An mechatronics coupling design approach for aerostatic bearing spindles

In this paper, a new design approach for aerostatic bearing spindles (ABS) is firstly proposed which takes into account of the interactions between the mechanical and the servo subsystems, including the integration of electromagnetic effects, static pressure characteristics, servo control and mechanical characteristics. According to the air bearing design principle, the geometry of the spindle rotor is designed. The fluid software is used to analyze the influence of the bearing capacity and stiffness on the stability of the spindle. The simulation shows when the air film thickness is 12 μm, the bearing has good load carrying capacity and rigidity. In addition, the influence of motor harmonics on the spindle shaft modes is considered to avoid the resonance of ABS, and to ensure ABS anti-interference capability, proper inertia of ABS is calculated and analyzed. Finally, ABS has a good follow-up effect on the servo control and machining performance through the experimental prototype. The electromechanical coupling design approach for ABS proposed in this paper, can achieve a peak value better than 0.8 μm (surface size: 9 mm × 9 mm) and a surface roughness better than 8 nm in end face turning experiments

Visual Servoing from Deep Neural Networks

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a single real-world image of the scene. A convolutional neural network is fine-tuned using this dataset to estimate the relative pose between two images of the same scene. The output of the network is then employed in a visual servoing control scheme. The method converges robustly even in difficult real-world settings with strong lighting variations and occlusions.A positioning error of less than one millimeter is obtained in experiments with a 6 DOF robot.Comment: fixed authors lis

A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds

High precision demands in a large number of emerging robotic applications strengthened the role of the modern control laws in the position control of the Permanent Magnet Synchronous Motor (PMSM) servo system. This paper proposes a learning-based adaptive control approach to improve the PMSM position tracking in the presence of the friction uncertainty. In contrast to most of the reported works considering the servos operating at high speeds, this paper focuses on low speeds in which the friction stemmed deteriorations become more obvious. In this paper firstly, a servo model involving the Stribeck friction dynamics is formulated, and the unknown friction parameters are identified by a genetic algorithm from the offline data. Then, a feedforward controller is designed to inject the friction information into the loop and eliminate it before causing performance degradations. Since the friction is a kind of disturbance and leads to uncertainties having time-varying characters, an Adaptive Proportional Derivative (APD) type Iterative Learning Controller (ILC) named as the APD-ILC is designed to mitigate the friction effects. Finally, the proposed control approach is simulated in MATLAB/Simulink environment and it is compared with the conventional Proportional Integral Derivative (PID) controller, Proportional ILC (P-ILC), and Proportional Derivative ILC (PD-ILC) algorithms. The results confirm that the proposed APD-ILC significantly lessens the effects of the friction and thus noticeably improves the control performance in the low speeds of the PMSM

The fabrication and test of a dual spin gas bearing reaction wheel

The design and fabrication of a dual spin gas bearing reaction wheel are discussed. Numerical analyses, data, and conclusions from performance tests are reported. The unique feature of the reaction wheel is the dual gas bearing concept in which two sets of self-acting hydrodynamic bearing are used to obtain stictionless operation and low noise around zero speed and to accommodate the momentum range from plus 6.8 N-m-s to minus 6.8 N-m-s with the potential for long life inherent in gas bearings