The ultrasonic motor (USM) possesses heavy nonlinearities which vary with driving conditions and load-dependent characteristics such as the dead-zone. In this paper, an identification method for the rotary travelling-...The ultrasonic motor (USM) possesses heavy nonlinearities which vary with driving conditions and load-dependent characteristics such as the dead-zone. In this paper, an identification method for the rotary travelling-wave type ultrasonic motor (RTWUSM) with dead-zone is proposed based on a modified Hammerstein model structure. The driving voltage contributing effect on the nonlinearities of the RTWUSM was transformed to the change of dynamic parameters against the driving voltage. The dead-zone of the RTWUSM is identified based upon the above transformation. Experiment results showed good agreement be- tween the output of the proposed model and actual measured output.展开更多
This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response,...This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.展开更多
Considering the geometric nonlinearity due to the large elastic deformations of flexible links, the superharmonic resonances of elastic linkages in the forms of ω1/3 and ω1/2 are studied by the method of multiple sc...Considering the geometric nonlinearity due to the large elastic deformations of flexible links, the superharmonic resonances of elastic linkages in the forms of ω1/3 and ω1/2 are studied by the method of multiple scales. The research shows that the analytical results are coincident with the experimental results.展开更多
Positioning with high precision piezoelectric actuators is widely used.To overcome positioning inaccuracy caused by hysteresis and creep of actuators,a precise tracking method for piezoelectric actuators using active ...Positioning with high precision piezoelectric actuators is widely used.To overcome positioning inaccuracy caused by hysteresis and creep of actuators,a precise tracking method for piezoelectric actuators using active disturbance rejection control(ADRC) has been proposed in this paper.This method,in real-time,actively estimates and compensates parameter uncertainties,nonlinear factors such as hysteresis,and external disturbances in the tracking system.Precise tracking of the piezoelectric actuator can be achieved without any form of feedforward compensations.The experimental results demonstrate that the active disturbance rejection controller can reduce tracking errors by over90%comparing with those using the PID controller.Those features of the proposed control method are very suitable for applications in adaptive optics.展开更多
Equivalent stochastic linearization （ESL） for nonlinear uncertain structure under stationary stochastic excitation is presented. There are two parts of difference between the original system and equivalent system： ...Equivalent stochastic linearization （ESL） for nonlinear uncertain structure under stationary stochastic excitation is presented. There are two parts of difference between the original system and equivalent system： one is caused by the difference between the means of original and equivalent stochastic structure; and another is caused by the difference between the original and equivalent stochastic structure which has the relation with stochastic variables. Statistical characteristics of equivalent stochastic structure can be obtained in accordance with mean square criterion, so nonlinear stochastic structure is transformed into linear stochastic structure. In order to attain that objective, the compound response spectrum of linear stochastic structure under stationary random excitation which is used in the solution is derived in the case of the mutual independence between stochastic excitation and stochastic structure. Finally, the example shows the accuracy and validity of the proposed method.展开更多
基金Project supported by the National Natural Science Foundation of China (No. 60572055)the Natural Science Foundation of Guangxi Province (No. 0339068), China
文摘The ultrasonic motor (USM) possesses heavy nonlinearities which vary with driving conditions and load-dependent characteristics such as the dead-zone. In this paper, an identification method for the rotary travelling-wave type ultrasonic motor (RTWUSM) with dead-zone is proposed based on a modified Hammerstein model structure. The driving voltage contributing effect on the nonlinearities of the RTWUSM was transformed to the change of dynamic parameters against the driving voltage. The dead-zone of the RTWUSM is identified based upon the above transformation. Experiment results showed good agreement be- tween the output of the proposed model and actual measured output.
文摘This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.
文摘Considering the geometric nonlinearity due to the large elastic deformations of flexible links, the superharmonic resonances of elastic linkages in the forms of ω1/3 and ω1/2 are studied by the method of multiple scales. The research shows that the analytical results are coincident with the experimental results.
基金Supported by the National Natural Science Foundation of China(No.11373048)
文摘Positioning with high precision piezoelectric actuators is widely used.To overcome positioning inaccuracy caused by hysteresis and creep of actuators,a precise tracking method for piezoelectric actuators using active disturbance rejection control(ADRC) has been proposed in this paper.This method,in real-time,actively estimates and compensates parameter uncertainties,nonlinear factors such as hysteresis,and external disturbances in the tracking system.Precise tracking of the piezoelectric actuator can be achieved without any form of feedforward compensations.The experimental results demonstrate that the active disturbance rejection controller can reduce tracking errors by over90%comparing with those using the PID controller.Those features of the proposed control method are very suitable for applications in adaptive optics.
文摘Equivalent stochastic linearization （ESL） for nonlinear uncertain structure under stationary stochastic excitation is presented. There are two parts of difference between the original system and equivalent system： one is caused by the difference between the means of original and equivalent stochastic structure; and another is caused by the difference between the original and equivalent stochastic structure which has the relation with stochastic variables. Statistical characteristics of equivalent stochastic structure can be obtained in accordance with mean square criterion, so nonlinear stochastic structure is transformed into linear stochastic structure. In order to attain that objective, the compound response spectrum of linear stochastic structure under stationary random excitation which is used in the solution is derived in the case of the mutual independence between stochastic excitation and stochastic structure. Finally, the example shows the accuracy and validity of the proposed method.
