Polymeric microwave actuators combining tissue-like softness with programmablemicrowave-responsive deformation hold great promise for mobile intelligentdevices and bionic soft robots. However, their application is cha...Polymeric microwave actuators combining tissue-like softness with programmablemicrowave-responsive deformation hold great promise for mobile intelligentdevices and bionic soft robots. However, their application is challenged by restricted electromagneticsensitivity and intricate sensing coupling. In this study, a sensitized polymericmicrowave actuator is fabricated by hybridizing a liquid crystal polymer with Ti3C2Tx(MXene). Compared to the initial counterpart, the hybrid polymer exhibits unique spacechargepolarization and interfacial polarization, resulting in significant improvements of230% in the dielectric loss factor and 830% in the apparent efficiency of electromagneticenergy harvest. The sensitized microwave actuation demonstrates as the shortenedresponse time of nearly 10 s, which is merely 13% of that for the initial shape memory polymer. Moreover, the ultra-low content of MXene (upto 0.15 wt%) benefits for maintaining the actuation potential of the hybrid polymer. An innovative self-powered sensing prototype that combinesdriving and piezoelectric polymers is developed, which generates real-time electric potential feedback (open-circuit potential of ~ 3 mV) duringactuation. The polarization-dominant energy conversion mechanism observed in the MXene-polymer hybrid structure furnishes a new approachfor developing efficient electromagnetic dissipative structures and shows potential for advancing polymeric electromagnetic intelligent devices.展开更多
The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sens...The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO_(2) nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation(21° s^(-1)) and enhanced photothermal efficiency(increase by 3.7 ℃ s^(-1) under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca^(2+) endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity(gauge factor 3.94 within a wide strain range of 600%), fast response times(140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human–machine interactions.展开更多
This paper introduces a self-sensing anthropomorphic robot hand driven by Twisted String Actuators(TSAs).The use of TSAs provides several advantages such as muscle-like structures,high transmission ratios,large output...This paper introduces a self-sensing anthropomorphic robot hand driven by Twisted String Actuators(TSAs).The use of TSAs provides several advantages such as muscle-like structures,high transmission ratios,large output forces,high efficiency,compactness,inherent compliance,and the ability to transmit power over distances.However,conventional sensors used in TSA-actuated robotic hands increase stiffness,mass,volume,and complexity,making feedback control challenging.To address this issue,a novel self-sensing approach is proposed using strain-sensing string based on Conductive Polymer Composite(CPC).By measuring the resistance changes in the strain-sensing string,the bending angle of the robot hand's fingers can be estimated,enabling closed-loop control without external sensors.The developed self-sensing anthropomorphic robot hand comprises a 3D-printed structure with five fingers,a palm,five self-sensing TSAs,and a 3D-printed forearm.Experimental studies validate the self-sensing properties of the TSA and the anthropomorphic robot hand.Additionally,a real-time Virtual Reality(VR)monitoring system is implemented for visualizing and monitoring the robot hand's movements using its self-sensing capabilities.This research contributes valuable insights and advancements to the field of intelligent prosthetics and robotic end grippers.展开更多
Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical...Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.展开更多
Giant magnetostrictive actuators (GMAs) often work in a close-loop feedback system. This system needs independent sensors which may be difficult to be fixed, besides, excessive sensors may cause more unpredicted probl...Giant magnetostrictive actuators (GMAs) often work in a close-loop feedback system. This system needs independent sensors which may be difficult to be fixed, besides, excessive sensors may cause more unpredicted problems in a large system. This paper aims to develop a self-sensing GMA. An observer based on piezomagnetic equations is constructed to estimate the stress and strain of the magnetostrictive material. The observer based self-sensing approach depends on the facts that the magnetic field is controllable and that the magnetic induction is measurable. Aiming at the nonlinear hysteresis in magnetization, a hys- teresis compensation observer based on Preisach model is developed. Experiment verified the availability of the observer approach, and the hysteresis compensation observer has higher tracking precision than linear observer for dynamic force sensing.展开更多
The paper is concerned with the micro-flow self-sensing actuators,the work of which is based on the secondary piezoelectric effect. The piezoelectric ceramic stack can yield micro-displacement due to its first inverse...The paper is concerned with the micro-flow self-sensing actuators,the work of which is based on the secondary piezoelectric effect. The piezoelectric ceramic stack can yield micro-displacement due to its first inverse piezoelectric effect. Therefore,we apply this micro-displacement to cell micro-flow injection. Moreover, due to the charge of the secondary direct piezoelectric effect,the piezoelectric ceramic stack is able to detect the force and displacement in the injection by itself. The experiments of first inverse piezoelectric effect and secondary direct piezoelectric effect are conducted. The experiment results show that,subjected to 0- 60 V input,the piezoelectric ceramic stack can generate 13. 45 μm displacement,and control accuracy can achieve 2 nm. It can completely meet the needs of cell micro-flow injection. Also,the experiments demonstrate that the micro-displacement due to the first inverse piezoelectric effect can be well self-sensed by the electric charge due to the secondary direct piezoelectric effect.展开更多
A simplified quasi-static computational model for self-sensing applications of magnetostrictive actuators based on terfenol-D rods is presented. Paths and angle changes in the magnetic moments rotation of Tb0.3Dy0.7Fe...A simplified quasi-static computational model for self-sensing applications of magnetostrictive actuators based on terfenol-D rods is presented. Paths and angle changes in the magnetic moments rotation of Tb0.3Dy0.7Fe2 alloy are studied as functions of compressive stress and magnetic field, and then used to determine the magnetization in its actuation. Then sensing of magnetic induction picked from a driving coil in an actuator is derived. The model is quick and efficient to solve moments rotation and its magnetization. Sensing results of compressive stress and magnetostriction calculated by the model are in good agreement with experiments and will be helpful in the design and control of self-sensing applications in actuators.展开更多
Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater...Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater robots are widely employed in marine science,resource surveys,seabed geological investigations,and marine life observations,owing to their compact size,minimal noise,and agile move-ment.In recent years,researchers have developed diverse miniature underwater robots inspired by bion-ics and other disciplines,leading to many landmark achievements such as centimeter-level wireless control,movement speeds up to hundreds of millimeters per second,underwater three-dimensional motion capabilities,robot swarms,and underwater operation robots.This article offers an overview of the actuation methods and locomotion patterns utilized by miniature underwater robots and assesses the advantages and disadvantages of each method.Furthermore,the challenges confronting currently available miniature underwater robots are summarized,and future development trends are explored.展开更多
In this paper,we proposed a compact,lightweight flapping actuation mechanism and a flight control mechanism for a twin-winged,tailless,hover-capable flapping robot named HiFly-Hummingbird,which has a total mass of 14....In this paper,we proposed a compact,lightweight flapping actuation mechanism and a flight control mechanism for a twin-winged,tailless,hover-capable flapping robot named HiFly-Hummingbird,which has a total mass of 14.4 g and a wingspan of 18.8 cm.A four-bar linkage and gears set were adopted to convert the rotation motion of DC motor into flapping oscillation and amplify the flapping amplitude.As well as,a parallel coupled flight control mechanism was designed to implement the aerodynamic moments generation strategies.The proposed flapping actuation mechanism,with a mass of 2.95 g,has been validated to achieve a 168°amplitude at a frequency of 26 Hz with an asymmetrical stroke deviation of 3.5%,operating at a power consumption of 4.05 W.The parallel coupled control mechanism weights 2.14 g(including three servos).Benefit from the nonlinen inverse kinematics model of the parallel coupled control mechanism,the proposed control mechanism exhibits a roll motion range of±10°with an accuracy error of 0.8°and a pitch motion range of±12°with an accuracy error of 0.6°.The proposed mechanical systems are beneficial to lightweight design,manufacture and assemble under stringent size,weight and power(SWaP)constraints of flapping wing micro air vehicles(FW-MAVs),and possess favorable efficiency and accuracy.Relying on the hardware control circuit and feed-back attitude control algorithm,the robot hummingbird successfully achieved untethered lifting off and reached a maximum flight altitude of 4 m in several flight tests,demonstrating that the proposed mechanical designs of the flapping robot platform effectively enhances the miniaturization and light-weighting of the hummingbird-like FW-MAVs under the conditions of meeting the propulsion and control requirements for lifting off.展开更多
Locomotion performance degradation after carrying payloads is a significant challenge for insect-scale microrobots.Previously,a legged microrobot named BHMbot with a high load-carrying capacity based on front-leg actu...Locomotion performance degradation after carrying payloads is a significant challenge for insect-scale microrobots.Previously,a legged microrobot named BHMbot with a high load-carrying capacity based on front-leg actuation configuration and efficient running gait was proposed.However,insects,mammals and reptiles in nature typically use their powerful rear legs to achieve rapid running gaits for predation or risk evasion.In this work,the load-carrying capacity of the BHMbots with front-leg actuation and rear-leg actuation configurations is comparatively studied.Simulations based on a dynamic model with four degrees of freedom,along with experiments,have been conducted to analyze the locomotion characteristics of the two configurations under different payload masses.Both simulation and experimental results indicate that the load-carrying capacity of the microrobots is closely related to their actuation configurations,which leads to different dynamic responses of the microrobots after carrying varying payload masses.For microrobots with body lengths of 15 mm,the rear-leg actuation configuration exhibits a 31.2%enhancement in running speed compared to the front-leg actuation configuration when unloaded.Conversely,when carrying payloads exceeding 5.7 times the body mass(350 mg),the rear-leg actuation configuration demonstrates an 80.1%reduction in running speed relative to the front-leg actuation configuration under the same payload conditions.展开更多
This work proposes a bioinspired hierarchical actuation strategy based on liquid crystal elastomers(LCEs),inspired by the helical topological dynamic adaptation mechanism of plant tendrils,to overcome the bottleneck o...This work proposes a bioinspired hierarchical actuation strategy based on liquid crystal elastomers(LCEs),inspired by the helical topological dynamic adaptation mechanism of plant tendrils,to overcome the bottleneck of precise anisotropic control in LCEs.Mechanically pre-programmed hierarchical LCE structures responsive to near-infrared(NIR)light were fabricated:the oriented constrained actuator achieves asymmetric contraction under NIR irradiation,enabling reversible switching between helix and planar morphologies with multi-terrain grasping capability;the biomimetic vine-like helical actuator,composed of Ag nanowire photothermal layers combined with helical LCE,utilizes temperaturegradient-induced phase transition wave propagation to achieve NIR-controlled climbing motion;the M?bius topology actuator realizes reversible deformation or self-locking states by tuning the twist angle(180°/360°);based on these,a bioinspired koala-like concentric soft robot was constructed,successfully demonstrating tree trunk climbing.This study reveals that artificial helical stretching significantly enhances the molecular chain orientation of LCEs(surpassing uniaxial stretching),reaching up to 1000%pre-strain,and the Ag NWs/LCE/PI(Polyimide)tri-layer structure achieves efficient photothermal-mechanical energy conversion via localized surface plasmon resonance(LSPR).This study provides a new paradigm for soft robotics material design and topological programming,demonstrating the potential for remote operation and adaptive grasping.展开更多
Self-propelled robots have attracted significant attention due to their remarkable ability to navigate confined terrains.These robots usually have deformable structures while having discontinuous contact forces with t...Self-propelled robots have attracted significant attention due to their remarkable ability to navigate confined terrains.These robots usually have deformable structures while having discontinuous contact forces with the ground,resulting in a complex nonlinear system.To provide a solid foundation for the locomotion prediction and optimization for the self-propelled robots,it is necessary to conduct dynamic modelling and locomotion analysis of the robot.Motivated by these issues,this paper proposes a vibration-driven surrogate dynamic model for a deformable self-propelled robot and presents a detailed dynamic analysis.The surrogate dynamic model is employed to classify various types of stick-slip locomotion.Subsequently,the corresponding experiment demonstrates that the surrogate dynamic model effectively predicts the locomotion of the robot,particularly three types of stick-slip locomotion induced by discontinuous friction.Finally,a multi-objective coordinated optimization regarding the locomotion velocity,the cost of transport,and the energy conversion rate of the self-propelled robot is conducted,aiming to comprehensively enhance the robot’s locomotion performance.Additionally,suggestions for the selection of actuation parameters are presented.展开更多
Stimuli-responsive shape-changing materials,particularly hydrogel and liquid crystal elastomer(LCE),have demonstrated significant potential for applications across various fields.Although intricate deformation and act...Stimuli-responsive shape-changing materials,particularly hydrogel and liquid crystal elastomer(LCE),have demonstrated significant potential for applications across various fields.Although intricate deformation and actuation behaviors have been obtained in either hydrogels or LCEs,they typically undergo reversible shape change only once(e.g.,one expansion plus one contraction)during one heating/cooling cycle.Herein,we report a study of a novel liquid crystalline hydrogel(LCH)and the achievement of dual actuation in a single heating/cooling cycle by integrating the characteristics of thermoresponsive hydrogel and LCE.The dual actuation behavior arises from the reversible volume phase transition of poly(N-isopropylacrylamide)(PNIPAM)and the reversible order-disorder phase transition of LC mesogens in the LCH.Due to a temperature window separating the two transitions belonging to PNIPAM and LCE,LCH actuator can sequentially execute their respective actuation,thus deforming reversibly twice,during a heating/cooling cycle.The relative actuation degree of the two mechanisms is influenced by the mass ratio of PNIPAM to LCE in the LCH.Moreover,the initial shape of a bilayer actuator made with an active LCH layer and a passive polymer layer can be altered through hydration or dehydration of PNIPAM,which further modifies the dual actuation induced deformation.This work provides an example that shows the interest of developing LCH actuators.展开更多
Reducing the peak actuating force(PAF)and parasitic displacement is of high significance for improving the performance of compliant parallel mechanisms(CPMs).In this study,a 2-DOF 4-4R compliant parallel pointing mech...Reducing the peak actuating force(PAF)and parasitic displacement is of high significance for improving the performance of compliant parallel mechanisms(CPMs).In this study,a 2-DOF 4-4R compliant parallel pointing mechanism(4-4R CPPM)was used as the object,and the actuating force of the mechanism was optimized through redundant actuation.This was aimed at minimizing the PAF and parasitic displacement.First,a kinetostatic model of the redundantly actuated 4-4R CPPM was established to reveal the relationship between the input forces/displacements and the output displacements of the mobile platform.Subsequently,based on the established kinetostatic model,methods for optimizing the actuating force distribution with the aim of minimizing the PAF and parasitic displacement were introduced successively.Second,a simulated example of a mobile platform’s spatial pointing trajectory validated the accuracy of the kinetostatic model.The results show a less than 0.9%relative error between the analytical and finite element(FE)results,and the high consistency indicates the accuracy of the kinetostatic model.Then,the effectiveness of the method in minimizing the PAF and parasitic displacement was validated using two simulated examples.The results indicate that compared with the non-redundant actuation case,the PAF of the mechanism could be reduced by up to 50%,and the parasitic displacement was reduced by approximately three-four orders of magnitude by means of redundant actuation combined with the optimal distribution of the actuating force.As expected,with the reduction in parasitic displacement,the FE-results of the output angular displacements(θ_(x) andθ_(z))of the mobile platform were closer to the target oscillation trajectory.This further verified that the reduction in parasitic displacement is indeed effective in improving the motion accuracy of the mechanism.The advantage of this proposed method is that it reduces the PAF and parasitic displacement from the perspective of the actuating force control strategy,without the requirement of structural changes to the original mechanism.展开更多
Plasma flow control is an active flow control technology that based on the plasma aerodynamic actuation. It can be used to enhance the aerodynamic characteristics of aircraft and propulsion systems. To study the pheno...Plasma flow control is an active flow control technology that based on the plasma aerodynamic actuation. It can be used to enhance the aerodynamic characteristics of aircraft and propulsion systems. To study the phenomena occurring in plasma aerodynamic actuation and the mechanism of plasma flow control, the induced flow velocity of the plasma aerodynamic actuator is experimentally investigated under a variety of parameter conditions. The results indicate that plasma aerodynamic actuation accelerates the near surface air at velocities of a few meters per second, and there is an angle about 5° between the mainstream and the actuator wall and a spiral vortex is formed when the induced flow is moving along the wall. Besides, with the fixed frequency, the induced flow velocity increases linearly with the applied voltage, but it is insensitive to the frequency when the applied voltage is fixed. And the configuration is an effective factor for the performance of the plasma aerodynamic actuator.展开更多
Electrohydrostatic actuator（EHA） is a type of power-by-wire actuator that is widely implemented in the aerospace industry for flight control, landing gears, thrust reversers, thrust vector control, and space robots....Electrohydrostatic actuator（EHA） is a type of power-by-wire actuator that is widely implemented in the aerospace industry for flight control, landing gears, thrust reversers, thrust vector control, and space robots. This paper presents the development and evaluation of positionbased impedance control（PBIC） for an EHA. Impedance control provides the actuator with compliance and facilitates the interaction with the environment. Most impedance control applications utilize electrical or valve-controlled hydraulic actuators, whereas this work realizes impedance control via a compact and efficient EHA. The structures of the EHA and PBIC are firstly introduced. A mathematical model of the actuation system is established, and values of its coefficients are identified by particle swarm optimization. This model facilitates the development of a position controller and the selection of target impedance parameters. A nonlinear proportional-integral position controller is developed for the EHA to achieve the accurate positioning requirement of PBIC. The controller compensates for the adverse effect of stiction, and a position accuracy of 0.08 mm is attained.Various experimental results are presented to verify the applicability of PBIC to the EHA. The compliance of the actuator is demonstrated in an impact test.展开更多
The optional types of power source and actuator in the aircraft are more and more diverse due to fast development in more electric technology, which makes the combinations of different power sources and actuators beco...The optional types of power source and actuator in the aircraft are more and more diverse due to fast development in more electric technology, which makes the combinations of different power sources and actuators become extremely complex in the architecture optimization process of airborne actuation system. The traditional ＂trial and error＂ method cannot satisfy the design demands. In this paper, firstly, the composition of more electric aircraft （MEA） flight control actuation system （FCAS） is introduced, and the possible architecture quantity is calculated. Secondly, the evaluation criteria of FCAS architecture with respect to safe reliability, weight and efficiency are proposed, and the evaluation criteria values are calculated in the case that each control surface adopts the same actuator configuration. Finally, the optimization results of MEA FCAS architecture are obtained by applying genetic algorithm （GA）. Compared to the traditional actuation system architecture, which only adopts servo valve controlled hydraulic actuators, the weight of the optimized more electric actuation system architecture can be reduced by 6%, and the efficiency can be improved by 30% based on the safe reliability requirements.展开更多
To discover the characteristic of separated flows and mechanism of plasma flow control on a highly loaded compressor cascade, numerical investigation is conducted. The simulation method is validated by oil flow visual...To discover the characteristic of separated flows and mechanism of plasma flow control on a highly loaded compressor cascade, numerical investigation is conducted. The simulation method is validated by oil flow visualization and pressure distribution. The loss coefficients, streamline patterns, and topology structure as well as vortex structure are analyzed. Results show that the numbers of singular points increase and three pairs of additional singular points of topology structure on solid surface generate with the increase of angle of attack, and the total pressure loss increases greatly. There are several principal vortices inside the cascade passage. The pressure side leg of horse-shoe vortex coexists within a specific region together with passage vortex, but finally merges into the latter. Corner vortex exists independently and does not evolve from the suction side leg of horse-shoe vortex. One pair of radial coupling-vortex exists near blade trailing edge and becomes the main part of backflow on the suction surface. Passage vortex interacts with the concentrated shedding vortex and they evolve into a large-scale vortex rotating in the direction opposite to passage vortex. The singular points and separation lines represent the basic separation feature of cascade passage. Plasma actuation has better effect at low freestream velocity, and the relative reductions of pitch-averaged total pressure loss coefficient with different actuation layouts of five and two pairs of electrodes are up to 30.8% and 26.7% while the angle of attack is 2~. Plasma actuation changes the local topology structure, but does not change the number relation of singular points. One pair of additional singular point of topology structure generates with plasma actuation and one more reattachment line appears, both of which break the separation line on the suction surface.展开更多
This article carries out synthetic measurements and analysis of the characteristics of the asymmetric surface dielectric barrier discharge plasma aerodynamic actuation. The rotational and vibrational temperatures of a...This article carries out synthetic measurements and analysis of the characteristics of the asymmetric surface dielectric barrier discharge plasma aerodynamic actuation. The rotational and vibrational temperatures of an N2 （ C3 Ⅱu ） molecule are measured in terms of the optical emission spectra from the N2 second positive system. A simplified collision-radiation model for N2 （C）and N2 ＋ （B）is established on the basis of the ratio of emission intensity at 391.4 nm to that at 380.5 nm and the ratio of emission intensity at 371. 1 nm to that at 380.5 nm for calculating temporal and spatial averaged electron temperatures and densities. Under one atmosphere pressure, the electron temperature and density are on the order of 1.6 eV and 10H cm-3 respectively. The body force induced by the plasma aerodynamic actuation is on the order of tens of mN while the induced flow velocity is around 1.3 m/s. Starting vortex is firstly induced by the actuation ; then it develops into a near-wall jet, about 70 mm downstream of the actuator. Unsteady plasma aerodynamic actuation might stimulate more vortexes in the flow field. The induced flow direction by nanosecond discharge plasma aerodynamic actuation is not parallel, but vertical to the dielectric layer surface.展开更多
This paper proposes an active fault-tolerant control strategy for an aircraft with dissimilar redundant actuation system （DRAS） that has suffered from vertical tail damage. A damage degree coefficient based on the e...This paper proposes an active fault-tolerant control strategy for an aircraft with dissimilar redundant actuation system （DRAS） that has suffered from vertical tail damage. A damage degree coefficient based on the effective vertical tail area is introduced to parameterize the damaged flight dynamic model. The nonlinear relationship between the damage degree coefficient and the corresponding stability derivatives is considered. Furthermore, the performance degradation of new input channel with electro-hydrostatic actuator （EHA） is also taken into account in the damaged flight dynamic model. Based on the accurate damaged flight dynamic model, a composite method of linear quadratic regulator （LQR） integrating model reference adaptive control （MRAC） is proposed to reconfigure the fault-tolerant control law. The numerical simulation results validate the effectiveness of the proposed fault-tolerant control strategy with accurate flight dynamic model. The results also indicate that aircraft with DRAS has better fault-tolerant control ability than the traditional ones when the vertical tail suffers from serious damage.展开更多
基金supported by the National Natural Science Foundation of China(No.52373280,52177014,51977009,52273257)。
文摘Polymeric microwave actuators combining tissue-like softness with programmablemicrowave-responsive deformation hold great promise for mobile intelligentdevices and bionic soft robots. However, their application is challenged by restricted electromagneticsensitivity and intricate sensing coupling. In this study, a sensitized polymericmicrowave actuator is fabricated by hybridizing a liquid crystal polymer with Ti3C2Tx(MXene). Compared to the initial counterpart, the hybrid polymer exhibits unique spacechargepolarization and interfacial polarization, resulting in significant improvements of230% in the dielectric loss factor and 830% in the apparent efficiency of electromagneticenergy harvest. The sensitized microwave actuation demonstrates as the shortenedresponse time of nearly 10 s, which is merely 13% of that for the initial shape memory polymer. Moreover, the ultra-low content of MXene (upto 0.15 wt%) benefits for maintaining the actuation potential of the hybrid polymer. An innovative self-powered sensing prototype that combinesdriving and piezoelectric polymers is developed, which generates real-time electric potential feedback (open-circuit potential of ~ 3 mV) duringactuation. The polarization-dominant energy conversion mechanism observed in the MXene-polymer hybrid structure furnishes a new approachfor developing efficient electromagnetic dissipative structures and shows potential for advancing polymeric electromagnetic intelligent devices.
基金The financial support from the National Natural Science Foundation of China (32201179)Guangdong Basic and Applied Basic Research Foundation (2020A1515110126 and 2021A1515010130)+1 种基金the Fundamental Research Funds for the Central Universities (N2319005)Ningbo Science and Technology Major Project (2021Z027) is gratefully acknowledged。
文摘The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO_(2) nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation(21° s^(-1)) and enhanced photothermal efficiency(increase by 3.7 ℃ s^(-1) under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca^(2+) endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity(gauge factor 3.94 within a wide strain range of 600%), fast response times(140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human–machine interactions.
基金supported by the Anhui Provincial Key Research and Development Program No.2022f04020008National Natural Science Foundation of China No.62301522Anhui Provincial Nature Science Foundation No.1908085MF196.
文摘This paper introduces a self-sensing anthropomorphic robot hand driven by Twisted String Actuators(TSAs).The use of TSAs provides several advantages such as muscle-like structures,high transmission ratios,large output forces,high efficiency,compactness,inherent compliance,and the ability to transmit power over distances.However,conventional sensors used in TSA-actuated robotic hands increase stiffness,mass,volume,and complexity,making feedback control challenging.To address this issue,a novel self-sensing approach is proposed using strain-sensing string based on Conductive Polymer Composite(CPC).By measuring the resistance changes in the strain-sensing string,the bending angle of the robot hand's fingers can be estimated,enabling closed-loop control without external sensors.The developed self-sensing anthropomorphic robot hand comprises a 3D-printed structure with five fingers,a palm,five self-sensing TSAs,and a 3D-printed forearm.Experimental studies validate the self-sensing properties of the TSA and the anthropomorphic robot hand.Additionally,a real-time Virtual Reality(VR)monitoring system is implemented for visualizing and monitoring the robot hand's movements using its self-sensing capabilities.This research contributes valuable insights and advancements to the field of intelligent prosthetics and robotic end grippers.
基金supported by the National Natural Science Foundation of China(Nos.52177059 and 52407064).
文摘Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.
基金Project supported by the National Natural Science Foundation ofChina (No. 50105019)the China Postdoctoral Science Foundation (No. 20060390337)
文摘Giant magnetostrictive actuators (GMAs) often work in a close-loop feedback system. This system needs independent sensors which may be difficult to be fixed, besides, excessive sensors may cause more unpredicted problems in a large system. This paper aims to develop a self-sensing GMA. An observer based on piezomagnetic equations is constructed to estimate the stress and strain of the magnetostrictive material. The observer based self-sensing approach depends on the facts that the magnetic field is controllable and that the magnetic induction is measurable. Aiming at the nonlinear hysteresis in magnetization, a hys- teresis compensation observer based on Preisach model is developed. Experiment verified the availability of the observer approach, and the hysteresis compensation observer has higher tracking precision than linear observer for dynamic force sensing.
基金Sponsored by the Youths Science Foundation of Heilongjiang Province(Grant No.QC08C09)the Educational Committee Science Foundation of Heilongjiang Province(Grant No.11541272)
文摘The paper is concerned with the micro-flow self-sensing actuators,the work of which is based on the secondary piezoelectric effect. The piezoelectric ceramic stack can yield micro-displacement due to its first inverse piezoelectric effect. Therefore,we apply this micro-displacement to cell micro-flow injection. Moreover, due to the charge of the secondary direct piezoelectric effect,the piezoelectric ceramic stack is able to detect the force and displacement in the injection by itself. The experiments of first inverse piezoelectric effect and secondary direct piezoelectric effect are conducted. The experiment results show that,subjected to 0- 60 V input,the piezoelectric ceramic stack can generate 13. 45 μm displacement,and control accuracy can achieve 2 nm. It can completely meet the needs of cell micro-flow injection. Also,the experiments demonstrate that the micro-displacement due to the first inverse piezoelectric effect can be well self-sensed by the electric charge due to the secondary direct piezoelectric effect.
基金Project supported by the National Preeminent Youth Foundation(Grant No.51225702)the National Natural Science Foundation of China(Grant No.51177024)
文摘A simplified quasi-static computational model for self-sensing applications of magnetostrictive actuators based on terfenol-D rods is presented. Paths and angle changes in the magnetic moments rotation of Tb0.3Dy0.7Fe2 alloy are studied as functions of compressive stress and magnetic field, and then used to determine the magnetization in its actuation. Then sensing of magnetic induction picked from a driving coil in an actuator is derived. The model is quick and efficient to solve moments rotation and its magnetization. Sensing results of compressive stress and magnetostriction calculated by the model are in good agreement with experiments and will be helpful in the design and control of self-sensing applications in actuators.
基金supported by the Natural Science Foundation of Jiangsu Province,China(BK20220813)the Fundamental Research Funds for the Central Universities(2242023K40014).
文摘Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater robots are widely employed in marine science,resource surveys,seabed geological investigations,and marine life observations,owing to their compact size,minimal noise,and agile move-ment.In recent years,researchers have developed diverse miniature underwater robots inspired by bion-ics and other disciplines,leading to many landmark achievements such as centimeter-level wireless control,movement speeds up to hundreds of millimeters per second,underwater three-dimensional motion capabilities,robot swarms,and underwater operation robots.This article offers an overview of the actuation methods and locomotion patterns utilized by miniature underwater robots and assesses the advantages and disadvantages of each method.Furthermore,the challenges confronting currently available miniature underwater robots are summarized,and future development trends are explored.
基金supported by the Strategic Priority Research Program of Chinese Academy of Sciences under Grant XDA2202050partially supported by the Youth Innovation Promotion Association of Chinese Academy of Sciences under Grant 2013213.
文摘In this paper,we proposed a compact,lightweight flapping actuation mechanism and a flight control mechanism for a twin-winged,tailless,hover-capable flapping robot named HiFly-Hummingbird,which has a total mass of 14.4 g and a wingspan of 18.8 cm.A four-bar linkage and gears set were adopted to convert the rotation motion of DC motor into flapping oscillation and amplify the flapping amplitude.As well as,a parallel coupled flight control mechanism was designed to implement the aerodynamic moments generation strategies.The proposed flapping actuation mechanism,with a mass of 2.95 g,has been validated to achieve a 168°amplitude at a frequency of 26 Hz with an asymmetrical stroke deviation of 3.5%,operating at a power consumption of 4.05 W.The parallel coupled control mechanism weights 2.14 g(including three servos).Benefit from the nonlinen inverse kinematics model of the parallel coupled control mechanism,the proposed control mechanism exhibits a roll motion range of±10°with an accuracy error of 0.8°and a pitch motion range of±12°with an accuracy error of 0.6°.The proposed mechanical systems are beneficial to lightweight design,manufacture and assemble under stringent size,weight and power(SWaP)constraints of flapping wing micro air vehicles(FW-MAVs),and possess favorable efficiency and accuracy.Relying on the hardware control circuit and feed-back attitude control algorithm,the robot hummingbird successfully achieved untethered lifting off and reached a maximum flight altitude of 4 m in several flight tests,demonstrating that the proposed mechanical designs of the flapping robot platform effectively enhances the miniaturization and light-weighting of the hummingbird-like FW-MAVs under the conditions of meeting the propulsion and control requirements for lifting off.
基金supported in part by Beijing Natural Science Foundation under Grant 3232010in part by the National Natural Science Foundation of China under Grant 12002017+2 种基金in part by AECC Industry-university Collocation Fund under Grant HFZL2023CXY026in part by Beihang Outstanding Young Scholars Project under Grant YWF-23-L-1201in part by 111 Project under Grant B08009.
文摘Locomotion performance degradation after carrying payloads is a significant challenge for insect-scale microrobots.Previously,a legged microrobot named BHMbot with a high load-carrying capacity based on front-leg actuation configuration and efficient running gait was proposed.However,insects,mammals and reptiles in nature typically use their powerful rear legs to achieve rapid running gaits for predation or risk evasion.In this work,the load-carrying capacity of the BHMbots with front-leg actuation and rear-leg actuation configurations is comparatively studied.Simulations based on a dynamic model with four degrees of freedom,along with experiments,have been conducted to analyze the locomotion characteristics of the two configurations under different payload masses.Both simulation and experimental results indicate that the load-carrying capacity of the microrobots is closely related to their actuation configurations,which leads to different dynamic responses of the microrobots after carrying varying payload masses.For microrobots with body lengths of 15 mm,the rear-leg actuation configuration exhibits a 31.2%enhancement in running speed compared to the front-leg actuation configuration when unloaded.Conversely,when carrying payloads exceeding 5.7 times the body mass(350 mg),the rear-leg actuation configuration demonstrates an 80.1%reduction in running speed relative to the front-leg actuation configuration under the same payload conditions.
基金financially supported by the National Natural Science Foundation of China(Nos.52275290 and 51905222)the Research Project of the State Key Laboratory of Mechanical System and Oscillation(No.MSV202419)+2 种基金Major Program of the National Natural Science Foundation of China for Basic Theory and Key Technology of Tri-Co Robots(No.92248301)Opening Project of the Key Laboratory of Bionic Engineering(Ministry of Education),Jilin University(No.KF2023006)Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.SJCX23_2091)。
文摘This work proposes a bioinspired hierarchical actuation strategy based on liquid crystal elastomers(LCEs),inspired by the helical topological dynamic adaptation mechanism of plant tendrils,to overcome the bottleneck of precise anisotropic control in LCEs.Mechanically pre-programmed hierarchical LCE structures responsive to near-infrared(NIR)light were fabricated:the oriented constrained actuator achieves asymmetric contraction under NIR irradiation,enabling reversible switching between helix and planar morphologies with multi-terrain grasping capability;the biomimetic vine-like helical actuator,composed of Ag nanowire photothermal layers combined with helical LCE,utilizes temperaturegradient-induced phase transition wave propagation to achieve NIR-controlled climbing motion;the M?bius topology actuator realizes reversible deformation or self-locking states by tuning the twist angle(180°/360°);based on these,a bioinspired koala-like concentric soft robot was constructed,successfully demonstrating tree trunk climbing.This study reveals that artificial helical stretching significantly enhances the molecular chain orientation of LCEs(surpassing uniaxial stretching),reaching up to 1000%pre-strain,and the Ag NWs/LCE/PI(Polyimide)tri-layer structure achieves efficient photothermal-mechanical energy conversion via localized surface plasmon resonance(LSPR).This study provides a new paradigm for soft robotics material design and topological programming,demonstrating the potential for remote operation and adaptive grasping.
基金supported by the National Natural Science Foundation of China(Grant Nos.11932015,12072237,and 12372022)the Shanghai Gaofeng Project for University Academic Program Development,and the Fundamental Research Funds for the Central Universities(Grant No.22120220590).
文摘Self-propelled robots have attracted significant attention due to their remarkable ability to navigate confined terrains.These robots usually have deformable structures while having discontinuous contact forces with the ground,resulting in a complex nonlinear system.To provide a solid foundation for the locomotion prediction and optimization for the self-propelled robots,it is necessary to conduct dynamic modelling and locomotion analysis of the robot.Motivated by these issues,this paper proposes a vibration-driven surrogate dynamic model for a deformable self-propelled robot and presents a detailed dynamic analysis.The surrogate dynamic model is employed to classify various types of stick-slip locomotion.Subsequently,the corresponding experiment demonstrates that the surrogate dynamic model effectively predicts the locomotion of the robot,particularly three types of stick-slip locomotion induced by discontinuous friction.Finally,a multi-objective coordinated optimization regarding the locomotion velocity,the cost of transport,and the energy conversion rate of the self-propelled robot is conducted,aiming to comprehensively enhance the robot’s locomotion performance.Additionally,suggestions for the selection of actuation parameters are presented.
基金financial support from the Natural Sciences and Engineering Research Council of Canada(NSERC),le Fonds de recherche du Québec:Nature et technologies(FRQNT),and The Centre québécois sur les matériaux fonctionnels.
文摘Stimuli-responsive shape-changing materials,particularly hydrogel and liquid crystal elastomer(LCE),have demonstrated significant potential for applications across various fields.Although intricate deformation and actuation behaviors have been obtained in either hydrogels or LCEs,they typically undergo reversible shape change only once(e.g.,one expansion plus one contraction)during one heating/cooling cycle.Herein,we report a study of a novel liquid crystalline hydrogel(LCH)and the achievement of dual actuation in a single heating/cooling cycle by integrating the characteristics of thermoresponsive hydrogel and LCE.The dual actuation behavior arises from the reversible volume phase transition of poly(N-isopropylacrylamide)(PNIPAM)and the reversible order-disorder phase transition of LC mesogens in the LCH.Due to a temperature window separating the two transitions belonging to PNIPAM and LCE,LCH actuator can sequentially execute their respective actuation,thus deforming reversibly twice,during a heating/cooling cycle.The relative actuation degree of the two mechanisms is influenced by the mass ratio of PNIPAM to LCE in the LCH.Moreover,the initial shape of a bilayer actuator made with an active LCH layer and a passive polymer layer can be altered through hydration or dehydration of PNIPAM,which further modifies the dual actuation induced deformation.This work provides an example that shows the interest of developing LCH actuators.
基金Supported by Key Project of Hubei Provincial Department of Education Research Program(Grant No.D20211401).
文摘Reducing the peak actuating force(PAF)and parasitic displacement is of high significance for improving the performance of compliant parallel mechanisms(CPMs).In this study,a 2-DOF 4-4R compliant parallel pointing mechanism(4-4R CPPM)was used as the object,and the actuating force of the mechanism was optimized through redundant actuation.This was aimed at minimizing the PAF and parasitic displacement.First,a kinetostatic model of the redundantly actuated 4-4R CPPM was established to reveal the relationship between the input forces/displacements and the output displacements of the mobile platform.Subsequently,based on the established kinetostatic model,methods for optimizing the actuating force distribution with the aim of minimizing the PAF and parasitic displacement were introduced successively.Second,a simulated example of a mobile platform’s spatial pointing trajectory validated the accuracy of the kinetostatic model.The results show a less than 0.9%relative error between the analytical and finite element(FE)results,and the high consistency indicates the accuracy of the kinetostatic model.Then,the effectiveness of the method in minimizing the PAF and parasitic displacement was validated using two simulated examples.The results indicate that compared with the non-redundant actuation case,the PAF of the mechanism could be reduced by up to 50%,and the parasitic displacement was reduced by approximately three-four orders of magnitude by means of redundant actuation combined with the optimal distribution of the actuating force.As expected,with the reduction in parasitic displacement,the FE-results of the output angular displacements(θ_(x) andθ_(z))of the mobile platform were closer to the target oscillation trajectory.This further verified that the reduction in parasitic displacement is indeed effective in improving the motion accuracy of the mechanism.The advantage of this proposed method is that it reduces the PAF and parasitic displacement from the perspective of the actuating force control strategy,without the requirement of structural changes to the original mechanism.
基金Supported by the National High Technology Reserach and Development Program of China("863"program)(2005AA753031)the New Century Educational Talents Plan of Ministry of Education of China(NCET-05-0907)~~
文摘Plasma flow control is an active flow control technology that based on the plasma aerodynamic actuation. It can be used to enhance the aerodynamic characteristics of aircraft and propulsion systems. To study the phenomena occurring in plasma aerodynamic actuation and the mechanism of plasma flow control, the induced flow velocity of the plasma aerodynamic actuator is experimentally investigated under a variety of parameter conditions. The results indicate that plasma aerodynamic actuation accelerates the near surface air at velocities of a few meters per second, and there is an angle about 5° between the mainstream and the actuator wall and a spiral vortex is formed when the induced flow is moving along the wall. Besides, with the fixed frequency, the induced flow velocity increases linearly with the applied voltage, but it is insensitive to the frequency when the applied voltage is fixed. And the configuration is an effective factor for the performance of the plasma aerodynamic actuator.
基金completed in the Fluid Power and Tele-Robotics Research Laboratory at the University of Manitobathe supports of the Natural Sciences and Engineering Research Council(NSERC)of Canada+1 种基金China Scholarship Council(CSC)the National Natural Science Foundation of China(Nos.51275021 and 61327807)
文摘Electrohydrostatic actuator（EHA） is a type of power-by-wire actuator that is widely implemented in the aerospace industry for flight control, landing gears, thrust reversers, thrust vector control, and space robots. This paper presents the development and evaluation of positionbased impedance control（PBIC） for an EHA. Impedance control provides the actuator with compliance and facilitates the interaction with the environment. Most impedance control applications utilize electrical or valve-controlled hydraulic actuators, whereas this work realizes impedance control via a compact and efficient EHA. The structures of the EHA and PBIC are firstly introduced. A mathematical model of the actuation system is established, and values of its coefficients are identified by particle swarm optimization. This model facilitates the development of a position controller and the selection of target impedance parameters. A nonlinear proportional-integral position controller is developed for the EHA to achieve the accurate positioning requirement of PBIC. The controller compensates for the adverse effect of stiction, and a position accuracy of 0.08 mm is attained.Various experimental results are presented to verify the applicability of PBIC to the EHA. The compliance of the actuator is demonstrated in an impact test.
基金National Natural Science Foundation of China （50675009） International Science ＆ Technology Cooperation Program of China （2010DFA72540）
文摘The optional types of power source and actuator in the aircraft are more and more diverse due to fast development in more electric technology, which makes the combinations of different power sources and actuators become extremely complex in the architecture optimization process of airborne actuation system. The traditional ＂trial and error＂ method cannot satisfy the design demands. In this paper, firstly, the composition of more electric aircraft （MEA） flight control actuation system （FCAS） is introduced, and the possible architecture quantity is calculated. Secondly, the evaluation criteria of FCAS architecture with respect to safe reliability, weight and efficiency are proposed, and the evaluation criteria values are calculated in the case that each control surface adopts the same actuator configuration. Finally, the optimization results of MEA FCAS architecture are obtained by applying genetic algorithm （GA）. Compared to the traditional actuation system architecture, which only adopts servo valve controlled hydraulic actuators, the weight of the optimized more electric actuation system architecture can be reduced by 6%, and the efficiency can be improved by 30% based on the safe reliability requirements.
基金National Natural Science Foundation of China(50906100, 10972236)Foundation for the Author of National Excellent Doctoral Dissertation of PR China (201172)Postgraduate Technology Innovation Foundation of Air Force Engineering University(DX2010103)
文摘To discover the characteristic of separated flows and mechanism of plasma flow control on a highly loaded compressor cascade, numerical investigation is conducted. The simulation method is validated by oil flow visualization and pressure distribution. The loss coefficients, streamline patterns, and topology structure as well as vortex structure are analyzed. Results show that the numbers of singular points increase and three pairs of additional singular points of topology structure on solid surface generate with the increase of angle of attack, and the total pressure loss increases greatly. There are several principal vortices inside the cascade passage. The pressure side leg of horse-shoe vortex coexists within a specific region together with passage vortex, but finally merges into the latter. Corner vortex exists independently and does not evolve from the suction side leg of horse-shoe vortex. One pair of radial coupling-vortex exists near blade trailing edge and becomes the main part of backflow on the suction surface. Passage vortex interacts with the concentrated shedding vortex and they evolve into a large-scale vortex rotating in the direction opposite to passage vortex. The singular points and separation lines represent the basic separation feature of cascade passage. Plasma actuation has better effect at low freestream velocity, and the relative reductions of pitch-averaged total pressure loss coefficient with different actuation layouts of five and two pairs of electrodes are up to 30.8% and 26.7% while the angle of attack is 2~. Plasma actuation changes the local topology structure, but does not change the number relation of singular points. One pair of additional singular point of topology structure generates with plasma actuation and one more reattachment line appears, both of which break the separation line on the suction surface.
基金National Natural Science Foundation of China(50906100)China Postdoctoral Science Foundation(20090450373)
文摘This article carries out synthetic measurements and analysis of the characteristics of the asymmetric surface dielectric barrier discharge plasma aerodynamic actuation. The rotational and vibrational temperatures of an N2 （ C3 Ⅱu ） molecule are measured in terms of the optical emission spectra from the N2 second positive system. A simplified collision-radiation model for N2 （C）and N2 ＋ （B）is established on the basis of the ratio of emission intensity at 391.4 nm to that at 380.5 nm and the ratio of emission intensity at 371. 1 nm to that at 380.5 nm for calculating temporal and spatial averaged electron temperatures and densities. Under one atmosphere pressure, the electron temperature and density are on the order of 1.6 eV and 10H cm-3 respectively. The body force induced by the plasma aerodynamic actuation is on the order of tens of mN while the induced flow velocity is around 1.3 m/s. Starting vortex is firstly induced by the actuation ; then it develops into a near-wall jet, about 70 mm downstream of the actuator. Unsteady plasma aerodynamic actuation might stimulate more vortexes in the flow field. The induced flow direction by nanosecond discharge plasma aerodynamic actuation is not parallel, but vertical to the dielectric layer surface.
基金supported by the National Basic Research Program of China (No 2014CB046402)the National Natural Science Foundation of China (No.51575019)111 Project of China
文摘This paper proposes an active fault-tolerant control strategy for an aircraft with dissimilar redundant actuation system （DRAS） that has suffered from vertical tail damage. A damage degree coefficient based on the effective vertical tail area is introduced to parameterize the damaged flight dynamic model. The nonlinear relationship between the damage degree coefficient and the corresponding stability derivatives is considered. Furthermore, the performance degradation of new input channel with electro-hydrostatic actuator （EHA） is also taken into account in the damaged flight dynamic model. Based on the accurate damaged flight dynamic model, a composite method of linear quadratic regulator （LQR） integrating model reference adaptive control （MRAC） is proposed to reconfigure the fault-tolerant control law. The numerical simulation results validate the effectiveness of the proposed fault-tolerant control strategy with accurate flight dynamic model. The results also indicate that aircraft with DRAS has better fault-tolerant control ability than the traditional ones when the vertical tail suffers from serious damage.
