scholarly journals Four propellers submarine drone modelling in a real environment

2021 ◽  
Vol 12 (4) ◽  
pp. 1966
Author(s):  
Mohamed Moustanir ◽  
Karim Benkirane ◽  
Adil Sayouti ◽  
Hicham Medromi
Keyword(s):  
Mathematical Model ◽  
Real Environment ◽  
Dynamic Studies ◽  
Mechanical Elements ◽  
The Mathematical Model ◽  
The Given ◽  
Marine Vehicle

<span lang="EN-US">In order to reduce the hydrodynamic dampers and mechanical elements as rudders, we have in our previous publications proposed our architectural solution of an ROV with only four thrusters without rudders or diving bars. In the results we have justified the choice of the arrangement of the thrusters. Also, we have started the kinematic and dynamic studies of the marine robot and we have especially demonstrated by using the mathematical model under MATLAB in the last publication, that this ROV can move in a perfect environment without gravity or hydrodynamic dampers. In this article, we will study the behavior of this marine vehicle in a real environment with gravity and hydrodynamic dampers and we will view if this architectural solution can really allow the ROV to move and execute the given directional instructions.</span>

scholarly journals Mathematical modeling of physical processes in the complex for testing of induction machines

2018 ◽  
Vol 239 ◽  
pp. 01055 ◽  
Author(s):  
Viktor Kharlamov ◽  
Denis Popov
Keyword(s):  
Mathematical Model ◽  
Frequency Converter ◽  
Electrical Energy ◽  
Induction Machines ◽  
Test Scheme ◽  
Load Testing ◽  
Variable Parameters ◽  
Asynchronous Machines ◽  
The Mathematical Model ◽  
The Given

The paper is devoted to the simulation of the test complex designed for energy-efficient load testing of induction machines by the method of mutual load with the exchange of electrical energy through the network. It is noted that for other similar test schemes, the mathematical model will have a slightly different form, but it will be identical in terms of asynchronous machines, network and frequency converter. The compiled mathematical model of the test complex allows studying the variable parameters of the system in all elements of the test scheme in static and dynamic modes of operation as well. The synthesized mathematical model can be used to determine the parameters of the equipment in the designed test complexes if the parameters of the test and load machines are known. The results of simulation of the test complex for the given parameters of the test and load induction machines are obtained.

Mathematical model of the artificial muscle with two actuators

2020 ◽  
pp. 095440622094156
Author(s):  
Ljubinko B Kevac ◽  
Mirjana M Filipovic ◽  
Ana M Djuric
Keyword(s):  
Mathematical Model ◽  
Control Structure ◽  
Artificial Muscle ◽  
Parallel Robot ◽  
Simulation Results ◽  
Proportional Derivative Controller ◽  
Definition Of ◽  
The Mathematical Model ◽  
The Given ◽  
Very High

Characteristic construction of cable-suspended parallel robot of artificial muscle, which presents an artificial forearm, is analyzed and synthesized. Novel results were achieved and presented. Results presented in this paper were initially driven to recognize and mathematically define undefined geometric relations of the artificial forearm since it was found that they strongly affect the dynamic response of this system. It gets more complicated when one has more complex system, which uses more artificial muscle subsystems, since these subsystems couple and system becomes more unstable. Unmodeled or insufficiently modeled dynamics can strongly affect the system’s instability. Because of that, the construction of this system and its new mathematical model are defined and presented in this paper. Generally, it can be said that the analysis of geometry of selected mechanism is the first step and very important step to establish the structural stability of these systems. This system is driven with two actuators, which need to work in a coordinated fashion. The aim of this paper is to show the importance of the geometry of this solution, which then strongly affects the system’s kinematics and dynamics. To determine the complexity of this system, it was presumed that system has rigid cables. Idea is to show the importance of good defined geometry of the system, which gives good basis for the definition of mathematical model of the system. Novel program package AMCO, artificial muscle contribution, was defined for the validation of the mathematical model of the system and for choice of its parameters. Sensitivity of the system to certain parameters is very high and hence analysis of this system needs to be done with a lot of caution. Some parameters are very influential on the possible implementation of the given task of the system. Only after choosing the parameters and checking the system through certain simulation results, control structure can be defined. In this paper, proportional–derivative controller was chosen.

Wind-driven land-yacht robot mathematical modeling and verification

2016 ◽  
Vol 43 (1) ◽  
pp. 77-90 ◽  
Author(s):  
Jiqing Chen ◽  
Shaorong Xie ◽  
Jun Luo ◽  
Hengyu Li
Keyword(s):  
Mathematical Model ◽  
Experimental Tests ◽  
Outer Planet ◽  
Mechanism Analysis ◽  
Content Type ◽  
The Antarctic ◽  
The Mathematical Model ◽  
The Given ◽  
Practical Implications ◽  
Wind Resources

Purpose – The purpose of this paper was to solve the shortage of carrying energy in probing robot and make full use of wind resources in the Antarctic expedition by designing a four-wheel land-yacht. Land-yacht is a new kind of mobile robot powered by the wind using a sail. The mathematical model and trajectory of the land-yacht are presented in this paper. Design/methodology/approach – The mechanism analysis method and experimental modeling method are used to establish a dual-input and dual-output mathematical model for the motion of land-yacht. First, the land-yacht’s model structure is obtained by using mechanism analysis. Then, the models of steering gear, servomotors and force of wing sail are analyzed and validated. Finally, the motion of land-yacht is simulated according to the mathematical model. Findings – The mathematical model is used to analyze linear motion and steering motion. Compared with the simulation results and the actual experimental tests, the feasibility and reliability of the proposed land-yacht modeling are verified. It can travel according to the given signal. Practical implications – This land-yacht can be used in the Antarctic, outer planet or for harsh environment exploration. Originality/value – A land-yacht is designed, and the contribution of this research is the development of a mathematical model for land-yacht robot. It provides a theoretical basis for analysis of the land-yacht’s motion.

scholarly journals Modeling of T-16M self-propelled chassis’ diesel engine starting motor energy capacity

2018 ◽  
Author(s):  
Д.Н. Маничев ◽  
Д.Г. Мясищев
Keyword(s):  
Mathematical Model ◽  
Fuel Consumption ◽  
Theoretical Calculations ◽  
Target Function ◽  
Energy Capacity ◽  
Logical System ◽  
Winter Conditions ◽  
The Mathematical Model ◽  
The Given ◽  
Tractor Engine

Приведена разработка математической модели расхода топлива в режиме пуска двигателя пусковым устройством. Проведено сравнение с результатами исследовательских испытаний. Целевой функцией в математической модели является часовой расход топлива всей рассматриваемой системы МП-5 «Урал-2Т ЭЛЕКТРОН» – двигатель Д-21А1. Целью работы является описание математической модели для данной логической системы. При данном подходе также использованы основы оценки топливной экономичности колесных малогабаритных лесотранспортных систем. После проведения математических расчетов получили часовой расход топлива В = 1,24 кг/ч. Проведение исследовательских испытаний запуска двигателя трактора Т-16М при помощи ПУ в зимний период показали, что часовой расход топлива В = 1,28 кг/ч. Таким образом, погрешность теоретических расчетов и исследовательских испытаний составляет 6%. Сравнение теоретических и практических результатов позволяет сделать следующие выводы: теория, построенная на математической модели, дает результаты, наиболее близкие к экспериментальным с расхождением 6%; разработанная теоретическая модель входит в постановку задачи оптимизации компонентов пускового привода. The article is devoted to development of mathematical model of fuel consumption of the engine started by a starter as well as comparison with the results of the researches. Hourly fuel consumption of the MP-5 «Ural-2T ELECTRON» – engine D- 21A1 system represents the target function of the mathematical model. The aim of the article is to describe a mathematical model for the given logical system. As a result of mathematical calculations the hourly fuel consumption is B = 1.24 kg/h. Research tests of starting the T-16M tractor engine by the starter in winter conditions showed that the hourly fuel consumption B = 1.28 kg/h. Thus, discrepancy between theoretical calculations and research tests is 6%. Comparison of theoretical and practical results leads to following conclusions: theory based on the mathematical model gives results closest to experimental ones with a discrepancy of 6%; the developed theoretical model can be included into the task of starting drive components' optimization.

Response Analysis of Heaving Motions of Deep-Sea Installation Workboat

2012 ◽  
Vol 546-547 ◽  
pp. 78-83
Author(s):  
Jian Ning Nie ◽  
Teng Zhao
Keyword(s):  
Mathematical Model ◽  
Comparative Analysis ◽  
Response Time ◽  
Working Conditions ◽  
Deep Sea ◽  
Response Analysis ◽  
Strip Theory ◽  
Modeling Calculation ◽  
The Mathematical Model ◽  
The Given

Through the establishment of the ship form coefficients and calculation conditions of the given Deep-sea installation workboat, and use the 2-d strip theory to build the mathematical model of working ship moving in waves, obtaining the significant height of heaving motion of ship, according to different wave directions and working conditions, then using the AQWA to achieve the modeling calculation, by which the response time registration curves of heaving motion under typical working conditions can be given, while making a comparative analysis of the results obtained by the two different methods, it is indicated that the differences between them are not so significant, thus satisfying the requirements of the engineering.

Mathematical Model of Cam Profile Based on Heald Frame Motion Characteristics

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Honghuan Yin ◽  
Hongbin Yu ◽  
Junqiang Peng ◽  
Hongyu Shao
Keyword(s):  
Mathematical Model ◽  
Simulation Analysis ◽  
Kinematics Simulation ◽  
Movement Characteristics ◽  
Cam Profile ◽  
Motion Characteristics ◽  
Pitch Curve ◽  
Frame Motion ◽  
The Mathematical Model ◽  
The Given

In this paper, the transmission process of the heald frame driven by the dobby is analyzed. The equivalent motion model of the dobby modulator, the eccentric mechanism, and the motion transmission unit are constructed. Then, based on the given movement characteristics of the heald frame, the mathematical model is built to achieve the cam pitch curve and the cam profile of the modulator. The numerical solution method for this is developed. The preparation of a mathematical model for the new concept of the solving cam profile based on the motion characteristics of heald frames is explained in this study. By setting a 11th polynomial motion law of the heald frame, due to the inconsistency between the outward and return motion laws of the crank-rocker mechanism, an asymmetrical cam profile is obtained under the premise of ensuring that the heald frame’s ascending and descending motions are consistent. Through the kinematics simulation analysis, the correctness of the reverse process is verified.

scholarly journals DETERMINATION OF THE HEAT DISTRIBUTION IN THE RAW COTTON PACKED IN THE COIL

2017 ◽  
Vol 3 ◽  
pp. 3-11
Author(s):  
Rahib Aqaqul Sailov ◽  
Fazil Ali Veliev ◽  
Qusni Kadir Kerimov
Keyword(s):  
Mathematical Model ◽  
Thermal Conductivity Coefficient ◽  
Experimental Studies ◽  
Heat Propagation ◽  
Heat Distribution ◽  
Spontaneous Heating ◽  
Saturated Form ◽  
The Mathematical Model ◽  
The Given

As a result of experimental studies, a special mathematical model of raw cotton is developed. The effect of density change on the thermal conductivity coefficient is determined. A nonlinear differential equation of heat propagation in coils is obtained. The dependence of the density of raw cotton on the coil height is determined experimentally. The heat flux is intense propagating from denser layers of raw cotton to less dense ones. In a saturated form, the effect of density changes on the propagation of heat is less than in the coils. Pocket spontaneous heating occurs locally with sharp boundaries. An expression is found, which is the general solution of the mathematical model of heat propagation in raw cotton in coils, on the basis of which a number of physical real models can be constructed. The model allows to preliminarily give an estimation of the likely picture of the temperature field in the given microvolumes of raw cotton.

scholarly journals METHOD OF CONSTRUCTION OF A NEUROREGULATOR MODEL WHEN OPTIMIZING THE CONTROL STRUCTURE OF A TECHNOLOGICAL CYCLE

Doklady BGUIR ◽  
2019 ◽  
pp. 125-132
Author(s):  
V. S. Smorodin ◽  
V. A. Prokhorenko
Keyword(s):  
Neural Network ◽  
Mathematical Model ◽  
Phase Plane ◽  
Control Structure ◽  
Movement Direction ◽  
Technological Cycle ◽  
The Neural Network ◽  
System States ◽  
The Mathematical Model ◽  
The Given

In this paper authors present the results of a research that had a purpose to develop a method of constructing a neuroregulator model for the case of optimization of the control structure of a technological cycle. The method's implementation is based upon the automation of a production process when a physical controller, that operates the technological process according to a given program, is present. In order to achieve this goal, the artificial neural network approaches were implemented to create a mathematical model of the neuroregulator. The mathematical model of the neuroregulator is based on a physical prototype, and the procedure of a real-time control synthesis (adaptive control) is based on recurrent neural network training. The neural network architecture includes LSTM blocks, which are capable of storing information for long periods of time. A method is proposed for constructing a neuroregulator model for control of a production cycle when solving the task of the optimal trajectory finding on the phase plane of the technological cycle states. In the considered task of the optimal trajectory finding the mathematical model of the neuroregulator receives at each moment of time information about the current system state, the adjacent system states and the movement direction on the phase plane of states. Movement direction is determined by the given control optimization criteria. Based on the research results it was found that recurrent networks with LSTM modules can be used successfully as an approximator for the agent's Q-function to solve the given problem when the partially observed region of system states has a complex structure. The choice of the method of adaptation to the control actions and the external environmental disturbances proposed in the paper satisfies the requirements for the adatation process performance, as well as the requierments for the control processes quality, when there is lack of information about the nature of random control disturbances. The experimental environment, as well as the neural network models was implemented using the Python programming language with TensorFlow library.

THE USE OF REFRACTED WAVES IN SURFACE-CONSISTENT PROCEDURES OF DYNAMIC CORRECTION

2019 ◽  
pp. 4-13
Author(s):  
K. A. Khemraev
Keyword(s):  
Mathematical Model ◽  
Ray Tracing ◽  
Dynamic Correction ◽  
Buried Objects ◽  
Factor Decomposition ◽  
The Mathematical Model ◽  
The Given ◽  
Refracted Waves ◽  
Three Factor

In the given paper a three factor decomposition of the field of refracted waves is considered with help of ray-tracing. Due to the fact that the solution obtained on the basis of the mathematical model is unstable, a condition is proposed that regularizes the solution. The possibility of applying the considered mathematical model is demonstrated in case of refraction and buried objects.

A feedback temperature control in a chemical reactor with high inertia of its cooling system

1984 ◽  
Vol 49 (7) ◽  
pp. 1642-1652 ◽  
Author(s):  
Josef Horák ◽  
František Jiráček ◽  
Libuše Ježová
Keyword(s):  
Mathematical Model ◽  
Temperature Control ◽  
Cooling System ◽  
Batch Reactor ◽  
Time Derivative ◽  
Exothermic Reaction ◽  
Chemical Reactor ◽  
The One ◽  
The Mathematical Model ◽  
The Given

In this work we compare simple algorithms for the one-off feedback temperature control of the reaction mixture in a batch reactor during an exothermic reaction. The aim of the control was to maintain the temperature of the mixture within the given range, and simultaneously, to minimize the number of the regulator switchings. The temperature control of the mixture was being performed at conditions when working states of the reactor in an open regulation loop are unstable and when the response of the cooler to regulation is slow. The following control algorithms were compared: P - regulator, PD - regulator and algorithms based on a prediction mathematical model including its adaptive variant. The results indicate that the algorithms based on the mathematical model are more efficient. However, the precision of the control can be diminished due to error in the time derivative of the temperature of the reaction mixture which forms the input to the prediction model. The adaptive variant of the algorithms was advantageous in cases when it was necessary to make up for significant errors in initial estimates of parameters of the prediction mathematical model.

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