Articles | Volume 13, issue 1
https://doi.org/10.5194/ms-13-427-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Special issue:
https://doi.org/10.5194/ms-13-427-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
04 May 2022
Research article |
| 04 May 2022
| 04 May 2022
Payload-adaptive iterative learning control for robotic manipulators
Kaloyan Yovchev
CORRESPONDING AUTHOR
Faculty of Mathematics and Informatics, Sofia University, Sofia, Bulgaria
Lyubomira Miteva
Faculty of Mathematics and Informatics, Sofia University, Sofia, Bulgaria
Related subject area
Subject: Dynamics and Control | Techniques and Approaches: Mathematical Modeling and Analysis
Development of pedestrian collision avoidance strategy based on the fusion of Markov and social force models
Composite synchronization of three inductor motors with a circular distribution by a fuzzy proportional–integral–derivative method in a vibration system
Decoupling active disturbance rejection trajectory-tracking control strategy for X-by-wire chassis system
A piezoelectric energy harvester for human body motion subjected to two different transversal reciprocating excitations
A feasibility and dynamic performance analysis of hydromechanical hybrid power transmission technology for wind turbines
A novel mathematical model for the design of the resonance mechanism of an intentional mistuning bladed disk system
Nonlinear characteristics of the driving model of the coaxial integrated macro–micro composite actuator
A new sensorless control strategy of the PMLSM based on an ultra-local model velocity control system
Dynamic and sliding mode control of space netted pocket system capturing and attitude maneuver non-cooperative target
A comparative study of the unscented Kalman filter and particle filter estimation methods for the measurement of the road adhesion coefficient
Modelling and predictive investigation on the vibration response of a propeller shaft based on a convolutional neural network
Priority flow divider valve and its dynamic analysis using various hydraulic drive systems: a bond graph approach
Analysis of divergent bifurcations in the dynamics of wheeled vehicles
Study on multi-degree of freedom dynamic vibration absorber of the car body of high-speed trains
Review article: A comprehensive review of energy management strategies for hybrid electric vehicles
A new type of auxiliary structure for tunnel-surrounding rock support – composite cantilever support structure
Establishment and analysis of nonlinear frequency response model of planetary gear transmission system
Horizontal vibration response analysis of ultra-high-speed elevators by considering the effect of wind load on buildings
Dynamic behaviour of a planetary reducer with double planet gears
Tooth surface modification of double-helical gears for compensation of shaft deflections
Design optimization of vehicle asynchronous motors based on fractional harmonic response analysis
Review article: Research on coupled vibration of multi-engine multi-gearbox marine gearing
Rattle dynamics of noncircular face gear under multifrequency parametric excitation
Design optimization analysis of an anti-backlash geared servo system using a mechanical resonance simulation and experiment
Contact dynamics analysis of nutation drive with double circular-arc spiral bevel gear based on mathematical modeling and numerical simulation
A modal-based balancing method for a high-speed rotor without trial weights
On co-estimation and validation of vehicle driving states by a UKF-based approach
Design and Robustness Analysis of Intelligent Controllers for Commercial Greenhouse
Study on dynamic characteristics of underwater pressure compensator considering nonlinearity
Rapid attitude maneuver of the space tether net capture system using active disturbance rejection control
Effects of friction models on simulation of pneumatic cylinder
Nonlinear Dynamic Analysis of high speed multiple units Gear Transmission System with Wear Fault
Design and dynamic analysis of metal rubber isolators between satellite and carrier rocket system
Energy saving optimal design and control of electromagnetic brake on passenger car
Use of mixed coordinates in modeling wind turbines including tubular tower
Nonlinear modelling and dynamic stability analysis of a flexible Cartesian robotic manipulator with base disturbance and terminal load
Study on the dynamic performance of concrete mixer's mixing drum
A computationally efficient model to capture the inertia of the piezoelectric stack in impact drive mechanism in the case of the in-pipe inspection application
Modeling and control of piezoelectric inertia–friction actuators: review and future research directions
Vector model of the timing diagram of automatic machine
A new variable stiffness suspension system: passive case
Analysis of servo-constraint problems for underactuated multibody systems
Dynamics of a gravity car race with application to the Pinewood Derby
Bin Tang, Zhengyi Yang, Haobin Jiang, and Zitian Hu
Mech. Sci., 15, 17–30, https://doi.org/10.5194/ms-15-17-2024, https://doi.org/10.5194/ms-15-17-2024, 2024
Short summary
Short summary
A pedestrian motion fusion model is constructed to predict pedestrian trajectory by the fusion of a Markov model and an improved social force model with a multiple linear regression algorithm. The parameters in the model are calibrated by the maximum likelihood estimation method. Based on pedestrian trajectory prediction, a longitudinal and lateral collision avoidance control strategy is developed. The results show that the proposed strategy can effectively ensure the safety of pedestrians.
Lei Jia, Jiankang Yang, Xiaojiao Gu, Ziliang Liu, and Xiaoying Ma
Mech. Sci., 14, 143–158, https://doi.org/10.5194/ms-14-143-2023, https://doi.org/10.5194/ms-14-143-2023, 2023
Short summary
Short summary
In this article, the composite synchronization of three inductor motors with a circular distribution by a fuzzy PID (proportional–integral–derivative) method in a vibration system is investigated. A fuzzy PID method is proposed, based on a master–slave strategy. The stability analysis, based on the Lyapunov theorem of the controlling method, is certified. The phase differences of self-synchronization and controlled synchronization are measured and compared from simulation and experiment results.
Haixiao Wu, Yong Zhang, Fengkui Zhao, and Pengchang Jiang
Mech. Sci., 14, 61–76, https://doi.org/10.5194/ms-14-61-2023, https://doi.org/10.5194/ms-14-61-2023, 2023
Short summary
Short summary
Automatic lane-change maneuvers and obstacle-avoidance systems can effectively reduce the incidence of vehicle collision accidents. However, the trajectory-tracking accuracy and response speed will be affected by both external and internal factors. To solve the above problems, a control strategy is proposed. The strategy proposed in this work can not only effectively improve the trajectory tracking performance under road excitation but also significantly improve the ride comfort.
Weigao Ding and Jin Xie
Mech. Sci., 14, 77–86, https://doi.org/10.5194/ms-14-77-2023, https://doi.org/10.5194/ms-14-77-2023, 2023
Short summary
Short summary
In this paper, we propose a piezoelectric energy harvester for human body motion. Based on an analysis of dynamics equations, we find that such a piezoelectric energy harvester performs very well, especially at lower frequencies. We suggest that the piezoelectric beam of an energy harvester subjected to multi-excitation with different modes of motion is quite suitable for harvesting energy from human body motions.
Dharmendra Kumar and Anil C. Mahato
Mech. Sci., 14, 33–45, https://doi.org/10.5194/ms-14-33-2023, https://doi.org/10.5194/ms-14-33-2023, 2023
Short summary
Short summary
A multi-body dynamic model of a wind turbine power generation system (WTPGS), with a turbine blade model and hydro-mechanical hybrid power transmission (HMHPT), is developed and simulated. In HMHPT, the hydrostatic power transmission (HPT) improves the system controllability and the gear train obtains higher speeds in the electric generator. The HMHPT's benefits are improved system controllability and higher generator speed. Pump and motor leakages are analyzed based on system performance.
Xuanen Kan and Tuo Xing
Mech. Sci., 13, 1031–1037, https://doi.org/10.5194/ms-13-1031-2022, https://doi.org/10.5194/ms-13-1031-2022, 2022
Short summary
Short summary
Bladed disk systems with advanced functions are widely used in turbo-machineries. In this paper, a novel mathematical model of the resonance of an intentional mistuning bladed disk system is established. Mistuning of blades and energy resonance are included in this theoretical model. This paper will provide guidance for the design of dynamic characteristics of the intentional mistuning bladed disk.
Caofeng Yu, Yu Wang, Zhihao Xiao, Gan Wu, Yongyong Duan, and Kun Yang
Mech. Sci., 13, 843–853, https://doi.org/10.5194/ms-13-843-2022, https://doi.org/10.5194/ms-13-843-2022, 2022
Short summary
Short summary
In this paper, the nonlinear characteristics of the kinematics model of the macro–micro composite actuator are analyzed, the driving force model and kinematics model of the macro-motion part is established, and the model parameters are identified by using the data measured on the experimental platform. The research results lay a theoretical and technical foundation for the development of a high-speed and large-stroke positioning controller of the macro–micro composite actuator.
Zheng Li, Zihao Zhang, Shengdi Feng, Jinsong Wang, Xiaoqiang Guo, and Hexu Sun
Mech. Sci., 13, 761–770, https://doi.org/10.5194/ms-13-761-2022, https://doi.org/10.5194/ms-13-761-2022, 2022
Short summary
Short summary
Aiming at the problems of speed ripple, slow response, sensor dependence, and mechanical chattering in the motion of the permanent magnet linear synchronous motor (PMSLM), a model-free speed control system based on the model reference adaptive system (MRAS) is proposed in this paper. The control system designed in this paper has reference value for the system control structure of the PMSLM.
Chao Tang, Zhuoran Huang, Cheng Wei, and Yang Zhao
Mech. Sci., 13, 751–760, https://doi.org/10.5194/ms-13-751-2022, https://doi.org/10.5194/ms-13-751-2022, 2022
Short summary
Short summary
Similar to a space flying net, the capture field of the space netted pocket system is large and it can be applied to capture space non-cooperative targets flexibly. In this paper, a space netted pocket system is designed and modeled. The dynamic model and control method is verified through the simulation of the virtual prototype. Results show that the service spacecraft can maintain the attitude stability during the target capture process and can track the desired angle during attitude maneuver.
Gengxin Qi, Xiaobin Fan, and Hao Li
Mech. Sci., 13, 735–749, https://doi.org/10.5194/ms-13-735-2022, https://doi.org/10.5194/ms-13-735-2022, 2022
Short summary
Short summary
The road adhesion coefficient is of profound significance for the vehicle active safety control system and is one of the core technologies of future autonomous driving. Based on the unscented Kalman filter (UKF) and particle filter (PF) algorithms, a road adhesion coefficient estimator is designed and simulations are carried out. To verify the feasibility and robustness of the algorithms on a real road, a hub-based motor vehicle test platform is built to complete real vehicle experiments.
Xin Shen, Qianwen Huang, and Ge Xiong
Mech. Sci., 13, 485–494, https://doi.org/10.5194/ms-13-485-2022, https://doi.org/10.5194/ms-13-485-2022, 2022
Short summary
Short summary
A new measurement method for the dynamical response of a marine propeller shaft with lower cost, simple maintenance and high accuracy is proposed. The shaft vibration predicted from the vibration signals of the bearings is easy to measure. The convolutional neural network can fit the nonlinear relationship between the vibration signals of the bearing and propeller shaft.
Dharmendra Kumar, Anil C. Mahato, Om Prakash, and Kaushik Kumar
Mech. Sci., 13, 459–472, https://doi.org/10.5194/ms-13-459-2022, https://doi.org/10.5194/ms-13-459-2022, 2022
Short summary
Short summary
A performance analysis of the PFDV using a steering mechanism (SMHPTSPFDV) and wind turbine power development system using a hydraulic system with PFDV (WTHPTSPFDV) is conducted. Dynamic modeling and analysis of the SMHPTSPFDV and WTHPTSPFDV systems is presented. We find that the power and energy loss through the PFDV is higher when it is connected with the dual loads for performing dual functions compared to the other hydraulic drive system used in wind turbines to obtain stable output.
Vladimir Verbitskii, Vlad Lobas, Yevgen Misko, and Andrey Bondarenko
Mech. Sci., 13, 321–329, https://doi.org/10.5194/ms-13-321-2022, https://doi.org/10.5194/ms-13-321-2022, 2022
Short summary
Short summary
The article presents an approach to constructing the stability boundary in the parameter space of a nonlinear model of a wheeled vehicle – a bifurcation set, which extends the well-known concept of the critical speed of rectilinear motion to the case of circular modes. The approaches considered in the work are important for understanding the regularities of the change in the stability properties of the movement of wheeled transport systems.
Yu Sun, Jinsong Zhou, Dao Gong, and Yuanjin Ji
Mech. Sci., 13, 239–256, https://doi.org/10.5194/ms-13-239-2022, https://doi.org/10.5194/ms-13-239-2022, 2022
Short summary
Short summary
A multi-degree-of-freedom dynamic vibration absorber (MDOF DVA) to suppress the vibration of the car body of high-speed trains is proposed. The MDOF DVA is installed under the car body, the main vibration frequency in each DOF of which is designed as a dynamic vibration absorber for lateral motion, bouncing, rolling, pitching, and yawing of the car body. The design principle of multi-DOF dynamic vibration absorption is analyzed by combining the design method of single DVA and genetic algorithm.
Yuzheng Zhu, Xueyuan Li, Qi Liu, Songhao Li, and Yao Xu
Mech. Sci., 13, 147–188, https://doi.org/10.5194/ms-13-147-2022, https://doi.org/10.5194/ms-13-147-2022, 2022
Short summary
Short summary
Energy management strategies (EMSs) play an important role in hybrid electric vehicles. In this review, EMSs based on the intelligent transportation system are considered in parallel to rule-based and optimization-based EMSs. For each EMS, a comprehensive and detailed review, based on energy management methods or algorithms, summarizes the advanced research results of scholars. The principles and the advantages and disadvantages of different EMSs are expressed using figures and tables.
Jun Qu, Qilong Xue, Shixin Bai, and Yazhe Li
Mech. Sci., 13, 89–99, https://doi.org/10.5194/ms-13-89-2022, https://doi.org/10.5194/ms-13-89-2022, 2022
Short summary
Short summary
Based on solving the problem of surrounding rock deformation of an engineering geological tunnel, a new support structure composite cantilever support structure is proposed. The numerical calculation and application of the structure are carried out, and it is verified that the composite cantilever support structure can effectively restrain the deformation of surrounding rock, and the appropriate design parameters of the support structure are obtained. It has a certain engineering value.
Hao Dong, Yue Bi, Zhen-Bin Liu, and Xiao-Long Zhao
Mech. Sci., 12, 1093–1104, https://doi.org/10.5194/ms-12-1093-2021, https://doi.org/10.5194/ms-12-1093-2021, 2021
Short summary
Short summary
In order to solve the problem of the nonlinear frequency response of a planetary gear transmission system, based on the lumped parameter theory, a nonlinear frequency response model with a bending torsion coupling of a planetary gear system is established by comprehensively considering the backlash, support clearance, time-varying meshing stiffness, static transmission error, external periodic excitation and other factors.
Guangjiu Qin, Shuohua Zhang, and Hao Jing
Mech. Sci., 12, 1083–1092, https://doi.org/10.5194/ms-12-1083-2021, https://doi.org/10.5194/ms-12-1083-2021, 2021
Short summary
Short summary
The influence of wind load on the vibration of ultra-high-speed elevator can no longer be disregarded, and the maximum horizontal vibration acceleration of the guide rail is positively correlated with the height of the building. In addition, the vibration acceleration of the same height rail increases with the increase in wind pressure. This study provides important guidance for researchers studying the horizontal vibration response of ultra-high-speed elevators.
Milos S. Matejic, Mirko Z. Blagojevic, and Marija M. Matejic
Mech. Sci., 12, 997–1003, https://doi.org/10.5194/ms-12-997-2021, https://doi.org/10.5194/ms-12-997-2021, 2021
Short summary
Short summary
This paper investigates planetary gear reducers with double satellite gears. These reducers are present in present-day industrial robots, electric vehicles, etc. The paper deals with the dynamic behavior of the reducer as a whole system. The acceleration, velocities, and movements are solved for all elements based on the defined dynamic model. For a dynamic model definition, we used Lagrangian equations of the second kind. The results can be used in design, investigation, etc.
Lan Liu, Qiangyi Ma, Jingyi Gong, Geng Liu, and Xiaomei Cao
Mech. Sci., 12, 819–835, https://doi.org/10.5194/ms-12-819-2021, https://doi.org/10.5194/ms-12-819-2021, 2021
Short summary
Short summary
The paper studies the three-dimensional contact finite element model of a double helical gear-shaft-bearing system based on the load-bearing contact analysis of the tooth surface. The results show that the tooth surface bearing contact of the system has the phenomenon of partial load due to the supporting deformation, and the unmodified herringbone gear has obvious contact stress concentration, which can be effectively improved by gear tooth modification.
Ao Lei, Chuan-Xue Song, Yu-Long Lei, and Yao Fu
Mech. Sci., 12, 689–700, https://doi.org/10.5194/ms-12-689-2021, https://doi.org/10.5194/ms-12-689-2021, 2021
Short summary
Short summary
In this paper, the fractional model of the asynchronous motor rotor was firstly established with a peculiar memory characteristic, and the introduced harmonic response was able to fit the reality well. Then, we set high rigidity and less mass as optimization functions and transform them into the problem of the first-order frequency and mass. In order to find the optimal parameters, an accelerated optimization method based on response surface is proposed.
Jingyi Gong, Geng Liu, Lan Liu, and Long Yang
Mech. Sci., 12, 393–404, https://doi.org/10.5194/ms-12-393-2021, https://doi.org/10.5194/ms-12-393-2021, 2021
Short summary
Short summary
This paper introduces several types of multi-engine multi-gearbox marine gearing. A total of two dynamic modeling methods are proposed to predict the coupled vibration of these systems. The dynamic models of four engines with two shafts under different working conditions are established, and the effects of coupling, speed, configuration and power loss on the system vibration are studied.
Dawei Liu, Zhenzhen Lv, and Guohao Zhao
Mech. Sci., 12, 361–373, https://doi.org/10.5194/ms-12-361-2021, https://doi.org/10.5194/ms-12-361-2021, 2021
Short summary
Short summary
A nonlinear dynamic model of the noncircular face gear (NFG) was established. A semi-analytical approach, based on HBM and discrete Fourier transformation, is utilized to obtain the periodic responses. The results show that an increase in the eccentric ratio, input velocity and error amplitude will cause the non-rattle, unilateral rattle and bilateral rattle state in succession, and a jump phenomenon will appear when the state of the gears is transformed from unilateral to bilateral rattle.
Lianchao Zhang, Hongbo Liao, Dapeng Fan, Shixun Fan, and Jigui Zheng
Mech. Sci., 12, 305–319, https://doi.org/10.5194/ms-12-305-2021, https://doi.org/10.5194/ms-12-305-2021, 2021
Yujing Su, Ligang Yao, and Jun Zhang
Mech. Sci., 12, 185–192, https://doi.org/10.5194/ms-12-185-2021, https://doi.org/10.5194/ms-12-185-2021, 2021
Short summary
Short summary
This paper describes a dynamic mathematical model of a new type of two-stage nutation drive system with double circular-arc bevel gears. The dynamic displacement-vibration coupling model takes into account the gyro torque and side clearance of the nutating gear. A numerical analysis geometric model of the nutation drive system is developed. The geometric model considers the time-varying and contact deformation of nutation gear meshing.
Yun Zhang, Meng Li, Hongzhi Yao, Yanjie Gou, and Xiaoyu Wang
Mech. Sci., 12, 85–96, https://doi.org/10.5194/ms-12-85-2021, https://doi.org/10.5194/ms-12-85-2021, 2021
Peng Wang, Hui Pang, Zijun Xu, and Jiamin Jin
Mech. Sci., 12, 19–30, https://doi.org/10.5194/ms-12-19-2021, https://doi.org/10.5194/ms-12-19-2021, 2021
Short summary
Short summary
In this paper, an effective UKF-based estimation method is proposed to accurately estimate the driving states of vehicles. First, a three degrees of freedom (3-DOFs) vehicle dynamics model is established, and then a vehicle driving state estimation method is designed based on the UKF algorithm. Finally, by using CarSim and MATLAB/Simulink software, the co-simulation and validation are carried out to validate the accuracy of the proposed method under the sinusoidal and fishhook conditions.
Mattara Chalill Subin, Abhilasha Singh, Venkatesan Kalaichelvi, Ramanujam Karthikeyan, and Chinnapalaniandi Periasamy
Mech. Sci., 11, 299–316, https://doi.org/10.5194/ms-11-299-2020, https://doi.org/10.5194/ms-11-299-2020, 2020
Short summary
Short summary
Commercial greenhouses are the backbone of farming industry in the regions with arid climatic conditions. Design & implementation of the control systems are driving a major opportunity while doing the up-gradation of conventional type commercial greenhouses. The greenhouse control modules have strong interactions between its parameters, experimental results emphasized that good control system selection can provide a revolutionary increase in terms of crop yield with a minimal energy utilization.
Songyu Li, Xinguang Du, Luyao Zhang, Ken Chen, and Shuai Wang
Mech. Sci., 11, 183–192, https://doi.org/10.5194/ms-11-183-2020, https://doi.org/10.5194/ms-11-183-2020, 2020
Short summary
Short summary
The pressure compensation is the most commonly used method at home and abroad to reduce the impact of external seawater pressure on the hydraulic system. The pressure compensator is the key equipment of the pressure compensation system. In this paper, the pressure characteristics of the bellows-type pressure compensator are analyzed. Through the control variable method, the influence of different design parameters on the dynamic characteristics of the pressure compensator is studied.
Cheng Wei, Hao Liu, Chunlin Tan, Yongjian Liu, and Yang Zhao
Mech. Sci., 10, 575–587, https://doi.org/10.5194/ms-10-575-2019, https://doi.org/10.5194/ms-10-575-2019, 2019
Xuan Bo Tran, Van Lai Nguyen, and Khanh Duong Tran
Mech. Sci., 10, 517–528, https://doi.org/10.5194/ms-10-517-2019, https://doi.org/10.5194/ms-10-517-2019, 2019
Short summary
Short summary
Friction is usually present in pneumatic cylinders and can make accurate simulation and position control of the pneumatic cylinders difficult to achieve. In this study, effects of three friction models: a steady-state friction model, the LuGre model, and the revised LuGre model on the motion simulation accuracy of a pneumatic cylinder are examined by both simulation and experiment. The results show that the revised LuGre model is the best for the pneumatic cylinder among the three friction model
Jianwei Yang, Ran Sun, Dechen Yao, Jinhai Wang, and Chuan Liu
Mech. Sci., 10, 187–197, https://doi.org/10.5194/ms-10-187-2019, https://doi.org/10.5194/ms-10-187-2019, 2019
Short summary
Short summary
The helical gear system is an important form of transmission in high-speed trains. The wear fault parameters of a bending-torsion-shaft coupling mode with six degrees of freedom are established. Using the variable step fourth-order Runge-Kutta numerical integration method, the gear dynamics model with fault parameters is analyzed to get the dynamic response of the helical gear system. The periodic motion and so on with variable fault parameters are analyzed qualitatively based on the results.
Xibin Cao, Cheng Wei, Jiqiu Liang, and Lixu Wang
Mech. Sci., 10, 71–78, https://doi.org/10.5194/ms-10-71-2019, https://doi.org/10.5194/ms-10-71-2019, 2019
Short summary
Short summary
For launching satellite, with the needs of mobility and rapid-responsibility, the vehicle is used for launching. The system inevitably undergoes random vibrations caused by uneven ground excitation, while the camera and other high-precision payloads of the satellite cannot withstand the harsh mechanical environment without isolators. Due to the superior damping properties of MR, this paper designs the simple MR components and provides a feasible design method to absorb vibrations.
Donghai Hu, Yanzhi Yan, and Xiaoming Xu
Mech. Sci., 10, 57–70, https://doi.org/10.5194/ms-10-57-2019, https://doi.org/10.5194/ms-10-57-2019, 2019
Short summary
Short summary
In this article, prediction models of the braking performance and power consumption of electromagnetic brake are established and their accuracies are verified on the hardware in the loop simulation platform. The electromagnetic brake is designed aiming at reducing the energy consumption and the energy saving control method of electromagnetic brake is also proposed.
Ayman Nada and Ali Al-Shahrani
Mech. Sci., 10, 35–46, https://doi.org/10.5194/ms-10-35-2019, https://doi.org/10.5194/ms-10-35-2019, 2019
Short summary
Short summary
This paper studies the effect of the tower dynamics upon the wind turbine model by using mixed sets of coordinates within multibody system approach. The dynamics of wind turbine model is presented based on the floating frame of reference formulation. The mixed coordinates consists of three sets: Cartesian, elastic, and reduced-order modal coordinates for low speed components. Experimental validation has been carried out successfully, and the model can be utilized for design process.
Jinyong Ju, Wei Li, Mengbao Fan, Yuqiao Wang, and Xuefeng Yang
Mech. Sci., 8, 221–234, https://doi.org/10.5194/ms-8-221-2017, https://doi.org/10.5194/ms-8-221-2017, 2017
Short summary
Short summary
During the mode experiments of the FCRM, we find that the mode characteristics of the FCRM change with the different tip mass. As the direct drive source of the FCRM, the output of the motor also have great influences on the dynamic characteristics of the FCRM. Thus, the nonlinear modelling and dynamic stability of a FCRM with base disturbance and terminal load are analyzed in this paper. During the analysis process, the methods of mechanism modeling and numerical calculation are adopted.
Jiapeng Yang, Hua Zeng, Tongqing Zhu, and Qi An
Mech. Sci., 8, 165–178, https://doi.org/10.5194/ms-8-165-2017, https://doi.org/10.5194/ms-8-165-2017, 2017
Short summary
Short summary
The mixing system of a certain type of concrete mixing truck is studied.A mathematical method for calculating the dynamic performance of the mixing drum is established.Results show that with the increase of rotating speed, the vibration amplitude of the mixing drum decreases.The peak amplitude moves to the right with the inclination angle increasing.The maximum unbalanced response amplitude increases with the decrease of concrete liquid level height,and the vibration peak moves to the left.
Jin Li, Chang Jun Liu, Xin Wen Xiong, Yi Fan Liu, and Wen Jun Zhang
Mech. Sci., 7, 79–84, https://doi.org/10.5194/ms-7-79-2016, https://doi.org/10.5194/ms-7-79-2016, 2016
Short summary
Short summary
Our work mainly focuses on the dynamic modeling of a piezoelectric actuator (PA) in the impact drive mechanism in the case of the in-pipe inspection application. The novel model we have developed is able to capture the inertia of the PA and the feature of this model is its computational efficiency with reasonable accuracy. This study has concluded that the inertia of the PA in such a robot can significantly affect the accuracy of the entire model of IDM.
Y. F. Liu, J. Li, X. H. Hu, Z. M. Zhang, L. Cheng, Y. Lin, and W. J. Zhang
Mech. Sci., 6, 95–107, https://doi.org/10.5194/ms-6-95-2015, https://doi.org/10.5194/ms-6-95-2015, 2015
Short summary
Short summary
This paper provides a comprehensive review of the literature regarding the modelling and control of piezoelectric inertial-friction actuators (PIFAs). A general architecture of PIFA is proposed first to facilitate the analysis and classification of the literature. In addition, the paper presents the future directions in modelling and control of PIFAs for further improvement of their performance.
A. Jomartov
Mech. Sci., 4, 391–396, https://doi.org/10.5194/ms-4-391-2013, https://doi.org/10.5194/ms-4-391-2013, 2013
O. M. Anubi, D. R. Patel, and C. D. Crane III
Mech. Sci., 4, 139–151, https://doi.org/10.5194/ms-4-139-2013, https://doi.org/10.5194/ms-4-139-2013, 2013
R. Seifried and W. Blajer
Mech. Sci., 4, 113–129, https://doi.org/10.5194/ms-4-113-2013, https://doi.org/10.5194/ms-4-113-2013, 2013
B. P. Mann, M. M. Gibbs, and S. M. Sah
Mech. Sci., 3, 73–84, https://doi.org/10.5194/ms-3-73-2012, https://doi.org/10.5194/ms-3-73-2012, 2012
Cited articles
Arimoto, S., Kawamura, S., and Miyazaki, F.:
Iterative learning control for robot systems, in: Proceedings of IECON, Tokyo, Japan, 1984a (in Japanese).
Arimoto, S., Kawamura, S., and Miyazaki, F.:
Bettering operation of robots by learning, J. Robotic Syst., 1, 123–140, https://doi.org/10.1002/rob.4620010203, 1984b.
Delchev, K.:
Simulation-based design of monotonically convergent iterative learning control for nonlinear systems, Archives of Control Sciences, 22, 371–384, https://doi.org/10.2478/v10170-011-0036-9, 2012.
Eaton, J. W., Bateman, D., Hauberg, S., and Wehbring, R.:
GNU Octave version 5.2.0 manual: a high-level interactive language for numerical computations, https://octave.org/doc/octave-5.2.0.pdf
(last access: 29 April 2022), 2019.
Heizinger, G., Fenwick, D, Paden, B., and Miyazaki, F.:
Robust Learning Control, in: Proc. of 28th Conference on Decision and Control, 13–15 December 1989, Tampa, FL, https://doi.org/10.1109/CDC.1989.70152, 1989.
Hu, J., Li, C., Chen, Z., and Yao, B.:
Precision Motion Control of a 6-DoFs Industrial Robot With Accurate Payload Estimation, IEEE-ASME T. Mech., 25, 1821–1829, https://doi.org/10.1109/TMECH.2020.2994231, 2020.
Lee, J., Chang, P. H., and Jin, M.:
An Adaptive Gain Dynamics for Time Delay Control Improves Accuracy and Robustness to Significant Payload Changes for Robots, IEEE T. Ind. Electron., 67, 3076–3085, https://doi.org/10.1109/TIE.2019.2912774, 2020a.
Lee, J., P. H. Chang, P. H., Yu, B., and Jin, M.:
An Adaptive PID Control for Robot Manipulators Under Substantial Payload Variations, IEEE Access, 8, 162261–162270, https://doi.org/10.1109/ACCESS.2020.3014348, 2020b.
Longman, R. and Huang, Y.:
The Phenomenon of Apparent Convergence Followed by Divergence in Learning and Repetitive Control, Intell. Autom. Soft Co., 8, 107–128, https://doi.org/10.1080/10798587.2002.10644210, 2002.
Michel, O.:
Cyberbotics Ltd. Webots™: Professional Mobile Robot Simulation, Int. J. Adv. Robot. Syst., 1, 39–42, https://doi.org/10.5772/5618, 2004.
Nemec, B., Simonič, M., Likar, N., and Ude, A.:
Enhancing the performance of adaptive iterative learning control with reinforcement learning, in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 24–28 September 2017, Vancouver, BC, 2192–2199, https://doi.org/10.1109/IROS.2017.8206038, 2017.
Patan, K., Patan, M., and Kowalów, D.:
Neural networks in design of iterative learning control for nonlinear systems, IFAC PapersOnLine, 50, 13402–13407, https://doi.org/10.1016/j.ifacol.2017.08.2277, 2017.
Sekimoto, M., Kawamura, S., Ishitsubo, T, Akizuki, S., and Mizuno, M.:
Basis-motion torque composition approach: generation of feedforward inputs for control of multi-joint robots, in: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 10–15 October 2009,
St. Louis, MO, USA, 3127–3132, https://doi.org/10.1109/IROS.2009.5354729, 2009.
Shinji, W. and Mita, T.:
A Parameter Identification Method of Horizontal Robot Arms, Adv. Robotics, 4, 337–352, https://doi.org/10.1163/156855390X00170, 1990.
Tanimoto, N., Sekimoto, M., Kawamura, S., and Kimura, H.:
Generation of feedforward torque by reuse of ILC torque for three-joint robot arm in gravity, in: 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), 19–22 September 2017,
Kanazawa, Japan, 927–931, https://doi.org/10.23919/SICE.2017.8105507, 2017.
Truong, H. V. A., Tran, D. T., To, X. D., Ahn, K. K., and Jin, M.:
Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation, Appl. Sci., 9, 3290, https://doi.org/10.3390/app9163290, 2019.
Uchiyama, M.:
Formulation of high-speed motion pattern of a mechanical arm by trial, Trans. SICE (Soc. Instrum. Contr. Eng.), 14, 706–712, https://doi.org/10.9746/sicetr1965.14.706, 1978.
Wang, Y. C., Chien, C. J., and Lee, D. T.:
A fuzzy neural network direct adaptive iterative learning controller for robotic systems, IFAC Proceedings Volumes, 41, 6519–6524, https://doi.org/10.3182/20080706-5-KR-1001.01099, 2008.
Wang, Y., Chien, C., and Chi, R.:
A fuzzy neural network based adaptive terminal iterative learning control for nonaffine nonlinear discrete-time systems, in: Proceedings of the 2014 International Conference on Fuzzy Theory and Its Applications (iFUZZY2014), 26–28 November 2014, Kaohsiung, Taiwan, https://doi.org/10.1109/iFUZZY.2014.7091252, 163–167, 2014.
Wei-Liang, K., Cheng, M., and Lin, H.:
Reinforcement Q-Learning and ILC with Self-Tuning Learning Rate for Contour Following Accuracy Improvement of Biaxial Motion Stage, AD Publications, Rajasthan, India, http://ijoer.com/Paper-March-2017/IJOER-MAR-2017-8.pdf (last access: 29 April 2022), 2017.
Xu, P., and Xu, Q.:
Neural network-based AILC for nonlinear discrete-time system with iteration varying initial error and reference trajectory, in: Proceedings of the 2018 5th International Conference on Information Science and Control Engineering (ICISCE), 20–22 July 2018, Zhengzhou, China, https://doi.org/10.1109/ICISCE.2018.00179, 854–858, 2018.
Yovchev, K. and Miteva, L.:
Preliminary Study of Self-adaptive Constrained Output Iterative Learning Control for Robotic Manipulators, in: Advances in Service and Industrial Robotics. RAAD 2021. Mechanisms and Machine Science, edited by: Zeghloul, S., Laribi, M. A., and Sandoval, J., Springer, Cham, https://doi.org/10.1007/978-3-030-75259-0_30, 2021.
Yovchev, K., Delchev, K., and Krastev, E.:
Constrained Output Iterative Learning Control, Archives of Control Sciences, 30, 157–176, https://doi.org/10.24425/acs.2020.132590, 2020a.
Zhang, Y., Chu, B., and Shu, Z.:
A Preliminary Study on the Relationship Between Iterative Learning Control and Reinforcement Learning, IFAC PapersOnLine, 52, 314–319, https://doi.org/10.1016/j.ifacol.2019.12.669, 2019.
Short summary
Industrial robots are required to perform a given task repetitively with high tracking precision. Iterative learning control (ILC) calculates the tracking error of each iteration and corrects the output control signals in accordance with a predefined learning operator. This research considers the changes of the dynamics characteristics when the robot has different types of payload. It provides an approach for adaptation of the ILC to the specific payload to achieve faster convergence.
Industrial robots are required to perform a given task repetitively with high tracking...
Special issue