Influence of the elasticity of the base on vibration isolation performances of single layer, double layer and floating raft vibration isolation systems is investigated systematically. Characteristics of vibration coup...Influence of the elasticity of the base on vibration isolation performances of single layer, double layer and floating raft vibration isolation systems is investigated systematically. Characteristics of vibration coupling between different vibration isolation systems and different elastic bases are analyzed. Moreover the characteristics of vibration acceleration level difference and force transmissibility of different vibration isolation systems are discussed and their simpli- fled expressions are given. In addition the required control forces of active vibration isolation under different installations of actuators for different vibration isolation systems are compared. The results show that for all vibration isolation systems, the addition of the stiffness and damping of the base can enhance their vibration acceleration level difference and force transmissibility. Moreover for floating raft vibration isolation system, the addition of the stiffness and damping of the raft can enhance its vibration isolation performance and reduce the control force required bv active vibration isolation.展开更多
In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is inves...In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is investigated. The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour, high hysteresis and time varying parameters. Fuzzy Logic （FL） is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Propor- tional-Integral-Derivative （PID） control at the outermost loop. A simulation study was first performed followed by an experi- mental investigation for validation. The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space. In the former, the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a Hardware-In-The-Loop Simulation （HILS） configuration was developed and a number of experiments were carried out. The results of the experiment and the simulation works were in good agreement, which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.展开更多
文摘Influence of the elasticity of the base on vibration isolation performances of single layer, double layer and floating raft vibration isolation systems is investigated systematically. Characteristics of vibration coupling between different vibration isolation systems and different elastic bases are analyzed. Moreover the characteristics of vibration acceleration level difference and force transmissibility of different vibration isolation systems are discussed and their simpli- fled expressions are given. In addition the required control forces of active vibration isolation under different installations of actuators for different vibration isolation systems are compared. The results show that for all vibration isolation systems, the addition of the stiffness and damping of the base can enhance their vibration acceleration level difference and force transmissibility. Moreover for floating raft vibration isolation system, the addition of the stiffness and damping of the raft can enhance its vibration isolation performance and reduce the control force required bv active vibration isolation.
文摘In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is investigated. The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour, high hysteresis and time varying parameters. Fuzzy Logic （FL） is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Propor- tional-Integral-Derivative （PID） control at the outermost loop. A simulation study was first performed followed by an experi- mental investigation for validation. The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space. In the former, the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a Hardware-In-The-Loop Simulation （HILS） configuration was developed and a number of experiments were carried out. The results of the experiment and the simulation works were in good agreement, which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.
