Multi-layer electromagnetic spring with tunable negative stiffness for semi-active vibration isolation

Pu, Huayan; Yuan, Shujin; Peng, Yan; Meng, Kai; Zhao, Jinglei; Xie, Rongqing; Huang, Yong; Sun, Yu; Yang, Yang; Xie, Shaorong; Luo, Jun; Chen, Xuedong

doi:10.1016/j.ymssp.2018.12.028

Cited by 105 publications

(38 citation statements)

References 33 publications

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“…A LiDAR mounted on a platform must endure the mechanical vibrations from the engines, rotors, wind, etc. Different kinds of vibration-control equipment have been developed for LiDAR on different platforms [9], [11], [17]. The influence of vibration on the distribution of point cloud has been observed in experiments [17].…”

Section: B Contrast Experiments On Mechanical Vibrationmentioning

confidence: 99%

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The Identification and Compensation of Static Drift Induced by External Disturbances for LiDAR SLAM

Zhou

Wang

et al. 2021

IEEE Access

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With the extending use of LiDAR SLAM in various areas, the interference of external disturbances on SLAM is becoming more and more obvious. Huge efforts have been made to reduce the drift error of LiDAR SLAM using graph-based methods. However, the mapping results can be severely affected by external disturbances under extreme conditions, which will limit the performance of graphbased methods. This study proposes a new strategy to reduce the static drift on a local scale by identifying and compensating the influence of external disturbances based on the localization results of LiDAR SLAM. Contrast experiments were first designed and performed to analyze the potential inducing factors of static drift, such as environment and vibration. The Kalman filter was adopted to estimate the speed and acceleration parameters based on the localization results of LiDAR SLAM. Then, an estimation criterion of static drift was established according to the interference of external disturbances on speed and acceleration. Finally, a static drift compensation method for LiDAR SLAM was proposed to compensate the drift of the pose. In the verification experiment, for 1866 data points, the identification accuracy of static drift was 97.32%, and the final positioning error of LiDAR SLAM was reduced from 4.9464 m to 0.1741 m after the compensation of static drift.

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Section: B Contrast Experiments On Mechanical Vibrationmentioning

confidence: 99%

“…Another way is to mitigate a certain external disturbance by mechanical approaches outside the SLAM framework. Pu and et al [17] proposed a multi-layer electromagnetic spring with tunable negative stiffness to attenuate the vibration of the LiDAR.…”

Section: Introductionmentioning

confidence: 99%

The Identification and Compensation of Static Drift Induced by External Disturbances for LiDAR SLAM

Zhou

Wang

et al. 2021

IEEE Access

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“…Thus, the inherent frequency of the supporting system can be reduced to improve vibration isolation bandwidth [ 9 ]. The relative damping can be obtained through the relative velocity control, which attenuates the vibration around the inherent frequency with the cost of weakening the ability of the high-frequency vibration isolation [ 10 ]. Using the absolute velocity feedback (AVF) control or the integral force feedback control [ 11 ], the absolute damping can be obtained to address this problem.…”

Section: Introductionmentioning

confidence: 99%

A Novel Piecewise Frequency Control Strategy Based on Fractional-Order Filter for Coordinating Vibration Isolation and Positioning of Supporting System

Tao

Jiang

Han

et al. 2020

Sensors

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A piecewise frequency control (PFC) strategy is proposed in this paper for coordinating vibration isolation and positioning of supporting systems under complex disturbance conditions, such as direct and external disturbances. This control strategy is applied in an active-passive parallel supporting system, where relative positioning feedback for positioning and absolute velocity feedback for active vibration isolation. The analysis of vibration and deformation transmissibility shows that vibration control increases low-frequency position error while positioning control amplifies high-frequency vibration amplitude. To overcome this contradiction across the whole control bandwidth, a pair of Fractional-Order Filters (FOFs) is adopted in the PFC system, which increases the flexibility in the PFC design by introducing fraction orders. The system stability analysis indicates that the FOFs can provide a better stability margin than the Integral-Order Filters (IOFs), so the control gains are increased to get a better performance on the AVI and positioning. The PFC based on FOFs can suppress the peak amplitude at the natural frequency which cannot be avoided when using the IOFs. The constrained nonlinear multivariable function is formed by the required performance and the stability of the system, then the controller parameters are optimized effectively. Lastly, the effectiveness of the proposed method is verified by experiments.

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“…However, it is usually necessary to increase the stiffness of the isolator to maintain its stability when the mass of the payload increases. Negative-stiffness vibration isolators are isolators that use various kinds of restoring force, whether passive , semi-active [22][23][24][25][26][27][28], or active [29,30], to produce negative-stiffness characteristics, thus partially counteracting the positive stiffness within a micro-vibration stroke. And they have shown effective to produce high-static-low-dynamic stiffness characteristics.…”

Section: Introductionmentioning

confidence: 99%

“…Han [25] used an electromagnetic asymmetric tooth structure to obtain variable negative stiffness, which can be adjusted through tuning the magnitude of input current. Pu [26] proposed an electromagnetic negative stiffness vibration isolator composed of multilayer magnets and coils. Sun [27] presented an electromagnetic negative stiffness spring containing with two coaxial annular electromagnets, whose negative stiffness was adjusted by changing the current in rectangular cross-section coils.…”

Section: Introductionmentioning

confidence: 99%

Improving Low Frequency Isolation Performance of Optical Platforms Using Electromagnetic Active-Negative-Stiffness Method

et al. 2020

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To improve the low-frequency isolation performance of optical platforms, an electromagnetic active-negative-stiffness generator (EANSG) was proposed, using nano-resolution laser interferometry sensors to monitor the micro-vibration of an optical platform, and precision electromagnetic actuators integrated with a relative displacement feedback strategy to counteract the positive stiffness of pneumatic springs within a micro-vibration stroke, thereby producing high-static-low-dynamic stiffness characteristics. The effectiveness of the method was verified by both theoretical and experimental analyses. The experimental results show that the vertical natural frequency of the optical platform was reduced from 2.00 to 1.37 Hz, the root mean square of displacement was reduced from 1.28 to 0.69 μm, and the root mean square of velocity was reduced from 14.60 to 9.33 μm/s, proving that the proposed method can effectively enhance the low frequency isolation performance of optical platforms.

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Multi-layer electromagnetic spring with tunable negative stiffness for semi-active vibration isolation

Cited by 105 publications

References 33 publications

The Identification and Compensation of Static Drift Induced by External Disturbances for LiDAR SLAM

The Identification and Compensation of Static Drift Induced by External Disturbances for LiDAR SLAM

A Novel Piecewise Frequency Control Strategy Based on Fractional-Order Filter for Coordinating Vibration Isolation and Positioning of Supporting System

Improving Low Frequency Isolation Performance of Optical Platforms Using Electromagnetic Active-Negative-Stiffness Method

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