scholarly journals Trajectory Track for the Landing of Carrier Aircraft with the Forecast on the Aircraft Carrier Deck Motion

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Hai-Xu Li ◽  
Fei-Yun Gao ◽  
Chu-Jun Hu ◽  
Qiang-Lin An ◽  
Xiu-Quan Peng ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Prediction Method ◽  
Actual Process ◽  
Aircraft Carrier ◽  
Motion Signal ◽  
Aircraft Landing ◽  
Prediction Time ◽  
Directional Motion ◽  
Simulation Results ◽  
Landing Trajectory

The paper presents a prediction method of deck lateral-directional motion for the control of landing trajectory of aircraft. Firstly, through the analysis of the process of aircraft returning to the ship, the modeling of the motion has been built. Secondly, in view of the delay of trajectory tracking captured in the actual process of aircraft landing on the ship, the error caused by the carrier motion signal has been analyzed. Based on the simulation results, the recommended prediction time of carrier motion has been proposed.

A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator

2011 ◽  
Vol 328-330 ◽  
pp. 2108-2112
Author(s):  
Jing Shuang Lu ◽  
Chun Mei Du ◽  
Rui Zhou ◽  
Na Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Vertical Plane ◽  
Flexible Manipulator ◽  
System Model ◽  
Error Signal ◽  
Dynamics Model ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
Simulation Results

A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.

Classification of journal bearing friction states based on acoustic emission signals

2018 ◽  
Vol 85 (6) ◽  
pp. 434-442 ◽  
Author(s):  
Noushin Mokhtari ◽  
Clemens Gühmann
Keyword(s):  
Acoustic Emission ◽  
Time Domain ◽  
Journal Bearing ◽  
Prediction Method ◽  
Support Vector ◽  
Mechatronic Systems ◽  
Prediction Time ◽  
Ae Signals ◽  
Bearing Friction

Abstract For diagnosis and predictive maintenance of mechatronic systems, monitoring of bearings is essential. An important building block for this is the determination of the bearing friction condition. This paper deals with the possibility of monitoring different journal bearing friction states, such as mixed and fluid friction, and examines a new approach to distinguish between different friction intensities under several speed and load combinations based on feature extraction and feature selection methods applied on acoustic emission (AE) signals. The aim of this work is to identify separation effective features of AE signals to subsequently classify the journal bearing friction states. Furthermore, the acquired features give information about the mixed friction intensity, which is significant for remaining useful lifetime (RUL) prediction. Time domain features as well as features in the frequency domain have been investigated in this work. To increase the sensitivity of the extracted features the AE signals were transformed to the frequency-time-domain using continuous wavelet transform (CWT). Significant frequency bands are determined to separate different friction states more effective. A support vector machine (SVM) is used to classify the signals into three different friction classes. In the end the idea for an RUL prediction method by using the already determined information is given and explained.

Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1551-1570 ◽  
Author(s):  
Hossein Mirzaeinejad ◽  
Ali Mohammad Shafei
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Tracking Accuracy ◽  
Wheeled Mobile Robots ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
Control Laws ◽  
Control Approach ◽  
Prediction Time

SUMMARYThis study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers.

scholarly journals REPRODUCTION ANALYSIS OF HUMAN DRIFTING BEHAVIOR DURING TSUNAMI USING NUMERICAL CALCULATION

2020 ◽  
pp. 34
Author(s):  
Riko Morita ◽  
Taro Arikawa
Keyword(s):  
Numerical Calculation ◽  
Wave Height ◽  
Prediction Method ◽  
Great East Japan Earthquake ◽  
Numerical Calculations ◽  
Water Tank ◽  
Maximum Wave Height ◽  
Hydraulic Experiment ◽  
Secondary Damage ◽  
Simulation Results

Along with the 2011 Great East Japan Earthquake (Mw 9.0), a huge tsunami exceeding a maximum wave height of 15 m occurred. Many people and objects were destroyed and drifted by the tsunami. In addition, these debris were transported to various places that could not be predicted, resulting in significant secondary damage and increase in the number of missing. Therefore, in order to reduce the amount of damage, it is important to predict the behavior and landing points of person after set adrift in a tsunami. The best way to increase the rescue rate is to predict in advance the area that people will be drifted, and prioritize searching operations at that area. Although there has been considerable number of studies which handle the drifting behavior of containers and ships (e.g., Kaida et al., 2016), the prediction of drifting areas focusing on people has not been conducted. Moreover, a drifting area prediction method has not yet been established. The purpose of this study is to conduct a hydraulic experiment using a flat water tank, and observe the drifting area of the drifting object. Then, we conducted numerical calculations and compared simulation results with the experimental ones.Recorded Presentation from the vICCE (YouTube Link): https://youtu.be/1yhKuodhCbg

scholarly journals PERANCANGAN AUTOPILOT LATERAL-DIREKSIONAL PESAWAT NIRAWAK LSU-05 (THE DESIGN OF THE LATERAL-DIRECTIONAL AUTOPILOT FOR THE LSU-05 UNMANNED AERIAL VEHICLE)

2018 ◽  
Vol 15 (2) ◽  
pp. 93 ◽  
Author(s):  
Muhammad Fajar ◽  
Ony Arifianto
Keyword(s):  
State Space ◽  
Linear Model ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Settling Time ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Directional Motion ◽  
Aerial Vehicle ◽  
Simulation Results

The autopilot on the aircraft is developed based on the mode of motion of the aircraft i.e. longitudinal and lateral-directional motion. In this paper, an autopilot is designed in lateral-directional mode for LSU-05 aircraft. The autopilot is designed at a range of aircraft operating speeds of 15 m/s, 20 m/s, 25 m/s, and 30 m/s at 1000 m altitude. Designed autopilots are Roll Attitude Hold, Heading Hold and Waypoint Following. Autopilot is designed based on linear model in the form of state-space. The controller used is a Proportional-Integral-Derivative (PID) controller. Simulation results show the value of overshoot / undershoot does not exceed 5% and settling time is less than 30 second if given step command. Abstrak Autopilot pada pesawat dikembangkan berdasarkan pada modus gerak pesawat yaitu modus gerak longitudinal dan lateral-directional. Pada makalah ini, dirancang autopilot pada modus gerak lateral-directional untuk pesawat LSU-05. Autopilot dirancang pada range kecepatan operasi pesawat yaitu 15 m/dtk, 20 m/dtk, 25 m/dtk, dan 30 m/dtk dengan ketinggian 1000 m. Autopilot yang dirancang adalah Roll Attitude Hold, Heading Hold dan Waypoint Following. Autopilot dirancang berdasarkan model linier dalam bentuk state-space. Pengendali yang digunakan adalah pengendali Proportional-Integral-Derivative (PID). Hasil simulasi menunjukan nilai overshoot/undershoot tidak melebihi 5% dan settling time kurang dari 30 detik jika diberikan perintah step.

scholarly journals Expected yaw rate–based trajectory tracking control with vision delay for intelligent vehicle

2020 ◽  
Vol 103 (3) ◽  
pp. 003685042093427
Author(s):  
Qiu Xia ◽  
Long Chen ◽  
Xing Xu ◽  
Yingfeng Cai ◽  
Haobin Jiang ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Intelligent Vehicle ◽  
Automatic Identification ◽  
Identification System ◽  
Vehicle Stability ◽  
Trajectory Tracking Control ◽  
Automatic Identification System ◽  
Kalman Predictor ◽  
Simulation Results

Accurate and real-time position of preview point is significant to trajectory tracking control of vision-guided intelligent vehicle. The unavoidable delay of road automatic identification system weakens trajectory tracking control performance, and even deteriorates the vehicle stability. Therefore, a compensator for the delay of road automatic identification system was proposed which combines the current statistical model and adaptive Kalman predictor to estimate the state of preview point position. The trajectory tracking sliding mode controller of intelligent vehicle is established through a 2–degrees of freedom vehicle dynamic model and motion model by using MATLAB/Simulink and CarSim. The trajectory tracking performance under 20–100 ms delay is analyzed. The simulation results show that the trajectory tracking performance of intelligent vehicle will be affected by the delay of road automatic identification system, reducing tracking accuracy. And when the delay is too large, it will deteriorate the vehicle stability and safety. In addition, the simulation results also verify the effectiveness of current statistical–adaptive Kalman predictor compensator at different delays.

Adaptive trajectory tracking control of a differential drive wheeled mobile robot

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 391-402 ◽  
Author(s):  
Khoshnam Shojaei ◽  
Alireza Mohammad Shahri ◽  
Ahmadreza Tarakameh ◽  
Behzad Tabibian
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Feedback Linearization ◽  
Dynamic Models ◽  
Parametric Uncertainty ◽  
Adaptive Controller ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Actuator Dynamics ◽  
Simulation Results

SUMMARYThis paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

Optimization of Bending Process of Large Marine Crankthrow by Computer Simulation

2007 ◽  
Vol 561-565 ◽  
pp. 1949-1952 ◽  
Author(s):  
Ming Yue Sun ◽  
Shan Ping Lu ◽  
Dian Zhong Li ◽  
Yi Yi Li
Keyword(s):  
Computer Simulation ◽  
Conventional Method ◽  
Transformation Method ◽  
Actual Process ◽  
The Novel ◽  
Fem Model ◽  
Maximum Resistance ◽  
Bending Process ◽  
Novel Method ◽  
Simulation Results

The conventional method of bending the large crankthrow was investigated by computer simulation combined with manufacturing trial, and the typical forging defects, such as constricted waist, folded cracks and horn mouth on forged blank were analyzed. On the basis of these results, a novel forging shape of preformed blank was proposed using anti-transformation method by computer simulation. The FEM simulated results show that all the above defects can be avoided by carrying out the novel method, furthermore, the maximum resistance of the novel bending deformation was reduced to 72% of conventional process, and the weight of forging blank can be decreased by 15%. Finally, the optimum forging shape was applied to the actual process, the simulation results were confirmed by manufacturing trial, and qualified forged piece was gained. The FEM model established can be used for further optimization of other types of crankthrow.

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