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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
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
Study on damping properties of magnetorheological damper
ZHOU Yu-feng, CHEN Hua-ling
《机械工程前沿(英文)》 2006年 第1卷 第4期 页码 452-455 doi: 10.1007/s11465-006-0057-4
关键词: nonlinear hysteretic force-velocity unsolved excitation magnetorheological
Evaluation of transmissibility for a class of nonlinear passive vibration isolators
Z. K. PENG, Z. Q. LANG, G. MENG
《机械工程前沿(英文)》 2012年 第7卷 第4期 页码 401-409 doi: 10.1007/s11465-012-0349-9
In this study, the concept of Output Frequency Response Functions (OFRFs) is applied to represent the transmissibility of nonlinear isolators in frequency domain. With the OFRFs estimated from numerical simulation responses, an explicit analytical relationship between the transmissibility and the nonlinear characteristic parameters is derived for a wide class of nonlinear isolators that have nonlinear anti-symmetric damping characteristics and a comprehensive pattern about how the nonlinear damping characteristic parameters might affect the force and displacement transmissibility is built for the vibration isolators. The results reveal that it is reasonable to analyze the force and displacement transmissibility of the nonlinear isolators by simply investigating the fundamental harmonic components of the force and displacement outputs of the nonlinear isolators, and the introduction of a nonlinear anti-symmetric damping into vibration isolators can significantly suppress both the force and displacement transmissibility over the resonant frequency region, but has almost no effect on the transmissibility at non-resonant regions. These conclusions are of significant importance in the analysis and design of the nonlinear vibration isolators with nonlinear anti-symmetric damping.
关键词: nonlinear vibration volterra series Output Frequency Response Functions (OFRFs) nonlinear damping vibration isolator
Impact analytical models for earthquake-induced pounding simulation
Kun YE, Li LI
《结构与土木工程前沿(英文)》 2009年 第3卷 第2期 页码 142-147 doi: 10.1007/s11709-009-0029-y
关键词: structural pounding Hertz model Kelvin model nonlinear damping coefficient of restitution
Pengfei LI; Jinquan ZHANG; Shengqi MEI; Zhenhua DONG; Yan MAO
《结构与土木工程前沿(英文)》 2022年 第16卷 第2期 页码 239-249 doi: 10.1007/s11709-021-0804-y
关键词: vehicle-bridge vibration system dynamic analysis stress-dependent damping energy dissipation
《结构与土木工程前沿(英文)》 2023年 第17卷 第3期 页码 350-367 doi: 10.1007/s11709-022-0923-0
关键词: three-dimensional isolation rocking behavior rocking constraint device replaceable damping component sinusoidal test
Approximation of structural damping and input excitation force
Mohammad SALAVATI
《结构与土木工程前沿(英文)》 2017年 第11卷 第2期 页码 244-254 doi: 10.1007/s11709-016-0371-9
关键词: structural modal parameters damping identification method input excitation force identification Inverse problem
Variable stiffness and damping magnetorheological isolator
Yang ZHOU, Xingyu WANG, Xianzhou ZHANG, Weihua LI
《机械工程前沿(英文)》 2009年 第4卷 第3期 页码 310-315 doi: 10.1007/s11465-009-0039-4
关键词: magnetorheological (MR) fluid stiffness damping mathematical model dynamic performance parameter identification
Study of an artificial boundary condition based on the damping-solvent extraction method
Qiang XU, Jianyun CHEN, Jing LI, Mingming WANG
《结构与土木工程前沿(英文)》 2012年 第6卷 第3期 页码 281-287 doi: 10.1007/s11709-012-0167-5
关键词: damping-solvent extraction method structure-unlimited-foundation system spring-damper system artificial damping limited region finite element method
Effects of green roof damping and configuration on structural seismic response
《结构与土木工程前沿(英文)》 页码 1133-1144 doi: 10.1007/s11709-023-0959-9
关键词: green infrastructure green roof structural resilience seismic design
Fluid damping clearance in a control valve of injector
ZHANG Jianming, ZHANG Weigang, YANG Bing, WANG Yawei
《机械工程前沿(英文)》 2007年 第2卷 第4期 页码 439-441 doi: 10.1007/s11465-007-0075-x
A method of analysis for modal aero-damping of vibrating blade in incompressible flow
Jun XING, Lin LI,
《能源前沿(英文)》 2009年 第3卷 第4期 页码 465-471 doi: 10.1007/s11708-009-0037-6
关键词: compressor different three-dimension analytical classical low-speed
Dynamics of structural systems with various frequency-dependent damping models
Li LI,Yujin HU,Weiming DENG,Lei LÜ,Zhe DING
《机械工程前沿(英文)》 2015年 第10卷 第1期 页码 48-63 doi: 10.1007/s11465-015-0330-5
The aim of this paper is to present the dynamic analyses of the system involving various damping models. The assumed frequency-dependent damping forces depend on the past history of motion via convolution integrals over some damping kernel functions. By choosing suitable damping kernel functions of frequency-dependent damping model, it may be derived from the familiar viscoelastic materials. A brief review of literature on the choice of available damping models is presented. Both the mode superposition method and Fourier transform method are developed for calculating the dynamic response of the structural systems with various damping models. It is shown that in the case of non-deficient systems with various damping models, the modal analysis with repeated eigenvalues are very similar to the traditional modal analysis used in undamped or viscously damped systems. Also, based on the pseudo-force approach, we transform the original equations of motion with nonzero initial conditions into an equivalent one with zero initial conditions and therefore present a Fourier transform method for the dynamics of structural systems with various damping models. Finally, some case studies are used to show the application and effectiveness of the derived formulas.
关键词: damping viscoelasticity dynamic analysis mode superposition method Fourier transform method
Development of a seismic design method based on response spectra for building structures
ZHOU Xiyuan, YU Ruifang
《结构与土木工程前沿(英文)》 2007年 第1卷 第2期 页码 129-141 doi: 10.1007/s11709-007-0014-2
关键词: generalization classical damping mode-superposition response calculation formula damping theory
Jing LU, Yu XIANG, Qiao NI
《机械工程前沿(英文)》 2011年 第6卷 第4期 页码 449-455 doi: 10.1007/s11465-011-0240-0
Considering the direct and converse piezoelectric effect, expressions of piezoelectric membrane internal forces in the piezoelectric constrained layer were given. The control equations of the piezoelectric constrained layer and host plate were obtained in according with the thin plate theory. Based on the layer wised principle, the integrated first order differential equation of an active constrained layer damping (ACLD) plate was derived for the simply supported boundary condition. Then, this method was expanded to the ACLD plate with cantilever boundary condition by virtue of geometric analogy method. Employing the extended homogeneous capacity precision integration approach, a high precision semi-analytical method was proposed to analyze the dynamic characteristics of the ACLD plate with various boundary conditions. The comparison with the literature results has verified the accuracy and effectiveness of the present method.
关键词: active constrained layer damping (ACLD) plate dynamic characteristics semi-analytical method extended homogeneous capacity precision integration approach
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
Evaluation of transmissibility for a class of nonlinear passive vibration isolators
Z. K. PENG, Z. Q. LANG, G. MENG
期刊论文
Numerical analysis of vehicle-bridge coupling vibration concerning nonlinear stress-dependent damping
Pengfei LI; Jinquan ZHANG; Shengqi MEI; Zhenhua DONG; Yan MAO
期刊论文
Development of rocking constraint device with vertical damping capacity for three-dimensional base-isolated
期刊论文
Variable stiffness and damping magnetorheological isolator
Yang ZHOU, Xingyu WANG, Xianzhou ZHANG, Weihua LI
期刊论文
Study of an artificial boundary condition based on the damping-solvent extraction method
Qiang XU, Jianyun CHEN, Jing LI, Mingming WANG
期刊论文
Fluid damping clearance in a control valve of injector
ZHANG Jianming, ZHANG Weigang, YANG Bing, WANG Yawei
期刊论文
A method of analysis for modal aero-damping of vibrating blade in incompressible flow
Jun XING, Lin LI,
期刊论文
Dynamics of structural systems with various frequency-dependent damping models
Li LI,Yujin HU,Weiming DENG,Lei LÜ,Zhe DING
期刊论文
Development of a seismic design method based on response spectra for building structures
ZHOU Xiyuan, YU Ruifang
期刊论文