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Journal articles on the topic 'Linear electric actuator'
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1
Kedzierski, Jakub, and Eric Holihan. "Linear and rotational microhydraulic actuators driven by electrowetting." Science Robotics 3, no. 22 (September 19, 2018): eaat5643. http://dx.doi.org/10.1126/scirobotics.aat5643.
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Microhydraulic actuators offer a new way to convert electrical power to mechanical power on a microscale with an unmatched combination of power density and efficiency. Actuators work by combining surface tension force contributions from a large number of droplets distorted by electrowetting electrodes. This paper reports on the behavior of microgram-scale linear and rotational microhydraulic actuators with output force/weight ratios of 5500, cycle frequencies of 4 kilohertz, <1-micrometer movement precision, and accelerations of 3 kilometers/second2. The power density and the efficiency of the actuators were characterized by simultaneously measuring the mechanical work performed and the electrical power applied. Maximum output power density was 0.93 kilowatt/kilogram, comparable with the best electric motors. At maximum power, the actuator was 60% efficient, but efficiencies were as high as 83% at lower power. Rotational actuators demonstrated a torque density of 79 newton meters/kilogram, substantially more than electric motors of comparable diameter. Scaling the droplet pitch from 100 to 48 micrometers increased power density from 0.27 to 0.93 kilowatt/kilogram, validating the quadratic scaling of actuator power.
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Wang, Tianyi, Zongxia Jiao, and Liang Yan. "Efficiency analysis of moving-magnet linear oscillating motor with dual-resonance for linear electro-hydrostatic actuator." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 231, no. 13 (November 25, 2016): 2487–501. http://dx.doi.org/10.1177/0954410016677332.
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More-electric aircraft draws considerable attention due to its high efficiency, high reliability, and easy maintenance. Linear electro-hydrostatic actuator is a novel linear actuation system suitable for more-electric aircraft, and offers many advantages over traditional rotary electro-hydrostatic actuator. However, it requires high-frequency reciprocate actuation of linear oscillating motors with both high efficiency and high power factor. In this study, a novel moving-magnet tubular linear oscillating motor with dual-resonance is proposed for linear electro-hydrostatic actuator applications to achieve high efficiency and high power factor simultaneously. Firstly, system impedance model is set up analytically, which helps to analyze the influence of structure parameters on system performance. Based on this model, working efficiency and power factor are compared with the nonresonance design, and validated by experimental results. In order to take real scenario into considerations, the nonlinearity of motor and rectangular-type load is also analytically derived and analyzed with effective resonant frequency tracking method proposed. It shows that dual-resonance design does increase system efficiency and power factor, and can be applied in linear electro-hydrostatic actuator system for more-electric aircraft effectively.
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Guenfaf, L., and S. Allaoua. "Performance Studies of Linear Quadratic AMD Controller for Civil Engineering." Applied Mechanics and Materials 346 (August 2013): 95–100. http://dx.doi.org/10.4028/www.scientific.net/amm.346.95.
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In this paper a Linear Quadratic Regulator (LQR) with and without actuator dynamic model for an electric-type active mass driver (AMD) system for structural vibration control has been developed. The electric-type active mass driver (AMD) system is composed primarily of an electric servomotor and a ball screw, the electrical AMD system is free from noise problems, oil leakage, and labor-intensive maintenance that commonly are associated with hydraulic AMD systems. The desired stroke amplification of the mass and the power demand of the servomotor can be adjusted via the ball screw pitch, which affects the effectiveness and efficiency of the system. The AMD system performances without and with introduction of the actuators dynamic model are explored. The reductions of the peak responses can reach as high as 65% if the actuator is properly chosen. And the proposed system is recommended for practical implementation.
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Oerbandono, Tjuk, and Hari Budiarto. "Response of Grip Force as Effect of Electrics Power Input at Gripper Actuator of NiTi SM495 Wire." Applied Mechanics and Materials 493 (January 2014): 564–69. http://dx.doi.org/10.4028/www.scientific.net/amm.493.564.
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Gripper is mechanism that mounted on the end of the robot arm and used to hold an object and move it to a certain position. Generally, classical gripper is equipped with the driving motor (electric, pneumatic, fluid power) to move the gripper mechanism. In this research, the function of driving motor replaced with gripper motor actuators made of Shape Memory Alloys (SMA) of Nickel Titanium (NiTi) wire type SM495. Problem studied is response of grip force of gripper to varied electrics power input that given to the actuator of gripper made of NiTi SM495 wire. This is a real experimental research using parameters electrical power input which is obtained by varying the applied electric voltage 3, 6, 9, 12 Volt and constant electric current 5 A. Linear springs with various springs constants of 0.14 N/mm; 0.49 N/mm; 0.981 N/mm; 1.308 N /mm were used for measuring grip force of gripper. The obtained data then analyzed using statistics (analysis of variance). The results showed that the electrical power which given to the NiTi based actuator significantly influenced the grip force of gripper.Keywords: actuators, electric power, grip force, gripper, Nickel Titanium,Shape Memory Alloys, SM495 wire
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Qiao, Guan, Geng Liu, Zhenghong Shi, Yawen Wang, Shangjun Ma, and Teik C. Lim. "A review of electromechanical actuators for More/All Electric aircraft systems." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 232, no. 22 (December 28, 2017): 4128–51. http://dx.doi.org/10.1177/0954406217749869.
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Conventional hydraulic actuators in aircraft systems are high maintenance and more vulnerable to high temperatures and pressures. This usually leads to high operating costs and low efficiency. With the rapid development of More/All Electric technology, power-by-wire actuators are being broadly employed to improve the maintainability, reliability, and manoeuvrability of future aircraft. This paper reviews the published application and development of the airborne linear electromechanical actuator. First, the general configuration, merits, and limitations of the gear-drive electromechanical actuator and the direct-drive electromechanical actuator are analysed. Second, the development state of the electromechanical actuator testing systems is elaborated in three aspects, namely the performance testing based on room temperature, testing in a thermal vacuum environment, and iron bird. Common problems and tendencies of the testing systems are summarized. Key technologies and research challenges are revealed in terms of fault-tolerant motor, high-thrust mechanical transmission, multidisciplinary modelling, thermal management, and thermal analysis. Finally, the trend for future electromechanical actuators in More/All Electric Aircraft applications is summarized, and future research on the airborne linear electromechanical actuators is discussed.
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Yarali, Ebrahim, Reza Noroozi, Armin Yousefi, Mahdi Bodaghi, and Mostafa Baghani. "Multi-Trigger Thermo-Electro-Mechanical Soft Actuators under Large Deformations." Polymers 12, no. 2 (February 23, 2020): 489. http://dx.doi.org/10.3390/polym12020489.
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Dielectric actuators (DEAs), because of their exceptional properties, are well-suited for soft actuators (or robotics) applications. This article studies a multi-stimuli thermo-dielectric-based soft actuator under large bending conditions. In order to determine the stress components and induced moment (or stretches), a nominal Helmholtz free energy density function with two types of hyperelastic models are employed. Non-linear electro-elasticity theory is adopted to derive the governing equations of the actuator. Total deformation gradient tensor is multiplicatively decomposed into electro-mechanical and thermal parts. The problem is solved using the second-order Runge-Kutta method. Then, the numerical results under thermo-mechanical loadings are validated against the finite element method (FEM) outcomes by developing a user-defined subroutine, UHYPER in a commercial FEM software. The effect of electric field and thermal stimulus are investigated on the mean radius of curvature and stresses distribution of the actuator. Results reveal that in the presence of electric field, the required moment to actuate the actuator is smaller. Finally, due to simplicity and accuracy of the present boundary problem, the proposed thermally-electrically actuator is expected to be used in future studies and 4D printing of artificial thermo-dielectric-based beam muscles.
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Xiong, Shaoping, Gabriel Wilfong, and John Lumkes. "Development of a novel high-speed actuation mechanism using a magneto-rheological fluid clutch and its application to a fluid control valve." Journal of Intelligent Material Systems and Structures 30, no. 16 (July 28, 2019): 2502–16. http://dx.doi.org/10.1177/1045389x19862368.
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In many dynamic systems, such as vehicles, engine air and fuel control systems, fluid power systems, industrial robotics, and testing machines, high-speed actuators are necessary to achieve efficient system operation and high bandwidth performance. This article introduces a new actuation mechanism to enable high-speed actuation. The premise for this actuation mechanism is to momentarily couple a moving component (kinetic energy source) with translational components, which is enabled by a coupling/clutch system. The kinetic energy source (flywheel, electric motor, pump or motor shaft, etc.) is intermittently clutched and declutched to produce linear motion. This article presents such an energy coupler actuator using a magneto-rheological fluid clutch, initially focused on an application for high-speed valve actuation. A multi-physics coupled model was developed to evaluate the proposed energy coupler actuator performance. Simulations were conducted to optimize the energy coupler actuator design parameters. A prototype of the magneto-rheological fluid energy coupler actuator based on the optimal design solution was fabricated and experimentally tested, which achieved 1.6-mm stroke in 4.7 ms.
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Wiens, Travis, and Brendan Deibert. "A Low-Cost Miniature Electrohydrostatic Actuator System." Actuators 9, no. 4 (December 4, 2020): 130. http://dx.doi.org/10.3390/act9040130.
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Hydraulic linear actuators dominate in high power applications but are much less common in low power (<100 W) systems. One reason for this is the cost: electric actuators in this power range generally exhibit lower performance but are also much less expensive than hydraulic systems. However, in recent years, some miniature hydraulic components have been mass produced, driving down prices. This paper presents the application of these low-cost components, together with a novel very low-cost 3D-printed valve to create an electrohydrostatic actuator. Capable of very high power and force density, this system is competitive on cost with lower-performing electric actuators. This paper presents models for the system’s performance, as well as experimental validation data.
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Song, Lee, Park, and Baek. "Design and Performance of Nonlinear Control for an Electro-Hydraulic Actuator Considering a Wearable Robot." Processes 7, no. 6 (June 21, 2019): 389. http://dx.doi.org/10.3390/pr7060389.
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In the development of a wearable robot, compact volume size, high energy efficiency, and a high load capacity linear actuator system are necessary. However, conventional hydraulic actuator systems are difficult to apply to wearable robots. Also, they have nonlinearities because of the presence of hydraulic fluid in a single rod cylinder. Electric linear actuators resolve the problems of hydraulic systems. However, due to their low load capacity, they are not easy to apply to wearable robots. In this paper, a pump-controlled electro-hydraulic actuator (EHA) system that considers the disadvantages of the hydraulic actuator and electric actuator is proposed for a wearable robot. Initially, a locking circuit design is considered for the EHA to give the system load holding capacity. Based on the developed model, the adaptive sliding mode control (ASMC) scheme is designed to resolve the nonlinearity problem of changes in the dynamic system. The ASMC scheme is then modeled and verified with Simulink. In order to verify the performance of the proposed adaptive control with the model, experiments are conducted. The proposed EHA verifies that the ASMC reaches the target value well despite the existence of many model uncertainties.
10
Hermawan, Setiyo, and Heru S. B. Rochardjo. "Preliminary Design of Electric Linear Actuator for Hospital Bed Domestic Product." Journal of Mechanical Design and Testing 4, no. 1 (June 23, 2022): 25. http://dx.doi.org/10.22146/jmdt.63146.
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Nowadays, the need for linear actuator as a component of a hospital bed is increasing due to the growing needs of electric bed. The function of this component is to adjust the form of the bed for the patient’s comfort. However, the producers of the local hospital bed mostly rely on foreign products. To reduce the production cost, an effort was made to design a low cost yet functional electric linear actuator. The actuator using basic components, consists of a DC motor, transmission, and screw mechanism. Stainless steel pipe with outer diameter of 26 mm was used for the body of the actuator. The performance of the actuator was tested by applying gradual loading with variations on the stroke. It was shown that the the actuator works well in varying loads from 0 to 150 kg with varying stroke from 0 to 19 cm.
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WOO, BYUNG-CHUL, DO-KWAN HONG, and DO-HYUN KANG. "THRUST FORCE OF TFLM AS A DIRECTION OF FRICTIONAL RESISTANCE." International Journal of Modern Physics B 20, no. 25n27 (October 30, 2006): 4469–74. http://dx.doi.org/10.1142/s0217979206041537.
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This paper presents an integrated linear actuator combined with a Traverse Flux Linear Motor (TFLM) for household electric applications. They both use the same primary magnetic circuit, but they have different secondary movers. The paper presents a new design of linear motor for a new electromagnetic linear actuator, an integrated TFLM. The calculated thrust force (250[N]) is in good agreement with experiments. This result reveals that TFLM has a great potential to utilize the linear actuator for household electric applications as the weight of a linear actuator is reduced by two thirds. The thrust force was measured with the direction of applied current for the frictional resistance of linear motor. The simulation results will be compared with measured results.
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Maksimkin, Aleksey V., Tarek Dayyoub, Dmitry V. Telyshev, and Alexander Yu Gerasimenko. "Electroactive Polymer-Based Composites for Artificial Muscle-like Actuators: A Review." Nanomaterials 12, no. 13 (July 1, 2022): 2272. http://dx.doi.org/10.3390/nano12132272.
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Unlike traditional actuators, such as piezoelectric ceramic or metallic actuators, polymer actuators are currently attracting more interest in biomedicine due to their unique properties, such as light weight, easy processing, biodegradability, fast response, large active strains, and good mechanical properties. They can be actuated under external stimuli, such as chemical (pH changes), electric, humidity, light, temperature, and magnetic field. Electroactive polymers (EAPs), called ‘artificial muscles’, can be activated by an electric stimulus, and fixed into a temporary shape. Restoring their permanent shape after the release of an electrical field, electroactive polymer is considered the most attractive actuator type because of its high suitability for prosthetics and soft robotics applications. However, robust control, modeling non-linear behavior, and scalable fabrication are considered the most critical challenges for applying the soft robotic systems in real conditions. Researchers from around the world investigate the scientific and engineering foundations of polymer actuators, especially the principles of their work, for the purpose of a better control of their capability and durability. The activation method of actuators and the realization of required mechanical properties are the main restrictions on using actuators in real applications. The latest highlights, operating principles, perspectives, and challenges of electroactive materials (EAPs) such as dielectric EAPs, ferroelectric polymers, electrostrictive graft elastomers, liquid crystal elastomers, ionic gels, and ionic polymer–metal composites are reviewed in this article.
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ZAMAN, MOSTAFA, ZHI YAN, and LIYING JIANG. "THERMAL EFFECT ON THE BENDING BEHAVIOR OF CURVED FUNCTIONALLY GRADED PIEZOELECTRIC ACTUATORS." International Journal of Applied Mechanics 02, no. 04 (December 2010): 787–805. http://dx.doi.org/10.1142/s1758825110000755.
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This paper provides a study of the bending behavior of a circularly curved functionally graded piezoelectric cantilever actuator under an applied electric load and heat conduction. As a special case, the curved piezoelectric actuator is assumed to have graded property for the piezoelectric parameter g31 only in the thickness direction, which is expanded by Taylor series. Based on the theory of linear piezoelectricity, the analytical formulations are developed by introducing the Airy stress function. Numerical simulations are made to show the effects of material gradient and heat conduction on the bending behavior of the actuators. It is found that the electroelastic field of the curved actuator is significantly influenced by the thermal load. The results will be very helpful for the design and optimization of curved functionally graded piezoelectric actuators when these devices experience heat transfer.
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Yaqoob Yasin, M., and Santosh Kapuria. "Influence of piezoelectric nonlinearity on active vibration suppression of smart laminated shells using strong field actuation." Journal of Vibration and Control 24, no. 3 (April 26, 2016): 505–26. http://dx.doi.org/10.1177/1077546316645220.
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In this work, we study the effect of piezoelectric nonlinearity on shape and active vibration control of smart piezolaminated composite and sandwich shallow shells under strong field actuation. An efficient finite element model with advanced laminate kinematics and full electromechanical coupling is developed for this purpose. The nonlinearity is modeled using a rotationally invariant quadratic constitutive relationship for the piezoelectric material. For the laminate kinematics, a recently developed efficient layerwise theory, which is computationally as efficient as an equivalent single-layer theory, and has been shown to yield very accurate results in comparison with three-dimensional piezoelasticity based solutions for linear electromechanical response of hybrid laminated shells, has been employed. The nonlinear static response for shape control is obtained using the direct iteration method, and the active vibration control response with linear quadratic Gaussian controller is obtained by using the feedback linearization approach through control input transformation. It is shown that the linear model significantly overestimates the voltage required for shape or vibration control, when the applied electric field is beyond the threshold limit of the actuator. Thus, the use of the nonlinear model is essential for designing the control system utilizing the full actuation authority of the actuators. The effects of actuator thickness, radius of curvature to span ratio and applied loading on the relative difference between linear and nonlinear predictions are illustrated for shape and vibration control of smart cylindrical and spherical shells.
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Lee, Se Jong, Deuk Yong Lee, Yo Seung Song, and Nam Ihn Cho. "Chemically Driven Polyacrylonitrile Fibers as a Linear Actuator." Solid State Phenomena 124-126 (June 2007): 1197–200. http://dx.doi.org/10.4028/www.scientific.net/ssp.124-126.1197.
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A pH sensitive polyacrylonitrile (PAN) fiber, exhibiting soft actuation as a linear actuator, is prepared by electrospinning to investigate the optimum experimental condition of the as-spun fibers and the effect of pH variation on length change of PAN gel fiber. Unbeaded smooth and continuous PAN nanofibers with diameter of ~700 nm are obtained for the 10 wt% PAN fibers at a flow rate of 0.5 mL/h and an electric field of 0.875 kV/cm, suggesting that the value of viscosity is the most significant on the fiber morphology. Diameter and volume changes of PAN filaments are observed as greater than 100% and greater than 720%, respectively for pH activated systems. A typical hysteresis loop is observed for the length change (~38%) of PAN gels with respect to pH variation.
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Ciobanu, Daniela, Codruta Jaliu, and Radu Saulescu. "Chain Tracking System for Solar Thermal Collector." Applied Mechanics and Materials 658 (October 2014): 35–40. http://dx.doi.org/10.4028/www.scientific.net/amm.658.35.
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The use of renewable energy sources represents a continuous concern for the researchers around the world. The main source of renewable energy, the sun can be used for producing hot water / heating or electric energy, by means of solar collectors. The concentrating solar collectors contain tracking systems for orientation on one or two axes. The tracking system for the elevation motion has to ensure a reduced angular stroke. The mechanism that is usually included in the system structure is of linkage type, being driven by a linear actuator. The mechanism has the advantages of low complexity and reduced cost. In the case of diurnal motion, the angular stroke is larger, being usually obtained with gears or chain drives. The actuation is achieved by motor-reducers with high transmission ratios and costs. In order to reduce the costs, mechanisms containing linkages driven by linear actuators are proposed in literature. These tracking systems have the disadvantage of large overall dimensions. To reduce this disadvantage, the paper proposes a new variant of chain tracking system driven by a linear actuator. Then the proposed tracking system is structurally optimized, process that generates 6 new variants of mechanisms. These solutions eliminate the problems created by the hyperstatical constraints and avoid blocking in case of assembling errors.
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Weidong, Pan, Fan Yuanxun, Lei Jianjie, Xu Zhiwei, and Tao Jian. "Design of Electric Linear Load Simulator based on LabVIEW+PXI." MATEC Web of Conferences 256 (2019): 04003. http://dx.doi.org/10.1051/matecconf/201925604003.
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In order to realize the hardware-in-the-loop (HIL) experiments of a certain type of electric linear actuator in the laboratory, an electric linear load simulator (ELLS) based on LabVIEW+PXI platform was developed to simulate the external force of the actuator under actual working conditions. In structural design, the ball screw is used to convert the PMSM torque into linear force. In hardware design, the system is built using the upper-lower computer system architecture based on PXI bus. In software design, the program is written in LabVIEW, which mainly includes the data processing and display program in the upper computer and the data acquisition program, the loading motor control program and the actuator control program in the lower computer (PXI), in order to ensure the loading accuracy of ELLS, control methods such as force closed-loop PID controller, position feedforward compensation and input feedforward compensation are also introduced in the loading motor program. Finally, the ELLS was built and the signal tracking tests were carried out. The experimental results shows that the loading accuracy can reach 93.5% and 90.3% when ELLS tracks 1000N-2 Hz and 1000N-5 Hz respectively, which proved that the accuracy of ELLS satisfies the “Double Ten Index”.
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Cuong, Ngo Xuan, Vo Quang Nha, and Nguyen Thi Hong. "A SIMPLIFIED CALCULATION METHOD OF ELECTRIC LINEAR ACTUATORS FOR SINGLE-AXIS SUN TRACKER." Hue University Journal of Science: Natural Science 127, no. 1D (December 10, 2018): 47. http://dx.doi.org/10.26459/hueuni-jns.v127i1d.5072.
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<p>At present, the use of small roof-mounted photovoltaic systems is developing strongly, so development of a sun tracker to increase the efficiency of the photovoltaic system is essential. In this paper we have given the size analysis of linear actuator and also its selection method for single-axis tracker. In addition, the paper also given analysis of the power and energy of the linear actuator and its controller on a typical sunny day.</p>
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Biswal, D. K., D. Bandopadhya, and S. K. Dwivedy. "A Non-Linear Dynamic Model of Ionic Polymer-Metal Composite (IPMC) Cantilever Actuator." International Journal of Automotive and Mechanical Engineering 16, no. 1 (March 18, 2019): 6332–47. http://dx.doi.org/10.15282/ijame.16.1.2019.17.0479.
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This work presents development of an effective non-linear mathematical model for dynamic analysis of Ionic polymer-metal composites (IPMCs) cantilever actuators undergoing large bending deformations under AC excitation voltages. As the IPMC actuator experiences dehydration (solvent loss) in open environment, a model has been proposed to calculate the solvent loss due to applied electric potential following Cobb-Douglas production method. D’Alembert’s principle has been used for the derivation of the governing equation of motion of the system. Generalized Galerkin’s method has been followed to reduce the governing equation to the second-order temporal differential equation of motion. Method of multiple scales has been used to solve the non-linear equation of motion of the system and dehydration effect on the vibration response has been demonstrated numerically.
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Abdulin, R. R., D. S. Timofeev, A. A. Kravchenko, N. V. Krylov, S. L. Samsonovich, N. B. Rozhnin, A. P. Larin, and M. A. Makarin. "Kinematic and Power Characteristics of the Active Frameless Aircraft Control Sidestick." Mekhatronika, Avtomatizatsiya, Upravlenie 19, no. 10 (October 11, 2018): 673–79. http://dx.doi.org/10.17587/mau.19.673-679.
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The article is devoted to the actual topic of a small-sized active aircraft control sidestick design and identification of parameters that influence its energy consumption characteristics. The analysis of structural regularities of active control sidestick kinematics design is carried out. The analysis demonstrates that the disadvantage of the known frame constructions, apart from the large dimensions, is the difference in the dynamic characteristics of the channels when using the same actuators, because the mass of a frame mounted actuator is the load for a fixed base mounted actuator. According to results of the analysis, a synthesis of the active control sidestick building based on using of kinematic pairs having one degree of motion was carried out. Hinged mechanisms were used that convert rotational motion of the input link (the actuator output shaft) to the swinging motion of the output link (the control sidestick handgrip) in a single plane. When using two such actuators, so that their links are located perpendicularly and connected to each other by a lever through one-degree-offreedom rotating pairs, a kinematic scheme with two degrees of motion is obtained. As a result the kinematic scheme of an active control sidestick which don’t use a frame is offered. The frameless scheme contains two identical actuators mounted on the fixed base, at that the interference of channels is excluded. The derivation of the actuator gear ratio between the rotation angle of the actuator output shaft and the handgrip deflection angle is given. It is shown that this dependence is of a sinusoidal type and that it is close to linear in the range of the handgrip operating angles. The given results of the parametric synthesis of the control sidestick electromechanical actuator allow to determine the electric motor minimum power and the gear ratio providing the required values of torque and speed at the actuator output link. In consequence of the research of the active control sidestick specific operation modes it is shown that the electric motor power depends on the required values of the maximum speed of the handgrip movement by a pilot and on the force applied to the handgrip, as well as on the handgrip inertia moment.
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Chung, Myung Jin. "Development of High-Speed Response Electromagnetic Linear Actuator Using for Pneumatic Control Valve." Applied Mechanics and Materials 532 (February 2014): 41–45. http://dx.doi.org/10.4028/www.scientific.net/amm.532.41.
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Analytic model of electromagnetic linear actuator in the function of electric and geometric parameters is proposed and the effects of the design parameters on the dynamic characteristics are analyzed. To improve the dynamic characteristics, optimal design is conducted by applying sequential quadratic programming method to the analytic model. This optimal design method aims to minimize the response time and maximize force efficiency. By this procedure, electromagnetic linear actuator having high-speed characteristics is developed.
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Zhang, Bohan, Shaobo Lu, Lin Zhao, and Kaixing Xiao. "Fault-tolerant control based on 2D game for independent driving electric vehicle suffering actuator failures." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, no. 13 (June 16, 2020): 3011–25. http://dx.doi.org/10.1177/0954407020928827.
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This paper proposes a cooperative game-based actuator fault-tolerant control strategy for a four-wheel independent drive electric vehicle with an active front steering system. For achieving fault-tolerant control and targets cooperation, a two-dimensional game strategy is proposed to balance the stability and economy. The first-dimensional game is utilized to determine the dominant control target of the actuator, then the second-dimensional game is employed to assign the fault-tolerant control task for the remaining healthy actuators. The two dimensions are integrated based on the linear quadratic differential game theory, and a hybrid weighted Pareto frontier is thus established. A Shapley value based weight calculation method is proposed to obtain a set of fair and unique weights according to the importance of each player, which makes the solution of the optimal control problem more easily obtained. The effectiveness and real-time performance of the control strategy are tested under different scenarios. The simulation results demonstrate that the proposed strategy can balance the stability and economy well, outperforms the traditional method in terms of target tracking performance. For special case, the response of the yaw rate could be improved up to 39.83% comparing to that of the linear quadratic regulator method.
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Дворников, Дмитрий Александрович, Владимир Иванович Воронов, Илья Александрович Флегентов, and Радик Миннеахметович Гиниятов. "Development of an electric linear actuator for shut-off and control valves." SCIENCE & TECHNOLOGIES OIL AND OIL PRODUCTS PIPELINE TRANSPORTATION, no. 1 (February 28, 2021): 93–99. http://dx.doi.org/10.28999/2541-9595-2021-11-1-93-99.
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Перед ООО «НИИ Транснефть» и АО «ТОМЗЭЛ» была поставлена задача по разработке типоразмерного ряда электроприводов прямоходных, применяемых для управления клапанами запорно-регулирующими, с целью организации их серийного производства в России. При определении требований к разрабатываемой арматуре были учтены особенности эксплуатации ее импортных аналогов. Новые разработки должны были соответствовать общим техническим требованиям, требованиям безопасности и эргономики, предъявляемым к электроприводам, которые применяются на объектах трубопроводного транспорта нефти и нефтепродуктов. В процессе подготовки технических решений был проведен анализ тематических публикаций, международных и российских нормативных документов, технических характеристик электроприводов отечественного и зарубежного производства, существующих решений по схемам компоновки электроприводов блоками электронного управления. В рамках выполнения опытно-конструкторской работы были найдены оптимальные конструкционные решения, учитывающие фактические условия эксплуатации оборудования, разработана конструкторская документация на типоразмерный ряд электроприводов прямоходных, изготовлен опытный образец электропривода и успешно проведены его предварительные и приемочные испытания. The specialists of Pipeline Transport Institute LLC and TOMZEL JSC were tasked with developing a standardsize range of linear electric drives used to control shut-off and control valves in order to organize their serial domestic production. Operation features of its imported analogues were taken into account while determining the requirements for the developed equipment. New developments had to meet the general technical requirements, safety and ergonomics requirements for electric drives used at oil and oil products pipeline transportation facilities. In the process of preparing technical solutions, an analysis of thematic publications, international and Russian regulatory documents, technical characteristics of electric drives of domestic and foreign production, existing solutions for layouts of electric drives with electronic control units was carried out. As part of the development work, optimal design solutions were found, taking into account the actual operating conditions of the equipment, design documentation was developed for the standard-size range of linear electric drives, a prototype electric drive was manufactured and its preliminary and acceptance tests were successfully carried out.
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Wakiwaka, H., M. Ezawa, H. Yajima, H. Ito, N. Fukuda, and K. Matsuhiro. "A Little Electric Power, Thin Linear Oscillatory Actuator for Cellular Phones." Journal of the Magnetics Society of Japan 24, no. 4−2 (2000): 955–58. http://dx.doi.org/10.3379/jmsjmag.24.955.
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Park, Jinseong, and Youngjin Park. "Multiple-Actuator Fault Isolation Using a Minimal ℓ1-Norm Solution with Applications in Overactuated Electric Vehicles." Sensors 22, no. 6 (March 10, 2022): 2144. http://dx.doi.org/10.3390/s22062144.
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A multiple-actuator fault isolation approach for overactuated electric vehicles (EVs) is designed with a minimal ℓ1-norm solution. As the numbers of driving motors and steering actuators increase beyond the number of controlled variables, an EV becomes an overactuated system, which exhibits actuator redundancy and enables the possibility of fault-tolerant control (FTC). On the other hand, an increase in the number of actuators also increases the possibility of simultaneously occurring multiple faults. To ensure EV reliability while driving, exact and fast fault isolation is required; however, the existing fault isolation methods demand high computational power or complicated procedures because the overactuated systems have many actuators, and the number of simultaneous fault occurrences is increased. The method proposed in this paper exploits the concept of sparsity. The underdetermined linear system is defined from the parity equation, and fault isolation is achieved by obtaining the sparsest nonzero component of the residuals from the minimal ℓ1-norm solution. Therefore, the locations of the faults can be obtained in a sequence, and only a consistently low computational load is required regardless of the isolated number of faults. The experimental results obtained with a scaled-down overactuated EV support the effectiveness of the proposed method, and a quantitative index of the sparsity condition for the target EV is discussed with a CarSim-connected MATLAB/Simulink simulation.
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Economou, J. T., A. Tsourdos, and B. A. White. "Fuzzy logic consequent perturbation analysis for electric vehicles." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 221, no. 7 (July 1, 2007): 757–64. http://dx.doi.org/10.1243/09544070jauto538.
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This paper presents a methodology for the estimation of upper and lower bounds due to sensor errors for the class of fuzzy Sugeno systems with linear consequent polynomials. The proposed method was also applied to the electrical permanent magnet actuator of an electric vehicle in order to demonstrate its effectiveness. Fuzzy logic Sugeno modelling approaches mainly concentrate on inserting uncertainty in the fuzzy antecedent. In this paper the focus is on perturbations in the consequent polynomial parameters for every possible rule.
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Li, Xin, Hui Zhou, Hao Li, and Xue Song Li. "Nonlinear Feedforward-Feedback Control of an Electric Clutch Actuator." Advanced Materials Research 1014 (July 2014): 339–43. http://dx.doi.org/10.4028/www.scientific.net/amr.1014.339.
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For a novel electric clutch actuator, a nonlinear feedforward-feedback control scheme is proposed to improve the performance of the position tracking control. The feedforward control is designed based on flatness in consideration of the system nonlinearities, and the linear feedback control is given to accommodate the model errors and the disturbances. Lookup tables, which are used to represent nonlinear characteristics of the actuator systems, such as friction force, appear in their original form in the designed feedforward controller. The designed controller is evaluated through simulations and experimental tests, which show that the proposed controller satisfied the control requirement. Comparison with PID control is given as well.
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WOO, BYUNG-CHUL, and DO-KWAN HONG. "COMPARISON OF TRANSVERSE FLUX LINEAR MOTOR AND LONGITUDINAL FLUX LINEAR MOTOR FOR COOLER OF INFORMATION AND TELECOMMUNICATION." International Journal of Modern Physics B 24, no. 15n16 (June 30, 2010): 2815–20. http://dx.doi.org/10.1142/s0217979210065684.
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This paper is associated with the manufacture of 60W Transverse Flux Linear Motor (TFLM), and the thrust force and the maximum displacement of TFLM is compared with Longitudinal Flux Linear Motor (LFLM). Thus, the force which follows in location of the electric motor is simulated with ANSYS, and the thrust force of the linear actuator with applied current is tested. And the experiment results by several cases of alternating current is reported.
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Huang, Dengpeng, and Sigrid Leyendecker. "An electromechanically coupled beam model for dielectric elastomer actuators." Computational Mechanics 69, no. 3 (November 25, 2021): 805–24. http://dx.doi.org/10.1007/s00466-021-02115-0.
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AbstractIn this work, the Cosserat formulation of geometrically exact beam dynamics is extended by adding the electric potential as an additional degree of freedom to account for the electromechanical coupling in the dielectric elastomer actuators. To be able to generate complex beam deformations via dielectric actuator, a linear distribution of electric potential on the beam cross section is proposed. Based on this electric potential, the electric field and the strain-like electrical variable are defined for the beam, where the strain-like electrical variable is work-conjugated to the electric displacement. The electromechanically coupled strain energy for the beam is derived consistently from continuum electromechanics, which leads to the direct application of the material models in the continuum to the beam model. The electromechanically coupled problem in beam dynamics is first spatially semidiscretized by 1D finite elements and then solved via variational time integration. By applying different electrical boundary conditions, different deformations of the beam are obtained in the numerical examples, including contraction, shear, bending and torsion. The damping effect induced by the viscosity as well as the total energy of the beam are evaluated. The deformations of the electromechanically coupled beam model are compared with the results of the 3D finite element model, where a good agreement of the deformations in the beam model and that in the 3D finite element model is observed. However, less degrees of freedom are required to resolve the complex deformations in the beam model.
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Yatchev, Ivan, Vultchan Gueorgiev, Racho Ivanov, and Krastio Hinov. "Simulation of the dynamic behaviour of a permanent magnet linear actuator." Facta universitatis - series: Electronics and Energetics 23, no. 1 (2010): 37–43. http://dx.doi.org/10.2298/fuee1001037y.
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The paper presents simulation of the dynamics of a permanent magnet linear actuator with soft magnetic mover and relatively long stroke 60 mm. The simulation is carried out using decoupled approach where the magnetic field problem is solved separately from the electric circuit and mechanical motion problems. The obtained results are compared with experiment. .
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DESHPANDE, ASHISH, and JAMES R. RINDERLE. "Synergy and transitivity in constraint dominance methods: Demonstration with linear motor design problem." Artificial Intelligence for Engineering Design, Analysis and Manufacturing 20, no. 4 (November 2006): 383–97. http://dx.doi.org/10.1017/s0890060406060276.
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Reasoning about relationships among design constraints can facilitate objective and effective decision making at various stages of engineering design. Exploiting dominance among constraints is one particularly strong approach to simplifying design problems and to focusing designers' attention on critical design issues. Three distinct approaches to constraint dominance identification have been reported in the literature. We lay down the basic principles of these approaches with simple examples, and we apply these methods to a practical linear electric actuator design problem. With the help of the design problem we demonstrate strategies to synergistically employ the dominance identification methods. Specifically, we present an approach that utilizes the transitive nature of the dominance relation. The identification of dominance provides insight into the design of linear actuators, which leads to effective decisions at the conceptual stage of the design. We show that the dominance determination methods can be synergistically employed with other constraint reasoning methods such as interval propagation methods and monotonicity analysis to achieve an optimal solution for a particular design configuration of the linear actuator. The dominance determination methods and strategies for their employment are amenable for automation and can be part of a suite of tools available to assist the designer in detailed as well as conceptual design.
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Hernandez-Alvarado, Rodrigo, Omar Rodriguez-Abreo, Juan Manuel Garcia-Guendulain, and Teresa Hernandez-Diaz. "Self-Tuning Control Using an Online-Trained Neural Network to Position a Linear Actuator." Micromachines 13, no. 5 (April 29, 2022): 696. http://dx.doi.org/10.3390/mi13050696.
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Linear actuators are widely used in all kinds of industrial applications due to being devices that convert the rotation motion of motors into linear or straight traction/thrust motion. These actuators are ideal for all types of applications where inclination, lifting, traction, or thrust is required under heavy loads, such as wheelchairs, medical beds, and lifting tables. Due to the remarkable ability to exert forces and good precision, they are used classic control systems and controls of high-order. Still, they present difficulties in changing their dynamics and are designed for a range of disturbances. Therefore, in this paper, we present the study of an electric linear actuator. We analyze the positioning in real-time and attack the sudden changes of loads and limitation range by the control. It uses a general-purpose control with self-tuning gains, which can deal with the essential uncertainties of the actuator and suppress disturbances, as they can change their weights to interact with changing systems. The neural network combined with PID control compensates the simplicity of this type of control with artificial intelligence, making it robust to drastic changes in its parameters. Unlike other similar works, this research proposes an online training network with an advantage over typical neural self-adjustment systems. All of this can also be dispensed with the engine model for its operation. The results obtained show a decrease of 42% in the root mean square error (RMSE) during trajectory tracking and saving in energy consumption by 25%. The results were obtained both in simulation and in real tests.
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Dimino, Ignazio, Federico Gallorini, Massimiliano Palmieri, and Giulio Pispola. "Electromechanical Actuation for Morphing Winglets." Actuators 8, no. 2 (May 15, 2019): 42. http://dx.doi.org/10.3390/act8020042.
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As a key enabler for future aviation technology, the use of servo electromechanical actuation offers new opportunities to transition innovative structural concepts, such as biomimicry morphing structures, from basic research to new commercial aircraft applications. In this paper, the authors address actuator integration aspects of a wing shape-changing flight surface capable of adaptively enhancing aircraft aerodynamic performance and reducing critical wing structural loads. The research was collocated within the Clean Sky 2 Regional Aircraft Demonstration Platform (IADP) and aimed at developing an adaptive winglet concept for green regional aircraft. Finite Element-based tools were employed for the structural design of the adaptive device characterized by two independent movable tabs completely integrated with a linear direct-drive actuation. The structural design process was addressed in compliance with the airworthiness needs posed by the implementation of regional airplanes. Such a load control system requires very demanding actuation performance and sufficient operational reliability to operate on the applicable flight load envelope. These requirements were met by a very compact direct-drive actuator design in which the ball recirculation device was integrated within the screw shaft. Focus was also given to the power-off electric brake necessary to block the structure in a certain position and dynamically brake the moveable surface to follow a certain command position during operation. Both the winglet layout static and dynamic robustness were verified by means of linear stress computations at the most critical conditions and normal mode analyses, respectively, with and without including the integrated actuator system.
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Yunusov, R. F., T. M. Bayzakov, N. E. Sattarov, U. A. Xaliqnazarov, O. A. Nazarov, and D. U. Diniqulov. "Linear electric actuator of a sectional plane shut-off of hydrotechnical structures." IOP Conference Series: Earth and Environmental Science 614 (December 18, 2020): 012017. http://dx.doi.org/10.1088/1755-1315/614/1/012017.
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Reichmann, Klaus, Marco Deluca, Denis Schütz, and Peter Supancic. "Electromechanical Characterization of Bi-based Lead Free Ceramic Multilayer Actuators." Additional Conferences (Device Packaging, HiTEC, HiTEN, and CICMT) 2013, CICMT (September 1, 2013): 000027–32. http://dx.doi.org/10.4071/cicmt-2013-tp13.
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The electromechanical behaviour of a lead-free ceramic multilayer actuator is described. The actuator is made of a Nd-doped bismuth-alkali-titanate ceramic with inner electrodes of an Ag/Pd-alloy. For electromechanical characterization the actuator is under constant mechanical load and the strain over the applied electric field is recorded. The mechanical load ranges from 0.1 to 80 MPa. The maximum applied electric field is 8 kV/mm. Starting with 0.1 MPa mechanical load the actuator exhibits a maximum strain of less than 0.1%. With increasing load the strain increases up to 0.17 % at 5 MPa. With higher load the strain decreases and reaches 0.125% at 80 MPa. Reducing the mechanical load leads to a steady increase in strain, which results in a doubling of the strain at 0.1 MPa compared to the initial value. The strain characteristic contains an electrostrictive part, a linear piezoelectric regime as well as some creep behaviour.
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Liu, Yang, Changfu Zong, Dong Zhang, Hongyu Zheng, Xiaojian Han, and Ming Sun. "Fault-tolerant control approach based on constraint control allocation for 4WIS/4WID vehicles." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 235, no. 8 (January 18, 2021): 2281–95. http://dx.doi.org/10.1177/0954407020982838.
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The four-wheel independently driven and steered electric vehicle is a promising vehicle model having a strong potential for handling stability, flexibility, and consumption reduction. However, failure of the actuators of 4WIS/4WID vehicles could lead to performance reduction and dangerous accidents owing to their complex system. A fault-tolerant control approach is adopted in the integrated chassis controller such that the autonomously driven vehicle maintains its safety and stability while actuator failures occur. A linear quadratic regulator is utilized to track the reference path by adjusting the total forces and moment. To resolve any actuator failures, a control allocation method based on the pseudo-inverse matrix is introduced for decoupling the forces and moment based on the current state of the tires with cycle and correction. In the actuator control layer, the desired forces of the tires are achieved by regulating the steering angles and driving torques based on the inverse tire models of normal and flat tires. Three sets of experiments are used to test the efficiency of the proposed method when applied to a 4WIS/4WID vehicle. The results demonstrate that the proposed fault-tolerant control method can greatly improve the tracking performance and stability of 4WIS/4WID vehicles under conditions of actuator failures.
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Su, Xiangxiang, and Benxian Xiao. "Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of Forklift." Applied Sciences 11, no. 16 (August 5, 2021): 7236. http://dx.doi.org/10.3390/app11167236.
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For the problem of actuator-integrated fault estimation (FE) and fault tolerant control (FTC) for the electric power steering (EPS) system of a forklift, firstly, a dynamic model of a forklift EPS system with actuator faults was established; then, an integrated FE and FTC design was proposed. The nonlinear unknown input observer (NUIO) was proposed to estimate the system states and actuator faults, and an adaptive sliding mode FTC system was constructed based on it. The gain of the observer and controller is obtained by H∞ optimization and one-step linear matrix inequality (LMI) formula operation in order to realize the overall optimal design of an FTC system. Finally, the experimental results show that when actuator failure occurs, the proposed integrated FE and FTC were more accurate than the decentralized design to estimate the system states and the actuator faults. The proposed fault-tolerant controller can more effectively restore the power assist performance of the steering power motor in case of failure and effectively ensure the safety and reliability of the forklift EPS system.
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Escudero, A. Z., Ja Alvarez, and L. Leija. "Development and characterisation of electromechanical muscles for driving trans-humeral myoelectric prostheses." Prosthetics and Orthotics International 26, no. 3 (December 2002): 226–34. http://dx.doi.org/10.1080/03093640208726652.
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Recently, attempts have been made to construct actuators with similar behaviour to natural muscles. However the results have been inadequate for application to practical prostheses. For example, muscle wire, which has too low an efficiency to be powered by batteries and McKibben muscles which require two power supplies, one electric and one pneumatic. Electrochemical muscles are still in the development stage and cannot yet be used for prostheses. In this paper, a new electromechanical actuator is presented, which provides rectilinear movement and linear characteristics. This electromechanical actuator is based on a ball screw and rare earth magnet coreless motors. The system has been characterised and some of the most important results are that it produces a force of 167N while developing a velocity of 7×10-3m/s. The force developed is proportional to the current drained. Its efficiency is about 32%, its total mass 0.19kg and it is light and compact enough to be used in practical clinical prosthesis.
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Richard, E., and S. Scavarda. "Comparison Between Linear and Nonlinear Control of an Electropneumatic Servodrive." Journal of Dynamic Systems, Measurement, and Control 118, no. 2 (June 1, 1996): 245–52. http://dx.doi.org/10.1115/1.2802310.
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In the robotics field control laws taking into account the nonlinearities caused by the mechanical structure have been proposed, assuming that the drive system is linear. These control laws are well-adapted to the case of electric actuators. Electrohydraulics or electropneumatics drive systems introduce other nonlinearities coming both from the servo-valve and the actuator. In most cases these nonlinearities are neglected and the control laws usually used for these drive systems are based on a reduced third-order model obtained by a tangent linearization. A more satisfying solution is to introduce the nonlinearities of the drive system in the control law. This paper deals with the nonlinear control of an electropneumatic servodrive and is based on the nonlinear control theory in continuous time. It takes into account the main specific nonlinearities. The proposed control law consists of an exact input-output linearization via a static nonlinear state feedback. In our case, this control law leads to a one-dimensional unobservable subspace in closed-loop. A physical interpretation of this nonlinear control is given. This interpretation enables us to improve the understanding of the behavior of an electropneumatic servodrive. In order to compare the results obtained from an experimental device, the synthesis of a linear control law in discrete and continuous time is presented. A study in discrete time of the root locus versus position of the closed loop system with the linear control law, shows oscillations in the neighbourhood of the end of the actuator stroke. The experimental results confirm this fact. With nonlinear control these oscillations are suppressed.
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Amato, Gerardo, and Riccardo Marino. "Reconfigurable Slip Vectoring Control in Four In-Wheel Drive Electric Vehicles." Actuators 10, no. 7 (July 10, 2021): 157. http://dx.doi.org/10.3390/act10070157.
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Controllability, maneuverability, fault-tolerance/isolation and safety are significantly enhanced in electric vehicles (EV) equipped with the redundant actuator configuration of four-in-wheel electric motors (4IWM). A highly reconfigurable architecture is proposed and illustrated for the adaptive, nonmodel-based control of 4IWM-EVs. Given the longitudinal force, yaw-moment requests and the reconfiguration matrix, each IWM is given a slip reference according to a Slip Vectoring (SV) allocation strategy, which minimizes the overall slip vector norm. The distributed electric propulsion and the slip vector reference allow for a decentralized online estimation of the four-wheel torque-loads, which are uncertain depending on loading and road conditions. This allows for the allocation of four different torques depending on individual wheel conditions and to determine in which region (linear/nonsaturated or nonlinear/saturated) of the torque/slip characteristics each wheel is operating. Consequently, the 4IWMs can be equalized or reconfigured, including actuator fault-isolation as a special case, so that they are enforced to operate within the linear tire region. The initial driving-mode selection can be automatically adjusted and restored among eighteen configurations to meet the safety requirements of linear torque/slip behavior. Three CarSim realistic simulations illustrate the equalization algorithm, the quick fault-isolation capabilities and the importance of a continuous differential action in a critical double-lane-change maneuver.
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Yang, Lu, Ming Yue, Haoyu Tian, and Baozhen Yao. "Tire blow-out control for direct drive electric vehicles using reconfiguration of torque distribution and vertical load." Transactions of the Institute of Measurement and Control 42, no. 8 (January 2, 2020): 1547–58. http://dx.doi.org/10.1177/0142331219892114.
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This paper proposes a composite stability control strategy for tire blowout electric vehicle with explicit consideration of vertical load redistribution, subject to multi-constraints, uncertainty and redundant actuation. To readily implement system state and actuator increment constraints, a model predictive controller is designed to enhance vehicle stability performance and original lane keeping. Meanwhile, a sliding mode control-based longitudinal velocity controller is collaboratively proposed for maintaining the original longitudinal velocity after tire blowout in the freeway, which can reduce considerably the rear-end collision accidents. After that, a constrained weighting least square-based reconfigurable torque distributor is developed to realize the tracking of the virtual resultant yaw-moment and longitudinal tire force signals generated by the above controllers, considering system physical constraints and actuator capability simultaneously. Simulations with different tire blowout scenarios are conducted on the developed dynamic simulation platform to demonstrate the effectiveness of the designed control methods; furthermore, the influence of different tire blowout on the vehicle movement behaviors is discussed. Statistical results based on the system transient performance and control effort evaluating indictors highlight the considerable superiority of the developed model predictive controller compared with the linear quadratic regulator.
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Кулик, Анатолий Степанович, Константин Юрьевич Дергачев, Сергей Николаевич Пасичник, and Юрий Александрович Немшилов. "АЛГОРИТМЫ УПРАВЛЕНИЯ УГЛОВЫМ ДВИЖЕНИЕМ КОРОМЫСЛА С ВИНТОВЫМИ ЭЛЕКТРОПРИВОДАМИ." Aerospace technic and technology, no. 4 (August 28, 2020): 44–59. http://dx.doi.org/10.32620/aktt.2020.4.06.
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The subject of study in the article is the process of forming algorithms for controlling the angular motion of the rocker with a screw electric actuator. The purpose is to develop approaches to the formation of algorithms for controlling the angular motion of the rocker with a screw electric actuator as the automatic control object. Tasks: to specify the synthesis process of the state control algorithm for a linear mathematical description of the automatic control object in the state space according to the minimum criterion of the integral from the weighted error module. To form the block diagram of the automatic control system by the state. To improve the approach to the development of algorithms for controlling automatic control objects by output for mathematical description in the frequency domain. To illustrate the features of the approach on the specific example of automatic control object represented by transfer functions in terms of references and disturbances. To develop the simulation scheme in Simulink and study the reactions to stepwise references and disturbances. To develop the approach to the formation of control algorithms for the diagnosis of the rocker as the automatic control object. To describe the procedure and means of deep diagnosis of emergency situations of the automatic control object. To develop means of recovery the automatic control object. The methods used are the state space method, transfer function method, integral optimality criteria, methods of diagnosing, and recovering. The following results were obtained: approaches to the formation of algorithms for controlling the angular motion of the rocker with a screw electric actuator using linear mathematical descriptions in time and frequency domains were formed. Conclusions. The scientific novelty lies in the formation of approaches to the development of algorithms for controlling the angular position of the rocker with a screw electric actuator which differs from the known accounting the structural and functional features of the automatic control object.
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Gong, Qian, Ge, and Wang. "Research on the Anti-Disturbance Control Method of Brake-by-Wire Unit for Electric Vehicles." World Electric Vehicle Journal 10, no. 2 (June 15, 2019): 44. http://dx.doi.org/10.3390/wevj10020044.
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In order to improve the braking performance of electric vehicles, a novel brake-by-wire actuator based on an electro-magnetic linear motor was designed and manufactured. For the purpose of braking force regulation accuracy and high robust performance, the state observer and the anti-disturbance controller were designed in this paper after describing the actuator structure, braking principle, and mathematical model. The simulation and experimental results showed that the brake actuator responded rapidly, since its response time was only 15 ms. Compared to traditional PID (Proportion Integration Differentiation) methods, the controller proposed in this paper is able to regulate the braking force more precisely and has better anti-disturbance performance, thus the braking process can be accurately controlled according to the driver’s demand. The vehicle simulation results showed that the braking distance and braking time were shortened by 12.19% and 15.54%, respectively compared with those of the conventional anti-lock brake system (ABS) in the same braking conditions.
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Slobodzyan, N. S. "Positional control of a parallel kinematics mechatronic manipulator linear drive." Issues of radio electronics 49, no. 9 (October 28, 2020): 6–13. http://dx.doi.org/10.21778/2218-5453-2020-9-6-13.
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The research is part of the current work on the design and research of precision actuators with parallel kinematics, designed to guide and orient of various objects. To protect the sensitive load and the supporting platform from undesirable disturbances above the permissible ones, as well as to limit the time of transient processes and the consumed power, a method for planning the trajectory of the linear actuator stem when operating in positional mode is proposed. The article describes an algorithm for calculating the parameters of the trajectory of an object under specified restrictions on speed, acceleration and acceleration derivative, and also proposes an algorithm for implementing control along a planned trajectory for a modern microprocessor system, which implements the dependence of speed on movement. The advantage of the proposed control method is the elimination of the cumulative effect of the static displacement error while observing dynamic constraints, as well as the possibility of using algorithms in both closed-loop and open-loop drives based on various types of electric motors. The article presents the results of computer simulation of an open-loop drive operating according to the proposed algorithm, the advantages and disadvantages of this approach are noted.
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Berik, Pelin, and Peter L. Bishay. "Parameter Identification of the Nonlinear Piezoelectric Shear d15 Coefficient of a Smart Composite Actuator." Actuators 10, no. 7 (July 19, 2021): 168. http://dx.doi.org/10.3390/act10070168.
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The objective of this work is to characterize the nonlinear dependence of the piezoelectric d15 shear coefficient of a composite actuator on the static electric field and include this effect in finite element (FE) simulations. The Levenberg-Marquardt nonlinear least squares optimization algorithm implemented in MATLAB was applied to acquire the piezoelectric shear coefficient parameters. The nonlinear piezoelectric d15 shear constant of the composite actuator integrated with piezoceramic d15 patches was obtained to be 732 pC/N at 198 V. The experimental benchmark was simulated using a three-dimensional piezoelectric FE model by taking piezoelectric nonlinearity into consideration. The results revealed that the piezoelectric shear d15 coefficient increased nonlinearly under static applied electric fields over 0.5 kV/cm. A comparison between the generated transverse deflections of the linear and nonlinear FE models was also performed.
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Tzou, H. S., and R. V. Howard. "A Piezothermoelastic Thin Shell Theory Applied to Active Structures." Journal of Vibration and Acoustics 116, no. 3 (July 1, 1994): 295–302. http://dx.doi.org/10.1115/1.2930428.
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“Smart” structures with integrated sensors, actuators, and control electronics are of importance to the next-generation high-performance structural systems. Piezoelectric materials possess unique electromechanical properties, the direct and converse effects, which, respectively, can be used in sensor and actuator applications. In this study, piezothermoelastic characteristics of piezoelectric shell continua are studied and applications of the theory to active structures in sensing and control are discussed. A generic piezothermoelastic shell theory for thin piezoelectric shells is derived, using the linear piezoelectric theory and Kirchhoff-Love assumptions. It shows that the piezothermoelastic equations, in three principal directions, include thermal induced loads, as well as conventional electric and mechanical loads. The electric membrane forces and moments induced by the converse effect can be used to control the thermal and mechanical loads. A simplification procedure, based on the Lame´ parameters and radii of curvatures, is proposed and applications of the theory to (1) a piezoelectric cylindrical shell, (2) a piezoelectric ring, and (3) a piezoelectric beam are demonstrated.
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Liu, Cheng-Tsung, Chang-Chou Hwang, and Yu-Wen Chiu. "Design of a Coaxially Magnetic-Geared Linear Actuator for Electric Power Steering System Applications." IEEE Transactions on Industry Applications 53, no. 3 (May 2017): 2401–8. http://dx.doi.org/10.1109/tia.2017.2672665.
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Brookfield, D. J., and Z. B. Dlodlo. "Transfer Function Identification of an Electro-Rheological Actuator." International Journal of Modern Physics B 10, no. 23n24 (October 30, 1996): 3115–32. http://dx.doi.org/10.1142/s0217979296001562.
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A fluid clutch utilising an Electro-Rheological (ER) suspension provides a controlled torque coupling between input and output through the control of the applied electric field. If the input is driven at constant speed the device can be considered as an ER torque actuator and thus be used to drive robot links or other mechanisms requiring precise positioning. Such an ER torque actuator can replace a DC servo-motor in robotic applications with the benefits of low time constant and smooth output torque unaffected by cogging (i.e. variation in torque of a DC motor as the magnetic reluctance of the armature-stator path changes with rotation). Although the ER actuator has many benefits, it suffers from a non-linear and time varying relationship between input voltage and output torque. These undesirable characteristics can be mitigated by providing a local closed loop controller around the system. The design of such a controller requires a knowledge of the relationship between the applied voltage and output torque; i.e. the transfer function of the actuator. This transfer function has been determined by observing the response of an ER torque actuator in the frequency domain. It is shown that a linear transfer function model reasonable represents the actuator behaviour, that the actuator is a stable second order system and that the time constant of the clutch studied is sufficiently short to hold considerable promise for robotic applications. Furthermore, the maximum torque capability is shown to be sufficient for many medium scale industrial robots.
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Vitrani, M. A., J. Nikitczuk, G. Morel, C. Mavroidis, and B. Weinberg. "Torque Control of Electrorheological Fluidic Resistive Actuators for Haptic Vehicular Instrument Controls." Journal of Dynamic Systems, Measurement, and Control 128, no. 2 (June 9, 2005): 216–26. http://dx.doi.org/10.1115/1.2192822.
Full textAbstract:
Force-feedback mechanisms have been designed to simplify and enhance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the operator, without requiring the driver’s visual attention. In this paper, the experimental closed loop torque control of electro-rheological fluids (ERF) based resistive actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress electroactively. Using the electrically controlled rheological properties of ERFs, we developed resistive-actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF resistive-actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feedforward loop.
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Gurko, Alexander, and Mykola Mykhalevych. "OPTIMAL CONTROL OF AN ACTUATOR OF A ROBOTIC GEARBOX." Bulletin of Kharkov National Automobile and Highway University 1, no. 92 (March 12, 2021): 72. http://dx.doi.org/10.30977/bul.2219-5548.2021.92.1.72.
Full textAbstract:
Problem. Despite the vigorous development of electric vehicles, the task of facilitating the driver to handle with elements of mechanical transmission remains relevant. For this purpose, the automation of mechanical transmission units is performed. For instance, so-called robotic gearboxes are widespread. The principle of operation of such gearboxes is similar to mechanical ones, but special separate actuators carry out the selection and shifting into the desired gear. The design of a robotic gearbox was proposed at the Automobile Department of Kharkiv National Automobile and Highway University. At this gearbox, two DC motors are used as actuators. The efficiency of this gearbox largely depends on the efficiency of the DC motors control system, which should provide smooth but at the same time fast and accurate positioning of their shafts. In previous works, PID controllers were used to controlling the actuator of the gearbox. However, although the PID controller provides satisfactory quality of the control system, it is not an optimal controller. Goal. The goal of this paper is to develop an optimal controller for the actuators of the robotic gearbox mentioned above. Methodology. To meet this goal, it was proposed to use a linear-quadratic controller (LQR). The analysis of the impact on transient processes in the control system of the values of the weighting factors in the quadratic performance criterion is performed. Results. The LQR synthesized provides high speed of response (within of 0.5 s) at the desired gear selecting and more than two times less overshoot compared to the PID regulator. Originality. The regularities in the gearbox drive performance when changing the values of the weighting factors in the performance criterion have been established. An optimal control system for the robotic gearbox actuator has been developed. Practical value. The implementation of the designed controller will increase the efficiency of the gearbox under consideration.