scholarly journals Stability of the dynamic shifting process in the vehicle transmission with the input shaper

2018 ◽  
Vol 211 ◽  
pp. 02007 ◽  
Author(s):  
Alexander Taratorkin ◽  
Victor Derzhanskii ◽  
Igor Taratorkin
Keyword(s):  
Numerical Simulation ◽  
Natural Frequency ◽  
Control Algorithm ◽  
Control Law ◽  
Single Node ◽  
Input Shaper ◽  
Inertial Parameters ◽  
Wheel Drive ◽  
And Performance ◽  
The Stability

This paper investigates stability of the dynamic process of gear shift in the vehicle transmission with the input shapers (IS) taking in consideration uncertainty of the natural frequency of the mechanical system. The proposed control algorithm increases the stability of the researched system with variation of its elastic and inertial parameters. The control law with guaranteed asymptotic stability is obtained for full load of the vehicle when the all-wheel drive is turned on. The monitoring of the state and performance of the required parameters for the regulation of input shapers are tested by means of numerical simulation. Analyzing the results it is established that the best stability is reached by the adaptive setting of the input shapers in accordance with controlled value of the natural frequency of the lowest single-node mode.

Stability and Control of Tooling System for High-Speed Machining

2014 ◽  
Vol 684 ◽  
pp. 375-380
Author(s):  
Deng Sheng Zheng ◽  
Jian Chen ◽  
D.F. Tao ◽  
L. Lv ◽  
Gui Cheng Wang
Keyword(s):  
Natural Frequency ◽  
High Speed ◽  
System Stability ◽  
Finite Model ◽  
High Speed Machining ◽  
Cnc Machine ◽  
And Performance ◽  
The Stability ◽  
Tooling System ◽  
And Control

Tooling system for high-speed machining is one of the key components of high-end CNC machine , its stability and reliability directly affects the quality and performance of the machine. Based on the finite element method, developing a 3D finite model of high-speed machining tool system, studying on the stability of the high Speed machining tool from the natural frequency by the method of modal analysis. Analysis the amount of the overhang and clamping of the tooling , different shank taper interference fit and under different speed conditions, which affects the natural frequency of high-speed machining tool system. Proposed to the approach of improving system stability, which also provides a theoretical basis for the development of new high-speed machining tool system.

Dynamics and Controller Design of a Screw Wheel Drive Holonomic Rescue Robot

2012 ◽  
Author(s):  
Emin Faruk Kececi
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Controller Design ◽  
Mechanical Design ◽  
Future Research ◽  
Rescue Robot ◽  
Wheel Drive ◽  
The Stability ◽  
Adaptive Control Algorithm ◽  
Future Work

This paper reports a holonomic rescue robot where the robot is driven by screw wheels. The necessity of a such platform is explained and the mechanical design and the actual prototype are presented. In order to design an adaptive control algorithm to ensure the trajectory tracking, the dynamical model is constructed. The stability of the adaptive control algorithm is proven with Lyapunov stability analysis. The necessary electronics to implement the controller algorithm is explained and the conclusions and future work section reports the results of the study as well as the future research directions.

The Control of Parametric Vibration in a Simply Supported Beam

1987 ◽  
Vol 109 (3) ◽  
pp. 315-318
Author(s):  
J. S. Burdess
Keyword(s):  
Numerical Simulation ◽  
Theoretical Analysis ◽  
Perturbation Method ◽  
Natural Frequency ◽  
Multiple Scales ◽  
Equation Of Motion ◽  
Control Law ◽  
Parametric Vibrations ◽  
Simply Supported ◽  
Multiple Scales Perturbation Method

The paper shows how unstable parametric vibrations of a uniform beam can be controlled. A control law is proposed and it is shown that the beam can be made to vibrate at a present amplitude at its natural frequency. The beam is modelled by its first mode and a solution to the governing equation of motion is derived by applying the multiple scales perturbation method. The results of the theoretical analysis are verified by a numerical simulation.

scholarly journals A new experimental ground vehicle with hybrid control and hybrid vision sensor

2010 ◽  
Vol 8 (03) ◽  
Author(s):  
J. M. Rendón-Mancha ◽  
G. Sanahuja ◽  
P. Castillo ◽  
R. Lozano
Keyword(s):  
Control Algorithm ◽  
Hybrid Control ◽  
Vision System ◽  
Sampling Period ◽  
Control Law ◽  
Continuous Control ◽  
Ground Vehicle ◽  
The Stability ◽  
Real Time Application ◽  
Made In

This paper presents a new hybrid control algorithm based on saturation functions and its real-time application to a ground vehicle. The hybrid control is developed from a nonlinear continuous control law and the objective is to obtain the optimal sampling period to apply the controller in real experiences. The stability analysis was made in discrete time. The experimental platform is composed of a remote control toy car and a vision system. The vision system is built using a simple webcam and a diode laser. This system is fast, accurate, inexpensive and easy to implement. Simulations and experiments show the stability and robustness of the closed-loop system. The proposed control law performance is compared with a linear control algorithm.

Control Law Design Based on Geometric Algebra

2013 ◽  
Vol 347-350 ◽  
pp. 496-500 ◽  
Author(s):  
Bin Li ◽  
Qian Shou Liu ◽  
Di Min Wu ◽  
Zi Hui Zhang ◽  
Yang Ke Zhou
Keyword(s):  
Numerical Simulation ◽  
Rigid Body ◽  
Geometric Algebra ◽  
Attitude Control ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Control Law ◽  
Lyapunov Theorem ◽  
Computational System ◽  
The Stability

A position and attitude control law is developed using geometric algebra (GA). GA is a powerful representational and computational system for geometry. The rigid body motion can be represented by the versor product in GA framework. Using the kinematics of the motor (the versor which represents the rigid body motion in GA), the control law of the rigid body motion can be developed. This paper provides a GA-based position and attitude control law by using the negative feedback of the motor. The stability of the control law is validated by the Lyapunov theorem and the numerical simulation.

scholarly journals An optimization algorithm for a better PID controller

2014 ◽  
Vol 17 (2) ◽  
pp. 5-12
Author(s):  
Tung Thanh Luu ◽  
Nhan Le
Keyword(s):  
Differential Equations ◽  
Optimization Algorithm ◽  
Pid Controller ◽  
Control Algorithm ◽  
Equations Of Motion ◽  
Control Law ◽  
End Effector ◽  
Precise Position ◽  
Accurate Model ◽  
The Stability

A controller of a manipulator has studied and discussed for many years. However, many problems in controlling the precise position of the end effector are still continuing to be studied. To solve the precision of the Robot, two problems are attended. The first thing is to find the accuracy model of dynamics. The second thing is a controller for control law. However, it is so difficult to find an accurate model or differential equations of motion which is similar to the true manipulator. In addition, some unknown influences on the manipulator will make the accurate differential equations unworthy. Thus, a control algorithm will be introduced with PID controller which coefficients Kp, Kd, Ki are compensated by compensator found from optimization algorithm. With the new algorithm, the results have proved the stability and precision are better.

Robustness of Adaptive Unbalance Control of Rotors with Magnetic Bearings

1996 ◽  
Vol 2 (1) ◽  
pp. 33-52 ◽  
Author(s):  
C.R. Knospe ◽  
R.W. Hope ◽  
S.M. Tamer ◽  
S.J. Fedigan
Keyword(s):  
Control Algorithm ◽  
Open Loop ◽  
Experimental Results ◽  
Magnetic Bearings ◽  
Worst Case ◽  
Actual Performance ◽  
Loop Control ◽  
And Performance ◽  
The Stability ◽  
Performance Robustness

Rotor unbalance in the primary cause of unacceptable vibration in rotating machinery. Over the last decade, researchers have explored different methods of taking advantage of the active nature of magnetic bearings to attenuate unbalance response including both feedback and adaptive open loop methods. An important issue in the application of this technology to industrial machines is the robustness of the unbalance control algorithm. The stability and performance robustness of a promising adaptive open loop control algorithm is examined. Expressions are derived for a number of unstructured uncertainties. Experimental results are then presented, which evaluate the algorithm's robustness with respect to three variations: gain schedule errors, random additive errors, and feedback loop gain. The robustness exhibited in these tests was quite good and, along with the excellent vibration attenuation obtained, recommend the algorithm for further testing and industrial application. The experimental results indicate that the theoretical robustness expressions do provide an upper bound on actual performance, however this bound is not tight. Although the conservatism in the results is partly due to the variations considered and the worst-case nature of the performance robustness guarantees, the results also indicate that further research is needed on unstructured performance robustness for this method of rotor vibration control.

scholarly journals Classical approach to determining the natural frequency of continual subsystem of three-mass inter-resonant vibratory machine

2019 ◽  
Vol 5 (3-4) ◽  
pp. 77-87
Author(s):  
Oleksii Lanets ◽  
◽  
Oleksandr Kachur ◽  
Vitaliy Korendiy ◽  
◽  
...  
Keyword(s):  
Numerical Simulation ◽  
Natural Frequency ◽  
Rigid Bodies ◽  
Elastic Rod ◽  
Vibratory System ◽  
Operational Conditions ◽  
Inertial Parameters ◽  
Engineering Technique ◽  
Basic Parameters ◽  
The Masses

Problem statement. The three-mass vibratory system can be defined by five basic parameters: inertial parameters of the masses and stiffness parameters of two spring sets. Unlike the classical discrete system, the discrete-and-continual one consists of two rigid bodies connected by one spring set that form the discrete subsystem, and of the reactive mass considered as deformable (elastic) body characterized by certain stiffness and inertial parameters, which are related with one another. Purpose. The main objective of the paper consists in determining the first natural frequency of the continual subsystem of the three-mass discrete-and-continual vibratory machine. Methodology. While carrying out the investigations, it is used the classical theory of oscillations of straight elastic rods. Findings (results). The engineering technique of determining the first natural frequency of the continual subsystem of the three-mass vibratory machine is developed and approved by means of analytical calculations and numerical simulation. Originality (novelty). The optimal diagram of supporting the continual subsystem (elastic rod) is substantiated. The possibilities of exciting the vibrations of the three-mass discrete-and-continual mechanical system using the eccentric drive are considered. Practical value. The obtained research results and the developed calculation techniques can be used be engineers and designers dealing with various technological and manufacturing equipment that use vibratory drive. Scopes of further investigations. While carrying out further investigations, it is necessary to develop the model of combined discrete-and-continual system of three-mass vibratory machine, and to carry out the numerical simulation of the system’s motion under different operational conditions.

scholarly journals Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller

2021 ◽  
Vol 2021 ◽  
pp. 1-19
Author(s):  
Cesar Alejandro Villaseñor Rios ◽  
Octavio Gutiérrez-Frías ◽  
Carlos Aguilar-Ibanez ◽  
Miguel S. Suarez-Castanon
Keyword(s):  
Numerical Simulation ◽  
Linear Transformations ◽  
Control Approach ◽  
Performance Indexes ◽  
Input Control ◽  
Unknown Disturbances ◽  
Position Regulation ◽  
And Performance ◽  
Aircraft System ◽  
The Stability

This paper presents a control scheme that allows height position regulation and stabilization for an unmanned planar vertical takeoff and landing aircraft system with an inverted pendular load. The proposed controller consists of nested saturations and a generalized proportional integral (GPI). The GPI controls the aircraft height and the roll attitude; the latter is used as the fictitious input control. Next, the system is reduced through linear transformations, expressing it as an integrator chain with a nonlinear perturbation. Finally, the nested saturation function-based controller stabilizes the aircraft’s horizontal position and the pendulum’s angle. Obtaining the control approach was a challenging task due to the underactuated nature of the aircraft, particularly ensuring the pendulum’s upright position. The stability analysis was based on the second method of Lyapunov using a simple candidate function. The numerical simulation confirmed the control strategy’s effectiveness and performance. Additionally, the numerical simulation included a comparison against a PD controller, where its corresponding performance indexes were estimated, revealing that our controller had a better response in the presence of unknown disturbances.

scholarly journals Some special specifics of dimensioning of a hydraulic cylinder as an executive device of an electrohydraulic actuator system

2021 ◽  
Author(s):  
Dragan Nauparac ◽  
Nemanja Višnjić
Keyword(s):  
Control Algorithm ◽  
Hydraulic Cylinder ◽  
Pi Control ◽  
Control Law ◽  
Operating Pressure ◽  
Unstable System ◽  
Dynamic Criterion ◽  
Actuator System ◽  
The Stability ◽  
System 1

The hydraulic cylinder is dimensioned based on a static or dynamic criterion, assuming the desired operating pressure. The paper further analyzes the dimensioning of cylinders according to different load categories. The sizing of the hydraulic cylinder affects the choice of control algorithm parameters but also the stability of the system. How the cylinder dimension and the gain of the distributor affect the choice of the integral constant in the control algorithm in the case when we have the PI control law is especially considered. Then we have by definition an unsTable system 1 / s2 to which we provide stability through feedback.

Sign in / Sign up

Export Citation Format

Share Document