Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm

Zhang, Yeming; Li, Kaimin; Xu, Mengya; Liu, Junlei; Yue, Hongwei

doi:10.1186/s10033-021-00619-7

Cited by 10 publications

(4 citation statements)

References 23 publications

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“…EA was used to enhance the optimal estimation of the friction parameters, which verified the effectiveness of the proposed identification method. As shown in Figure 6, in [52], a friction compensation control strategy based on the differential evolution algorithm was proposed and applied to the position control system of a pneumatic finger cylinder. However, this two-step method was not used for identification.…”

Section: Metaheuristicsmentioning

confidence: 99%

A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System

et al. 2022

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In a high-precision servo system, the nonlinear friction link is the key factor affecting the system performance. Reasonable solving of the friction link in servo systems has become a focus of current research. This paper summarizes the friction nonlinearity that affects the control performance of servo systems. First, the characteristics of friction are summarized, and the advantages and disadvantages of typical friction models in recent years are analyzed. Subsequently, existing friction model parameter identification methods are introduced and evaluated. On this basis, the development level of the friction nonlinear control strategy is analyzed from three aspects: friction model-based control, friction model-free control, and compound control. Finally, the objective advantages and disadvantages of the existing technology are summarized, and the future development direction of the friction model and selection reference for the nonlinear friction control strategy are comprehensively discussed.

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Section: Metaheuristicsmentioning

confidence: 99%

A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System

et al. 2022

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“…First the spool of the proportional directional control valve is adjusted to the end of the valve body, and then the control voltage is adjusted to 5.08 V. When the pressure of the two chambers of the cylinder is stabilized, the control voltage is adjusted to 4.4 V. At this time, Chamber A will be deflated, Chamber B will be inflated, and both will then slowly reach a stable state. The piston of the cylinder remains stationary throughout the experimental process [24]. In order to avoid the accident of the experiment, adjust the air supply pressures to 0.5 MPa and 0.6 MPa respectively, and repeat the above experimental process.…”

Section: Validation Of Nonlinear Models Of the System 61 Validation O...mentioning

confidence: 99%

Establishment and Experimental Verification of a Nonlinear Position Servo System Model for a Magnetically Coupled Rodless Cylinder

Zhang

Cai

et al. 2022

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The nonlinear characteristics of the pneumatic servo system are the main factors limiting its control accuracy. A new mathematical model of the nonlinear system of the valve control cylinder is proposed in order to improve the control accuracy of the pneumatic servo system. Firstly, the mass flow equation of the gas flowing through each port is established by analyzing the physical structure of the proportional directional control valve. Then, the dynamic equation of the system is set up by applying the Stribeck friction model for the friction model of the valve control cylinder and building a pneumatic circuit experiment to identify the friction model parameters. Finally, the correctness of the mathematical model is verified by the inflation and deflation experiment of the fixed capacitive chamber and the servo controls experiment based on PID position. The Simulink simulation of the mathematical model better reflects the characteristics of the pneumatic position servo system.

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“…The accurate expression of the mass flow rate of one-dimensional isentropic flow through a small hole is as follows [24]:…”

Section: Model Of Valvementioning

confidence: 99%

Modeling and Analysis of the Soil Vapor Extraction Equipment for Soil Remediation

et al. 2022

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Soil vapor extraction (SVE) is one of the most commonly used technologies for soil remediation of contaminated sites, and the use of models to accurately predict and evaluate the operational effectiveness of SVE is a necessary part of site contamination treatment projects. A pneumatic model-based equipment model is proposed to comprehensively describe the SVE operation process. Though the numerical simulation, the influence of fan frequency, air valve opening, pressure, and total flow was analyzed, and an optimal extraction strategy was validated. Then, field experiments were carried out to verify the validity of the model. The proposed model and experimental results can provide a theoretical basis for the design and duration evaluation of SVE.

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Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm

Cited by 10 publications

References 23 publications

A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System

A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System

Establishment and Experimental Verification of a Nonlinear Position Servo System Model for a Magnetically Coupled Rodless Cylinder

Modeling and Analysis of the Soil Vapor Extraction Equipment for Soil Remediation

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