A new method is proposed to estimate and analyze the vehicle lateral stability region, which provides a direct and intuitive demonstration for the safety and stability control of ground vehicles. Based on a four-wheel vehicle model and a nonlinear two-dimensional (2D) analytical LuGre tire model, a local linearization method is applied to estimate the vehicle lateral stability regions by analyzing the vehicle stability at each operation point on a phase plane, which includes but not limited to the equilibrium points. As the collections of all the locally stable operation points, the estimated stability regions are conservative because both vehicle and tire stability are simultaneously considered, which are especially important for characterizing the stability features of highly/fully automated ground vehicles (AGV). The obtained lateral stability regions can be well explained by the vehicle characteristics of oversteering and understeering in the context of vehicle handling stability. The impacts of vehicle lateral load transfer, longitudinal velocity, tire-road friction coefficient, and steering angle on the estimated stability regions are presented and discussed. To validate the correctness of the estimated stability regions, a case study by matlab/simulink and CarSim® co-simulation is presented and discussed.
{"title":"Stability Regions of Vehicle Lateral Dynamics: Estimation and Analysis","authors":"Yiwen Huang, Wei Liang, Yan Chen","doi":"10.1115/1.4048932","DOIUrl":"https://doi.org/10.1115/1.4048932","url":null,"abstract":"\u0000 A new method is proposed to estimate and analyze the vehicle lateral stability region, which provides a direct and intuitive demonstration for the safety and stability control of ground vehicles. Based on a four-wheel vehicle model and a nonlinear two-dimensional (2D) analytical LuGre tire model, a local linearization method is applied to estimate the vehicle lateral stability regions by analyzing the vehicle stability at each operation point on a phase plane, which includes but not limited to the equilibrium points. As the collections of all the locally stable operation points, the estimated stability regions are conservative because both vehicle and tire stability are simultaneously considered, which are especially important for characterizing the stability features of highly/fully automated ground vehicles (AGV). The obtained lateral stability regions can be well explained by the vehicle characteristics of oversteering and understeering in the context of vehicle handling stability. The impacts of vehicle lateral load transfer, longitudinal velocity, tire-road friction coefficient, and steering angle on the estimated stability regions are presented and discussed. To validate the correctness of the estimated stability regions, a case study by matlab/simulink and CarSim® co-simulation is presented and discussed.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"41 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85718829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
As a severe tire failure, tire blowout during driving can significantly threaten vehicle stability and road safety. Tire blowout models were developed in the literature to conclude that a vehicle always deviates to the tire blowout side. However, this conclusion is proved to be inaccurate in this paper, since one important factor was largely ignored in the existing tire blowout models. Toe angle, as a basic and widely applied setup on ground vehicles, can provide preset and symmetric lateral tire forces for normal driving. However, when tire blowout occurs, different toe angle setups can impact vehicle motions in different ways. For the first time, the toe angle is explicitly considered and integrated into a tire blowout model in this paper. For different tire blowout locations, driving maneuvers, and drivetrain configurations, the impacts of different toe angle setups on the variations of tire friction forces and vehicle motions are analyzed. The developed tire blowout model with toe angles is validated through both high-fidelity carsim simulation results and experimental results of a scaled test vehicle. Both simulation and experimental results show that a vehicle may not deviate to the tire blowout side, depending on the toe angle setups and driving maneuvers. Moreover, the experimental results also validate that the proposed tire blowout model can accurately evaluate the tire blowout impacts on vehicle dynamics.
{"title":"Should a Vehicle Always Deviate to the Tire Blowout Side?—A New Tire Blowout Model With Toe Angle Effects","authors":"Ao Li, Yan Chen, Xinyu Du, Wen-Chiao Lin","doi":"10.1115/1.4051034","DOIUrl":"https://doi.org/10.1115/1.4051034","url":null,"abstract":"\u0000 As a severe tire failure, tire blowout during driving can significantly threaten vehicle stability and road safety. Tire blowout models were developed in the literature to conclude that a vehicle always deviates to the tire blowout side. However, this conclusion is proved to be inaccurate in this paper, since one important factor was largely ignored in the existing tire blowout models. Toe angle, as a basic and widely applied setup on ground vehicles, can provide preset and symmetric lateral tire forces for normal driving. However, when tire blowout occurs, different toe angle setups can impact vehicle motions in different ways. For the first time, the toe angle is explicitly considered and integrated into a tire blowout model in this paper. For different tire blowout locations, driving maneuvers, and drivetrain configurations, the impacts of different toe angle setups on the variations of tire friction forces and vehicle motions are analyzed. The developed tire blowout model with toe angles is validated through both high-fidelity carsim simulation results and experimental results of a scaled test vehicle. Both simulation and experimental results show that a vehicle may not deviate to the tire blowout side, depending on the toe angle setups and driving maneuvers. Moreover, the experimental results also validate that the proposed tire blowout model can accurately evaluate the tire blowout impacts on vehicle dynamics.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"1 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82746326","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper proposes a novel hybrid power-split transmission to drive hydraulic implements in construction machinery. The highly efficient power-split hybrid transmission is combined with displacement-controlled (DC) actuators to eliminate throttling losses within the hydraulic system and achieve higher fuel savings. The architecture design, sizing, and power-management are addressed. Simulation results considering a realistic truck-loading cycle on a mini-excavator demonstrate the feasibility of the idea. A systematic comparison between the proposed system and the previously developed series–parallel hybrid is also carried out. The paper compares engine operation and fuel consumption of the previously mentioned hybrid system with the original nonhybrid load-sensing (LS) machine. It is shown that by implementing an efficient engine operation control, the proposed system can achieve up to 60.2% improvement in fuel consumption when compared to the original machine and consume 11.8% less than the previously developed series–parallel hybrid with DC actuation. Other advantages of the proposed solution include a much steadier engine operation, which open to the possibility of designing an engine for optimal consumption and emissions at a single operating point as well as greatly reduce pollutant emissions. A steadier prime mover operation should also benefit fully electric machines, as the battery would not be stressed with heavy transients.
{"title":"An Energy Efficient Power-Split Hybrid Transmission System to Drive Hydraulic Implements in Construction Machines","authors":"M. Bertolin, A. Vacca","doi":"10.1115/1.4051035","DOIUrl":"https://doi.org/10.1115/1.4051035","url":null,"abstract":"\u0000 This paper proposes a novel hybrid power-split transmission to drive hydraulic implements in construction machinery. The highly efficient power-split hybrid transmission is combined with displacement-controlled (DC) actuators to eliminate throttling losses within the hydraulic system and achieve higher fuel savings. The architecture design, sizing, and power-management are addressed. Simulation results considering a realistic truck-loading cycle on a mini-excavator demonstrate the feasibility of the idea. A systematic comparison between the proposed system and the previously developed series–parallel hybrid is also carried out. The paper compares engine operation and fuel consumption of the previously mentioned hybrid system with the original nonhybrid load-sensing (LS) machine. It is shown that by implementing an efficient engine operation control, the proposed system can achieve up to 60.2% improvement in fuel consumption when compared to the original machine and consume 11.8% less than the previously developed series–parallel hybrid with DC actuation. Other advantages of the proposed solution include a much steadier engine operation, which open to the possibility of designing an engine for optimal consumption and emissions at a single operating point as well as greatly reduce pollutant emissions. A steadier prime mover operation should also benefit fully electric machines, as the battery would not be stressed with heavy transients.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"91 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87418534","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Point-to-point path planning for a kinematic model of a differential-drive wheeled mobile robot (WMR) with the goal of minimizing input energy is the focus of this work. An optimal control problem is formulated to determine the necessary conditions for optimality and the resulting two point boundary value problem is solved in closed form using Jacobi elliptic functions. The resulting nonlinear programming problem is solved for two variables and the results are compared to the traditional shooting method to illustrate that the Jacobi elliptic functions parameterize the exact profile of the optimal trajectory. A set of terminal constraints which lie on a circle in the first quadrant are used to generate a set of optimal solutions. It is noted that for maneuvers where the angle of the vector connecting the initial and terminal point is greater than a threshold, which is a function of the radius of the terminal constraint circle, the robot initially moves into the third quadrant before terminating in the first quadrant. The minimum energy solution is compared to two other optimal control formulations: (1) an extension of the Dubins vehicle model where the constant linear velocity of the robot is optimized for and (2) a simple turn and move solution, both of whose optimal paths lie entirely in the first quadrant. Experimental results are used to validate the optimal trajectories of the differential-drive robot.
{"title":"Minimum Energy Control of a Unicycle Model Robot","authors":"Young Jin Kim, T. Singh","doi":"10.1115/1.4050845","DOIUrl":"https://doi.org/10.1115/1.4050845","url":null,"abstract":"\u0000 Point-to-point path planning for a kinematic model of a differential-drive wheeled mobile robot (WMR) with the goal of minimizing input energy is the focus of this work. An optimal control problem is formulated to determine the necessary conditions for optimality and the resulting two point boundary value problem is solved in closed form using Jacobi elliptic functions. The resulting nonlinear programming problem is solved for two variables and the results are compared to the traditional shooting method to illustrate that the Jacobi elliptic functions parameterize the exact profile of the optimal trajectory. A set of terminal constraints which lie on a circle in the first quadrant are used to generate a set of optimal solutions. It is noted that for maneuvers where the angle of the vector connecting the initial and terminal point is greater than a threshold, which is a function of the radius of the terminal constraint circle, the robot initially moves into the third quadrant before terminating in the first quadrant. The minimum energy solution is compared to two other optimal control formulations: (1) an extension of the Dubins vehicle model where the constant linear velocity of the robot is optimized for and (2) a simple turn and move solution, both of whose optimal paths lie entirely in the first quadrant. Experimental results are used to validate the optimal trajectories of the differential-drive robot.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"137 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86772762","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Intelligent energy management of hybrid electric vehicles is feasible with a priori information of route and driving conditions. Model predictive control (MPC) with finite horizon road grade preview has been proposed as a viable predictive energy management approach. We propose that our novel distance constrained-adaptive concurrent dynamic programming (DC-ACDP) approach can provide better energy management than MPC without any road grade information in context of an extended range electric vehicle (EREV). In this article, we have evaluated and compared the MPC and DC-ACDP energy management strategies for a real-world driving scenario. The simulations were conducted for a 160 km drive with road grade variation between +4% and –1%. Results show that the DC-ACDP approach is near-optimal and improves overall energy consumption by a maximum of 4.25%, in comparison to the simple MPC with a finite horizon road grade preview implementation. Additionally, a higher value for energy storage system state of charge (SOC) tracking penalty p2 results in the net energy consumption for MPC to converge toward that of DC-ACDP. A combination of the MPC and DC-ACDP approach is also evaluated with only 1.25% maximum improvement over simple MPC.
{"title":"Comparison of Model Predictive Control and Distance Constrained-Adaptive Concurrent Dynamic Programming Algorithms for Extended Range Electric Vehicle Optimal Energy Management","authors":"A. Kalia, B. Fabien","doi":"10.1115/1.4050884","DOIUrl":"https://doi.org/10.1115/1.4050884","url":null,"abstract":"\u0000 Intelligent energy management of hybrid electric vehicles is feasible with a priori information of route and driving conditions. Model predictive control (MPC) with finite horizon road grade preview has been proposed as a viable predictive energy management approach. We propose that our novel distance constrained-adaptive concurrent dynamic programming (DC-ACDP) approach can provide better energy management than MPC without any road grade information in context of an extended range electric vehicle (EREV). In this article, we have evaluated and compared the MPC and DC-ACDP energy management strategies for a real-world driving scenario. The simulations were conducted for a 160 km drive with road grade variation between +4% and –1%. Results show that the DC-ACDP approach is near-optimal and improves overall energy consumption by a maximum of 4.25%, in comparison to the simple MPC with a finite horizon road grade preview implementation. Additionally, a higher value for energy storage system state of charge (SOC) tracking penalty p2 results in the net energy consumption for MPC to converge toward that of DC-ACDP. A combination of the MPC and DC-ACDP approach is also evaluated with only 1.25% maximum improvement over simple MPC.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"92 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85878911","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Most industrial serial robots use decentralized joint controllers assuming rigid body dynamics. To prevent exciting the flexible mode, gains are kept low, resulting in poor control bandwidth and disturbance rejection. In this paper, a two-stage flexible joint discrete controller is presented, in which the decentralized approach is extended with a stiffness to take into account the dominant coupling mode. In the first-stage, an input shaping feedforward shapes the rigid closed-loop dynamics into desired dynamics that does not produce link vibrations. Robotic dynamic computation based on a recursive Newton–Euler algorithm is conducted to update the feedforward link inertia parameter during robot motion. A second-stage is added to increase disturbance rejection. A generalized Smith predictor (GSP) is developed to compensate for delay and feedback sensor filtering. An effective methodology is presented to optimize the control loop gains. Numerical simulations and experiments on a six-joint robot manipulator confirm that the proposed controller improves control performances in terms of bandwidth, vibration attenuation, and disturbance rejection.
{"title":"Vibration Control of Flexible Joint Robots Using a Discrete-Time Two-Stage Controller Based on Time-Varying Input Shaping and Delay Compensation","authors":"M. Pham, B. Hazel, P. Hamelin, Zhaoheng Liu","doi":"10.1115/1.4050885","DOIUrl":"https://doi.org/10.1115/1.4050885","url":null,"abstract":"\u0000 Most industrial serial robots use decentralized joint controllers assuming rigid body dynamics. To prevent exciting the flexible mode, gains are kept low, resulting in poor control bandwidth and disturbance rejection. In this paper, a two-stage flexible joint discrete controller is presented, in which the decentralized approach is extended with a stiffness to take into account the dominant coupling mode. In the first-stage, an input shaping feedforward shapes the rigid closed-loop dynamics into desired dynamics that does not produce link vibrations. Robotic dynamic computation based on a recursive Newton–Euler algorithm is conducted to update the feedforward link inertia parameter during robot motion. A second-stage is added to increase disturbance rejection. A generalized Smith predictor (GSP) is developed to compensate for delay and feedback sensor filtering. An effective methodology is presented to optimize the control loop gains. Numerical simulations and experiments on a six-joint robot manipulator confirm that the proposed controller improves control performances in terms of bandwidth, vibration attenuation, and disturbance rejection.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"21 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88226492","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Controls of integrated gasoline engine and aftertreatment systems are critical for fuel efficiency improvement and emission regulation. This paper aims to develop novel model-based three-way catalytic converter (TWC) controls to reduce the fuel consumption and tailpipe emissions for a gasoline engine. A model-based dither control and a nonlinear model predictive control (MPC)-based control are presented, respectively. The proposed TWC dither control utilizes a systematically designed dither cycle configuration (including dithering amplitude, offset, and frequency) based on a control-oriented model, with the capability to adapt the dither cycle configuration to various engine operating conditions. The MPC control can optimize engine air–fuel ratio (AFR) to maintain the oxygen storage of TWC at a desired level and thus meet the tailpipe NOx, CO, and HC emission requirements. The efficacies of both model-based TWC controls are validated in simulation with MPC control improving CO emission conversion efficiencies by 8.42% and 4.85% in simplified US06 and urban dynamometer driving schedule (UDDS) driving cycles, when compared to a baseline dithering-based AFR control. Meanwhile, NOx emission conversion efficiency is maintained above the required limit of 95%, while the fuel efficiency remains at the same level as the baseline control methodology.
{"title":"Model-Based Predictive Control and Dithering Control for an Integrated Gasoline Engine and Three-Way Catalytic Converter System","authors":"Kuo Yang, Pingen Chen","doi":"10.1115/1.4050846","DOIUrl":"https://doi.org/10.1115/1.4050846","url":null,"abstract":"\u0000 Controls of integrated gasoline engine and aftertreatment systems are critical for fuel efficiency improvement and emission regulation. This paper aims to develop novel model-based three-way catalytic converter (TWC) controls to reduce the fuel consumption and tailpipe emissions for a gasoline engine. A model-based dither control and a nonlinear model predictive control (MPC)-based control are presented, respectively. The proposed TWC dither control utilizes a systematically designed dither cycle configuration (including dithering amplitude, offset, and frequency) based on a control-oriented model, with the capability to adapt the dither cycle configuration to various engine operating conditions. The MPC control can optimize engine air–fuel ratio (AFR) to maintain the oxygen storage of TWC at a desired level and thus meet the tailpipe NOx, CO, and HC emission requirements. The efficacies of both model-based TWC controls are validated in simulation with MPC control improving CO emission conversion efficiencies by 8.42% and 4.85% in simplified US06 and urban dynamometer driving schedule (UDDS) driving cycles, when compared to a baseline dithering-based AFR control. Meanwhile, NOx emission conversion efficiency is maintained above the required limit of 95%, while the fuel efficiency remains at the same level as the baseline control methodology.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"209 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78162951","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Transfer learning (TL) is a machine learning (ML) tool where the knowledge, acquired from a source domain, is “transferred” to perform a task in a target domain that has (to some extent) a similar setting. The underlying concept does not require the ML method to analyze a new problem from the beginning, and thereby both the learning time and the amount of required target-domain data are reduced for training. An example is the occurrence of thermoacoustic instability (TAI) in combustors, which may cause pressure oscillations, possibly leading to flame extinction as well as undesirable vibrations in the mechanical structures. In this situation, it is difficult to collect useful data from industrial combustion systems, due to the transient nature of TAI phenomena. A feasible solution is the usage of prototypes or emulators, like a Rijke tube, to produce largely similar phenomena. This paper proposes symbolic time-series analysis (STSA)-based TL, where the key idea is to develop a capability of discrimination between stable and unstable operations of a combustor, based on the time-series of pressure oscillations from a data source that contains sufficient information, even if it is not the target regime, and then transfer the learnt models to the target regime. The proposed STSA-based pattern classifier is trained on a previously validated numerical model of a Rijke-tube apparatus. The knowledge of this trained classifier is transferred to classify similar operational regimes in: (i) an experimental Rijke-tube apparatus and (ii) an experimental combustion system apparatus. Results of the proposed TL have been validated by comparison with those of two shallow neural networks (NNs)-based TL and another NN having an additional long short-term memory (LSTM) layer, which serve as benchmarks, in terms of classification accuracy and computational complexity.
{"title":"Transfer Learning for Detection of Combustion Instability Via Symbolic Time-Series Analysis","authors":"C. Bhattacharya, A. Ray","doi":"10.1115/1.4050847","DOIUrl":"https://doi.org/10.1115/1.4050847","url":null,"abstract":"\u0000 Transfer learning (TL) is a machine learning (ML) tool where the knowledge, acquired from a source domain, is “transferred” to perform a task in a target domain that has (to some extent) a similar setting. The underlying concept does not require the ML method to analyze a new problem from the beginning, and thereby both the learning time and the amount of required target-domain data are reduced for training. An example is the occurrence of thermoacoustic instability (TAI) in combustors, which may cause pressure oscillations, possibly leading to flame extinction as well as undesirable vibrations in the mechanical structures. In this situation, it is difficult to collect useful data from industrial combustion systems, due to the transient nature of TAI phenomena. A feasible solution is the usage of prototypes or emulators, like a Rijke tube, to produce largely similar phenomena. This paper proposes symbolic time-series analysis (STSA)-based TL, where the key idea is to develop a capability of discrimination between stable and unstable operations of a combustor, based on the time-series of pressure oscillations from a data source that contains sufficient information, even if it is not the target regime, and then transfer the learnt models to the target regime. The proposed STSA-based pattern classifier is trained on a previously validated numerical model of a Rijke-tube apparatus. The knowledge of this trained classifier is transferred to classify similar operational regimes in: (i) an experimental Rijke-tube apparatus and (ii) an experimental combustion system apparatus. Results of the proposed TL have been validated by comparison with those of two shallow neural networks (NNs)-based TL and another NN having an additional long short-term memory (LSTM) layer, which serve as benchmarks, in terms of classification accuracy and computational complexity.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"104 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76863541","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents an optimization-driven controller design for smooth and accurate position control of a single-rod electrohydrostatic actuator. The design approach uses logically guided iterative runs of the electrohydrostatic actuator to determine the optimal gain and poles' locations of a low-bandwidth controller. The optimization algorithm used in the paper is the globalized bounded Nelder–Mead algorithm with deterministic restarts for improved globalization and lower numerical cost. The design also incorporates a prefilter to ensure minimum jerk in the system's step input response in the beginning and while approaching steady-state. The step response of the filter is a seventh-deg polynomial curve that ensures the minimum change in acceleration in both states. Experimental results reveal that the addition of the proposed prefilter reduces jerk in the system by up to 90%. Results also indicate that the controller performs very well in all quadrants with external load uncertainty of up to 367 kg and thus proves the effectiveness of the design approach.
{"title":"Optimization-Driven Controller Design for a High-Performance Electro-Hydrostatic Asymmetric Actuator Operating in All Quadrants","authors":"Kurram Butt, G. Costa, N. Sepehri","doi":"10.1115/1.4050722","DOIUrl":"https://doi.org/10.1115/1.4050722","url":null,"abstract":"\u0000 This paper presents an optimization-driven controller design for smooth and accurate position control of a single-rod electrohydrostatic actuator. The design approach uses logically guided iterative runs of the electrohydrostatic actuator to determine the optimal gain and poles' locations of a low-bandwidth controller. The optimization algorithm used in the paper is the globalized bounded Nelder–Mead algorithm with deterministic restarts for improved globalization and lower numerical cost. The design also incorporates a prefilter to ensure minimum jerk in the system's step input response in the beginning and while approaching steady-state. The step response of the filter is a seventh-deg polynomial curve that ensures the minimum change in acceleration in both states. Experimental results reveal that the addition of the proposed prefilter reduces jerk in the system by up to 90%. Results also indicate that the controller performs very well in all quadrants with external load uncertainty of up to 367 kg and thus proves the effectiveness of the design approach.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"31 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87006578","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
To ensure the human safety in the process of human–robot cooperation, this paper proposes a robot collision detection method without external sensors based on time-series analysis (TSA). In the investigation, first, based on the characteristics of the external torque of the robot, the internal variation of the external torque sequence during the movement of the robot is analyzed. Next, a time-series model of the external torque is constructed, which is used to predict the external torque according to the historical motion information of the robot and generate a dynamic threshold. Then, the detailed process of time-series analysis for collision detection is described. Finally, the real-machine experiment scheme of the proposed real-time collision detection algorithm is designed and is used to perform experiments with a six degrees-of-freedom (6DOF) articulated industrial robot. The results show that the proposed method helps to obtain a detection accuracy of 100%; and that, as compared with the existing collision detection method based on a fixed symmetric threshold, the proposed method based on TSA possesses smaller detection delay and is more feasible in eliminating the sensitivity difference of collision detection in different directions.
{"title":"Robot Collision Detection Without External Sensors Based on Time-Series Analysis","authors":"Tie Zhang, Peizhong Ge, Yanbiao Zou, Yingwu He","doi":"10.1115/1.4048782","DOIUrl":"https://doi.org/10.1115/1.4048782","url":null,"abstract":"\u0000 To ensure the human safety in the process of human–robot cooperation, this paper proposes a robot collision detection method without external sensors based on time-series analysis (TSA). In the investigation, first, based on the characteristics of the external torque of the robot, the internal variation of the external torque sequence during the movement of the robot is analyzed. Next, a time-series model of the external torque is constructed, which is used to predict the external torque according to the historical motion information of the robot and generate a dynamic threshold. Then, the detailed process of time-series analysis for collision detection is described. Finally, the real-machine experiment scheme of the proposed real-time collision detection algorithm is designed and is used to perform experiments with a six degrees-of-freedom (6DOF) articulated industrial robot. The results show that the proposed method helps to obtain a detection accuracy of 100%; and that, as compared with the existing collision detection method based on a fixed symmetric threshold, the proposed method based on TSA possesses smaller detection delay and is more feasible in eliminating the sensitivity difference of collision detection in different directions.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"56 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91275083","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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