The bacterial flagellar motor is a nanometer-sized rotary motor that generates the torque to drive the rotation of the flagellar filament.The output torque is an important property of the motor.The motor rotation was ...The bacterial flagellar motor is a nanometer-sized rotary motor that generates the torque to drive the rotation of the flagellar filament.The output torque is an important property of the motor.The motor rotation was usually monitored by attaching aμm-sized bead to a shortened flagellar filament,and the torque was extracted by calculating the torque due to the viscous drag of the medium on the bead rotation.We sought for an independent extraction of the torque from thermal fluctuation in the motor rotation using the fluctuation theorem(FT).However,we identified an overwhelming fluctuation beyond the thermal noise that precluded the use of FT.We further characterized the timescale and the amplitude of this fluctuation,finding that it was probably due to the stepping of the motor.The amplitude of torque fluctuation we characterized here provided new information on the torque-generating interaction potential curve.展开更多
To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction ...To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.展开更多
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11925406 and 12090053)the National Key R&D Program of China(Grant No.2019YFA0709303)。
文摘The bacterial flagellar motor is a nanometer-sized rotary motor that generates the torque to drive the rotation of the flagellar filament.The output torque is an important property of the motor.The motor rotation was usually monitored by attaching aμm-sized bead to a shortened flagellar filament,and the torque was extracted by calculating the torque due to the viscous drag of the medium on the bead rotation.We sought for an independent extraction of the torque from thermal fluctuation in the motor rotation using the fluctuation theorem(FT).However,we identified an overwhelming fluctuation beyond the thermal noise that precluded the use of FT.We further characterized the timescale and the amplitude of this fluctuation,finding that it was probably due to the stepping of the motor.The amplitude of torque fluctuation we characterized here provided new information on the torque-generating interaction potential curve.
基金Supported by the National Natural Science Foundation of China(61175090,61703249)Shandong Provincial Natural Science Foundation,China(ZR2017MF045)
文摘To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.
