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関連する概念動画

One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

555
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
555
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

448
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
448
Feedback control systems01:26

Feedback control systems

416
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
416
Open and closed-loop control systems01:17

Open and closed-loop control systems

987
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
987
Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

530
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
530
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

853
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
853

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関連する実験動画

Updated: Sep 9, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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ロボット・ジョイント・モジュールのラディアル・ベース・ファンクション・ニューラル・ネットワーク・アプロキシメーションに基づく高速非単一型適応型超回転スライディング・モード制御

Xiao Lin1, Junyang Li1, Yankui Song2

  • 1State Key Laboratory of Mechanical Transmissions for Advanced Equipment, Chongqing University, Chongqing 400030, China.

ISA transactions
|August 29, 2025
PubMed
まとめ

この研究は,精度と干渉の拒絶を向上させる,新しいニューラルネットワークベースのロボット関節の適応制御を導入します. 改良された高速非単数超回転制御は,複雑なロボットアプリケーションで堅実な性能を保証します.

キーワード:
アダプティブ・ゲイン単数ではないラジアルベース機能ニューラルネットワークロボットジョイントモジュール超回転スライドモード制御

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科学分野:

  • ロボット
  • 制御システム工学
  • 人工知能

背景:

  • ロボット・ジョイント・モジュールは 複雑なタスクを正確に制御する必要があります
  • 非線形摩擦と硬さは ロボット制御に重大な課題をもたらします
  • 既存の制御スキームは,しばしば単一性と外部の干渉と闘う.

研究 の 目的:

  • ロボット・ジョイント・モジュールの高速非単一適応型超回転制御システムを改良する.
  • 軌道追跡の精度と 干渉拒否能力を向上させるため
  • ニューラルネットワークベースの補償を用いたロボットシステムの精密な制御の問題に対処する.

主な方法:

  • ラグランジアンエネルギー方程式を用いたロボットジョイントモジュールの第2次状態空間モデルを確立した.
  • シンギュラリティを回避し,収束を加速するために,改良された高速非シンギュラー端滑り面を提案しました.
  • 不確実なモデル因子と適応的なスイッチング制御法則のための放射線ベース機能ニューラルネットワーク補償器を設計した.

主要な成果:

  • 提案された制御スキームは,様々な基準軌道の下での優れた軌道追跡性能を示した.
  • 外部からの干渉がある場合でも,効率的な干渉拒絶能力が示された.
  • シミュレーションと実験の結果は,制御戦略の有効性と安定性を検証しました.

結論:

  • 新しいニューラルネットワークベースの適応型スーパートウィスティング制御スキームは,ロボットジョイントモジュールの正確な制御を大幅に改善します.
  • この方法はモデルの不確実性や外部からの干渉に対して 強化された強度を提供します.
  • 精密な情報なしに適応的な干渉拒絶により,工学上の実用性が向上します.