Steering Engine Research Articles

Fuzzy PID control of permanent magnet synchronous motor electric steering engine by improved beetle antennae search algorithm.

The accuracy of control in permanent magnet synchronous motor system significantly affects overall mechanical structure safety. To satisfy high-performance control for the position servo of the electric steering engine, this study selects a suitable vector control model for permanent magnet synchronous motor. Additionally, an enhanced beetle antennae search algorithm is designed and employed to optimize the fuzzy proportional-integral-derivative controller. The hybrid fuzzy proportional-integral-derivative controller is then implemented in the control model of the permanent magnet synchronous motor, resulting in the establishment of a novel control model for the electric steering engine driven by the permanent magnet synchronous motor. The test results showed that root-mean-square error of this control model was 0.03 mm and 0.02 mm respectively under the conditions of sinusoidal response, square wave response and step response, which was obviously shorter than all the selected control models. In addition, the standard deviation of the control model designed in this study accounted for less than 4% of root-mean-square error of electric steering engine position under the sinusoidal response condition, so the calculation stability was high. The research results show that the designed control model has a certain reference value for improving servo control performance of permanent magnet synchronous motor.

Evaluation of Hydraulic Characteristics of Electrohydraulic Proportional Valve (EHPV) for an Auto-Steering Tractor Application

The performance of the electrohydraulic proportional control valve (EHPV) employed in a tractor’s automatic steering system directly influences the steering performance. To develop a highly reliable EHPV, it is essential to analyze the hydraulic characteristics of the EHPV for several working conditions of tractors. This study aimed to measure and analyze the hydraulic characteristics of the EHPV according to tractor working conditions. The flow rate and pressure data of the EHPV were computed through the valve measuring system, and the required power was computed. The experimental conditions were selected based on engine rotational speed and tractor steering angle. As a result, it was discovered that the flow rate, pressure, and power all increased when the engine rotation speed and steering angle conditions increased. Furthermore, the rates of increase in flow rate, pressure, and power based on the increase in the steering angle were higher than when the engine rotation speed increased. In the regression analysis results between the two variables and the hydraulic characteristics of EHPVs, the steering angle demonstrated a higher correlation than the engine rotation speed. In conclusion, the steering angle and engine rotational speed are the major variables in the hydraulic characteristics of EHPVs, and the influence of the steering angle is greater.

Development of a Bionic Dolphin Flexible Tail Experimental Device Driven by a Steering Gear

In order to study the mechanism of the tail swing of the bionic dolphin, a flexible tail experimental device based on a steering engine was developed. This study was focused on the common three joint steering gear and its use in a bionic dolphin tail swing mechanism, and it was found that the bionic dolphin driven by the steering gear had the problem of excessive stiffness. In order to solve this problem, we designed a bionic dolphin tail swing mechanism. The tail swing mechanism was designed rationally through the combination of a steering gear drive and two flexible spines. Analysis of kinematic and dynamic modeling was further completed. Through simulation using, the research on the bionic dolphin tail swing mechanism was verified. Experiments showed that the swing curve formed by the steering gear-driven bionic dolphin tail swing mechanism with two flexible spines fit the real fish body wave curve better than the original bionic dolphin tail swing mechanism.

The Changes of Ergonomic Engine Vibroacoustic Response Regarding Their Development

The article presents the results of research on the vibroacoustic response of internal combustion engines mounted in a vehicle. The vehicles studied belong to popular models, which became available in successive versions. Each group included vehicles of the same model of an older generation (equipped with a naturally aspirated engine) and of a newer generation, including downsized (and turbocharged) engines. Tests in each group were carried out under repeatable conditions on a chassis-load dynamometer. The vibrations were measured using single-axis accelerometers mounted on the steering wheel, engine, and driver’s head restraint mounting. The primary purpose of the study was to verify whether the new generations of vehicles equipped with additional high-speed elements (compressors) generate additional harmonics (especially those within the range potentially affecting travel comfort and human health) and whether there are significant changes in the distribution of spectral power density in the new generations. As the study showed, new generations of vehicles are characterized by a different vibroacoustic response, and the trend of change is the same in each of the families studied.

Conductive cold-resistant and elastic hydrogel: A potential bionic skin for human-machine interaction control over artificial limbs

This work enables conductive cold-resistant and elastic hydrogel for a new application in electric steering engine control, demonstrating a great potential as bionic skin for goal-directed control over artificial limbs. The photocrosslinking of acrylamide provides an elastic matrix that is functionally improved by physical crosslinking of K2CO3, carrageenan and locust bean gum. The hydrogel is highly elastic with the stress of 0.04 MPa at 650% strain, and can recover immediately after being stretched to 500% or pressed to 10% of its original length. It can keep its softness and conductivity at a low temperature of −10 °C. When an intermittent bending force is applied, it synchronously outputs the resistance variation signals between 1.1 and 0.9 times the original value. We take advantages of all these physical features to create a soft controller for the convenient manipulation of electric steering engine. We translate the bending-induced resistance variation signals into digital data of between 0 and 1023, which are then encoded to direct the electric steering engine for various controlled motility. A simple bending of hydrogel can activate the electric steering engine in 0.18 s, showing a highly-synchronous control over the dynamic response of electric steering engine in many models.

Design and Research for Servo System of Torpedo Steering Engine Based on Electro Hydrostatic Actuator

Design and Research for Servo System of Torpedo Steering Engine Based on Electro Hydrostatic Actuator

The Study of Mechanical Arm and Intelligent Robot

As an important part of the automation industrial system, mechanical arm robot plays an important role in service, exploration, automation engineering and other fields, and has a broad application prospect. The traditional mechanical arm and Sobel edge detection methods have some shortcomings: 1. The PID method is separated from the ontology model and only carries out simple and multiple calculations according to the code of the steering engine, which is not stable enough and will cause more time consumption; 2. In some complex environments, while Sobel edge detection is detecting the shape of objects, the separation between subject and background is not clear, which makes it impossible to obtain accurate object information. Therefore, this paper proposes a new PID method and Canny edge detection algorithm: 1. PID method combined with three-dimensional coordinate system modeling, to achieve a more stable, faster and more robust calculation formula, to complete the mechanical arm grasping function; 2. Using Canny edge detection and three-dimensional coordinate system to analyze the object image to obtain the accurate information of the target object.

Mathematical model of the mechanism of the "alpha" type Stirling engine for operation in the timber industry complex

This article discusses the multi-criteria parameterization of the crank-slider group of the Stirling engine type "alpha". The dependences of the displacement of the piston and the displacer are obtained, taking into account a number of variable geometric parameters. The resulting equation of movement of the piston from displacement of the propellant is composed of a crankshaft angle, which will allow to obtain a numerical model simulation of the crank-slider group that will significantly reduce the time of numerical calculations. The dependence of the torque on the crankshaft with known pressures on the piston and the displacer is obtained. This study will eventually allow us to determine the optimal parameters of the designed steering engine, depending on the power and operating temperatures. This will allow us to design an engine for use in the timber industry (use of logging and woodworking waste as fuel). Effective use for energy generation is an urgent task of the forest complex. Currently, obtained torque equation will allow us to study the working process of the engine when solving the gas-dynamic problem of cyclic flow of gas from the cavity of the piston cylinder to the cavity of the displacer cylinder and back.

A simple and efficient control allocation scheme for on-ground aircraft runway centerline tracking

To achieve a high performance level during ground operations, the lateral dynamics of an aircraft must be controlled using all available actuators (rudder, nose-wheel steering system, engines and brakes) and under various constraints, which gives rise to a challenging allocation problem. To address this issue, a simple yet accurate design-oriented on-ground aircraft model is first developed. It takes into account the effects of aerodynamics, thrust and tire–ground interactions, both laterally and longitudinally, and for several runway states. It is validated on a high-fidelity Airbus simulator and a complete set of numerical values representative of a commercial aircraft is given, as well as design objectives, so as to provide the control community with a challenging benchmark. After an extensive literature review and an evaluation of the pros and cons of many existing control allocation techniques, a novel and easily implementable algorithm is then developed, which meets actuator and implementation constraints. It automatically manages the trade-off between two antagonistic objectives, namely minimizing the control effort and attaining the maximum virtual control. Its validation on both the design-oriented model and the high-fidelity simulator shows promising results.

Intelligent Music Rehabilitation Hand Based on Voice Recognition

Music therapy has its unique clinical application value in improving conscious state, emotional state, language communication ability, motion function, sleep state and the rehabilitation of the brain’s cognitive function of the patients who suffer from cerebral apoplexy and cerebral injury. With the rapid development of music rehabilitation therapy, it has become an important power in modern rehabilitation medicine, which is valued by rehabilitation workers. During rehabilitation training, the therapists, with the help of apparatuses, carry out hand technique and lower limbs training for the patients, or help them train by means of apparatuses. Rehabilitation equipment is a rehabilitation therapy facility widely used in the field of clinical care. At present, the existing rehabilitation equipment is mostly heavy, which makes the rehabilitation training dull and boring, and induces irritation of those receiving rehabilitation therapy through finger training to the disadvantage of the therapy. In the paper, an intelligent music rehabilitation hand is designed to help them for therapy at different stages. Different modes can be selected with voice interactive mode and control device. By using the theory of steering engine driving, the intelligent music rehabilitation hand can drive the steering engine with the rhythm of the music to achieve the aim of rehabilitation through driving the clenching and spreading of the fingers. With such a device, people can carry out their rehabilitation therapy while enjoying the music.

An Automatic Grabbing Method of Manipulator Based on Monocular Ranging

Most existing studies on manipulator focus on the field of teaching and research. Other manipulators used for industrial production also have several disadvantages, including high cost, complicated control and low flexibility. Accordingly, in this paper, a simple automatic grabbing method of manipulator is proposed based on monocular ranging. The method is developed via the openmv vision platform. First, the target object is identified in the lens, the linear distance of the lens from the target object is calculated through monocular ranging, and then the inverse kinematics of the manipulator is exploited to calculate the rotation angle of each steering engine. Next, the contradiction between system speed and impact is balanced using the five-time curve trajectory optimization algorithm. The results of tests suggest that the method can achieve accurate capture of the target object in the grab range. The method, compared with the teaching and even the engineering manipulator system, is characterized by lower cost, simple and flexible control. Besides, it can be used to implement simple tasks in industry.

Design of rolling ball control system based on OpenMV

The ball-on-plate system, a non-linear control system with a 2-degree of freedom, is crucial for understanding the control system applications. As increase of the non-linearity with the degree of freedoms, the system can be used to test and identify different aspects of controls. This paper describes the design and implementation of a ball-on-plate system based on OpenMV that includes machine vision modules. Camera OV7725 with chip model of STM32F765 in OpenMV detects and calculates ball position on the plate in real time, and then the OpenMV sends the position data of the ball to the main Micro Controller Unit through a serial port. The MCU calculates the data with a cascade PID controller, and outputs the PWM wave to control the rotation angle of the steering engine. The steering engine drives two vertical parallelogram linkage mechanisms to manipulate the motion of the plate. Thus, the system can exactly control the motion state and position of the ball on the plate in real time.

Techniques for iterative static analysis of a quad-orifice electrohydraulic steering actuator of rocket stages

The paper contains results of development and study of iterative techniques for static anal-ysis of quad-orifice electrohydraulic steering engine, namely, techniques for calculating its static characteristics (force and velocity characteristics) taking into account parameters of local hydraulic resistance parameters, making it possible to do analysis at various values of power supply voltage and temperature. The proposed techniques are based on solving systems of non-linear algebraic and transcendental equations of math models of the steering actuator describing its static operational modes. Taken as a basis for development of techniques for static analysis of the steering actuator are methods of integrated simulation of physical properties of working fluids of steering actuators and hydraulic drives, iterative methods for calculating parameters of working fluids flow in connecting lines, channels, flow-through elements and valves, results of studies of operating processes for steering actuator constituent elements, as well as a modification of the Seidel method for solving a system of non-linear algebraic and transcendental equations. The paper provides the results of testing the developed static analysis iterative techniques of such a steering actuator. Key words: static analysis, electrohydraulic steering actuator, non-linear algebraic and transcendent equations

Quadruped-imitating robot leg rod joint driving torque virtual prototype simulation

Based on the motion principle of the double-half-revolution mechanism, a new type of quadruped-imitating robot is designed. It mainly consists of body suspension, wheel leg support and walking-leg. In order to simplify its walking-leg mechanism, each leg rod joint is directly driven by a steering gear. The virtual prototype model of the robot is established based on SolidWorks. The motion constraint relationship of legs and the three-dimensional collision properties between the stride rod and the ground are set. According to the kinematic coupling relationship of the legs, the driving speed of each joint is set. For two typical working conditions of the robot: walking on flat ground and climbing over vertical obstacle, the driving torques of the leg joints, such as the first swivel arm, the second swivel arm and the stride rod, are simulated respectively. The driving torque curves of leg joints are obtained under different working conditions. The results provide a reference basis for the steering engine lectotype design in the future.

Transient vibration and acoustic radiation of steering engines

This paper mainly focuses on the remarkable transient vibration and underwater acoustic radiation when the underwater vehicle changes direction or depth, and a short time Fourier transform signal processing method to evaluate transient vibration and acoustic radiation of steering engine is provided in this paper. Based on the vibration test of the 1:1 experimental scaffold of the steering engine for an underwater vehicle, the transient maximum excitation forces acting at the contact points between steering engine and experimental scaffold are calculated indirectly by the least square method of load identification in frequency domain and the short time Fourier transform signal processing method. The accuracy and feasibility of results are verified. In addition, taking excitation forces as an approximate input, the numerical solution of transient acoustic radiation for a cylindrical shell with ribs of the steering engine room, based on elastic shell theory and fluid–structure interaction theory, is presented. In the simulation, the steering engine room of the underwater vehicle is simplified into a cylindrical shell with two simply supported tips, because a cylindrical shell with ribs is the basic structure-borne used in underwater vehicles. The results show that transient acoustic radiation of the tested steering engine is higher than allowable value, while the evaluation results of another electric steering engine without retarder are suitable.

Phase partition and identification based on a two-step method for batch process

The batch process is a batch-repeated production process, which shows a multiple modal switching within the batch. This makes it difficult to use a single-mode analysis method to achieve accurate modeling and fault diagnosis. Therefore, a novel two-step phase partition idea is proposed based on improved affinity propagation (AP) clustering and sub-phase similarity diminishing scan (PSDS) method. In order to capture the dynamic characteristics of the modes switching, the improved AP clustering is used for phase preliminary partition, in which an effective method that is more suitable for complex batch process is proposed to calculate the similarity. For sub-phases generated by the phase preliminary partition, the internal process of each sub-phase also varies obviously with the development of duration, so an innovative method PSDS is proposed to implement phase fine partition. Then each sub-phase scanned by the PSDS method is identified and divided into stable parts and transition parts, which further reflects the change trend within the sub-phase. For the outliers and misclassification points that may arise during the process of phase partition, the solutions are put forward, respectively. Thus, the partition results with different characteristics are modeled and monitored separately by using the method of principal component analysis (PCA). A practical application on batch process, aircraft steering engine platform fault diagnosis experiment, is given to conform the feasibility and performance of the proposed method.

Gamma Degradation Process and Accelerated Model Combined Reliability Analysis Method for Rubber O-Rings

The sealing performance of rubber O-rings plays an irreplaceable role in ensuring the high reliability and safety of mechanical systems. However, traditional statistical analysis may not consider the aging process of rubber O-rings at different temperatures and the time-varying characteristics of rubber material parameters. In view of these problems, an improved reliability analysis method based on the accelerated aging test of rubber O-rings is proposed in this paper. This method is featured by a combination with the traditional accelerated model and the Gamma stochastic process. This paper first adopts the stationary Gamma process to describe the degradation of compression set which is the performance degradation indicator of rubber O-rings. Then, the reliability model is derived from the Gamma degradation model. Next, the Arrhenius model is used to represent the shape parameter of Gamma degradation model and the approach of maximum likelihood estimation is adopted to solve the parameters. Finally, the rubber O-rings of gas steering engine were selected and a series of accelerated aging tests were conducted to obtain the reliability and the storage lifetime of rubber O-rings at different temperature stresses through our improved method. Besides, the comparison with the traditional statistical method is also conducted to prove the advantage of this method.

Modeling and control of a magnus-effect-based ducted fan aerial vehicle

A ducted fan aerial vehicle model using Magnus effect steering engine is proposed in this paper. This model utilizes a steering engine that comprises four cylinders that are symmetrically installed at the aft inside the duct. Interaction between the spinning cylinder surface and the duct jet flow causes the aerodynamic lift proportional to angular velocity of the cylinder. Therefore, operating range of the aerodynamic lift is guaranteed to be sufficiently wide. The efficiency of the proposed method is confirmed via numerical simulations on integrated flight dynamics developed in this study.

Design and Simulation of a Steering Engines’ Stiffness Testing System

Through the way of imposing sinusoidal torques of certain frequencies and amplitudes on the steering engines in servo state, and at the same time, measuring the changes of steering engines’ shaft angle, the system measures the steering engines’ stiffness. In the design of its structure, a frameless direct drive torque motor is used to provide loading torque, while with the aim of improving the torque loading performance and simplifying the control model, a spring beam is used to transfer torque. A control mode of three close-loop including torque, position and current is applied and a kind of explicit torque control based on position inner loop is achieved. The simulation results show that the desired goal can be achieved, which means that the amplitude and phase errors of the loading torque can both meet the requirement.

A Novel Ducted-Fan UAV Model Using Magnus Effect Steering Engine

This current article presents a ducted-fan unmanned aerial vehicle model based on the Magnus effect. The steering engine of this model consists of four cylinders that are symmetrically installed at the aft inside the duct. The interaction between the rotating cylinder surface and the duct jet flow creates aerodynamic lift (control input), which is proportional to angular velocity of the cylinder. This phenomenon is referred to as the Magnus effect in fluid mechanics. As a common problem in the ducted-fan unmanned aerial vehicles, the pitch-forward (roll-forward) stability is highly sensitive to the yaw motion. A self-adjusting function on the aerodynamic lift is thus needed for the steering engine controller to retain pitch-forward stability. For this purpose, this paper proposes a coordinated design method of steering engine controller and position-attitude controller based on integrated nonlinear flight dynamics and virtual force (torque) guidance. The feasibility of the proposed ducted-fan unmanned aerial vehicle model is shown by simulations.