The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structur...The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redundancy ability,high stiffness and good decoupling performance is innovatively proposed.Based on the deformation coordination relationship,the redundancy measurement mechanism is revealed.The mathematical models of the sensor with and without branch fault are established respectively.The finite element model is established to verify the feasibility of structure and redundancy measuring principle of the sensor.Depending on the theoretical analysis and simulation analysis,the prototype of the sensor is developed.Static and dynamic calibration experiments are carried out.The actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage signal.Based on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed respectively.The experimental results show that the spoke piezoelectric sixdimensional force/torque sensor with the eight-point support structure has good accuracy and reliability.Meanwhile,it has strong decoupling characteristic that can effectively shield the coupling between dimensions.The nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1% and 2%,respectively.The natural frequency of the sixdimensional force sensor can reach 2856.45 Hz and has good dynamic characteristics.The research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with redundancy.Meanwhile,it will significantly improve the research level in this field,and provide a strong guarantee for the smooth implementation of force feedback control of th展开更多
This paper develops an approach to control unstable nonlinear multi-inputs multi-output(MIMO) square plants using MIMO fractional order(FO) controllers. The controller design uses the linear time invariant(LTI) state ...This paper develops an approach to control unstable nonlinear multi-inputs multi-output(MIMO) square plants using MIMO fractional order(FO) controllers. The controller design uses the linear time invariant(LTI) state space representation of the nonlinear model of the plant and the diagonal closedloop transfer matrix(TM) function to ensure decoupling between inputs. Each element of the obtained MIMO controller could be either a transfer function(TF) or a gain. A TF is associated in turn with its corresponding FO TF. For example, a D(Derivative) TF is related to a FO TF of the form Dδ, δ =[0, 1]. Two applications were performed to validate the developed approach via experimentation: control of the angular positions of a manipulator, and control of the car and arm positions of a translational manipulator.展开更多
基金supported by the National Natural Science Foundation of China(No.51875250)a Project of Shandong Province Higher Educational Youth Innovation Science and Technology Program,China(No.2019KJB018)a Project of the“20 Regulations for New Universities”Funding Program of Jinan,China(No.202228116)。
文摘The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redundancy ability,high stiffness and good decoupling performance is innovatively proposed.Based on the deformation coordination relationship,the redundancy measurement mechanism is revealed.The mathematical models of the sensor with and without branch fault are established respectively.The finite element model is established to verify the feasibility of structure and redundancy measuring principle of the sensor.Depending on the theoretical analysis and simulation analysis,the prototype of the sensor is developed.Static and dynamic calibration experiments are carried out.The actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage signal.Based on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed respectively.The experimental results show that the spoke piezoelectric sixdimensional force/torque sensor with the eight-point support structure has good accuracy and reliability.Meanwhile,it has strong decoupling characteristic that can effectively shield the coupling between dimensions.The nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1% and 2%,respectively.The natural frequency of the sixdimensional force sensor can reach 2856.45 Hz and has good dynamic characteristics.The research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with redundancy.Meanwhile,it will significantly improve the research level in this field,and provide a strong guarantee for the smooth implementation of force feedback control of th
文摘This paper develops an approach to control unstable nonlinear multi-inputs multi-output(MIMO) square plants using MIMO fractional order(FO) controllers. The controller design uses the linear time invariant(LTI) state space representation of the nonlinear model of the plant and the diagonal closedloop transfer matrix(TM) function to ensure decoupling between inputs. Each element of the obtained MIMO controller could be either a transfer function(TF) or a gain. A TF is associated in turn with its corresponding FO TF. For example, a D(Derivative) TF is related to a FO TF of the form Dδ, δ =[0, 1]. Two applications were performed to validate the developed approach via experimentation: control of the angular positions of a manipulator, and control of the car and arm positions of a translational manipulator.
