Simulation Analysis of Friction Nonlinear for NC Servo System

2013 ◽  
Vol 274 ◽  
pp. 642-645
Author(s):  
Yu Hong Dong ◽  
Su Ling Tian
Keyword(s):  
Relative Stability ◽  
Simulation Analysis ◽  
Servo System ◽  
Reference Value ◽  
Rotation Velocity ◽  
Static Friction ◽  
Friction Torque ◽  
Tracking Accuracy ◽  
Dynamic Tracking ◽  
The Difference

Friction nonlinear is common in mechatronics system. It can decrease dynamic tracking accuracy, rapidity and relative stability of the system. For NC servo system as an example the simulation analysis is carried out for friction nonlinear. Analyzing friction torque, the difference between dynamic and static friction torques have effects on the system performances. The simulation results illustrate that friction nonlinear mainly affects lower speed track performance of servo system lower. With rotation velocity instruction lower dynamic tracking accuracy and relative stability of servo system more decreasing, the response lag more severity. In the condition of rotation velocity instruction invariable, the bigger the difference between dynamic and static friction torques the worse relative stability and response lag of the system. The paper’s study has the reference value for design and improving lower speed performances of servo system.

Research on the Motor Friction Model of Electro-Hydraulic Servo System

2013 ◽  
Vol 579-580 ◽  
pp. 594-597 ◽  
Author(s):  
Xiao Jing Wang ◽  
Wen Xuan Han ◽  
Xiao Cui ◽  
Shuo Ze Li ◽  
Cheng Zhi Du
Keyword(s):  
Simulation Analysis ◽  
Angular Displacement ◽  
Servo System ◽  
Friction Model ◽  
Friction Torque ◽  
Servo Motor ◽  
Lugre Friction Model ◽  
Hydraulic Servo ◽  
Friction Models ◽  
Hydraulic Servo System

In order to improve the performance of the electro-hydraulic servo system, considering the special structure of servo motor, nonlinear model of the servo motor was established in time domain. Several friction models commonly used in project were introduced and applied to the simulation analysis of servo motor with friction torque. The simulation curves show the relationship between driving torque, friction torque, angular velocity and angular displacement. The result confirms the influence of the different friction torque model on the performance of motor, and the LuGre friction model is identified which is fit for the friction torque compensation. This study lays the foundation for the friction torque compensation of electro-hydraulic servo motor.

scholarly journals Suppress Vibration on Robotic Polishing with Impedance Matching

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 59
Author(s):  
Junjie Dai ◽  
Chin-Yin Chen ◽  
Renfeng Zhu ◽  
Guilin Yang ◽  
Chongchong Wang ◽  
...  
Keyword(s):  
Contact Force ◽  
Force Control ◽  
Impedance Control ◽  
Impedance Matching ◽  
Industrial Robots ◽  
Contact Phase ◽  
Dynamic Tracking ◽  
Force Tracking ◽  
The Difference ◽  
End Effectors

Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However, due to the difference between the robot structure and the force-controlled end-effector, in the polishing operation, direct force control will have impact during the transition from noncontact to contact between the tool and the workpiece. Although impedance control can solve this problem, industrial robots still produce vibrations with high inertia and low stiffness. Therefore, this research proposes an impedance matching control strategy based on traditional direct force control and impedance control methods to improve this problem. This method’s primary purpose is to avoid force vibration in the contact phase and maintain force–tracking performance during the dynamic tracking phase. Simulation and experimental results show that this method can smoothly track the contact force and reduce vibration compared with traditional force control and impedance control.

Influence Parameters Analysis of Forming Quality and System Dynamics Simulation of Vertical Steel Bar Benting

2013 ◽  
Vol 483 ◽  
pp. 280-284
Author(s):  
Xi Jian Zheng ◽  
Xin Zhuo Wang ◽  
Jin Meng Zhang ◽  
Yu Fei Zhu
Keyword(s):  
Simulation Analysis ◽  
Reference Value ◽  
Dynamics Simulation ◽  
Forming Quality ◽  
Steel Bar ◽  
New Process ◽  
Cutting Length ◽  
Bending Radius ◽  
The Relationship

The vertical steel bar bending forming is a kind of new process of bending method. The bending speed, bending radius and clamping length H which is the parameters of vertical steel bar bending machine , is directly affect the quality of bending forming parts. This paper calculated the length of reinforcement before being incised and the springback angle of bending steel bar which obtained the reasonable cutting length and bending Angle; Then based on rigid-flexible virtual prototype technology to build the dynamics model of vertical steel bar bending system. Through simulation analysis ,it obtained the relationship between bending speed, bending radius , clamping length H and forming quality of bending steel bar. In this paper, the analysis method have reference value to the design of similar steel bar bending machines.

scholarly journals High Precision Optical Tracking System Based on near Infrared Trinocular Stereo Vision

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2528
Author(s):  
Songlin Bi ◽  
Yonggang Gu ◽  
Jiaqi Zou ◽  
Lianpo Wang ◽  
Chao Zhai ◽  
...  
Keyword(s):  
High Precision ◽  
Stereo Vision ◽  
Near Infrared ◽  
Nearest Neighbor ◽  
Tracking System ◽  
Optical Tracking ◽  
Tracking Accuracy ◽  
Optical Tracking System ◽  
Dynamic Tracking ◽  
Trinocular Stereo

A high precision optical tracking system (OTS) based on near infrared (NIR) trinocular stereo vision (TSV) is presented in this paper. Compared with the traditional OTS on the basis of binocular stereo vision (BSV), hardware and software are improved. In the hardware aspect, a NIR TSV platform is built, and a new active tool is designed. Imaging markers of the tool are uniform and complete with large measurement angle (>60°). In the software aspect, the deployment of extra camera brings high computational complexity. To reduce the computational burden, a fast nearest neighbor feature point extraction algorithm (FNNF) is proposed. The proposed method increases the speed of feature points extraction by hundreds of times over the traditional pixel-by-pixel searching method. The modified NIR multi-camera calibration method and 3D reconstruction algorithm further improve the tracking accuracy. Experimental results show that the calibration accuracy of the NIR camera can reach 0.02%, positioning accuracy of markers can reach 0.0240 mm, and dynamic tracking accuracy can reach 0.0938 mm. OTS can be adopted in high-precision dynamic tracking.

scholarly journals Evolutionary Algorithm-Based Friction Feedforward Compensation for a Pneumatic Rotary Actuator Servo System

2018 ◽  
Vol 8 (9) ◽  
pp. 1623 ◽  
Author(s):  
Ke Li ◽  
Yeming Zhang ◽  
Shaoliang Wei ◽  
Hongwei Yue
Keyword(s):  
Differential Evolution ◽  
Evolutionary Algorithm ◽  
Differential Evolution Algorithm ◽  
Servo System ◽  
Control Architecture ◽  
Tracking Accuracy ◽  
Pd Control ◽  
Compensation Control ◽  
Position Accuracy ◽  
Rotary Actuator

The friction interference in the pneumatic rotary actuator is the primary factor affecting the position accuracy of a pneumatic rotary actuator servo system. The paper proposes an evolutionary algorithm-based friction-forward compensation control architecture for improving position accuracy. Firstly, the basic equations of the valve-controlled actuator are derived and linearized in the middle position, and the transfer function of the system is further obtained. Then, the evolutionary algorithm-based friction feedforward compensation control architecture is structured, including that the evolutionary algorithm is used to optimize the controller coefficients and identify the friction parameters. Finally, the contrast experiments of four control strategies (the traditional PD control, the PD control with friction feedforward compensation without evolutionary algorithm tuning, the PD control with friction feedforward compensation based on the differential evolution algorithm, and the PD control with friction feedforward compensation based on the genetic algorithm) are carried out on the experimental platform. The experimental results reveal that the evolutionary algorithm-based friction feedforward compensation greatly improves the position tracking accuracy and positioning accuracy, and that the differential evolution-based case achieves better accuracy. Also, the system with the friction feedforward compensation still maintains high accuracy and strong stability in the case of load.

scholarly journals The IG- file use to Gauge the Apical Diameter in Endodontics: An In Vitro Study

2018 ◽  
Vol 12 (1) ◽  
pp. 638-646 ◽  
Author(s):  
Massimo Amato ◽  
Alfredo Iandolo ◽  
Giuseppe Pantaleo ◽  
Dina Abtellatif ◽  
Michele Simeone ◽  
...  
Keyword(s):  
Measurement Accuracy ◽  
Reference Value ◽  
In Vitro Study ◽  
Vitro Study ◽  
Root Canals ◽  
New Instrument ◽  
Clinician Experience ◽  
Incorrect Measurement ◽  
The Difference

Aim: The aim of this study was to evaluate the efficacy of the IG-file, a new instrument designed for apical diameter gauging. Materials and Methods: After shaping with F1 Universal Protaper, 60 roots were randomly divided into two groups and assigned to two operators, One Expert in Endodontics (EO) and One Unexpert (UO). In each sample, after canal curvatures have been detected, the apical diameters were measured with the IG-file and the K-NiTi. The results were compared with the reference value obtained by retrograde apical gauging. The data were statistically analyzed. Results: Among 60 samples, 10% of errors were recorded when the IG-files were used; in the K-NiTi group the incorrect measurements were 70%. In both groups (expert and unexpert) the IG-file measurements were more accurate than the K-NiTi (90 vs 33 and 90 vs 26,7). The differences were statistically significant. In curved canals, the difference between measurement rates performed with both instruments was statistically significant (85,7% IG-file vs 28,6% K-NiTi) as well as for the samples without curvatures (92,3% IG file vs 30,8% NiTi file). In root canals without curvatures overestimation errors in K-NiTi file group are more frequent than underestimation errors. This difference was statistically significant. Conclusion: A proper gauging of the apical diameter has a key role in endodontic therapy; an incorrect measurement can lead to clinical failures. This “in vitro” study highlights that IG-file improves measurement accuracy independently from clinician experience. Furthermore, in curved canals, the IG-file is more accurate than K-NiTi.

scholarly journals Single-input, multiple-output iterative algorithm for the calculation of volume, area, elevation, and shape using 3D topobathymetric models

2020 ◽  
Author(s):  
Hugo Luis Rojas-Villalobos ◽  
Blair Stringam ◽  
Zohrab Samani ◽  
Luis Carlos Alatorre Cejudo ◽  
Christopher Brown
Keyword(s):  
Water Body ◽  
Input Data ◽  
Reference Value ◽  
The Body ◽  
Digital Terrain ◽  
Terrain Models ◽  
Input Multiple Output ◽  
Single Input ◽  
The Difference ◽  
Area And Volume

Most methods for estimating the morphometric values of water bodies use equations derived from hypsographic curves or digital terrain models (DTMs) that relate depth, volume (V), and area (A) and that model the uncertainty inherent in the complex underwater morphology. This research focuses directly on the use of topobathymetric models that include the bathymetry and topography of the surrounding area next to the water body. The projection of the water surface height (H) on each DTM pixel generates a water column with intrinsic attributes such as volume and area. The process is replicated among all cells and estimates the total area and volume of the water body. If the V or A is the input data, an algorithm that iterates height values is used to generate the new data, which is compared with the entered value that functions as a reference. If the difference between the reference value and the calculated value is less than an error threshold, the iteration stops, and the maximum and average depths are calculated. The raster and the shape that represent the body of water are created. The cross comparison of H-V-A showed that there is an error between 0.0034% and 0.000039% when any of the parameters are used as input data. Performance tests determined that pixel dimensions are directly proportional to the processing time for each iteration. The results of the implementation of this algorithm were satisfactory since, for the DTM of Bustillos Lagoon, Chihuahua, Mexico, the simulation took less than 17 seconds in at most 22 iterations.

scholarly journals Implications of a Narrow Automated Vehicle-Exclusive Lane on Interstate 15 Express Lanes

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Sahar Ghanipoor Machiani ◽  
Alidad Ahmadi ◽  
Walter Musial ◽  
Anagha Katthe ◽  
Benjamin Melendez ◽  
...  
Keyword(s):  
Data Analysis ◽  
Simulation Analysis ◽  
Careful Consideration ◽  
Human Capabilities ◽  
Crash Data ◽  
Automated Vehicle ◽  
The Difference ◽  
Differential Increase ◽  
Operational Impacts ◽  
Crash Data Analysis

The main objective of this study is to evaluate the safety and operational impacts of an innovative infrastructure solution for safe and efficient integration of Automated Vehicle (AV) as an emerging technology into an existing transportation system. Filling the gap in the limited research on the effect of AV technology on infrastructure standards, this study investigates implications of adding a narrow reversible AV-exclusive lane to the existing configuration of I-15 expressway in San Diego, resulting in a 9 ft AV reversible lane and, in both directions, two 12-feet lanes for HOV and FasTrak vehicles. Given the difference between the operation of AVs and human-driven vehicles and reliance of AVs on sensors as opposed to human capabilities, the question is should we provide narrower AV-exclusive roadways assuming AVs are more precise in lateral and longitudinal lane keeping behaviour? To accomplish the goal of the project, a historical crash data analysis and a traffic simulation analysis were conducted. Crash data analysis revealed that unsafe speed, improper turning, and unsafe lane change are the most recurring primary collision factors on I-15 ELs. AVs’ automated longitudinal and lateral control systems could potentially reduce these types of collisions on an AV-exclusive lane with proper infrastructure features for AV sensor operation (e.g., distinct lane marking). Microsimulation findings indicated an AV-exclusive lane may increase traffic flow and density by up to 14% and 24%, respectively. It also showed that average speed is reduced. However, this could lead to the speed differential increase between the exclusive lane and adjacent lane requiring careful consideration if additional treatments or barriers are needed. The results of this study contribute to infrastructure adaptation to AV technology and future AV-exclusive lanes implementations.

Control Method for Flexible Joints in Manipulator Based on BP Neural Network Tuning PI Controller

Mathematics ◽  
2021 ◽  
Vol 9 (23) ◽  
pp. 3146
Author(s):  
Hexu Yang ◽  
Xiaopeng Li ◽  
Jinchi Xu ◽  
Dongyang Shang ◽  
Xingchao Qu
Keyword(s):  
Neural Network ◽  
Control Strategy ◽  
Bp Neural Network ◽  
Servo System ◽  
Pole Assignment ◽  
Pi Controller ◽  
Friction Torque ◽  
System Model ◽  
Angle Error ◽  
Assignment Method

With the development of robot technology, integrated joints with small volume and convenient installation have been widely used. Based on the double inertia system, an integrated joint motor servo system model considering gear angle error and friction interference is established, and a joint control strategy based on BP neural network and pole assignment method is designed to suppress the vibration of the system. Firstly, the dynamic equation of a planetary gear system is derived based on the Lagrange method, and the gear vibration of angular displacement is calculated. Secondly, the vibration displacement of the sun gear is introduced into the motor servo system in the form of the gear angle error, and the double inertia system model including angle error and friction torque is established. Then, the PI controller parameters are determined by pole assignment method, and the PI parameters are adjusted in real time based on the BP neural network, which effectively suppresses the vibration of the system. Finally, the effects of friction torque, pole damping coefficient and control strategy on the system response and the effectiveness of vibration suppression are analyzed.

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