The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this p...The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.展开更多
This study focuses on the stress and displacement of a circular opening that is excavated in a strain-softening rock mass under hydraulic-mechanical coupling.It follows the generalized Hoek-Brown(H-B) failure criterio...This study focuses on the stress and displacement of a circular opening that is excavated in a strain-softening rock mass under hydraulic-mechanical coupling.It follows the generalized Hoek-Brown(H-B) failure criterion.Moreover,an improved numerical method and stepwise procedure are proposed.This method considers the deterioration of the strength,deformation,and dilation angle.It also incorporates the hydraulic-mechanical coupling and the variation of elastic strain in the plastic region.Several examples are conducted to demonstrate the validity and accuracy of the proposed solution through MATLAB programming and FLAC software.Parametric studies are also conducted to highlight the influence of hydraulic–mechanical coupling on stress and displacement.Results show that in this case,stress confinement is lower and tunnel convergences are higher than the corresponding stresses and displacements obtained when those factors are not considered.The displacement and plastic radius are also larger than those obtained when hydraulic-mechanical coupling is not considered.展开更多
基金Project(50375139) supported by the National Natural Science Foundation of ChinaProject(NCET-04-0545) supported by the New Century Excellent Talent Plan of the Ministry of Education of China
文摘The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.
基金supported by the National Basic Research Program of China("973"Project)(Grant No.2013CB036004)the National Natural Science Foundation of China(Grant No.51208523)China Postdoctoral Science Foundation(Grant No.2003034468)
文摘This study focuses on the stress and displacement of a circular opening that is excavated in a strain-softening rock mass under hydraulic-mechanical coupling.It follows the generalized Hoek-Brown(H-B) failure criterion.Moreover,an improved numerical method and stepwise procedure are proposed.This method considers the deterioration of the strength,deformation,and dilation angle.It also incorporates the hydraulic-mechanical coupling and the variation of elastic strain in the plastic region.Several examples are conducted to demonstrate the validity and accuracy of the proposed solution through MATLAB programming and FLAC software.Parametric studies are also conducted to highlight the influence of hydraulic–mechanical coupling on stress and displacement.Results show that in this case,stress confinement is lower and tunnel convergences are higher than the corresponding stresses and displacements obtained when those factors are not considered.The displacement and plastic radius are also larger than those obtained when hydraulic-mechanical coupling is not considered.
