Search Results (809)

The force ripple of a permanent magnet synchronous linear motor (PMSLM) caused by multi-source disturbances in practical applications seriously restricts its high-precision motion control performance. The traditional single-mechanism model has difficulty fully characterizing the nonlinear disturbance factors, while the data-driven method has real-time limitations. Therefore, this paper proposes a hybrid modeling framework that integrates the physical mechanism and measured data and realizes the dynamic compensation of the force ripple by constructing a collaborative suppression algorithm. At the mechanistic level, based on electromagnetic field theory and the virtual displacement principle, an analytical model of the core disturbance terms such as the cogging effect and the end effect is established. At the data level, the acceleration sensor is used to collect the dynamic response signal in real time, and the data-driven ripple residual model is constructed by combining frequency domain analysis and parameter fitting. In order to verify the effectiveness of the algorithm, a hardware and software experimental platform including a multi-core processor, high-precision current loop controller, real-time data acquisition module, and motion control unit is built to realize the online calculation and closed-loop injection of the hybrid compensation current. Experiments show that the hybrid framework effectively compensates the unmodeled disturbance through the data model while maintaining the physical interpretability of the mechanistic model, which provides a new idea for motor performance optimization under complex working conditions. Full article

Background: Residual deficits after early treatment of developmental dysplasia of the hip (DDH) using osteotomy often led to asymmetrical gait deviations with increased repetitive rates of ground reaction force (GRF) in both hips, resulting in a higher risk of early osteoarthritis. This study investigated lower limb inter-joint coordination and swing foot control during level walking in adolescents with early-treated unilateral DDH. Methods: Eleven female adolescents treated early for DDH using Pemberton osteotomy were compared with 11 age-matched healthy controls. The joint angles and angular velocities of the hip, knee, and ankle were measured, and the corresponding phase angles and continuous relative phase (CRP) for hip–knee and knee–ankle coordination were obtained. The variability of inter-joint coordination was quantified using the deviation phase values obtained as the time-averaged standard deviations of the CRP curves over multiple trials. Results: The DDH group exhibited a flexed posture with increased variability in knee–ankle coordination of the affected limb throughout the gait cycle compared to the control group. In contrast, the unaffected limb compensated for the kinematic alterations of the affected limb with reduced peak angular velocities but increased knee–ankle CRP over double-limb support and trajectory variability over the swing phase. Conclusions: The identified changes in inter-joint coordination in adolescents with early treated DDH provide a plausible explanation for the previously reported increased GRF loading rates in the unaffected limb, a risk factor of premature OA. Full article

Suspension dome structures are widely utilized due to their superior performance compared to conventional structures. The condition of the cables, particularly the forces they experience, is critical for ensuring the safety of the overall structures. However, friction between cables and joints significantly disrupts cable force distribution, particularly during pre-stressing construction. This paper integrates a tension-compensation method with a numerical approach that accurately accounts for friction effects. A computational flowchart was introduced and subsequently applied to analyze a practical suspension dome structure. We assessed the impact of friction on cable forces, structural deformations, and the mechanical state of the cable–strut system. Furthermore, we quantified the consequences of excessive tensioning. The findings demonstrate that the method presented in this paper can efficiently be employed for the analysis of large-scale complex structures and is readily accessible to structural designers. Full article

In this work, the thermodynamics of molecular transport between two compartments connected by a nanochannel is investigated through an analysis of internal energy and entropy changes, with a focus on how these changes depend on intermolecular interaction strength. When interactions are weak, resembling gas-like behavior, entropy dominates and favors configurations in which molecules are evenly distributed between the two compartments, despite an increase in internal energy. In contrast, strong interactions, characteristic of liquid-like behavior, lead to dominant energetic contributions that favor configurations with molecules localized in a single compartment, despite entropy loss. Intermediate interaction strengths yield comparable entropic and energetic contributions that cancel each other out, resulting in oscillatory behavior between evenly distributed and localized configurations, as observed in previous work. This thermodynamic analysis reveals energy–entropy compensation, in which entropic and energetic contributions offset each other across different interaction strengths; notably, this compensatory relationship exhibits a linear trend. These findings provide insight into the thermodynamic origins of molecular transport behavior and highlight fundamental parallels between molecular transport and molecular binding, the latter being particularly relevant to molecular recognition and drug design. Full article

In this paper, we propose a hybrid algorithm that integrates an improved artificial potential field method (IAPF), model predictive control (MPC), and an extended state observer (ESO) to address the obstacle avoidance problem in multi-unmanned surface vehicle (Multi-USV) formations, including both dynamic and static obstacles, as well as navigation through narrow waterways. Initially, the virtual structure method was applied for formation control. Next, the traditional potential field method was enhanced by employing a saturated attractive potential field and a partitioned repulsive potential field, which improve formation stability and obstacle avoidance accuracy in complex environments. The extended state observer was then employed to estimate and compensate for unknown system dynamics and external disturbances from the marine environment in real time, improving system robustness. On this basis, by leveraging the multi-step predictive optimization capabilities of model predictive control, the proposed algorithm dynamically adjusts control inputs based on the desired trajectories generated from potential field forces, which ensures the stability of formation control and effective obstacle avoidance. The simulation results demonstrate that the proposed algorithm effectively avoids both dynamic and static obstacles in multi-unmanned surface vehicle formations and enables successful navigation through narrow waterways by altering the formation. Full article

Research on ecosystem carbon sequestration services and ecological compensation is crucial for advancing carbon neutrality. As a public good, ecosystem carbon sequestration services inherently lead to externalities. Therefore, it is essential to consider externalities in the flow of sequestration services. However, few studies have examined intra- and inter-regional ecosystem carbon sequestration flows, making regional ecosystem carbon sequestration flows less comprehensive. Against this background, the research objectives of this paper are as follows. The flow of carbon sequestration services between Henan Province and out-of-province regions is studied. In addition, this study clarifies the beneficiary and supply areas of carbon sink services in Henan Province and the neighboring regions at the prefecture-level city scale to obtain a more systematic, comprehensive, and actual flow of carbon sequestration services for scientific and effective eco-compensation and to promote regional synergistic emission reductions. The research methodologies used in this paper are as follows. First, this study adopts a meta-coupling framework, designating Henan Province as the focal system, the Central Urban Agglomeration as the adjacent system, and eight surrounding provinces as remote systems. Regional carbon sequestration was assessed using net primary productivity (NEP), while carbon emissions were evaluated based on per capita carbon emissions and population density. A carbon balance analysis integrated carbon sequestration and emissions. Hotspot analysis identified areas of carbon sequestration service supply and associated benefits. Ecological radiation force formulas were used to quantify service flows, and compensation values were estimated considering the government’s payment capacity and willingness. A three-dimensional evaluation system—incorporating technology, talent, and fiscal capacity—was developed to propose a diversified ecological compensation scheme by comparing supply and beneficiary areas. By modeling the ecosystem carbon sequestration service flow, the main results of this paper are as follows: (1) Within Henan Province, Luoyang and Nanyang provided 521,300 tons and 515,600 tons of carbon sinks to eight cities (e.g., Jiaozuo, Zhengzhou, and Kaifeng), warranting an ecological compensation of CNY 262.817 million and CNY 263.259 million, respectively. (2) Henan exported 3.0739 million tons of carbon sinks to external provinces, corresponding to a compensation value of CNY 1756.079 million. Conversely, regions such as Changzhi, Xiangyang, and Jinzhong contributed 657,200 tons of carbon sinks to Henan, requiring a compensation of CNY 189.921 million. (3) Henan thus achieved a net ecological compensation of CNY 1566.158 million through carbon sink flows. (4) In addition to monetary compensation, beneficiary areas may also contribute through technology transfer, financial investment, and talent support. The findings support the following conclusions: (1) it is necessary to consider the externalities of ecosystem services, and (2) the meta-coupling framework enables a comprehensive assessment of carbon sequestration service flows, providing actionable insights for improving ecosystem governance in Henan Province and comparable regions. Full article

The space flexible netted pocket capture system provides a flexible and stable solution for capturing non-cooperative space objects. This paper investigates the control problem for the capture of non-cooperative targets undergoing motion. A dynamic model of the capturing net is established based on the absolute nodal coordinate formulation (ANCF) and equivalent plate–shell theory. A contact collision force model is developed using a spring–damper model. Subsequently, a feedforward controller is designed based on the estimated collision force from the dynamic model, aiming to compensate for the collision effects between the target and the net. By incorporating the collision estimation data, an extended state observer is designed, taking into account the collision estimation errors and the flexible uncertainties. A sliding mode feedback controller is then designed using the fast terminal sliding mode control method. Finally, simulation analysis of target capture under different motion states is conducted. The results demonstrate that the spacecraft system’s position and attitude average flutter amplitudes are less than ${10}^{-2}$ m and ${10}^{-2}$ deg. In comparison to standard sliding mode control, the designed controller reduces the attitude jitter amplitude by an order of magnitude, thus demonstrating its effectiveness and superiority. Full article

Aiming at the transient overcurrent problem faced by doubly-fed induction generators (DFIGs) during continuous voltage fault ride-through, a segmented control strategy based on the rotor side converter (RSC) is proposed. First, through theoretical analysis of the relationship between stator current and transient induced electromotive force (EMF) in each stage of continuous faults, a feedforward control strategy based on the transient component of stator current is proposed. The observable stator current is extracted for its transient component, which is used as a rotor voltage compensation term to effectively counteract the influence of transient EMF. Meanwhile, a fuzzy control algorithm is introduced during the low voltage ride-through (LVRT) stage to dynamically adjust the virtual resistance value, enhancing the system’s damping characteristics. Studies show that this strategy significantly suppresses rotor current spikes in all stages of voltage ride-through. Finally, simulation results verify that the proposed method improves the ride-through performance of DFIG under continuous voltage faults. Full article

The internal curve hydraulic motor valve plate has a clearance self-compensation performance that can effectively improve the working efficiency of the valve plate. However, the dynamic characteristics of the valve plates require further investigation. This study considers the self-compensating ‘floating’ valve plate as the research object, proposes a dynamic characteristic analysis method for the internal curve hydraulic motor valve plate, and explores the changing rule of oil film thickness and surplus pressing force of the valve plate. The results showed that an increase in the inlet pressure and oil temperature led to an increase in the thickness of the oil film, and the amplitude of the oil film thickness was larger, whereas the rotational speed of the oil film thickness of the valve plate pair was not obvious. When the inlet pressure is lower than 8 MPa, and the oil temperature is in the range of 20–30 °C, the oil film is mainly subjected to the squeezing effect of the valve plate, and the displacement of the valve plate decreased with increasing rotational speed. The inlet pressure is the main factor affecting the displacement of the ‘floating’ valve plate, and when the inlet pressure reaches 8.7 MPa, the valve plate is in hydrostatic balance support. In addition, the surplus pressing force coefficient of the valve plate decreased with increasing inlet pressures. This study provides theoretical support for the design of variable pressing force valve plates for internal curve hydraulic motors by investigating the dynamic characteristics of “floating” valve plates. Full article

With the increasing penetration of distributed generation and the diversification of electrical equipment, distribution networks face issues like three-phase unbalance and harmonic currents, while the voltage stability and inertia of the grid-connected system also decrease. A certain amount of energy storage is needed in a Distribution Static Synchronous Compensator (DSTATCOM) to manage power quality and actively support voltage and inertia in the network. This paper first addresses the limitations of traditional $dq0$ compensation algorithms in effectively filtering out negative-sequence twice-frequency components. An improved $dq0$ compensation algorithm is proposed to reduce errors in detecting positive-sequence fundamental current under unbalanced three-phase conditions. Second, considering the impedance ratio characteristics of the distribution network, while reactive power voltage regulation is common, active power regulation is more effective in high-resistance distribution networks. A grid-forming model-based active and reactive power coordinated voltage regulation method is proposed. This method uses synchronous control to establish a virtual three-phase voltage internal electromotive force, forming a comprehensive compensation strategy that combines power quality improvement and active voltage support, exploring the potential of energy storage DSTATCOM applications in distribution networks. Finally, simulation and experimental results demonstrate the effectiveness of the proposed control method. Full article

Green innovation has become a core driving force for promoting sustainable development, making the accurate evaluation of enterprises’ green innovation efficiency an important research topic. Based on the Environmental, Social, and Governance (ESG) framework, this paper improves the SBM model to overcome shortcomings such as homogeneity in traditional SBM models during efficiency evaluation. By introducing an asymmetric slack measure, it breaks through the limitation of efficiency value ceilings, enabling gradient ranking of decision-making units and precisely distinguishing between efficient and inefficient enterprises, thereby better assessing the green innovation efficiency of hydrogen energy companies. The study shows that the improved SBM model significantly enhances the accuracy of enterprise efficiency evaluation. The contribution of this paper lies in constructing an improved SBM model integrated within the ESG framework, compensating for the lack of environmental dimensions in traditional evaluation methods, addressing issues of efficiency homogeneity and the static nature of the frontier, and achieving optimized ranking of frontier-efficient enterprises. Full article

This paper presents some of the most significant findings in the design of a hydraulic servomechanism for flight controls, which were primarily achieved by the first author during his activity in an aviation institute. These results are grouped into four main topics. The first one outlines a classical theory, from the 1950s–1970s, of the analysis of nonlinear automatic systems and namely the issue of absolute stability. The uninformed public may be misled by the adjective “absolute”. This is not a “maximalist” solution of stability but rather highlights in the system of equations a nonlinear function that describes, for the case of hydraulic servomechanisms, the flow-control dependence in the distributor spool. This function is odd, and it is therefore located in quadrants 1 and 3. The decision regarding stability is made within the so-called Lurie problem and is materialized by a matrix inequality, called the Lefschetz condition, which must be satisfied by the parameters of the electrohydraulic servomechanism and also by the components of the control feedback vector. Another approach starts from a classical theorem of V. M. Popov, extended in a stochastic framework by T. Morozan and I. Ursu, which ends with the description of the local and global spool valve flow-control characteristics that ensure stability in the large with respect to bounded perturbations for the mechano-hydraulic servomechanism. We add that a conjecture regarding the more pronounced flexibility of mathematical models in relation to mathematical instruments (theories) was used. Furthermore, the second topic concerns, the importance of the impedance characteristic of the mechano-hydraulic servomechanism in preventing flutter of the flight controls is emphasized. Impedance, also called dynamic stiffness, is defined as the ratio, in a dynamic regime, between the output exerted force (at the actuator rod of the servomechanism) and the displacement induced by this force under the assumption of a blocked input. It is demonstrated in the paper that there are two forms of the impedance function: one that favors the appearance of flutter and another that allows for flutter damping. It is interesting to note that these theoretical considerations were established in the institute’s reports some time before their introduction in the Aviation Regulation AvP.970. However, it was precisely the absence of the impedance criterion in the regulation at the appropriate time that ultimately led, by chance or not, to a disaster: the crash of a prototype due to tailplane flutter. A third topic shows how an important problem in the theory of automatic systems of the 1970s–1980s, namely the robust synthesis of the servomechanism, is formulated, applied and solved in the case of an electrohydraulic servomechanism. In general, the solution of a robust servomechanism problem consists of two distinct components: a servo-compensator, in fact an internal model of the exogenous dynamics, and a stabilizing compensator. These components are adapted in the case of an electrohydraulic servomechanism. In addition to the classical case mentioned above, a synthesis problem of an anti-windup (anti-saturation) compensator is formulated and solved. The fourth topic, and the last one presented in detail, is the synthesis of a fuzzy supervised neurocontrol (FSNC) for the position tracking of an electrohydraulic servomechanism, with experimental validation, in the laboratory, of this control law. The neurocontrol module is designed using a single-layered perceptron architecture. Neurocontrol is in principle optimal, but it is not free from saturation. To this end, in order to counteract saturation, a Mamdani-type fuzzy logic was developed, which takes control when neurocontrol has saturated. It returns to neurocontrol when it returns to normal, respectively, when saturation is eliminated. What distinguishes this FSNC law is its simplicity and efficiency and especially the fact that against quite a few opponents in the field, it still works very well on quite complicated physical systems. Finally, a brief section reviews some recent works by the authors, in which current approaches to hydraulic servomechanisms are presented: the backstepping control synthesis technique, input delay treated with Lyapunov–Krasovskii functionals, and critical stability treated with Lyapunov–Malkin theory. Full article

This work systematically addresses the dual challenges of non-inertial dynamic coupling and kinematic constraint redundancy encountered in dynamic modeling of serial–parallel–serial hybrid robotic mechanisms, and proposes an improved Newton–Euler modeling method with constraint compensation. Taking the Skiing Simulation Platform with 6-DOF as the research mechanism, the inverse kinematic model of the closed-chain mechanism is established through $G_F$ set theory, with explicit analytical expressions derived for the motion parameters of limb mass centers. Introducing a principal inertial coordinate system into the dynamics equations, a recursive algorithm incorporating force/moment coupling terms is developed. Numerical simulations reveal a 9.25% periodic deviation in joint moments using conventional methods. Through analysis of the mechanism’s intrinsic properties, it is identified that the lack of angular momentum conservation constraints on the end-effector in non-inertial frames leads to system controllability degradation. Accordingly, a constraint compensation strategy is proposed: establishing linearly independent differential algebraic equations supplemented with momentum/angular momentum balance equations for the end platform. Co-Simulation results demonstrate that the optimized model reduces the maximum relative error of actuator joint moments to 0.98%, and maintains numerical stability across the entire configuration space. The constraint compensation framework provides a universal solution for dynamics modeling of complex closed-chain mechanisms, validated through applications in flight simulators and automotive driving simulators. Full article

Robotic-assisted therapy is an increasingly vital approach for upper-limb rehabilitation, offering consistent, high-intensity training critical to neuroplastic recovery. However, current control strategies often lack robustness against uncertainties and external disturbances, limiting their efficacy in dynamic, real-world settings. Addressing this gap, this study proposes a novel control framework for the iTbot—a 2-DoF end-effector rehabilitation robot—by integrating differential flatness theory with a derivative-free Kalman filter (DFK). The objective is to achieve accurate and adaptive trajectory tracking in the presence of unmeasured dynamics and human–robot interaction forces. The control design reformulates the nonlinear joint-space dynamics into a 0-flat canonical form, enabling real-time computation of feedforward control laws based solely on flat outputs and their derivatives. Simultaneously, the DFK-based observer estimates external perturbations and unmeasured states without requiring derivative calculations, allowing for online disturbance compensation. Extensive simulations across nominal and disturbed conditions demonstrate that the proposed controller significantly outperforms conventional flatness-based control in tracking accuracy and robustness, as measured by reduced mean absolute error and standard deviation. Experimental validation under both simple and repetitive physiotherapy tasks confirms the system’s ability to maintain sub-millimeter Cartesian accuracy and sub-degree joint errors even amid dynamic perturbations. These results underscore the controller’s effectiveness in enabling compliant, safe, and disturbance-resilient rehabilitation, paving the way for broader deployment of robotic therapy in clinical and home-based environments. Full article

This paper investigates flexible multibody dynamic modeling and a staged deployment strategy for large-scale spinning tethered satellite systems, targeting deployment instability, inefficiencies, and tension-induced fracture risks. A nonlinear flexible multibody model is constructed using the absolute nodal coordinate formulation within an arbitrary Lagrangian–Eulerian framework, enabling accurate large-deformation modeling of the tether with geometric nonlinearity. This model surpasses traditional massless/rigid rod models by integrating tether mass distribution, flexible dynamics, and satellite attitude dynamics. A two-stage deployment strategy is proposed based on tether safe tension thresholds. Stage 1 optimizes deployment velocity to eliminate libration angles, ensuring stability while maintaining deployment efficiency. Stage 2 employs dynamic angular velocity tracking and torque compensation to reduce tether tension, prioritizing deployment safety. Numerical simulations validate the model’s accuracy and the strategy’s effectiveness, showing significant tension reduction compared to the single-stage strategy and suppressing libration angle oscillations within ±0.5°. The impact of space environmental forces on deployment stability across different orientations is analyzed, highlighting the necessity of force compensation for parallel-to-ground configurations. This research integrates dynamics and control, providing a practical solution for safe and efficient deployment of the spinning tethered satellite system. Full article