A hardware in loop (HIL) simulation platform for a hydraulic Stewart master-slave system used for curved surface grinding work is developed.The communication between hydraulic Stewart force feedback joystick and the computer is realized by AD/DA card, which was used to improve and evaluate the performance of the real controller.The software built by MATLAB/simulink in the computer includes the functions such as the master cylinder controller, the slave hand virtual plant the slave cylinder controller and the bilateral controller, which is applied to improve and evaluate the performance of the real controller.A workspace based control strategy was performed to validate the system.
Currently, unmanned aerial vehicles (UAVs) play a pivotal role in meteorological wind speed measurements. Nevertheless, existing anemometers exhibit notable issues, including excessive weight, high cost and high cut-in wind speed. This investigation introduces a biomimetic owl wing airfoil wind speed sensor utilizing the principles of the triboelectric nanogenerator (BOW-TENG) designed for UAV applications. Inspired by owl wings, an airfoil configuration with superior aerodynamic characteristics is ascertained, subsequently fabricating it into an impeller, and a wind speed sensor with low weight, low cost and low cut-in wind speed is developed. Experimental results affirm the BOW-TENG's precision in depicting wind speed across the range of 1.6 to 10.7 m/s, featuring a sensitivity of 21.893 Hz/(m·s-1), a goodness of fit R2 of 0.9995, and a remarkable resolution of 0.057 m/s. The sensor weighs only 30 g. Furthermore, a cost-effective triboelectric signal processing system is devised for integrating the BOW-TENG into the UAV, as well as the optimal positioning for BOW-TENG on the UAV is identified through simulations. The relative wind direction can be calculated from signals of the BOW-TENGs on the four arms of the UAV. Ultimately, application experiments demonstrate the feasibility of employing BOW-TENG for wireless wind speed transmission from UAVs. This work incorporates bionics and proposes a practical application of triboelectric sensors for UAVs, as well as a solution for developing wind speed sensors in the field of meteorological UAV detection.
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