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Finite element modeling of cable sliding and its effect on dynamic response of cable-supported truss

Yujie YU, Zhihua CHEN, Renzhang YAN

《结构与土木工程前沿（英文）》 2019年 第13卷 第5期   页码 1227-1242 doi: 10.1007/s11709-019-0551-5

摘要： The cable system of cable-supported structures usually bears high tension forces, and clip joints may fail to resist cable sliding in cases of earthquake excitations or sudden cable breaks. A analytical method that considers the dynamic cable sliding effect is proposed in this paper. Cable sliding behaviors and the resultant dynamic responses are solved by combining the vector form intrinsic finite element framework with cable force redistribution calculations that consider joint frictions. The cable sliding effect and the frictional tension loss are solved with the original length method that uses cable length and the original length relations. Then, the balanced tension distributions are calculated after frictional sliding. The proposed analytical method is achieved within MATLAB and applied to simulate the dynamic response of a cable-supported plane truss under seismic excitation and sudden cable break. During seismic excitations, the cable sliding behavior in the cable-supported truss have an averaging effect on the oscillation magnitudes, but it also magnifies the internal force response in the upper truss structure. The slidable cable joints can greatly reduce the ability of a cable system to resist sudden cable breaks, while strong friction resistances at the cable-strut joints can help retain internal forces.

关键词： sliding cable     explicit solution framework     original length method     seismic response     cable rupture    

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Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

《能源前沿（英文）》 2020年 第14卷 第4期   页码 836-849 doi: 10.1007/s11708-017-0444-z

摘要： This paper proposes a design of control and estimation strategy for induction motor based on the variable structure approach. It describes a coupling of sliding mode direct torque control (DTC) with sliding mode flux and speed observer. This algorithm uses direct torque control basics and the sliding mode approach. A robust electromagnetic torque and flux controllers are designed to overcome the conventional SVM-DTC drawbacks and to ensure fast response and full reference tracking with desired dynamic behavior and low ripple level. The sliding mode controller is used to generate reference voltages in stationary frame and give them to the controlled motor after modulation by a space vector modulation (SVM) inverter. The second aim of this paper is to design a sliding mode speed/flux observer which can improve the control performances by using a sensorless algorithm to get an accurate estimation, and consequently, increase the reliability of the system and decrease the cost of using sensors. The effectiveness of the whole composed control algorithm is investigated in different robustness tests with simulation using Matlab/Simulink and verified by real time experimental implementation based on dS pace 1104 board.

关键词： induction motor     direct torque control (DTC)     space vector modulation (SVM)     sliding mode control (SMC)     sliding mode observer (SMO)     dS1104    

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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

《机械工程前沿（英文）》 2015年 第10卷 第1期   页码 95-101 doi: 10.1007/s11465-015-0332-3

摘要：

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

关键词： weld seam tracking     welding robotic manipulator     adaptive control     sliding mode control    

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Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

《机械工程前沿（英文）》 2013年 第8卷 第4期   页码 350-359 doi: 10.1007/s11465-013-0271-9

摘要：

Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.

关键词： parallel robot     flexible cable     suspended robot     dynamic    

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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

《机械工程前沿（英文）》 2007年 第2卷 第1期   页码 110-115 doi: 10.1007/s11465-007-0019-5

摘要： A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investigation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control system considerably.

关键词： lower-dimensional     nonlinear     trajectory     tracking     diffeomorphism    

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DFIG sliding mode control fed by back-to-back PWM converter with DC-link voltage control for variable

Youcef BEKAKRA,Djilani BEN ATTOUS

《能源前沿（英文）》 2014年 第8卷 第3期   页码 345-354 doi: 10.1007/s11708-014-0330-x

摘要： This paper proposes an indirect power control of doubly fed induction generator (DFIG) with the rotor connected to the electric grid through a back-to-back pulse width modulation (PWM) converter for variable speed wind power generation. Appropriate state space model of the DFIG is deduced. An original control strategy based on a variable structure control theory, also called sliding mode control, is applied to achieve the control of the active and reactive power exchanged between the stator of the DFIG and the grid. A proportional-integral-(PI) controller is used to keep the DC-link voltage constant for a back-to-back PWM converter. Simulations are conducted for validation of the digital controller operation using Matlab/Simulink software.

关键词： doubly fed induction generator (DFIG)     wind turbine     back-to-back pulse width modulation (PWM)     DC-link voltage     sliding mode control    

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State-of-the-art on theories and applications of cable-driven parallel robots

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0693-3

摘要： Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace, cost and energy efficiency simultaneously. As a result, CDPRs have had irreplaceable roles in industrial and technological fields, such as astronomy, aerospace, logistics, simulators, and rehabilitation. CDPRs follow the cutting-edge trend of rigid–flexible fusion, reflect advanced lightweight design concepts, and have become a frontier topic in robotics research. This paper summarizes the kernel theories and developments of CDPRs, covering configuration design, cable-force distribution, workspace and stiffness, performance evaluation, optimization, and motion control. Kinematic modeling, workspace analysis, and cable-force solution are illustrated. Stiffness and dynamic modeling methods are discussed. To further promote the development, researchers should strengthen the investigation in configuration innovation, rapid calculation of workspace, performance evaluation, stiffness control, and rigid–flexible coupling dynamics. In addition, engineering problems such as cable materials, reliability design, and a unified control framework require attention.

关键词： cable-driven parallel robot     kinematics     optimization     dynamics     control    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

《机械工程前沿（英文）》 2021年 第16卷 第2期   页码 353-362 doi: 10.1007/s11465-020-0620-4

摘要： This study proposes a gained switching-based discrete-time sliding mode control method to address the chattering issue in disturbed discrete-time systems, which suffer from various unknown uncertainties. Through the new structure of the designed reaching law, the proposed method can effectively increase the convergence speed while guaranteeing chattering-free control. The performance of controlling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive online hyper-parameter tuning. In addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness of the proposed reaching law. Results reveal the dynamic performance and robustness of the proposed reaching law in the studied system and prove the proposed method’s superiority over other state-of-the-art methods.

关键词： sliding-mode control     robot control     discrete-time uncertain systems     fuzzy logic    

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地基土上水工建筑物的抗滑动稳定研究

周君亮

《中国工程科学》 2010年 第12卷 第3期   页码 4-14

摘要：

研究地基土上水工建筑物滑动设计和计算中存在的问题。利用基坑内压板抗滑动试验成果，确定地基土包括回弹影响后的抗滑动承载能力。采用地基土承受偏心荷载的最大压应力σmax控制地基土与压板的位移和抗滑动形式，可以发生不同的3种最大位移面，形成6种抗滑动形式。根据地基土承受的最大压应力，提出设计抗滑动的计算方法：定量确定地基土与压板抗滑动的摩擦系数计算值，地基土的抗滑动安全系数由指标安全系数控制，修正在地基土上建筑物整体滑动的计算公式，计算预测可能发生的多种最大位移面和抗滑动形式及绘制地基土滑动区轮廓，限定地基土发生平面抗滑动形式时承受的最大压应力值。按拟定方法，回顾分析3座已建水工建筑物，分析计算成果符合实物工况。

关键词： 压板抗滑动试验     最大位移面与抗滑动形式     原型、模型抗滑动相似指数     抗滑动摩擦系数     设计和计算方法    

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Nonlinear analysis of cable structures using the dynamic relaxation method

Mohammad REZAIEE-PAJAND, Mohammad MOHAMMADI-KHATAMI

《结构与土木工程前沿（英文）》 2021年 第15卷 第1期   页码 253-274 doi: 10.1007/s11709-020-0639-y

摘要： The analysis of cable structures is one of the most challenging problems for civil and mechanical engineers. Because they have highly nonlinear behavior, it is difficult to find solutions to these problems. Thus far, different assumptions and methods have been proposed to solve such structures. The dynamic relaxation method (DRM) is an explicit procedure for analyzing these types of structures. To utilize this scheme, investigators have suggested various stiffness matrices for a cable element. In this study, the efficiency and suitability of six well-known proposed matrices are assessed using the DRM. To achieve this goal, 16 numerical examples and two criteria, namely, the number of iterations and the analysis time, are employed. Based on a comprehensive comparison, the methods are ranked according to the two criteria. The numerical findings clearly reveal the best techniques. Moreover, a variety of benchmark problems are suggested by the authors for future studies of cable structures.

关键词： nonlinear analysis     cable structure     stiffness matrix     dynamic relaxation method    

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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

《机械工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0722-2

摘要： This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMs) and Bowden cables. The lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the base. First, this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling motion. Then, a novel type of one-degree-of-freedom (1-DOF) elbow joint is proposed based on this principle, which is also applied to design the 3-DOF wrist and shoulder joints. Next, Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint independence. After that, both the forward and inverse kinematics of the entire arm are analyzed. Last, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, joint stiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify the arm performance.

关键词： modular robotic arm     anti-parallelogram mechanism     Bowden cable     humanoid arm     lightweight joint design    

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Anisotropy of multi-layered structure with sliding and bonded interlayer conditions

Lingyun YOU, Kezhen YAN, Jianhong MAN, Nengyuan LIU

《结构与土木工程前沿（英文）》 2020年 第14卷 第3期   页码 632-645 doi: 10.1007/s11709-020-0617-4

摘要： A better understanding of the mechanical behavior of the multi-layered structure under external loading is the most important item for the structural design and the risk assessment. The objective of this study are to propose and develop an analytical solution for the mechanical behaviors of multi-layered structure generated by axisymmetric loading, and to investigate the impact of anisotropic layers and interlayer conditions on the multi-layered structure. To reach these objectives, first, according to the governing equations, the analytical solution for a single layer was formulated by adopting the spatial Hankel transform. Then the global matrix technique is applied to achieve the analytical solution of multi-layered structure in Hankel domain. The sliding and bonded interlayer conditions were considered in this process. Finally, the numerical inversion of integral transform was used to solve the components of displacement and stress in real domain. Gauss-Legendre quadrature is a key scheme in the numerical inversion process. Moreover, following by the verification of the proposed analytical solution, one typical three-layered flexible pavement was applied as the computing carrier of numerical analysis for the multi-layered structure. The results have shown that the anisotropic layers and the interlayer conditions significantly affect the mechanical behaviors of the proposed structure.

关键词： multi-layered structure     Hankel transformation     anisotropic     transversely isotropic     interlayer condition     Gauss-Legendre quadrature    

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Seismic design of high-rise towers for cable-stayed bridges under strong earthquakes

Yan XU, Shide HU

《结构与土木工程前沿（英文）》 2011年 第5卷 第4期   页码 451-457 doi: 10.1007/s11709-011-0127-5

摘要： This paper presents the first of a series of studies on the seismic design of high-rise towers for cable-stayed bridges under strong earthquakes. One practical cable-stayed bridge with a 730 m long main span and two high-rise towers over 200 m in height was selected for this study. The preliminary results show that compared with piers, the tower is more vulnerable to pulse-like earthquakes, and it may develop plasticity at certain locations. In addition, viscous dampers may not have the same effect during pulse-like earthquakes as they do under site-specific earthquakes. Hence, reoptimization of damper parameters or reconsideration of other energy dissipation devices will be needed if strong earthquakes are likely to occur.

关键词： high-rise tower     cable-stayed bridge     strong earthquake     seismic design    

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Analysis of foundation sliding of an arch dam considering the hydromechanical behavior

Maria Luísa Braga FARINHA, José Vieira de LEMOS, Emanuel MARANHA DAS NEVES

《结构与土木工程前沿（英文）》 2012年 第6卷 第1期   页码 35-43 doi: 10.1007/s11709-012-0142-1

摘要： This paper presents the application of a methodology which can be used to assess arch dam foundation stability, using the discrete element method (DEM) and the code 3DEC. A global three-dimensional model of a dam foundation was developed, in which some discontinuities were simulated and both the grout and drainage curtains were represented. The model, calibrated taking into account recorded data, was used to carry out nonlinear mechanical analysis. The same model was employed to perform a hydraulic analysis, based on equivalent continuum concepts, which allowed the water pressure pattern within the foundation to be obtained. These water pressures were applied on discontinuities involved in the possible sliding mechanism along the dam/foundation interface, and the safety of the dam/foundation system was evaluated using a process of reduction of strength characteristics, with the aim of calculating the minimum safety factors that ensure stability. Results were compared with those obtained with the usual bi-linear uplift pressure distribution at the base of the dam, commonly used in concrete dam design. The relevance of carrying out hydraulic analysis in arch dam foundation failure studies is highlighted.

关键词： concrete dams     rock foundations     hydromechanical behavior     failure analysis    

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标题 作者 时间 类型 操作

Finite element modeling of cable sliding and its effect on dynamic response of cable-supported truss

Yujie YU, Zhihua CHEN, Renzhang YAN

期刊论文

Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

期刊论文

An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

期刊论文

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

期刊论文

Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

期刊论文

DFIG sliding mode control fed by back-to-back PWM converter with DC-link voltage control for variable

Youcef BEKAKRA,Djilani BEN ATTOUS

期刊论文

State-of-the-art on theories and applications of cable-driven parallel robots

期刊论文

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

期刊论文

Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

期刊论文

地基土上水工建筑物的抗滑动稳定研究

周君亮

期刊论文

Nonlinear analysis of cable structures using the dynamic relaxation method

Mohammad REZAIEE-PAJAND, Mohammad MOHAMMADI-KHATAMI

期刊论文

A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

期刊论文

Anisotropy of multi-layered structure with sliding and bonded interlayer conditions

Lingyun YOU, Kezhen YAN, Jianhong MAN, Nengyuan LIU

期刊论文

Seismic design of high-rise towers for cable-stayed bridges under strong earthquakes

Yan XU, Shide HU

期刊论文

Analysis of foundation sliding of an arch dam considering the hydromechanical behavior

Maria Luísa Braga FARINHA, José Vieira de LEMOS, Emanuel MARANHA DAS NEVES

期刊论文