ADAMS Co-simulation Research Articles

Estimation of the rope tension in trucklift slope hoisting system with varying profile of track

This paper focused on a study concerned with the estimation of the rope tension in Trucklift slope hoisting system with varying profile of track. In this system, the profile of track is not straight and there exists the segment where the sagged rope moves between the edges on the inclined track, and the rope tension always varies by the movement of platforms with empty and laden trucks. So co-simulation of ADAMS and MATLAB/Simulink was used to estimate the rope tension when the platforms move on the track, because there is a moving rope with sagged inclined segment in this system. From simulation results were analyzed the variation of the rope tension according to the position of platform and the influence of the angle of slope of track and the mass of platform when platforms move on the track. In the case of using Koepe winder, the simulation results could be used as more important reference data for the design and operation of Trucklift slope hoisting system with varying profile of track.

Lightweight design of piezoelectric linear displacement accumulation actuator for airfoil deployment

The electromagnetic servo steering gear commonly used in the modern small guided aircraft has parasitic electromagnetic fields that affect the navigation and guidance accuracy, and its deceleration mechanism will increase the volume and mass, and the operating temperature range of the electromagnetic steering gear is small. A recently developed piezoelectric linear displacement accumulating high-power density actuator can solve those problems effectively. A virtual prototype model of piezoelectric linear displacement accumulating high-power density actuator is established, and the reliability of the virtual prototype model is verified by comparing with the experimental data. In order to make the actuator with the lightest weight under the requirements of wing deployment, Isight and Adams co-simulation were used to optimize the parameters of the piezoelectric actuator, such as the outer diameter, length, and excitation frequency. Finally, the output power of 50.8 W/kg is achieved, which is comparable with the power density of the existing servo motor.

Experimental Research on Integrated Disassembly Equipment of Super Large Offshore Oilfield Facilities

Based on the key module-lifting arm system, based on the principle of similarity and the hydrodynamic experimental method of a multi-dimension vibration test platform, an experimental platform for dismantling equipment is designed and built. Subsequently, the motion control model of the six-degrees-of-freedom platform is established. The three-ring control model of a servo electric cylinder is established, and the active heave compensation control of a servo electric cylinder is realized by combining position control theory. Based on the co-simulation of ADAMS and Simulink, the co-simulation system of the integrated dismantling equipment experimental platform is designed and built, and the simulation system is tested and verified. Finally, simulation and experimental verification are carried out based on the experimental platform and co-simulation system. The results show that the heave compensation rate reaches 58.3% in third-class sea conditions, 61.2% in fourth-class sea conditions, and 62.4% in fifth-class sea conditions. The integrated dismantling scheme of super large offshore oilfield facilities is feasible but, in order to ensure the safety and reliability of the operation, a heave compensation system needs to be added. The error between the simulation results and the experimental results is about 15%. Based on the analysis of external interference factors in the experiment, the error results are within a reasonable range, which proves that the experimental platform, the co-simulation system of the experimental platform, and the heave compensation strategy are accurate and effective. This study, for the first time in China, provides an effective experimental platform and co-simulation platform for the design and optimization of the integrated dismantling equipment of super large offshore oilfield facilities and lays a good research foundation for the construction and engineering demonstration of subsequent equipment.

Combination of active braking and semi-active suspension systems to improve the roll and yaw vehicle stability

This paper presents a combined use of active chassis systems to enhance vehicle roll and yaw stability using semi-active suspension and active braking systems. The designed active braking system based on sliding mode control reduces the probability of vehicle rollover by decreasing the longitudinal velocity and lateral acceleration. Also, a semi-active suspension is proposed through fuzzy control method to improve the vehicle roll stability, which attenuates the effect of lateral acceleration on roll angle and roll rate. The lateral load transfer ratio is selected as the rollover index based on roll angle and lateral and roll accelerations. A vehicle dynamics model is built in the ADAMS environment, which includes subsystems of steering, braking and front and rear suspension, tire model and body. Also, the nonlinear characteristics of tires, bushings, springs and dampers are considered in the model. So, it can accurately express the dynamics performance of the vehicle. The control algorithm is evaluated under step steer and lane change maneuvers utilizing MATLAB and ADAMS co-simulation. Simulation results show that the proposed system with combined controllers can effectively improve the vehicle yaw stability and the rollover prevention compared with the only active braking and semi-active suspension systems.

Control Technologies of Deformable Air-Land Amphibious Vehicle Flight System

A deformable air-land amphibious vehicle suitable for complex urban terrain was designed, and its flight control method of area transfer was researched. The flight system structural model and dynamic model of the vehicle are established. Aiming at the problem of system parameter uncertainty caused by the deformation and trajectory tracking with the landing point change, the model reference adaptive compensator based on LQR attitude controller and PID height controller is added to solve it. Finally, the Matlab&Adams co-simulation is used to obtain the limit value of the deformation angle for area transformation. The efficiency of the control method is verified and the vehicle can track the desired trajectory.

Simulation and experiment of a turbine access system with three-axial active motion compensation

This study aims to investigate a new turbine access system (TAS) for offshore wind farms in Taiwan Strait sea conditions having a wave period of 7.5 s and a significant wave height of 1.5 m, including the novel system integration of mechanism design, hydraulic driving system, and control system. The dynamic co-simulation of TAS is achieved firstly for confirming the system design and parameters. After that, a full-scale test rig is set up for experimental verification. The vertical height, the roll angle and the vertical acceleration of the TAS end effector can be reduced effectively through the active motion compensation control for improving the access safety of the offshore wind turbine.In simulation, the dynamic modelling of mechanism is implemented by software ADAMS. The hydraulic driving system and the control system are derived mathematically in this study and implemented via MATLAB/SIMULINK. Then, the dynamic simulation of TAS is achieved through the co-simulation of ADAMS and MATLAB/SIMULINK for verifying the active compensation control performance of TAS. In addition, fuzzy sliding mode control is used to develop the roll and pitch controllers for improving the compensation performance.In the experiment, a full-scale test rig of TAS is set up for verifying the effect of active compensation control system experimentally. Through the active compensation control experiment in the full-scale test rig, the vertical height, the rolling angle and the vertical acceleration of the TAS end effector can be reduced and validated by practical experiments.

The Model Processing Research in PRO/E and ADAMS Co-simulation

This paper discusses the specific methods of operation and some skills when the model is imported from PRO/E to ADAMS, Meanwhile a basic principle is pointed out. That is the parts involved in moving should be finished in ADAMS as much as possible, the parts that do not participate in moving with high appearance requirements as much as possible are modeled in PRO/E. The methods, principles and techniques of this paper have guiding significance in practice for the engineers.

LQR-GA Controller for Articulated Dump Truck Path Tracking System

This paper designs a novel controller to improve the path-tracking performance of articulated dump truck (ADT). By combining linear quadratic regulator (LQR) with genetic algorithm (GA), the designed controller is used to control linear and angular velocities on the midpoint of the front frame. The novel controller based on the error dynamics model is eventually realized to track the path high-precisely with constant speed. The results of simulation and experiment show that the LQR-GA controller has a better tracking performance than the existing methods under a low speed of 3m/s. In this paper, kinematics model and simulation control models based on co-simulation of ADAMS and Matlab/Simulink are established to verify the proposed strategy. In addition, a real vehicle experiment is designed to further more correctness of the conclusion. With the proposed controller and considering the steering model in the simulation, the control performance is improved and matches the actual situation better. The research results contribute to the development of automation of ADT.

Impedance Identification Using Tactile Sensing and Its Adaptation for an Underactuated Gripper Manipulation

Underactuated gripper has a broad application in the field of space robot and industrial robot because of its better shape-adaptation. However, because of the underactuated characteristics, it is a great challenge to accurately obtain the displacement of the contact point between the finger and grasped object, which makes it difficult to control the gripper grasp stably, especially the environmental parameters are unknown. This paper develops the identification of the unknown environmental parameters using a tactile array sensor based on the recursive leastsquares (RLS) method. The unknown environments are described as linear systems with unknown dynamics, and the environmental parameters are identified using the measured contact force and the derived displacement of the contact point which is obtained through the underactuated gripper dynamics. Meanwhile, an impedance adaptive control is presented to match the variability of the environment parameters, and the desired impedance model is imposed to the underactuated gripper to achieve stable grasp. A cost function that measures the contact force, velocity and displacement error is defined, and the critical impedance parameters are found to minimize it. At last, a co-simulation of ADAMS and MATLAB for an underactuated gripper grasp is implemented to show the feasibility of environmental parameters identification and its adaptive method.

Simulation of 8-Degrees of Freedom Based Bio-Inspired Humanoid Robotic Arm Using MATLAB/ADAMS Co-Simulation Environment

This research work presents a dynamic control of a 8 – Degrees of freedom (DOF) based bio-inspired humanoid robotic arm which was simulated using MATLAB / Adams Co-Simulation environment. The robotic arm has been modeled using PRO-E and its invoked in ADAMS and Controlled by MATLAB programming environment. With the help of the simulation results, parameters like torque, position, etc of the system have been analyzed for various trajectories or path of the robot and the results have been discussed in detail. This research work is part of a real time humanoid robot project titled – RALA (Robot based on Autonomous Learning Algorithm).

Analysis of the Influence of Tension on the Fiber Winding Track

In this paper, in order to solve the question of the winding tracks affected by tension leading to pipeline performance degradation, we analyze the tension on the wound composite pipes and establish a winding model about six degrees of freedom robotic arm and find the solver of the kinematic equations. We designed a winding track and established on a MATLAB and ADAMS co-simulation platform. The winding track affected by the tension is simulated. According to the results, we can obtain the force of the joints of the robot. Taking these force data as the compensation of the joint force, the robot can do the desired track overcoming the winding tension.

Mobile Robot Hydraulic Drive Energy-Saving Circuit Simulation Based on the High-Frequency Switching Valve

Due to the constraints from weight, volume and other various factors, mobile robot hydraulic drive system uses single pump and multi-actuator hydraulic drive structure. The high efficiency of the structure is the key to the successful application in hydraulic robot. The traditional servo valve control system possesses good position control ability, but it has the problem of bilateral throttling loss and great valve port pressure decrease. This paper proposes a hydraulic position control system based on high-frequency switching valve, which controls valve port opening and closing, through the PWM signals, so as to control flows, guarantee the position control precision as well as reduce the required system pressure, thereby achieving the effect of energy conservation. By using AMESim and Adams co-simulation and simulating the real stress environment, the feasibility of energy-saving in high frequency switching valve circuit has been verified.

Multi-Body Dynamics Simulation and Finite Element Analysis of the Car’s Sub-Frame

For the problem that car sub-frame constraint connection complex and effective load more difficult to determine, using finite element and multi-body dynamics ADAMS co-simulation method, Analyzed on a Volkswagen vehicle sub-frame, obtained the accurate load on the sub-frame which are used by engine suspension. The finite element analysis results show that engine load is the greatest impact on the sub-frame stress field, which can be reduced by increasing the area of engine and the sub-frame contacting, thereby prolong the life of sub-frame.

Based on Linear Quadratic Regulator Optimal Control of Single Inverted Pendulum System Co-Simulation of ADAMS and SIMULINK

In this paper, based on linear quadratic optimal control design the controller of single inverted pendulum system, using the current epidemic method of Co-simulation to play each of the strengths of two software for simulation, Through two methods of the static and dynamic to observe and analyze the quality of feedback controller the based on linear quadratic optimal control.

The Research of Driving Force Distribution under Identical-State-Control while 4WID-EV Driving Straight

The strategy of 4-wheel-identical-state-control is proposed on the designed 4-wheel-independent-driven electric vehicle (briefed as 4WID-EV), the working states of each wheel are adjusted to be the same through controlling the ratio of drive-force and vertical-load on them as equal as possible, the co-simulation of ADAMS and Matlab/Simulink is done about the 4WID-EV driving on the straight flat road and slopes. The real vehicle test is performed. The result indicates that the strategy of identical-state-control can control each wheel slip ratio to be equal, make each wheel working in phase, reduce the power loss, improve the vehicle power property, and achieve the aim of good driving force distribution.