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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 204-212 doi: 10.1007/s11465-016-0380-3

摘要：

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

关键词： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Radial electromagnetic type unbalance vibration self-recovery regulation system for high-end grinding

《机械工程前沿（英文）》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0763-1

摘要： Modern rotating machines, which are represented by high-end grinding machines, have developed toward high precision, intelligence, and high durability in recent years. As the core components of grinding machine spindles, grinding wheels greatly affect the vibration level during operation. The unbalance vibration self-recovery regulation (UVSRR) system is proposed to suppress the vibration of grinding wheels during workpiece processing, eliminating or minimizing the imbalance. First, technical principles and the system composition are introduced. Second, the balancing actuator in the UVSRR system is analyzed in detail. The advanced nature of the improved structure is presented through structure introduction and advantage analysis. The performance of the balancing actuator is mutually verified by the theoretical calculation of torque and software simulation. Results show that the self-locking torque satisfies the actual demand, and the driving torque is increased by 1.73 times compared with the traditional structure. Finally, the engineering application value of the UVSRR system is verified by laboratory performance comparison and actual factory application. The balancing speed and effect of the UVSRR system are better than those of an international mainstream product and, the quality of the workpieces machined in the factory improved by 40%.

关键词： UVSRR system     radial electromagnetic type     vibration suppression     performance simulation     engineering application    

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Identification of cadmium-induced genes in maize seedlings by suppression subtractive hybridization

Quanlin DAI, Baifei HUANG, Zhongyi YANG, Jiangang YUAN, Junzhi YANG

《环境科学与工程前沿（英文）》 2010年 第4卷 第4期   页码 449-458 doi: 10.1007/s11783-010-0250-x

摘要： A maize variety, Huatian-1, had an unusually low translocation rate of cadmium (Cd) (59.6 mg·kg in the roots and 0.093 mg·kg in the grain) compared to 24 other varieties while being grown in soils with 16.50 mg·kg Cd. This indicates that this particular species may have special mechanisms that affect the absorption and translocation pattern of Cd. In this paper, the technique of suppression subtractive hybridization (SSH) was used to isolate and identify Cd-induced genes from Huatian-1 hydroponically ?exposed? to? 0.1 mM ?CdCl ?for? 1 h,? 12 h, 24 h, and 48 h. We found a total of 15 differentially expressed genes in the four groups; 2, 3, 4, and 6 genes were from the groups of 1 h, 12 h, 24 h, and 48 h treatment, respectively. Phospholipase mRNA, adenosine triphosphate (ATP) phosphoribosyl transferase 2, and were turned on in the maize in response to Cd stress, and it might provide new clues to explain the mechanism of maize tolerance to Cd.

关键词： Zea mays L.     cadmium (Cd)     suppression subtractive hybridization    

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Electromagnetic interference modeling and suppression techniques in variable-frequency drive systems

Le YANG, Shuo WANG, Jianghua FENG

《机械工程前沿（英文）》 2018年 第13卷 第3期   页码 329-353 doi: 10.1007/s11465-018-0466-1

摘要：

Electromagnetic interference (EMI) causes electromechanical damage to the motors and degrades the reliability of variable-frequency drive (VFD) systems. Unlike fundamental frequency components in motor drive systems, high-frequency EMI noise, coupled with the parasitic parameters of the trough system, are difficult to analyze and reduce. In this article, EMI modeling techniques for different function units in a VFD system, including induction motors, motor bearings, and rectifier-inverters, are reviewed and evaluated in terms of applied frequency range, model parameterization, and model accuracy. The EMI models for the motors are categorized based on modeling techniques and model topologies. Motor bearing and shaft models are also reviewed, and techniques that are used to eliminate bearing current are evaluated. Modeling techniques for conventional rectifier-inverter systems are also summarized. EMI noise suppression techniques, including passive filter, Wheatstone bridge balance, active filter, and optimized modulation, are reviewed and compared based on the VFD system models.

关键词： variable-frequency drive (VFD)     electromagnetic interference (EMI)     motor drive modeling     EMI noise suppression    

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Topology optimization of piezoelectric bi-material actuators with velocity feedback control

Mariana MORETTI, Emílio C. N. SILVA

《机械工程前沿（英文）》 2019年 第14卷 第2期   页码 190-200 doi: 10.1007/s11465-019-0537-y

摘要： In recent years, the new technologies and discoveries on manufacturing materials have encouraged researchers to investigate the appearance of material properties that are not naturally available. Materials featuring a specific stiffness, or structures that combine non-structural and structural functions are applied in the aerospace, electronics and medical industry fields. Particularly, structures designed for dynamic actuation with reduced vibration response are the focus of this work. The bi-material and multifunctional concepts are considered for the design of a controlled piezoelectric actuator with vibration suppression by means of the topology optimization method (TOM). The bi-material piezoelectric actuator (BPEA) has its metallic host layer designed by the TOM, which defines the structural function, and the electric function is given by two piezo-ceramic layers that act as a sensor and an actuator coupled with a constant gain active velocity feedback control (AVFC). The AVFC, provided by the piezoelectric layers, affects the structural damping of the system through the velocity state variables readings in time domain. The dynamic equation analyzed throughout the optimization procedure is fully elaborated and implemented. The dynamic response for the rectangular four-noded FE analysis is obtained by the Newmark’s time-integration method, which is applied to the physical and the adjoint systems, given that the adjoint formulation is needed for the sensitivity analysis. A gradient-based optimization method is applied to minimize the displacement energy output measured at a predefined degree-of-freedom of the BPEA when a transient mechanical load is applied. Results are obtained for different control gain values to evaluate their influence on the final topology.

关键词： topology optimization method     bi-material piezoactuator     active velocity feedback control     time-domain transient analysis     host structure design     vibration suppression    

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新型细水雾添加剂的制备及其灭火性能评价

刘江虹,金翔,廖光煊

《中国工程科学》 2010年 第12卷 第9期   页码 58-62

摘要：

在研究传统细水雾添加剂的基础上，取长补短，采用物理工艺制备出新型复合添加剂，针对典型火源（酒精池火、煤油池火与木垛火），改变添加剂浓度开展了一系列灭火实验。结果表明：新型复合添加剂显著增强了细水雾的灭火性能，可提高灭火时间5～8倍。随着细水雾中添加剂含量的不断增加，油池火的灭火时间呈现出先快速下降，而后略微增长的趋势；而木垛火的灭火时间表现为平缓下降，并趋于稳定。含新型复合添加剂的细水雾灭火是物理化学复合作用机制，但主导灭火机理是燃料表面的冷却与隔离作用。

关键词： 细水雾     添加剂     制备     灭火性能    

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A convolutional neural network based approach to sea clutter suppression for small boat detection

Guan-qing Li, Zhi-yong Song, Qiang Fu,liguanqing09@nudt.edu.cn,songzhiyong08@nudt.edu.cn

《信息与电子工程前沿（英文）》 2020年 第21卷 第10期   页码 1413-1534 doi: 10.1631/FITEE.1900523

摘要： Current methods for radar target detection usually work on the basis of high signal-to-clutter ratios. In this paper we propose a novel convolutional neural network based dual-activated clutter suppression algorithm, to solve the problem caused by low signal-to-clutter ratios in actual situations on the sea surface. Dual activation has two steps. First, we multiply the activated weights of the last dense layer with the activated feature maps from the upsample layer. Through this, we can obtain the s (CAMs), which correspond to the positive region of the sea clutter. Second, we obtain the suppression coefficients by mapping the CAM inversely to the sea clutter spectrum. Then, we obtain the activated range-Doppler maps by multiplying the coefficients with the raw range-Doppler maps. In addition, we propose a sampling-based data augmentation method and an effective multiclass coding method to improve the prediction accuracy. Measurement on real datasets verified the effectiveness of the proposed method.
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Vibration characteristics and machining performance of a novel perforated ultrasonic vibration platform

《机械工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0730-2

摘要： Ultrasonic vibration-assisted grinding (UVAG) is an advanced hybrid process for the precision machining of difficult-to-cut materials. The resonator is a critical part of the UVAG system. Its performance considerably influences the vibration amplitude and resonant frequency. In this work, a novel perforated ultrasonic vibration platform resonator was developed for UVAG. The holes were evenly arranged at the top and side surfaces of the vibration platform to improve the vibration characteristics. A modified apparent elasticity method (AEM) was proposed to reveal the influence of holes on the vibration mode. The performance of the vibration platform was evaluated by the vibration tests and UVAG experiments of particulate-reinforced titanium matrix composites. Results indicate that the reasonable distribution of holes helps improve the resonant frequency and vibration mode. The modified AEM, the finite element method, and the vibration tests show a high degree of consistency for developing the perforated ultrasonic vibration platform with a maximum frequency error of 3%. The employment of ultrasonic vibration reduces the grinding force by 36% at most, thereby decreasing the machined surface defects, such as voids, cracks, and burnout.

关键词： ultrasonic vibration-assisted grinding     perforated ultrasonic vibration platform     vibration characteristics     apparent elasticity method     grinding force     surface integrity    

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Improvement of engine performance with high compression ratio based on knock suppression using Miller

Haiqiao WEI, Jie YU, Lei ZHOU

《能源前沿（英文）》 2019年 第13卷 第4期   页码 691-706 doi: 10.1007/s11708-019-0621-3

摘要： In theory, high compression ratio has the potential to improve the thermal efficiency and promote the power output of the SI engine. However, the application of high compression ratio is substantially limited by the knock in practical working process. The objective of this work is to comprehensively investigate the application of high compression ratio on a gasoline engine based on the Miller cycle with boost pressure and split injection. In this work, the specific optimum strategies for CR10 and CR12 were experimentally investigated respectively on a single cylinder DISI engine. It was found that a high level of Miller cycle with a higher boost pressure could be used in CR12 to achieve an effective compression ratio similar to CR10, which could eliminate the knock limits at a high compression ratio and high load. To verify the advantages of the high compression ratio, the fuel economy and power performance of CR10 and CR12 were compared at full and partial loads. The result revealed that, compared with CR10, a similar power performance and a reduced fuel consumption of CR12 at full load could be achieved by using the strong Miller cycle and split injection. At partial load, the conditions of CR12 had very superior fuel economy and power performance compared to those of CR10.

关键词： high compression ratio     knock     Miller cycle     split injection     engine performance    

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Recent development of vibration utilization engineering

WEN Bangchun

《机械工程前沿（英文）》 2008年 第3卷 第1期   页码 1-9 doi: 10.1007/s11465-008-0017-2

摘要： The utilization of vibration and wave, which was developed during the latter half of the 20th century, is one of the most valueable technology applications and has been rapidly developing recently . Because the technique is closely associated with industry and agriculture, it can create huge social and economical benefits and provide excellent services for society. Thus, due to its necessity in industry and daily life, extensive research has been devoted to vibration utillization engineering. In this paper, vibration utilization is classified into linear or non-linear vibrations, waves, and electric-magnetic oscillations. Their phenomena, patterns, and applications in nature and society are introduced. Some research results about vibration utilization engineering are described.

关键词： utilization engineering     non-linear     vibration     vibration utillization     utillization engineering    

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Application of python-based Abaqus preprocess and postprocess technique in analysis of gearbox vibration

Guilian YI, Yunkang SUI, Jiazheng DU

《机械工程前沿（英文）》 2011年 第6卷 第2期   页码 229-234 doi: 10.1007/s11465-011-0128-z

摘要：

To reduce vibration and noise, a damping layer and constraint layer are usually pasted on the inner surface of a gearbox thin shell, and their thicknesses are the main parameters in the vibration and noise reduction design. The normal acceleration of the point on the gearbox surface is the main index that can reflect the vibration and noise of that point, and the normal accelerations of different points can reflect the degree of the vibration and noise of the whole structure. The K-S function is adopted to process many points’ normal accelerations as the comprehensive index of the vibration characteristics of the whole structure, and the vibration acceleration level is adopted to measure the degree of the vibration and noise. Secondary development of the Abaqus preprocess and postprocess on the basis of the Python scripting programming automatically modifies the model parameters, submits the job, and restarts the analysis totally, which avoids the tedious work of returning to the Abaqus/CAE for modifying and resubmitting and improves the speed of the preprocess and postprocess and the computational efficiency.

关键词： Abaqus secondary development     Python language     vibration and noise reduction     K-S function     vibration acceleration level    

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Growth suppression of colorectal cancer expressing S492R EGFR by monoclonal antibody CH12

Qiongna Dong, Bizhi Shi, Min Zhou, Huiping Gao, Xiaoying Luo, Zonghai Li, Hua Jiang

《医学前沿（英文）》 2019年 第13卷 第1期   页码 83-93 doi: 10.1007/s11684-019-0682-z

摘要：

Colorectal cancer (CRC) is a common malignant tumor in the digestive tract, and 30%–85% of CRCs express epidermal growth factor receptors (EGFRs). Recently, treatments using cetuximab, also named C225, an anti-EGFR monoclonal antibody, for CRC have been demonstrated to cause an S492R mutation in EGFR. However, little is known about the biological function of S492R EGFR. Therefore, we attempted to elucidate its biological function in CRC cells and explore new treatment strategies for this mutant form. Our study indicated that EGFR and S492R EGFR accelerate the growth of CRC cells in vitro and in vivo and monoclonal antibody CH12, which specifically recognizes an EGFR tumor-specific epitope, can bind efficiently to S492R EGFR. Furthermore, mAb CH12 showed significantly stronger growth suppression activities and induced a more potent antibody-dependent cellular cytotoxicity effect on CRC cells bearing S492R EGFR than mAb C225. mAb CH12 obviously suppressed the growth of CRC xenografts with S492R EGFR mutations in vivo. Thus, mAb CH12 may be a promising therapeutic agent in treating patients with CRC bearing an S492R EGFR mutation.

关键词： S492R EGFR ectodomain mutation     colorectal cancer     mAb CH12     immunnotherapy    

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Similitude design for the vibration problems of plates and shells: A review

Yunpeng ZHU, You WANG, Zhong LUO, Qingkai HAN, Deyou WANG

《机械工程前沿（英文）》 2017年 第12卷 第2期   页码 253-264 doi: 10.1007/s11465-017-0418-1

摘要：

Similitude design plays a vital role in the analysis of vibration and shock problems encountered in large engineering equipment. Similitude design, including dimensional analysis and governing equation method, is founded on the dynamic similitude theory. This study reviews the application of similitude design methods in engineering practice and summarizes the major achievements of the dynamic similitude theory in structural vibration and shock problems in different fields, including marine structures, civil engineering structures, and large power equipment. This study also reviews the dynamic similitude design methods for thin-walled and composite material plates and shells, including the most recent work published by the authors. Structure sensitivity analysis is used to evaluate the scaling factors to attain accurate distorted scaling laws. Finally, this study discusses the existing problems and the potential of the dynamic similitude theory for the analysis of vibration and shock problems of structures.

关键词： review     dynamic     similitude     vibration     model test    

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Multi-harmonic forced vibration and resonance of simple beams to moving vehicles

《结构与土木工程前沿（英文）》   页码 981-993 doi: 10.1007/s11709-023-0979-5

摘要： This study modeled the moving-vehicle-induced forcing excitation on a single-span prismatic bridge as a multiple frequency-multiplication harmonic load on the modal coordinates of a linear elastic simple Euler–Bernoulli beam, and investigated the forced modal oscillation and resonance behavior of this type of dynamic system. The forced modal responses consist of multiple frequency-multiplication steady-state harmonics and one damped mono-frequency complementary harmonic. The analysis revealed that a moving load induces high-harmonic forced resonance amplification when the moving speed is low. To verify the occurrence of high-harmonic forced resonance, numerical tests were conducted on single-span simple beams based on structural modeling using the finite element method (FEM) and a moving sprung-mass oscillator vehicle model. The forced resonance amplification characteristics of the fundamental mode for beam response estimation are presented with consideration to different end restraint conditions. The results reveal that the high-harmonic forced resonance may be significant for the investigated beams subjected to vehicle loads moving at specific low speeds. For the investigated single-span simple beams, the moving vehicle carriage heaving oscillation modulates the beam modal frequency, but does not induce notable variation of the modal oscillation harmonic structure for the cases that vehicle of small mass moves in low speed.

关键词： forced vibration     linear Euler beam     moving load     harmonic structure     frequency modulation     end restraints    

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Analytical and numerical investigation into the longitudinal vibration of uniform nanotubes

null

《机械工程前沿（英文）》 2014年 第9卷 第2期   页码 142-149 doi: 10.1007/s11465-014-0292-z

摘要：

In recent years, prediction of the behaviors of micro and nanostructures is going to be a matter of increasing concern considering their developments and uses in various engineering fields. Since carbon nanotubes show the specific properties such as strength and special electrical behaviors, they have become the main subject in nanotechnology researches. On the grounds that the classical continuum theory cannot accurately predict the mechanical behavior of nanostructures, nonlocal elasticity theory is used to model the nanoscaled systems. In this paper, a nonlocal model for nanorods is developed, and it is used to model the carbon nanotubes with the aim of the investigating into their longitudinal vibration. Following the derivation of governing equation of nanorods and estimation of nondimensional frequencies, the effect of nonlocal parameter and the length of the nanotube on the obtained frequencies are studied. Furthermore, differential quadrature method, as a numerical solution technique, is used to study the effect of these parameters on estimated frequencies for both classical and nonlocal theories.

关键词： continuum theory     differential quadrature method     nanorod     longitudinal vibration    

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标题 作者 时间 类型 操作

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

期刊论文

Radial electromagnetic type unbalance vibration self-recovery regulation system for high-end grinding

期刊论文

Identification of cadmium-induced genes in maize seedlings by suppression subtractive hybridization

Quanlin DAI, Baifei HUANG, Zhongyi YANG, Jiangang YUAN, Junzhi YANG

期刊论文

Electromagnetic interference modeling and suppression techniques in variable-frequency drive systems

Le YANG, Shuo WANG, Jianghua FENG

期刊论文

Topology optimization of piezoelectric bi-material actuators with velocity feedback control

Mariana MORETTI, Emílio C. N. SILVA

期刊论文

新型细水雾添加剂的制备及其灭火性能评价

刘江虹,金翔,廖光煊

期刊论文

A convolutional neural network based approach to sea clutter suppression for small boat detection

Guan-qing Li, Zhi-yong Song, Qiang Fu,liguanqing09@nudt.edu.cn,songzhiyong08@nudt.edu.cn

期刊论文

Vibration characteristics and machining performance of a novel perforated ultrasonic vibration platform

期刊论文

Improvement of engine performance with high compression ratio based on knock suppression using Miller

Haiqiao WEI, Jie YU, Lei ZHOU

期刊论文

Recent development of vibration utilization engineering

WEN Bangchun

期刊论文

Application of python-based Abaqus preprocess and postprocess technique in analysis of gearbox vibration

Guilian YI, Yunkang SUI, Jiazheng DU

期刊论文

Growth suppression of colorectal cancer expressing S492R EGFR by monoclonal antibody CH12

Qiongna Dong, Bizhi Shi, Min Zhou, Huiping Gao, Xiaoying Luo, Zonghai Li, Hua Jiang

期刊论文

Similitude design for the vibration problems of plates and shells: A review

Yunpeng ZHU, You WANG, Zhong LUO, Qingkai HAN, Deyou WANG

期刊论文

Multi-harmonic forced vibration and resonance of simple beams to moving vehicles

期刊论文

Analytical and numerical investigation into the longitudinal vibration of uniform nanotubes

null

期刊论文