Improvement of power efficiency in flapping-wing MAVs through a semi-passive motion control approach

2013 ◽  
Author(s):  
Hosein Mahjoubi ◽  
Katie Byl
Keyword(s):  
Motion Control ◽  
Power Efficiency ◽  
Flapping Wing ◽  
Passive Motion ◽  
Control Approach

scholarly journals A force/motion control approach based on trajectory planning for industrial robots with closed control architecture

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Alejandro GutierreznGiles ◽  
Luis U. EvangelistanHernandez ◽  
Marco A. Arteaga ◽  
Carlos A. CruznVillar ◽  
Alejandro RodrigueznAngeles
Keyword(s):  
Motion Control ◽  
Trajectory Planning ◽  
Industrial Robots ◽  
Control Architecture ◽  
Control Approach

DUTY-CYCLED SPINNING BASED 3D MOTION CONTROL APPROACH FOR BEVEL-TIPPED FLEXIBLE NEEDLE INSERTION

2018 ◽  
Vol 18 (07) ◽  
pp. 1840017 ◽  
Author(s):  
QIN YAO ◽  
XUMING ZHANG
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Tracking Error ◽  
Open Loop ◽  
Loop Control ◽  
3D Motion ◽  
Control Approach ◽  
Target Error ◽  
The Mean ◽  
Simulation Results

Flexible needle has been widely used in the therapy delivery because it can advance along the curved lines to avoid the obstacles like important organs and bones. However, most control algorithms for the flexible needle are still limited to address its motion along a set of arcs in the two-dimensional (2D) plane. To resolve this problem, this paper has proposed an improved duty-cycled spinning based three-dimensional (3D) motion control approach to ensure that the beveled-tip flexible needle can track a desired trajectory to reach the target within the tissue. Compared with the existing open-loop duty-cycled spinning method which is limited to tracking 2D trajectory comprised of few arcs, the proposed closed-loop control method can be used for tracking any 3D trajectory comprised of numerous arcs. Distinctively, the proposed method is independent of the tissue parameters and robust to such disturbances as tissue deformation. In the trajectory tracking simulation, the designed controller is tested on the helical trajectory, the trajectory generated by rapidly-exploring random tree (RRT) algorithm and the helical trajectory. The simulation results show that the mean tracking error and the target error are less than 0.02[Formula: see text]mm for the former two kinds of trajectories. In the case of tracking the helical trajectory, the mean tracking error target error is less than 0.5[Formula: see text]mm and 1.5[Formula: see text]mm, respectively. The simulation results prove the effectiveness of the proposed method.

A Conceptual Model of Flapping-Wing Mechanism Inspired from the Results of Numerical Study

2013 ◽  
Vol 397-400 ◽  
pp. 783-788
Author(s):  
Xing Wei Zhang ◽  
Chao Wang ◽  
Hang Liu
Keyword(s):  
Conceptual Model ◽  
Power Efficiency ◽  
Stokes Equations ◽  
Numerical Study ◽  
Flapping Wing ◽  
Numerical Results ◽  
Navier Stokes ◽  
Active Deformation ◽  
Navier Stokes Equations ◽  
Wing Model

This paper investigates the aerodynamic forces of several plunging wing models by means of computational fluid dynamics. A finite volume method was used to solve the two-dimensional unsteady incompressible Navier-Stokes equations. The forces and power efficiency have been calculated and compared between sets of different models. Current work found that the nonsymmetrical moving can enhance the lift and thrust forces. The numerical results also prove that the flexible wing model can be use to improve the efficiency and reduce the input. Additionally, a new conceptual model for flapping wing mechanism with active deformation and adaptive nonsymmetrical driving motion is proposed base on the numerical results.

scholarly journals The Effect of Damping Coefficient, Spring Coefficient, and Mass Ratio on the Power Extraction Performance of a Semiactive Flapping Wing

2019 ◽  
Vol 2019 ◽  
pp. 1-12 ◽  
Author(s):  
Jianyang Zhu
Keyword(s):  
Power Efficiency ◽  
Flapping Wing ◽  
Damping Coefficient ◽  
Numerical Code ◽  
Power Coefficient ◽  
Mass Ratio ◽  
Mean Power ◽  
Power Extraction ◽  
Extraction Performance ◽  
Spring Coefficient

The effect of varying damping coefficient C∗, spring coefficient K∗, and mass ratio M∗ on the semiactive flapping wing power extraction performance was numerically studied in this paper. A numerical code based on Finite Volume method to solve the two-dimensional Navier-Stokes equations and coupled with Finite Center Difference method to solve the passive plunging motion equation is developed. At a Reynolds number of 3400 and the pitching axis at quarter chord from the leading edge of the wing, the power extraction performance of the semiactive flapping wing with different damping coefficient, spring coefficient, and mass ratio is systematically investigated. The optimal set of spring coefficient is found at a value of 1.00. However, the variation of mass ratio M∗ cannot increase the maximum mean power coefficient and power efficiency, but it can influence the value of damping coefficient C∗ at which the wing achieves the maximum mean power coefficient and power efficiency. Moreover, insensitivity of the mean power coefficient and power efficiency to the variation of damping coefficient C∗ is observed for the wing with smaller mass ratio, which indicates the wing with smaller M∗ has better working stability.

An Analytic Approach to Cascade Control Design for Hydraulic Valve-Cylinder Drives

2016 ◽  
Author(s):  
Lasse Schmidt ◽  
Anders H. Hansen ◽  
Torben O. Andersen ◽  
Henrik C. Pedersen
Keyword(s):  
Motion Control ◽  
Control Design ◽  
Cascade Control ◽  
Analytic Approach ◽  
Control Approach ◽  
Electrical Drives ◽  
Gain Margin ◽  
Position Feedback ◽  
Hydraulic Valve ◽  
Piston Position

Motion control design for hydraulic drives remains to be a complicated task, and has not evolved on a level with electrical drives. When considering specifically motion control of hydraulic drives, the industry still prefers conventional linear control structures, often combined with feed forward control and possibly linear active damping functionalities. However difficulties often arise due to the inherent and strong nonlinear nature of hydraulic drives, with the more dominant being nonlinear valve flow- and oil stiffness characteristics, and furthermore the volume expansion/retraction when considering cylinder drives. A widely used approach with electrical drives is state controlor cascade control, that may by successfully applied to manipulate the drive dynamics in order to achieve high bandwidths etc., due to the nearly constant parameter-nature of such drives. Such properties are however, unfortunately not present in valveoperated hydraulic drives. This paper considers a cascade control approach for hydraulic valve-cylinder drives motivated by the fact that this may be applied to successfully suppress nonlinearities. The drive is pre-compensated utilizing a pressure updated inverse valve flow relation, ideally eliminating the system gain variation, and the linear model equations for the pre-compensated system is used for the cascade control design. The cascade design does not utilize e.g. bode plots, root loci etc., and is based on an analytic approach, emphasizing the exact influence of each control parameter, resulting in an easily comprehensible control structure. Two versions of this cascade control approach is presented, with the first utilizing pressure-, piston velocity- and piston position feedback, and the second utilizing only pressure- and piston position feedback. The latter may be especially interesting in an industrial context, as this does not use the velocity feedback, which is rarely available here. Furthermore, the position control loop is designed analytically to guarantee a user defined gain margin. The proposed control design approach is verified through simulations, and results demonstrate the announced properties.

Stable and High Performance Energy-Efficient Motion Control of Electric Load Sensing Controlled Hydraulic Manipulators

2013 ◽  
Author(s):  
Janne Koivumäki ◽  
Jouni Mattila
Keyword(s):  
Motion Control ◽  
Energy Efficient ◽  
High Performance ◽  
System Stability ◽  
Electric Load ◽  
Hydraulic Systems ◽  
Control Approach ◽  
Load Sensing ◽  
Hydraulic Manipulators ◽  
Control Scheme

In order to achieve higher energy efficiency for hydraulic systems the Load Sensing (LS) systems, i.e. a Variable Displacement Pump (VDP) with hydro-mechanical control system, can be considered as a state-of-the-art solution. However, as is well known, these traditional hydraulic LS-systems are usually characterized by difficulties in tuning, which can lead to system stability problems. In our previous studies, we have developed a high precision motion control for hydraulic manipulators with separate meter-in meter-out controlled hydraulic actuators. Our control approach was based on the Virtual Decomposition Control (VDC) approach that ensured high motion tracking performance while rigorously guaranteeing the system stability. In this paper, we propose both energy-efficient and high performance nonlinear model based motion control scheme that utilizes the developed servocontrolled Electric Load Sensing (ELS) system for hydraulic robotic manipulators. Experimental results are presented with the proposed ELS-controlled VDP and hydraulic manipulator lifting servoactuator that utilized a separate meter-in meter-out flow control scheme.

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