Research on Backlash Nonlinearity in Servo Precision Drive System

2013 ◽  
Vol 462-463 ◽  
pp. 815-819
Author(s):  
Wei Zhou ◽  
Ling Zhao ◽  
Xiao Lun Li ◽  
Li Hong Lin
Keyword(s):  
Mutual Coupling ◽  
Engineering Application ◽  
Drive System ◽  
Smooth Transition ◽  
Mechanical Transmission ◽  
Safe Operation ◽  
Coupling Vibration ◽  
Mechanical Coupling ◽  
And Control ◽  
Backlash Nonlinearity

Servo Precision Drive system is mainly composed of servo motor, mechanical transmission parts and control parts. Because of mutual coupling between various parts, particularly transmission system in mechanical coupling vibration in non-smooth transition, it will be of great harm to safe operation of the system. This paper is mainly from the perspective of backlash nonlinear characteristic and with simulation tool of Matlab/Simulink to analyze the influence of backlash on the precision of servo system, do hope the work above will have certain reference significance to actual engineering application.

Study on Walking System Technology of Crawler Combine Harvester

2014 ◽  
Vol 1037 ◽  
pp. 107-110 ◽  
Author(s):  
Xi Yin Lou
Keyword(s):  
Production Efficiency ◽  
High Efficiency ◽  
Hydraulic Drive ◽  
Planetary Gear ◽  
Drive System ◽  
Mechanical Transmission ◽  
Speed Increase ◽  
Speed Regulation ◽  
Combine Harvester ◽  
And Control

Crawler combine harvester walking system is various transmission technology are organic and reasonable matching, foster strengths and circumvent weaknesses, complementary drive system so as to achieve the best overall. Stepless speed walking is particularly suitable for complex condition changes, the demand of drive system for a more comprehensive, more comprehensive, objective stepless speed walking in transmission system innovation or seek better performance, and as a mechanical transmission device of the planetary gear has the advantages of small volume transfer large torque, high efficiency. The combination of both realizes stepless transmission, and has the advantages of low speed and high torque. Hydraulic drive system is mainly to achieve stepless speed regulation, commutation, planetary gear drive mainly reduce speed, increase the torque to. Composite transmission mode that can greatly improve the transmission ability, expand the scope of speed adjustment. In fact, combine the stepless variable speed running and control technology can greatly improve the performance of the product, especially the effect on production efficiency, durability, controllability, environment adaptability, green characteristics were significantly.

Research of operation safety and maneuverability of agricultural low-tonnage road train under critical traffic conditions

2020 ◽  
pp. 28-37
Author(s):  
Zakhid A. Godzhayev ◽  
Teymur Z. Godzhayev ◽  
Vladimir A. Korolyash ◽  
Ol’ga Yu. Solov’yeva
Keyword(s):  
Load Capacity ◽  
Research Purpose ◽  
State Technical ◽  
Safe Operation ◽  
Mechanical Coupling ◽  
Emergency Braking ◽  
Traffic Conditions ◽  
Critical Traffic ◽  
Difficult Road ◽  
Agricultural Machines

The article considers conditions for safe operation of low-tonnage road trains with overall trailers, namely universal platforms with a load capacity of up to 3 tons, capable of transporting agricultural machines, mini-factories and other equipment, as well as tourist houses. Transportation of such trailers on wheels is associated with high risks arising at small turning radii and emergency braking. (Research purpose) The research purpose is in improving the safety of operation and maneuverability of agricultural low-tonnage road trains operating in difficult road and terrain conditions of agricultural production. (Materials and methods) Authors have analyzed the results of research and experiments on the safe operation of low-tonnage road trains with trailers weighing up to 1 ton. The authors developed and tested on the basis of VIM and the Volga State Technical University a mechanical coupling device with a flexible connection that increases the handling and maneuverability of the trailer. (Results and discussion) The authors determined that the critical turning radii depending on the speed of a low-tonnage road train in different road conditions and different loading of the trailer when driving in front and rear for a conventional single-axle trailer with a load capacity of 1.5; 2; 2.5; 3 tons. It was found that the maneuverability is largely provided by the additional force in the cable, so authors recommend using a cable with a diameter of at least 9 mm. (Conclusion) Further research will make it possible to determine the critical indicators of safe operation of a low-tonnage road train with a load capacity of up to 3.5 tons: safe speed when passing critical turns, emergency braking and reversing.

Overview of Path-Planning and Obstacle Avoidance Algorithms for UAVs: A Comparative Study

2018 ◽  
Vol 06 (02) ◽  
pp. 95-118 ◽  
Author(s):  
Mohammadreza Radmanesh ◽  
Manish Kumar ◽  
Paul H. Guentert ◽  
Mohammad Sarim
Keyword(s):  
Path Planning ◽  
Comparative Study ◽  
Operating Conditions ◽  
Computational Time ◽  
Safe Operation ◽  
Sense And Avoid ◽  
Planning Algorithms ◽  
And Control ◽  
Global And Local ◽  
Further Development

Unmanned aerial vehicles (UAVs) have recently attracted the attention of researchers due to their numerous potential civilian applications. However, current robot navigation technologies need further development for efficient application to various scenarios. One key issue is the “Sense and Avoid” capability, currently of immense interest to researchers. Such a capability is required for safe operation of UAVs in civilian domain. For autonomous decision making and control of UAVs, several path-planning and navigation algorithms have been proposed. This is a challenging task to be carried out in a 3D environment, especially while accounting for sensor noise, uncertainties in operating conditions, and real-time applicability. Heuristic and non-heuristic or exact techniques are the two solution methodologies that categorize path-planning algorithms. The aim of this paper is to carry out a comprehensive and comparative study of existing UAV path-planning algorithms for both methods. Three different obstacle scenarios test the performance of each algorithm. We have compared the computational time and solution optimality, and tested each algorithm with variations in the availability of global and local obstacle information.

Design and control of a hydro-mechanical transmission for all-terrain vehicle

2020 ◽  
Vol 154 ◽  
pp. 104052
Author(s):  
Wei Wu ◽  
Junlin Luo ◽  
Chunhui Wei ◽  
Hui Liu ◽  
Shihua Yuan
Keyword(s):  
Mechanical Transmission ◽  
And Control

scholarly journals A Time Domain Passivity Control Scheme for Bilateral Teleoperation

Electronics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 325 ◽  
Author(s):  
Long Sheng ◽  
Usman Ahmad ◽  
Yongqiang Ye ◽  
Ya-Jun Pan
Keyword(s):  
Time Domain ◽  
Parametric Design ◽  
Switching Time ◽  
Experimental Results ◽  
Division Problem ◽  
Bilateral Teleoperation ◽  
Safe Operation ◽  
Guaranteed Stability ◽  
Control Scheme ◽  
And Control

Conventional time domain passivity control inevitably embodies division. Zero division can occur under a tiny force or velocity, which may be inevitable, and will be the cause of control crash. To avoid the zero division problem and control crash, we propose a switching dissipation controller for guaranteed stability. The parametric design of the proposed approach is discussed. The switching time domain passivity control is then applied to teleoperation and safe operation is achieved. Simulation and experimental results are demonstrated to validate the effectiveness of the proposed control scheme.

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