Actuator Dynamics Research Articles

Internal Model‐Based Anti‐Disturbances Low‐Level Control for Drones Considering Actuator Dynamics

ABSTRACTLow‐level control plays a critical role in the overall flight performance of drones. Despite some progress, existing methods do not adequately consider the complex electromechanical characteristics of actuators and aerodynamic disturbances of propellers, which deteriorates low‐level control performance. To tackle these issues, we propose a new nonlinear low‐level controller for higher precision control. First, a high‐precision low‐level model that integrates the actuator dynamics and angular velocity dynamics is presented. Based on this model, a dynamic compensator is designed using the internal model method to handle aerodynamic disturbances. Next, a high‐gain observer is designed to estimate the actuator states without adding new sensors, and an observer‐based low‐level controller is proposed through a recursive design process. Finally, the local asymptotic stability of the closed‐loop system is analyzed. The effectiveness and superiority of the proposed method are validated through simulations and physical experiments.

Research on Pose Error Modeling and Compensation of Posture Adjustment Mechanism Based on WOA-RBF Neural Network

This paper is aimed to address the issue of decreased accuracy in the ship block docking caused by the structural errors of posture adjustment mechanism. First, inverse kinematic analysis is performed to investigate the sources of static errors in the mechanism. Subsequently, based on the closed-loop vector method, a pose error model for the moving platform is established, which includes eight categories of error terms. The impact of various structural errors on the pose accuracy of the moving platform is then compared and analyzed under both single-limb and multi-limb configurations. Therefore, a compensation method based on the whale optimization algorithm optimized radial basis function neural network is proposed. By transforming pose errors into actuator length errors, it establishes a predictive model between the theoretical pose of the dynamic platform and actuator length errors. After optimizing the network parameters, it yields the actuator length compensation to correct the actual pose of the dynamic platform. Simulation and experimental results validate the effectiveness of this method in enhancing the motion accuracy of the parallel mechanism. The mean pose accuracy of the moving platform is improved by 85.07%, demonstrating a significant compensation effect.

Intelligent sliding mode fault-tolerant control for aircraft engines with actuator dynamics and faults based on adaptive dynamic programming

Abstract The fault-tolerant control issue of aircraft engines with actuator dynamics and faults is investigated in this paper. By proposing a novel intelligent sliding mode fault-tolerant control (ISMFTC) method, which combines an adaptive dynamic programming (ADP) sliding surface with Grey Wolf Optimizer (GWO) for controller parameter optimisation, the goal is to achieve quality steady-state and dynamic performance in aircraft engines while maintaining strong fault-tolerance properties. Firstly, by considering not only actuator dynamics but also actuator faults, an uncertain nonlinear cascaded model of aircraft engines is developed according to characteristic of aircraft engines and their actuators. Secondly, an ADP-based sliding surface is proposed for considered aircraft engine uncertain nonlinear cascaded system. It can obtain a certain sense of optimised performance, and could be solved by ADP strategy off-line as well. Thirdly, fault-tolerant controller is obtained on the basis of sliding mode theory and adaptive fault estimation law, namely, ADP-based ISMFTC controller. Meanwhile, GWO is integrated into the investigation of ADP-based ISMFTC controller, optimised designable control parameters are obtained subsequently. Besides, robustness analysis is elaborated according to Lyapunov theory, fault estimation error is bounded and states of closed-loop system are uniformly ultimately bounded. Simulation on a twin-shaft turbofan aircraft engine, indicates the effect of proposed ADP-based ISMFTC method.

Coordinated torque vectoring and direct yaw control based on Kalman filter control allocation for a four in-wheel electric vehicle

This paper presents a novel hierarchical control architecture designed for a four in-wheel electric vehicle (EV), integrating longitudinal and lateral control strategies to optimize performance and lateral stability. On one hand, a high-level longitudinal controller is synthesized to track a desired speed profile and generate a total torque. On the other hand, a direct yaw control (DYC) strategy is employed for steerability and stability control to generate a yaw moment. To manage the total torque as well as the yaw moment, a control allocation layer is employed. Subsequently, the formulation of the control allocation problem is presented, incorporating a gain-scheduling Daisy chaining Kalman filter (DCKF) control allocation to deal with actuator dynamics and fault tolerance. Results demonstrate enhanced performance in normal and emergency driving. Quick adaptability in case of emergency is achieved without overshooting or undershooting, with a smooth response.

Research on the potential of integrated vehicle control with closed-loop phase portrait analysis

The phase portrait is an important tool for analyzing vehicle stable region widely utilized in vehicle dynamic control systems. At handling limits, traditional open-loop vehicle stable region constraints will restrict the vehicle control ability, while the closed-loop actuator interventions can help states outside the open-loop stable region converge back to stable origin, which is more suitable for constraining vehicle states under extreme working conditions. This article systematically analyzes the potential of integrated vehicle control with closed-loop phase portrait. Firstly, a vehicle dynamic model considering actuator dynamics and tire transient characteristics is established. Then, a numerical optimal control method for calculating closed-loop controllability region is introduced. The controllability region under different friction coefficients, vehicle speeds, convergence time, vehicle steering response characteristics, actuator time constants, and tire transient characteristics are discussed and analyzed. In terms of different control inputs combinations, this article displays the controllability regions under different front steering angles, rear steering angles, direct yaw moments, and their synergistic performances. Control input laws derived from numerical optimization are summarized in two specific directions. Finally, a comparative analysis of open-loop stable regions and closed-loop controllability regions confirms the superiority of the proposed method. Potential applications of the systematic analysis are also discussed.

Development of the Viscous Plane Damper Applicable in Limited Space within Structures Subjected to Dynamic Loads

Shipping impact and wave loads impose dynamic loads on jetties and platforms in the sea, which cause the vibration of structures. Recently, many advanced viscous damper devices have been developed for implementation in structures to diminish structural vibration due to earthquakes or wind. However, the longitudinal configuration of conventional viscous damper devices requires adequate space to locate the damper device within the frame structure, which limits the application of viscous dampers for use in jetties or platforms to dissipate the vibrations imposed by ship impact or wave force. For this reason, in this study, an attempt has been made to develop a new viscous plane damper device applicable in limited space positions where the longitudinal damper device is not able to fit. For this purpose, the initial design for the viscous plane damper device is proposed, and the prototype of the device is manufactured. Then, the performance of the fabricated viscous plane damper is examined through experimental tests by applying cyclic loads using a dynamic actuator. In order to investigate the effect of the diameter and configuration of the piston’s orifices, five different diameters for the orifices of 1, 2, 5, 8, and 10 mm are included, and three different distribution configurations of the orifices in the piston plate as Configurations A, B, and C are manufactured and tested experimentally. The lab testing is conducted by applying cyclic loads with different frequencies to evaluate the performance of the developed plane damper device under various load velocities. Accordingly, the dynamic performance of the damper device, including the damping force, effective damping and stiffness and the energy dissipation capacity obtained from the hysteresis response (force–displacement result), is investigated. The results of the experimental tests prove the functionality of the developed device to generate the desired damping force and vibration energy dissipation during applied cyclic loads. Therefore, the new plane damper device can be implemented in any structure to dissipate the effect of imposed vibration.

Wind Tunnel Tests of a Two-Element Wingsail with Focus on Near-Stall Aerodynamics

_ Modern wind propulsion systems on ocean-going cargo vessels require automated trimming. Rigid wingsail designs often incorporate more than one degree of freedom enabling to trim for optimal performance in all sailing conditions. A profound understanding of the aerodynamic behavior is the basis for any trimming strategy. The region around stall is of particular importance as this is where the largest lift but also potential hysteresis effects are expected. In the present research, a two-element wingsail (main wing and flap) was tested in wind tunnel experiments investigating the two available degrees of freedom: the orientation of the main wing to the inflow and the deflection of the flap. Aerodynamic loads were measured in dynamic actuation sequences over both degrees of freedom capturing stall and reattachment. The consistent data reveals two stall stages. In the region between the first and the second stall, when changing the direction of rotation, the flow is found to be reversible. The hysteresis loop is in this case smaller and reattachment occurs at larger angles compared to when both stall stages occur. This smaller hysteresis loop could be exploited in trimming. The second stall stage, however, is identified as detrimental both in the forces and the amount of required actuation to allow the flow to reattach. A considerate flap trim, i.e. the adjustment of the wingsail curvature, is suggested to avoid the second stall. Keywords Wind propulsion; Wind tunnel tests; Stall hysteresis; Two-element wing; Rigid wingsail; Trimming; Automation

Engineered Shape-Morphing Transitions in Hydrogels Through Suspension Bath Printing of Temperature-Responsive Granular Hydrogel Inks.

4D printing of hydrogels is an emerging technology used to fabricate shape-morphing soft materials that are responsive to external stimuli for use in soft robotics and biomedical applications. Soft materials are technically challenging to process with current 4D printing methods, which limits the design and actuation potential of printed structures. Here, a simple multi-material 4D printing technique is developed that combines dynamic temperature-responsive granular hydrogel inks based on hyaluronic acid, whose actuation is modulated via poly(N-isopropylacrylamide) crosslinker design, with granular suspension bath printing that provides structural support during and after the printing process. Granular hydrogels are easily extruded upon jamming due to their shear-thinning properties and their porous structure enables rapid actuation kinetics (i.e., seconds). Granular suspension baths support responsive ink deposition into complex patterns due to shear-yielding to fabricate multi-material objects that can be post-crosslinked to obtain anisotropic shape transformations. Dynamic actuation is explored by varying printing patterns and bath shapes, achieving complex shape transformations such as 'S'-shaped and hemisphere structures. Furthermore, stepwise actuation is programmed into multi-material structures by using microgels with varied transition temperatures. Overall, this approach offers a simple method to fabricate programmable soft actuators with rapid kinetics and precise control over shape morphing.

Discrete time stability of augmented Lagrangian formalism based underactuated inverse dynamics control method

Stability problems of robotic systems arise sometimes suddenly, seemingly for no reason. The digital time sampling is often the main cause of these instabilities. Discrete models, which are capable of the prediction of stability, are available for low-degree-of-freedom template models of linear position and force control. However, for the inverse dynamics control of underactuated systems, the literature has a lack of generally applicable results related to the effect of time discretization. Several control approaches are available in the literature out of which a widely used one, the augmented Lagrangian formalism and its stability properties are analysed in this work. Theoretical stability properties are obtained for a generally usable, linear, underactuated, two-degree-of-freedom constrained template model. The actuator dynamics, the finite difference approximation of the feedback velocity and the filtering of the feedback data are considered in the model. These phenomena strongly affects the stability properties. The theoretically obtained stability maps are experimentally validated on an underactuated crane-like indoor robot. The position and orientation accuracy of the robot were assessed: the absolute position error was below 30 mm and the orientation error was below 3°.

A tribo-dynamics model of ball screws based on flexible body element

Dynamic actuation accuracy of ball screws is dramatically affected by screw flexible deformation and the behaviors of ball-groove interface such as friction, stiffness and damping. However, few dynamics studies have considered the screw flexible deformation and rubbing interface behaviors in ball screws. In this study, a dynamics model is developed by including both the screw flexible deformation and lubrication interface behavior. Discretization of the screw/nut is completed using the 6 degree-of-freedom Timoshenko beam element. The tribological properties of ball-groove interface are solved by the mixed lubrication model. Comparison with experimentally tested nut acceleration frequencies verifies the correctness of theoretical model. On this basis, the effects of nut motion, nut position and rough surface on the dynamic response are analyzed. With the increase of time, the screw axial displacement decreases with a certain slope and is accompanied by periodic vibrations. The centers of axis trajectories at different nut positions are far apart. From Hertz, smooth surface to rough surface, the interface stiffness coefficient decreases and the nut vibration amplitude grows. The novel tribo-dynamics model can provide a theoretical basis for fault diagnosis and performance optimization of ball screws.

Dynamic decoupling and compensation based on the inverted network technique and experiment research for multi-axis hydraulic road simulator

This paper presents a dynamic decoupling and compensation approach to eliminate channel interaction for a multi-axis hydraulic road simulator. Misalignment of the concentrated moving mass centroid on the entire test bench with the control point and inconsistencies in actuator dynamics leads to dynamic coupling, which deteriorates the motion performance of the system. To solve the problem, an inverted decoupling and compensation network based on an identification model is proposed. Firstly, the system is modeled using the recursive extended least square (RELS) identification method. In the feedforward compensation modeling process, the steady-state inverse is obtained using zero-magnitude error technology control (ZMETC). In addition, a finite impulse response (FIR) filter with an adaptive algorithm is employed to reduce the adverse impact of the modeling error. The proposed decoupling strategy is validated by conducting experiments using a multi-axis hydraulic road simulator. The experimental results indicate that the designed compensator can effectively decrease the cross-coupling of multi-input and multi-output (MIMO) systems. The suggested approach is also applicable to applications that necessitate the elimination of interactions between different control variables.

Adaptive path following control for underactuated surface vessels considering actuator saturation dynamics

ABSTRACT This article studies the path-following problem of underactuated surface vessels with saturated actuator dynamics and unmeasured linear velocities subjected to model uncertainties and unknown environmental disturbances. Firstly, a predictor is designed to estimate linear velocities and an improved predictor-based line-of-sight guidance law is designed to generate a reference heading angle, where the unknown arbitrary sideslip angle is compensated. Secondly, robust adaptive control laws are devised, where auxiliary dynamic systems are introduced to address input saturation and adaptive technique is employed to offset environmental disturbances and model uncertainties. Furthermore, to tackle computational complexity in control design, tracking differentiators are employed. Subsequently, the stability analysis of a closed-loop system is demonstrated by the Lyapunov theory. At last, simulations are applied to verify the validity and superiority of the presented strategy.

Data-Driven Fault Detection and Isolation for Multirotor System Using Koopman Operator

This paper presents a data-driven fault detection and isolation (FDI) for a multirotor system using Koopman operator and Luenberger observer. Koopman operator is an infinite-dimensional linear operator that can transform nonlinear dynamical systems into linear ones. Using this transformation, our aim is to apply the linear fault detection method to the nonlinear system. Initially, a Koopman operator-based linear model is derived to represent the multirotor system, considering factors like non-diagonal inertial tensor, center of gravity variations, aerodynamic effects, and actuator dynamics. Various candidate lifting functions are evaluated for prediction performance and compared using the root mean square error to identify the most suitable one. Subsequently, a Koopman operator-based Luenberger observer is proposed using the lifted linear model to generate residuals for identifying faulty actuators. Simulation and experimental results demonstrate the effectiveness of the proposed observer in detecting actuator faults such as bias and loss of effectiveness, without the need for an explicitly defined fault dataset.

Robust Input Shaping Commands with First-Order Actuators.

This paper presents robust input shaping commands with first-order actuators utilizing a classical robust input shaper for practical applications in input shaping technology. An ideal input shaping command can deviate due to actuator dynamics so that the modified command has a detrimental effect on the performance of oscillation reduction in feedforward control applications. A zero-vibration-derivative (ZVDF) shaper with first-order actuators is analytically proposed using a phasor-vector approach, an exponential function for the approximation of the dynamic response of first-order actuators and the usage of the ZVD shaper. In addition, an equivalent transformation is utilized based on the superposition principle for the convenient inclusion of first-order actuator dynamics and is applied to the individual segment input command. The residual deflection and robustness of the proposed robust input shaping commands are numerically evaluated and compared with those of a conventional ZVD shaper with respect to the parameter uncertainties of flexible systems and actuators. The robust input shaping commands that are possible with first-order actuators are experimentally validated, presenting a better robustness and residual deflection reduction performance than the classical ZVD shaper on a mini bridge crane.

A Transparent, Patternable, and Stretchable Conducting Polymer Solid Electrode for Dielectric Elastomer Actuators

AbstractDielectric elastomer actuators (DEAs) offer versatile applications including haptics, soft robotics and smart lenses. However, due to the lack of conductive electrodes with low modulus and high stretchability, their use is limited by nonsolid electrodes, hindering integration with other systems. In this study, transparent and patternable solid electrodes, achieving actuation performance comparable to a commonly used non‐solid counterpart (e.g., carbon grease), with a stretchable and patternable conducting polymer composed of PEDOT:PSS and PEG‐PPG‐PEG diacrylate (P123DA) are reported. Varying the ratio of P123DA to PEDOT:PSS enables optimization of electrical and mechanical properties to achieve compliant solid electrodes in static and dynamic actuation. The ratio of P123DA to PEDOT:PSS is found to impact PEDOT:PSS nanofiber formation and the associated electrical and mechanical properties. Moreover, the resulting P123DA/PEDOT:PSS‐based solid electrode shows excellent optical transmittance exceeding 95%. This work highlights the potential of tuning different solid electrode properties to realize transparent, patternable, and stretchable solid electrodes, enhancing their applicability in diverse fields.

A water strider-inspired intestinal stent actuator for controllable adhesion and unidirectional biofluid picking

Soft-bodied aquatic organisms exhibit extraordinary navigation and mobility in liquid environments which inspiring the development of biomimetic actuators with complex movements. Stimulus-responsive soft materials including hydrogels and shape-memory polymers are replacing traditional rigid parts that leading to dynamic and responsive soft actuators. In this study, we took inspiration from water strider to develop a biomimetic actuator for targeted stimulation and pH sensing in the gastrointestinal tract. We designed a soft and water-based Janus adhesive hydrogel patch that attaches to specific parts of the intestine and responds to pH changes through external stimulation. The hydrogel patch that forms the belly of the water strider driver incorporates an inverse opal microstructure that enables pH responsive behavior. The hydrogel patch on the water strider's leg uses a sandwich structure of Cu particles to convert light into heat and bend under infrared light to mimic the water strider's leg simulating the efficient and steady movement of the water strider's leg which transporting the biological fluid in one direction. This miniature bionic actuator demonstrates controlled adhesion and unidirectional biofluid delivery capabilities, proving its potential for targeted stimulus response and pH sensing in the gastrointestinal tract, thus opening up new possibilities for medical applications in the growing field of soft actuators.

Vehicle modeling and state estimation for autonomous driving in terrain

The automobile industry usually ignores the height of the path and uses planar vehicle models to implement automatic vehicle control. In addition, existing literature mostly concerns level terrain or homogeneous road surfaces for estimating vehicle dynamics. However, ground vehicles utilized in forestry, such as forwarders, operate on uneven terrain. The vehicle models built on level terrain assumptions are inadequate to capture the rolling or pitching dynamics of such machines as rollover of such vehicles is a potential risk. Therefore, knowledge about the height profile of the path is crucial for automating such off-road operations and avoiding rollover. We propose the use of a six-degrees-of-freedom (6-DOF) dynamic vehicle model to solve the autonomous forwarder problem. An adaptive linear tire model is used in the 6-DOF model assuming the vehicle operates in a primary handling regime. The force models are modified to include the three-dimensional (3D) map information. The calibration procedures, identifying actuator dynamics, and quantifying sensor delays are also represented.The proposed vehicle modeling contributed to realizing the continuous-discrete extended Kalman filter (CDEKF), which takes into account the 3D path during filtering and fixed-lag smoothing. Polaris (an all-terrain electric car) is used as a case study to experimentally validate the vehicle modeling and performance of the state estimator. Three types of grounds are selected — an asphalt track, a concrete track with a high elevation gradient, and a gravel track inside a forest. Stable state estimates are obtained using CDEKF and sparse 3D maps of terrains despite discontinuities in satellite navigation data inside the forest. The height estimation results are obtained with sufficient accuracy when compared to ground truth obtained by aerial 3D mapping. Finally, the proposed model’s applicability for predictive control is demonstrated by utilizing the state estimates to predict future states considering (3D) terrain.

M13 bacteriophage-based high-sensitivity Fabry-Pérot etalon for detecting humidity and volatile organic compounds

Various sensor applications have been developed for protection against hazardous environments, and research on functional materials to enhance performance has also been pursued. The M13 bacteriophage (M13) has found utility in sensor applications like disease diagnosis and detection of harmful substances due to its potential for controlling interaction with target substances through adjustments in electrochemical and mechanical properties via genetic engineering technology. However, while optimizing reactivity or binding affinity between M13 and target materials is crucial for sensor performance enhancement, precise dynamic measurement methods for this were lacking. This study demonstrates the application of an M13-based dynamic actuator in a Fabry–Pérot etalon (M13-FPE) as a spacer for precise measurement of humidity and reactivity to volatile organic compounds (VOCs). The transmission spectrum is optimized by adjusting the reflectance and cavity gap size (dM13) of the two mirrors comprising the M13-FPE, and changes are measured in a rainbow-color-dotted (RCD) pattern using a customized spectrometer. Utilizing the peak wavelengths of the RCD pattern, the change in dM13 is dynamically and precisely measured, revealing approximately 3% and 0.3% swelling for ethanol and isopropyl alcohol, respectively. M13 demonstrates binding affinities of 827 ppb and 158 ppb for ethanol and isopropyl alcohol, respectively, with its low reactivity measured precisely, exhibiting an error of 0.03 nm using the peak wavelength change rate.

Modeling and Control of a Road Wheel Actuation Module in Steer-by-Wire System

Since the steer-by-wire system removes the mechanical connection and uses electrical signals to drive the system, it has the disadvantage of being less stable in the failure of parts or systems. Therefore, in this paper, we present a methodology for developing a digital model of the road wheel actuator of the steer-by-wire system. First, the detailed dynamics of the road wheel actuator are analyzed and simplified, and the friction model is estimated and compensated to obtain the equilibrium inertia and damping coefficient of the motor and the road wheel actuator. And to verify the accuracy of the digital model developed based on these parameters, the outputs are compared by giving the same inputs under open-loop control. Furthermore, to solve the problem caused by nonlinear disturbance and model uncertainty, a disturbance observer-based position controller is proposed. The validity of the proposed controller and the validity of the digital model development methodology are confirmed by the results of the position control experiment.

Development of a pressure-, velocity-, and acceleration-dependent phenomenological friction model using experimental data of sliding tests between 11 polymers and stainless steel

This paper experimentally investigates the frictional behavior between stainless steel and 11 polymers. Particularly, the dependence of the friction coefficient on the sliding velocity, pressure, and acceleration is quantified. The novelty of this work lies in quantifying the acceleration-dependent nature of friction, correlating it to the well-documented Stick-Slip effect. The experimental setup consisted of two parallel stiff steel beams, one above the other, with a separation of 95 mm, and steel surfaces welded at the inner sides for sliding the polymers. Cylindrical polymer pads were placed between the stainless-steel surfaces and connected to a dynamic actuator to apply the displacement protocol. The protocol consisted of consecutive nominally constant-velocity ramp cycles covering velocities from 1 mm/s to 300 mm/s (with 20 mm/s increments). An additional vertical force was applied with a hydraulic actuator to reach nominal pressures in the polymers between 5 and 80 MPa. The results showed that the friction coefficient depends on the velocity, pressure, and acceleration of the motion, and a phenomenological model on these three variables is proposed. The velocity dependence can be represented through a logarithmic relationship, while the pressure dependence is through an exponential decay relationship. The acceleration dependence was represented through a linear relationship, which could capture the stick-slip effect. Overall, this work contributes to a better understanding of friction for seismic isolation systems. Since friction is the main source of energy dissipation in such structures, the proposed model will allow a higher accuracy in predicting variables of interest during the dynamic analyses of seismically isolated structures with frictional systems.