ABSTRACT
In this study, to further improve the dynamic performance and steady-state accuracy of the electromagnetic linear actuator (EMLA) for the direct-drive system, the adaptive non-singular terminal sliding mode controller (ANTSMC) based on an improved disturbance observer (IDOB) is proposed. Accurate modeling of the EMLA based on the LuGre friction model was obtained by identification. Aiming at the continuous disturbance of the system, a non-singular terminal sliding mode control based on improved exponential reaching law (IERL) is designed, which is combined with the advantages of fuzzy control. Adaptive adjustment of the IERL gain is achieved to ensure finite time convergence of the tracking error while suppressing system jitter. Based on the IDOB to achieve effective observation compensation under noise disturbance and further improve the system robustness. The stability of the control is analyzed based on the Lyapunov function. The results show that the proposed method suppresses the jitter and improves the tracking performance and robustness of the servo system for different desired trajectories effectively.
ABSTRACT
This work focused on the effects of the hydrothermal environment on the aging of all-steel radial tire (ASRT) composites. Composite specimens were conditioned by immersion in deionized water at 30, 60 and 90 °C. Its water absorption, thermal and mechanical properties (tensile strength, elasticity modulus, elongation at break and interfacial shear strength), morphological structure, as well as molecular cross-linking reaction were investigated before and after aging. Results indicated that there was no dynamic equilibrium of water absorption of ASRT composites after deviating from the Fickian model. The molecular cross-linking density of the rubber matrix showed an increase in the early stage of aging. Then, the mechanical properties suffered of a drop due to the degradation of the rubber matrix and the poor interface between the steel fiber and rubber matrix. Additionally, a systematic hygrothermal aging mechanism was proposed.
