Applied Mechanics and Materials Vol. 779

Abstract: Mobile robots have been widely used for the good adaptability, payload capability. Robot cooperation brings benefits for the task in a multi-robot team. In this paper, the modular hardware design of a leader-follower mobile robot team is discussed, including the distributed control architecture and the electronic system of each robot of the team. The basic idea behind this paper is to introduce the design of the hardware and distributed control architecture, which mainly manages the distributed control system, consisting of microcontroller modules connected through a data bus. The research has a potential applying prospect in mobile robot tracing and locating in the future.

Abstract: In recent years, power by wire (PBW) technique is developed in the European and American aviation field, and one of its important bases is electro-hydrostatic servo technique. In this paper, speed controlled and displacement controlled electro-hydrostatic actuation systems are modeled and simulated, by comparing their Bode graphics and time-zone respond curves, which shows that displacement control has small load inertia and high gain, so its dynamic performance is better. Thus, conclusion can be drawn that speed-displacement composite control may indeed improve the dynamic performance of electro-hydrostatic actuator.

Abstract: The semi-active control of MR damper is established, using a simplified model of landing gear system and DSP2812 as the code control board. The fuzzy control system is created based on software fuzzyTECH and simulation mode was established in matlab\simulink. Compared with passive control, the fuzzy control damping effect of the aircraft body vertical acceleration, body relative displacement and wheel dynamic load at different moments in the process of plane's taking off and landing. Software fuzzyTECH platform can generate the corresponding code for the DSP controller, applied directly to the fuzzy control system design and debugging, and shorten the development cycle of fuzzy algorithm control. Passive control and fuzzy control test are carried out on the landing gear vibration test platform. The results show that the application of fuzzy algorithm controller has higher adaptability and more real-time control effect, fuzzy control is better than passive control.

Abstract: In the paper, we research on a preparatory electro-hydraulic actuator product, using the simulation software AMESim to research work to analyze the system performance. We research position in closed loop servo actuator system, generally only considered the requirements of the position. While the speed trajectory and precision control did not do high demand. The position of the system by increasing the speed control strategy module, the system meets the requirements of the position. At the same time, we can achieve speeds start-up operation, stable operation and stopped operation of the three phases according to the requirement following a given trajectory; simultaneously can carry out detailed system performance analysis and research. Simulation results show that increasing position speed control strategy module of the system get very good effect. It can realize the speed control system and satisfy the system output displacement and speed steady-state performance and dynamic response.

Abstract: For characteristics of nonlinearity and time-varying volatility of landing gear based on MR damper, a BP neural network PID controller with a momentum was designed on basis of established dynamic mathematical model. BP neural network would adjust three parameters of PID online in time. The controller was inputted the energy which was combined by the feedback of acceleration and displacement of the control system, which greatly reduced the computation time of controller and the control effect was more obvious. After compared with PID, the simulation and experiment have showed that BP neural network PID has a better effect. The arithmetic can be put into practice through experimental testing.

Abstract: In light of the difficulty for the multi-variable fuzzy controller to formulate a sophisticated set of rules concerning multi-dimensional controlling, this project proposes a parallel connection fuzzy PID controller, each PID employing two fuzzy controllers to carry out parameter tuning. This project applies the parallel connection PID fuzzy controller in controlling the jacking system of the multi-hydraulic cylinders. Through the AMESim/Simulink connector, joint simulation is achieved for the hydraulic system and the controlling system. The result of the simulation reveals that this application effectively improves the dynamic and static performance of the system, as well as synchronization precision in the jacking of the hydraulic cylinders.

Abstract: The LQR controller is designed to control magnetorheological damper through controlling the output damping force of magnetorheological damper. Simulation models of LQR controller is built. The results of LQR models and simulation model of landing gear is compared that LQR have a good control effect.

Abstract: A pneumatic microvalve which can be used in pneumatic pressure control for lab-on-a-chip applications is presented in this paper. In order to realize a feedback control and miniaturization, a micro stepper-motor is selected to control the opening of the microvalve. After introducing the structure and working principle of the pneumatic microvalve driven by a stepper-motor, the static flow rate simulation of pneumatic stepper-motor microvalve is processed in the condition of different opening sizes of the microvalve and pressure difference over the valve. The stepper-motor microvalve is fabricated and corresponding control circuit is designed. Experiments on static and dynamic characteristics of the microvalve are carried out. Good agreement has been shown between the simulation and experimental results.

Abstract: Sliding Mode Variable Structure(SMC) based on index approaching rate to control tension is used in this paper,because the lead sheet uncoiler electro-hydraulic tension control system parameters exist many problems,such as:time-varying,coupling multiple interference and so on.Through Matlab/Simulink simulation tool to make simulationanalysis for the electro-hydraulic proportional tensio control model,and comparing with PIDcontrol.The simulation results shows that SMC control is better than PID control.The system can be strongly adaped to parameters time-varying interference and has strong robustness.

Abstract: In this paper, PV module parameters of dust removal equipment are analyzed; the dust removal device model is established by using solidworks software; the motion simulation of removal process is conducted directly in solidworks motion simulation interface; a comparison of dust removal effects is made between the top-down and the left-to-right dust removal device at the same traction speed and brush dust removal brush rotation speed; a conclusion is drawn that brush traction speed, rotation speed, and helix angle have impact on dust removal effect and the two devices are close to each other in terms of dust removal effect, which provides some theoretical evidence for further design.