Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters acc...Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of space robot base velocity and link parameters. The flexible link is modeled as Euler Bernoulli beam. To simplify the analysis we have considered Jacobian of rigid manipulator. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The scheme has been verified using simulation for two links flexible space manipulator.展开更多
In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of...In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling,thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.展开更多
Hydraulic hammer is commonly used hydraulic equipment in engineering work. The characteristics, high acceleration, high frequency and inertial working pressure, make it greatly different from the working conditions of...Hydraulic hammer is commonly used hydraulic equipment in engineering work. The characteristics, high acceleration, high frequency and inertial working pressure, make it greatly different from the working conditions of conventional hydraulic equipment, while hydraulic hammer for sleeve type is also not the same as other hydraulic hammers in structure, efficiency and working performance. Based on the principle of hydraulic hammer for sleeve type, the mathematical model of hydraulic hammer for sleeve type was set with various conditions in the reciprocating movement of piston. In addition, more detailed sketch model can be easily built with the mathematical model in multi-domain system analysis software, AMESim. The simulation system of breaker built based on the principle of power bond graph structures in AMESim system is considered comprehensively to achieve its functions and characteristics, which can quickly realize the calculation of main simulation parameters for impactor. The calculated parameters can be proved to be biased with the test prototype. So these parameters must be optimized by Design Exploration to find the appropriate parameters.展开更多
文摘Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of space robot base velocity and link parameters. The flexible link is modeled as Euler Bernoulli beam. To simplify the analysis we have considered Jacobian of rigid manipulator. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The scheme has been verified using simulation for two links flexible space manipulator.
基金supported by the Aeronautical Science Foundation of China (No. 2012ZD51)the support of the China Scholarship Council (CSC)
文摘In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling,thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.
文摘Hydraulic hammer is commonly used hydraulic equipment in engineering work. The characteristics, high acceleration, high frequency and inertial working pressure, make it greatly different from the working conditions of conventional hydraulic equipment, while hydraulic hammer for sleeve type is also not the same as other hydraulic hammers in structure, efficiency and working performance. Based on the principle of hydraulic hammer for sleeve type, the mathematical model of hydraulic hammer for sleeve type was set with various conditions in the reciprocating movement of piston. In addition, more detailed sketch model can be easily built with the mathematical model in multi-domain system analysis software, AMESim. The simulation system of breaker built based on the principle of power bond graph structures in AMESim system is considered comprehensively to achieve its functions and characteristics, which can quickly realize the calculation of main simulation parameters for impactor. The calculated parameters can be proved to be biased with the test prototype. So these parameters must be optimized by Design Exploration to find the appropriate parameters.
