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A special issue of Symmetry (ISSN 2073-8994). This special issue belongs to the section "Engineering and Materials".

Deadline for manuscript submissions: closed (31 August 2022) | Viewed by 16953

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Special Issue Editor

Prof. Dr. Shyh-Chour Huang

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Guest Editor

Department of Mechanical Engineering, National Kaohsiung University of Science and Technology, Kaohsiung, Taiwan
Interests: micro-electromechanical systems design; biomechanics; compliant mechanisms; multibody dynamics; fuzzy logic control; vibration control and optimization algorithms

Special Issue Information

Dear Colleagues,

Symmetry is presented in many mechanical systems and control design methods. This is a very important problem, both in the system and the control method. Therefore, this Special Issue includes topics with applications and innovations of the simulations analysis and control methodologies of the mechanical and mechatronic systems. Manuscripts discussing the implementation and development of the advanced methods of the analysis and control for mechanical and mechatronic systems concern disturbance rejection technologies with a high-order disturbance observer, a nonlinear disturbance observer, a super-twisting disturbance observer, a sliding mode disturbance observer, an equivalent input disturbance observer, a fixed-time disturbance observer, etc. With regards to robust control, adaptive control, fuzzy logic control, neural network control, sliding mode control, and linear and nonlinear control design are strongly recommended. Especially, the combination of fault-tolerant and state observer-based control is strongly recommended. However, this is not limited to other control methods. With regards to vibration control and isolation, the robust control methods and isolation for the nonlinear vibration structure and machinery are also welcome for this Special Issue. Especially, the new method for rejecting the thermal changing, fabrication errors, and outside effects of the vibration systems is strongly recommended.

Prof. Dr. Shyh-Chour Huang
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Symmetry is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

robotic systems
piezoelectric actuators
soft actuators
MEMS gyroscopes
T-S fuzzy systems
DC and AC motor systems
bearingless motor systems
power electronic circuits
chaotic systems
robust controls of nonlinear vibrations
vibration isolation technology

Published Papers (11 papers)

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Editorial

Jump to: Research

2 pages, 154 KiB

Open AccessEditorial

Numerical Simulation and Control of Mechanical and Mechatronic Systems

by Shyh-Chour Huang

Symmetry 2023, 15(1), 186; https://0-doi-org.brum.beds.ac.uk/10.3390/sym15010186 - 09 Jan 2023

Cited by 1 | Viewed by 646

Abstract

Symmetry is presented in many mechanical systems and control design methods [...] Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

Research

Jump to: Editorial

17 pages, 4932 KiB

Open AccessArticle

A Practical Disturbance Rejection Control Scheme for Permanent Magnet Synchronous Motors

by Kanat Suleimenov and Ton Duc Do

Symmetry 2022, 14(9), 1873; https://0-doi-org.brum.beds.ac.uk/10.3390/sym14091873 - 08 Sep 2022

Cited by 3 | Viewed by 1344

Abstract

This paper proposes a novel disturbance rejection control scheme for permanent magnet synchronous motor (PMSM) drives. Based on the framework of modified disturbance observer (DOB)-based control, the final topology of the proposed disturbance rejection proportional–integral (DR-PI) controller includes a pre-filter and a controller in a proportional–integral (PI) form. The proposed DR-PI control scheme is practical with a straightforward gain tuning rule. Note that the gain selection method is the main issue of not only conventional PI controllers but also advanced methods such as DOB-based controllers. In addition, by starting from the framework of modified DOB, this paper also proves that the PI controller with an pre-filter possesses a disturbance rejection ability similar to a DOB-based control method. To the best of our knowledge, this is the first time that such a simple and effective PI controller is designed for the speed control of PMSMs as well as theoretically proven to have a perfect disturbance rejection ability. This paper shows the steps of selecting the parameters of the proposed controller in terms of the parameters of a desired plant model, disturbance observer and compensator. Hence, unlike a traditional DOB case, in this approach, one can simultaneously tune the controller and observer at the same time. The appearance of the pre-filter from the modified DOB scheme solves an overshoot problem, thus the general motor operation is significantly improved, which is validated by experiments. The experimental evidence under two scenarios of load torque change and speed change prove the effectiveness of the proposed method compared to conventional PI and DOB control (DOBC) schemes. All the experiments were implemented on a 300 W PMSM of a setup manufactured by Lucas-Nuelle GmbH with a digital signal processor. Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

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21 pages, 11808 KiB

Open AccessEditor’s ChoiceArticle

A High-Performance Compound Control Method for a Three-Axis Inertially Stabilized Platform under Multiple Disturbances

by Xusheng Lei, Fa Fu and Rui Wang

Symmetry 2022, 14(9), 1848; https://0-doi-org.brum.beds.ac.uk/10.3390/sym14091848 - 05 Sep 2022

Cited by 2 | Viewed by 1331

Abstract

Symmetry is presented in the frame structure, modeling, and disturbance analysis of the three-axis inertially stabilized platform (ISP), which affects the control performance of the ISP. To realize high-performance control for the ISP, a nonlinear dynamic model based on the geographic coordinates and a compound control method based on the adaptive extended state observer (ESO) and adaptive back-stepping integral sliding mode control (SMC) are proposed. The nonlinear dynamic model based on geographic coordinates could avoid the degradation of measurement and control performance due to complex coordinate transformations. An adaptive ESO (AESO) has been developed to estimate the unknown disturbances of ISP. With the information from the ISP system, the adaptive bandwidth of AESO can deal with the peaking phenomenon without introducing excessive noise. Furthermore, based on the integral sliding mode, the adaptation laws of parameter uncertainty and disturbance estimation compensation have been developed for the back-stepping integral SMC method, which can reduce the estimation burden and improve the disturbance estimation accuracy of AESO. The asymptotic stability of the compound control method has been proven by the Lyapunov stability theory. Through a series of simulations and experiments, the effectiveness of the compound method is validated. Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

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15 pages, 972 KiB

Open AccessArticle

Dual-Time-Scale Sliding Mode Control for Surface-Mounted Permanent Magnet Synchronous Motors

by Zhiyuan Che, Haitao Yu, Saleh Mobayen, Murad Ali, Chunyu Yang and Fayez F. M. El-Sousy

Symmetry 2022, 14(9), 1835; https://0-doi-org.brum.beds.ac.uk/10.3390/sym14091835 - 04 Sep 2022

Cited by 3 | Viewed by 1245

Abstract

The permanent magnet synchronous motors (PMSMs) as the completely symmetrical three-phase machines, which are usually driven by symmetrical voltage signals. Unfortunately, a PMSM system usually suffers from the different lumped disturbances, such as internal parametric perturbations and external load torques, the speed regulation problem should be addressed within the different operation situations. Characterizing by the current variation speed of the motor winding is much faster than that of the mechanical dynamic velocity, a dual-time-scale sliding mode control (SMC) method for the surface-mounted PMSMs is proposed in this paper. Firstly, the mathematical model of PMSMs is established in the two-phase synchronous rotating orthogonal reference coordinate system, and the slow and fast variation subsystems are obtained based on the quasi-steady-state theory. Secondly, a tracking differentiator (TD)-based and exponential reaching law-based sliding mode controllers are individually designed within dual-time-scale, respectively. As a result, the eventual SMC strategy is presented, and the stability of control system is analyzed by applying the Lyapunov stability theory. The main contribution of this study is to present an alternative control framework for the PMSMs servo system, where the dual-time-scale characteristic is involved, and thus a non-cascade control structure that different from the traditional drive strategy is proposed in the motor community. Finally, the model of whole system is built and carried out on the simulation platform. Research results demonstrate that the presented servo control system can accurately track the reference angle velocity signal, while the strong robustness and fast response performance are guaranteed in the presence of external disturbances. In addition, the three-phase current transient response values are completely symmetrical with the rapid adjustment characteristic. Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

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21 pages, 2921 KiB

Open AccessArticle

Finite-Time Disturbance Observer of Nonlinear Systems

by Yunmei Fang, Yun Chen and Juntao Fei

Symmetry 2022, 14(8), 1704; https://0-doi-org.brum.beds.ac.uk/10.3390/sym14081704 - 16 Aug 2022

Cited by 1 | Viewed by 1413

Abstract

In practical applications, for highly nonlinear systems, how to implement control tasks for dynamic systems with uncertain parameters is still a hot research issue. Aiming at the internal parameter fluctuations and external unknown disturbances in nonlinear system, this paper proposes an adaptive dynamic terminal sliding mode control (ADTSMC) based on a finite-time disturbance observer (FTDO) for nonlinear systems. A finite-time disturbance observer is designed to compensate for the unknown uncertainties and a dynamic terminal sliding mode control (DTSMC) method is developed to achieve finite time convergence and weaken system chattering. Moreover, a dual hidden layer recurrent neural network (DHLRNN) estimator is proposed to approximate the sliding mode gain, so that the switching item gain is not overestimated and optimal value is obtained. Finally, simulation experiments of an active power filter model verify the designed ADTSMC method has better steady-state and dynamic-steady compensation effects with at least 1% THD reduction in the presence of nonlinear load and disturbances compared with the simple adaptive DTSMC law. Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

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21 pages, 8069 KiB

Open AccessArticle

Dynamic Behaviors of Optimized K12 Anti-Ram Bollards

by Yi Zhang, Ruiwen Li, Kai Heng and Feng Hu

Symmetry 2022, 14(8), 1703; https://0-doi-org.brum.beds.ac.uk/10.3390/sym14081703 - 16 Aug 2022

Cited by 3 | Viewed by 1766

Abstract

Since terrorist attacks pose a great threat, protective structures need to be applied in terms of the safety of buildings and personnel. The installation of anti-ram bollards around buildings and infrastructures could block potential hazards, including the damage caused by car bombs and vehicular impacts on the buildings. In order to provide effective protection for buildings, the dynamic behaviors of anti-ram bollards should be examined, which is under insufficient research. In this paper, by adopting the FE program LS-DYNA, the FE models of corresponding anti-ram bollards are established, and the FEMs are validated by comparison with the experimental results of five existing vehicle crash tests. On this basis, the dynamic response of the optimized K12 anti-ram bollards under vehicular impact is numerically analyzed, and the influences of various parameters on the deformation of anti-ram bollards, as well as the displacement of the vehicle is studied. Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

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17 pages, 3649 KiB

Open AccessArticle

A Novel Disturbance Rejection Method Based on Robust Sliding Mode Control for the Secure Communication of Chaos-Based System

by Quang Dich Nguyen, Van Nam Giap, Van Huy Tran, Duc-Hung Pham and Shyh-Chour Huang

Symmetry 2022, 14(8), 1668; https://0-doi-org.brum.beds.ac.uk/10.3390/sym14081668 - 11 Aug 2022

Cited by 11 | Viewed by 1444

Abstract

This paper mainly proposes a new disturbance observer (DO) for a secure communication system (SCS) of the chaos-based system (CBS). First, the fractional-order (FO) Chen chaotic system is remodeled by a Takagi–Sugeno (T–S) fuzzy system with the aim of softening in calculation. Second, the robust fixed-time was designed to synchronize two nonidentical chaotic systems. Third, a new disturbance observer was proposed to compensate for the disturbance and uncertainty of the secure communication system. Fourth, the proof of the proposed method based on Lyapunov condition together with simulation are given to illustrate the correctness and effectiveness of the proposed theory. The tested disturbance on the public channel was mostly compensated by the appropriately estimated disturbance value. The states of master and slave systems (MSSs) were closed to each other in fixed-time. These factors are used to confirm that the symmetry of two chaotic systems were obtained by the proposed control methods. Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

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22 pages, 6451 KiB

Open AccessArticle

Optimal Design and Analysis for a New 1-DOF Compliant Stage Based on Additive Manufacturing Method for Testing Medical Specimens

by Minh Phung Dang, Hieu Giang Le, Nguyen Thanh Duy Tran, Ngoc Le Chau and Thanh-Phong Dao

Symmetry 2022, 14(6), 1234; https://0-doi-org.brum.beds.ac.uk/10.3390/sym14061234 - 14 Jun 2022

Cited by 3 | Viewed by 2030

Abstract

In situ nanoindentation is extensively employed for online observing deformation and mechanical behaviors of bio-materials. However, the existing designs of the positioning stages have limited performances for testing soft or hard biomaterials. Consequently, this paper proposes a new structural design of a compliant one degree of freedom (01-DOF) stage with faster response. In addition to a new design, this article applies an analytical method to estimate the kinematic and dynamic behaviors of the stage. Firstly, the 01-DOF stage is designed with two modules, including a displacement amplifier with six levers and a symmetric parallelogram mechanism. Secondly, a kinetostatic diagram of the stage is built by pseudo-rigid-body method. Then, the dynamic equation of the proposed stage is formulated using the Lagrange method. In order to speed up the response of the indentation system, the structural optimization of the stage is conducted via the Firefly algorithm. The results showed that the theoretical first-order resonant frequency is found at about 226.8458 Hz. The theoretical consequences are nearby to the verified simulation. Besides, this achieved frequency of the presented stage is greater than that of previous stages. In an upcoming study, the prototype will be fabricated by additive manufacturing method or a computerized wire cutting method in order to verify the analytical results with experimental results. Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

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23 pages, 3674 KiB

Open AccessArticle

Inversed Model-Based Disturbance Observer Base on Adaptive Fast Convergent Sliding Mode Control and Fixed-Time State Observer for Slotless Self-Bearing Motor

by Quang Dich Nguyen, Van Nam Giap and Shyh-Chour Huang

Symmetry 2022, 14(6), 1206; https://0-doi-org.brum.beds.ac.uk/10.3390/sym14061206 - 10 Jun 2022

Cited by 10 | Viewed by 1472

Abstract

The slotless self-bearing motor (SSBM) is a motor with its self-bearing function. The mechanical structure of the motor is six symmetrical hexagonal shapes. The main control problem for this motor is disturbance and uncertainty rejection. Therefore, this paper proposes a new disturbance observer (DOB) based on an optimal fixed-time state observer (OFTSOB) and adaptive sliding mode control (SMC) for the motor. Firstly, the optimal state observer was used to construct to obtain the information of the states of the bearing-less motor system. Second, a new disturbance observer base on the fast speed reaching law is proposed for estimating the unknown dynamics and unpredicted uncertainty of the motor system. Third, the adaptive fast-reaching law-sliding mode control is designed to control the positions and rotational speed. Fourth, the proposed control system is proved via the Lyapunov theorem. Finally, the corrections of proposed method once again tested by using MATLAB simulation. The obtained results figured out that the proposed method is good at rejection disturbance and uncertainty and precision in control the movement and rotation. The novelties of the proposed method are that the gains of fixed-time observer were met by the support of optimal pole placement method, the disturbances were mostly rejected by a new reaching law of unknown input observer. Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

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23 pages, 6717 KiB

Open AccessArticle

Classical Preisach Model Based on Polynomial Approximation and Applied to Micro-Piezoelectric Actuators

by Van-Tsai Liu and Home-Young Wing

Symmetry 2022, 14(5), 1008; https://0-doi-org.brum.beds.ac.uk/10.3390/sym14051008 - 16 May 2022

Cited by 2 | Viewed by 1280

Abstract

In engineering applications, where we demand more and more precision, the modeling of systems with hysteretic nonlinearity has received considerable attention. The classical Preisach model (CPM) is currently the most popular for characterizing systems with hysteresis, and this model can represent the hysteresis with an infinite but countable first-order inversion curve (FORC). The table method is a method used to realize CPM in practice. The data in the table corresponds to a limited number of FORC samples. There are two problems with this approach: First, in order to reflect the timing effects of elements with hysteresis, it needs to consume a lot of memory space to obtain accurate data table. Second, it is difficult to come up with an efficient way to modify the data table to reflect the timing effects of elements with hysteresis. To overcome these shortcomings, this paper proposes to use a set of polynomials instead of the table method to implement the CPM. The proposed method only needs to store a small number of polynomial coefficients, and thus it reduces the required memory usage. In addition, to obtain polynomial coefficients, we can use least squares approximation or adaptive identification algorithms, which can track hysteresis model parameters. We developed an adaptive algorithm for the identification of polynomial coefficients of micro-piezoelectric actuators by applying the least mean method, which not only reduces the required memory size compared to the table method implementation, but also achieves a significantly improved model accuracy, and the proposed method was successfully verified for displacement prediction and tracking control of micro-piezoelectric actuators. Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

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23 pages, 7280 KiB

Open AccessArticle

Adaptive Sliding Mode Control Anticipating Proportional Degradation of Actuator Torque in Uncertain Serial Industrial Robots

by Le Ngoc Truc, Le Anh Vu, Tran Van Thoan, Bui Trung Thanh and Tung Lam Nguyen

Symmetry 2022, 14(5), 957; https://0-doi-org.brum.beds.ac.uk/10.3390/sym14050957 - 07 May 2022

Cited by 4 | Viewed by 1587

Abstract

The paper focuses on faulty actuator problems in an industrial robot using servomotors, and provides an adaptive sliding mode control law to overcome this circumstance. Because of multifarious reasons, robot actuators can undergo a variety of failures, such as locked or stuck joints, free-swinging joints, and partial or total loss of actuation effectiveness. The robot behavior will become worsen if the system controller has not been designed with adequate faulty tolerance. The proportional degradation of actuator torque at unknown degrees of loss, which is one type of partial loss of actuation effectiveness, is considered in this study to design a suitable controller. The robot model is constructed with uncertain parameters and unknown friction, whereas the controller uses only the approximate parameters. Symmetry and skew-symmetry give important contributions in robot modeling and transformation, as well as in the process of proving the system stability. An adjustable coefficient vector of the proposed controller can adaptively reach the upper bounds of an uncertain parametric vector, which guarantees the criterion of Lyapunov stability. In the numerical simulation stage, the selected industrial robot is a Serpent 1 robot with three degrees of freedom. A quasi-physical model based on MATLAB/Simscape Multibody for the robot is built and used in order to increase the reliability of the simulation performance closer to reality. Simulation results illustrate the efficiency of the proposal control methodology in the presence of the mentioned failure. The controller can still deliver satisfactory responses to the robot system under reasonable levels of actuator torque degradation. Full article

(This article belongs to the Special Issue Numerical Simulation and Control of Mechanical and Mechatronic Systems)

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