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Electrorheological damper for the ultra-precision air bearing stage

ZHU Yu, JIA Songtao, CHEN Yaying, LI Guang

《机械工程前沿（英文）》 2008年 第3卷 第2期   页码 158-163 doi: 10.1007/s11465-008-0031-4

摘要： This paper illustrates how the electrorheological damper substantially improves the performance of the ultra-precision air bearing stage. Smart materials such as electrorheological fluids have attracted many researchers’ attention because of their resistance changeable performance in different electric fields. Meanwhile, the ultra-precision air bearing stage driven by the linear-motor is characterized by zero mechanical damping and poor anti-disturbance. To solve this problem and consider the characteristics of electrorheological fluids, an electrorheological damper is proposed in this paper. The electrorheological damper’s characteristics in high electric fields are obtained based on the Eyring constitutive model, which smoothly transits from the pre-yield to post-yield region. To enhance the performance of the electrorheological damper, which takes effect only when the stage is going to decelerate or position, the on-off and sliding mode control methods design and optimize the controller. The results prove that by using the advanced sliding mode control method, the characteristics of the ultra-precision air bearing stage can be effectively improved through the introduction of the electrorheological damper.

关键词： post-yield     linear-motor     advanced sliding     pre-yield     position    

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Design and analysis of linear oscillating motor for linear pump application-magnetic field, dynamics

Zongxia JIAO,Tianyi WANG,Liang YAN

《机械工程前沿（英文）》 2016年 第11卷 第4期   页码 351-362 doi: 10.1007/s11465-016-0407-9

摘要：

A linear oscillating motor is an electromagnetic actuator that can achieve short-stroke reciprocating movement directly without auxiliary transmission mechanisms. It has been widely used in linear pump applications as the source of power and motion. However, because of the demand of high power density in a linear actuation system, the performance of linear oscillating motors has been the focus of studies and deserves further research for high power density. In this paper, a general framework of linear oscillating motor design and optimization is addressed in detail, including the electromagnetic, dynamics, and thermal aspects. First, the electromagnetic and dynamics characteristics are modeled to reveal the principle for optimization. Then, optimization and analysis on magnetic structure, resonant system, and thermal features are conducted, which provide the foundation for prototype development. Finally, experimental results are provided for validation. As a whole, this process offers complete guidance for high power density linear oscillating motors in linear pump applications.

关键词： linear oscillating motor     linear pump     magnetic field     motor optimization    

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System construction of a four-side primary permanent-magnet linear motor drive mechanical press

Jintao LIANG, Zhengfeng MING, Peida LI

《机械工程前沿（英文）》 2020年 第15卷 第4期   页码 600-609 doi: 10.1007/s11465-020-0597-z

摘要： A primary permanent-magnet linear motor (PPMLM) has a robust secondary structure and high force density and is appropriate for direct-drive mechanical press. The structure of a four-side PPMLM drive press is presented based on our previous research. The entire press control system is constructed to realize various flexible forming processes. The control system scheme is determined in accordance with the mathematical model of PPMLM, and active disturbance rejection control is implemented in the servo controller. Field-circuit coupling simulation is applied to estimate the system’s performance. Then, a press prototype with 6 kN nominal force is fabricated, and the hardware platform of the control system is constructed for experimental study. Punch strokes with 0.06 m displacement are implemented at trapezoidal speeds of 0.1 and 0.2 m/s; the dynamic position tracking errors are less than 0.45 and 0.82 mm, respectively. Afterward, continuous reciprocating strokes are performed, and the positioning errors at the bottom dead center are less than 0.015 mm. Complex pulse trajectories are also achieved. The proposed PPMLM drive press exhibits a fast dynamic response and favorable tracking precision and is suitable for various forming processes.

关键词： mechanical press     direct drive     primary permanent-magnet linear motor (PPMLM)     servo system     active disturbance rejection control (ADRC)     prototype experiment    

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Linear ultrasonic motor using quadrate plate transducer

Jiamei JIN, Chunsheng ZHAO

《机械工程前沿（英文）》 2009年 第4卷 第1期   页码 88-91 doi: 10.1007/s11465-009-0016-y

摘要： A linear ultrasonic motor using a quadrate plate transducer was developed for precision positioning. This motor consists of two pairs of Pb(Zr,Ti)O piezoelectric ceramic elements, which are piezoelectrically excited into the second-bending mode of the motor stator’s neutral surface in two orthogonal directions, on which the tops of four projections move along an elliptical trajectory, which in turn drives a contacted slider into linear motion via frictional forces. The coincident frequency of the stator is easily obtained for its coincident characteristic dimension in two orthogonal directions. The performance characteristics achieved by the motor are: 1) a maximum linear speed of more than 60 mm/s; 2) a stroke of more than150 mm; 3) a driving force of more than 5.0 N; and 4) a response time of about 2 ms.

关键词： ultrasonic motor     quadrate plate     coincident frequency     alternant contact    

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Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

《机械工程前沿（英文）》 2006年 第1卷 第3期   页码 260-264 doi: 10.1007/s11465-006-0036-9

摘要： The model of a precision linear motor drive device (PLMDD) and its control requirements are analyzed. In order to enhance the tracking and anti-disturbance performance of the system, its third-order model is established, and disturbance-observer based input revising feedforward error compensation robust control algorithm, combined with integral-separated proportional integral derivative (PID) control algorithm is proposed. This includes feedback control algorithm and feedforward control algorithm. The feedback controller improves system tracking performance and suppresses load and mechanical disturbance while the feedforward controller compensates phase hysteresis introduced by feedback control. Theoretical analyses, simulations and experiments show that this control method increases the tracking precision of PLMDD from ±5 μm to ±2 μm and dramatically improves its anti-disturbance ability.

关键词： feedforward     tracking     ±5     anti-disturbance performance     algorithm    

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Ultrasonic linear motor using the L-B mode Langevin transducer with an exponential horn

SHI Shengjun, CHEN Weishan, LIU Junkao, ZHAO Xuetao

《机械工程前沿（英文）》 2008年 第3卷 第2期   页码 212-217 doi: 10.1007/s11465-008-0026-1

摘要： An ultrasonic linear motor is proposed and fabricated by using the longitudinal and bending vibration double mode bolt-clamped Langevin type transducer to meet high power and speed requirements in the aerospace and semiconductor ind

关键词： longitudinal     vibration     bolt-clamped     semiconductor     ultrasonic    

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单边直线感应电机纵向边缘效应的研究

徐伟,孙广生

《中国工程科学》 2007年 第9卷 第3期   页码 21-27

摘要：

单边直线感应电机（SLIM）因结构简单牢固，直接产生前进的电磁推力，在交通中得到广泛应用。 由于其磁路断续，电机运行中存在横向和纵向边缘效应；次级的入口和出口因气隙磁链守恒原理会产生涡流， 并随速度上升而加大。边缘效应和涡流大小对直线电机气隙磁链产生重要影响，造成气隙有效磁通和牵引力系 数降低。探讨直线电机工作特点，得到了电机d－q轴等效电路，通过d轴互感和电阻变化来实时反应第二纵 向边缘效应和次级涡流的影响。结合旋转电机转子磁场矢量控制方法，建立了对应的SLIM控制方程。采用转子 磁链、速度和电流三个调节器，提出了uds，uqs，iqs实时在线解耦补偿控制方法，对SLIM的推力、d－q轴电压、d－q轴磁链等进行调节和控制，对d轴互感大小进行限制。结果表明，该方法在电机速度突变时减小了力 矩脉动，定子电流过渡平滑，速度平稳，改善了SLIM的运行性能，为电机实际运行分析提供了理论依据。

关键词： 单边直线感应电机     转子磁场定向控制     边缘效应     解耦     补偿    

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单边直线感应电机等效电路参数研究

徐伟,孙广生

《中国工程科学》 2008年 第10卷 第8期   页码 76-80

摘要：

单边直线感应电机（SLIM）相对于旋转感应电机（RIM）存在气隙大、边缘效应等，若采用RIM开路和短路试验方法，会给参数测量带来较大误差。文章提出的一种适合SLIM参数测定的新型方案，只需测量电机输入端的总功率、相电压、相电流和频率4个量，即可计算出初级电阻、初级漏感、次级电阻、次级漏感、气隙电感和铁损电阻。电机的特性分析表明，该方法真实有效，具有一定的参考价值。

关键词： 单边直线感应电机     开路试验     短路试验     参数测量     等效电路    

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Observer design for induction motor: an approach based on the mean value theorem

Mohamed Yacine HAMMOUDI,Abdelkarim ALLAG,Mohamed BECHERIF,Mohamed BENBOUZID,Hamza ALLOUI

《能源前沿（英文）》 2014年 第8卷 第4期   页码 426-433 doi: 10.1007/s11708-014-0314-x

摘要： In this paper, observer design for an induction motor has been investigated. The peculiarity of this paper is the synthesis of a mono-Luenberger observer for highly coupled system. To transform the nonlinear error dynamics for the induction motor into the linear parametric varying (LPV) system, the differential mean value theorem combined with the sector nonlinearity transformation has been used. Stability conditions based on the Lyapunov function lead to solvability of a set of linear matrix inequalities. The proposed observer guarantees the global exponential convergence to zero of the estimation error. Finally, the simulation results are given to show the performance of the observer design.

关键词： observer design     differential mean value theorem (DMVT)     sector nonlinearity transformation     linear matrix inequalities (LMI)     induction motor    

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Classical state feedback controller for nonlinear systems using mean value theorem: closed loop-FOC of PMSM motor

Abrar ALLAG,Abdelhamid BENAKCHA,Meriem ALLAG,Ismail ZEIN,Mohamed Yacine AYAD

《能源前沿（英文）》 2015年 第9卷 第4期   页码 413-425 doi: 10.1007/s11708-015-0379-1

摘要： The problem of state feedback controllers for a class of Takagi-Sugeno (T-S) Lipschitz nonlinear systems is investigated. A simple systematic and useful synthesis method is proposed based on the use of the differential mean value theorem (DMVT) and convex theory. The proposed design approach is based on the mean value theorem (MVT) to express the nonlinear error dynamics as a convex combination of known matrices with time varying coefficients as linear parameter varying (LPV) systems. Using the Lyapunov theory, stability conditions are obtained and expressed in terms of linear matrix inequalities (LMIs). The controller gains are then obtained by solving linear matrix inequalities. The effectiveness of the proposed approach for closed loop-field oriented control (CL-FOC) of permanent magnet synchronous machine (PMSM) drives is demonstrated through an illustrative simulation for the proof of these approaches. Furthermore, an extension for controller design with parameter uncertainties and perturbation performance is discussed.

关键词： Takagi-Sugeno (T-S) fuzzy systems     sector nonlinearity     nonlinear controller     linear matrix inequality (LMI) approach     differential mean value theorem (DMVT)     field oriented control (FOC)     linear parameter varying (LPV)    

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Mechatronic design of a novel linear compliant positioning stage with large travel range and high out-of-plane

Hua LIU, Xin XIE, Ruoyu TAN, Lianchao ZHANG, Dapeng FAN

《机械工程前沿（英文）》 2017年 第12卷 第2期   页码 265-278 doi: 10.1007/s11465-017-0453-y

摘要：

Most of the XY positioning stages proposed in previous studies are mainly designed by considering only a single performance indicator of the stage. As a result, the other performance indicators are relatively weak. In this study, a 2-degree-of-freedom linear compliant positioning stage (LCPS) is developed by mechatronic design to balance the interacting performance indicators and realize the desired positioning stage. The key parameters and the coupling of the structure and actuators are completely considered in the design. The LCPS consists of four voice coil motors (VCMs), which are conformally designed for compactness, and six spatial leaf spring parallelograms. These parallelograms are serially connected for a large travel range and a high out-of-plane payload capacity. The mechatronic model is established by matrix structural analysis for structural modeling and by Kirchhoff’s law for the VCMs. The sensitivities of the key parameters are analyzed, and the design parameters are subsequently determined. The analytical model of the stage is confirmed by experiments. The stage has a travel range of 4.4 mm× 7.0 mm and a 0.16% area ratio of workspace to the outer dimension of the stage. The values of these performance indicators are greater than those of any existing stage reported in the literature. The closed-loop bandwidth is 9.5 Hz in both working directions. The stage can track a circular trajectory with a radius of 1.5 mm, with 40 mm error and a resolution of lower than 3 mm. The results of payload tests indicate that the stage has at least 20 kg out-of-plane payload capacity.

关键词： mechatronic design     linear compliant positioning stage     large travel range     high out-of-plane payload capacity     spatial parallelogram     voice coil motor     sensitivity analysis    

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modified neural learning algorithm for online rotor resistance estimation in vector controlled induction motor

A. CHITRA,S. HIMAVATHI

《能源前沿（英文）》 2015年 第9卷 第1期   页码 22-30 doi: 10.1007/s11708-014-0339-1

摘要： Online estimation of rotor resistance is essential for high performance vector controlled drives. In this paper, a novel modified neural algorithm has been identified for the online estimation of rotor resistance. Neural based estimators are now receiving active consideration as they have a number of advantages over conventional techniques. The training algorithm of the neural network determines its learning speed, stability, weight convergence, accuracy of estimation, speed of tracking and ease of implementation. In this paper, the neural estimator has been studied with conventional and proposed learning algorithms. The sensitivity of the rotor resistance change has been tested for a wide range of variation from -50% to+50% on the stability of the drive system with and without estimator. It is quiet appealing to settle with optimal estimation time and error for the viable realization. The study is conducted extensively for estimation and tracking. The proposed learning algorithm is found to exhibit good estimation and tracking capabilities. Besides, it reduces computational complexity and, hence, more feasible for practical digital implementation.

关键词： neural networks     back propagation (BP)     rotor resistance estimators     vector control     induction motor    

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

《机械工程前沿（英文）》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0684-4

摘要： As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.

关键词： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model     perception    

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Comparison between linear and non-linear forms of pseudo-first-order and pseudo-second-order adsorption

Junxiong LIN , Lan WANG ,

《环境科学与工程前沿（英文）》 2009年 第3卷 第3期   页码 320-324 doi: 10.1007/s11783-009-0030-7

摘要： The best-fit equations of linear and non-linear forms of the two widely used kinetic models, namely pseudo-first-order and pseudo-second-order equations, were compared in this study. The experimental kinetics of methylene blue adsorption on activated carbon was used for this research. Both the correlation coefficient () and the normalized standard deviation Δ(%) were employed as error analysis methods to determine the best-fitting equations. The results show that the non-linear forms of pseudo-first-order and pseudo-second-order models were more suitable than the linear forms for fitting the experimental data. The experimental kinetics may have been distorted by linearization of the linear kinetic equations, and thus, the non-linear forms of kinetic equations should be primarily used to obtain the adsorption parameters. In addition, the Δ(%) method for error analysis may be better to determine the best-fitting model in this case.

关键词： adsorption     pseudo-first order     pseudo-second order     kinetic model     linear method     non-linear method    

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Estimation of composite load model with aggregate induction motor dynamic load for an isolated hybrid

Nitin Kumar SAXENA,Ashwani Kumar SHARMA

《能源前沿（英文）》 2015年 第9卷 第4期   页码 472-485 doi: 10.1007/s11708-015-0373-7

摘要： It is well recognized that the voltage stability of a power system is affected by the load model and hence, to effectively analyze the reactive power compensation of an isolated hybrid wind-diesel based power system, the loads need to be considered along with the generators in a transient analysis. This paper gives a detailed mathematical modeling to compute the reactive power response with small voltage perturbation for composite load. The composite load is a combination of the static and dynamic load model. To develop this composite load model, the exponential load is used as a static load model and induction motors (IMs) are used as a dynamic load model. To analyze the dynamics of IM load, the fifth, third and first order model of IM are formulated and compared using differential equations solver in Matlab coding. Since the decentralized areas have many small consumers which may consist large numbers of IMs of small rating, it is not realistic to model either a single large rating unit or all small rating IMs together that are placed in the system. In place of using a single large rating IM, a group of motors are considered and then the aggregate model of IM is developed using the law of energy conservation. This aggregate model is used as a dynamic load model. For different simulation studies, especially in the area of voltage stability with reactive power compensation of an isolated hybrid power system, the transfer function of the composite load is required. The transfer function of the composite load is derived in this paper by successive derivation for the exponential model of static load and for the fifth and third order IM dynamic load model using state space model.

关键词： isolated hybrid power system (IHPS)     composite load model     static load     dynamic load     induction motor load model     aggregate load    

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标题 作者 时间 类型 操作

Electrorheological damper for the ultra-precision air bearing stage

ZHU Yu, JIA Songtao, CHEN Yaying, LI Guang

期刊论文

Design and analysis of linear oscillating motor for linear pump application-magnetic field, dynamics

Zongxia JIAO,Tianyi WANG,Liang YAN

期刊论文

System construction of a four-side primary permanent-magnet linear motor drive mechanical press

Jintao LIANG, Zhengfeng MING, Peida LI

期刊论文

Linear ultrasonic motor using quadrate plate transducer

Jiamei JIN, Chunsheng ZHAO

期刊论文

Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

期刊论文

Ultrasonic linear motor using the L-B mode Langevin transducer with an exponential horn

SHI Shengjun, CHEN Weishan, LIU Junkao, ZHAO Xuetao

期刊论文

单边直线感应电机纵向边缘效应的研究

徐伟,孙广生

期刊论文

单边直线感应电机等效电路参数研究

徐伟,孙广生

期刊论文

Observer design for induction motor: an approach based on the mean value theorem

Mohamed Yacine HAMMOUDI,Abdelkarim ALLAG,Mohamed BECHERIF,Mohamed BENBOUZID,Hamza ALLOUI

期刊论文

Classical state feedback controller for nonlinear systems using mean value theorem: closed loop-FOC of PMSM motor

Abrar ALLAG,Abdelhamid BENAKCHA,Meriem ALLAG,Ismail ZEIN,Mohamed Yacine AYAD

期刊论文

Mechatronic design of a novel linear compliant positioning stage with large travel range and high out-of-plane

Hua LIU, Xin XIE, Ruoyu TAN, Lianchao ZHANG, Dapeng FAN

期刊论文

modified neural learning algorithm for online rotor resistance estimation in vector controlled induction motor

A. CHITRA,S. HIMAVATHI

期刊论文

Review of human–robot coordination control for rehabilitation based on motor function evaluation

期刊论文

Comparison between linear and non-linear forms of pseudo-first-order and pseudo-second-order adsorption

Junxiong LIN , Lan WANG ,

期刊论文

Estimation of composite load model with aggregate induction motor dynamic load for an isolated hybrid

Nitin Kumar SAXENA,Ashwani Kumar SHARMA

期刊论文