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High-bandwidth nanopositioning via active control of system resonance

Linlin LI, Sumeet S. APHALE, Limin ZHU

《机械工程前沿（英文）》 2021年 第16卷 第2期   页码 331-339 doi: 10.1007/s11465-020-0619-x

摘要： Typically, the achievable positioning bandwidth for piezo-actuated nanopositioners is severely limited by the first, lightly-damped resonance. To overcome this issue, a variety of open- and closed-loop control techniques that commonly combine damping and tracking actions, have been reported in literature. However, in almost all these cases, the achievable closed-loop bandwidth is still limited by the original open-loop resonant frequency of the respective positioning axis. Shifting this resonance to a higher frequency would undoubtedly result in a wider bandwidth. However, such a shift typically entails a major mechanical redesign of the nanopositioner. The integral resonant control (IRC) has been reported earlier to demonstrate the significant performance enhancement, robustness to parameter uncertainty, gua-ranteed stability and design flexibility it affords. To further exploit the IRC scheme’s capabilities, this paper presents a method of actively shifting the resonant frequency of a nanopositioner’s axis, thereby delivering a wider closed-loop positioning bandwidth when controlled with the IRC scheme. The IRC damping control is augmented with a standard integral tracking controller to improve positioning accuracy. And both damping and tracking control parameters are analytically optimized to result in a Butterworth Filter mimicking pole-placement—maximally flat passband response. Experiments are conducted on a nanopositioner’s axis with an open-loop resonance at 508 Hz. It is shown that by employing the active resonance shifting, the closed-loop positioning bandwidth is increased from 73 to 576 Hz. Consequently, the root-mean-square tracking errors for a 100 Hz triangular trajectory are reduced by 93%.

关键词： nanopositioning stage     high-bandwidth     resonant mode control     tracking control     integral resonant control    

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Design of ultrasonic elliptical vibration cutting system for tungsten heavy alloy

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0715-1

摘要： Nanoscale surface roughness of tungsten heavy alloy components is required in the nuclear industry and precision instruments. In this study, a high-performance ultrasonic elliptical vibration cutting (UEVC) system is developed to solve the precision machining problem of tungsten heavy alloy. A new design method of stepped bending vibration horn based on Timoshenko’s theory is first proposed, and its design process is greatly simplified. The arrangement and working principle of piezoelectric transducers on the ultrasonic vibrator using the fifth resonant mode of bending are analyzed to realize the dual-bending vibration modes. A cutting tool is installed at the end of the ultrasonic vibration unit to output the ultrasonic elliptical vibration locus, which is verified by finite element method. The vibration unit can display different three-degree-of-freedom (3-DOF) UEVC characteristics by adjusting the corresponding position of the unit and workpiece. A dual-channel ultrasonic power supply is developed to excite the ultrasonic vibration unit, which makes the UEVC system present the resonant frequency of 41 kHz and the maximum amplitude of 14.2 μm. Different microtopography and surface roughness are obtained by the cutting experiments of tungsten heavy alloy hemispherical workpiece with the UEVC system, which validates the proposed design’s technical capability and provides optimization basis for further improving the machining quality of the curved surface components of tungsten heavy alloy.

关键词： tungsten heavy alloy     ultrasonic elliptical vibration cutting     Timoshenko’s theory     resonant mode of bending     finite element method    

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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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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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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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Multiple target implementation for a doubly fed induction generator based on direct power control under

Heng NIAN,Yi-peng SONG

《信息与电子工程前沿（英文）》 2015年 第16卷 第4期   页码 321-334 doi: 10.1631/FITEE.1400170

摘要： This paper presents a multiple target implementation technique for a doubly fed induction generator (DFIG) under unbalanced and distorted grid voltage based on direct power control (DPC). Based on the mathematical model of DFIG under unbalanced and distorted voltage, the proportional and integral (PI) regulator is adopted to regulate the DFIG average active and reactive powers, while the vector PI (VPI) resonant regulator is used to achieve three alternative control targets: (1) balanced and sinusoidal stator current; (2) smooth instantaneous stator active and reactive powers; (3) smooth electromagnetic torque and instantaneous stator reactive power. The major advantage of the proposed control strategy over the conventional method is that neither negative and harmonic sequence decomposition of grid voltage nor complicated control reference calculation is required. The insensitivity of the proposed control strategy to DFIG parameter deviation is analyzed. Finally, the DFIG experimental system is developed to validate the availability of the proposed DPC strategy under unbalanced and distorted grid voltage.

关键词： Direct power control     Doubly fed induction generator     Unbalanced and distorted grid voltage     Vector proportional and integral resonant regulator     Parameter deviation    

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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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Control mode selection for modal control of long-span arch bridge

Zhengying LI, Zhengliang LI,

《结构与土木工程前沿（英文）》 2009年 第3卷 第4期   页码 401-406 doi: 10.1007/s11709-009-0052-z

摘要： For seismic control of arch bridge, a model reduction of long-span arch bridge was implemented based on modal analysis. As for the critical mode selection, an approach based on the maximum modal displacement was presented. This approach takes into consideration the effect of external seismic excitation and is more reasonable than only considering dynamic bridge characteristics based on a modal contribution ratio. The time domain and frequency domain analysis method were used to verify the simplified model of the Nimu arch bridge in Tibet as an example. The numerical results show that the method of maximal modal displacement better analyze long-span arch bridge when multisupport seismic excitation must be considered. The reduced-order system also is more in line with the performance of the original model.

关键词： selection     reduced-order     excitation     long-span     simplified    

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一种新颖的用于宽输入电压范围的LLC谐振变换器的变模态控制策略 Article

Hui-pin LIN,Xiao-guang JIN,Liang XIE,Jin HU,Zheng-yu LU

《信息与电子工程前沿（英文）》 2017年 第18卷 第3期   页码 410-422 doi: 10.1631/FITEE.1600029

摘要： 本文提出了一种新颖的适用于LLC谐振变换器的混合模态控制策略，可以使得LLC谐振变换器输入宽电压范围。这种控制策略结合了全桥LLC谐振变换器，半桥LLC谐振变换器，变频控制和变脉宽控制的优点。在这种控制策略下，不同的输入电压决定了不同的电路工作模态。当输入电压很低的时候，电路采用了全桥电路和变频控制（FB_VF模态）。当输入电压升高到一定值，电路切换到全桥电路和移相控制（FB_PS模态）。当输入电压进一步上升时，电路切换到半桥电路和变频控制（FB_VF模态）。这种电路模态的切换是由数字信号处理器（digital signal processor, DSP）来实现的，不需要外加辅助电路，只需要修改一下软件。从轻载到重载下，LLC谐振变换器的原边MOSFET可以实现零电压开通（zero-voltage switching, ZVS），副边二极管可以实现零电流关断（zero-current switching, ZCS）。本文用一个额定功率300 W，输出电压450 V的LLC，输入电压20 V到120 V的谐振变换器的样机验证了这个优化的控制策略。实验结果显示，在这种控制策略下，变换器的最大工作效率可以达到95.7%，并且输入电压范围扩大了3倍。

关键词： 串并联谐振变换器；全桥；半桥；变频；移相；宽范围输入电压    

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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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基于滑模控制的可拓控制器设计

陈珍源,翁庆昌

《中国工程科学》 2001年 第3卷 第9期   页码 48-51

摘要：

根据滑模控制概念， 提出一种新的可拓控制器。在控制策略设计上分为两个部分，第一个部分是根据系统已知部分设计滑模控制的等效控制， 另一部分为鲁棒控制以解决系统的不确定性因素及外部干扰问题。首先，构造一基本可拓控制器，用所定可拓集的关联函数作为系统状态信息的评价指针， 并在其中植入一组待调增益参数，经参数修正来综合滑模可拓控制的鲁棒控制（滑模的撞击控制），以保证系统的稳定性。最后以一个非线性控制系统的仿真为例来说明所设计的可拓控制器的控制性能。

关键词： 可拓集合     可拓控制     滑模控制     系统稳定性    

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

《机械工程前沿（英文）》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0753-3

摘要： To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking control and obstacle avoidance separately. Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult. To address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) framework. Specifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated, incorporating specified control laws for different stages. This formulation guarantees rapid convergence and simultaneous chattering elimination. By introducing sub-target points, a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one, thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention. Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

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    

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Flexible resonant tank for a combined converter to achieve an HPS and LED compatible driver

Jin HU,Hui-pin LIN,Zheng-yu LU,Feng-wu ZHOU

《信息与电子工程前沿（英文）》 2015年 第16卷 第8期   页码 679-693 doi: 10.1631/FITEE.1500054

摘要： High pressure sodium (HPS) lamp has been widely used in street lighting applications because of its maturity, reliability, high lighting efficiency, long life-time, and low cost. Light emitting diode (LED) is expected as the next generation lighting source due to its continuously improving luminous efficacy, better color characteristic, and super long life-time. The two lighting sources may coexist in street lighting applications for a long time. A novel HPS and LED compatible driver is proposed which is rather suitable and flexible for driving HPS and LED in street lighting applications. The proposed driver combines the LLC and LCC resonant circuits into a flexible resonant tank. The flexible resonant tank may change to LLC or isolated LCC circuit according to the lighting source. It inherits the traditional HPS and LED drivers’ zero voltage switching (ZVS) characteristics and dimmable function. The design of the proposed flexible resonant tank considers the requirements of both HPS and LED. The experiments of driving HPS and LED on a prototype driver show that the driver can drive the two lighting sources flexibly with high efficiency.

关键词： High pressure sodium (HPS)     Light emitting diode (LED)     Compatible driver     Ballast    

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Analysis of resonant coupling coil configurations of EV wireless charging system: a simulation study

M. LU, A. JUNUSSOV, M. BAGHERI

《能源前沿（英文）》 2020年 第14卷 第1期   页码 152-165 doi: 10.1007/s11708-019-0615-1

摘要： Nowadays, internal combustion engine vehicles are considered as one of the major contributors to air pollution. To make transportation more environmentally friendly, plug-in electric vehicles (PEVs) have been proposed. However, with an increase in the number of PEVs, the drawbacks associated with the cost and size, as well as charging cables of batteries have arisen. To address these challenges, a novel technology named wireless charging system has been recently recommended. This technology rapidly evolves and becomes very attractive for charging operations of electric vehicles. Currently, wireless charging systems offer highly efficient power transfer over the distances ranging from several millimeters to several hundred millimeters. This paper is focused on analyzing electromagnetically coupled resonant wireless technique used for the charging of EVs. The resonant wireless charging system for EVs is modeled, simulated, and then examined by changing different key parameters to evaluate how transfer distance, load, and coil’s geometry, precisely number of coil’s turns, coil’s shape, and inter-turn distance, influence the efficiency of the charging process. The simulation results are analyzed and critical dimensions are discussed. It is revealed that a proper choice of the dimensions, inter-turn distance, and transfer distance of the coil can result in a significant improvement in charging efficiency. Furthermore, the influence of the transfer distance, frequency, load, as well as the number of the turns of the coil on the performance of wireless charging system is the main focus of this paper.

关键词： electromagnetically coupled resonator     near-field power transfer     wireless power transfer (WPT)    

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Thermal transport properties of monolayer phosphorene: a mini-review of theoretical studies

Guangzhao QIN, Ming HU

《能源前沿（英文）》 2018年 第12卷 第1期   页码 87-96 doi: 10.1007/s11708-018-0513-y

摘要： Phosphorene, a two-dimensional (2D) elemental semiconductor with a high carrier mobility and intrinsic direct band gap, possesses fascinating chemical and physical properties distinctively different from other 2D materials. Its rapidly growing applications in nano-/opto-electronics and thermoelectrics call for fundamental understanding of the thermal transport properties. Considering the fact that there have been so many studies on the thermal transport in phosphorene, it is on emerging demand to have a review on the progress of previous studies and give an outlook on future work. In this mini-review, the unique thermal transport properties of phosphorene induced by the hinge-like structure are examined. There exists a huge deviation in the reported thermal conductivity of phosphorene in literature. Besides, the mechanism underlying the deviation is discussed by reviewing the effect of different functionals and cutoff distance in calculating the thermal transport properties of phosphorene. It is found that the (vdW) interactions play a key role in the formation of resonant bonding, which leads to long-ranged interactions. Taking into account of the vdW interactions and including the long-ranged interactions caused by the resonant bonding with large cutoff distance are important for getting the accurate and converged thermal conductivity of phosphorene. Moreover, a fundamental insight into the thermal transport is provided based on the review of resonant bonding in phosphorene. This mini-review summarizes the progress of the thermal transport in phosphorene and gives an outlook on future horizons, which would benefit the design of phosphorene based nano-electronics.

关键词： thermal transport     phosphorene     resonant bonding    

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标题 作者 时间 类型 操作

High-bandwidth nanopositioning via active control of system resonance

Linlin LI, Sumeet S. APHALE, Limin ZHU

期刊论文

Design of ultrasonic elliptical vibration cutting system for tungsten heavy alloy

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

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

An adaptive sliding mode control technology for weld seam tracking

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

期刊论文

Multiple target implementation for a doubly fed induction generator based on direct power control under

Heng NIAN,Yi-peng SONG

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

Control mode selection for modal control of long-span arch bridge

Zhengying LI, Zhengliang LI,

期刊论文

一种新颖的用于宽输入电压范围的LLC谐振变换器的变模态控制策略

Hui-pin LIN,Xiao-guang JIN,Liang XIE,Jin HU,Zheng-yu LU

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

基于滑模控制的可拓控制器设计

陈珍源,翁庆昌

期刊论文

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

期刊论文

Flexible resonant tank for a combined converter to achieve an HPS and LED compatible driver

Jin HU,Hui-pin LIN,Zheng-yu LU,Feng-wu ZHOU

期刊论文

Analysis of resonant coupling coil configurations of EV wireless charging system: a simulation study

M. LU, A. JUNUSSOV, M. BAGHERI

期刊论文

Thermal transport properties of monolayer phosphorene: a mini-review of theoretical studies

Guangzhao QIN, Ming HU

期刊论文