Normalized passivity control for hardware-in-the-loop with contact

AbstractMechanical contact occurs in many engineering applications. Contact dynamics can lead to unwanted dynamic phenomena in mechanical systems. Hence, it would be desirable to investigate the influence of contact dynamics on a dynamical system already in the development stage. An appropriate method is Hardware-in-the-loop (HiL) on mechanical level. However, the coupling procedure in HiL is prone to stability problems and previous studies revealed that HiL tests of systems with contact are even more challenging, as the system dynamics change rapidly when contact occurs. Passivity-based control schemes, well-known from teleoperation, have recently been used to stabilize HiL simulations of systems with continuous dynamics. Here, we investigate the applicability of Normalized Passivity Control to HiL tests of a one-dimensional mass-spring-damper system experiencing contact. Experimental results reveal that this kind of passivity control keeps the test stable and also improves the test fidelity. This research is an important first step in using passivity control for stable and safe hybrid simulation of complex systems with contact using HiL approaches.

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Multi-mass-spring model and energy transmission of one-dimensional periodic structures

IEEE Transactions on Ultrasonics Ferroelectrics and Frequency Control ◽

10.1109/tuffc.2014.6805688 ◽

2014 ◽

Vol 61 (5) ◽

pp. 739-746 ◽

Cited By ~ 1

Author(s):

Zhi-Bao Cheng ◽

Zhi-Fei Shi

Keyword(s):

Periodic Structures ◽

Spring Model ◽

Energy Transmission ◽

One Dimensional ◽

Mass Spring Model ◽

Mass Spring

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Mechanical response of double-stranded DNA to dynamic excitation

Journal of Vibration and Control ◽

10.1177/10775463211045803 ◽

2021 ◽

pp. 107754632110458

Author(s):

Hamze Mousavi ◽

Moein Mirzaei ◽

Samira Jalilvand

Keyword(s):

Mechanical Behavior ◽

Mechanical Response ◽

Actual Condition ◽

Dimensional System ◽

One Dimensional ◽

Linear Elastic ◽

Dynamic Excitation ◽

Double Stranded Dna ◽

Elastic Forces ◽

Mass Spring

The present work investigates the vibrational properties of a DNA-like structure by means of a harmonic Hamiltonian and the Green’s function formalism. The DNA sequence is considered as a quasi one-dimensional system in which the mass-spring pairs are randomly distributed inside each crystalline unit. The sizes of the units inside the system are increased, in a step-by-step approach, so that the actual condition of the DNA could be modeled more accurately. The linear-elastic forces mimicking the bonds between the pairs are initially considered constant along the entire length of the system. In the next step, these forces are randomly shuffled so as to take into account the inherent randomness of the DNA. The results reveal that increasing the number of mass-spring pairs in the crystalline structure decreases the influence of randomness on the mechanical behavior of the structure. This also holds true for systems with larger crystalline units. The obtained results can be used to investigate the mechanical behavior of similar macro-systems.

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Neural Network Control of a Robot Interacting With an Uncertain Hunt-Crossley Viscoelastic Environment

ASME 2008 Dynamic Systems and Control Conference, Parts A and B ◽

10.1115/dscc2008-2222 ◽

2008 ◽

Cited By ~ 4

Author(s):

S. Bhasin ◽

K. Dupree ◽

P. M. Patre ◽

W. E. Dixon

Keyword(s):

Neural Network ◽

Network Control ◽

Contact Dynamics ◽

Neural Network Control ◽

Contact Conditions ◽

Real Behavior ◽

Spring System ◽

Mass Spring ◽

The Impact ◽

Viscoelastic Contact

The objective in this paper is to control a robot as it transitions from a non-contact to a contact state with an unactuated viscoelastic mass-spring system such that the mass-spring is regulated to a desired final position. A nonlinear Hunt-Crossley model, which is physically consistent with the real behavior of the system at contact, is used to represent the viscoelastic contact dynamics. A Neural Network feedforward term is used in the controller to estimate the environment uncertainties, which are not linear-in-parameters. The NN Lyapunov based controller is shown to guarantee uniformly ultimately bounded regulation of the system despite parametric and nonparametric uncertainties in the robot and the viscoelastic environment respectively. The proposed controller only depends on the position and velocity terms, and hence, obviates the need for measuring the impact force and acceleration. Further, the controller is continuous, and can be used for both non-contact and contact conditions.

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Analysis of Hardware-in-the-Loop setup without artificial compliance for docking contact dynamics of satellites

AIAA SPACE and Astronautics Forum and Exposition ◽

10.2514/6.2017-5183 ◽

2017 ◽

Cited By ~ 1

Author(s):

Karim Bondoky ◽

Klaus Janschek ◽

Andreas Rathke ◽

Sebastian Schwarz

Keyword(s):

Contact Dynamics ◽

Hardware In The Loop

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The Adaptation of Kron’s Method for Use With Large Finite-Element Models

Journal of Vibration and Acoustics ◽

10.1115/1.3269363 ◽

1986 ◽

Vol 108 (4) ◽

pp. 405-410 ◽

Cited By ~ 2

Author(s):

G. L. Turner ◽

M. G. Milsted ◽

P. Hanks

Keyword(s):

Finite Element ◽

System Model ◽

Finite Element Models ◽

Selection Procedures ◽

Substructure Analysis ◽

Coupling Procedure ◽

Simple Mass ◽

Mass Spring ◽

Modal Truncation

Kron’s method of dynamic substructure coupling is modified and extended to a form which is well suited for use with large finite-element substructure models. It is shown how both mass condensation and modal truncation can be applied at the substructure level in a manner compatible with the Kron coupling procedure. Either master or slave freedoms may be used as coupling coordinates in the system model, thereby allowing complete flexibility at the substructure analysis stage and in particular, allowing the use of automatic master selection procedures. Substructures may be coupled either directly or through a flexible interlayer. System damping may thus be represented in a fairly general way with each substructure having its own (uniform) damping level but with the further provision of additional damping at the joining surfaces between substructures. The theory is illustrated by examples with simple mass-spring systems.

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Multiscale Mass-Spring Model for High-Rate Compression of Vertically Aligned Carbon Nanotube Foams

Journal of Applied Mechanics ◽

10.1115/1.4028785 ◽

2014 ◽

Vol 81 (12) ◽

Cited By ~ 11

Author(s):

Ramathasan Thevamaran ◽

Fernando Fraternali ◽

Chiara Daraio

Keyword(s):

Carbon Nanotube ◽

High Rate ◽

Spring Model ◽

One Dimensional ◽

Mass Spring Model ◽

Vertically Aligned ◽

Mass Spring ◽

Constitutive Parameters ◽

Strain Responses

We present a one-dimensional, multiscale mass-spring model to describe the response of vertically aligned carbon nanotube (VACNT) foams subjected to uniaxial, high-rate compressive deformations. The model uses mesoscopic dissipative spring elements composed of a lower level chain of asymmetric, bilateral, bistable elastic springs to describe the experimentally observed deformation-dependent stress–strain responses. The model shows an excellent agreement with the experimental response of VACNT foams undergoing finite deformations and enables in situ identification of the constitutive parameters at the smaller lengthscales. We apply the model to two cases of VACNT foams impacted at 1.75 ms−1 and 4.44 ms−1 and describe their dynamic response.

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