A Multimode Wave-Form Command Shaping Control Applied on Double Pendulum

2015 ◽  
Author(s):  
Khaled A. Alhazza ◽  
Ziyad N. Masoud ◽  
Abdulsalam Alhazza
Keyword(s):  
Mathematical Model ◽  
Natural Frequencies ◽  
Wave Form ◽  
Double Pendulum ◽  
Command Shaping ◽  
Shaping Technique ◽  
Simulation Results ◽  
Experiment And Simulation

In this work, a command shaping technique is used to reduce residual vibrations of rest-to-rest maneuvers of double pendulums. The proposed command shaper can produce a command shaper without the exact mathematical model; it is only dependent on the system natural frequencies. Furthermore, the proposed shaper has independent maneuvering time. Unlike most command shaper for multimode systems, the proposed technique has known formulas for its parameters. Both simulations and experiments are used to validate the shaper concept. Experiment and simulation results, through different examples, showed great shaper performances.

A Smooth Wave-Form Command Shaping Control

2013 ◽  
Author(s):  
Khaled A. Alhazza ◽  
Ziyad N. Masoud ◽  
Nehal Alotaibi
Keyword(s):  
Experimental Results ◽  
Harmonic Oscillators ◽  
Wave Form ◽  
Overhead Crane ◽  
Scaled Model ◽  
Smoothing Techniques ◽  
Command Shaping ◽  
Shaping Technique ◽  
Multi Mode ◽  
Smooth Acceleration

To avoid excitation of higher modes of flexible and multi-mode systems, it is important to eliminate sudden and jerky inputs. To achieve this goal, researchers tend to use different smoothing techniques to reduce the effect of the command roughness. In this work, a new smooth command-shaping technique for oscillation reduction of simple harmonic oscillators is proposed. A continuous smooth wave-form acceleration command-shaper is proposed. The shaper parameters are tuned to eliminate residual vibrations in rest-to-rest maneuvers. The performance of the proposed shaper is determined analytically, simulated numerically, and validated experimentally on a scaled model of an overhead crane. Results obtained show that the proposed smooth wave-form shaper is capable of eliminating travel and residual oscillations. Furthermore, unlike traditional step command shapers, the proposed command profiles have completely smooth acceleration, velocity, and displacement profiles. Experimental results demonstrate the ability of our proposed smooth wave-form commands to eliminate residual vibrations at the end of rest-to-rest maneuvers.

Research on Dynamic Balance Method of Precision Centrifuge

2014 ◽  
Vol 945-949 ◽  
pp. 777-780
Author(s):  
Tao Liu ◽  
Yong Xu ◽  
Bo Yuan Mao
Keyword(s):  
Mathematical Model ◽  
Balance Control ◽  
Dynamic Balance ◽  
Dynamic Balancing ◽  
Structure Characteristics ◽  
Balance System ◽  
Simulation Results ◽  
Set Up ◽  
System Controller ◽  
The Mathematical Model

Firstly, according to the structure characteristics of precision centrifuge, the mathematical model of its dynamic balancing system was set up, and the dynamic balancing scheme of double test surfaces, double emendation surfaces were established. Then the dynamic balance system controller of precision centrifuge was designed. Simulation results show that the controller designed can completely meet the requirements of precision centrifuge dynamic balance control system.

Identification and Model Predictive Position Control of Two Wheeled Inverted Pendulum Mobile Robot

2015 ◽  
Vol 73 (6) ◽  
Author(s):  
Amir A. Bature ◽  
Salinda Buyamin ◽  
Mohamad N. Ahmad ◽  
Mustapha Muhammad ◽  
Auwalu A. Muhammad
Keyword(s):  
Mathematical Model ◽  
System Identification ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Position Control ◽  
Superior Performance ◽  
System A ◽  
Wheeled Inverted Pendulum ◽  
Simulation Results ◽  
Real Plant

In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. 

Research on Flux Damping Control Strategy of DFIG during Grid Voltage Dips

2015 ◽  
Vol 713-715 ◽  
pp. 756-759
Author(s):  
Xu Guang Zhang ◽  
Zhen Xie
Keyword(s):  
Mathematical Model ◽  
Control Strategy ◽  
Grid Voltage ◽  
Damping Control ◽  
Simulink Simulation ◽  
Voltage Dips ◽  
Simulation Results ◽  
Stator Flux ◽  
Natural Component ◽  
Simplified Mathematical Model

A flux damping control strategy was proposed to accelerate the decay of stator flux and restrain stator, rotor current and torque oscillation caused by grid voltage dips. Firstly, this paper analyzes the simplified mathematical model of DFIG during symmetrical voltage dips. Then, the mechanism of flux damping control strategy to restrain stator, rotor current oscillation and increase flux damping was analyzed. The flux damping control strategy can increase the damping of stator side, which accelerates the decay of the stator flux natural component and improve the dynamic LVRT performance of DFIG. The correctness and effectiveness of this method is verified by MATLAB/Simulink simulation results.

The Impact Analysis of Revolute Pair Clearance to the End Pose Accuracy of Welding Robot

2015 ◽  
Vol 778 ◽  
pp. 259-263
Author(s):  
Fa Jun Zhang ◽  
Lin Zi Li ◽  
Hui Lin ◽  
Yin Lin Pu ◽  
Zhu Xin
Keyword(s):  
Mathematical Model ◽  
Impact Analysis ◽  
Joint Clearance ◽  
Welding Robot ◽  
Movement Characteristic ◽  
Movement Stability ◽  
Simulation Results ◽  
The Impact ◽  
The Mathematical Model ◽  
Welding Position

Various uncertain factors affect the movement of the welding robot, thus welding gun tend to deviate from the theory of welding position which reduces the welding accuracy, of which the revolute pair clearance have an greater effect on the movement of the welding robot. In order to study the influence of revolute pair clearance to the end pose accuracy of welding robot, the mathematical model of revolute pair clearance was established, and the software SolidWorks was used for establishing the welding robot model, making simulations of the mechanical arm with joint clearance and no joint clearance. At last, the movement characteristic of the hinge shaft is attained. The simulation results showed that the shaft velocity and displacement of mechanical arm with joint clearance has a certain degree of fluctuation, which affecting the end pose accuracy of welding robot , and reducing the movement stability and the welding accuracy of welding robot.

Methods of Mathematical Modeling of the Leaching Process of Cobalt-Containing Solutions

2021 ◽  
Vol 316 ◽  
pp. 661-666
Author(s):  
Nataliya V. Mokrova
Keyword(s):  
Mathematical Modeling ◽  
Mathematical Model ◽  
Chemical Kinetics ◽  
Group Method ◽  
Data Handling ◽  
Multistage Processes ◽  
Leaching Process ◽  
Proposed Model ◽  
Simulation Results ◽  
The Mathematical Model

Current cobalt processing practices are described. This article discusses the advantages of the group argument accounting method for mathematical modeling of the leaching process of cobalt solutions. Identification of the mathematical model of the cascade of reactors of cobalt-producing is presented. Group method of data handling is allowing: to eliminate the need to calculate quantities of chemical kinetics; to get the opportunity to take into account the results of mixed experiments; to exclude the influence of random interference on the simulation results. The proposed model confirms the capabilities of the group method of data handling for describing multistage processes.

Deep and Shallow Water Low-Speed Maneuvering Tests: Comparison Between Experimental and Simulation Results

2016 ◽  
Author(s):  
Felipe Ribolla Masetti ◽  
Pedro Cardozo de Mello ◽  
Guilherme F. Rosetti ◽  
Eduardo A. Tannuri
Keyword(s):  
Mathematical Model ◽  
Small Scale ◽  
Shallow Waters ◽  
Hydrodynamic Coefficients ◽  
Low Speed ◽  
Tunnel Model ◽  
Oceanographic Research ◽  
Simulation Results ◽  
The University ◽  
The Mathematical Model

This paper presents small-scale low-speed maneuvering tests with an oceanographic research vessel and the comparison with mathematical model using the real time maneuvering simulator developed by the University of São Paulo (USP). The tests are intended to verify the behavior of the vessel and the mathematical model under transient and low speed tests. The small-scale tests were conducted in deep and shallow waters, with a depth-draft ratio equal to 1.28, in order to verify the simulator ability to represent the vessel maneuverability on both depth conditions. The hydrodynamic coefficients used in the simulator model were obtained by CFD calculations and wind tunnel model tests carried out for this vessel. Standard turning circle and accelerating turn maneuvers were used to compare the experimental and numerical results. A fair agreement was achieved for shallow and deep water. Some differences were observed mainly in the initial phase of the accelerating turn test.

Design of Control of DC Motor

2014 ◽  
Vol 611 ◽  
pp. 325-331
Author(s):  
Ľubica Miková ◽  
Michal Kelemen ◽  
Vladislav Maxim ◽  
Jaromír Jezný
Keyword(s):  
Mathematical Model ◽  
Virtual Environment ◽  
Computer Technology ◽  
Current Practice ◽  
Scientific Literature ◽  
Model Simulation ◽  
Graphical Interface ◽  
Dc Motors ◽  
Matlab Program ◽  
Simulation Results

In current practice the use of mathematical models is substantially widespread, reason being the recent increase in development of programs for this purpose, with the option of model simulation in a virtual environment, proportional to the evolving computer technology. The article contains a mathematical model created using Matlab program. The simulation results are compared with scientific literature that addresses DC motors and evaluated. For simplicity, a graphical interface was created.

scholarly journals Finite Element Modeling of Multiscale Diffusion in Intercalated Nanocomposites

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Antonio Greco ◽  
Alfonso Maffezzoli
Keyword(s):  
Mathematical Model ◽  
Finite Element ◽  
Finite Element Modeling ◽  
Random Distribution ◽  
Geometric Model ◽  
Fe Analysis ◽  
Morphological Features ◽  
Diffusion Behavior ◽  
Simulation Results ◽  
Diffusion Simulation

This work is aimed to study the diffusion in 3D nanocomposites obtained with stacks of lamellar nanofillers characterized by the presence of permeable galleries, by finite element (FE) analysis. To this purpose, a geometric model, based on a random distribution of noninterpenetrating stacks, with each one being made of regularly spaced lamellae, was developed. The developed model is able to account for diffusion between stacks (interstack diffusion) as well as diffusion inside stacks (intrastack diffusion). Simulation results showed that intrastack diffusion, related to flow inside galleries, can be quite relevant, particularly at high values of gallery thickness. Comparison of the simulation results with literature models shows that when intrastack diffusion is not taken into account, the diffusion behavior in intercalated nanocomposites is not well predicted. Therefore, intrastack permeability of nanofillers such as organic modified clays cannot be neglected. Such intrastack diffusivity is shown to depend on the morphological features of the nanofiller requiring the development of a proper mathematical model.

scholarly journals Population Behavior in the Mathematical Model of the Spread of COVID19 Type SEIRS

2021 ◽  
Vol 6 (2) ◽  
pp. 83-88
Author(s):  
Asmaidi As Med ◽  
Resky Rusnanda
Keyword(s):  
Mathematical Modeling ◽  
Numerical Simulation ◽  
Mathematical Model ◽  
Everyday Life ◽  
Applied Mathematics ◽  
Living Things ◽  
Simulation Results ◽  
Parameter Values ◽  
The Mathematical Model ◽  
Disease Free

Mathematical modeling utilized to simplify real phenomena that occur in everyday life. Mathematical modeling is popular to modeling the case of the spread of disease in an area, the growth of living things, and social behavior in everyday life and so on. This type of research is included in the study of theoretical and applied mathematics. The research steps carried out include 1) constructing a mathematical model type SEIRS, 2) analysis on the SEIRS type mathematical model by using parameter values for conditions 1and , 3) Numerical simulation to see the behavior of the population in the model, and 4) to conclude the results of the numerical simulation of the SEIRS type mathematical model. The simulation results show that the model stabilized in disease free quilibrium for the condition  and stabilized in endemic equilibrium for the condition .

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