Zicheng Liu, Xuan Zhao, Guang Yang, Hongyang Liu
With the global attention given to energy issues, the electrification of aviation and the development of more electric aircraft (MEA) have become important trends in the modern aviation industry. The electric actuator plays multiple roles in aircraft such as flight control, making it a crucial technology for MEA. Given the limited space available inside an aircraft, the power density of electric actuators has become a critical design factor. However, the pursuit of high power density results in the need for larger rated power and higher switching frequency, which can lead to severe electromagnetic interference (EMI) issues. This, in turn, poses significant challenges to the overall reliability of the electric actuator. This paper provides a comprehensive review of EMI in high power density motor drive systems for electric actuator systems. Firstly, the state of the art of electric actuator systems are surveyed, pointing out the contradictory relationship between high power density and EMI. Subsequently, various EMI modeling approaches of motor control systems are reviewed. Additionally, the main EMI suppression methods are summarized. Active EMI mitigation methods are emphasized in this paper due to their advantages of higher power density compared with passive EMI filters. Finally, the paper concludes by summarizing the EMI research in motor drive systems and offering the prospects of electric actuators.
{"title":"A Review of EMI Research of High Power Density Motor Drive Systems for Electric Actuator","authors":"Zhenyu Wang, Dong Jiang, Zicheng Liu, Xuan Zhao, Guang Yang, Hongyang Liu","doi":"10.3390/act12110411","DOIUrl":"https://doi.org/10.3390/act12110411","url":null,"abstract":"With the global attention given to energy issues, the electrification of aviation and the development of more electric aircraft (MEA) have become important trends in the modern aviation industry. The electric actuator plays multiple roles in aircraft such as flight control, making it a crucial technology for MEA. Given the limited space available inside an aircraft, the power density of electric actuators has become a critical design factor. However, the pursuit of high power density results in the need for larger rated power and higher switching frequency, which can lead to severe electromagnetic interference (EMI) issues. This, in turn, poses significant challenges to the overall reliability of the electric actuator. This paper provides a comprehensive review of EMI in high power density motor drive systems for electric actuator systems. Firstly, the state of the art of electric actuator systems are surveyed, pointing out the contradictory relationship between high power density and EMI. Subsequently, various EMI modeling approaches of motor control systems are reviewed. Additionally, the main EMI suppression methods are summarized. Active EMI mitigation methods are emphasized in this paper due to their advantages of higher power density compared with passive EMI filters. Finally, the paper concludes by summarizing the EMI research in motor drive systems and offering the prospects of electric actuators.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"39 22","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135773642","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}
Dielectric elastomer actuators (DEAs) offer robust, high-energy-density solutions for soft robotics. The proposed end effector consists of three spring roll configuration DEAs, each acting as a robotic finger, using a 3M VHB-F9473PC adhesive membrane. Spring roll DEAs can be designed to achieve highly specialised actuations depending on the electrode patterning and structural supports. This allows a spring roll DEA-based soft end effector to be tailor-made by simply altering the electrode patterning. The lateral force, bending angle and response time of the actuator are measured experimentally and compared with the predictions of an analytical model. The cylindrical actuator measures 70 mm in length and 15 mm in diameter and achieves a lateral force of 30 mN, a bending angle of 6.8° and a response time of ≈1 s. Spring roll configuration DEAs are shown to reduce the effects of viscoelasticity seen in the membrane, making the actuator more controllable at higher voltages. The dielectric constant of the membrane is shown to be a limiting factor of actuation, with a decrease in dielectric constant resulting in larger actuation. The end effector successfully grips numerous light objects for extended periods, showing the applicability of spring roll DEAs for soft end effectors.
{"title":"Soft End Effector Using Spring Roll Dielectric Elastomer Actuators","authors":"Hamish Lewis, Min Pan","doi":"10.3390/act12110412","DOIUrl":"https://doi.org/10.3390/act12110412","url":null,"abstract":"Dielectric elastomer actuators (DEAs) offer robust, high-energy-density solutions for soft robotics. The proposed end effector consists of three spring roll configuration DEAs, each acting as a robotic finger, using a 3M VHB-F9473PC adhesive membrane. Spring roll DEAs can be designed to achieve highly specialised actuations depending on the electrode patterning and structural supports. This allows a spring roll DEA-based soft end effector to be tailor-made by simply altering the electrode patterning. The lateral force, bending angle and response time of the actuator are measured experimentally and compared with the predictions of an analytical model. The cylindrical actuator measures 70 mm in length and 15 mm in diameter and achieves a lateral force of 30 mN, a bending angle of 6.8° and a response time of ≈1 s. Spring roll configuration DEAs are shown to reduce the effects of viscoelasticity seen in the membrane, making the actuator more controllable at higher voltages. The dielectric constant of the membrane is shown to be a limiting factor of actuation, with a decrease in dielectric constant resulting in larger actuation. The end effector successfully grips numerous light objects for extended periods, showing the applicability of spring roll DEAs for soft end effectors.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"39 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135773484","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 primary objective of an energy management strategy is to achieve optimal fuel economy through proper energy distribution. The adoption of a fuzzy energy management strategy is hindered due to different reasons, such as uncertainties surrounding its adaptability and sustainability compared to conventional energy control methods. To address this issue, a fuzzy energy management strategy based on long short-term memory neural network driving pattern recognition is proposed. The time-frequency characteristics of vehicle speed are obtained using the Hilbert–Huang transform method. The multi-dimensional features are composed of the time-frequency features of vehicle speed and the time-domain signals of the accelerator pedal and brake pedal. A novel driving pattern recognition approach is designed using a long short-term memory neural network. A dual-input and single-output fuzzy controller is proposed, which takes the required power of the vehicle and the state of charge of the battery as the input, and the comprehensive power of the range extender as the output. The parameters of the fuzzy controller are selected according to the category of driving pattern. The results show that the fuel consumption of the method proposed in this paper is 5.8% lower than that of the traditional fuzzy strategy, and 4.2% lower than the fuzzy strategy of the two-dimensional feature recognition model. In general, the proposed EMS can effectively improve the fuel consumption of extended-range electric vehicles.
{"title":"Adaptive Fuzzy Power Management Strategy for Extended-Range Electric Logistics Vehicles Based on Driving Pattern Recognition","authors":"Changyin Wei, Xiaodong Wang, Yunxing Chen, Huawei Wu, Yong Chen","doi":"10.3390/act12110410","DOIUrl":"https://doi.org/10.3390/act12110410","url":null,"abstract":"The primary objective of an energy management strategy is to achieve optimal fuel economy through proper energy distribution. The adoption of a fuzzy energy management strategy is hindered due to different reasons, such as uncertainties surrounding its adaptability and sustainability compared to conventional energy control methods. To address this issue, a fuzzy energy management strategy based on long short-term memory neural network driving pattern recognition is proposed. The time-frequency characteristics of vehicle speed are obtained using the Hilbert–Huang transform method. The multi-dimensional features are composed of the time-frequency features of vehicle speed and the time-domain signals of the accelerator pedal and brake pedal. A novel driving pattern recognition approach is designed using a long short-term memory neural network. A dual-input and single-output fuzzy controller is proposed, which takes the required power of the vehicle and the state of charge of the battery as the input, and the comprehensive power of the range extender as the output. The parameters of the fuzzy controller are selected according to the category of driving pattern. The results show that the fuel consumption of the method proposed in this paper is 5.8% lower than that of the traditional fuzzy strategy, and 4.2% lower than the fuzzy strategy of the two-dimensional feature recognition model. In general, the proposed EMS can effectively improve the fuel consumption of extended-range electric vehicles.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"2 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135819381","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}
Mohammad Hasan Dad Ansari, Xuan Thao Ha, Mouloud Ourak, Gianni Borghesan, Veronica Iacovacci, Emmanuel Vander Poorten, Arianna Menciassi
Minimally invasive endovascular procedures rely heavily on catheter devices. However, traditional catheters lack active steering requiring considerable skill on the surgeon’s part to accurately position the tip. While catheter tips could be made steerable using tendon-driven and Pneumatic Artificial Muscle (PAM) approaches, remote magnetic actuation is uniquely suited for this task due to its safety, controllability, and intrinsic miniaturization capabilities. Soft composite magnetic materials feature embedding distributed magnetic microparticles compared with attaching discrete permanent magnets proving beneficial in steerability and control. This work demonstrates the fabrication of a soft hollow magnetic tip that can be attached to a catheter to make the assembly steerable. The catheter tip is extensively characterized in terms of bending hysteresis, bending force, and dynamic response. The catheter showed average hysteresis between 5% and 10% and bending forces up to 0.8 N. It also showed a good dynamic response by changing its bending angle in <200 ms under a step response.
{"title":"Characterization of a 3D Printed Endovascular Magnetic Catheter","authors":"Mohammad Hasan Dad Ansari, Xuan Thao Ha, Mouloud Ourak, Gianni Borghesan, Veronica Iacovacci, Emmanuel Vander Poorten, Arianna Menciassi","doi":"10.3390/act12110409","DOIUrl":"https://doi.org/10.3390/act12110409","url":null,"abstract":"Minimally invasive endovascular procedures rely heavily on catheter devices. However, traditional catheters lack active steering requiring considerable skill on the surgeon’s part to accurately position the tip. While catheter tips could be made steerable using tendon-driven and Pneumatic Artificial Muscle (PAM) approaches, remote magnetic actuation is uniquely suited for this task due to its safety, controllability, and intrinsic miniaturization capabilities. Soft composite magnetic materials feature embedding distributed magnetic microparticles compared with attaching discrete permanent magnets proving beneficial in steerability and control. This work demonstrates the fabrication of a soft hollow magnetic tip that can be attached to a catheter to make the assembly steerable. The catheter tip is extensively characterized in terms of bending hysteresis, bending force, and dynamic response. The catheter showed average hysteresis between 5% and 10% and bending forces up to 0.8 N. It also showed a good dynamic response by changing its bending angle in <200 ms under a step response.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"53 3-4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135270963","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}
Xiaoping Liu, Huaizhi Shao, Cungen Liu, Ning Li, Xinpeng Guo, Fei Zheng, Lijun Sun
In this paper, an adaptive technology and the interconnection and damping assignment passivity-based control method are combined to solve the stabilization problem for underactuated mechanical systems with uncertainties (including matched and unmatched). These uncertainties include unknown friction coefficients and unknown terms in kinetic energy and potential energy. A novel adaptive interconnection and damping assignment passivity-based control scheme is proposed and an adaptive stabilization controller is designed to make the closed-loop system locally stable. Verification is conducted on the ball and beam system. The locally asymptotic stability is demonstrated using the LaSalle’s invariance principle and approximate linearization. The effectiveness of the proposed control law is verified through numerical simulations.
{"title":"An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System","authors":"Xiaoping Liu, Huaizhi Shao, Cungen Liu, Ning Li, Xinpeng Guo, Fei Zheng, Lijun Sun","doi":"10.3390/act12110408","DOIUrl":"https://doi.org/10.3390/act12110408","url":null,"abstract":"In this paper, an adaptive technology and the interconnection and damping assignment passivity-based control method are combined to solve the stabilization problem for underactuated mechanical systems with uncertainties (including matched and unmatched). These uncertainties include unknown friction coefficients and unknown terms in kinetic energy and potential energy. A novel adaptive interconnection and damping assignment passivity-based control scheme is proposed and an adaptive stabilization controller is designed to make the closed-loop system locally stable. Verification is conducted on the ball and beam system. The locally asymptotic stability is demonstrated using the LaSalle’s invariance principle and approximate linearization. The effectiveness of the proposed control law is verified through numerical simulations.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"109 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135809830","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}
Gabrielle Mallette, Charles-Étienne Gauthier, Masoud Hemmatian, Jeff Denis, Jean-Sébastien Plante
Active suspension systems for automotive vehicles were developed in the past using hydrostatic, electric, magnetic and magnetorheological (MR) technologies to control road vibrations and vehicle dynamics and thus improve ride comfort and vehicle performance. However, no such systems were developed for heavy equipment, trucks and off-highway vehicles. For instance, agricultural tractors are still equipped with minimal suspension systems causing discomfort and health problems to drivers. The high suspension loads due to the massive weight of these vehicles are a challenge since high forces are needed to achieve efficient active suspension control. This paper presents an experimentally validated feasibility study of a hydrostatic, MR clutch-driven system of actuators. The scope of this paper is to evaluate the preliminary performance of the actuator for future vibration control. The hydraulic system allows the actuators to be remotely located from the wheels or cabin of the heavy vehicle and conveniently placed on the vehicle’s suspended frame. The design includes two MR clutches driven in an antagonistic configuration to push and pull on the end effector. Experiments on a laboratory prototype show that the low-inertia characteristics of the clutches allow a high blocked-output force bandwidth of 20 Hz with peak output forces exceeding 15 kN.
{"title":"Design and Experimental Assessment of a Vibration Control System Driven by Low Inertia Hydrostatic Magnetorheological Actuators for Heavy Equipment","authors":"Gabrielle Mallette, Charles-Étienne Gauthier, Masoud Hemmatian, Jeff Denis, Jean-Sébastien Plante","doi":"10.3390/act12110407","DOIUrl":"https://doi.org/10.3390/act12110407","url":null,"abstract":"Active suspension systems for automotive vehicles were developed in the past using hydrostatic, electric, magnetic and magnetorheological (MR) technologies to control road vibrations and vehicle dynamics and thus improve ride comfort and vehicle performance. However, no such systems were developed for heavy equipment, trucks and off-highway vehicles. For instance, agricultural tractors are still equipped with minimal suspension systems causing discomfort and health problems to drivers. The high suspension loads due to the massive weight of these vehicles are a challenge since high forces are needed to achieve efficient active suspension control. This paper presents an experimentally validated feasibility study of a hydrostatic, MR clutch-driven system of actuators. The scope of this paper is to evaluate the preliminary performance of the actuator for future vibration control. The hydraulic system allows the actuators to be remotely located from the wheels or cabin of the heavy vehicle and conveniently placed on the vehicle’s suspended frame. The design includes two MR clutches driven in an antagonistic configuration to push and pull on the end effector. Experiments on a laboratory prototype show that the low-inertia characteristics of the clutches allow a high blocked-output force bandwidth of 20 Hz with peak output forces exceeding 15 kN.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"69 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136136027","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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