Modeling and Control of Torsional Beam Vibrations: A Wave-Based Approach

2008 ◽  
Vol 130 (2) ◽  
Author(s):  
M. Moallem
Keyword(s):  
Transfer Function ◽  
The Other ◽  
Torsional Vibrations ◽  
Inertial Load ◽  
Modeling And Control ◽  
Control Approach ◽  
Infinite Dimensional ◽  
Torsional Beam ◽  
Delay Elements ◽  
And Control

This paper presents a wave-based modeling and control approach for suppressing torsional vibrations of an elastic shaft driven by a motor at one end and an inertial load at the other end. A two-port network model representing the dynamics of torsional displacements is obtained starting from the partial differential equations governing a shaft in torsion. By incorporating appropriate boundary conditions, the infinite dimensional transfer function of the system is obtained. Furthermore, the system is represented by delay elements that can be used for simulation purposes. An inversion-based controller that can be used to suppress vibrations while rotating the shaft according to a specific trajectory is then developed. The performance of the controller is further studied using numerical simulations.

A simulation study of nonideal mixing effect on the dynamic response of an exothermic CSTR with Cholette’s model

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Chane-Yuan Yang ◽  
Yu-Shu Chien ◽  
Jun-Hong Chou
Keyword(s):  
Transfer Function ◽  
Dynamic Response ◽  
The Other ◽  
System Stability ◽  
Mixing Effect ◽  
Characteristic Roots ◽  
Mixing Parameter ◽  
Perfect Mixing ◽  
And Control ◽  
Inverse Response

Abstract The study of nonideal mixing effect on the dynamic behaviors of CSTRs has very rarely been published in the literature. In this work, Cholette’s model is employed to explore the nonideal mixing effect on the dynamic response of a nonisothermal CSTR. The analysis shows that the mixing parameter n (the fraction of the feed entering the zone of perfect mixing) and m (the fraction of the total volume of the reactor), indeed affect the characteristic roots of transfer function of a real CSTR, which determine the system stability. On the other hand, the inverse response and overshoot response are also affected by the nonideal mixing in a nonisothemal CSTR. These results are of much help for the design and control of a real CSTR.

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

Modeling and control of a mobile manipulator

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 607-613 ◽  
Author(s):  
J. H. Chung ◽  
S. A. Velinsky
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Harmful Effect ◽  
Euler Method ◽  
Friction Model ◽  
Mobile Manipulator ◽  
Wheel Slip ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

Modeling and Control Approach to Coupled Tanks Liquid Level System Based on Function-Type Weight RBF-ARX Model

2016 ◽  
Vol 19 (2) ◽  
pp. 692-707 ◽  
Author(s):  
Feng Zhou ◽  
Hui Peng ◽  
Xiaoyong Zeng ◽  
Xiaoying Tian ◽  
Jun Wu
Keyword(s):  
Liquid Level ◽  
Level System ◽  
Function Type ◽  
Arx Model ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

scholarly journals Modeling and Control of a Dragonfly-Like Robot

2010 ◽  
Vol 2010 ◽  
pp. 1-10 ◽  
Author(s):  
Micael S. Couceiro ◽  
N. M. Fonseca Ferreira ◽  
J. A. Tenreiro Machado
Keyword(s):  
System Performance ◽  
Computational Simulation ◽  
The Other ◽  
Control Algorithms ◽  
Kinematics And Dynamics ◽  
Flight Performance ◽  
Modeling And Control ◽  
Wing Motion ◽  
Simulation Based ◽  
And Control

Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, the dynamics of a dragonfly-inspired robot is studied. The system performance is analyzed in terms of time response and robustness. The development of computational simulation based on the dynamics of the robotic dragonfly allows the test of different control algorithms. We study different movements, the dynamics, and the level of dexterity in wing motion of the dragonfly. The results are positive for the construction of flying platforms that effectively mimic the kinematics and dynamics of dragonflies and potentially exhibit superior flight performance than existing flying platforms.

scholarly journals A Modeling and Control approach for a cubic AUV

2016 ◽  
Vol 49 (23) ◽  
pp. 279-284 ◽  
Author(s):  
Benoit Clement ◽  
Yang Rui ◽  
Ali Mansour ◽  
Li Ming
Keyword(s):  
Modeling And Control ◽  
Control Approach ◽  
And Control

scholarly journals An Experimental Approach towards Motion Modeling and Control of a Vehicle Transiting a Non-Newtonian Environment

2021 ◽  
Vol 5 (3) ◽  
pp. 104
Author(s):  
Isabela Birs ◽  
Cristina Muresan ◽  
Ovidiu Prodan ◽  
Silviu Folea ◽  
Clara Ionescu
Keyword(s):  
Fractional Order ◽  
Process Model ◽  
Real Life ◽  
Optimization Techniques ◽  
Motion Modeling ◽  
Modeling And Control ◽  
Control Approach ◽  
Real Life Data ◽  
And Control ◽  
The Mathematical Model

The present work tackles the modeling of the motion dynamics of an object submerged in a non-Newtonian environment. The mathematical model is developed starting from already known Newtonian interactions between the submersible and the fluid. The obtained model is therefore altered through optimization techniques to describe non-Newtonian interactions on the motion of the vehicle by using real-life data regarding non-Newtonian influences on submerged thrusting. For the obtained non-Newtonian fractional order process model, a fractional order control approach is employed to sway the submerged object’s position inside the viscoelastic environment. The presented modeling and control methodologies are solidified by real-life experimental data used to validate the veracity of the presented concepts. The robustness of the control strategy is experimentally validated on both Newtonian and non-Newtonian environments.

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