Amplitude phase control for electro-hydraulic servo system based on normalized least-mean-square adaptive filtering algorithm

The electro-hydraulic servo system was studied to cancel the amplitude attenuation and phase delay of its sinusoidal response,by developing a network using normalized least-mean-square (LMS) adaptive filtering algorithm.The command input was corrected by weights to generate the desired input for the algorithm,and the feedback was brought into the feedback correction,whose output was the weighted feedback.The weights of the normalized LMS adaptive filtering algorithm were updated on-line according to the estimation error between the desired input and the weighted feedback.Thus,the updated weights were copied to the input correction.The estimation error was forced to zero by the normalized LMS adaptive filtering algorithm such that the weighted feedback was equal to the desired input,making the feedback track the command.The above concept was used as a basis for the development of amplitude phase control.The method has good real-time performance without estimating the system model.The simulation and experiment results show that the proposed amplitude phase control can efficiently cancel the amplitude attenuation and phase delay with high precision.

Research into the inversion of the induced polarization relaxation time spectrum based on the uniform amplitude sampling method

The induced polarization relaxation time spectrum（RTS） reflects the distribution of rock pore size,which is a key factor in estimating the oil or water storage capacity of strata.However,as the data acquisition and transmission abilities of well logging instruments are much limited due to the underground environment,it is necessary to explore suitable sampling methods which can be used to obtain an accurate RST with less sampling data.This paper presents a uniform amplitude sampling method（UASM）,and compares it with the conventional uniform time sampling method（UTSM） and logarithm time sampling method（LTSM） in terms of the adaptability to different strata,RTS inversion accuracy,and stratum vertical resolution.Numerical simulation results show that the UASM can obtain high inversion accuracy of RTS with different kinds of pore size distribution formation,with high dynamic ranges of pore size,and with a small number of sampling points.The UASM,being able to adapt to the attenuation speed of polarization curve automatically,thus has the highest vertical resolution.The inversion results of rock samples also show that the UASM is superior to the UTSM and LTSM.

New design of a compact aero-robotic drilling end effector: An experimental analysis

This paper presents the development of a normal adjustment cell (NAC) in aero-robotic drilling to improve the quality of vertical drilling, by using an intelligent double-eccentric disk normal adjustment mechanism (2-EDNA), a spherical plain bearing and a floating compress module with sensors. After the surface normal vector is calculated based on the laser sensors' feedback, the 2-EDNA concept is conceived specifically to address the deviation of the spindle from the surface normal at the drilling point. Following the angle calculation, depending on the actual initial position, two precise eccentric disks (PEDs) with an identical eccentric radius are used to rotate with the appropriate angles using two high-resolution DC servomotors. The two PEDs will carry the spindle to coincide with the surface normal, keeping the vertex of the drill bit still to avoid repeated adjustment and position compensation. A series of experiments was conducted on an aeronautical drilling robot platform with a precise NAC. The effect of normal adjustment on bore diameter, drilling force, burr size, drilling heat, and tool wear was analyzed. The results validate that using the NAC in robotic drilling results in greatly improved vertical drilling quality and is attainable in terms of intelligence and accuracy. (C) 2015 The Authors. Production and hosting by Elsevier Ltd. on behalf of Chinese Society of Aeronautics and Astronautics.