CƠ NHÂN TẠO

Bá o cá o tiến độ đồ á n

Đồ á n: [Xâ y dự ng mô hình hà m truyền đố i tượ ng]

Ngà y bá o cá o: June 3, 2020
Họ tên sinh viên: Lê Hả i Triều MSSV: 20174280

Tó m tắ t tình hình chung  Xâ y dự ng mô hình hà m truyền đố i tượ ng củ a cơ nhâ n tạ o t

củ a dự á n

Cá c cô ng việc hoà n thà nh  Hoà n thà nh mô phỏ ng simulink cá c mô hình Blacklash, Dahl, BW
trong tuầ n (Từ ngà y  Hoà n thà nh mô phỏ ng trên mfile cá c mô hình Blacklash, Dahl, BW
5/20/2020 – 6/3/2020 :

Phá t sinh:  Chưa hoà n thà nh mô phỏ ng theo thờ i gian thự c bằ ng mfile

Cá c cô ng việc lên kế hoạ ch  Tiếp tụ c mô phỏ ng trên miền rờ i rạ c

cho tuầ n tiếp theo

WELFARE AND SERVICE ROBOTIC LABORATORY

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Người gửi báo cáo Người nhận báo cáo

Office: [Office Phone] Office: [Office Phone]

Mobile: [Cell Phone] Mobile: [Cell Phone]
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MODELING OF SMART ACTUATOR

1.Analytical Solution of DEB Models

1.1. Backlash – like Model

ẏ ( t ) =b u̇ ( t ) −a|u̇ ( t )| y ( t ) +c|u̇ (t )|u ( t ) (1)

c
y ( t ) = +ψ ( u)
a

( c
vớ i ψ ( u )= y 0− a u0 e )
−a ( u−u ) sgn ( u̇ ) ab−c
0
+ 2 sgn ( u̇ ) ( 1−e−a ( u−u ) sgn u̇ )
a
( ) 0

1.2. Dahl Model

ẏ ( t ) =β u̇ ( t )−α |u̇ ( t )| y ( t ) (2)

ẏ ( t ) =β u̇ ( t )−α |u̇ ( t )| y ( t )

β
sgn ( u̇ ) ( 1−e ( ) )
−α ( u−u0) sgn ( u̇ ) −α u −u sgn ( u̇)
y ( t ) = y0 e + 0

1.3. Bouc – Wen Model

ẏ ( t ) =ξ u̇ ( t )−φ|u̇ ( t )| y ( t ) + γ u̇ ( t )| y ( t )| (3)

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2.Simulation Analysis
8
Blash
6 Dash
Bouc - Wen
4

2
Output y(t)

-2

-4

-6

-8

-10
-10 -8 -6 -4 -2 0 2 4 6 8 10
Input u(t)

Fig 1. Hysteresis curves generated by Backlash model, Dahl model and Bouc – Wen
model with a = 0.035, b = 0.8, c = 0.003 & u = 10sin(2πt)

Chosen a=α =φ ,b=β=ξ∧c=γ

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4 3
Blash Blash
Dash Dash
3
Bouc - Wen 2 Bouc - Wen

2
1
1

Output y(t)
Output y(t)

0 0

-1
-1

-2
-2
-3

-3
-4 -8 -6 -4 -2 0 2 4 6 8
-10 -8 -6 -4 -2 0 2 4 6 8 10
Input u(t)
Input u(t)

Input of u(t) = 10sin(2πt) Input of u(t) = 3.6sin(πt) + 3.1cos(3.4πt)

Fig 2. Hysteresis curves generated by Backlash model, Dahl model and Bouc – Wen
model with a = 0.5, b = 0.85, c = 0.115 .

8 15
Blash Dash
6 Dash Bouc Wen
10
4

2 5
Output y(t)
Output y(t)

0
0
-2

-4 -5

-6
-10
-8

-15
-10 -10 -8 -6 -4 -2 0 2 4 6 8 10
-10 -8 -6 -4 -2 0 2 4 6 8 10
Input u(t)
Input u(t)

The curves of Dahl and Backlash models The curves of Dahl and Bouc – Wen models
Fig 3. Hysteresis curves generated by Backlash model, Dahl model and Bouc – Wen
model with a = 0.5, b = 0.85, c = 0.115 and u = 10sin(2πt).

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2 1.5
Backlash Backlash

1.5
1

0.5
0.5

Output y(t)
Output y(t)

0 0

-0.5
-0.5

-1
-1
-1.5

-2 -1.5
-10 -8 -6 -4 -2 0 2 4 6 8 10 -8 -6 -4 -2 0 2 4 6 8
Input u(t) Input u(t)

Input of u(t) = 10sin(2πt) Input of u(t) = 3.6sin(πt) + 3.1cos(3.4πt)

Fig 4. Input – output map for the partial Backlash model with a = 0.5, c =0.115

3.Discrete – Time Modeling

3.1. Discrete – time Bouc – Wen Modeling
y k =δ 1 y k−1+ ζ υ k −ψ|υ k| y k−1 −α υ k ∨ y k−1∨¿ (4)

uk −δ 2 uk−1
υk=
Δt

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8 8
Modified BW 1 Hz
6 Original BW 10 Hz
6
25 Hz
50 Hz
4
4

2
2
Output y(t)

Output y(t)
0
0
-2
-2
-4

-4
-6

-8 -6

-10 -8
-10 -8 -6 -4 -2 0 2 4 6 8 10 -10 -8 -6 -4 -2 0 2 4 6 8 10
Input u(t) Input u(t)
Comparison of input – output relations by Comparison of input – output relations
(3) and (4) described by (4) at different frequencies

8 8
Modified BW Modified BW
6 Original BW 6 Original BW

4 4

2 2
Output y(t)
Output y(t)

0 0

-2 -2

-4 -4

-6 -6

-8 -8

-10 -10
-10 -8 -6 -4 -2 0 2 4 6 8 10 -10 -8 -6 -4 -2 0 2 4 6 8 10
Input u(t) Input u(t)

(A) Curves of BW and MBW model at 1 Hz (B) Curves of BW and MBW model at 10 Hz

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8 8
Modified BW Modified BW
6 Original BW 6 Original BW

4 4

2 2
Output y(t)

Output y(t)
0 0

-2 -2

-4 -4

-6 -6

-8 -8

-10 -10
-10 -8 -6 -4 -2 0 2 4 6 8 10 -10 -8 -6 -4 -2 0 2 4 6 8 10
Input u(t) Input u(t)
(C) Curves of BW and MBW model at 25 Hz (D) Curves of BW and MBW model at 50 Hz

3.2. The modified Discrete-Time Bouc-Wen Model

8 8
1 Hz 1 Hz
10 Hz 6 10 Hz
6
25 Hz 25 Hz
50 Hz 50 Hz
4 4

2 2
Output y(t)
Output y(t)

0 0

-2 -2

-4 -4

-6
-6

-8
-8 -10 -8 -6 -4 -2 0 2 4 6 8 10
-10 -8 -6 -4 -2 0 2 4 6 8 10
Input u(t)
Input u(t)

(A) Curves of MBW model at 1 Hz – 50 Hz with (B) Curves of MBW model at 1 Hz – 50 Hz with
v u ,k =¿ u k −uk−1∨¿ 2
v u ,k =¿ (uk −u k−1) ∨¿

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6 6
1st 1st
2nd 2nd
4 3rd 4 3rd

2 2

0 0

-2 -2

-4 -4

-6 -6

-8 -8
-10 -8 -6 -4 -2 0 2 4 6 8 10 -10 -8 -6 -4 -2 0 2 4 6 8 10

(C) Curves of MBW model at 10 Hz with v u ,k is (C) Curves of MBW model at 25 Hz with v u ,k is
chosen as 1st, 2nd, and 3rd order difference chosen as 1st, 2nd, and 3rd order difference

108
8 4.5
1 Hz 25 Hz
10 Hz 4
6
3.5
4
3

2.5
Output y(t)

Output y(t)

2
0
1.5

-2 1

0.5
-4
0
-6
-10 -8 -6 -4 -2 0 2 4 6 8 10 -0.5
-10 -8 -6 -4 -2 0 2 4 6 8 10
Input u(t)
Input u(t)

(E) Curves of MBW model at 1 Hz – 50 Hz with (F) Curves of MBW model at 25 Hz with
v u ,k =u k −uk−1 v u ,k =u k −uk−1

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1059
9
50 Hz
8

6
Output y(t)

0
-10 -8 -6 -4 -2 0 2 4 6 8 10
Input u(t)

(G) Curves of MBW model at 25 Hz with

v u ,k =u k −uk−1

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