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

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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以电子方式提升洛伦兹力驱动器的大行程纳米定位精度 Research Article

Bimal Jeet GOTEEA,张前军,董为

《信息与电子工程前沿（英文）》 2023年 第24卷 第7期   页码 1080-1092 doi: 10.1631/FITEE.2200255

摘要： 本文展现了一种基于洛伦兹力驱动器和柔顺导向的精密厘米级定位器。通过使用一个额外的数模转换器（DAC）和运算放大器（op amp）电路，以及合适的控制器将定位精度提高到纳米级。首先，基于柔顺导向模型的刚度为驱动器设计了恰当的线圈。然后通过有限元分析（FEA）验证了柔顺机构和驱动器的性能。基于此，提出一种通过电子方式提升定位性能的方法及控制方案。最后，构建了原理样机并对其性能进行评估。该定位器的特色在于其在10 mm行程内实现10 nm分辨率。所提出的方案可以拓展适用于其他同类型系统。

关键词： 纳米定位；柔顺导向；大行程；音圈电机；洛伦兹力驱动器    

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Flexible liquid metal coil prepared for electromagnetic energy harvesting and wireless charging

Shen GUO, Peng WANG, Jichuan ZHANG, Wenpeng LUAN, Zishuo XIA, Lingxiao CAO, Zhizhu HE

《能源前沿（英文）》 2019年 第13卷 第3期   页码 474-482 doi: 10.1007/s11708-019-0632-0

摘要： This paper reported a study on a flexible liquid metal coil (LMC) for electromagnetic collection from the transmission line for self-powered sensor and electromagnetic generation for wireless charging of cellular telephone. The room temperature liquid metal of Galinstan was perfused to elastic silicone tube, which is then terminated with gallium-plated copper wire. The as-prepared liquid metal wire can sustain stretching, twisting, and bending with large deformation, and has a good electrical contact stability with the external circuit. The LMC based magnetic energy harvester was then designed and demonstrated to collect the magnetic field energy induced by a wire carrying alternating current. The power of 260 mW was obtained for the wire carrying current of 10 A. The flexible toroidal inductor was fabricated and tested for magnetic energy harvesting. The flexible spiral-shaped LMC was also designed and demonstrated to power cellular telephone through wireless charging. The present study opens the way for further applications of elastic LMC in electromagnetic energy harvesting and charging.

关键词： liquid metal     Galinstan     flexible coil     electromagnetic energy harvesting     wireless charging    

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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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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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螺旋管簧的可靠性优化设计

张义民,贺向东,闻邦椿

《中国工程科学》 2002年 第4卷 第5期   页码 71-74

摘要：

讨论了螺旋管簧的可靠性优化设计问题。在基本随机变量的概率特性已知的情况下，采用二阶矩法和可靠性优化设计方法对螺旋管簧进行了可靠性优化设计，通过计算机程序可以直接实现螺旋管簧的可靠性优化设计，迅速准确地得到螺旋管簧的可靠性优化设计信息。

关键词： 螺旋管簧     可靠性     优化设计     二阶矩技术    

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Control on self-assembly structures of rod-coil-rod (PANI)-(PEG)-(PANI) triblock copolymer

YANG Zhifang, WU Jingao, YANG Yingkui, ZHOU Xingping, XIE Xiaolin

《化学科学与工程前沿（英文）》 2008年 第2卷 第1期   页码 85-88 doi: 10.1007/s11705-008-0003-6

摘要： The self-assembly behaviors of the rod-coil-rod (PANI)-(PEG)-(PANI) triblock copolymer are investigated in different solvents, such as -methyl-2-pyrrolidone (NMP), dimethyl formamide (DMF), ethanol and water. The effects of solvents, concentration and ultrasonic irradiation on self-assembly are discussed. The results indicate that the triblock copolymer forms particles, rods, fiber, networks and fiber bands in the above solvents, respectively. Especially, the triblock copolymer can form a multi-layer, tri-dimensional fibrous network and a petaline structure from the mono-layer fibrous network with the increase of its concentration in ethanol. Also, the ultrasonic irradiation has a great effect on the self-assembly of the triblock copolymer.

关键词： different     multi-layer     mono-layer     dimethyl formamide     concentration    

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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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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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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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面向21世纪的超声电机技术

赵淳生

《中国工程科学》 2002年 第4卷 第2期   页码 86-91

摘要：

叙述了新型微特电机——超声电机的特点，回顾了20世纪末期超声电机的发展和应用情况，介绍了南京航空航天大学超声电机研究中心在超声电机研究方面的进展，预测了21世纪国内外市场对超声电机技术的需求，列举了超声电机技术在我国国防和国民经济各部门的应用前景，指出了超声电机技术的发展趋势，针对我国超声电机技术开发和研究的现状，提出了为发展我国超声电机技术亟需解决的若干关键问题。

关键词： 超声电机     压电陶瓷     摩擦材料    

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

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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Power control of dual-motor electric drive for tracked vehicles

Yuan ZOU, Chengning ZHANG, Fengchun SUN, Jingbo WU,

《机械工程前沿（英文）》 2010年 第5卷 第1期   页码 67-72 doi: 10.1007/s11465-009-0059-0

摘要： The fundamental problem of the power control for the driving of a dual-motor drive electric tracked vehicle is analyzed. The tracked vehicle and its electric drive system are mathematically modeled. Power control schemes of the dual-motor drive system is put forward, designed, and analyzed, including the distributed control system and the two control schemes speed-regulation and torque-regulation. The field experiment shows that the two types of drive control schemes realize the driving function of the vehicle feasibly and effectively. Obviously the comprehensive controller and two motors’ controllers are closely coupled in the “speed-regulation” control scheme, in which they must coordinate very well to guarantee the control. Contrastingly, in the “torque-regulation” control scheme, the comprehensive controller and two motors’ controller are not dependent closely when the accuracy and response of the torque controlling is guaranteed. The latter is simpler and more practical than the former.

关键词： control     electric drive     tracked vehicle    

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标题 作者 时间 类型 操作

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

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

期刊论文

以电子方式提升洛伦兹力驱动器的大行程纳米定位精度

Bimal Jeet GOTEEA,张前军,董为

期刊论文

Flexible liquid metal coil prepared for electromagnetic energy harvesting and wireless charging

Shen GUO, Peng WANG, Jichuan ZHANG, Wenpeng LUAN, Zishuo XIA, Lingxiao CAO, Zhizhu HE

期刊论文

Linear ultrasonic motor using quadrate plate transducer

Jiamei JIN, Chunsheng ZHAO

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

螺旋管簧的可靠性优化设计

张义民,贺向东,闻邦椿

期刊论文

Control on self-assembly structures of rod-coil-rod (PANI)-(PEG)-(PANI) triblock copolymer

YANG Zhifang, WU Jingao, YANG Yingkui, ZHOU Xingping, XIE Xiaolin

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

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

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

面向21世纪的超声电机技术

赵淳生

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

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

Moulay Rachid DOUIRI, Mohamed CHERKAOUI

期刊论文

Power control of dual-motor electric drive for tracked vehicles

Yuan ZOU, Chengning ZHANG, Fengchun SUN, Jingbo WU,

期刊论文