نتایج جستجو برای: actuators dynamics
تعداد نتایج: 450808 فیلتر نتایج به سال:
We describe and characterize elementary designs for electrochemical micro- and macro-scale chemomechanical hydrogel actuators. The actuation of a pH-sensitive cross-linked polyacrylic acid (PAA) hydrogel is driven in the model devices through the oxygen reduction reaction (ORR) occurring at the electrodes of an embedded Au mesh micro-electrochemical array. Proton consumption by the ORR at the c...
1.1 Robot manipulators Robot manipulators are well-known as nonlinear systems including strong coupling between their dynamics (Craig, 1996). These characteristics, in company with: 1) structured uncertainties caused by model imprecision of link parameters, payload variation, etc., and 2) unstructured uncertainties produced by un-modeled dynamics –such as nonlinear friction and external disturb...
This paper addresses the development of a nonlinear optimal control methodology for magnetostrictive actuators. At moderate to high drive levels, the output from these actuators is highly nonlinear and contains significant magnetic and magnetomechanical hysteresis. These dynamics must be accommodated by models and control laws to utilize the full capabilities of the actuators. A characterizatio...
ABSTRACT: To develop an unmanned automatic excavator system the control performance of hydraulic actuators should be guaranteed. However, hydraulic actuators with single rod cylinder have inherently severe nonlinearities that significantly affect to the command following performance of end-effect. PID control system widely used in industries is not proper to compensate the nonlinearities and it...
This paper presents a method for predicting the power consumption of piezoelectric actuators utilized for active vibration control. Analytical developments and experimental tests show that the maximum power required to control a structure using surface-bonded piezoelectric actuators is independent of the dynamics between the piezoelectric actuator and the host structure. The results demonstrate...
Capillary force actuators provide forces via the alteration of the capillary pressure within a conducting liquid bridge through the application of electrical potential. A dynamic model of a capillary force actuator is developed. Separate models of the fluid/flexured platen and electrodynamics are constructed and linked together via the Young–Lippmann relation. Since the bridge height is small i...
Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principl...
Some effective control parameters for active separation mitigation using asymmetric dielectric barrier discharges is studied by considering the weakly ionized gas flow past a flat plate at angle of attack. A selfconsistent plasma actuator model is employed to couple the electric force field to the momentum of the neutral gas. The equations governing the motion of electrons, ions and neutrals ar...
A dynamic allocator is proposed in this section to generalize the strategy for input redundant plants introduced in [1] and extended in [2]. The approach of [1] applies to linear plants with multiple and redundant inputs. The theory is extended here to the case of multiple linear actuators, each of them with its own dynamics, acting on a nonlinear plant with strong input redundancy. In the HEV ...
In this paper, a selected analysis of the dynamics in an example impact microactuator is performed through a combination of numerical simulations and local analysis. Here, emphasis is placed on investigating the system response in the vicinity of the so-called grazing trajectories, i.e. motions that include zero-relative-velocity contact of the actuator parts, using the concept of discontinuity...
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