In this paper,a new system of semi active structural control with active variable stiffness and damping (AVSD) is suggested.This new system amplifies the structural displacement to dissipate more energy,and in turn,ef...In this paper,a new system of semi active structural control with active variable stiffness and damping (AVSD) is suggested.This new system amplifies the structural displacement to dissipate more energy,and in turn,effectively reduces the structural response in the case of relatively small story drifts,which occur during earthquakes.A predictive instantaneous optimal control algorithm is established for a SDOF structure equipped with an AVSD system Comparative shaking table tests of a 1/4 scale single story structural model with a full scale control device have been conducted.From the experimental and analytical results,it is shown that when compared to structures without control or with the active variable stiffness control alone, the suggested system exhibits higher efficiency in controlling the structural response,requires less energy input,operates with higher reliability,and can be manufactured at a lower cost and used in a wider range of engineering applications.展开更多
Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initia...Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initial attitudes from the end of air-righting to the steady standing on the ground.This approach consists of landing phase,buffering phase and recovering phase. The variable stiffness control,proportional-derivative( PD) force control and foot trajectory planning are applied to the joints of quadruped robots until the end of the recovering phase. The PD parameters are tuned according to the desired performance of each phase. The above approach is verified on a virtual platform.展开更多
文摘In this paper,a new system of semi active structural control with active variable stiffness and damping (AVSD) is suggested.This new system amplifies the structural displacement to dissipate more energy,and in turn,effectively reduces the structural response in the case of relatively small story drifts,which occur during earthquakes.A predictive instantaneous optimal control algorithm is established for a SDOF structure equipped with an AVSD system Comparative shaking table tests of a 1/4 scale single story structural model with a full scale control device have been conducted.From the experimental and analytical results,it is shown that when compared to structures without control or with the active variable stiffness control alone, the suggested system exhibits higher efficiency in controlling the structural response,requires less energy input,operates with higher reliability,and can be manufactured at a lower cost and used in a wider range of engineering applications.
基金Supported by the National High Technology Research and Development Program of China(No.2015AA042201)the National Natural Science Foundation of China(No.61233014,61305130)+1 种基金the Shandong Provincial Natural Science Foundation(No.ZR2013FQ003,ZR2013EEM027)China Postdoctoral Science Foundation(No.2013M541912)
文摘Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initial attitudes from the end of air-righting to the steady standing on the ground.This approach consists of landing phase,buffering phase and recovering phase. The variable stiffness control,proportional-derivative( PD) force control and foot trajectory planning are applied to the joints of quadruped robots until the end of the recovering phase. The PD parameters are tuned according to the desired performance of each phase. The above approach is verified on a virtual platform.
