Mechatronics最新文献_第3页

A machine learning approach to predict wrist posture in telerehabilitation with haptic devices 一种机器学习方法在触觉设备远程康复中预测手腕姿势

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

Mechatronics

Pub Date : 2025-11-08 DOI: 10.1016/j.mechatronics.2025.103423

Roni Barak Ventura , Angelo Catalano , Joo H. Kim , Maurizio Porfiri

Stroke survivors often experience fine motor impairments that prevent them from participating in activities of daily living, adversely impacting their quality of life. Telerehabilitation with haptic devices has the potential to engage survivors in sensorimotor therapy of their hand and wrist, while also collecting pertinent information about their movement towards remote assessment by a medical professional. Nonetheless, it remains challenging to measure patients’ joint angles during interaction with haptic devices, which undermines their prospective use in telerehabilitation. We propose a simple set-up where patients wear a smartphone on their forearm while manipulating the haptic device. In this setting, data from inertial sensors embedded in the smartphone would be integrated with data from the haptic device via a machine learning algorithm to predict the patients’ wrist angle. We demonstrate the feasibility of this approach in experiments with 19 healthy subjects. We measure their wrist angle as they perform a motor task with a Novint Falcon haptic device while wearing sensors on their limb, and train a linear regression model that predicts the wrist angle. The model predicts wrist angles with an accuracy of 88.8%. This effort constitutes a significant step toward automatic assessment of joint movements in fine motor telerehabilitation.

中风幸存者经常经历精细运动障碍，这使他们无法参与日常生活活动，对他们的生活质量产生不利影响。使用触觉设备的远程康复有可能使幸存者参与手部和手腕的感觉运动治疗，同时还可以收集有关其运动的相关信息，以便由医疗专业人员进行远程评估。尽管如此，在与触觉设备交互过程中测量患者的关节角度仍然具有挑战性，这破坏了它们在远程康复中的应用前景。我们提出了一个简单的设置，病人在前臂上戴一个智能手机，同时操纵触觉设备。在这种情况下，智能手机中嵌入的惯性传感器的数据将通过机器学习算法与触觉设备的数据相结合，以预测患者的手腕角度。我们在19名健康受试者的实验中证明了这种方法的可行性。当他们在肢体上戴着传感器，用Novint Falcon触觉设备执行运动任务时，我们测量了他们的手腕角度，并训练了一个线性回归模型来预测手腕角度。该模型预测手腕角度的准确率为88.8%。这一努力构成了精细运动远程康复中自动评估关节运动的重要一步。

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引用次数: 0

Learning feedforward with unmeasured performance variables: With application to a wirebonder 具有未测量性能变量的学习前馈：应用于焊丝机

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

Mechatronics

Pub Date : 2025-10-28 DOI: 10.1016/j.mechatronics.2025.103422

Maurice Poot , Jorrit Sprik , Matthijs Teurlings , Wout Laarakkers , Dragan Kostić , Jim Portegies , Tom Oomen

Feedforward motion control for unmeasured performance variables at the point of interest is crucial for attaining high throughput and accuracy in motion systems. The aim of this paper is to develop a data-driven approach for feedforward tuning that addresses the true performance at the point of interest. The presented approach is a novel methodology that employs rational feedforward structures for performing flexible tasks with high accuracy, in conjunction with an sensor fusion for addressing the point-of-interest. In particular, the tracking error of the unmeasured performance variable is accurately estimated by combining acceleration measurements and encoder measurements. Simulation results show that optimizing for the estimated point-of-interest error achieves similar tracking performance as optimizing for the true point-of-interest error, indicating accurate sensor-fusion estimates for feedforward control. Experimental validation demonstrates that optimizing for the estimated point-of-interest error significantly reduces the estimated point-of-interest tracking error compared to minimizing the encoder error.

在感兴趣的点对未测量的性能变量进行前馈运动控制对于在运动系统中获得高吞吐量和准确性至关重要。本文的目的是开发一种数据驱动的前馈调优方法，以解决感兴趣点的真实性能。所提出的方法是一种新颖的方法，它采用合理的前馈结构来执行高精度的灵活任务，并结合传感器融合来解决感兴趣点。特别是结合加速度测量和编码器测量，准确估计了未测性能变量的跟踪误差。仿真结果表明，对估计兴趣点误差的优化与对真实兴趣点误差的优化获得了相似的跟踪性能，表明对前馈控制的传感器融合估计是准确的。实验验证表明，与最小化编码器误差相比，对估计的兴趣点误差进行优化可以显着降低估计的兴趣点跟踪误差。

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引用次数: 0

Reconfigurable hydrostatics: Toward versatile and efficient load-bearing robotics 可重构流体静力学：走向多功能和高效的承载机器人

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

Mechatronics

Pub Date : 2025-10-23 DOI: 10.1016/j.mechatronics.2025.103420

Jeff Denis, Frédéric Laberge, Jean-Sébastien Plante, Alexandre Girard

Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being backdrivable. Alternatively, quasi-passive and underactuated designs reduce the amount of motorization and energy storage, but are often designed for specific tasks. Designers of versatile and stronger wearable robots will face these challenges unless future actuators become very torque-dense, backdrivable and efficient.

This paper explores a design paradigm for addressing this issue: reconfigurable hydrostatics. We show that a hydrostatic actuator can integrate a passive force mechanism and a sharing mechanism in the fluid domain and still be multifunctional. First, an analytical study compares the effect of these two mechanisms on the motorization requirements in the context of a load-bearing exoskeleton. Then, the hydrostatic concept integrating these two mechanisms using hydraulic components is presented. A case study analysis shows the mass/efficiency/inertia benefits of the concept over a fully actuated one. Then, experiments are conducted on robotic legs to demonstrate that the actuator concept can meet the expected performance in terms of force tracking, versatility, and efficiency under controlled conditions. The proof-of-concept can track the vertical ground reaction force (GRF) profiles of walking, running, squatting, and jumping, and the energy consumption is 4.8x lower for walking. The transient force behaviors due to switching from one leg to the other are also analyzed along with some mitigation to improve them.

可穿戴式和腿式机器人的设计者在选择驱动方式时面临着多重挑战。使用电动机的传统全驱动设计是多功能的，但在承受保守负载和反向驱动方面体积过大，效率低下。另外，准被动和欠驱动设计减少了机动化和能量存储的数量，但通常是为特定任务而设计的。除非未来的驱动器变得非常扭矩密集、可反向驱动和高效，否则多功能和更强大的可穿戴机器人的设计者将面临这些挑战。本文探讨了解决这个问题的设计范例：可重构流体静力学。研究表明，流体静压作动器可以将流体领域的被动受力机构和共享机构集成在一起，并且仍然具有多功能。首先，一项分析研究比较了这两种机制在承重外骨骼环境下对机动化要求的影响。然后，提出了利用液压元件将这两种机构结合起来的流体静力学概念。案例分析表明，与完全驱动的概念相比，该概念在质量/效率/惯性方面具有优势。然后，在机器人腿上进行了实验，验证了执行器概念在受控条件下的力跟踪、通用性和效率方面能够满足预期的性能。概念验证可以跟踪步行，跑步，蹲起和跳跃的垂直地面反作用力（GRF）曲线，并且步行的能量消耗降低4.8倍。还分析了从一条腿切换到另一条腿时的瞬态力行为，并提出了一些改进措施。

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引用次数: 0

Parameter identification algorithm for separated cable-driven parallel mechanisms via calibration error compensation 基于标定误差补偿的分离式缆索驱动并联机构参数辨识算法

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

Mechatronics

Pub Date : 2025-10-22 DOI: 10.1016/j.mechatronics.2025.103421

Yanze Zhang, Yongnian Zhang, Jieyu Xian, Xingyu Lu, Zhiqiang Huang, Xiaochan Wang

For traditional Cable-Driven Parallel Robot (CDPR), changing the workspace is relatively difficult and requires reconfiguring the anchor points and outer frame. The main reason is that the frame-type configuration is often difficult to unfold and the anchor points are hard to identify. Additionally, since the anchor points are not connected by a fixed structure, the parameters can only be determined through manual measurement, which has limited accuracy. Therefore, the position values of the anchor points should be re-identified using appropriate calibration methods, particularly through the use of rapid automatic calibration methods. This paper proposes a rapid identification and calibration-error compensation method for anchor points of a separated cable-driven parallel robot operating in a non-structured environment. By calibration-error compensation, we refer to the simultaneous estimation and correction of anchor-point positions and calibration-reference errors, which reduces bias from imperfect calibration hardware and enhances identification robustness. To improve the motion accuracy of the moving platform, a static motion error identification model is established based on kinematics, and a least squares method is employed to fit the model and calculate the kinematic parameter positions. Additionally, since calibration plates are used for calibration, random errors may occur. Therefore, a hybrid optimization framework combining AHDBO and the least squares method is further proposed to address the local optimality problem caused by multi-anchor point error coupling. Experimental results showed that after parameter identification and error compensation, the average anchor point identification error was 3.225 mm, and the motion platform position error was 2.20 mm. These results confirm that the proposed parameter identification and compensation methods can effectively improve deployment precision in separated CDPR.

对于传统的缆索驱动并联机器人（CDPR）来说，改变工作空间比较困难，需要重新配置锚点和外框架。主要原因是框架型结构往往难以展开，锚点难以识别。此外，由于锚点之间没有固定结构连接，只能通过人工测量来确定参数，精度有限。因此，应使用适当的校准方法，特别是通过使用快速自动校准方法，重新确定锚点的位置值。提出了一种非结构环境下分离索驱动并联机器人锚点的快速识别与标定误差补偿方法。通过校准误差补偿，我们可以同时估计和修正锚点位置和校准参考误差，从而减少了校准硬件不完善带来的偏差，增强了识别的鲁棒性。为提高运动平台的运动精度，建立了基于运动学的静态运动误差辨识模型，采用最小二乘法对模型进行拟合，计算运动参数位置。此外，由于校正板用于校正，可能会出现随机误差。为此，进一步提出了AHDBO与最小二乘法相结合的混合优化框架，解决了多锚点误差耦合引起的局部最优性问题。实验结果表明，经过参数辨识和误差补偿后，平均锚点辨识误差为3.225 mm，运动平台位置误差为2.20 mm。结果表明，所提出的参数辨识与补偿方法能够有效提高分离式CDPR的部署精度。

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引用次数: 0

Snake robots: A state-of-the-art review on design, locomotion, control, and real-world applications 蛇形机器人：对设计、运动、控制和现实世界应用的最新评述

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

Mechatronics

Pub Date : 2025-10-07 DOI: 10.1016/j.mechatronics.2025.103418

Syed Kumayl Raza Moosavi , Muhammad Hamza Zafar , Filippo Sanfilippo

Snake robots have emerged as a transformative class of bio-inspired robotic systems, offering unparallelled adaptability in navigating complex unstructured terrains. Their limbless design, inspired by biological snakes, enables efficient movement across diverse environments, including rough terrains, confined spaces, and hazardous conditions where traditional wheeled or legged robots struggle. This review provides a comprehensive analysis of the design and development of snake robots, covering their locomotion strategies, mechanical configurations, sensor integration, control schemas, and actuation mechanisms. The review further explores the evolution of mechanical structures from rigid, soft, and hybrid designs, emphasising advancements in actuation and sensor technologies in enhancing adaptability and navigation. Applications of snake robots extend across various domains, including search and rescue (SAR), industrial inspection, and exploration of extreme environments. Despite significant progress, challenges such as optimising energy efficiency, improving environmental perception, and achieving real-time adaptability remain open research areas. This review serves as a foundational reference for researchers and engineers working towards advancing the next generation of snake robots, paving the way for their integration into real-world applications.

蛇形机器人已经成为一种革命性的仿生机器人系统，在导航复杂的非结构化地形方面具有无与伦比的适应性。他们的无肢设计受到生物蛇的启发，能够在各种环境中高效移动，包括崎岖的地形，狭窄的空间，以及传统轮式或腿式机器人难以应对的危险条件。本文综述了蛇形机器人的设计和开发，包括它们的运动策略、机械结构、传感器集成、控制方案和驱动机制。这篇综述进一步探讨了机械结构从刚性、柔性和混合设计的演变，强调了驱动和传感器技术在增强适应性和导航方面的进步。蛇形机器人的应用范围广泛，包括搜索和救援（SAR）、工业检测和极端环境探索。尽管取得了重大进展，但诸如优化能源效率、改善环境感知和实现实时适应性等挑战仍然是开放的研究领域。这篇综述为致力于推进下一代蛇形机器人的研究人员和工程师提供了基础参考，为它们融入现实世界的应用铺平了道路。

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引用次数: 0

Physically feasible dynamic model identification and constrained control of robotic arms: A case study on the ViperX-300 6-DoF robotic manipulator 机械臂物理可行动力学模型辨识与约束控制——以ViperX-300六自由度机械臂为例

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

Mechatronics

Pub Date : 2025-10-07 DOI: 10.1016/j.mechatronics.2025.103419

Mu’taz A. Momani, Mehdi Hosseinzadeh

The demand for novel robotic applications continues to grow, driven by the need for advanced solutions to complex tasks. These tasks often require the incorporation of dynamic models into the development of control schemes. Consequently, model identification has become a critical step in creating accurate dynamic models for robotic arms. However, the identification process can yield parameters that lack physical significance, resulting in feasibility issues that lead to unrealistic and potentially unstable dynamic models. This challenge is particularly pronounced in small robotic arms, where the dynamics are highly sensitive to parameter variations. To address these challenges, this article presents a systematic and comprehensive approach to the model identification of robotic arms while strictly enforcing physical feasibility. The proposed approach is validated on the ViperX-300 6DoF robotic manipulator, which lacks a pre-existing dynamic model, making it an ideal candidate for testing our method. To further validate the proposed model identification approach and assess the suitability of the obtained model for the ViperX-300 6DoF robotic manipulator in safety-critical applications, we design an explicit reference governor, which is a model-based constrained control strategy. Experimental results show that the identified model achieves sufficient accuracy for safety-critical applications, showcasing the effectiveness of the proposed model identification approach and the reliability of the identified model for the ViperX-300 6DoF robotic manipulator.

由于复杂任务需要先进的解决方案，对新型机器人应用的需求持续增长。这些任务通常需要将动态模型结合到控制方案的开发中。因此，模型识别已成为建立机械臂精确动力学模型的关键步骤。然而，识别过程可能产生缺乏物理意义的参数，从而导致可行性问题，从而导致不现实和潜在不稳定的动态模型。这一挑战在小型机械臂中尤为明显，因为其动力学对参数变化非常敏感。为了解决这些挑战，本文提出了一种系统而全面的方法来识别机器人手臂的模型，同时严格执行物理可行性。该方法在ViperX-300 6DoF机械臂上进行了验证，该机械臂缺乏预先存在的动力学模型，使其成为测试我们方法的理想候选者。为了进一步验证所提出的模型识别方法，并评估所获得的模型在安全关键应用中的适用性，我们设计了一个显式参考调节器，这是一种基于模型的约束控制策略。实验结果表明，所识别的模型在安全关键应用中具有足够的精度，验证了所提模型识别方法的有效性和所识别模型对ViperX-300 6DoF机械臂的可靠性。

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引用次数: 0

Advantages of slanted grousers for skid-steer planetary rovers with rigid wheels 具有刚性车轮的滑转向行星漫游者的倾斜滑车的优点

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

Mechatronics

Pub Date : 2025-10-01 DOI: 10.1016/j.mechatronics.2025.103408

Alexander Demishkevich , Bao Thy Thai , Krzysztof Skonieczny

Lunar exploration activities around the world are driving development of low mass skid-steer rovers, for which rigid wheels with grousers are common. Wheels with slanted grousers (i.e. that span from the inner to the outer edge of the wheel surface at an angle, rather than directly across) are compared favorably in this work against V-offset shaped grousers in skid-steer point turn performance, without any reduction in slope climbing performance. Single wheel tests are conducted in GRC-1 lunar simulant with the wheels oriented along a representative slip angle corresponding to skid-steer point turning. Slanted grousers achieve positive tangent turning force,

F_{T}

, a metric introduced to identify conditions when a wheel can sustain skid-steer point turning. The slanted grouser achieves a positive

F_{T}

at slip ratios below 0.4 compared to as much as 0.6 for V-offset, while also only experiencing approximately half as much sinkage. On the other hand, there is little to no difference in performance in straight line driving, relevant for nominal driving and slope climbing. Full rover tests with 4 appropriately configured slanted grouser wheels validate point turn and slope climbing performance with an average skid-steer point turn slip ratio of approximately 0.35 and 0.8 for slope climbing.

世界各地的月球探测活动正在推动低质量滑轨月球车的发展，对于这种月球车来说，带有滑轨的刚性车轮很常见。在这项工作中，与v偏置型格纹相比，具有倾斜格纹的车轮（即从车轮表面的内缘到外缘以一定角度跨越，而不是直接跨越）在滑向转向点性能方面具有优势，而不会降低爬坡性能。在GRC-1月球模拟器上进行了单轮试验，车轮沿滑转向点转向对应的代表性滑移角定向。倾斜滑车获得正切线转弯力FT，这是一种度量，用于确定车轮能够维持滑向点转弯的条件。与v偏置高达0.6的滑移比相比，倾斜式滑车在滑移比低于0.4的情况下获得了正FT，同时也只经历了大约一半的下沉。另一方面，在直线行驶中，与标称行驶和爬坡有关的性能几乎没有差异。用4个适当配置的倾斜滑轮进行的全漫游车测试验证了点转弯和爬坡性能，爬坡时平均滑向转向点转弯滑移比约为0.35和0.8。

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引用次数: 0

Autonomous exploration of mobile robot equipped with LiDAR for high-quality reconstruction in large-scale indoor environments 基于激光雷达的移动机器人自主探索，实现大尺度室内环境的高质量重建

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

Mechatronics

Pub Date : 2025-09-26 DOI: 10.1016/j.mechatronics.2025.103409

Pin-Chu Shih , Yun-Chi Chiang , Jun-Jie Hu , Kuan-Ting Lin , Li-Chen Fu

High-quality 3D reconstruction is essential for applications such as autonomous driving, Augmented Reality (AR)/Virtual Reality (VR), and smart cities. Traditional methods using handheld sensors often result in incomplete and misaligned models. While autonomous exploration can improve these results, it often sacrifices quality for speed. This paper proposes a novel system for high-quality 3D reconstruction of large-scale indoor environments, leveraging a mobile robot equipped with a solid-state LiDAR mounted on a 2-degree-of-freedom (2-DOF) gimbal. The gimbal provides flexible scanning capabilities to overcome field-of-view (FoV) limitations of solid-state LiDARs. To address high-frequency, real-time quality evaluation during exploration, we introduce a new concept called guard-points, which guides the robot toward areas with insufficient point cloud density. These guard-points, alongside conventional frontier-based viewpoints, enable our planner to dynamically balance exploration and reconstruction quality. This system not only controls the mobile robot to visit unknown places and areas with insufficient reconstruction quality but also facilitates high-frequency, real-time exploration path planning. This paper concludes with various simulations and real-world experiments to validate the effectiveness of our system.

高质量的3D重建对于自动驾驶、增强现实(AR)/虚拟现实（VR）和智慧城市等应用至关重要。使用手持传感器的传统方法往往导致模型不完整和不对齐。虽然自主探索可以改善这些结果，但它往往为了速度而牺牲质量。本文提出了一种新型的高质量室内环境三维重建系统，该系统利用了一个安装在2自由度（2-DOF）框架上的固体激光雷达移动机器人。该框架提供了灵活的扫描能力，以克服固态激光雷达的视场（FoV）限制。为了解决勘探过程中高频、实时的质量评估问题，我们引入了一个名为“守护点”的新概念，该概念可以引导机器人前往点云密度不足的区域。这些守护点与传统的边界视角一起，使我们的规划者能够动态平衡勘探和重建质量。该系统不仅可以控制移动机器人前往重建质量不足的未知地点和区域，还可以实现高频、实时的探索路径规划。最后通过各种仿真和实际实验验证了系统的有效性。

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引用次数: 0

Bio-inspired soft gripper with SMA-based variable stiffness 仿生软夹持器，基于sma的可变刚度

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

Mechatronics

Pub Date : 2025-09-17 DOI: 10.1016/j.mechatronics.2025.103417

Xiulu Liu, Zirui Song, Liqiang Xu

To address insufficient clamping force and instability in traditional soft grippers, this study presents a bio-inspired soft gripper with SMA-based variable stiffness. Inspired by human hand musculature and bone structure, the design combines a silicone-based soft finger with a variable-stiffness module. This integration enables adjustable stiffness while retaining softness, significantly enhancing clamping performance. Experimental results show the variable-stiffness gripper achieves a maximum single-finger fingertip force of 1.7 N, representing a 112.5% improvement over the traditional soft gripper. Maximum fingertip and wrap-around clamping weights reach 259.33 g and 524.97 g, corresponding to 126.96% and 97.7% increases, respectively. The gripper demonstrates robust adaptability in household scenarios, effectively handling objects ranging from fragile foods to everyday tools.

针对传统软夹持器夹紧力不足和不稳定的问题，提出了一种基于sma的变刚度仿生软夹持器。受人手肌肉组织和骨骼结构的启发，该设计结合了基于硅树脂的柔软手指和可变刚度模块。这种集成可以在保持柔软度的同时调节刚度，显着提高夹紧性能。实验结果表明，变刚度夹持器单指指尖最大受力为1.7 N，比传统软夹持器提高了112.5%。最大指尖夹紧重量为259.33 g，最大环绕夹紧重量为524.97 g，分别增长126.96%和97.7%。抓手在家庭场景中表现出强大的适应性，有效地处理从易碎的食物到日常工具的物体。

引用次数: 0

Control-oriented modelling and experimental validation of a controllable multichamber air spring suspension 可控多腔空气弹簧悬架的面向控制建模与实验验证

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

Mechatronics

Pub Date : 2025-09-15 DOI: 10.1016/j.mechatronics.2025.103406

Sabrina Milani, Gabriele Marini, Giulio Panzani, Matteo Corno, Sergio M. Savaresi

This paper presents the characterization and validation of a multichamber air spring, a pneumatic suspension system comprising a primary chamber linked to multiple auxiliary air reservoirs through electronically controlled valves. Multichamber air springs represent complex electromechanical systems, where valve control and chamber states significantly influence the suspension’s equivalent stiffness. The primary objective of this study is to introduce a novel control-oriented mathematical model for the air spring that more accurately captures the intricate dynamical behaviours than traditional models. By incorporating the dynamics of air mass flow through the valves, the proposed model captures the elastic force during both the opening and closing of the valves, while also accounting for damping phenomena induced by internal friction. Experimental validation is conducted using a suspension test bench, demonstrating that the simulated forces match the measured values across various tests, including realistic driving scenarios characterized by high-frequency stiffness modulation on off-road terrains. This study illustrates how approaching the dynamics from a control-oriented perspective paves the way for enhanced vehicle dynamics control.

本文介绍了多室空气弹簧的特性和验证，多室空气弹簧是一种气动悬架系统，包括一个主室，通过电子控制阀与多个辅助储气罐相连。多室空气弹簧代表复杂的机电系统，其中阀门控制和腔室状态显著影响悬架的等效刚度。本研究的主要目的是为空气弹簧引入一种新的面向控制的数学模型，该模型比传统模型更准确地捕捉复杂的动力学行为。通过结合通过阀门的空气质量流动的动力学，所提出的模型捕获了阀门打开和关闭期间的弹性力，同时也考虑了内摩擦引起的阻尼现象。利用悬架试验台进行了实验验证，表明模拟力与各种测试的实测值相匹配，包括在越野地形上以高频刚度调制为特征的真实驾驶场景。本研究说明了如何从面向控制的角度接近动力学，为增强车辆动力学控制铺平了道路。

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引用次数: 0