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Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

《机械工程前沿（英文）》 2015年 第10卷 第4期   页码 326-343 doi: 10.1007/s11465-015-0355-9

摘要：

Static balancing for a manipulator’s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects: One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures: The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and (hydro-) pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.

关键词： robotics     static balancing     pneumatic spring     mechanical spring     torque compensation    

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New nonlinear stiffness actuator with predefined torque‒deflection profile

《机械工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0721-3

摘要： A nonlinear stiffness actuator (NSA) could achieve high torque/force resolution in low stiffness range and high bandwidth in high stiffness range, both of which are beneficial for physical interaction between a robot and the environment. Currently, most of NSAs are complex and hardly used for engineering. In this paper, oriented to engineering applications, a new simple NSA was proposed, mainly including leaf springs and especially designed cams, which could perform a predefined relationship between torque and deflection. The new NSA has a compact structure, and it is lightweight, both of which are also beneficial for its practical application. An analytical methodology that maps the predefined relationship between torque and deflection to the profile of the cam was developed. The optimal parameters of the structure were given by analyzing the weight of the NSA and the mechanic characteristic of the leaf spring. Though sliding friction force is inevitable because no rollers were used in the cam-based mechanism, the sliding displacement between the cam and the leaf spring is very small, and consumption of sliding friction force is very low. Simulations of different torque‒deflection profiles were carried out to verify the accuracy and applicability of performing predefined torque‒deflection profiles. Three kinds of prototype experiments, including verification experiment of the predefined torque‒deflection profile, torque tracking experiment, and position tracking experiment under different loads, were conducted. The results prove the accuracy of performing the predefined torque‒deflection profile, the tracking performance, and the interactive performance of the new NSA.

关键词： compliant actuator     nonlinear stiffness actuator     nonlinear spring     predefined torque−deflection profile    

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Analysis and characterization of wind-solar-constant torque spring hybridized model

Shantanu ACHARYA,Subhadeep BHATTACHARJEE

《能源前沿（英文）》 2014年 第8卷 第3期   页码 279-289 doi: 10.1007/s11708-014-0312-z

摘要： Solar and wind are the most promising renewable energy resources. But their unpredictable and varying nature prevents them from being used as the sole resource for power generation. This paper presents a model of wind and solar thermal hybrid power plant with a spring storage system which is expected to play an efficient role in combating with the drawbacks related to renewable power generation. In the proposed scheme, wind energy is harnessed by a hybrid vertical axis wind turbine, solar energy is utilized by a Stirling engine, and the surplus energy is stored in a winding spring. The paper discusses the working methodologies and analyses the performance of such 2.6 kW hybrid power plant model. It has been observed that the plant is capable of consistently generating 50% of its rated capacity irrespective of limitations in solar and wind resources.

关键词： hybrid vertical axis wind turbine     Stirling engine     solar-thermal energy     wind energy     constant torque spring    

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Comparative study of various artificial intelligence approaches applied to direct torque control of induction

Moulay Rachid DOUIRI, Mohamed CHERKAOUI

《能源前沿（英文）》 2013年 第7卷 第4期   页码 456-467 doi: 10.1007/s11708-013-0264-8

摘要： In this paper, three intelligent approaches were proposed, applied to direct torque control (DTC) of induction motor drive to replace conventional hysteresis comparators and selection table, namely fuzzy logic, artificial neural network and adaptive neuro-fuzzy inference system (ANFIS). The simulated results obtained demonstrate the feasibility of the adaptive network-based fuzzy inference system based direct torque control (ANFIS-DTC). Compared with the classical direct torque control, fuzzy logic based direct torque control (FL-DTC), and neural networks based direct torque control (NN-DTC), the proposed ANFIS-based scheme optimizes the electromagnetic torque and stator flux ripples, and incurs much shorter execution times and hence the errors caused by control time delays are minimized. The validity of the proposed methods is confirmed by simulation results.

关键词： adaptive neuro-fuzzy inference system (ANFIS)     artificial neural network     direct torque control (DTC)     fuzzy logic     induction motor    

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Performance analysis of series/parallel and dual side LCC compensation topologies of inductive power

P. Srinivasa Rao NAYAK, Dharavath KISHAN

《能源前沿（英文）》 2020年 第14卷 第1期   页码 166-179 doi: 10.1007/s11708-018-0549-z

摘要： In an inductive battery charging system, for better power transfer capability and attaining required power level, compensation is necessary. This paper analyzes series/parallel (S/P) and dual side inductor-capacitor-capacitor (LCC) compensation topologies for inductive power transfer of electric vehicle (EV) battery charging system. The design and modeling steps of inductive power transfer for electric vehicle battery charging system are presented. Besides, the equivalent electrical circuits are used to describe the circuit compensation topologies. The results convey that the efficiency of dual side LCC compensation is higher than that of S/P compensation at variable mutual inductance (misalignment).

关键词： series/parallel compensation     electric vehicle (EV)     dual side LCC compensation     inductive power transfer    

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Analytical model and finite element computation of braking torque in electromagnetic retarder

Lezhi YE,Guangzhao YANG,Desheng LI

《机械工程前沿（英文）》 2014年 第9卷 第4期   页码 368-379 doi: 10.1007/s11465-014-0314-x

摘要：

An analytical model has been developed for analyzing the braking torque in electromagnetic retarder by flux tube and armature reaction method. The magnetic field distribution in air gap, the eddy current induced in the rotor and the braking torque are calculated by the developed model. Two-dimensional and three-dimensional finite element models for retarder have also been developed. Results from the analytical model are compared with those from finite element models. The validity of these three models is checked by the comparison of the theoretical predictions and the measurements from an experimental prototype. The influencing factors of braking torque have been studied.

关键词： electromagnetic retarder     magnetic field distribution     magnetic circuit     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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A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot

Kejia LI, Xilun DING, Marco CECCARELL

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 219-230 doi: 10.1007/s11465-012-0320-9

摘要：

This article focuses on the dynamic index and performance of a radial symmetric six-legged robot. At first the structure of the robot is described in brief and its inverse kinematics is presented. Then the dynamic model is formulated as based on the Lagrange equations. A novel index of total torque is proposed by considering the posture of the supporting legs. The new index can be used to optimize the leg’s structure and operation for consuming minimum power and avoiding unstable postures of the robot. A characterization of the proposed six-legged robot is obtained by a parametric analysis of robot performance through simulation using the presented dynamic model. Main influences are outlined as well as the usefulness of the proposed performance index.

关键词： six-legged robots     dynamic modeling     performance index    

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Sensorless direct torque control for salient-pole PMSM based on extended Kalman filter fed by AC/DC/AC

F. BENCHABANE, A. TITAOUINE, O. BENNIS, K. YAHIA, D. TAIBI, A. GUETTAF

《能源前沿（英文）》 2012年 第6卷 第3期   页码 247-254 doi: 10.1007/s11708-012-0190-1

摘要： In this paper, a new sensorless interior permanent magnet synchronous motor (IPMSM) drives method with extended Kalman filter (EKF) for speed, rotor position and load torque estimation is proposed. The direct torque control (DTC) technique for permanent magnet synchronous motor (PMSM) is receiving increasing attention due to the important advantages of the low dependence on motor parameters when compared with other motor control techniques. The Kalman filter is an observer for linear and non-linear systems and is based on the stochastic intromission, in others words, noise. The PMSM is fed by an indirect power electronic converter which is controlled by a sliding mode technique. The simulation tests performed for different operating conditions have confirmed the robustness of the overall system; and it is shown that the sliding mode technique has successfully minimized the different harmonics introduced by the line converter.

关键词： direct torque control (DTC)     sensorless control     extended Kalman filter (EKF)     permanent magnet synchronous motor (PMSM)     boost-rectifier    

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Method of internal 3D flow field numerical simulation for hydrodynamic torque converter

SHANG Tao, ZHAO Dingxuan, ZHANG Yuankun, GUO Xiangen, SHI Xiangzhong

《机械工程前沿（英文）》 2008年 第3卷 第1期   页码 86-90 doi: 10.1007/s11465-008-0012-7

摘要： To enhance the performance of a hydrodynamic torque converter and thoroughly understand the trait of inside flow, a numerical simulation method of internal 3D flow for the three-element centrifugal hydrodynamic torque converter was systematically researched and expatiated in this paper. First, the internal flow field of each impeller was calculated. The curves that illustrate the relationships between the pressure differences of the inlet and outlet versus flux were drawn. Second, the concurrent working point of each impeller was approximately estimated. Finally, a calculation was performed considering the influence on each impeller. The flow field of a working point was solved by multiple calculations and the actual working condition was gradually determined. The pressure and velocity distributions of the flow field were proposed. The performance parameters of the hydrodynamic torque converter were predicted. The calculation method, and the proposed pressure and velocity distribution of the flow field, have practical significance for the design and improvement of a hydrodynamic torque converter.

关键词： velocity distribution     calculation     numerical simulation     three-element centrifugal     converter    

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Research on the ecological compensation standard of the basin pollution control project based on evolutionary

Dongbin HU, Huiwu LIU, Xiaohong CHEN, Yang CHEN

《工程管理前沿（英文）》 2019年 第6卷 第4期   页码 575-583 doi: 10.1007/s42524-019-0044-1

摘要： Ecological compensation is a new resource and environment management model. As one of the main areas for implementing ecological compensation policies, basin ecological compensation has become an important measure for encouraging basin pollution control projects and improving the quality of regional economic development. By applying the basic game analysis of evolutionary game theory and building an evolutionary game model with a “reward–punishment” mechanism, this paper compares the interest-related decision-making behaviors of the upstream and downstream stakeholders of basin ecological compensation. By using data on the water quality of Xiangjiang River Basin, this paper calculates the rewards and penalties in different intervals by building a parametric regression mathematical model and employing the local linear regression method. Results show that a decline in water quality should be fined RMB 925500 yuan, an improvement in water quality should be awarded RMB 1227800 yuan, and a deteriorating water quality should be severely fined RMB 5087600 yuan.

关键词： evolutionary game     ecological compensation standard     Xiangjiang River Basin    

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筑坝河流的生态补偿

董哲仁

《中国工程科学》 2006年 第8卷 第1期   页码 5-10

摘要：

从河流的连续性特征出发分析了大坝对于河流生态系统的胁迫问题。指出要在自然-社会-经济复合生态系统中全面权衡筑坝的利弊得失。讨论了对于筑坝河流进行生态补偿的可行性，建议开展河流生态系统功能价值评估，建立生态补偿的合理机制。

关键词： 大坝     河流     生态补偿     生态恢复     补偿机制    

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Quantitative standard of eco-compensation for the water source area in the middle route of the South-to-North

Zhanfeng DONG, Jinnan WANG

《环境科学与工程前沿（英文）》 2011年 第5卷 第3期   页码 459-473 doi: 10.1007/s11783-010-0288-9

摘要： The Middle Route Project(MRP) of the South-to-North Water Transfer Scheme (SNWT) in China will require a very large financial expenditure to ensure the water supply and the associated water quality to northern China. An eco-compensation mechanism between the water service source areas and its beneficiaries is essential. This paper establishes an analytic framework of eco-compensation standard for the protection of the water source area, including both the calculation of eco-compensation based on opportunity cost method (OCM) and calculation of the burden sharing of eco-compensation between the water source area and the external water reception area based on the deviation square method (DSM). Taking Shiyan City, Hubei Province in China as a case study, our results show that the eco-compensation in the first-phase of MRP for the water source area in Shiyan, Hubei Province should be 1.63×10 CNY, about four times of planned eco-construction investment budget(4.33×10 CNY). In addition, the burden sharing of eco-compensation varied greatly in terms of different methods. It would be better to integrate the results of different single-factor burden sharing methods by determining the corresponding weighting coefficient with DSM and form one unanimous consent result by the interested parties.

关键词： the South-to-North Water Transfer Scheme     eco-compensation standard     opportunity costs     deviation square method    

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Social responsibility in infrastructure mega-projects: A case study of ecological compensation for

Zheming LIU, Liangyan WANG, Zhaohan SHENG, Xinglin GAO

《工程管理前沿（英文）》 2018年 第5卷 第1期   页码 98-108 doi: 10.15302/J-FEM-2018084

摘要： Ecological compensation plays an important role in implementing the social responsibility of infrastructure mega-projects. Based on the results of a field study, an in-depth interview, and archive data, this paper introduces the ecological compensation for (the Indo-Pacific humpbacked dolphin) during the construction of the Hong Kong-Zhuhai-Macao Bridge. It studies the concrete measures, decision-making processes, and organizational collaboration of the ecological compensation, using the method of a case study. The present study not only enriches our understanding of the ecological compensation practice during the construction of infrastructure mega-projects, but also extends the literature on the social responsibility of infrastructure mega-projects. This sheds light on the protection of the environment as well as biodiversity in the construction of future infrastructure mega-projects.

关键词： infrastructure mega-projects     social responsibility     ecological compensation     Hong Kong-Zhuhai-Macao Bridge     Sousa chinensis    

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Determination of the scheme of precision grinding compensation on the radome

GUO Dongming, LIU Minjing, ZHANG Chunbo, SHENG Xianjun, SUN Yuwen

《机械工程前沿（英文）》 2007年 第2卷 第3期   页码 263-266 doi: 10.1007/s11465-007-0045-3

摘要： The radome, which is often used to house airborne scanning radar antennas, causes a large boresight error and boresight error slope of the radar antenna. One way to decrease the boresight error induced by the radome is to modify its geometric thickness. Determining the grinding scheme from the boresight error performance is the most important problem to be solved. A typical inverse problem about electromagnetic fields is solving the precise grinding compensation area and allowance according to the antenna aperture distribution and the radome s boresight error performance, which could hardly be solved by a purely mathematical method. An effective approach combining theoretical analysis and mathematical calculations with experimental measurement is presented in this paper to determine the grinding area and allowance for compensating the boresight error performance of the radome. By comparing the calculated and measured data of the boresight error and the boresight error slope before and after grinding, it is shown that this method is simple and practical and can be used for many kinds of radomes.

关键词： mathematical     effective approach     experimental measurement     antenna     electromagnetic    

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标题 作者 时间 类型 操作

Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

期刊论文

New nonlinear stiffness actuator with predefined torque‒deflection profile

期刊论文

Analysis and characterization of wind-solar-constant torque spring hybridized model

Shantanu ACHARYA,Subhadeep BHATTACHARJEE

期刊论文

Comparative study of various artificial intelligence approaches applied to direct torque control of induction

Moulay Rachid DOUIRI, Mohamed CHERKAOUI

期刊论文

Performance analysis of series/parallel and dual side LCC compensation topologies of inductive power

P. Srinivasa Rao NAYAK, Dharavath KISHAN

期刊论文

Analytical model and finite element computation of braking torque in electromagnetic retarder

Lezhi YE,Guangzhao YANG,Desheng LI

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

A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot

Kejia LI, Xilun DING, Marco CECCARELL

期刊论文

Sensorless direct torque control for salient-pole PMSM based on extended Kalman filter fed by AC/DC/AC

F. BENCHABANE, A. TITAOUINE, O. BENNIS, K. YAHIA, D. TAIBI, A. GUETTAF

期刊论文

Method of internal 3D flow field numerical simulation for hydrodynamic torque converter

SHANG Tao, ZHAO Dingxuan, ZHANG Yuankun, GUO Xiangen, SHI Xiangzhong

期刊论文

Research on the ecological compensation standard of the basin pollution control project based on evolutionary

Dongbin HU, Huiwu LIU, Xiaohong CHEN, Yang CHEN

期刊论文

筑坝河流的生态补偿

董哲仁

期刊论文

Quantitative standard of eco-compensation for the water source area in the middle route of the South-to-North

Zhanfeng DONG, Jinnan WANG

期刊论文

Social responsibility in infrastructure mega-projects: A case study of ecological compensation for

Zheming LIU, Liangyan WANG, Zhaohan SHENG, Xinglin GAO

期刊论文

Determination of the scheme of precision grinding compensation on the radome

GUO Dongming, LIU Minjing, ZHANG Chunbo, SHENG Xianjun, SUN Yuwen

期刊论文