The Method of the Coal Mining Machine Height Control Based on Magneto-Rheological Tactile Reappearance

2010 ◽  
Vol 33 ◽  
pp. 704-708
Author(s):  
Chun Rui Tang ◽  
Can Zhao ◽  
Hua Jun Li
Keyword(s):  
Coal Mining ◽  
Force Feedback ◽  
Control Method ◽  
Worker Safety ◽  
Mining Machine ◽  
Floor Rock ◽  
Height Control ◽  
Equipment Reliability ◽  
Sensing Technology ◽  
Magneto Rheological

Through analyzing height character of the coal mining machine, the method of height control of the coal mining machine based on touch sensing technology of magneto-rheological valve is proposed. The controller exports control signal based on extracting current and speed signals of shearer cutting motor and controls touch sensing force feedback based on magneto-rheological valve. The operator can accurate and duly adjust roller height of the coal mining machine. The result of simulations and experiments show that the method is important to avoid the coal mining machine cutting the roof and floor rock and maintain the roof and floor of the formation face, and extend machine life, improve equipment reliability, protect worker safety, improve coal quality. This structure of control method is simple and easy to achieve which has a certain application foreground.

The Influence of Magneto-Rheological Fluid Time Response on the Performance of Semi-Active Automotive Suspensions

2006 ◽  
Author(s):  
A. Conway ◽  
R. Stanway
Keyword(s):  
Force Feedback ◽  
Control Method ◽  
Time Response ◽  
High Frequency Oscillation ◽  
Low Frequencies ◽  
Active Devices ◽  
Non Linear ◽  
Excitation Frequencies ◽  
Fluid Dampers ◽  
Magneto Rheological

In recent years the automotive industry has been working towards intelligent suspension systems that adapt to various road conditions to provide a superior ride and improved road handling. So called semi-active devices, in particular smart fluid dampers, are a viable method of implementing such a system. Despite the fact that magnetorheological (MR) dampers have been used in a number of commercially produced vehicles to date, there is little published information on the control of such devices. Building upon a successful modelling approach developed initially for electrorheological (ER) dampers at the University of Sheffield, a computational model was developed and implemented to simulate the behavior of an MR damper. A proportional force feedback control methodology was adopted and applied to the model with the intention of linearizing the output response. The smart fluid damper is therefore forced to behave in a manner equivalent to a linear damper, with the advantage of having a controllable viscous damping coefficient. Whereas previous research has almost exclusively concentrated upon the controller gain and its influence on the range of linearization which is possible to achieve, this investigation focuses on the time response of the MR fluid and its profound impact on the ability of the control method to linearize the output. Results will be presented which show that the fluid time response introduces a high frequency oscillation into the force/velocity output responses. Simultaneously, at higher excitation frequencies non-linear output responses will be demonstrated. As the fluid time response increases, the oscillations seen at low frequencies reduce but conversely the non-linear output of even moderate excitation frequencies becomes apparent. This result shows the need for a compromise between a larger range of controllability with the introduction of noise at low frequencies, or a smaller, yet noise-free range of controllability. This result may have significance when considered in the wider context of smart fluid applications. The instability and long-term degradation of smart fluids alongside other smart fluid phenomena such as 'in-use fluid thickening' indicate that the fluid time response is apt to change as the fluid is used. With a control system which has been demonstrated to be sensitive to fluid time response this change would of course be detrimental. The authors hope to highlight fluid time response as an important consideration in the design of smart fluid control systems.

Design and control of 2-DoF joystick using MR-fluid rotary actuator

2021 ◽  
pp. 1045389X2110639
Author(s):  
Bao Tri Diep ◽  
Quoc Hung Nguyen ◽  
Thanh Danh Le
Keyword(s):  
Pid Controller ◽  
Force Feedback ◽  
Control Method ◽  
Open Loop ◽  
Friction Torque ◽  
Feedback Controls ◽  
Loop Control ◽  
Fuzzy Logic Algorithm ◽  
Experimental Apparatus ◽  
Close Loop Control

The purpose of this paper is to design a control algorithm for a 2-DoF rotary joystick model. Firstly, the structure of the joystick, which composes of two magneto-rheological fluid actuators (shorten MRFA) with optimal configuration coupled perpendicularly by the gimbal mechanism to generate the friction torque for each independent rotary movement, is introduced. The control strategy of the designed joystick is then suggested. Really, because of two independent rotary movements, it is necessary to design two corresponding controllers. Due to hysteresis and nonlinear dynamic characteristics of the MRFA, controllers based an accurate dynamic model are difficult to realize. Hence, to release this issue, the proposed controller (named self-turning fuzzy controllers-STFC) will be built through the fuzzy logic algorithm in which the parameters of controllers are learned and trained online by Levenberg-Marquardt training algorithm. Finally, an experimental apparatus will be constructed to assess the effectiveness of the force feedback controls. Herein, three experimental cases are performed to compare the control performance of open-loop and close-loop control method, where the former is done through relationship between the force at the knob and the current supplied to coil while the latter is realized based on the proposed controller and PID controller. The experimental results provide strongly the ability of the proposed controller, meaning that the STFC is robust and tracks well the desirable force with high accuracy compared with both the PID controller and the open-loop control method.

Recent advances in remote coal mining machine sensing, guidance, and teleoperation

Robotica ◽  
2001 ◽  
Vol 19 (5) ◽  
pp. 513-526 ◽  
Author(s):  
J. C. Ralston ◽  
D. W. Hainsworth ◽  
D. C. Reid ◽  
D. L. Anderson ◽  
R. J. McPhee
Keyword(s):  
Coal Mining ◽  
Special Interest ◽  
Autonomous Systems ◽  
Mining Industry ◽  
Underground Mine ◽  
Mine Safety ◽  
Mining Machine ◽  
Mining Equipment ◽  
Coal Mining Industry ◽  
Recent Advances

This paper presents some recent applications of sensing, guidance and telerobotic technology in the coal mining industry. Of special interest is the development of semi or fully autonomous systems to provide remote guidance and communications for coal mining equipment. We consider the use of radar and inertial based sensors in an attempt to solve the horizontal and lateral guidance problems associated with mining equipment automation. We also describe a novel teleoperated robot vehicle with unique communications capabilities, called the Numbat, which is used in underground mine safety and reconnaissance missions.

Impedance Control of Cable-Driven Mechanisms

2008 ◽  
Author(s):  
Siavash Rezazadeh ◽  
Saeed Behzadipour
Keyword(s):  
Force Feedback ◽  
Control Method ◽  
Impedance Control ◽  
Tensile Force ◽  
Classical Problem ◽  
The Body ◽  
Control Input ◽  
Body Parts ◽  
Lagrange’S Equation ◽  
Cable Forces

In this work, an impedance control method is developed and applied to two cable-driven mechanisms. The first one is a classical problem of driving a rigid body in 3-D space by seven cables. Our approach is based on the impedance control of rigid link manipulators which is then extended to include the specific considerations of the cable-driven mechanisms such as maintaining the tensile force in the cables. The method is then extended to the serial multibody cable-driven mechanisms. The motivation for this problem is the possible application of cable-driven systems in the rehabilitative exercises such as physical and/or occupational therapies. In this case, the human body acts as a multibody system which is driven by cables attached. The impedance control in such application facilitates the comfort of the patient by providing the necessary compliance while moving the body parts. The formulation of the problem is developed using Lagrange’s equation and the control input (which is the cable forces) is calculated based on the position and/or force feedback from the multibody. Simulation results demonstrate the effectiveness of the presented method.

Integrating a Grasp Exoskeleton Into a String-Based Interface for Human-Scale Interactions

2008 ◽  
Vol 8 (4) ◽  
Author(s):  
Rasul Fesharakifard ◽  
Maryam Khalili ◽  
Laure Leroy ◽  
Alexis Paljic ◽  
Philippe Fuchs
Keyword(s):  
Virtual Environments ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Control Method ◽  
Hybrid Control ◽  
Force Sensor ◽  
Virtual Objects ◽  
Rotary Encoder ◽  
Human Scale ◽  
Novel Design

A grasp exoskeleton actuated by a string-based platform is proposed to provide the force feedback for a user’s hand in human-scale virtual environments. The user of this interface accedes to seven active degrees of freedom in interaction with virtual objects, which comprises three degrees of translation, three degrees of rotation, and one degree of grasping. The exoskeleton has a light and ergonomic structure and provides the grasp gesture for five fingers. The actuation of the exoskeleton is performed by eight strings that are the parallel arms of the platform. Each string is connected to a block of motor, rotary encoder, and force sensor with a novel design to create the necessary force and precision for the interface. A hybrid control method based on the string’s tension measured by the force sensor is developed to resolve the ordinary problems of string-based interface. The blocks could be moved on a cubic frame around the virtual environment. Finally the results of preliminary experimentation of interface are presented to show its practical characteristics. Also the interface is mounted on an automotive model to demonstrate its industrial adaptability.

The Research of Height Control Strategy of the Electronically Controlled Air Suspension

2013 ◽  
Vol 288 ◽  
pp. 156-160
Author(s):  
Jin Rui Nan ◽  
Zhi Chai ◽  
Jun Kui Huang
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Can Bus ◽  
Nonlinear Process ◽  
Solenoid Valve ◽  
Target Height ◽  
Height Control ◽  
Air Suspension ◽  
Electronically Controlled Air Suspension ◽  
Valve Control

The height adjustment of electronically controlled air suspension is a complicated nonlinear process [1]. To research this problem, the height adjustment principle of ECAS is introduced first, and the functions of important components of the system are also listed. Then we put forward height control strategy and the pulse width of the solenoid valve control method, which are applied to the control method of ECU. After that, we use the software Labview to communicate with the ECU through CAN bus. By analyzing the data collected, we can see that the results show that current height and target height are consistent generally and the control strategy is feasible.

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