scholarly journals Simulation of Crane Trolley Motion Control to Reduce Load Sway

2021 ◽  
Vol 2096 (1) ◽  
pp. 012004
Author(s):  
A A Reutov
Keyword(s):  
Control Parameters ◽  
Optimal Parameters ◽  
Wind Force ◽  
Positioning Accuracy ◽  
Swing Angle ◽  
Positioning Errors ◽  
Acceptable Range ◽  
Satisfactory Performance ◽  
Optimal Values ◽  
Universal Mechanism

Abstract the work aims to develop a method for controlling a crane trolley, providing a decrease in the swinging of the load on the rope at a given positioning accuracy and minimum time for moving the load. Computer simulation of the trolley controlled movement with a load on a rope was carried out within the "Universal Mechanism" software. The 2D computer model includes a trolley with a pulley, a rope with a hook, and a load. T-force represents the wind force effect. The control system (CS) contains three blocks that ensure the movement of the trolley with limited speed and acceleration, the positioning accuracy of the trolley, limiting the deviation and acceleration of a load. List of requirements for the crane CS comprises six issues. The simulation results illustrate the satisfactory performance of the proposed method. The swing angle and trolley positioning accuracy can be controlled within the acceptable range and the external wind disturbance on the load can be successfully suppressed. The optimal parameters of the proportional-differential corrective control, which ensure the minimum travel time of the trolley with limited oscillation of the load, have been determined. The optimal values of the control parameters depend on the inertial characteristics of the load. The maximum permissible values of speed, acceleration, and positioning errors of the trolley limit from above the optimal values of the control parameters.

Justification of design parameters of the fractional reaping conveyor and its devices for removal of beveled stems from under the wheels of the vehicle

2019 ◽  
Vol 1 (3) ◽  
pp. 1-10
Author(s):  
Mikhail M. Konstantinov ◽  
Ivan N. Glushkov ◽  
Sergey S. Pashinin ◽  
Igor I. Ognev ◽  
Tatyana V. Bedych
Keyword(s):  
Optimal Design ◽  
Technological Process ◽  
Design Parameters ◽  
Theoretical Studies ◽  
Optimal Parameters ◽  
Belt Conveyor ◽  
Grain Crops ◽  
Mode Of Operation ◽  
Optimal Values ◽  
Main Component

In this paper we consider the structural and technological process of the combine used in the process of separate harvesting of grain crops, as well as a number of its parameters. Among the main units of the combine, we allocate a conveyor and devices for removing beveled stems from under the wheels of the vehicle. The principle of operation of the conveyor at different phases of the Reaper and especially the removal of cut stems from under the wheels of the vehicle during operation of the Reaper. The results of theoretical studies on the establishment of the optimal design of the parameters of the belt conveyor are presented, the ranges of their optimal values are considered and determined. Studies on the establishment of optimal parameters of the screw divider in the Reaper, which is the main component of the device for removal of beveled stems, are presented. Taking into account the optimal design and mode of operation of the screw divider, the correct work is provided to remove the cut stems from under the wheels of the harvester.

scholarly journals A 1 year record of global radiation and albedo in the ablation zone of Morteratschgletscher, Switzerland

1998 ◽  
Vol 44 (147) ◽  
pp. 231-238 ◽  
Author(s):  
J. Oerlemans ◽  
W. H. Knap
Keyword(s):  
Snow Depth ◽  
Global Radiation ◽  
Glacier Mass Balance ◽  
Control Parameters ◽  
Ablation Zone ◽  
Atmospheric Attenuation ◽  
Glacier Surface ◽  
Mass Balance Models ◽  
Optimal Values ◽  
Analyse Data

AbstractWe analyse data on solar radiation measured with an automatic weather station on Morteratschgletscher, Switzerland, for the period 1 October 1995–30 September 1996. The station is in the lower ablation zone. Due to shading by surrounding mountains and atmospheric attenuation, only 49% of the annual extraterrestrial irradiance (mean: 292 W m−2) reaches the glacier surface. About 48% of this is absorbed at the surface (mean: 79 W m−2; annual albedo of 0.53).We present a simple albedo scheme for use in glacier mass-balance models. We fit the model to the 1 year dataset by optimizing five control parameters (optimal values in brackets): albedo of snow (0.75), albedo of firn (0.53), albedo of ice (0.34),e-folding constant for effect of ageing on snow albedo (21.9 days) ande-folding constant for effect of snow depth on albedo (3.2 cm). The input consists of daily albedo, snow depth and dates of snowfall events. The correlation coefficient between observed and simulated albedo is 0.931, the corresponding rms difference being 0.067.

scholarly journals Intelligent Calibration of a Heavy-Duty Mechanical Arm in Coal Mine

Electronics ◽  
2020 ◽  
Vol 9 (8) ◽  
pp. 1186
Author(s):  
Yunhong Jia ◽  
Xiaodong Zhang ◽  
Zhenchong Wang ◽  
Wei Wang
Keyword(s):  
Extreme Learning Machine ◽  
Coal Mine ◽  
Absolute Error ◽  
Calibration Method ◽  
Heavy Duty ◽  
Maximum Absolute Error ◽  
Positioning Accuracy ◽  
Positioning Errors ◽  
Roof Bolter ◽  
Learning Machine

Accurate positioning of an airborne heavy-duty mechanical arm in coal mine, such as a roof bolter, is important for the efficiency and safety of coal mining. Its positioning accuracy is affected not only by geometric errors but also by nongeometric errors such as link and joint compliance. In this paper, a novel calibration method based on error limited genetic algorithm (ELGA) and regularized extreme learning machine (RELM) is proposed to improve the positioning accuracy of a roof bolter. To achieve the improvement, the ELGA is firstly implemented to identify the geometric parameters of the roof bolter’s kinematics model. Then, the residual positioning errors caused by nongeometric facts are compensated with the regularized extreme learning machine (RELM) network. Experiments were carried out to validate the proposed calibration method. The experimental results show that the root mean square error (RMSE) and the mean absolute error (MAE) between the actual mast end position and the nominal mast end position are reduced by more than 78.23%. It also shows the maximum absolute error (MAXE) between the actual mast end position and the nominal mast end position is reduced by more than 58.72% in the three directions of Cartesian coordinate system.

Development and Optimization of Perimeter Traversing Robot

2012 ◽  
Vol 186 ◽  
pp. 280-288
Author(s):  
Sudeshna Mohanty ◽  
Subhrasmita Mahapatra ◽  
Sanat Ku. Panda ◽  
Plavan Ku. Rath ◽  
Manoj Ku. Sarangi ◽  
...  
Keyword(s):  
Remote Detection ◽  
Surface Boundary ◽  
Control Parameters ◽  
Planar Surface ◽  
Edge Point ◽  
Color Sensor ◽  
Matlab Program ◽  
Geometrical Shapes ◽  
Detection Capabilities ◽  
Optimal Values

This paper presents the development and optimization of control parameters of an autonomous robot capable of traversing a planar surface without going beyond the surface boundary. Based on standard Lego® design, the proposed robot travels on surfaces with different geometrical shapes and collects data on the basis of which the perimeter can be redrawn using MATLAB. The remote detection capabilities of this robot can find its application in construction, defence surveillance operations, geological and space research and industry as an automated process of measurement, especially when the surface being measured is beyond human reach. The robot detects the edge using a color sensor which differentiates the color of the surface from its boundary. After detecting an edge point, the robot retracts and turns to detect an edge point in another direction. The length of the paths traversed by the robot from one edge point to another serves as the input data to the MATLAB program which computes this data and transforms it to a plot of the perimeter. Experiments conducted demonstrate the optimal values of parameters for control of motion of the robot to give satisfactory results with minimal power and time expenditure.

An Accelerated Algorithm for Improvement of Adaptation in Nonlinear Adaptive Control

2017 ◽  
Vol 18 (7-8) ◽  
Author(s):  
M. Davanipour ◽  
H. R. Javanmardi ◽  
N. Goodarzi
Keyword(s):  
Adaptive Control ◽  
Control Design ◽  
Adaptive Controller ◽  
Asymptotic Performance ◽  
Transient Performance ◽  
Polynomial Roots ◽  
Nonlinear Adaptive Control ◽  
Satisfactory Performance ◽  
Optimal Values ◽  
The Times

AbstractAdaptive control is capable of handling systems with uncertain parameters in terms of asymptotic performance; however, it is not so well in the transient performance. Even though adaptation gain is part of adaptive controller having much effects on the transient response, it has been considered as a constant gain most of the times. In this paper, a new Laypunov-based mechanism is proposed to find optimal values of adaptation gains in nonlinear adaptive control design. The algorithm inspired of the halving method for finding polynomial roots tries to find optimum values of the adaptation gains in a direction of minimizing a cost function. The simulation results show satisfactory performance of the proposed controller especially in terms transient performance.

scholarly journals NEW METHOD FOR CONSTRUCTION OF OPTIMAL SCALAR QUANTIZERS FOR LAPLACIAN SOURCE

2014 ◽  
pp. 50-54
Author(s):  
Zoran Peric ◽  
Jelena Nikolic ◽  
Dragoljub Pokrajac
Keyword(s):  
Approximation Method ◽  
New Method ◽  
Optimal Parameters ◽  
Optimal Values ◽  
Transcendental Equations ◽  
Scalar Quantizers

In this paper we consider methods for computing the necessary parameters when constructing the optimal scalar quantizers for Laplacian source. We investigate two approaches to the problem of finding the sets of optimal parameters. The first approach requires solving the transcendental equations, but provides nearly optimal values of the scalar quantizers’ parameters on successive manner. The proposed approach is an approximation method that linearizes transcendental equations providing simple and fast computing of scalar quantizers’ parameters. We demonstrate that the proposed technique provides parameters values that are very close to the optimal ones.

Assessment of the wear of wheels of freight cars under the existing standards for releasing three-piece bogies with an axle load of 23,5 tf from repair

2021 ◽  
Vol 18 (1) ◽  
pp. 52-61
Author(s):  
A. V. Saidova ◽  
◽  
V. I. Fedorova ◽  
Yu. B. Zhitkov ◽  
I. V. Fedorov ◽  
...  
Keyword(s):  
Computer Modeling ◽  
Software Package ◽  
Practical Importance ◽  
Optimal Parameters ◽  
Wheel Wear ◽  
Rail System ◽  
Freight Car ◽  
Universal Mechanism

Objective: To assess the effect of the dimensions and tolerances of three-piece bogies of freight cars with a maximum static axle load of 23,5 tf when they are released from scheduled repair on the wheel flange wear in operation. Methods: For this purpose, drawing on a review and analysis of the literature in the field of wheel-rail system wear and the current requirements of guidelines for the repair of freight cars and their parts, design cases were formed to simulate a railway crew movement along a track of various designs with operating speeds, and the processes of wheel flange wear were studied using simulation computer modeling in the environment of the “Universal Mechanism” software package. Results: The parameters of freight car bogies which have the greatest impact on wheel wear have been determined. The quantitative values of the indicators of wheel wear for various cases of crew movement have been determined. The ways of reducing the wear of car wheels in operation by changing the dimensions and tolerances of bogies when they are released from scheduled types of repair are shown. Practical importance: The obtained results of the work commissioned by JSC “First Freight Company”are currently used to formulate requirements for the dimensions and tolerances of bogies when they are released from repair in order to establish the optimal parameters that would help to reduce the wheel flange wear in operation. In addition, they can be used in the developing new designs of freight car bogies.

Study on Spunlaced Nonwoven Fabric’s Moisture Absorption and Permeability Based on BP Network

2011 ◽  
Vol 331 ◽  
pp. 23-26 ◽  
Author(s):  
Xiong Hua Wu ◽  
Jian Chi Lv ◽  
Xiao Ning Jiao
Keyword(s):  
Computer Simulation ◽  
Surface Density ◽  
Moisture Absorption ◽  
Nonwoven Fabric ◽  
Optimal Parameters ◽  
Bp Network ◽  
Future Production ◽  
Optimal Values ◽  
Set Up ◽  
Maximum Permeability

Using BP neural network, a predictive model has been set up between the parameters of spunlaced nonwoven fabric and its two important performances which were the moisture permeability and absorption. The results showed the model was very ideal. Based on this, various parameters corresponding to the optimal values were obtained through computer simulation, that while the viscose content was 80% and the surface density was 58g/m2, the maximum permeability was 6627.3 g/m2. d and the horizontal moisture absorption also reached the maximum of 22.41cm. While the viscose content was100% and the surface density was 68g/m2, the vertical moisture absorption reached the maximum of 19.1429cm. In the end, the PCA was used to integrate the three properties into one target and the optimal parameters were also obtained, which viscose content was 80 % and surface density was 58g/m2 .Besides, according to the method of the computer simulation, a variety of different spunlaced nonwovens also can be obtained to meet different needs, which could be a reference in the future production and experiments.

scholarly journals Finding the Optimal Parameters for Robotic Manipulator Applications of the Bounded Error Algorithm for Iterative Learning Control

2017 ◽  
Vol 47 (4) ◽  
pp. 3-11 ◽  
Author(s):  
Kaloyan Yovchev
Keyword(s):  
Computer Simulation ◽  
Iterative Learning Control ◽  
Robotic Manipulators ◽  
Learning Control ◽  
Robotic Manipulator ◽  
Iterative Learning ◽  
Optimal Parameters ◽  
Manipulator Arm ◽  
Bounded Error ◽  
Optimal Values

Abstract This paper continues previous research of the Bounded Error Algorithm (BEA) for Iterative Learning Control (ILC) and its application into the control of robotic manipulators. It focuses on investigation of the influence of the parameters of BEA over the convergence rate of the ILC process. This is performed first through a computer simulation. This simulation suggests optimal values for the parameters. Afterwards, the estimated results are validated on a physical robotic manipulator arm. Also, this is one of the first reports of applying BEA into robots control.

Coordination error control for accurate positioning in movable robotic drilling

2015 ◽  
Vol 35 (4) ◽  
pp. 329-340 ◽  
Author(s):  
Biao Mei ◽  
Weidong Zhu ◽  
Huiyue Dong ◽  
Yinglin Ke
Keyword(s):  
Error Control ◽  
Vision System ◽  
Aviation Industry ◽  
Accurate Estimation ◽  
Positioning Accuracy ◽  
Content Type ◽  
Positioning Errors ◽  
Aircraft Manufacturing ◽  
Robotic Drilling ◽  
Drilling System

Purpose – This paper aims to propose a roadmap to control the robot–subassembly (R–S) coordination errors in movable robotic drilling. Fastener hole drilling for multi-station aircraft assembly demands a robotic drilling system with expanded working volume and high positioning accuracy. However, coordination errors often exist between the robot and the subassembly to be drilled because of disturbances. Design/methodology/approach – Mechanical pre-locating and vision-based robot base frame calibration are consecutively implemented to achieve in-process robot relocation after station transfer. Thus, coordination errors induced by robotic platform movements, inconsistent thermal effects, etc. are eliminated. The two-dimensional (2D) vision system is applied to measure the remainder of the R–S coordination errors, which is used to enhance the positioning accuracy of the robot. Accurate estimation of measured positioning errors is of great significance for evaluating the positioning accuracy. For well estimation of the positioning errors with small samples, a bootstrap approach is put forward. Findings – A roadmap for R–S coordination error control using a 2D vision system, composed of in-process relocation, coordination error measurement and drilled position correction, is developed for the movable robotic drilling. Practical implications – The proposed roadmap has been integrated into a drilling system for the assembly of flight control surfaces of a transport aircraft in Aviation Industry Corporation of China. The position accuracy of the drilled fastener holes is well ensured. Originality/value – A complete roadmap for controlling coordination errors and improving positioning accuracy is proposed, which makes the high accuracy and efficiency available in movable robotic drilling for aircraft manufacturing.

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