Jove
Visualize
联系我们
JoVE
x logofacebook logolinkedin logoyoutube logo
关于 JoVE
概览领导团队博客JoVE 帮助中心
作者
出版流程编辑委员会范围与政策同行评审常见问题投稿
图书馆员
用户评价订阅访问资源图书馆顾问委员会常见问题
研究
JoVE JournalMethods CollectionsJoVE Encyclopedia of Experiments存档
教育
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab Manual教师资源中心教师网站
使用条款与条件
隐私政策
政策

相关概念视频

Turbine-Governor Control01:17

Turbine-Governor Control

113
Turbine-governor control is crucial for maintaining power system stability by balancing turbine mechanical power output with electrical load demand. This mechanism ensures that generator frequency and rotor speed are within acceptable limits during load variations. Turbine-generator units store kinetic energy due to their rotating masses; this energy is released to meet the load requirement when the load increases. The electrical torque of turbines rises to meet the demand, whereas the...
113
Torque Free Motion01:15

Torque Free Motion

414
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
414
Wind Turbine Machine Models01:24

Wind Turbine Machine Models

86
In the growing field of wind energy, incorporating wind turbine models into transient stability analysis is essential. Induction and synchronous machines are the primary models used, with induction machines being prevalent due to their simplicity and reliability.
Induction machines interact through the rotating magnetic field generated by the stator and the rotor. The key parameter is slip, which is the difference between synchronous speed and rotor speed relative to synchronous speed. Slip is...
86
Static and Kinetic Frictional Force01:05

Static and Kinetic Frictional Force

14.6K
One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
14.6K
Mechanical Systems01:22

Mechanical Systems

152
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
152
Open and closed-loop control systems01:17

Open and closed-loop control systems

562
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...
562

您也可能阅读

相关文章

通过共同作者、期刊和引用图与本文相关的文章。

排序
Same author

Coherent twins for manufacturing thick lithium-rich battery positive electrodes.

Nature nanotechnology·2026
Same author

Repurposing cepharanthine as a radiosensitizer in esophageal squamous cell carcinoma through dual metabolic intervention and direct targeting of p70s6K.

Journal of translational medicine·2026
Same author

Microwave co-pyrolysis of oily sludge and corn stalk under different microwave absorbents.

Journal of hazardous materials·2026
Same author

Untreated ulnar styloid fractures do not compromise wrist function in patients with distal radius fractures: A systematic review and meta-analysis.

Injury·2026
Same author

Navigation System-Assisted vs Freehand Cannulated Screw Fixation for Femoral Neck Fractures: Protocol for a Multicenter Randomized Controlled Trial.

JMIR research protocols·2026
Same author

Fast formation to reinforce lithium-rich cathodes.

Nature·2026

相关实验视频

Updated: May 9, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

1.5K

在轮机叶片机器人研磨系统中的模型预测运动/力控制.

Ziling Wang1, Lai Zou1, Jiantao Li1

  • 1State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University, Chongqing 400044, China.

ISA transactions
|April 30, 2025
PubMed
概括

本研究介绍了一种模型预测运动/力控制 (MPMFC) 算法,以提高机器人研磨精度. MPMFC算法增强了对机器人轨迹和接触力的控制,从而为复杂的零件提供了卓越的研磨质量.

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 制造业 工程 制造工程
  • 控制系统 控制系统

背景情况:

  • 机器人研磨系统由于非线性动力学和低运动精度而遭受不稳定的接触力和位置错误.
  • 这些问题显著降低了研磨质量,特别是对于像轮机叶片这样的复杂曲线工件.

研究的目的:

  • 提出一个模型预测运动/力控制 (MPMFC) 算法,用于精确控制机器人轨迹和接触力在研磨应用中.
  • 通过解决不稳定的接触力和位置错误,提高复杂曲线工件的研磨质量.

主要方法:

  • 实施了在线轨迹插值方法,以在控制周期内获取理想的终端效应器轨迹信息.
  • 开发了一个使用最佳控制的MPMFC系统,包括用于接触力预测的入口模型和用于运动预测的机器人动力学模型.

主要成果:

  • 在模拟和实验中,MPMFC算法表现出卓越的性能.
  • 在轮叶片跟踪过程中,实现了 1.934 N 的力控制精度和 0.132 mm 的位置控制精度.
  • 与传统方法相比,强力控制和位置控制的改进超过38%和37%.

结论:

  • 拟议的MPMFC算法有效地解决了机器人研磨方面的挑战,特别是复杂几何形状.
关键词:
模型预测控制模型预测控制在线轨迹插值方法在线轨迹插值方法机器人运动/力控制控制机器人研磨系统机器人研磨系统轮机叶片的轮机叶片可以使用.

更多相关视频

Optimization, Test and Diagnostics of Miniaturized Hall Thrusters
12:22

Optimization, Test and Diagnostics of Miniaturized Hall Thrusters

Published on: February 16, 2019

8.9K
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.5K

相关实验视频

Last Updated: May 9, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

1.5K
Optimization, Test and Diagnostics of Miniaturized Hall Thrusters
12:22

Optimization, Test and Diagnostics of Miniaturized Hall Thrusters

Published on: February 16, 2019

8.9K
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.5K
  • 该算法显著提高了力和位置控制的准确性,从而提高了研磨质量.
  • MPMFC代表了精确机器人研磨操作的重大进步.