Synthesis of sliding control system for automotive suspension under kinematic constraints

This article is about the problem of control system synthesis for an active suspension system with not-ideal actuator under kinematic constrains. This paper investigates the influence of hysteresis and the dead zone in an actuator on efficiency of an active suspension system. To reduce the influence of hysteresis and the dead zone a method of synthesis of discontinuous control systems is proposed. The proposed discontinuous control system reduces the sensitivity of the system to disturbances caused by a non-ideal actuator. It enables a fourfold expansion of the distribution range where an active suspension is more effective than a passive suspension. This system also takes into account the nonlinear structure of the control object. The efficiency of the closed system is studied on a dynamic model constructed using the Simulink package

Effect of mistuning parameters on dynamic characteristics of mistuned bladed disk

The aim of this paper is to study the nonlinear dynamics of the tenon and mortise of aero-engine compressor blades, based on lumped parameter model of tenon and mortise of blade disk system, considering the influence of gap and friction, The nonlinear vibration characteristics of mistuned bladed disk with different mistuning parameters are studied. The effects of tenon and mortise gap, dry friction, blade damping mistuning and tenon damping mistuning on the vibration characteristics of the mistuned bladed disk under strong coupling and weak coupling are obtained respectively. The results show that the gap and friction has little effect on the vibration response of the weakly coupled bladed disk, but the gap and friction has a great influence on the strongly coupled bladed disk, the larger the gap, the more complex the nonlinear dynamic characteristics of tenon. Under the same gap and coupling strength, the mistuning parameters have a certain influence on the vibration amplitude of the bladed disk

The shock absorption efficiency of the newly developed neutral equilibrium mechanism in building

When a structure is hit by an earthquake, the resultant dynamic amplification threatens the safety of the structure. To counteract the seismic force and also reduce structural deformation, a control force, which requires a huge actuator, can be exerted. To avoid the use of excessively large actuators, the power capacity of the actuator needs to be reduced. To overcome these problems, the Neutral Equilibrium Mechanism (NEM) has been developed. The NEM can achieve changes in control with minimal output. The test results of the NEM confirm the following: 1. The total strength of the inner spring is equal to the total strength of the main control spring. 2. The deformation of the main control spring is zero when the angle of the linkage is zero. 3. When the angle of the linkage is +/–90 degrees, the deformation of the inner spring is zero. Considering time delay, the results of analysis show the following: 1. The time delay should be controlled to less than 0.020 seconds, and this mechanism can exert an excellent structural displacement reduction effect. 2. Comparison of the unbalanced force, the maximum output power and the maximum control power of the NEM to those of the direct control method under the same control parameters shows that when the time delay is 0.001 seconds, the unbalanced force of the NEM is only 1/230 and 1/236 of the maximum control force and the maximum output power of direct control respectively. 3. When the time delay is 0.005 seconds, the unbalanced force of the NEM is only 1/150 and also 1/150 of the maximum control and maximum output power of direct control respectively; 4. When the time delay is 0.010 seconds, the unbalanced force of this mechanism is 1/85 and 1/80 of the maximum control force and the maximum output power of direct control. The advantages of the NEM are that the control effect of a building with the NEM under a small unbalanced force and the maximum output power of a small NEM can achieve the same control effect of direct control under the same control parameters

Dynamical analysis and validation of motion control by filtering performance for aerial robotic system

Although drone appears in different applications, such as environmental inspection, agriculture or transportation, some aspects require more studies to clarify the efficient outcomes. One of them is to investigate the filtering performance such as Kalman and Complementary filters when the autonomous aerial system (AAS) handles its mission. However, it lacks the systematic research about these filters to provide the proper evaluation. Therefore, in this paper, the research topic related to AAS model to indicate the filtering effects in the agricultural application for making an alternative solution is presented. Firstly, the mathematical representation of system model is established in order to describe the dynamical performance and motion constraints. Then, the theory of filter structure is implemented to estimate the system state. The proposed design is validated in both numerical simulation and experiments. The system parameters that are monitored, include angular values of roll, pitch and yaw in three axes, motion parameters and its trajectories. By utilizing various sensing devices such as gyroscope, accelerometer and compass in real-world hardware, the experimental results could evaluate more precise and efficient design. The findings of this study are to (1) propose the model of AAS and proper filters, (2) launch the verified process and calibration, and (3) demonstrate the competitive performance among filters. From these results of our work, it could be clearly seen that the AAS plays an important role in daily applications and the related topics are still attractive

Effect of vibration on the rheological properties of glycerin during its purification

In this paper, a new method using the experimental results is proposed to determine the rheological characteristics of glycerin purification by a vibrocentric machine. The experimental testings are reported based on the values of the unilateral deformation of the glycerin under different process modes. The Kelvin-Voight model is used for rheological modeling of the proposed vibrocentric purification of glycerin. A new compression device is presented for the experimental studies, which is useful to simulate different technological processing mods. The behavior of glycerin during the centrifugation and vibrationally separation could be simulated using the introduced compression device. Test results show that a 15 % increase in the deformation of the glycerin is achievable using the simultaneous vibration-based and centrifugation processes. The impacts of amplitude-frequency parameters of glycerin purification using the vibrocentric process on the stress, strain, and strain rate have been studies. The obtained test results illustrate that the specified rheological characteristics increase sharply due to the resonant mode of the vibrating machine’s operation

Dynamic processes in the pulsation chamber vibration machine for disinfection of water

There is a design of vibrating machine proposed in this paper. In this vibrating machine low-frequency vibrations are used to form cavitation cavities in a liquid substance in order to disinfect it. To study the dynamics of a vibrating machine, an analytical model has been created, which makes it possible to determine the change in the maximum pressure in the working body of a vibrating machine and analyze the influence of drive operating modes and design parameters on the efficiency of the water disinfection process. From the accomplished experimental studies, graphical dependences of the influence of design parameters and drive operating modes on the change in maximum pressure in the working body of a vibrating machine are obtained. Using video, we visualized the processes taking place in the working body of the vibrating machine, and analyzed the occurrence of cavitation phenomena in the working body of the vibrating machine. According to the results of the studies, it is recommended for practical use in vibration machines the frequency boundaries of the drive’s vibrations, the oscillation amplitude, the size of the piston and the holes in it, and their ratio

Kinematics analysis of a FLHL robot parallel-executed cylinder mechanical integration system with force/position hybrid control servo actuator

In this research subtopic, an electro-hydraulic servo four-legged heavy load (FLHL) robot has been designed and developed. This paper proposes an integration layout cylinder design scheme for a non-lightweight hydraulic servo four-legged robot with high loads and torques of hip joint, and derives the mathematical element analysis model for a parallel hydraulic servo cylinder system. The multiple inherent characteristics of the parallel-executed cylinder integration system model are further explored. Based on the controllable functional requirements of interconnected joints and weakening the influence of internal force coupling, a design idea of force/position hybrid control scheme for the parallel-executed cylinder is determined, and then the force/position signal module design unit is used to reversely solve the force/position hybrid control. Considering the inherent requirements of the servo-executed cylinder force control unit module, the implementation process of magnetic flux compensation and speed compensation is discussed in detail. The minimum amplitude controller is applied to the servo-executed cylinder force unit module, and the proportional integrated controller has been determined in the servo-executed cylinder position control unit module. A compound control strategy proposed in this paper is verified on a parallel hydraulic servo platform. The experimental verification results reveal that the values of position/force attenuation amplitude and lag phase are not greater than 9 % and 18°, respectively. In addition, the feasibility of the interconnected implementation of the hybrid control scheme proposed in this paper is further deepened. The effective conclusion of this research will be accepted in the application field of FLHL robot control system

Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application

This research presents an optimal trajectory tracking control method for improving the accuracy of 3-DOF translational parallel robots in the surgery field based on the Particle Swarm Optimization (PSO) method. The 3-DOF translational robot has three translational degrees of freedom, which consists of three arms with three revolute joints and twelve spherical joints. Firstly, the kinematics model is established; and the dynamics equation of the Robot is built by applying the Lagrange equation of the first type, and then the dynamics controller of 3-DOF translational robot is designed base on the dynamics equations. Secondly, a trajectory tracking controller model using the Particle Swarm Optimization based on inverse dynamics controlled method for 3-DOF translational Robot is designed. The control performance results of the proposed controller is evaluated by simulation and compared with the other published research results. Finally, the proposed controller can achieve better tracking performance in comparison with other controllers as Proportional Integral Derivative (PID) controller, GPI controller, and adaptive controller

Creation and verification of spatial mathematical model of vibrating machine with two self-synchronizing unbalanced exciters

Vibration technological machines with self-synchronized unbalanced vibration exciters (vibrating conveyors, vibrating screens, vibrating crushers, etc.) are widely used in modern industry. Despite drive construction simplicity throughout exploitation of such machines a number of nonlinear dynamics effects can be observed. Most of such effects are related to machine drive and elastic suspension interaction and appear while passing through resonant frequencies. Nowadays the idea of resonant vibrating machines creation got a second breathe. The distinctive feature of such machines is the automated system for maintaining resonant mode of machine. Creation of such automated systems requires accurate mathematical models of vibrating machines that can reflect its most important features. The aim of this work is to create a spatial mathematical model and determine the dynamic system unknown parameters of a vibrating screen experimental sample with two self-synchronizing unbalanced vibration exciters that can create the working body spatial motion. The mathematical model motion equations are derived using the Lagrange equations of the second kind. Using the obtained experimental data (natural frequencies and logarithmic damping decrement), the mathematical model mass-geometric parameters and the damping parameters values were calculated. The investigation result is a verified mathematical model of a vibrating screen sample with two self-synchronizing unbalanced vibration exciters

Structural optimization of H-type VAWT blade under fluid-structure interaction conditions

To reduce the errors caused by the rigid body hypothesis in the aerodynamics-structure coupling calculation and improve the structural performance, an optimum structure design with the consideration of the fluid-structure interaction are performed for the H-type vertical axis wind turbine (VAWT) blade. Based on the ANSYS Workbench platform, the geometric model, computational domain and grids of the wind wheel are constructed, the turbulence model, boundary conditions and composite material layers are set up, and the fluid and solid domains are solved in a coupled way. The single-objective structural optimization model in which the thicknesses of glass clothes, foam and gel coat, and the positions of two webs are taken as design variables is solved using the response surface optimization method to minimize the wind wheel mass. The frequencies and vibration modes of original and optimized blades with and without pre-stress and the transient characteristics of wind wheels in different wind speeds are investigated. The results indicate that after the blade optimization, the first-order frequency and critical speed become larger and other frequencies reduce for the static, single pre-stress and multiple pre-stresses states, and the maximum displacement, stress and strain of the wind wheel decrease under rated and extreme wind speeds, confirming significant performance improvements. The research provides useful guidance for the integrated design of structure and aerodynamics of wind turbine blades