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Dongyang Shang,Xiaopeng Li,Fanjie Li,Meng Yin 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.5
A dual-flexible manipulator with an axially translating arm is composed of a motor, a flexible joint, and a flexible load that can be telescopic. The friction torque at the motor, the time-varying characteristics of load parameters, as well as the flexibility of joints and loads will cause the vibration of the manipulator. Transverse vibration will affect the movement accuracy of the end-effector. In this paper, a fuzzy adaptive PI control strategy containing disturbance observers (DOB) is used to reduce the fluctuation of the servo system’s output speed, thereby suppressing the vibration of the manipulator. Firstly, the dynamical model of the dual-flexible manipulator considering the friction torque is established. Then, the low-pass filter in the DOB is designed, and the PI controller parameters are adjusted in real-time by the fuzzy adaptive control strategy. Finally, the numerical simulation analysis and experiments of the dual-flexible manipulator are carried out. The simulation and experimental results show that; 1) The DOB can effectively eliminate the influence of friction torque; 2) The control strategy can reduce the output speed error. Therefore, the control strategy proposed in this paper can effectively reduce the vibration of the dual-flexible manipulator with an axially translating arm to improve the movement accuracy of the end-effector.
Dynamic modeling and vibration suppression for double flexible manipulator with a tip payload
Sainan Zhou,Xiaopeng Li,Meng Yin,Dongyang Shang,Zhengding Li 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.9
In the manipulator transmission system, there are many nonlinear inducements, such as flexibility and friction torque. It is easy to lead to fluctuations of the output rotation speed of the system, and even cause serious resonance. Therefore, PI control strategy based on fuzzy theory is proposed to solve this trouble. Firstly, the dynamic equations of the transmission system of the double flexible manipulator was established. Then, the effects of friction torque and mode order on the output characteristics of the system are analyzed. Based on the fuzzy rules, the controller parameters change constantly to reduce the oscillation of the servo system output rotation speed. Finally, numerical simulation analysis and control experiment verify the effectiveness of the control strategy described in this paper. The results are that the proposed control method can decrease the average value of the load rotation angle tracking error by 13.8 %.
Dan Xiao,Xiaoyan Peng,Xiaopeng Liang,Ying Deng,Guofu Xu,Zhimin Yin 대한금속·재료학회 2017 METALS AND MATERIALS International Vol.23 No.3
Hot compression tests of as-homogenized Al-Zn-Mg-Cu alloy were performed at the deformation temperaturerange of 350-450 °C and the strain rate range of 0.001-1 s-1. The Arrhenius-type constitutive equation and theAvrami-type model were established to predict the flow behaviors of the alloy respectively. The processing map atthe true strain of 0.92 was developed to evaluate the workability of the alloy and the related microstructures wereinvestigated. The results show that the Avrami-type model has a higher accuracy to predict flow stress than theArrhenius-type constitutive equation. The stable deformation occurs under high temperature or low strain ratemainly owing to the dynamic recrystallization. Flow instability is prone to occur under the condition of low temperatureand high strain rate due to the initiation and the propagation of micro-cracks. According to the processingmap and corresponding microstructure characteristics, the optimum processing parameters are in the temperaturerange of 380-405 °C and the strain rate range of 0.006-0.035 s-1.
Rheological analysis of titanium dioxide nano-whisker based electrorheological fluids
Ke Zhang,Chun Yan Gao,Hyoung Jin Choi,Jianbo Yin,Xiaopeng Zhao 한국공업화학회 2020 Journal of Industrial and Engineering Chemistry Vol.83 No.-
Understanding yield stress of electrorheological (ER)fluids becomes important for not only developmentof advanced ER materials but also their engineering applications. This study reanalyzed dynamic yieldstresses of both titanium dioxide nano-whisker- and titanium dioxide nano-particle-based ERsuspensions under an input electricalfield, based on the universal yield stress function proposed. The experimental data was plotted well to a single line by the scaled universal yield stress function via adeduced critical electricalfield value which divides electricfield dependent yield stress region with aslope of 1.5 from that with 2.0 of polarization mechanism.