Mathematical Modeling of Motion Control of Air Manipulation System and Its Stabilization

The paper examines the issues of improving the rotor units by means of using support units with actively changeable characteristics. An overview of the known solutions related to the use of active bearings in various types of turbomachinery is provided. A closer look is given at the design and features of active radial bearings, the main elements of which are fluid film bearings. The results of mathematical modeling of active hybrid bearings are presented. The prospects of the use of this type of supports to improve the dynamic characteristics of rotating machinery, including reducing vibrations caused by various factors, are analyzed. Promising directions of development of active bearings are considered, which primarily involves the modification of system components and rotor motion control system algorithms, including intelligent technologies and artificial intelligence methods.

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Mathematical modeling to the motion control of magnetic nano/microrobotic tools performing in bodily fluids, especially blood/plasma

10.1016/b978-0-12-823971-1.00004-0 ◽

2022 ◽

pp. 83-112

Author(s):

Ahmet Fatih Tabak

Keyword(s):

Mathematical Modeling ◽

Blood Plasma ◽

Motion Control ◽

Bodily Fluids

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TASKS STATEMENT FOR MODERN AUTOMATIC CONTROL THEORY OF UNDERWATER COMPLEXES WITH FLEXIBLE TETHERS

EUREKA Physics and Engineering ◽

10.21303/2461-4262.2016.00158 ◽

2016 ◽

Vol 5 ◽

pp. 25-36 ◽

Cited By ~ 3

Author(s):

Valery Dudykevych ◽

Blintsov Oleksandr

Keyword(s):

Mathematical Modeling ◽

Automatic Control ◽

Control Systems ◽

Motion Control ◽

Control Object ◽

Synthesis Methods ◽

Automatic Control Systems ◽

Control Automation ◽

Control Under Uncertainty ◽

Consistent Solution

The definition of a new class of control objects is proposed. It is an underwater complex with flexible tethers (UCFT) for which there is the need to automate motion control under uncertainty and nonstationarity of own parameters and external disturbances. Classification of marine mobile objects and characteristics of the flexible tethers as UCFT elements is given. The basic UCFTs configurations that are used in the implementation of advanced underwater technologies are revealed. They include single-, double- and three-linked structures with surface or underwater support vessels and self-propelled or towed underwater vehicles. The role of mathematical modeling in tasks of motion control automation is shown. The tasks of UCFT mathematical modeling are formulated for synthesis and study of its automatic control systems. Generalized structures of mathematical models of UCFT basic elements are proposed as the basis for the creation of simulating complex to study the dynamics of its motion. The tasks of UCFT identification as a control object are formulated. Their consistent solution will help to obtain a UCFT mathematical model. The basic requirements for UCFT automatic motion control systems are determined. Their satisfaction will ensure implementation of selected underwater technology. Areas of development of synthesis methods of UCFT automatic control systems are highlighted.

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A Geometric Approach to the Decoupling Control and to Speed up the Dynamics of a General Rigid Body Manipulation System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.534.93 ◽

2014 ◽

Vol 534 ◽

pp. 93-103

Author(s):

Paolo Mercorelli

Keyword(s):

Rigid Body ◽

Motion Control ◽

Predictive Control ◽

Generalized Linear Model ◽

Geometric Approach ◽

Careful Analysis ◽

Decoupling Control ◽

Manipulation System ◽

Speed Up ◽

Task Oriented

This contribution deals with a new analysis of a rigid body manipulation system. It is based on the well–knowngeometric control of system dynamics. In such a framework some typical problems in robotics are mathematicallyformalized and analyzed. The outcomes are so general that it is possible to speak of structural properties in roboticmanipulation. The problem of non-interacting force/motion control is investigated. A generalized linear model is usedand a careful analysis is made. The main result consists in proposing a task–oriented choice of the controlled outputs,for which the structural non-interaction property holds for a wide class of manipulation systems. Moreover, a decoupledlinear model predictive control is proposed which uses a pre-selecting matrix to speed up the dynamics of the mechanisms.The pre-selecting matrix enables to considers subspaces which correspond to the eigenvectors of decoupled system tospeed up the dynamic of the considered mechanism.

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