A Comparative, Experimental Study of Model Suitability to Describe Vehicle Rollover Dynamics for Control Design

2005 ◽  
Author(s):  
John T. Cameron ◽  
Sean Brennan
Keyword(s):  
Experimental Validation ◽  
Controller Design ◽  
Experimental Testing ◽  
Control Strategies ◽  
Control Design ◽  
Experimental Results ◽  
Dynamics And Control ◽  
Vehicle Rollover ◽  
And Control ◽  
Future Work

This work presents results of an initial investigation into models and control strategies suitable to prevent vehicle rollover due to untripped driving maneuvers. Outside of industry, the study of vehicle rollover inclusive of both experimental validation and practical controller design is limited. The researcher interested in initiating study on rollover dynamics and control is left with the challenging task of identifying suitable vehicle models from the literature, comparing these models with experimental results, and determining suitable parameters for the models. This work addresses these issues via experimental testing of published models. Parameter estimation data based on model fits is presented, with commentary given on the validity of different methods. Experimental results are then presented and compared to the output predicted by the various models in both the time and frequency domain in order to provide a foundation for future work.

Investigations on Vehicle Rollover Prevention Using Dead-Beat Controller

2014 ◽  
Vol 984-985 ◽  
pp. 656-665
Author(s):  
M.B. Binda ◽  
M. Rajaram
Keyword(s):  
Controller Design ◽  
Control Strategies ◽  
Open Loop ◽  
Loop Control ◽  
Rollover Prevention ◽  
Predictive Algorithms ◽  
Dynamics And Control ◽  
Vehicle Rollover ◽  
And Control ◽  
Wire System

This paper presents results of an initial investigation into models and control strategies suitable to predict and prevent vehicle rollover due to untripped driving maneuvers. Outside of industry, the study of vehicle rollover inclusive of experimental validation, model-based predictive algorithms, and practical controller design is limited. The researcher interested in initiating study on rollover dynamics and control is left with the challenging task of identifying suitable vehicle models from the literature, comparing these models in their ability to match experimental results, and determining suitable parameters for the models and controller gains. For vehicles that are deemed to be susceptible to wheel-lift, various open-loop control strategies are implemented in simulation. The primary assumption in their implementation is that the vehicle in question is equipped with a steer-by-wire system. Nomenclature

On the Use of Actively Controlled Auxiliary Bearings in Magnetic Bearing Systems

2008 ◽  
Author(s):  
Iain S. Cade ◽  
M. Necip Sahinkaya ◽  
Clifford R. Burrows ◽  
Patrick S. Keogh
Keyword(s):  
Controller Design ◽  
Control Strategies ◽  
Frictional Heating ◽  
Magnetic Bearing ◽  
Contact Forces ◽  
Active Magnetic Bearing ◽  
Physical Limit ◽  
Drop Tests ◽  
Auxiliary Bearing ◽  
And Control

Auxiliary bearings are used to prevent rotor/stator contact in active magnetic bearing systems. They are sacrificial components providing a physical limit on the rotor displacement. During rotor/auxiliary bearing contact significant forces normal to the contact zone may occur. Furthermore, rotor slip and rub can lead to localized frictional heating. Linear control strategies may also become ineffective or induce instability due to changes in rotordynamic characteristics during contact periods. This work considers the concept of using actively controlled auxiliary bearings in magnetic bearing systems. Auxiliary bearing controller design is focused on attenuating bearing vibration resulting from contact and reducing the contact forces. Controller optimization is based on the H∞ norm with appropriate weighting functions applied to the error and control signals. The controller is assessed using a simulated rotor/magnetic bearing system. Comparison of the performance of an actively controlled auxiliary bearing is made with that of a resiliently mounted auxiliary bearing. Rotor drop tests, repeated contact tests, and sudden rotor unbalance resulting in trapped contact modes, are considered.

The Current Situation and Progress of 4-DOF Parallel Robot

2010 ◽  
Vol 37-38 ◽  
pp. 1433-1436 ◽  
Author(s):  
Yan Qing Wang ◽  
Gao Yan Zhong ◽  
Yong Biao Chang ◽  
Guo Xin Liu
Keyword(s):  
Unsolved Problem ◽  
Control Strategies ◽  
Parallel Robot ◽  
Current Situation ◽  
Research Trend ◽  
Key Technologies ◽  
Dynamics And Control ◽  
And Control

In this paper, the existing research and key technologies of 4-DOF parallel robot are reviewed, i.e., mechanism, kinematics, singularity, workspace, dexterity, dynamics and control. Most of them are focused on mechanism and kinematics. The study in dynamics and control is relatively rare and not mature in practice, especially in how to optimize the control strategies to improve its performance. Finally, the research trend and unsolved problem of 4-DOF parallel robot is described.

Dynamic modeling and control design for a parallel-mechanism-based meso-milling machine tool

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 515-532 ◽  
Author(s):  
Adam Y. Le ◽  
James K. Mills ◽  
Beno Benhabib
Keyword(s):  
Machine Tool ◽  
Dynamic Modeling ◽  
Design Methodology ◽  
Controller Design ◽  
Convex Combination ◽  
Control Design ◽  
Milling Machine ◽  
Modeling And Control ◽  
Kinematic Mechanisms ◽  
And Control

SUMMARYA novel rigid-body control design methodology for 6-degree-of-freedom (dof) parallel kinematic mechanisms (PKMs) is proposed. The synchronous control of PKM joints is addressed through a novel formulation of contour and lag errors. Robust performance as a control specification is addressed. A convex combination controller design approach is applied to address the problem of simultaneously satisfying multiple closed-loop specifications. The applied dynamic modeling approach allows the design methodology to be extended to 6-dof spatial PKMs. The methodology is applied to the design of a 6-dof PKM-based meso-milling machine tool and simulations are conducted.

scholarly journals A Robotic Head Stabilization Device for Medical Transport

Robotics ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 23
Author(s):  
Adam Williams ◽  
Bijo Sebastian ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Disturbance Rejection ◽  
Experimental Validation ◽  
Traumatic Head Injury ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Traumatic Head ◽  
Medical Transport ◽  
Time Required ◽  
And Control ◽  
Future Work

In this paper, the design and control of a robotic device intended to stabilize the head and neck of a trauma patient during transport are presented. When transporting a patient who has suffered a traumatic head injury, the first action performed by paramedics is typically to restrain and stabilize the head and cervical spine of a patient. The proposed device would drastically reduce the time required to perform this action while also freeing a first responder to perform other possibly lifesaving actions. The applications for robotic casualty extraction are additionally explored. The design and construction are described, followed by control simulations demonstrating the improved behavior of the chosen controller paradigm, linear active disturbance rejection control (LADRC). Finally, experimental validation is presented, followed by future work and directions for the research.

scholarly journals Stochastic epidemic metapopulation models on networks: SIS dynamics and control strategies

2018 ◽  
Vol 449 ◽  
pp. 35-52 ◽  
Author(s):  
Andrew L. Krause ◽  
Lawrence Kurowski ◽  
Kamran Yawar ◽  
Robert A. Van Gorder
Keyword(s):  
Control Strategies ◽  
Stochastic Epidemic ◽  
Dynamics And Control ◽  
Metapopulation Models ◽  
And Control

scholarly journals Investigations on Vehicle Rollover Prevention Using LQG Regulator

2014 ◽  
Vol 2014 ◽  
pp. 1-11
Author(s):  
Binda Mridula Balakrishnan ◽  
Marimuthu Rajaram
Keyword(s):  
Control Strategies ◽  
Stability Margin ◽  
Initial Investigation ◽  
Rollover Prevention ◽  
Contact Information ◽  
Vehicle Rollover ◽  
The Stability ◽  
And Control

This paper presents results of an initial investigation into vehicle roll model and control strategies suitable for preventing vehicle untripped rollovers. For vehicles that are deemed to be susceptible to wheel-liftoff, various control strategies are implemented in simulation. In this study, the authors propose a method for rollover prevention that does not require such accurate contact information. The validity of the stability margin is shown, and it is used to realize rollover prevention in the direction of the roll. The primary assumption in their implementation is that the vehicle in question is equipped with a conventional controller system.

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