Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system.     

Pressure control of an electro-hydraulic actuated clutch via novel hysteresis model

This paper mainly focuses on the development of pressure tracking control logic of electro-hydraulic actuators for vehicle application. This is done to improve and ensure the performance of a precise lower-level controller for evolving modern shift control logic. The required performance is obtained by hysteresis model-based feed-forward control and additional feedback control. The hysteresis and the time delay, which adversely affect pressure control, are well known nonlinear behaviors in electro-hydraulic actuators. In order to cope with the hysteresis, a novel hysteresis model is proposed based on a physical phenomenon. A mathematical model based on a characteristic curve obtained in preliminary experiments is presented using only one tuning parameter, and this model can be inverted easily to construct a feed-forward controller. In addition, a feedback controller is designed considering the stability margin of a time delay system. The feedback control inputs ensure compensation of the feed-forward errors caused by model error and uncertainty. The proposed controller is designed to lower computational cost considering applicability for production vehicles. As a result, the developed pressure controller is applied to a transmission control unit of a production vehicle and verified experimentally for various driving scenarios.     

Experimental optimization of power-function-shaped drive pulse for stick-slip piezo actuators

Motion of a stick-slip piezo actuator is generally controlled by the parameters related to its mechanical design and characteristics of the driving pulses applied to piezoceramic shear plates. The goal of the proposed optimization method is to find the driving pulse parameters leading to the fastest and the most reliable actuator operation. In the paper the method is tested on a rotary stick-slip piezo actuating system utilized in an atomic force microscope.The optimization is based on the measurement of the actuator response to driving pulses of different shapes and repetition frequencies at various load forces. To provide it, a computer controlled testing system generating the driving pulses, and detecting and recording the corresponding angular motion response of the actuator by a position sensitive photo detector (PSPD) in real time has been developed. To better understand and interpret the experimental results, supportive methods based on a simple analytical model and numerical simulations were used as well.In this way the shapes of the single driving pulses and values of the load force providing the biggest actuator steps were determined. Generally, the maximal steps were achieved for such a combination of the pulse shapes and load forces providing high velocities at the end of the sticking mode of the actuator motion and, at the same time, lower decelerations during the slipping mode.As for the multiple driving pulses, the pulse shapes and values of repetition frequency ensuring the sticking mode of the actuator motion during the pulse rise time together with the maximum average angular rotor velocity were specified. In this way the effective and stable operation conditions of the actuator were provided.In principle, the presented method can be applied for the testing and optimization of any linear or angular stick-slip actuator.     

基于DSP的多元数据同步采集与存储系统的设计与实现

从硬件和软件两个角度出发,介绍基于DSP的多元数据同步采集与存储系统的组成、工作模式以及功能的测试。系统主要由上位机和数字采集与存储单元组成,其中数字采集与存储单元的硬件部分包括电源模块,值班电路模块,数据采集模块,数据存储模块,时钟同步模块。系统采用DSP作为中央处理芯片,利用经过同步后的秒脉冲作为触发信号,实现同步数据采集。以CF卡作为存储介质,实现数据自容式存储。软件部分实现自检、同步、数据采集存储功能。经过测试,系统工作稳定,功能正常,同步精度在100ns以内。     

智能型电子式变频电动执行器及其应用

针对原有电动执行器只有以低速运行，通过极强的微调才能修正微小偏差这一缺点，提出智能型电动执行器与各种阀体譬合，利用数字化变频技术，改造目前采用模拟技术的电动执行器，使之具有变速运行、动态响应块，调节定位精度高、稳定性好，故障率低、使用寿命长和应用场合广泛的特点。     

压电驱动器迟滞特性的Preisach模型研究

压电驱动器的迟滞特性是影响其位移输出精度的主要因素。该文采用改进的Preisach模型对压电驱动器的迟滞特性进行建模，并进行了相应的实验研究。实验结果表明该模型可以很好地预测压电驱动器在经过一定的控制电压序列以后的位移输出值．能够有效地降低迟滞特性对压电驱动器位移输出精度的影响。     

直线电机抽油机与游梁式抽油机性能对比

攻克了直线电机大推力的关键技术,研制成功了具有国际领先水平的直线电机抽油机。这种抽油机最大特点是改变了过去各种抽油机将电能转变为旋转运动,再通过机械方式转变为直线往复运动的方式,通过变频和控制直接将电能转变为直线往复运动。与游梁式抽油机相比,直线电机抽油机不但提高了机械效率,而且能够实现抽汲参数的无级调整,进而能够根据抽油的需要调整悬点运动规律,具备智能化控制和远程监控的有利条件。     

厚膜永磁阵列微致动器的磁路研究

研究了厚膜永磁阵列微致动器中的磁场分布，并研究了永磁阵列单元几何尺寸对微致动器电磁力的影响。结果表明，厚膜永磁阵列单元高宽比和磁体单元间隔对微致动器电磁力影响较大磁徕单元高宽比为0．7是一个比较合适的尺寸。     

超宽带极窄脉冲设计与产生

超宽带(UWB)技术是以持续时间极短的脉冲作为传输载体进行数据通信的无线新技术。基于BJT雪崩特性,本文采用并行同时触发的工作方式,设计并产生了高重复速率的UWB脉冲电路发生器,极大地减少了时延,缩短了上升时间,提高了脉冲的幅度,并从等效电路法的观点分析计算了脉冲的特性参数,理论结果与实测结果具有较好的一致性。     

仿生型步进式直线驱动器的研究

本文提出一种新型直线驱动器的仿生动作原理，并设计出两种机械结构及其控制器。实验表明，这类驱动器具有精度高，步距可变，输出力大，行程长，结构简单，体积小，内藏传感器，具有极好输出特性等特点。这类驱动器适用于一切超高精度的直接驱动。