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Jiqing Chen,Chaoyang Zhao,Qingsong Tang,Xu Liu,Zhikui Wang,Chengzhi Tan,Jiahua Wu,Teng Long 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.2
The improvement of the performance of the multi-joint manipulator control system is of great significance to improve the level of industrial automation. The existing sliding mode control methods are difficult to ensure the high-precision and fast-tracking of joints of a manipulator to the desired trajectory under low chattering control input. Therefore, a non-singular fast terminal sliding mode control method based on a nonlinear disturbance observer is proposed. In addition, a new non-singular fast terminal sliding mode surface is designed. The performance comparison method of the sliding mode surface proves its better control quality. Aiming at the problem of serious chattering, the nonlinear disturbance observer technology, and saturation function method are introduced to effectively weaken the chattering. Finally, taking the 3-DOF manipulator as the research object, a comparative simulation experiment is carried out in the MATLAB / Simulink environment. The results show that under the uncertainty of modeling error, external disturbance, and joint friction, the designed control method not only solves the problems of singular control input and serious chattering but also realizes the high-precision and fast-tracking of each joint to the desired trajectory. Thus, the effectiveness and feasibility of the design method are verified. The improvement of the performance of the multi-joint manipulator control system is of great significance to improve the level of industrial automation. The existing sliding mode control methods are difficult to ensure the high-precision and fast-tracking of joints of a manipulator to the desired trajectory under low chattering control input. Therefore, a non-singular fast terminal sliding mode control method based on a nonlinear disturbance observer is proposed. In addition, a new non-singular fast terminal sliding mode surface is designed. The performance comparison method of the sliding mode surface proves its better control quality. Aiming at the problem of serious chattering, the nonlinear disturbance observer technology, and saturation function method are introduced to effectively weaken the chattering. Finally, taking the 3-DOF manipulator as the research object, a comparative simulation experiment is carried out in the MATLAB / Simulink environment. The results show that under the uncertainty of modeling error, external disturbance, and joint friction, the designed control method not only solves the problems of singular control input and serious chattering but also realizes the high-precision and fast-tracking of each joint to the desired trajectory. Thus, the effectiveness and feasibility of the design method are verified.
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Lyu Yushan,Wang Guoxun,Li Xingshan,Tang Chengzhi 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.7
The structured groove surface is one of the important surfaces in the field of reducing fluid drag or contact friction. The research on the manufacturing technology of the structured groove drag or friction reduction surface has important theoretical significance and practical value for the engineering application of the theoretical research results of the drag or friction reduction of the surface. In order to grind structured groove surface, a new topological mapping grinding strategy for structured groove surfaces is innovated based on topology. In order to verify the feasibility of this strategy, the topological features of the structured groove surface were firstly analyzed and modeled, and the topological feature parameters were extracted. Based on the feature parameters, the homeomorphic mapping equation of the grinding process is established, and according to the established equation, a circular arc-shaped helical structure grinding wheel with convex properties is designed, and the effect of grinding parameters on the structured groove surface is simulated and analyzed. Finally, a wire-wound structured grinding wheel with a diamond wire saw as the abrasive carrier was manufactured, and the experimental investigation of grinding structured groove surface was carried out. The results show that the innovative topology grinding strategy is feasible; the grinding wheel designed based on the topological features of the structured groove surface can realize the topological mapping grinding of the structured groove surface; the change of grinding parameters can lead to the change of the geometric size of the groove, but the topological properties remain unchanged.
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