Dynamic Modeling and Simulation of a Remote-Controlled Helicopter With a Suspended Load

2013 ◽  
Author(s):  
James Potter ◽  
Ryan Simpson ◽  
William Singhose
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Suspended Load ◽  
Model Parameters ◽  
Dynamic Effects ◽  
Horizontal Movement ◽  
Heavy Load

A planar helicopter testbed has been constructed to study the dynamic effects of loads suspended below the helicopter by cables. A dynamic model of the helicopter-load system is presented, as well as a procedure to estimate the unknown model parameters. The simulated helicopter is controlled by a virtual pilot with attributes that are scaled to match the model helicopter’s fast dynamics. Initial simulations show that the presence of a heavy load makes it difficult to maintain a steady hover position after a horizontal movement.

Dynamic modeling and simulation of two cooperating structurally-flexible robotic manipulators

Robotica ◽  
1995 ◽  
Vol 13 (4) ◽  
pp. 375-384 ◽  
Author(s):  
K. Krishnamurthy ◽  
L. Yang
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Equations Of Motion ◽  
Robotic Manipulators ◽  
Geometric Constraints ◽  
Flexible Manipulators ◽  
Order Model ◽  
Closed Chain ◽  
Extended Hamilton’S Principle

SummaryA dynamic model for two three-link cooperating structurally-flexible robotic manipulators is presented in this study. The equations of motion are derived using the extended Hamilton's principle and Galerkin's method, and must satisfy certain geometric constraints due to the closed chain formed by the two manipulators and the object. The dynamic model presented here is for the purpose of designing controllers. Therefore, a low-order model which captures all the major effects is of interest. Computer simulated results are presented for the case of moving an object along an elliptical path using the two cooperating flexible manipulators.

Modeling and Simulation of the Ni-Mh Battery

2012 ◽  
Vol 602-604 ◽  
pp. 1040-1043
Author(s):  
Hai Gang Zhang ◽  
Xiao Bin Li ◽  
Wei Guo Qian
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Behavior ◽  
Simulation Software ◽  
Model Parameters ◽  
Matlab Simulation ◽  
Battery Model ◽  
Mh Battery

This paper presents an improved and easy-to-use battery dynamic model. The charge and the discharge dynamics of the battery model are validated experimentally with Ni-Mh batteries types. An interesting feature of this model is the simplicity to extract the dynamic model parameters from batteries datasheets. Finally, the battery model is simulated in the matlab simulation software .The results show that the model can accurately re-present the dynamic behavior of the battery.

scholarly journals Dynamic Modeling and Simulation of a Robotic Lander Based on Variable Radius Drums

2020 ◽  
Vol 10 (24) ◽  
pp. 8862
Author(s):  
Matteo Caruso ◽  
Lorenzo Scalera ◽  
Paolo Gallina ◽  
Stefano Seriani
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Space Exploration ◽  
Robotic System ◽  
Elastic Response ◽  
Soft Landing ◽  
Specific Behavior ◽  
Variable Radius ◽  
Main Challenge

Soft-landing on planetary surfaces is the main challenge in most space exploration missions. In this work, the dynamic modeling and simulation of a three-legged robotic lander based on variable radius drums are presented. In particular, the proposed robotic system consists of a non-reversible mechanism that allows a landing object to constant decelerate in the phase of impact with ground. The mechanism is based on variable radius drums, which are used to shape the elastic response of a spring to produce a specific behavior. A dynamic model of the proposed robotic lander is first presented. Then, its behavior is evaluated through numerical multibody simulations. Results show the feasibility of the proposed design and applicability of the mechanism in landing operations.

Dynamic Modeling and Simulation of Stratospheric Airships

2012 ◽  
Vol 457-458 ◽  
pp. 237-244
Author(s):  
Guo Chang Hu ◽  
Mei Ping Wu
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Theoretical Basis ◽  
Simulation Method ◽  
Autonomous Control ◽  
Overall Design ◽  
Stratospheric Airship ◽  
Simulation Results ◽  
Motion Characteristics

Aiming at the requirements of autonomous control for stratospheric airships, based on description of the modeling plant and forces analysis in detail, the dynamic model is established by Newton Method. The motion characteristics of airships under control action are analyzed using simulation method. Simulation results indicate the correctness of dynamic model, and can make itself a theoretical basis for the overall design of the stratospheric airship.

Dynamic Modeling and Simulation of a Novel Wall-Climbing Robot

2013 ◽  
Vol 336-338 ◽  
pp. 1180-1185 ◽  
Author(s):  
Wei Guang Dong ◽  
Hong Guang Wang ◽  
Yong Jiang
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Adhesion Force ◽  
Great Influence ◽  
The Novel ◽  
Climbing Robot ◽  
Motion Direction ◽  
Inclined Surfaces ◽  
Hybrid Locomotion

The dynamic modeling and simulation of a novel wall-climbing robot is presented. For the novel biped-wheel hybrid locomotion mechanism of the robot, its locomotion modes and typical state of motion are analyzed. Based on the description of the robots pose, the dynamic model for two typical states of motion, point turning in a flat surface and transition between two intersecting surfaces, is established. The equation for calculating adhesion force when the robot moves on arbitrary inclined surfaces is derived from the dynamic model. Simulations for the adhesion force are implemented with three typical examples. The results show that the tilt angle of the attachment surface and the motion direction of the robot have great influence on the adhesion force.

scholarly journals Dynamic Modeling and Simulation of Double-Planetary Gearbox Based on Bond Graph

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Wuzhong Tan ◽  
Jiangming Wu ◽  
De Ni ◽  
Hongzhi Yan ◽  
Enming Xiang ◽  
...  
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Planetary Gear ◽  
Bond Graph ◽  
Transmission System ◽  
Gear Train ◽  
Lumped Mass ◽  
Planetary Gear Train ◽  
Planetary Gearbox

New generations of powertrains are using gearboxes with multiple speed-shift designs to improve fuel efficiency. However, transmission controls and calibration are substantially time consuming, specifically during shift processes. To study the dynamic characteristics of a gearbox with a double-planetary gear train and analyze the influence of external excitation and internal parameters on the dynamic response of a system, dynamic modeling and simulation of the transmission system are conducted. Some physical processes are complex and difficult to express via lumped mass modeling. The dynamic model of a double-planetary gearbox is obtained by adopting the bond graph method based on the working principle analysis of the transmission, as well as the kinematic characteristics of the double-planetary gear train. Subsequently, state equations are deduced from the dynamic model of the power transmission system for simplified calculations, which can effectively facilitate the shift process simulation. The basic case of different shift plans and times is originally analyzed, followed by an analysis of the influence of damping, stiffness, and moment of inertia on transmission systems. The analysis results provide references for the structural design, control strategy optimization, and failure diagnostics of this gearbox type.

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