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Bing XU, Min CHENG
《机械工程前沿(英文)》 2018年 第13卷 第2期 页码 151-166 doi: 10.1007/s11465-018-0470-5
This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.
关键词: motion control electrohydraulic control energy efficiency mobile machineries
《机械工程前沿(英文)》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0753-3
关键词: four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance
Design, analysis, and neural control of a bionic parallel mechanism
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 468-486 doi: 10.1007/s11465-021-0640-8
Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 504-527 doi: 10.1007/s11465-020-0626-y
关键词: mobile robot multiple maneuvering mode motion planning tracking control receding horizon control
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
Hanli WU, Hua ZHAO, Jenny LIU, Zhentao HU
《结构与土木工程前沿(英文)》 2020年 第14卷 第5期 页码 1232-1246 doi: 10.1007/s11709-020-0653-0
关键词: bridge weigh-in-motion continuous bridge fast Fourier transform influence line axle weight calculation
A pre-compensation method of the systematic contouring error for repetitive command paths
D. L. ZHANG,Y. H. CHEN,Y. P. CHEN
《机械工程前沿(英文)》 2015年 第10卷 第4期 页码 367-372 doi: 10.1007/s11465-015-0367-5
For a repetitive command path, pre-compensating the contouring error by modifying the command path is practical. To obtain the pre-compensation value with better accuracy, this paper proposes the use of a back propagation neural network to extract the function of systematic contouring errors. Furthermore, by using the extracted function, the contouring error can be easily pre-compensated. The experiment results verify that the proposed compensation method can effectively reduce contouring errors.
关键词: contouring error pre-compensation motion control system back propagation (BP) neural network
Offline motion planning and simulation of two-robot welding coordination
Tie ZHANG, Fan OUYANG
《机械工程前沿(英文)》 2012年 第7卷 第1期 页码 81-92 doi: 10.1007/s11465-012-0309-4
This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.
关键词: complex curve seam two robots coordinated welding motion planning
《化学科学与工程前沿(英文)》 2022年 第16卷 第2期 页码 237-250 doi: 10.1007/s11705-021-2058-6
关键词: nonlinear model predictive control black-box modeling continuous-time system identification machine learning industrial applications of process control
任克明,潘悦,王岩
《中国工程科学》 1999年 第1卷 第3期 页码 31-34
文章在新型潜艇全综合、分布式作战系统的体系结构下,以声纳信息作为主要信息源,综述了纯方位TMA、多信息融合TMA、方位-多普勒TMA、噪声能量-方位联合估距、与匹配场声源定位相结合等几种实现TMA的方法,在此基础上对TMA功能提出了新设想,初步提出了一种TMA的功能设计。该功能设计从作战系统的角度出发开发TMA功能,充分利用了多传感器获得的信息,以及人的主观判断,增强了TMA的能力,使它能够更好地为指挥员战术决策服务,为武器的发射控制提供更加精确的目标运动要素解算结果。与通常的TMA设计相比,该项设计能够识别目标机动,增加了人机交互功能,并设计了便于观看TMA结果、监视目标机动和执行交互式跟踪改进的TMA显示画面。
Yue WANG, Jingjun YU, Xu PEI
《机械工程前沿(英文)》 2018年 第13卷 第3期 页码 368-375 doi: 10.1007/s11465-018-0519-5
A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: Spherical) parallel manipulators is proposed in this study. This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanism, and it eliminates the errors produced by parasitic motions to improve and ensure accuracy. Specifically, the errors can be less than 10-6 . In this method, only the group of solutions that is consistent with the actual situation of the platform is obtained rapidly. This algorithm substantially improves calculation efficiency because the selected initial values are reasonable, and all the formulas in the calculation are analytical. This novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.
关键词: 3-RPS parallel mechanism forward kinematics numerical algorithm parasitic motion
Planar jumping with stable landing through foot orientation design and ankle joint control
Qilong YUAN, I-Ming CHEN
《机械工程前沿(英文)》 2012年 第7卷 第2期 页码 100-108 doi: 10.1007/s11465-012-0318-3
This paper introduces a method to generate the planar jumping motion for biped robot. In this work, through determining the upper body posture trajectory in the flight phase, the foot landing posture is made to be flat while landing. Together with properly designing the trajectory for local center of gravity and the foot landing velocity, the soft landing trajectory is generated. A controller on the ankle joint is added to avoid significant impact with the ground and stabilize the robot after landing. Jumping motion with stable landing is achieved in a dynamic simulation environment based on this method.
关键词: biped jumping stable landing control jumping motion generation
面向CPG驱动的仿生机器鱼容错控制方法 Article
杨越麒, 王健, 吴正兴, 喻俊志
《工程(英文)》 2018年 第4卷 第6期 页码 861-868 doi: 10.1016/j.eng.2018.09.011
容错性能对于自推进仿生机器鱼在实际水下应用中的可操作性和生存能力至关重要。本文探讨了具有多个可活动关节和一个被卡住尾部关节的自由游动机器鱼的容错控制问题。提出的控制系统主要由两个部分组成:反馈控制器和前馈补偿器。具体而言,一方面,设计了基于生物启发中心模式发生器的反馈控制器用于使机器鱼对外部干扰具有鲁棒性;另一方面,引入了基于动力学模型的前馈补偿器来加速整个控制系统的收敛。在此基础上,开展了仿真实验来完成控制系统分析和故障机器鱼游动性能验证。最后,水下实验表明,所提出的容错控制方法能够有效调整故障机器鱼,使其能够在故障情况下完成所需运动,进而提高实际机器鱼系统的稳定性和寿命。
Exploration of Strategies for Chronic Disease Prevention and Control and Relevant System Development
Long-de Wang
《工程管理前沿(英文)》 2015年 第2卷 第1期 页码 2-12 doi: 10.15302/J-FEM-2015002
关键词: chronic disease prevention and control strategy and system construction
Development of a dual temperature control system for isoprene biosynthesis in
《化学科学与工程前沿(英文)》 2022年 第16卷 第7期 页码 1079-1089 doi: 10.1007/s11705-021-2088-0
关键词: transcriptional activator directed evolution dynamic control heat-shock isoprene
标题 作者 时间 类型 操作
Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future
Bing XU, Min CHENG
期刊论文
Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties
期刊论文
Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple
Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG
期刊论文
Vibration suppression of speed-controlled robots with nonlinear control
Paolo BOSCARIOL,Alessandro GASPARETTO
期刊论文
A filtering-based bridge weigh-in-motion system on a continuous multi-girder bridge considering the influence
Hanli WU, Hua ZHAO, Jenny LIU, Zhentao HU
期刊论文
A pre-compensation method of the systematic contouring error for repetitive command paths
D. L. ZHANG,Y. H. CHEN,Y. P. CHEN
期刊论文
An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system
期刊论文
Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism
Yue WANG, Jingjun YU, Xu PEI
期刊论文
Planar jumping with stable landing through foot orientation design and ankle joint control
Qilong YUAN, I-Ming CHEN
期刊论文
Exploration of Strategies for Chronic Disease Prevention and Control and Relevant System Development
Long-de Wang
期刊论文