https://iopscience.iop.org/article/10.1088/1361-665X/ab2dd0/pdf

The model of active vibration control based on giant magnetostrictive materials

In many applications comprised of multiple platforms with stringent vibration isolation requirements, several vibration isolators are employed to work in tandem. They usually must accomplish two objectives: (i) reduce the vibration level of each platform; and (ii) maintain the required alignment with respect to each other or with a fixed reference. If the isolators are located on a rigid supporting structure, the problem can be approached as a classical vibration isolation (VI) problem, in which an increase in damping implies a reduction of vibration level experienced by the platforms. However, there are an increasing number of scenarios in which the dynamic interaction between the isolator and the base structure has the potential to alter the system response and consequently degrade VI performance. In this work, a generalized method to analyze the combined VI and alignment problem, for multiple isolators located on a flexible supporting structure, is proposed. The dynamic interaction between the platforms and the isolators is considered in the control design, and it is proved employing two different functional values that the maximum damping solution is not always the best approach when the dynamics of the supporting structure are considered. Numerical simulations are presented to validate the theory developed and robustness of the proposed control approach is demonstrated.

https://www.mdpi.com/2076-0825/9/4/108/pdf

Vibration Isolation and Alignment of Multiple Platforms on a Non-Rigid Supporting Structure

Electric and hybrid vehicle engines produce a complex spectrum of vibration and noise. Various active mounting techniques have been developed to isolate them. These are designed to continuously control the dynamic characteristics of the mounts and improve the noise, vibration, and harshness (NVH) performance under various operating conditions. Active mounts have attracted attention as replacement for existing mounts by simultaneously realizing static and dynamic stiffness, which is important for supporting an engine. Therefore, this study focuses on the vibration isolation performance of the upper plate and lower plate when the structure, including the active mounting system, is applied to multifrequency excitation. The overall modeling is based on the lumped parameter model, and the input signal is applied to the amplitude modulated and frequency modulated signals. The adaptive filter is applied for control, and the normalization least mean square (NLMS) algorithm, which is commonly used in research, is extended to a multi-NLMS algorithm. It is shown that when multifrequency input is applied, the adaptive filter is effectively applied to the active mounting system to control vibration.

Vibration reduction against modulated excitation using multichannel NLMS algorithm for a structure with three active paths between plates

The invention relates to a method for dynamic reconstruction of a control algorithm of an industrial robot A technique of updating the control algorithm online without disturbance without interrupting operation of a control system is provided, by using a third-party virtual controller technical method, without changing an original control system of the industrial robot, a control program constructed by the virtual controller can be run, undisturbed dynamic reconstruction of the control algorithm of the robot is realized, consistency of robot application is maintained, and real-time control task of the robot is satisfied; and when the control algorithm is dynamically adjusted, not only can attribute parameters be changed, but also the structure of the algorithm can be changed; and changingis carried out in the normal working state maintained by a control platform According to the method for dynamic reconstruction of the control algorithm of the industrial robot, the control algorithmcan be dynamically reconstructed without disturbance without interrupting operation of the control system

Method for dynamic reconstruction of control algorithm of industrial robot

The invention discloses an impedance detection module used for a medical equipment cloud system. The impedance detection module is applicable to the specific medical equipment cloud system, and an equipment terminal in the system comprises a control module, a man-machine interaction module, a waveform power amplification module, a DDS waveform generation module, a direct current bias module, an impedance detection module, a communication module and a storage module. The impedance detection module achieves intelligent adjustment of an interface; intelligent judgment of the terminal is achieved.Operation instruments of a doctor can be carried with the doctor. The impedance detection module is applicable to the specific medical equipment cloud system.

Impedance detection module used for medical equipment cloud system

Active vibration control to suppress structural vibration of the flexible structure is investigated based on a new control strategy considering structure-actuator interaction. The experimental system consists of a clamped-free rectangular plate, a controller based on modal control switching, and a magnetostrictive actuator utilized for suppressing the vibrations induced by external excitation. For the flexible structure, its deformation caused by the external actuator will affect the active control effect. Thus interaction between structure and actuator is considered, and the interaction model based on magnetomechanical coupling is incorporated into the control system. Vibration reduction strategy has been performed resorting to the actuator in optimal position to suppress the specified modes using LQR (linear quadratic regulator) based on modal control switching. The experimental results demonstrate the effectiveness of the proposed methodology. Considering structure-actuator interaction (SAI) is a key procedure in controller design especially for flexible structures.

Active vibration control based on modal controller considering structure-actuator interaction

The invention relates to a manipulator trajectory planning method based on a sorting process. The manipulator trajectory planning method based on the sorting process is implemented through the following steps of according to the concrete sorting process, predefining the maximum speed and the accelerated speed of each joint and each degree of freedom of a parallel manipulator, and adopting as constraint conditions during the following trajectory optimizing process; on the basis of basic path points of picking-placing actions of the sorting process, carrying out time-optimal interpolation trajectory optimization, and obtaining an optimal trajectory of an operation space of the parallel manipulator; and mapping the optimal trajectory of the operation space of the parallel manipulator into a joint space, carrying out interpolation trajectory optimization, and obtaining an optimal trajectory of a joint space of the parallel manipulator.

Manipulator trajectory planning method based on sorting process

A wide-range adjustable self-switching voltage source based on a BUCK circuit comprises a PWM control circuit, a high-speed optical coupling isolation circuit, a totem pole circuit, a BUCK main circuit A PWM pulse signal is generated and output by a CPLD chip, and is subjected to input and output isolation by a high-speed optical coupler Then the totem pole circuit provides a discharge loop forthe junction capacitance of a MOS transistor and increases the drive capability Finally the BUCK main circuit forms a resonant loop switch structure, determines the level of a level signal to controlthe charge and discharge of the entire circuit the stable output of voltage, and finally outputs adjustable DC voltage The wide-range adjustable self-switching voltage source based on a BUCK circuithas high reliability and good stability

Wide-range adjustable self-switching voltage source based on BUCK circuit

The invention discloses a framework of an industrial robot motion controller. The framework comprises an ARM processor and an FPGA processor, wherein the ARM processor serves as a main processor and is used for event management, and the FPGA processor is connected with the ARM processor, serves as a coprocessor and is used for conducting servo control over all joint motors, conducting output digital quantity control, outputting position pulses, receiving coder signals and processing expansion IO signals. According to the framework, an ARM core board serves as an upper main processor circuit board, and data exchange between the ARM core board and an FPGA serving as the lower coprocessor is conducted through an SPI high-speed serial interface bus. The FPGA is used for conducting servo control over all the joint motors, conducting output digital quantity control, outputting the position pulses, receiving the coder signals and processing the expansion IO signals. The function of running independent of a PC or an IPC is achieved; by utilizing the embedded hardware technology, the structure and scale of a motion control system are reduced, the integration level of industrial robots in industrial production is improved, the precision requirement is met, and meanwhile the cost is reduced.

Jiang Jinjun

Papers

Active vibration control based on modal controller considering structure-actuator interaction

Manipulator trajectory planning method based on sorting process

Wide-range adjustable self-switching voltage source based on BUCK circuit

Framework of industrial robot motion controller