The Ball Screw Installation Position Parameter Decisions and Simulation

2012 ◽  
Vol 479-481 ◽  
pp. 2347-2350
Author(s):  
Ki Jun Kim ◽  
Cheng Dong Wu ◽  
Fei Wang ◽  
Shi Guang Wen
Keyword(s):  
Mr Damper ◽  
Virtual Prototype ◽  
Ball Screw ◽  
Rotational Axis ◽  
Hybrid Drive ◽  
Location Parameters ◽  
Damper Control ◽  
Position Parameter

The robot joints are usually rotational axis by two link joints, bionic features is not strong. The shortcomings of intelligent MR damper control multi-axis bionic knee can only provide resistance and certain sizes of regain momentum, cannot provide larger power, therefore this paper gives by the multi-axis four-bar structure, ball screw transmission hybrid drive multiaxial bionic active knee institutions. And analysis the human leg institutions and commonly used two-bar structure, solve the ball screw transmission installation location parameters. And established based on hybrid drive of the bionic active the knee's virtual prototype.

The Research of the Four-Bar Bionic Active Knee

2011 ◽  
Vol 308-310 ◽  
pp. 1988-1991 ◽  
Author(s):  
Ki Jun Kim ◽  
Cheng Dong Wu ◽  
Fei Wang ◽  
Shi Guang Wen
Keyword(s):  
Angular Velocity ◽  
Knee Joint ◽  
Mr Damper ◽  
Optimization Method ◽  
Virtual Prototype ◽  
Ball Screw ◽  
Design Parameters ◽  
Rotational Axis ◽  
Joint Structure ◽  
Damper Control

The robot joints are usually rotational axis by two link joints, bionic features is not strong. The shortcomings of intelligent MR damper control multi-axis bionic knee can only provide resistance and certain sizes to regain momentum, cannot provide larger power, therefore this paper gives by the multi-axis four-bar structure, ball screw transmission multiaxial bionic active knee institutions. And analysis the human leg institutions and commonly used two-bar structure, through multi-variable optimization method to solve the design parameters of knee joint structure, the motor angular velocity and torque. And established in a bionic active the knee's virtual prototype.

The Calculation of the Equivalent Linear Damping Coefficient of the Magnetorheological Damper

2013 ◽  
Vol 336-338 ◽  
pp. 475-479 ◽  
Author(s):  
Yao Hui Guo ◽  
En Wei Chen ◽  
Qun Wu ◽  
Yi Min Lu ◽  
Zeng Qiang Xia
Keyword(s):  
Mr Damper ◽  
Magnetorheological Damper ◽  
Damping Coefficient ◽  
Control Voltage ◽  
Characteristic Analysis ◽  
Equivalent Damping ◽  
Equivalent Linear ◽  
Linear Damping ◽  
Damper Control ◽  
Equivalent Damping Coefficient

MR damper (magnetorheological damper) has broad application prospects, and equivalent damping coefficient is very important of its dynamic characteristic analysis. Based on the modified Bouc_Wen model, the performance of MR damper was analyzed and the equivalent linear damping coefficient of MR damper was calculated. Based on simulation date of the modified Bouc_Wen model, the relationships between the equivalent linear damping coefficient of MR damper and the parameters of control voltage and MR dampers movement amplitude were established by the curve fitting regression analysis method. Verification results prove that the equivalent linear damping coefficient model has higher accuracy. For the vibration systems using strongly nonlinear MR damper, new model can effectively improve the efficiency of calculating the vibration analysis and the stability of the system in a certain frequency. At the same time, the model provides a theoretical basis for the application of MR damper control.

scholarly journals Parameter identification of Bouc-Wen model for Magnetorheological (MR) fluid Damper by a Novel Genetic Algorithm

2020 ◽  
Vol 12 (8) ◽  
pp. 168781402095054
Author(s):  
Birhan Abebaw Negash ◽  
Wonhee You ◽  
Jinho Lee ◽  
Kwansup Lee
Keyword(s):  
Genetic Algorithm ◽  
Parameter Identification ◽  
Mr Damper ◽  
Absolute Error ◽  
Mr Fluid ◽  
Fitness Evaluation ◽  
Damper Control ◽  
Fluid Dampers ◽  
Mr Fluid Damper ◽  
Crossover And Mutation

In this research, novel genetic algorithm (nGA) is proposed for Bouc-Wen modle parameters esstimation for magnetorheological (MR) fluid dampers. The optimization efficiency is improved by modifying the crossover and mutation steps of a GA. In the crossover stage, the probability of reproducing offspring from the same parent (same mother and father chromosome) is done to be zero, which may happen in the standard GA, and the probability of a chromosome to be selected for mating is based on error rank weighting of the chromosomes. Additional fitness evaluation of chromosomes will take place in between the crossover and mutation steps to save the best chromosome found so far, which is not implemented in the standard genetic algorithm (GA). The model is validated by comparing its simulation output force ( Fsim) with experimentally generated MR damper force ( Fexp). The mean absolute error, standard deviation and number of generations for convergence are taken as a criterias for performance evaluation. With these ctriterias, the proposed novel GA outperform better than the other researches. The accuracy is improved by 46.67% compared to standard GA. The proposed novel GA for Bouc-Wen model parameter identification can be used for any MR damper control system with better accuracy.

scholarly journals A Study on Electromagnetic Damper Control for Ball Screw Stages

2009 ◽  
Vol 75 (7) ◽  
pp. 887-891
Author(s):  
Susumu MAKINOUCHI ◽  
Kazuhiro HIRANO ◽  
Masahiro NAKADE ◽  
Shinji WAKUI
Keyword(s):  
Ball Screw ◽  
Damper Control ◽  
Electromagnetic Damper

scholarly journals Multimode Coordination Control of a Hybrid Active Suspension

2018 ◽  
Vol 2018 ◽  
pp. 1-16 ◽  
Author(s):  
Fa-Rong Kou ◽  
Dong-Dong Wei ◽  
Lei Tian
Keyword(s):  
Mr Damper ◽  
Active Suspension ◽  
Suspension System ◽  
Ball Screw ◽  
Damping Force ◽  
Active Mode ◽  
Damping Control ◽  
Electromagnetic Damping ◽  
Regenerative Energy ◽  
Suspension Structure

In order to effectively realize the damping control and regenerative energy recovery of vehicle suspension, a new kind of hybrid active suspension structure with the ball screw actuator and magnetorheological (MR) damper is put forward. Firstly, for the analysis of the suspension performance, a quarter dynamic model of vehicle hybrid suspension is established, and at the same time, the mathematical models of MR damper and ball screw actuator are founded. Secondly, the active mode with damping switching control of the hybrid suspension and the semiactive mode with feedback adjustment of the electromagnetic damping force of the hybrid suspension are analyzed. Then, the multimode coordinated control system of the hybrid suspension is designed. Under the cyclic driving condition, the damping performance and energy consumption characteristics of the hybrid suspension are simulated by MATLAB/Simulink software. Finally, the bench tests of the hybrid suspension system are done. The simulation and experimental results show that compared with passive suspension, the root mean square of the sprung mass acceleration of the hybrid suspension with the active mode and semiactive mode is, respectively, reduced by 39% and 16% under the random road. The damping effect of the hybrid suspension system is obvious.

Vibration suppression of railway vehicles using a magneto-rheological fluid damper and semi-active virtual tuned mass damper control

2019 ◽  
Vol 67 (6) ◽  
pp. 493-507
Author(s):  
Ji-Hwan Shin ◽  
Jin-Ho Lee ◽  
Won-Hee You ◽  
Moon K. Kwak
Keyword(s):  
Control Algorithm ◽  
Mr Damper ◽  
Tuned Mass Damper ◽  
Railway Vehicle ◽  
Car Body ◽  
Fluid Damper ◽  
Mass Damper ◽  
Damper Control ◽  
Magneto Rheological ◽  
Mr Fluid Damper

A semi-active virtual tuned mass damper (SAVTMD) control algorithm is developed to suppress vibrations of a railway vehicle by using magneto-rheological (MR) damper. To this end, a virtual-tuned-mass-damper control algorithm analogous to the tuned mass damper was developed prior to the semi-active application. The proposed SAVTMD control algorithm uses the acceleration of the car body directly, so that it is more practical than the sky-hook control algorithm that uses the velocity of the car body. The application of the SAVTMD control to a real MR fluid damper is discussed, and a step-by-step procedure to calculate the command voltage to the driver of the MR fluid damper is presented. A hardwarein-the-loop simulation system developed in the previous study is used to test the SAVTMD control algorithm. The theoretical and experimental results showed that the proposed SAVTMD control algorithm is more effective than is the semi-active sky-hook control in suppressing vibrations of the car body of the railway vehicle by the MR damper.

EVALUATION OF DYNAMIC PERFORMANCE OF MAGENETO-RHEOLOGICAL DAMPER BY VIRTUAL PROTOTYPE TECHNOLOGY

2005 ◽  
Vol 19 (07n09) ◽  
pp. 1542-1548 ◽  
Author(s):  
BAOLIN HOU ◽  
JIONAG WANG
Keyword(s):  
Dynamic Characteristics ◽  
Dynamic Performance ◽  
Mr Damper ◽  
Control Policy ◽  
Virtual Prototype ◽  
Control Policies ◽  
The Road ◽  
Full Vehicle ◽  
Road Profile ◽  
Virtual Prototype Technology

Numerical dynamic simulation of a full vehicle incorporating a magneto-rheological damper in the primary suspension is studied using the package ADAMS and SIMULINK. The full vehicle model is built under ADAMS. The interaction between the tire and the road profile is simulated using the ADAMS/TIRE capabilities. The UA tire model is used to model the dynamic characteristics of the tires. A 3-D road profile model is built based on the spatial power spectrum density of a random road profile. In order to model the dynamic characteristics of the primary suspension MR damper, a non-parametric model of an MR damper is proposed which can conveniently be incorporated into the vehicle dynamic model. Two kinds of control policies, a common skyhook and the so-called non-jerk skyhook, are adopted to control the current applied to the MR damper. The simulation results imply that either one of the two skyhook control policies can obtain a good compromise between so-called "soft damping" and "hard damping", and non-jerk skyhook control policy can curb some higher frequency components which are observed in the acceleration response of the chassis. This study demonstrates that virtual prototype technology is an effective approach for investigating the dynamic behavior of MR dampers for complex systems.

Testing and Modeling of MR Damper and Its Application to SDOF Systems Using Integral Backstepping Technique

2009 ◽  
Vol 131 (2) ◽  
Author(s):  
Sk. Faruque Ali ◽  
Ananth Ramaswamy
Keyword(s):  
Active Control ◽  
Testing Machine ◽  
Mr Damper ◽  
Control Device ◽  
Magnetorheological Damper ◽  
Input Current ◽  
Magnetorheological Dampers ◽  
Damper Control ◽  
Nonlinear Devices ◽  
Current Monitoring

Magnetorheological dampers are intrinsically nonlinear devices, which make the modeling and design of a suitable control algorithm an interesting and challenging task. To evaluate the potential of magnetorheological (MR) dampers in control applications and to take full advantages of its unique features, a mathematical model to accurately reproduce its dynamic behavior has to be developed and then a proper control strategy has to be taken that is implementable and can fully utilize their capabilities as a semi-active control device. The present paper focuses on both the aspects. First, the paper reports the testing of a magnetorheological damper with an universal testing machine, for a set of frequency, amplitude, and current. A modified Bouc–Wen model considering the amplitude and input current dependence of the damper parameters has been proposed. It has been shown that the damper response can be satisfactorily predicted with this model. Second, a backstepping based nonlinear current monitoring of magnetorheological dampers for semi-active control of structures under earthquakes has been developed. It provides a stable nonlinear magnetorheological damper current monitoring directly based on system feedback such that current change in magnetorheological damper is gradual. Unlike other MR damper control techniques available in literature, the main advantage of the proposed technique lies in its current input prediction directly based on system feedback and smooth update of input current. Furthermore, while developing the proposed semi-active algorithm, the dynamics of the supplied and commanded current to the damper has been considered. The efficiency of the proposed technique has been shown taking a base isolated three story building under a set of seismic excitation. Comparison with widely used clipped-optimal strategy has also been shown.

Digital Resistance-Map Generation for a Magnetorheological Damper Based Platform for Rehabilitation Applications

2011 ◽  
Author(s):  
Ehsan Asadi ◽  
Siamak Arzanpour
Keyword(s):  
Mr Damper ◽  
Recovery Process ◽  
Magnetorheological Damper ◽  
Robotic Rehabilitation ◽  
Mr Dampers ◽  
Map Generation ◽  
Body Organ ◽  
Damper Control ◽  
The One ◽  
Control Methodology

This paper introduces a methodology for generating digital resistance-map that can be utilized in an MR-Damper based robotic rehabilitation. Typically, in rehabilitation procedures, patients are getting involved in the recovery process of gradually training weak and damaged muscles by constraining motion in repetitive exercises. The whole purpose of robotic rehabilitation is to restrict body organ motion to the one prescribed by the therapist at the initial steps of treatment to avoid further damages to other weak muscles while focusing on recovering a particular muscle. MR-Dampers are semi-active actuators that can potentially be employed for this application. These dampers can be activated to produce high resistance to motion, and a platform that contains sufficient number of them can be manipulated to create regions of different resistance against motion. To apply this to the robotic rehabilitation, the motion recommended by the therapist should be converted to the resistance-maps that can be used by MR-Damper for implementation. To accomplish that, procedure of generating the digital resistance map is introduced and several digital resistance-maps are created. An MR-damper control methodology is also developed to activate the dampers. This controller relies on the accurate modeling of the MR-Damper. Bouc-Wen model is used for MR-Damper modeling. A 3-D platform containing three linear MR-Dampers is modeled using SimMechanics. 1-D and 2-D models are used to develop the idea and build up 3-D model. Several simulations are carried out to investigate the performance of the systems in generating the prescribed digital resistance-maps. The promising results of the simulations indicate that the method can be adopted for robotic rehabilitation purposes.

Modeling of Thermal Contact Resistance of Ball Screws Considering the Load Distribution of Balls

2021 ◽  
Vol 13 (4) ◽  
Author(s):  
Xiangsheng Gao ◽  
Jiqian Ma ◽  
Qi Li ◽  
Min Wang ◽  
Tao Zan
Keyword(s):  
Contact Resistance ◽  
Load Distribution ◽  
Axial Load ◽  
Thermal Contact Resistance ◽  
Fractal Theory ◽  
Thermal Contact ◽  
Ball Screw ◽  
Load Increase ◽  
Position Parameter ◽  
Geometry Error

Abstract A new analytical method for the modeling of the thermal contact resistance of ball screws considering the load distribution of balls is proposed in this research. The load on balls is analyzed by the force analysis of ball screws, and then, the thermal contact resistance is obtained by the minimum excess principle and Majumdar–Bhushan (MB) fractal theory. The proposed method is validated by experimental results. The comparison with experimental and former results indicates that it is an effective method to evaluate the thermal contact resistance of ball screws. On that basis, effects of axial load, axial pretension, and geometry error of balls are discussed. It is concluded that the thermal contact resistance of ball screws increases along with axial load increase. The load on balls all decreases with axial pretension increase, and the thermal contact resistance of ball screws decreases with the axial pretension increase as well. When the axial load is applied on the nut in an axial-pretension ball screw, the load distribution in Nut A or B becomes less homogenized when the nut moves from nut position parameter ξ = 0 to 1. When the nut moves to ξ = 0.25, the thermal contact resistance will reach a minimum value, and it gets a maximum value at the nut position ξ = 1. The interval range of load and thermal contact resistance are obtained via uncertain analysis. It is concluded that the geometry error has much greater effects on the balls far away from the spacer.

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