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Landing control method of a lightweight four-legged landing and walking robot

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0707-1

摘要： The prober with an immovable lander and a movable rover is commonly used to explore the Moon’s surface. The rover can complete the detection on relatively flat terrain of the lunar surface well, but its detection efficiency on deep craters and mountains is relatively low due to the difficulties of reaching such places. A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study. It can take off and land repeatedly between any two sites wherever on deep craters, mountains or other challenging landforms that are difficult to reach by direct ground movement. The robot integrates the functions of a lander and a rover, including folding, deploying, repetitive landing, and walking. A landing control method via compliance control is proposed to solve the critical problem of impact energy dissipation to realize buffer landing. Repetitive landing experiments on a five-degree-of-freedom lunar gravity testing platform are performed. Under the landing conditions with a vertical velocity of 2.1 m/s and a loading weight of 140 kg, the torque safety margin is 10.3% and 16.7%, and the height safety margin is 36.4% and 50.1% for the cases with or without an additional horizontal disturbance velocity of 0.4 m/s, respectively. The study provides a novel insight into the next-generation lunar exploration equipment.

关键词： landing and walking robot lunar exploration buffer landing compliance control

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New method for efficient control of hydrogen sulfide and methane in gravity sewers: Combination of NaOH

《环境科学与工程前沿（英文）》 2022年第16卷第6期 doi: 10.1007/s11783-021-1509-0

摘要：

• The combination of NaOH and nitrite was used to control harmful gas in sewers.

关键词： Sewer corrosion Sulfide control Combination treatment NaOH Nitrite

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Cluster voltage control method for “Whole County” distributed photovoltaics based on improved differential

《能源前沿（英文）》页码 782-795 doi: 10.1007/s11708-023-0905-8

摘要： China is vigorously promoting the “whole county promotion” of distributed photovoltaics (DPVs). However, the high penetration rate of DPVs has brought problems such as voltage violation and power quality degradation to the distribution network, seriously affecting the safety and reliability of the power system. The traditional centralized control method of the distribution network has the problem of low efficiency, which is not practical enough in engineering practice. To address the problems, this paper proposes a cluster voltage control method for distributed photovoltaic grid-connected distribution network. First, it partitions the distribution network into clusters, and different clusters exchange terminal voltage information through a “virtual slack bus.” Then, in each cluster, based on the control strategy of “reactive power compensation first, active power curtailment later,” it employs an improved differential evolution (IDE) algorithm based on Cauchy disturbance to control the voltage. Simulation results in two different distribution systems show that the proposed method not only greatly improves the operational efficiency of the algorithm but also effectively controls the voltage of the distribution network, and maximizes the consumption capacity of DPVs based on qualified voltage.

关键词： distributed photovoltaics (DPVs) cluster partitioning improved differential evolution algorithm voltage control consumption capacity of distributed photovoltaics

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

《结构与土木工程前沿（英文）》 2010年第4卷第3期页码 277-286 doi: 10.1007/s11709-010-0072-8

摘要： Real-time testing provides a viable experimental technique to evaluate the performance of structural systems subjected to dynamic loading. Servo-hydraulic actuators are often utilized to apply calculated displacements from an integration algorithm to the experimental structures in a real-time manner. The compensation of actuator delay is therefore critical to achieve stable and reliable experimental results. The advances in compensation methods based on adaptive control theory enable researchers to accommodate variable actuator delay and achieve good actuator control for real-time tests. However, these adaptive methods all require time duration for actuator delay adaptation. Experiments show that a good actuator delay estimate can help optimize the performance of the adaptive compensation methods. The rate of adaptation also requires that a good actuator delay estimate be acquired especially for the tests where the peak structural response might occur at the beginning of the tests. This paper presents a model reference adaptive control based method to identify the parameter of a simplified discrete model for servo-hydraulic dynamics and the resulting compensation method. Simulations are conducted using both numerical analysis and experimental results to evaluate the effectiveness of the proposed estimation method.

关键词： real-time testing actuator delay compensation adaptive control MIT rule discrete transfer function

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New method for computer numerical control machine tool calibration: Relay method

LIU Huanlao, SHI Hanming, LI Bin, ZHOU Huichen

《机械工程前沿（英文）》 2007年第2卷第3期页码 301-304 doi: 10.1007/s11465-007-0053-3

摘要： Relay measurement method, which uses the kilogram-meter (KGM) measurement system to identify volumetric errors on the planes of computer numerical control (CNC) machine tools, is verified through experimental tests. During the process, all position errors on the entire plane table are measured by the equipment, which is limited to a small field. All errors are obtained first by measuring the error of the basic position near the original point. On the basis of that positional error, the positional errors far away from the original point are measured. Using this analogy, the error information on the positional points on the entire plane can be obtained. The process outlined above is called the relay method. Test results indicate that the accuracy and repeatability are high, and the method can be used to calibrate geometric errors on the plane of CNC machine tools after backlash errors have been well compensated.

关键词： positional volumetric information process repeatability

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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

《机械工程前沿（英文）》 2012年第7卷第1期页码 23-28 doi: 10.1007/s11465-012-0304-9

摘要：

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange’s principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.

关键词： mobile robot trajectory planning nonlinear dynamic optimal control

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Numerical study and control method of interaction of nucleation and boundary layer separation in condensing

Liansuo AN , Zhi WANG , Zhonghe HAN ,

《能源前沿（英文）》 2009年第3卷第3期页码 254-261 doi: 10.1007/s11708-009-0047-4

摘要： The spontaneous nucleation flow in turbine cascade was numerically studied. The model was implemented within a full Navier–Stokes viscous flow solution procedure and the process of condensation was calculated by the quadrature method of moments that shows good accuracy with very broad size distributions. Results were presented for viscous and inviscous flow, showing the influence of boundary layer separation and wake vortices on spontaneous nucleation. The results show that the degree of flow separation in wet steam flow is greater than that in superheated steam flow due to condensation shock and that the loss cannot be neglected. Furthermore, the impact of boundary layer separation and wake vortices on velocity profiles and its implications for profile loss were considered. The calculations showed that layer separation and wake vortices influence nucleation rate, leading to different droplet distributions. A method for controlling homogeneous nucleation and for reducing degree of flow separation in high-speed transonic wet steam flow was presented. The liquid phase parameter distribution is sensitive to the suction side profile of turbine cascade, which impacts the nucleation rate distribution leading to different droplet distributions and affects the degree of flow separation. The numerical study provides a practical design method for turbine blade to reduce wetness losses.

关键词： wet steam two-phase flow spontaneous condensation numerical simulation flow separation profile loss

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Design Method and Numerical Control Machining Principle for an Arbitrary n-polygon Noncircular Section

WU Yi-jie, LENG Hong-bin

《机械工程前沿（英文）》 2006年第1卷第1期页码 71-75 doi: 10.1007/s11465-005-0005-8

摘要：

By analyzing the structure characteristics of arbitrary n-polygon noncircular sections, mathematical formulas among the characteristic parameters were set up, and a theorem for designing this kind of sections was deduced by mathematical induction method. Based on the mechanistic transmission principle, the control theorems for the numerical control (NC) grinding of arbitrary n-polygon noncircular sections and the control model for the multicoordinate motion were built. A feed rate selfadjusting method was proposed to uniform the grinding speed with the changes of sectional curvature. Then, an NC machine tool for grinding n-polygon noncircular sections was developed. The test results of the grinded parts showed that the section profiles accorded with the design demands: the roughness was less than 0.32 ?m and the dimensional accuracy was within 8 ?m. The results prove that the proposed theorems and method can effectively direct the design and manufacture of the polygonal noncircular connection.

关键词： manufacture multicoordinate characteristic polygonal noncircular mechanistic transmission

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A new method for boring of non-circular holes

ZHANG Kai, HU De-jin

《机械工程前沿（英文）》 2006年第1卷第4期页码 456-460 doi: 10.1007/s11465-006-0058-3

摘要： A revolving electromagnetic actuation mechanism composed of an electromagnetic stator and an electromagnetic rotor has been developed for boring non-circular holes. The main component of the rotor is a flexure-hinged based flexible body. There are four pole-pair coils in the stator supplying actuation currents. The micro-displacement between the stator and rotor can be controlled by changing the currents applied in the pole-pair coils. Through linearization of the actuation force near the static action point, a linear relationship between the control current and the actuation force was established, and the synchronizing control method of the electromagnetic actuation mechanism is presented here. With two-factor analysis of the linearization error of the actuation force, the influences of control current and micro-displacement to the linearization error of the actuation force were studied. Then, the principle for designing the basic parameters of the magnetic actuation mechanism is put forward. The calibration of the mechanism indicates that the relationship between the micro-displacement of the rotor and the control current has linear characteristics in the required micro-displacement range. Simulation tests show that the turning radius of the rotor changes with the control current. The proposed mechanism can feasibly supply a controllable micro displacement to the boring bar.

关键词： electromagnetic actuation control method displacement flexible body revolving electromagnetic

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基于几何控制法的短线预制拼装箱梁研究

王敏,张永涛,刘景红,刘毅,黄跃

《中国工程科学》 2009年第11卷第11期页码 79-81

摘要：

针对短线预制拼装箱梁几何控制过程中制造及安装阶段的误差控制问题，在分析了误差产生原因的基础上，结合苏通大桥B2标的现场实际情况，介绍以几何控制理论为基础，参数敏感性分析为方法，辅以现代误差分析技术和软件开发技术，实现短线法预制拼装的全过程施工数值化管理与控制。

关键词：几何控制误差分析最小二乘法短线预制拼装

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Semi-active vibration control using piezoelectric actuators in smart structures

Jinhao QIU, Hongli JI, Kongjun ZHU

《机械工程前沿（英文）》 2009年第4卷第3期页码 242-251 doi: 10.1007/s11465-009-0068-z

摘要： The piezoelectric materials, as the most widely used functional materials in smart structures, have many outstanding advantages for sensors and actuators, especially in vibration control, because of their excellent mechanical-electrical coupling characteristics and frequency response characteristics. Semi-active vibration control based on state switching and pulse switching has been receiving much attention over the past decade because of several advantages. Compared with standard passive piezoelectric damping, these new semi-passive techniques offer higher robustness. Compared with active damping systems, their implementation does not require any sophisticated signal processing systems or any bulky power amplifier. In this review article, the principles of the semi-active control methods based on switched shunt circuit, including state-switched method, synchronized switch damping techniques, and active control theory-based switching techniques, and their recent developments are introduced. Moreover, the future directions of research in semi-active control are also summarized.

关键词： smart structure semi-active method vibration control piezoelectric actuator

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基于Lagrange方程建模的单级旋转倒立摆控制

吴爱国,张小明,张钊

《中国工程科学》 2005年第7卷第10期页码 11-15

摘要：

介绍一种新型单级旋转倒立摆系统的构成，通过对其动力学特性的分析建立了基于Lagrange方程的数学模型。在平衡点附近给出系统的线性化模型，对系统的稳定性、能控性和能观性进行了分析。利用线性二次型最优控制策略LQR方法设计了控制器，并在仿真实验和实物实验中实现了倒立摆的平衡控制。实验表明，系统稳定性好、鲁棒性较强。

关键词：旋转倒立摆 Lagrange方程最优控制策略LQR

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帅智康：孤岛微电网的动态主从控制方法（2020年8月18日）

2022年10月17日

关键词：能源

A naive optimization method for multi-line systems with alternative machines

Weichang KONG, Fei QIAO, Qidi WU

《机械工程前沿（英文）》 2019年第14卷第4期页码 377-392 doi: 10.1007/s11465-019-0544-z

摘要： The scheduling of parallel machines and the optimization of multi-line systems are two hotspots in the field of complex manufacturing systems. When the two problems are considered simultaneously, the resulting problem is much more complex than either of them. Obtaining sufficient training data for conventional data-based optimization approaches is difficult because of the high diversity of system structures. Consequently, optimization of multi-line systems with alternative machines requires a simple mechanism and must be minimally dependent on historical data. To define a general multi-line system with alternative machines, this study introduces the capability vector and matrix and the distribution vector and matrix. A naive optimization method is proposed in accordance with classic feedback control theory, and its key approaches are introduced. When a reasonable target value is provided, the proposed method can realize closed-loop optimization to the selected objective performance. Case studies are performed on a real 5/6-inch semiconductor wafer manufacturing facility and a simulated multi-line system constructed on the basis of the MiniFAB model. Results show that the proposed method can effectively and efficiently optimize various objective performance. The method demonstrates a potential for utilization in multi-objective optimization.

关键词： multi-line systems alternative machines feedback control closed-loop optimization

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Application of coupled multi-body dynamics–discrete element method for optimization of particle damper

Danhui DAN, Qianqing WANG, Jiongxin GONG

《结构与土木工程前沿（英文）》 2021年第15卷第1期页码 244-252 doi: 10.1007/s11709-021-0696-x

摘要： With the application of the particle damping technology to cable vibration attenuation, the rootless cable damper overcomes the limit in installation height of existing dampers. Damping is achieved through energy dissipation by collisions and friction. In this paper, a coupled multi-body dynamics–discrete element method is proposed to simulate the damping of the damper–cable system under a harmonic excitation. The analyses are done by combining the discrete element method in EDEM and multi-body dynamics in ADAMS. The simulation results demonstrate the damping efficiency of rootless particle damper under different excitations and reveal the influence of the design parameters on its performance, including the filling ratio, particle size, coefficient of restitution, and coefficient of friction.

关键词： granular material vibration control discrete element method particle damper cable vibration