Mechatronics最新文献

FPAA-based control of a high-speed flexure-guided AFM nanopositioner 基于 FPAA 的高速挠性制导 AFM 纳米定位器控制技术

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-11-16 DOI: 10.1016/j.mechatronics.2024.103268

Erfan Khodabakhshi, S.O. Reza Moheimani

This paper presents the design, characterization, and control of a novel flexure-guided piezoelectrically actuated atomic force microscope (AFM) nanopositioner. The planar scanner achieves a scan range of

5.8, μ m

in both X- and Y-directions with a first resonance frequency above

15 kHz

. Lateral displacements are measured using an interferometer sensor. A signal-transformation-based control technique and a signal pre-shaping method are explored to enhance raster scanning. An integral resonant controller (IRC) increases closed-loop bandwidth by damping the scanner’s fast axis dominant mode. Since the high-bandwidth system requires a high sampling rate, the IRC scheme is implemented using a field-programmable analog array (FPAA). The tracking performance is improved by a double integrator. The effectiveness of the signal transformation approach (STA) with the pre-shaping method in the closed-loop system is investigated. Tracking errors at frequencies from

10 Hz

to

300 Hz

maintained RMS values below

50 nm

. Results demonstrate the technique’s success, achieving rapid time-lapse AFM imaging at 10 frames per second over a

2 μ m \times 2 μ m

scan area.

本文介绍了一种新型挠性导向压电致动原子力显微镜（AFM）纳米定位器的设计、表征和控制。该平面扫描器在 X 和 Y 方向的扫描范围均达到 5.8 μm，第一共振频率高于 15kHz。横向位移通过干涉仪传感器测量。探索了一种基于信号变换的控制技术和一种信号预整形方法，以增强光栅扫描能力。积分谐振控制器（IRC）通过抑制扫描仪的快轴主导模式来增加闭环带宽。由于高带宽系统需要较高的采样率，因此采用了现场可编程模拟阵列（FPAA）来实现 IRC 方案。双积分器提高了跟踪性能。研究了信号变换方法（STA）与预整形方法在闭环系统中的有效性。频率从 10Hz 到 300Hz 的跟踪误差均方根值保持在 50nm 以下。结果表明该技术非常成功，在 2μm×2μm 的扫描区域内实现了每秒 10 帧的快速延时原子力显微镜成像。

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引用次数: 0

Multi-cylinder leveling control systems based on dual-valve parallel and adaptive eccentric torque suppression 基于双气门并联和自适应偏心扭矩抑制的多气缸调平控制系统

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-11-09 DOI: 10.1016/j.mechatronics.2024.103269

Heng Du , Ye Wu , Zhizhong Zhang , Qigang Wang , Jiahe Luo , Jinghui Fang

In the composite material hydraulic press, the mismatched velocities between the movable beam and the multiple leveling cylinders produce disturbing superfluous forces, and the eccentric torque causes the movable beam to tilt when pressed. They severely damage the leveling displacement accuracy and limit the implementation of muti-cylinder system in higher precision field. A dual-loop leveling control strategy is proposed, comprising a dual-valve parallel pressure inner loop and an adaptive control displacement outer loop. Firstly, a dual-valve parallel scheme is proposed in the pressure inner loop, where a compensation valve is added in parallel with the original single-valve. A variable compensation valve spool algorithm is designed, considering both velocity and displacement to mitigate the effects of superfluous forces and achieve precise and smooth leveling. Secondly, a control strategy for the adaptive displacement outer loop is designed to estimate and compensate for eccentric torque. An innovative torque decoupling algorithm is formulated to overcome the challenge of indeterminate coupling relations between inner and outer loops caused by the adaptive incorporation of dual-loop control. Then, eccentric load compensation torque is decoupled to the multiple leveling cylinders and derives the desired pressure for the inner loop. The inner loop suppresses the disturbance of eccentric torque to enhance robust leveling precision. Finally, the effectiveness of the proposed strategy was validated through experimentation on the constructed hydraulic press leveling system test bench. The control strategy presented in this paper provides a reference for achieving smooth and precise control in multi-cylinder systems.

在复合材料液压机中，活动横梁与多个调平油缸之间的速度不匹配会产生干扰赘力，偏心扭矩会导致活动横梁在受压时倾斜。这些因素严重破坏了调平位移精度，限制了多油缸系统在更高精度领域的应用。本文提出了一种由双阀并联压力内环和自适应控制位移外环组成的双环调平控制策略。首先，在压力内环中提出了双阀并联方案，即在原有单阀的基础上并联一个补偿阀。设计了一种可变补偿阀阀芯算法，同时考虑了速度和位移，以减轻多余力的影响，实现精确平稳的调平。其次，设计了自适应位移外环的控制策略，以估计和补偿偏心扭矩。制定了一种创新的扭矩解耦算法，以克服自适应双环控制带来的内外环间不确定耦合关系的挑战。然后，偏心负载补偿扭矩与多个调平气缸解耦，并为内环导出所需的压力。内环抑制偏心扭矩的干扰，从而提高稳健的调平精度。最后，通过在构建的液压机调平系统试验台上进行实验，验证了所提策略的有效性。本文提出的控制策略为实现多缸系统的平稳和精确控制提供了参考。

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引用次数: 0

Active safety control for distributed drive electric vehicle with unilateral motor fault based on mechanical redundancy 基于机械冗余的分布式驱动电动汽车单侧电机故障主动安全控制系统

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-11-06 DOI: 10.1016/j.mechatronics.2024.103266

Changan Ren , Lipeng Zhang , Minghan Chen , Yang Zhang , Minghui Zhao

Distributed drive can significantly improve the dynamics performance of electric vehicles. However, once the drive motor fails, it will cause harm to passengers and the surrounding environment. To solve the above problems, an active safety control method is proposed based on the mechanical redundancy of a centralized and distributed coupling transmission, which can switch the vehicle drive mode from two motors distributed drive to one motor centralized drive. Regarding fault diagnosis, a motor torque observer is established based on the coupling relationship between the steering system and the drive system to address motor communication faults. To reduce the risk of misdiagnosis, a combined fault diagnosis strategy that considers both torque difference and torque change rate is proposed. The effectiveness of the method is proved by simulation and real vehicle tests. In the aspect of safety control, a fast mode switching method from the distributed drive to the centralized drive is proposed. The test results show that the shift time of the fast mode switching method is reduced by 13 % compared with the traditional switching method, which can reduce the time of power interruption and quickly restore the driving force to ensure the vehicle safety.

分布式驱动可以大大提高电动汽车的动力性能。然而，一旦驱动电机发生故障，将对乘客和周围环境造成危害。为解决上述问题，提出了一种基于集中式和分布式耦合传动机械冗余的主动安全控制方法，可将车辆驱动模式从两个电机分布式驱动切换为一个电机集中式驱动。在故障诊断方面，根据转向系统和驱动系统之间的耦合关系建立了电机扭矩观测器，以解决电机通信故障。为降低误诊风险，提出了一种同时考虑转矩差和转矩变化率的组合故障诊断策略。模拟和实车测试证明了该方法的有效性。在安全控制方面，提出了一种从分布式驱动到集中式驱动的快速模式切换方法。测试结果表明，与传统切换方法相比，快速模式切换方法的切换时间缩短了 13%，可以减少动力中断时间，快速恢复驱动力，确保车辆安全。

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引用次数: 0

Recursive terminal sliding mode control for the 3D overhead crane systems with motion planning 带运动规划的三维桥式起重机系统的递归终端滑模控制

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-11-05 DOI: 10.1016/j.mechatronics.2024.103267

Shourui Wang, Wuyin Jin

In practical scenarios, the unexpected payload swinging of a 3D overhead crane can significantly diminish transportation efficiency and safety. To enhance transportation efficiency and address payload oscillation challenges inherent in 3D overhead crane systems, a novel recursive terminal sliding mode control strategy integrated with motion planning is presented in this work. Specifically, to reconcile the dual objectives of optimizing operational efficiency while mitigating payload swing, a novel smooth S-shaped reference trajectory is introduced, and a recursive terminal sliding mode controller is devised to trace this trajectory, incorporating the construction of a recursive sliding mode surface that combines swing angle and displacement deviation. Finally, the proposed method is validated through a series of numerical simulations and experimental trials. The outcomes highlight the robustness of the proposed controller, facilitating swift tracking of reference trajectory even in the presence of nonzero initial conditions or external disturbances. Notably, by significantly reducing payload swing angles, the proposed approach enhances transportation safety.

在实际应用中，三维桥式起重机意外的有效载荷摆动会大大降低运输效率和安全性。为了提高运输效率并解决三维桥式起重机系统固有的有效载荷摆动难题，本研究提出了一种与运动规划相结合的新型递归终端滑模控制策略。具体来说，为了兼顾优化运行效率和减少有效载荷摆动的双重目标，本文引入了一种新的平滑 S 形参考轨迹，并设计了一种递归终端滑动模式控制器来跟踪该轨迹，同时结合摆动角和位移偏差构建了一个递归滑动模式曲面。最后，通过一系列数值模拟和实验验证了所提出的方法。结果凸显了所提控制器的鲁棒性，即使在非零初始条件或外部干扰的情况下，也能快速跟踪参考轨迹。值得注意的是，通过大幅减少有效载荷的摆动角度，所提出的方法提高了运输安全性。

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引用次数: 0

Stiffness-fault-tolerant control strategy for elastic actuators with interaction impedance adaptation 具有交互阻抗适应性的弹性致动器刚性容错控制策略

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-10-28 DOI: 10.1016/j.mechatronics.2024.103265

Rodrigo J. Velasco-Guillen , Raphaël Furnémont , Tom Verstraten , Bram Vanderborght , Josep M. Font-Llagunes , Philipp Beckerle

Elastic actuators have the potential to enable safe interaction and energy efficient mobility, making them suitable for physical human–robot interaction. However, their increased complexity makes technical faults and their prevention a relevant research topic, particularly considering faults in elastic and kinematic elements. In this article we investigate a stiffness-fault-tolerant control strategy for elastic actuators, based on impedance control, which compensates for internal faults and adapts to a desired interaction impedance behavior. We analyze the control strategy regarding its stability, and adapt it to the dynamic characteristics of two systems: a mechanically adjustable compliance actuator (MACCEPA) and a series–parallel elastic actuator (+SPEA), highlighting the strategy’s general applicability to multiple actuator designs, considering nonlinear and redundant characteristics. Experimental validation with these systems shows that the control strategy is capable of accurately tracking reference output trajectories and adapting interaction characteristics, under fault and disturbance conditions, showcasing the versatile applicability of the strategy while achieving fault-tolerance.

弹性致动器具有实现安全交互和节能移动的潜力，使其适用于人与机器人的物理交互。然而，由于其复杂性的增加，技术故障及其预防成为一个相关的研究课题，特别是考虑到弹性和运动元件的故障。在本文中，我们研究了一种基于阻抗控制的弹性致动器刚度容错控制策略，该策略可补偿内部故障并适应所需的交互阻抗行为。我们分析了该控制策略的稳定性，并使其适应两个系统的动态特性：机械可调顺应性致动器（MACCEPA）和串并联弹性致动器（+SPEA），突出了该策略对多种致动器设计的普遍适用性，同时考虑了非线性和冗余特性。对这些系统的实验验证表明，该控制策略能够在故障和干扰条件下准确跟踪参考输出轨迹并调整交互特性，从而在实现容错的同时展示了该策略的广泛适用性。

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引用次数: 0

Wavelet-packet-transform-based identification of motor systems 基于小波包变换的电机系统识别

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-10-24 DOI: 10.1016/j.mechatronics.2024.103264

Zhengfeng Huang , Beili Gong

Accurate system modeling is the key to high-performance motor control. However, there usually exist nonlinear position-dependent cogging torque disturbances in motor systems, which makes classical linear system identification algorithms unavailable to such systems. Therefore, in this paper, a wavelet-packet-transform (WPT)-based preprocessing method is proposed to extract and attenuate the cogging torque disturbances of the identification data, so as to obtain an accurate linear model of the motor system by applying a classical identification algorithm without compensating the cogging torque in advance. Both the simulation and experiments show that the proposed method is a simple and efficient way to obtain a linear model for a motor with cogging torque disturbances.

精确的系统建模是实现高性能电机控制的关键。然而，电机系统中通常存在与位置相关的非线性齿槽转矩干扰，这使得经典的线性系统识别算法无法用于此类系统。因此，本文提出了一种基于小波包变换（WPT）的预处理方法，以提取和衰减识别数据中的齿槽转矩干扰，从而在不预先补偿齿槽转矩的情况下，通过应用经典识别算法获得电机系统的精确线性模型。仿真和实验均表明，所提出的方法是一种简单而有效的方法，可用于获取具有齿槽转矩干扰的电机线性模型。

引用次数: 0

A joint acceleration planning method for inverse kinematics of manipulator based on second-order system with variable impedance 基于二阶可变阻抗系统的机械手逆运动学关节加速度规划方法

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-10-21 DOI: 10.1016/j.mechatronics.2024.103263

Mingda Ge , Hongzhe Jin , Hui Zhang , Jizhuang Fan , Jie Zhao

The paper presents an angular acceleration planning method for joint space of manipulator to achieve real-time tracking tasks under joint constraint. To improve the performance of the algorithm and ensure the joint limit, the proposed method establishes a Second-order System with Variable Impedance (SSVI). The Second-order System is introduced in the joint space through the joint angular acceleration in second derivative of kinematics. The impedance parameters vary with different states of joint and the variable impedance produced virtual repulsive force to ensure that the joint motions are within the specified ranges when they are close to limits. The damping impedance contained in the system can improve convergence speed and suppress system oscillation and vibration caused by factors such as the visual noise. Simulation and experiment results verify that the method is effective and has faster convergence speed and more smooth motion compared with other methods.

本文提出了一种机械手关节空间角加速度规划方法，以实现关节约束下的实时跟踪任务。为了提高算法性能并确保关节限制，本文提出的方法建立了一个二阶可变阻抗系统（SSVI）。二阶系统通过运动学二阶导数中的关节角加速度引入关节空间。阻抗参数随关节的不同状态而变化，可变阻抗产生的虚拟排斥力可确保关节运动在接近极限时保持在指定范围内。系统中包含的阻尼阻抗可以提高收敛速度，抑制视觉噪声等因素引起的系统振荡和振动。仿真和实验结果验证了该方法的有效性，与其他方法相比，收敛速度更快，运动更平稳。

引用次数: 0

CRTF-MoeICP: A robust coarse-to-fine reflector-based LiDAR indoor positioning algorithm CRTF-MoeICP：基于反射器的鲁棒粗到细激光雷达室内定位算法

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-10-19 DOI: 10.1016/j.mechatronics.2024.103259

Ming Yao , Zhufeng Shao , Yunzhou Su , Dehao Wei , Fumin Zhang , Liping Wang

The reflector-based Light Detection and Ranging (LiDAR) positioning method is susceptible to environmental interferences, resulting in instability. This instability not only reduces movement accuracy but also poses safety hazards. To solve the above problems in the application of LiDAR sensors in the field of indoor positioning, we propose a Coarse Registration algorithm based on the Triangular Feature (CRTF) and a fine registration algorithm based on Multi-level outlier elimination and Iterative Closest Point (MoeICP) for the reflector-based LiDAR positioning. The proposed coarse-to-fine positioning algorithm CRTF-MoeICP addresses the issue of reflector-based LiDAR positioning failure arising from the improper selection of the initial transformation matrix and outlier interference in indoor structured industrial environments. The experiment results show that the CRTF-MoeICP algorithm can ensure the stable registration of the LiDAR point cloud and the reflector map by completely removing all outliers, greatly improving the indoor positioning stability of LiDAR sensors. Besides, the proposed algorithm can be realized by LiDARs with different performance, and improve the static positioning repeatability to ±3 mm. The high precision and stable positioning results improve the motion accuracy, ensuring that the Automatic Guided Vehicle (AGV) can accurately and stably complete the handling task.

基于反射镜的光探测和测距（LiDAR）定位方法容易受到环境干扰，从而导致不稳定。这种不稳定性不仅会降低移动精度，还会带来安全隐患。为了解决激光雷达传感器在室内定位领域应用中的上述问题，我们提出了一种基于三角形特征的粗注册算法（CRTF）和一种基于多级离群点消除和迭代最邻近点（MoeICP）的精细注册算法，用于基于反射器的激光雷达定位。所提出的从粗到细的定位算法 CRTF-MoeICP 解决了在室内结构化工业环境中由于初始变换矩阵选择不当和离群点干扰而导致的基于反射镜的激光雷达定位失败问题。实验结果表明，CRTF-MoeICP 算法可以通过完全去除所有离群值来确保激光雷达点云和反射镜地图的稳定配准，大大提高了激光雷达传感器的室内定位稳定性。此外，所提出的算法可由不同性能的激光雷达实现，并将静态定位重复性提高到±3 毫米。高精度和稳定的定位结果提高了运动精度，确保自动导引车（AGV）能够准确稳定地完成搬运任务。

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引用次数: 0

A novel feedforward extended model reference adaptive control of PKMs: Design and real-time experiments PKM 的新型前馈扩展模型参考自适应控制：设计与实时实验

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-10-19 DOI: 10.1016/j.mechatronics.2024.103261

Youcef Fitas , Ahmed Chemori , Johann Lamaury , Thierry Roux

This paper presents a novel approach for controlling Parallel Kinematic Manipulators (PKMs) using a feedforward augmented Model Reference Adaptive Control (MRAC) scheme. The original direct MRAC approach lacks the knowledge of the dynamic model and does not ensure boundedness of the feedback gains. To overcome these limitations, our proposed approach incorporates a feedforward dynamic term to enhance the tracking performance, and a projection operator to guarantee the boundedness of the feedback gains. The proposed controller is validated through real-time experiments using a 6-Degrees-Of-Freedom (DOF) PKM, and is compared with the original direct MRAC and some state-of-the-art controllers in various scenarios, including nominal and robustness cases. The obtained experimental results demonstrate the superiority of the proposed approach in terms of trajectory tracking performances and adaptation efficiency.

本文提出了一种使用前馈增强型模型参考自适应控制（MRAC）方案控制并联机械手（PKM）的新方法。最初的直接 MRAC 方法缺乏动态模型知识，无法确保反馈增益的有界性。为了克服这些局限性，我们提出的方法加入了一个前馈动态项来增强跟踪性能，并加入了一个投影算子来保证反馈增益的有界性。通过使用 6 自由度（DOF）PKM 进行实时实验，对所提出的控制器进行了验证，并在各种情况下（包括名义情况和鲁棒性情况）与原始直接 MRAC 和一些最先进的控制器进行了比较。实验结果表明，所提出的方法在轨迹跟踪性能和适应效率方面都更胜一筹。

引用次数: 0

Recover a moving rotor UAV without ground–air communications: System and control of a dual-stage tracking device 在没有地空通信的情况下回收移动旋翼无人机：双级跟踪装置的系统与控制

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-10-11 DOI: 10.1016/j.mechatronics.2024.103235

Jinge Si, Bin Li, Yongkang Xu, Liang Wang, Chencheng Deng, Junzheng Wang, Shoukun Wang

Recovering a moving rotor unmanned aerial vehicle (UAV) using a single-stage dynamic tracking device poses a significant challenge, particularly without real-time communication between the two systems. This study presents a dual-stage tracking system comprising an unmanned ground vehicle (UGV) and a Stewart platform, aimed at dynamically tracking and recovering the UAV. Firstly, an observation algorithm combining Kalman filtering (KF) and curve fitting is designed to estimate and complete the drone’s states and predict its trajectory. Subsequently, a decoupled dual-stage tracking control structure is introduced, integrating two independent controlled subsystems. Specifically, in the UGV controller, the model predictive control (MPC) is employed to enhance dynamic tracking capabilities using absolute kinematics. A motion tracking algorithm based on relative kinematics was developed for the Stewart recovery platform to compensate for UGV tracking errors and improve tracking accuracy. Dynamic recovery simulations and experiments have been conducted to validate the feasibility and effectiveness of the proposed dual-stage tracking system. The results demonstrate the system’s capability to dynamically track and recover the drone without real-time communication in complex environments characterized by detection noise and target trajectory disturbances.

使用单级动态跟踪装置回收移动转子无人飞行器（UAV）是一项重大挑战，尤其是在两个系统之间没有实时通信的情况下。本研究提出了一种由无人地面飞行器（UGV）和斯图尔特平台组成的双阶段跟踪系统，旨在动态跟踪和回收无人飞行器。首先，设计了一种结合卡尔曼滤波（KF）和曲线拟合的观测算法来估计和完成无人机的状态并预测其轨迹。随后，引入解耦双阶段跟踪控制结构，整合两个独立的受控子系统。具体来说，在 UGV 控制器中，采用了模型预测控制 (MPC)，利用绝对运动学增强动态跟踪能力。为 Stewart 回收平台开发了基于相对运动学的运动跟踪算法，以补偿 UGV 跟踪误差并提高跟踪精度。为验证所提议的双级跟踪系统的可行性和有效性，进行了动态回收模拟和实验。结果表明，该系统能够在具有探测噪声和目标轨迹干扰的复杂环境中，在不进行实时通信的情况下动态跟踪和回收无人机。

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引用次数: 0