Optimal Design of Novel Electromagnetic-Ring Active Balancing Actuator with Radial Excitation

Imbalance vibration is a typical failure mode of rotational machines and has significant negative effects on the effii-ciency,accuracy,and service life of equipment.To automatically reduce the imbalance vibration during the opera-tional process,different types of active balancing actuators have been designed and widely applied in actual produc-tion.However,the existing electromagnetic-ring active balancing actuator is designed based on an axial excitation structure which can cause structural instability and has low electromagnetic driving efficiency.In this paper,a novel radial excitation structure and the working principle of an electromagnetic-ring active balancing actuator with a combined driving strategy are presented in detail.Then,based on a finite element model,the performance param-eters of the actuator are analyzed,and reasonable design parameters are obtained.Self-locking torque measurements and comparative static and dynamic experiments are performed to validate the self-locking torque and driving effi-ciency of the actuator.The results indicate that this novel active balancing actuator has sufficient self-locking torque,achieves normal step rotation at 2000 r/min,and reduces the driving voltage by 12.5％.The proposed novel balancing actuator using radial excitation and a combination of permanent magnets and soft-iron blocks has improved electro-magnetic efficiency and a more stable and compact structure.     

A multilevel sampled‐data approach for resilient navigation and control of autonomous systems

Autonomous systems are rapidly becoming an integrated part of the modern life. Safe and secure navigation and control of these systems present significant challenges in the presence of uncertainties, physical failures, and cyber attacks. In this paper, we formulate a navigation and control problem for autonomous systems using a multilevel control structure, in which the high‐level reference commands are limited by a saturation function, whereas the low‐level controller tracks the reference by compensating for disturbances and uncertainties. For this purpose, we consider a class of nested, uncertain, multiple‐input–multiple‐output systems subject to reference command saturation, possibly with nonminimum phase zeros. A multirate output‐feedback adaptive controller is developed as the low‐level controller. The sampled‐data (SD) design of this controller facilitates the direct implementation on digital computers, where the input/output signals are available at discrete time instances with different sampling rates. In addition, stealthy zero‐dynamics attacks become detectable by considering a multirate SD formulation. Robust stability and performance of the overall closed‐loop system with command saturation and multirate adaptive control are analyzed. Simulation scenarios for navigation and control of a fixed‐wing drone under failures/attacks are provided to validate the theoretical findings.     

预压力对压电驱动履带移动系统的性能影响

为了提高夹心式压电驱动移动系统的机械输出性能，提出了一种U型预压力调节机构，并开展了预压力对夹心式压电驱动履带移动系统输出性能影响关系的实验研究。首先，针对U型预压力调节机构的安装对夹心式压电振子的振动特性影响关系开展了有限元仿真分析，发现U型预压力调节机构始终处在夹心式压电振子的两相工作模态振动节点位置；其次，开展了夹心式压电驱动履带移动系统的原理样机的预压力调节测试实验，确定了系统的最大输出牵引力及其所对应的最佳预压力；最后，在最佳预压力工作状态下，开展了原理样机的牵引力特性、越障性能以及模拟月壤环境下的运动特性实验。研究结果表明，在最佳预压力工作状态下，夹心式压电驱动履带移动系统的机械输出性能最佳，为其进一步在月面巡视器上的应用提供了技术支持和试验基础。     

Event-triggered decentralized adaptive fault-tolerant control of uncertain interconnected nonlinear systems with actuator failures

This paper investigates the event-triggered decentralized adaptive tracking problem of a class of uncertain interconnected nonlinear systems with unexpected actuator failures. It is assumed that local control signals are transmitted to local actuators with time-varying faults whenever predefined conditions for triggering events are satisfied. Compared with the existing control-input-based event-triggering strategy for adaptive control of uncertain nonlinear systems, the aim of this paper is to propose a tracking-error-based event-triggering strategy in the decentralized adaptive fault-tolerant tracking framework. The proposed approach can relax drastic changes in control inputs caused by actuator faults in the existing triggering strategy. The stability of the proposed event-triggering control system is analyzed in the Lyapunov sense. Finally, simulation comparisons of the proposed and existing approaches are provided to show the effectiveness of the proposed theoretical result in the presence of actuator faults.     

Design of disturbance observer based on adaptive-neural control for large-scale time-delay systems in the presence of actuator fault and unknown dead zone

This article presents an adaptive neural compensation scheme for a class of large-scale time delay nonlinear systems in the presence of unknown dead zone, external disturbances, and actuator faults. In this article, the quadratic Lyapunov–Krasovskii functionals are introduced to tackle the system delays. The unknown functions of the system are estimated by using radial basis function neural networks. Furthermore, a disturbance observer is developed to approximate the external disturbances. The proposed adaptive neural compensation control method is constructed by utilizing a backstepping technique. The boundedness of all the closed-loop signals is guaranteed via Lyapunov analysis and the tracking errors are proved to converge to a small neighborhood of the origin. Simulation results are provided to illustrate the effectiveness of the proposed control approach.     

Actuator fault estimation based on generalized learning observer for quasi-linear parameter varying systems

This article presents a generalized learning observer (GLO) design for the simultaneous estimation of states and actuator faults for polytopic quasi-linear parameter varying systems. The proposed approach is based on the use of a GLO, which generalized the existing results on the proportional-integral observers. Conditions of existence and stability of the observer are given through the stability analysis in the sense of Lyapunov. Its design is obtained in terms of a set of linear matrix inequalities. The performance of the proposed method is evaluated by simulation in a one-link-flexible joint robot system.     

An Artificial Nocturnal Flower via Humidity‐Gated Photoactuation in Liquid Crystal Networks

Beyond their colorful appearances and versatile geometries, flowers can self‐shape‐morph by adapting to environmental changes. Such responses are often regulated by a delicate interplay between different stimuli such as temperature, light, and humidity, giving rise to the beauty and complexity of the plant kingdom. Nature inspires scientists to realize artificial systems that mimic their natural counterparts in function, flexibility, and adaptation. Yet, many of the artificial systems demonstrated to date fail to mimic the adaptive functions, due to the lack of multi‐responsivity and sophisticated control over deformation directionality. Herein, a new class of liquid‐crystal‐network (LCN) photoactuators whose response is controlled by delicate interplay between light and humidity is presented. Using a novel deformation mechanism in LCNs, humidity‐gated photoactuation, an artificial nocturnal flower is devised that is closed under daylight conditions when the humidity level is low and/or the light level is high, while it opens in the dark when the humidity level is high. The humidity‐gated photoactuators can be fueled with lower light intensities than conventional photothermal LCN actuators. This, combined with facile control over the speed, geometry, and directionality of movements, renders the “nocturnal actuator” promising for smart and adaptive bioinspired microrobotics.     

汽车电磁式主动悬架技术综述

电磁式主动悬架兼具控制精确、系统响应快和节能高效等优点,对悬架运动的控制能力强,可以显著提升车辆的舒适性和操稳性。随着新能源汽车、电控系统以及悬架减振技术的发展,电磁式作动器在汽车悬架系统上的应用开始受到关注。文中对汽车电磁式主动悬架技术的研究和应用现状进行回顾和分析,并对其应用前景进行展望。     

复杂地形下风力机尾流数值模拟研究和激光雷达实验对比

以CFD数值计算和实验相结合的方法,对处于中国西南某多山地区陆上风电场的尾流特性进行研究,验证不同数值方法在复杂地形的适用性。首先采用2台激光雷达,测量目标风力机一个月内的自由来流风速和尾流廓线,在地形上坡加速效应下,不同大气稳定度下目标风力机的自由来流风速廓线均呈负梯度。然后分别采用经典致动盘和改进致动盘法,模拟目标风力机在主风向下的尾流发展。不同于只有风速与压降关系的经典致动盘法,改进致动盘法更考虑了叶片几何和气动参数(尺寸信息、攻角、桨距角、升阻力系数等)。通过与后置激光雷达尾流测试结果对比,这2种基于CFD技术的数值模拟方法,计算网格相同,计算时间相当,且均能较好地模拟因为复杂地形而引起的尾流偏转;其中改进致动盘的尾流形状与激光雷达相似,速度亏损也更接近激光雷达结果。因此,改进致动盘法更适合于复杂地形条件下风场模拟,较好平衡了计算的效率与精度。