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Gray-box modeling and QFT control for precision servo transmission systems

Xiulan BAO, Xuedong CHEN, Xin LUO, Haocheng ZUO

《机械工程前沿（英文）》 2011年第6卷第4期页码 442-448 doi: 10.1007/s11465-011-0242-y

摘要：

Precision servo transmission systems have widely been applied in industrial equipment to achieve high accuracy and high speed motion. However, due to the presence of friction and uncertainty, the characteristics of precision servo transmission systems are variant depends on the working conditions, leading to oscillation and instability in the system performances. In this paper, a grey-box model of the system is established, the model structure derived from the theoretical modeling and the model parameters are obtained by experiments using set membership identification method. This paper proposes two-degrees of freedom (2-DOF) robust position controller for a precision servo transmission system, based on the quantitative feedback theory (QFT), to achieve high accuracy and consistent tracking performance even in presence of considerable system uncertainties and friction disturbances. The results of simulate and experiment validate the effectiveness of the proposed controller.

关键词： precision servo transmission system modeling set membership identification quantitative feedback theory (QFT) robustness

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Micro-optical fabrication by ultraprecision diamond machining and precision molding

Hui LI, Likai LI, Neil J. NAPLES, Jeffrey W. ROBLEE, Allen Y. YI

《机械工程前沿（英文）》 2017年第12卷第2期页码 181-192 doi: 10.1007/s11465-017-0444-z

摘要：

Ultraprecision diamond machining and high volume molding for affordable high precision high performance optical elements are becoming a viable process in optical industry for low cost high quality microoptical component manufacturing. In this process, first high precision microoptical molds are fabricated using ultraprecision single point diamond machining followed by high volume production methods such as compression or injection molding. In the last two decades, there have been steady improvements in ultraprecision machine design and performance, particularly with the introduction of both slow tool and fast tool servo. Today optical molds, including freeform surfaces and microlens arrays, are routinely diamond machined to final finish without post machining polishing. For consumers, compression molding or injection molding provide efficient and high quality optics at extremely low cost. In this paper, first ultraprecision machine design and machining processes such as slow tool and fast too servo are described then both compression molding and injection molding of polymer optics are discussed. To implement precision optical manufacturing by molding, numerical modeling can be included in the future as a critical part of the manufacturing process to ensure high product quality.

关键词： ultraprecision machining slow tool servo fast tool servo compression molding injection molding microlens arrays optical fabrication

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面向精密增材制造的大范围柔性伺服系统

Zhen Zhang, Peng Yan, Guangbo Hao

《工程（英文）》 2017年第3卷第5期页码 708-715 doi: 10.1016/J.ENG.2017.05.020

摘要：

本文主要介绍可用于微立体光固化（MSL）工艺的基于分布柔度簧片的大范围柔性纳米伺服系统的设计、开发和控制。作为这一高精度工艺的使能技术，本文设计了一种兼具毫米级运动行程和纳米级运动精度的紧凑型台式柔性纳米运动系统。由于在运行中无需装配和维护，这种柔性运动系统非常适合苛刻的操作条件。从机械设计的角度来看，镜像对称布局和适当的冗余约束对于抑制寄生运动至关重要。本文对此系统进行了详细的有限元分析（FEA），分析结果表面系统具有满意的机械特征。通过纳米运动系统的动力学模型辨识，本文设计了实时控制策略，并将其应用在一体加工的原型系统中。实验验证了面向MSL 工艺过程的轨迹跟踪性能。所提出的纳米伺服运动系统具有毫米级的工作范围，圆轨迹跟踪误差约为80 nm（均方根值）。

关键词：精密增材制造微立体光固化纳米定位分布柔度簧片

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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

《机械工程前沿（英文）》 2018年第13卷第2期页码 179-210 doi: 10.1007/s11465-018-0464-3

摘要：

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

关键词： hydraulic servo system adaptive control robust control nonlinear friction disturbance compensation repetitive control noise alleviation constraint control

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Variable identification and automatic tuning of the main module of a servo system of parallel mechanism

YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing

《机械工程前沿（英文）》 2007年第2卷第1期页码 82-88 doi: 10.1007/s11465-007-0014-x

摘要： The variables of the main module of a servo system for miniature reconfigurable parallel mechanism were identified and automatically tuned. With the reverse solution module of the translation, the module with the exerted translation joint was obtained, which included the location, velocity and acceleration of the parallelogram carriage-branch. The rigid dynamic reverse model was set as the virtual work principle. To identify the variables of the servo system, the triangle-shaped input signal with variable frequency was adopted to overcome the disadvantages of the pseudo-random number sequence, i.e., making the change of the vibration amplitude of the motor dramatically, easily impact the servo motor and make the velocity loop open and so on. Moreover, all the variables including the rotary inertia of the servo system were identified by the additive mass. The overshoot and rise time were the optimum goals, the limited changing load with the attitude was considered, and the range of the controller variables in the servo system was identified. The results of the experiments prove that the method is accurate.

关键词： acceleration reconfigurable parallel additive sequence parallel mechanism

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Reliability analysis of urban gas transmission and distribution system based on FMEA and correlation

Su LI,Weiguo ZHOU

《能源前沿（英文）》 2014年第8卷第4期页码 443-448 doi: 10.1007/s11708-014-0336-4

摘要： In order to improve the safety management of urban gas transmission and distribution system, failure mode and effects analysis (FMEA) was used to construct the reliability analysis system of the pipeline network. To solve the problem of subjectivity and uncertainty of the multi-expert decision making, the correlation operator was introduced into the calculation of the risk priority number (RPN). Using FMEA along with weight analysis and expert investigation approach, the FMEA evaluation table was given, including five failure modes, risk priority numbers, failure causes and effects, as well as corrective actions. The results show that correlation operator can directly process the linguistic terms and quantify the priority of the risks.

关键词： gas transmission and distribution system risk evaluation reliability analysis failure mode and effects analysis (FMEA) correlation operator

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火箭炮交流位置伺服系统的鲁棒最优控制

柴华伟,马大为,李志刚,乐贵高,王锋

《中国工程科学》 2007年第9卷第10期页码 83-87

摘要：

为了实现某火箭炮交流伺服系统的高速、高精度位置控制，针对实际系统中存在的转动惯量和负载力矩变化大、冲击力矩强等各种不确定因素，提出了一种鲁棒最优控制方法。实验结果表明，该控制器鲁棒性强，而且具有较好的动态性能及稳态精度。

关键词：火箭炮交流位置伺服系统鲁棒控制最优控制

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Modeling and analysis of steady-state vibration induced by backlash in servo rotary table

Xiao YANG,Dun LU,Sanli LIU,Jun ZHANG,Wanhua ZHAO

《机械工程前沿（英文）》 2015年第10卷第1期页码 43-47 doi: 10.1007/s11465-015-0327-0

摘要：

Backlash cannot be always avoided in mechanical systems because of wear or looseness. Steady-state vibration may be induced by backlash in closed loop feed drive systems. This paper presents a mathematical model of a servo rotary table, considering the effect of backlash. The accuracy of this model is verified by an experiment. The influences of the parameters, such as position controller gain, velocity controller gain, load and the magnitude of backlash, on steady-state vibration are discussed. The steady-state vibration amplitude increases with the position controller gain, load and the magnitude of backlash. The steady-state vibration frequency increases with the position controller gain and the velocity controller gain, while an increase in load leads to a decrease in the frequency.

关键词： backlash servo rotary table steady-state vibration

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Control algorithm of a servo platform

Shouyong XIE, Xiwen LI, Shuzi YANG, Mingjin YANG,

《机械工程前沿（英文）》 2010年第5卷第3期页码 353-355 doi: 10.1007/s11465-010-0098-6

摘要： According to the characteristics of the movement of a special-purpose three-axis servo platform, this paper presents an improved grey prediction proportional integral derivative (PID) control algorithm. Different weights at different time are given to different sampling moments in the algorithm, and the time meanings of the sample data are paid more attention. Simulation results show that the performance of response and stability of the platform of the improved algorithm is better than that of the traditional one. The control algorithm meets all requirements of the control system of the special-purpose three-axis servo platform.

关键词： grey prediction proportional integral derivative (PID) control improved algorithm weight servo platform

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Piezoelectric pump with flexible venous valves for active cell transmission

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0712-4

摘要： The development of organ-on-a-chip systems demands high requirements for adequate micro-pump performance, which needs excellent performance and effective transport of active cells. In this study, we designed a piezoelectric pump with a flexible venous valve inspired by that of humans. Performance test of the proposed pump with deionized water as the transmission medium shows a maximum output flow rate of 14.95 mL/min when the input voltage is 100 V, and the pump can transfer aqueous solutions of glycerol with a viscosity of 10.8 mPa·s. Cell survival rate can reach 97.22% with a yeast cell culture solution as the transmission medium. A computational model of the electric-solid-liquid multi-physical field coupling of the piezoelectric pump with a flexible venous valve is established, and simulation results are consistent with experimental results. The proposed pump can help to construct the circulating organ-on-a-chip system, and the simple structure and portable application can enrich the design of microfluidic systems. In addition, the multi-physical field coupling computational model established for the proposed piezoelectric pump can provide an in-depth study of the characteristics of the flow field, facilitating the optimal design of the micro-pump and providing a reference for the further study of active cell transport in organ-on-a-chip systems.

关键词： venous valve flexible venous valve cell transmission organ-on-a-chip system piezoelectric device

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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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构建设施型精准化循环水养殖系统的技术研究

牛化欣,常杰,雷霁霖,贾玉东

《中国工程科学》 2014年第16卷第9期页码 106-112

摘要：

鉴于当前水资源短缺、环境恶化、水产养殖业高速发展，以及保障食品安全等问题的不断呈现，促使资源型工厂化流水养殖模式急需向高效型循环水养殖方向转变，这是产业发展提升的必然趋势。本文以工业化养殖理念为指导、节能减排为目标，以鲆鲽类产业技术体系构建的循环水养殖模式为样板，按循环水养殖系统（RAS）的设计原理，优化养殖工艺流程，构建一种设施型精准化的RAS，并初步分析探讨了海水鱼类在此集成系统中的应用效果。该系统将为广大水产养殖企业提供一种建设成本低廉、系统运行稳定可控、容易管理的实用新型养殖模式，也可为下一步发展现代水产精准养殖工程体系提供理论和实践依据。

关键词：设施型工业化精准农业循环水养殖系统

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Parameter identification of interconnected power system frequency after trip-out of high voltage transmission

Xuzhan ZHOU,Shanshan LIU,Mingkun WANG,Yiping DAI,Yaohua TANG

《能源前沿（英文）》 2014年第8卷第3期页码 386-393 doi: 10.1007/s11708-014-0323-9

摘要： Accurate modeling and parameters of high voltage (HV) grid are critical for stability research of system frequency. In this paper, simulation modeling of the system frequency was conducted of an interconnected power system with HV transmission lines in China. Based on recorded tripping data of the HV transmission lines, system parameters were identified by using genetic algorithm (GA). The favorable agreement between simulation results and recorded data verifies the validity of gird models and the accuracy of system parameters. The results of this paper can provide reference for the stability research of HV power grid.

关键词： high voltage (HV) grid frequency stability parameter identification primary frequency regulation (PFR)

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Coordinate system applied to magnetic suspension project between Shanghai and Hangzhou

SHI Yimin, WANG Lihua, LUO Yan

《结构与土木工程前沿（英文）》 2008年第2卷第3期页码 288-292 doi: 10.1007/s11709-008-0041-7

摘要： In order to satisfy the requirement for route location of a magnetic suspension project between Shanghai and Hangzhou, this paper proposes to adopt a new form of geodetic coordinate system, which is defined by meridians and parallel circles but with two coordinate parameters expressed by length. Not only the coordinate systems for route location along the whole line can be unified, but also the precision of lengths and angles obtained from simple formulas are very high and there are not any map projection distortions. This has been proven by calculation.

关键词： requirement projection calculation Shanghai precision

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Experimental Study on the Piezoelectric Prestage Driver of Electrohydraulic Servo Valves

CHENG Guang-ming, SHEN Chuan-liang, YANG Zhi-gang

《机械工程前沿（英文）》 2006年第1卷第1期页码 56-59 doi: 10.1007/s11465-005-0017-4

摘要：

A piezoelectric actuated prestage driver of hydraulic servo valves for the low-frequency response of electrohydraulic servo valve electromagnetic prestage driver was presented. The new driver was driven by piezoelectric multilayer actuators. The displacement of a piezoelectric multilayer actuator was amplified by a flexure-hinged amplifier based on the principles of triangle amplification. Static and dynamic characteristics were tested on the model machine. The characteristics of good linearity, high resolution, and high-frequency response were approved. The natural frequency reached 1.201 kHz using finite element analysis, and the practice measurement result was 1 kHz.

关键词： flexure-hinged amplifier kHz amplification high-frequency electromagnetic