基于逆动力学的柔性机械臂力学特性研究 by 刘晓芳, 张洛花

“…In order to study the mechanical property of the flexible manipulator,through using the low vibration manipulator inverse dynamics and time-varying modal expansion method to establish dynamics model of the single-link flexible manipulator,the manipulator self-excited vibration model is introduced to calculate the elastic model,the calculation method of optimal input torque and optimal torque disturbance is proposed,and the dynamic response analysis on different working conditions of joints is carried on,and finally the related model is established based on numerical calculation data to make a numerical validation.The results show that in the process of flexible manipulator modeling includes nonlinear terms,eliminating model linearization error,giving the structure and movement of the manipulator arm when requires,the optimal input torque can be calculated firstly to achieve the openloop control manipulator.By using perturbation model to understand the role of flexible,the convergence and speed of the algorithm are significantly improved compared with ordinary model,the results have good robustness.When rotating joints fixed,manipulator endpoint for harmonic vibration,if the natural frequency of the vibration frequency is close to the manipulator,the disturbance response divergence,and vice versa for the steady state vibration,when the joint moves fixed,manipulator endpoint for uniform rotation,when the speed is less than the critical speed,the disturbance attenuation response or stabilization,otherwise divergent.…”
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Speed and current harmonics reduction using an adaptive proportional integral resonant controller for PMSM based electric vehicle drives by Elango Sangeetha, Vijaya Priya Ramachandran

“…Ultimately, the findings of the simulation and real-time simulator utilizing the OPAL-RT OP5700 platform show that the proposed adaptive PIR control method successfully lowers the periodic speed-current harmonics THD values of the PMSM drive when compared to conventional control strategies. …”
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Research on dynamic parameter identification of space hyper-redundant manipulators using iterative WLS-TCS algorithm by ZHANG Wenjun, LI Yi, ZHOU Yufei, ZHANG Haohao, ZHU Mingchao, TANG Bo

“…Compared with the weighted least squares method, the torque residual RMS value is reduced by about 4.85% on average. …”
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Effectiveness Evaluation of Penetration-Detection Scheme for Surgical Drill Using Thrust Force and Positional Information by Shunya Takano, Tomoyuki Shimono, Takuya Matsunaga, Mitsuru Yagi, Kouhei Ohnishi, Masaya Nakamura, Yuichiro Mima, Kento Yamanouchi, Go Ikeda

“…The theoretical model indicates that the thrust force reacts more sensitively than the torque at penetration. The detection methods using the force-based and torque-based methods were compared through experiments. …”
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STRUCTURE ANALYSIS AND OPTIMIZATION OF MAGNETIC POLE COMBINED PERMANENT MAGNETIC SCREW by SONG XiaoQing, ZHANG YongXin, ZHANG JiaChen, ZHANG XiaoDong

“…The static characteristies of thrust and torque were simulated with the finite element method (FEM). …”
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Research on Power - load Cooperative Control of Wind Turbines Based on Variable Domain Theory by Xin Guan, Haoran Xu, Chenhao Zhao, Yu Hua, Zhe Wang

“…The results show that compared with the other two control methods, the variable universe fuzzy power-load coordinated control method has more advantages in reducing the blade root flapping torque and shimmy torque, improving the response speed, and suppressing the power output fluctuation. …”
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Research of Analysis and Diagnosis of Abnormal Noise at Idle Speed of a Truck Transmission by Liangliang Zhao, Qiang Wu, Fuyun Liu, Hanhong Yu, Rukai Hu

“…The results show that， the torsion characteristic parameters of the clutch torsion damper can be adjusted to solve the abnormal noise of the transmission idling， which is the simplest and most effective method. Therefore， under the condition that the premise of keeping the first-class forward and reverse torsion angle limit values and dry friction damping torque unchanged， the first-class torsional stiffness is optimized， and the samples are manufactured and tested on the vehicle. …”
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Effect of Thermodynamic Cyclic Loading on Screw Loosening of Tightened Versus New Abutment Screw in Bone Level and Tissue Level Implants in DIO Implant Company (In‐Vitro Study) by Amirhossein Fathi, Sina Borhani, Sepideh Salehi, Ramin Mosharraf, Ramin Atash

“…New screws showed less torque reduction compared to previously tightened screws. …”
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Using machine vision to determine the rotational forces of electric motors by O.O. Shelukha, K.V. Molchanova, I.H. Babichev

“…The article discusses the need for new methods of measuring the torque, and also shows the prospects of using machine vision technologies to solve this problem. …”
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DTC of a 5-Level MMC Fed 3-Φ Induction Motor with PI and FLC Using CBAPOD PWM Technique by Sriramulu Naik Mudhavath, Kesana Gopikrishna, Venkat Anjani Kumar G

“…The MATLAB/SIMULINK simulator is the foundation of our suggested method, which measures the effectiveness of direct torque control with respect to ripple in current, speed, torque, and transient response. …”
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The stability of anisotropic cylindrical shells under torsion in spatial position by Andrei Podvornyi

“…The results are obtained for a single-layer cylinder, and compared with the values of critical loads calculated using the well-known method proposed by Lechnitsky. …”
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Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H∞ Approaches by Kun Mu, Cong Liu, Jinzhu Peng

“…FLS is employed to implement the framework of computed torque control (CTC) method via its approximate capability which is used to attenuate the nonlinearity of robotic manipulator. …”
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Dynamic analysis of Halbach coaxial magnetic gears based on magnetic equivalent circuit modelling by A. Beirami, H. Feshki Farahani, R. Mohammad Rahimi, S. Amini

“…Moreover, the dynamic model of HCMG is extracted and its pull‐out torque and output speed are calculated using it. Finally, in order to validate the effectiveness of the proposed model, the obtained results for a sample HCMG are compared with finite element analysis method results.…”
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Adaptive Control Parameter Optimization of Permanent Magnet Synchronous Motors Based on Super-Helical Sliding Mode Control by Lingtao Kong, Hongxin Zhang, Tiezhu Zhang, Junyi Wang, Chaohui Yang, Zhen Zhang

“…The Non-dominated Sorting Genetic Algorithm II and Multi-objective Particle Swarm Optimization are employed to effectively optimize control parameters, thereby mitigating motor torque and speed overshoot. A Partial Sample Shannon Entropy Evaluation method, leveraging entropy theory in conjunction with the Z-score method, is introduced to facilitate the feedback regulation of the optimization process by assessing motor output torque. …”
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Flexible manipulator trajectory tracking based on an improved adaptive particle swarm optimization algorithm with fuzzy PD control by W. Sun, Y. Jin, K. Dai, Z. Guo, F. Ma

“…Additionally, the maximum starting torque of joint 2 was reduced by 57.9 % and 42.1 % in comparison to the same control methods. …”
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Uncovering Key Parameters in Perfluorosulfonic Acid (PFSA) Membrane Fuel Cells to Enhance Performance by Valdecir A. Paganin, Alan M. P. Sakita, Thiago Lopes, Edson A. Ticianelli, Joelma Perez

“…The results reveal that the hot-pressing method employing higher pressure and a lower temperature (125C method) yields lower fuel cell performance compared to the method utilizing a higher temperature and lower pressure (145C method). …”
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并联机器人的新型趋近率滑模控制研究 by 石明明, 高国琴, 牛雪梅

“…Finally,the simulation experiments of the parallel mechanism dynamics model and control are carried out by using MATLAB.Comparing with a computed torque control and a conventional reaching law sliding mode control,the results show that the established dynamics model is suitable for the real- time dynamic control of the parallel mechanism and the designed control method has the better performance.…”
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Research on simulation of permanent magnet synchronous motor in full speed range. by Mingrun Yuan, Yuke Meng, Xiaozhong Qi, Xiao Li, Ning Zhang

“…Through the control method of the leading Angle, the dynamic switching between MTPA and weak magnetic control strategy is realized, and the running speed range of PMSM is effectively extended.…”
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Torsional Strengthening of RC Beams with Near-Surface Mounted Steel Bars by Nasih Habeeb Askandar, Abdulkareem Darweesh Mahmood

“…During the testing process, the twist angle at the torque intervals, first cracking torque, ultimate torque, and ultimate twist angle of the conventional beam were compared with those of the strengthened beams. …”
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Non-singular Fast Terminal Sliding Mode Position Control for DC Motor by WANG Chun-feng, ZHAO Qing-qing, MENG Xu, ZHANG De-sheng

“…A position control method based on non-singular fast terminal sliding mode and expansion observer was proposed for DC-motor position tracking control. …”
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