Optimization of clamped circular piezoelectric composite actuators

This paper addresses the design of clamped circular piezoceramic composite unimorph and bimorph configurations, specifically the conflicting requirements of maximum volume displacement for a prescribed bandwidth. An optimization problem is formulated that implements analytical solutions for unimorph and bimorph configurations using laminated plate theory, including the use of oppositely polarized piezoceramic patches. A range of actuator geometric parameters are studied, and bounds for volume displacement and natural frequency of optimal designs are determined and presented via design curves. In the selected design space, Pareto optimization results for unimorph and bimorph configurations show that optimal volume displacement is related to the bandwidth by a universal power law such that the product of the square of the natural frequency and the displaced volume, a “gain-bandwidth” product, is a constant. Characteristic trends are also described that are independent of the actuator radius for the Pareto optimal piezoceramic patch thickness and radius versus normalized bandwidth. The results are relevant, for example, in the design of zero-net mass-flux or synthetic jet actuators used in flow control applications.     

A large-displacement 65Pb(Mg1/3Nb2/3)O3–35PbTiO3/Pt bimorph actuator prepared by screen printing

In this paper we present a novel approach to preparing large-displacement 65Pb(Mg_1/3Nb_2/3)O₃–35PbTiO₃/Pt (65/35 PMN–PT/Pt) bimorph actuators. These “substrate-free”, bending-type actuators were prepared by screen-printing the 65/35 PMN–PT and Pt thick-film pastes as the electrodes on alumina substrates. After this screen printing and the subsequent firing the 65/35 PMN–PT/Pt composites were peeled off from the substrates. Displacements of nearly 100 μm at 18 V were achieved for actuators with dimensions of 1.8 cm × 2.5 mm × 50 μm for the 65/35 PMN–PT layer. The normalized displacement (the displacement per unit length) was 40 μm/cm at 18 V. The experimental results together with a computation procedure were used to obtain the material parameters for a finite-element analysis of the 65/35 PMN–PT/Pt bimorph actuators.     

基于混沌差分进化FCM算法的舵回路故障诊断

为了提高故障分类的准确性,提出了一种混沌差分进化模糊C-均值故障识别方法(CDEFCM,chaotic differential evolution fuzzy C-mean).该方法利用差分进化算法高效的全局搜索能力以及混沌序列的均匀遍历特性,克服了模糊C-均值算法(FCM,fuzzy C-mean)对初始值敏感的缺点及遗传算法易收敛到局部极值点的缺陷,用该方法进行故障聚类分析,可以准确地识别故障.以某飞控系统舵回路常见故障为例进行了仿真验证,结果表明该方法能有效地识别出故障.     

Output feedback variable structure control of uncertain linear systems in the presence of actuator dynamics

A new output feedback variable structure control scheme is developed based on a novel passivity idea. This scheme may practically stabilize a class of higher‐relative‐degree uncertain linear systems, and realize output tracking and disturbance attenuation as well. The controller is composed of linear filters and a single relay, without employing real‐time exact differentiators. Under this framework, we also explain how actuator dynamics affect the closed loop behavior. A simulation example shows the simplicity and efficiency of this method. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Fuzzy motion control strategy for cooperation of multiple automated vehicles with passengers comfort

This paper considers motion control for a cooperative system of automated passenger vehicles. It develops a cooperative scheme based on a decentralized planning algorithm which considers the vehicles in an initial open chain configuration. In this scheme the trajectories are intersections-free, and each trajectory is planned independently of the others. To ensure the stabilization of each vehicle in the planned trajectory, a fuzzy closed loop motion control is presented, where, based on the properties of the Fuzzy maps, the Lyapunov’s stability of the motion errors is demonstrated for all the vehicles. Based on the ISO 2631-1 standard, the saturation property of the Fuzzy maps guarantees low values of longitudinal and lateral accelerations, to ensure comfort of the human body during the motion. The validity of this control algorithm is supported by simulation experiments.     

MLATSO: A method for task scheduling optimization in multi-load AGVs-based systems

In the context of increasingly competitive intelligent manufacturing, the multi-load Automated guided vehicles (AGVs) based Automated Storage and Retrieval System (AS/RS) has been of particular interest, as reductions in the number of AGVs required can significantly decrease potential congestions and increase the system effectiveness. In comparison with the single-load AGVs system, more difficult and critical issue of scheduling multi-load AGVs to automate storage/retrieval missions and to maximize economic benefits remains unresolved. Therefore, we propose a task scheduling optimization method for multi-load AGVs-based systems, with which, the objectives of least number of occupied AGVs, shortest travel time and minimum conflicts can be met simultaneously. The experiments are conducted in various scenarios, and verify that our work can use fewer AGVs to optimize tasks delivery, which enables the AS/RS stakeholders to reach win-win results for system performance and AGVs investment, thus maximizing economic benefit.     

Adaptive fixed-time prescribed performance control of vehicular platoons with unknown dead-zone and actuator saturation

This article focuses on the problem of fixed-time prescribed performance platoon control for heterogeneous vehicles with unknown dead-zone and actuator saturation. First, an equivalent transformation is developed to approximate the actuator nonlinearity (i.e., dead-zone and saturation), which reduces the complexity of controller design. Then, to guarantee the tracking errors converge to the predetermined region in the given time, a modified prescribed performance function is presented. Based on this, a novel adaptive sliding mode control scheme is developed in the context of fixed-time theory, which is proved to be capable of ensuring individual vehicle stability and string stability in fixed time. In addition, under the proposed control scheme, the convergence time is independent of initial conditions of the system. Finally, numerical simulations are carried out to demonstrate the effectiveness of the proposed control scheme.     

具有执行器故障的四旋翼无人机有限时间容错控制

本文主要研究了四旋翼无人机在外部干扰、执行器存在部分失效和偏置故障并发情况下有限时间轨迹跟踪的控制问题. 通过分析四旋翼无人机动力学特性, 构建了带有外部干扰、执行器机构故障的动力学模型. 基于鲁棒全局快速终端滑模控制算法, 设计了一种有限时间容错控制器, 提高了系统对故障的响应速度. 其次, 针对常值/时变故障和干扰,在控制器设计中采用改进的连续函数进行补偿, 减少了由切换函数引起的系统抖振, 并基于Lyapunov函数对控制器的稳定性进行了分析. 最后, 通过仿真实验验证了所设计控制器的有效性和可靠性, 同时存在执行器故障和外部干扰的情况下, 无人机能够实现较好的轨迹跟踪性能.     

Stabilization of uncertain networked control systems with actuator saturation and probabilistic cyberattacks

This paper investigates the stabilization of uncertain networked control systems (NCSs) with actuator saturation and cyberattacks. The cyberattacks are governed by a set of independent random variables satisfying Bernoulli distribution. To relieve the network bandwidth load effectively, an event-triggered communication strategy is proposed. By employing Lyapunov stability theory and stochastic analysis techniques, a stability criterion is obtained for the system with actuator saturation and cyberattacks. Moreover, the desired controller gain is derived by solving some matrix inequalities. Finally, the validity and applicability of the criteria are verified through numerical examples.     

Mechanical and electrical properties of electrospun CNT/PVDF nanofiber for micro-actuator applications

Electrospun polyvinylidene fluoride (PVDF)-containing carbon nanotubes (CNT) were prepared for use in fabricating actuator materials. Actuating displacement was measured in an electrochemical environment. The electrospun nanofibers were arranged using a drum-type collector, and morphology was investigated using a field emission-scanning electron microscope. The uniformity of dispersion of CNT in the PVDF nanofibers was monitored by electron probe X-ray micro-analysis. Tensile strength and electrical resistivity results were used as an indication of the state of alignment. The electrospun CNT/PVDF nanofiber sheets exhibited better mechanical and electrical properties in the arranged direction. The efficiency and electrical capacities of electrospun CNT/PVDF nanofiber sheet were compared with those of cast PVDF sheets for use in actuator applications in electrochemical environments. The electrospun CNT/PVDF nanofiber sheets exhibited much better actuator performance than PVDF sheets, which are attributed to their superior electrical properties.

Highlights

(1) The interfacial durability of CNT/PVDF nanofibers was enhanced to increase contact area by reinforcing CNT.

(2) The efficiency of CNT/PVDF actuators was improved due to interfacial properties.

(3) Thin thickness drum-type collector was made to enhance nanofiber alignment.

(4) The arranged CNT/PVDF nanofibers exhibited better mechanical and actuating displacements.