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Force Compensation Control for Electro-Hydraulic Servo System with Pump-Valve Compound Drive via QFT-DTOC
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作者 Kaixian Ba Yuan Wang +4 位作者 Xiaolong He Chunyu Wang Bin Yu Yaliang Liu Xiangdong Kong 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2024年第2期228-246,共19页
Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhi... Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy losses.By contrast,pump control systems offer a high efficiency.Nevertheless,their response ability is unsatisfactory.To fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots.Herein,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first introduced.In addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC herein.This method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the system.Finally,experimental verification is performed using the PCDS performance test platform.The experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the PCDS.The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot. 展开更多
关键词 Legged robot Pump-valve compound drive system(PCDS) force compensation control Quantitative feedback theory(QFT) Disturbance torque observer(DTO)
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Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force
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作者 Van-Truong Nguyen Dai-Nhan Duong +3 位作者 Dinh-Hieu Phan Thanh-Lam Bui Xiem HoangVan Phan Xuan Tan 《Computers, Materials & Continua》 SCIE EI 2024年第11期2337-2356,共20页
This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is design... This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions. 展开更多
关键词 Two-wheeled self-balancing robot nonlinear PD control external force genetic algorithm
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Cross-section distortion and springback characteristics of double-cavity aluminum profile in force controlled stretch-bending
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作者 Zhi-wen LIU Zi-xuan DONG +2 位作者 Cong-chang XU Jie YI Luo-xing LI 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2024年第8期2476-2490,共15页
3D elastic-plastic FE model for simulating the force controlled stretch-bending process of double-cavity aluminum profile was established using hybrid explicit−implicit solvent method.Considering the computational acc... 3D elastic-plastic FE model for simulating the force controlled stretch-bending process of double-cavity aluminum profile was established using hybrid explicit−implicit solvent method.Considering the computational accuracy and efficiency,the optimal choices of numerical parameters and algorithms in FE modelling were determined.The formation mechanisms of cross-section distortion and springback were revealed.The effects of pre-stretching,post-stretching,friction,and the addition of internal fillers on forming quality were investigated.The results show that the stress state of profile in stretch-bending is uniaxial with only a circumferential stress.The stress distribution along the length direction of profile is non-uniform and the maximum tensile stress is located at a certain distance away from the center of profile.As aluminum profile is gradually attached to bending die,the distribution characteristic of cross-section distortion along the length direction of profile changes from V-shape to W-shape.After unloading the forming tools,cross-section distortion decreases obviously due to the stress relaxation,with a maximum distortion difference of 13%before and after unloading.As pre-stretching and post-stretching forces increase,cross-section distortion increases gradually,while springback first decreases and then remains unchanged.With increasing friction between bending die and profile,cross-section distortion slightly decreases,while springback increases.Cross-section distortion decreases by 83%with adding PVC fillers into the cavities of profile,while springback increases by 192.2%. 展开更多
关键词 hollow aluminum profile force controlled stretch-bending numerical parameters springback analysis approach cross-section distortion SPRINGBACK process parameters
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FORCE FEEDBACK MODEL OF ELECTRO-HYDRAULIC SERVO TELE-OPERATION ROBOT BASED ON VELOCITY CONTROL
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作者 GONG Mingde ZHAO Dingxuan ZHANG Hongyan JIA Cuiling 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2008年第6期1-5,共5页
The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order ... The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object. 展开更多
关键词 Construction robot Tele-operation Bilateral electro-hydraulic servo control Velocity control force feedback model
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Synchronization control for electro-hydraulic dual-cylinder system based on force/position switching
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作者 程宁波 Wang Liping +1 位作者 Guan Liwen Han Jian 《High Technology Letters》 EI CAS 2013年第3期221-227,共7页
If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom (DOF) of the mechanism may be less than the resolution of position sensors. To handle... If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom (DOF) of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme: the master - master + force/position switching control and the master - slave + force/position switching control. Simulations show that the formance compared with two given proposed synchronization control position-based control methods. methods can get a better per- 展开更多
关键词 synchronization control hydraulic servo control nonlinear control force control sliding mode control
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A framework of force of information influence and application for C4KISR system
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作者 MAO Shaojie DIAO Lianwang +6 位作者 SUN Yu WANG Heng YI Kan XU Xin MAO Xiaobin ZHANG Kecheng SHENG Long 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2024年第2期430-443,共14页
The subversive nature of information war lies not only in the information itself, but also in the circulation and application of information. It has always been a challenge to quantitatively analyze the function and e... The subversive nature of information war lies not only in the information itself, but also in the circulation and application of information. It has always been a challenge to quantitatively analyze the function and effect of information flow through command, control, communications, computer, kill, intelligence,surveillance, reconnaissance (C4KISR) system. In this work, we propose a framework of force of information influence and the methods for calculating the force of information influence between C4KISR nodes of sensing, intelligence processing,decision making and fire attack. Specifically, the basic concept of force of information influence between nodes in C4KISR system is formally proposed and its mathematical definition is provided. Then, based on the information entropy theory, the model of force of information influence between C4KISR system nodes is constructed. Finally, the simulation experiments have been performed under an air defense and attack scenario. The experimental results show that, with the proposed force of information influence framework, we can effectively evaluate the contribution of information circulation through different C4KISR system nodes to the corresponding tasks. Our framework of force of information influence can also serve as an effective tool for the design and dynamic reconfiguration of C4KISR system architecture. 展开更多
关键词 information warfare command control communications computer KILL intelligence surveillance reconnaissance(C4KISR)system information circulation force of information influence information entropy
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Fuzzy Feedback Control for Electro-Hydraulic Actuators
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作者 Tan Nguyen Van Huy Q.Tran +2 位作者 Vinh Xuan Ha Cheolkeun Ha Phu Huynh Minh 《Intelligent Automation & Soft Computing》 SCIE 2023年第5期2441-2456,共16页
Electro-hydraulic actuators(EHA)have recently played a significant role in modern industrial applications,especially in systems requiring extremely high precision.This can be explained by EHA’s ability to precisely co... Electro-hydraulic actuators(EHA)have recently played a significant role in modern industrial applications,especially in systems requiring extremely high precision.This can be explained by EHA’s ability to precisely control the position and force through advanced sensors and innovative control algorithms.One of the promising approaches to improve control accuracy for EHA systems is applying classical to modern control algorithms,in which the proportional–inte-gral–derivative(PID)algorithm,fuzzy logic controller,and a hybrid of these methods are popular options.In this paper,we developed a novel version of the fuzzy control algorithm and linear feedback control method,namely fuzzy lin-ear feedback control,to improve the control performance.To achieve the highest performance,wefirst designed a mathematical EHA model based on the Matlab/Simulink software packages thanks to the selected parameters,which are similar to a real EHA system.Then,we respectively applied PID,fuzzy PID(FPID),and fuzzy linear feedback control(FLFC)before comparing them to have a full view of the outstanding advantages of the proposed algorithm.The simulation results showed that the proposed FLFC algorithm is approximately 99%and 77%super-ior in performance to the PID and feedback control algorithms,respectively. 展开更多
关键词 electro-hydraulic actuator FUZZY PID feedback control
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FUZZY COORDINATION AND FORCE/POSITION CONTROL OF ROBOTIC MANIPULATOR
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作者 乔兵 尉忠信 朱剑英 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 1999年第1期55-60,共6页
It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on l... It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective. 展开更多
关键词 robotic manipulator force/position control CONSTRAINTS COORDINATION fuzzy synthesis
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Impedance force control for position controlled robotic manipulators under the constraint of unknown environments
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作者 乔兵 陆荣鑑 《Journal of Southeast University(English Edition)》 EI CAS 2003年第4期359-363,共5页
A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to ge... A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy. 展开更多
关键词 robotic manipulators force/position control unknown constraint
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ForceControl组态软件及其在PLC实验中的应用 被引量:5
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作者 孙晓雷 《芜湖职业技术学院学报》 2008年第4期59-61,共3页
利用力控组态软件开发PLC实验项目能丰富实验内容、模拟工业现场;达到理论联系实际的目的。用力控组态软件开发PLC仿真实验的过程,为PLC的实验教学提供了一条新的途径。
关键词 力控组态软件 工业控制 PLC 仿真实验
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基于CAN和Force Control V7.0粮库数字化监控系统设计
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作者 曹昌勇 《聊城大学学报(自然科学版)》 2013年第4期103-106,共4页
本文搭建了一种基于CAN总线和力控Force Control V7.0的粮库温湿度监控系统,实现现场温湿度监控.该系统由上位机和下位机两部分组成,采用分布式CAN总线网络结构.下位机主要完成现场数据的采集,通过CAN智能节点转换成CAN总线能接收的帧信... 本文搭建了一种基于CAN总线和力控Force Control V7.0的粮库温湿度监控系统,实现现场温湿度监控.该系统由上位机和下位机两部分组成,采用分布式CAN总线网络结构.下位机主要完成现场数据的采集,通过CAN智能节点转换成CAN总线能接收的帧信息.上位机主要是通过CAN接口卡接收实时采集的数据,对下位机进行实时监控.最后实验表明,该监控系统实时性好,可靠性高,具有较好的实际应用价值. 展开更多
关键词 CAN总线 数字式 force control
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The Velocity Synchronizing Control on the Electro-Hydraulic Load Simulator 被引量:39
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作者 焦宗夏 高俊霞 +1 位作者 华清 王少萍 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2004年第1期39-46,共8页
This paper builds up an accurate nonlinear mathematical model of anelectro-hydraulic force/ torque servo control system, and provides a thorough theoretical analysison the feedforward compensation for extraneous force... This paper builds up an accurate nonlinear mathematical model of anelectro-hydraulic force/ torque servo control system, and provides a thorough theoretical analysison the feedforward compensation for extraneous force/torque, whose limitation is analyzed andrevealed. The nonlinear factors and the servo valve dynamics have much influence on the systemcharacteristics. Subsequently a velocity syn-chronizing-compensation method by using the controlsignal of the control actuator is proposed, which can reduce the lagging effects for the betterperformance. For the reason of similarity between the model of control actuator and that of the loadsimulator, the proposed method performs well against the influence of nonlinear factors. Thesimulations and the experiments confirm that this control scheme results in a quick response,robustness, and excellent ability against disturbance. 展开更多
关键词 load simulator synchronizing control extraneous force/torque
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PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System 被引量:22
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作者 Karam M. Elbayomy 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2008年第4期378-384,共7页
A proportional integral derivative (PID) controller is designed and attached to electro-hydraulic servo actuator system (EHSAS) to control the angular position of the rotary actuator which control the movable surf... A proportional integral derivative (PID) controller is designed and attached to electro-hydraulic servo actuator system (EHSAS) to control the angular position of the rotary actuator which control the movable surface of space vehicles. The PID gain parameters are optimized by the genetic algorithm (GA). The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experimental results verify the effectiveness of the PID controller adaptive by GA to control the angular position of the rotary actuator as compared with the classical PID controller and the compensator controller. 展开更多
关键词 PID controller electro-hydraulic servo control system genetic controller GA
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Composite Adaptive Control of Belt Polishing Force for Aero-engine Blade 被引量:12
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作者 ZHsAO Pengbing SHI Yaoyao 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2013年第5期988-996,共9页
The existing methods for blade polishing mainly focus on robot polishing and manual grinding.Due to the difficulty in high-precision control of the polishing force,the blade surface precision is very low in robot poli... The existing methods for blade polishing mainly focus on robot polishing and manual grinding.Due to the difficulty in high-precision control of the polishing force,the blade surface precision is very low in robot polishing,in particular,quality of the inlet and exhaust edges can not satisfy the processing requirements.Manual grinding has low efficiency,high labor intensity and unstable processing quality,moreover,the polished surface is vulnerable to burn,and the surface precision and integrity are difficult to ensure.In order to further improve the profile accuracy and surface quality,a pneumatic flexible polishing force-exerting mechanism is designed and a dual-mode switching composite adaptive control(DSCAC) strategy is proposed,which combines Bang-Bang control and model reference adaptive control based on fuzzy neural network(MRACFNN) together.By the mode decision-making mechanism,Bang-Bang control is used to track the control command signal quickly when the actual polishing force is far away from the target value,and MRACFNN is utilized in smaller error ranges to improve the system robustness and control precision.Based on the mathematical model of the force-exerting mechanism,simulation analysis is implemented on DSCAC.Simulation results show that the output polishing force can better track the given signal.Finally,the blade polishing experiments are carried out on the designed polishing equipment.Experimental results show that DSCAC can effectively mitigate the influence of gas compressibility,valve dead-time effect,valve nonlinear flow,cylinder friction,measurement noise and other interference on the control precision of polishing force,which has high control precision,strong robustness,strong anti-interference ability and other advantages compared with MRACFNN.The proposed research achieves high-precision control of the polishing force,effectively improves the blade machining precision and surface consistency,and significantly reduces the surface roughness. 展开更多
关键词 BLADE polishing force Bang-Bang control fuzzy neural network model reference adaptive control
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Fuzzy iterative learning control of electro-hydraulic servo system for SRM direct-drive volume control hydraulic press 被引量:18
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作者 郑建明 赵升吨 魏树国 《Journal of Central South University》 SCIE EI CAS 2010年第2期316-322,共7页
A new kind of volume control hydraulic press that combines the advantages of both hydraulic and SRM(switched reluctance motor) driving technology is developed.Considering that the serious dead zone and time-variant no... A new kind of volume control hydraulic press that combines the advantages of both hydraulic and SRM(switched reluctance motor) driving technology is developed.Considering that the serious dead zone and time-variant nonlinearity exist in the volume control electro-hydraulic servo system,the ILC(iterative learning control) method is applied to tracking the displacement curve of the hydraulic press slider.In order to improve the convergence speed and precision of ILC,a fuzzy ILC algorithm that utilizes the fuzzy strategy to adaptively adjust the iterative learning gains is put forward.The simulation and experimental researches are carried out to investigate the convergence speed and precision of the fuzzy ILC for hydraulic press slider position tracking.The results show that the fuzzy ILC can raise the iterative learning speed enormously,and realize the tracking control of slider displacement curve with rapid response speed and high control precision.In experiment,the maximum tracking error 0.02 V is achieved through 12 iterations only. 展开更多
关键词 hydraulic press volume control electro-hydraulic servo iterative learning control fuzzy control
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Improved hybrid position/force controller design of a flexible robot manipulator using a sliding observer 被引量:4
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作者 Farooq M Wang Daobo Dar N. U 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第1期146-158,共13页
An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For s... An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A MRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller. 展开更多
关键词 force control sliding control Lyapunov stability robot end effector friction force.
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Separate Control of High Frequency Electro-hydraulic Vibration Exciter 被引量:7
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作者 JIA Wen'ang RUAN Jian REN Yan 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2011年第2期293-302,共10页
The working frequency of the conventional electro-hydraulic vibration exciters,which consist of a servo valve and a hydraulic cylinder,is generally restricted within a narrow range due to limited frequency response ca... The working frequency of the conventional electro-hydraulic vibration exciters,which consist of a servo valve and a hydraulic cylinder,is generally restricted within a narrow range due to limited frequency response capability of the servo valve itself.To counteract such restriction,a novel scheme for an electro-hydraulic vibrator,controlled by a two-dimensional valve(2D valve) and a bias valve in parallel,is therefore proposed.The frequency,amplitude and offset are independently controlled by rotary speed,axial sliding of the spool of the 2D valve and axial sliding of the spool of the bias valve.The principle of separate control was presented and the regulation approach of frequency,amplitude and offset was discussed.A mathematical model of the hydraulic power mechanism for the proposed vibration exciter was established to investigate the relationship between the amplitude and the axial sliding of the 2D valve' spool,as well as that between the offset and the axial sliding of the bias valve's spool at various frequencies.An experimental system was built to validate the theoretical analysis.It is verified that the 2D exciter is capable of working smoothly in a frequency range of 5- 200 Hz.And its frequency,amplitude and offset can be controlled respectively by either closed loop or open loop method.There is a linear relationship between the output amplitude and the spool axial opening of the 2D valve until a point when the flow rate becomes saturate and the amplitude remains constant.The offset displacement of the cylinder's piston is linearly proportional to the axial displacement of the spool of the bias valve,when the valve opening is less than 25%.Thereafter,the slop of the offset curve decreases and tends to saturate.The proposed electro-hydraulic vibration controlled by the 2D valve not only facilitates the realization of high-frequency electro-hydraulic vibration,the high-accuracy of vibration can also be achieved by means of independent controls to the frequency,amplitude and offset. 展开更多
关键词 control valves electro-hydraulic system vibration exciter dynamics characteristics
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Present Status and Prospect of High-Frequency Electro-hydraulic Vibration Control Technology 被引量:7
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作者 Yi Liu Tao Wang +1 位作者 Guofang Gong Rujun Gao 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2019年第6期1-16,共16页
Electro-hydraulic vibration equipment(EHVE)is widely used in vibration environment simulation tests,such as vehicles,weapons,ships,aerospace,nuclear industries and seismic waves replication,etc.,due to its large outpu... Electro-hydraulic vibration equipment(EHVE)is widely used in vibration environment simulation tests,such as vehicles,weapons,ships,aerospace,nuclear industries and seismic waves replication,etc.,due to its large output power,displacement and thrust,as well as good workload adaptation and multi-controllable parameters.Based on the domestic and overseas development of high-frequency EHVE,dividing them into servo-valve controlled vibration equipment and rotary-valve controlled vibration equipment.The research status and progress of high-frequency electro-hydraulic vibration control technology(EHVCT)are discussed,from the perspective of vibration waveform control and vibration controller.The problems of current electro-hydraulic vibration system bandwidth and waveform distortion control,stability control,offset control and complex vibration waveform generation in high-frequency vibration conditions are pointed out.Combining the existing rotary-valve controlled high-frequency electro-hydraulic vibration method,a new twin-valve independently controlled high-frequency electro-hydraulic vibration method is proposed to break through the limitations of current electro-hydraulic vibration technology in terms of system frequency bandwidth and waveform distortion.The new method can realize independent adjustment and control of vibration waveform frequency,amplitude and offset under high-frequency vibration conditions,and provide a new idea for accurate simulation of high-frequency vibration waveform. 展开更多
关键词 electro-hydraulic vibration equipment HIGH-FREQUENCY Vibration control Vibration waveform Twin-valve
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Optimal Design and Force Control of a Nine-Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation 被引量:5
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作者 Wangmin Yi Yu Zheng +3 位作者 Weifang Wang XiaoqiangTang Xinjun Liu Fanwei Meng 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2019年第4期35-46,共12页
Traditional simulation methods are unable to meet the requirements of lunar takeo simulations, such as high force output precision, low cost, and repeated use. Considering that cable-driven parallel mechanisms have th... Traditional simulation methods are unable to meet the requirements of lunar takeo simulations, such as high force output precision, low cost, and repeated use. Considering that cable-driven parallel mechanisms have the advantages of high payload to weight ratio, potentially large workspace, and high-speed motion, these mechanisms have the potential to be used for lunar takeo simulations. Thus, this paper presents a parallel mechanism driven by nine cables. The purpose of this study is to optimize the dimensions of the cable-driven parallel mechanism to meet dynamic workspace requirements under cable tension constraints. The dynamic workspace requirements are derived from the kinematical function requests of the lunar takeo simulation equipment. Experimental design and response surface methods are adopted for building the surrogate mathematical model linking the optimal variables and the optimization indices. A set of dimensional parameters are determined by analyzing the surrogate mathematical model. The volume of the dynamic workspace increased by 46% after optimization. Besides, a force control method is proposed for calculating output vector and sinusoidal forces. A force control loop is introduced into the traditional position control loop to adjust the cable force precisely, while controlling the cable length. The e ectiveness of the proposed control method is verified through experiments. A 5% vector output accuracy and 12 Hz undulation force output can be realized. This paper proposes a cable-driven parallel mechanism which can be used for lunar takeo simulation. 展开更多
关键词 force control Lunar takeo simulation Parallel robots Surrogate mathematical model
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Application of μ Theory in Compliant Force Control 被引量:4
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作者 张尚盈 韩俊伟 +1 位作者 赵慧 黄其涛 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2006年第1期89-96,共8页
The application of μ theory in compliant force control system is studied. A compliant force control strategy is developed based on the inner loop position control of 6-DOF parallel robot in order to simulate the push... The application of μ theory in compliant force control system is studied. A compliant force control strategy is developed based on the inner loop position control of 6-DOF parallel robot in order to simulate the push and pull process of forcible alignment in space docking, Considering uncertainties such as parameter perturbations, model perturbations and external disturbances, etc., a robust force controller is designed using μ synthesis theory. The robust stability and robust performance are compared by analysis between the designed robust force controller and the classical force controller. The experiment results of the designed robust force controller and the classical force controller are shown. The results indicate that the designed robust force controller is of efficiency and superiority. 展开更多
关键词 parallel robot μ synthesis μ analysis compliant force control UNCERTAINTY ROBUST
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