Modeling and control of a 2-degree-of-freedom gyro-stabilized platform driven by ultrasonic motors

2018 ◽  
Vol 29 (11) ◽  
pp. 2324-2332 ◽  
Author(s):  
Song Pan ◽  
Yipeng Wu ◽  
Jianhui Zhang ◽  
Shengqiang Zhou ◽  
Hua Zhu
Keyword(s):  
Control System ◽  
Dynamic Response ◽  
Ultrasonic Motor ◽  
Degree Of Freedom ◽  
Modeling And Control ◽  
Ultrasonic Motors ◽  
Motor Controller ◽  
Stabilized Platform ◽  
Differential Control ◽  
And Control

This article specially designed and demonstrated a new ultrasonic motor and its control system based on the dynamic model of the 2-degree-of-freedom gyro-stabilized platform. The factors such as mechanical resonance, torque and moment inertia coupling, and nonlinearity of the driver were also taken into account during the optimization of the robust proportional–integral–differential control system. Finally, the controller was implemented by an ultrasonic motor and an embedded microcontroller. Experimental results showed that, comparing with the traditional electromagnetic motor controller, the proposed ultrasonic motor controller had the better control performances in dynamic response, static accuracy, isolation, and so on. A practical prototype of the gyro-stabilized platform with stronger robustness was also developed at the same time.

Modeling and Control of Wheel Motor Based Articulated Vehicle System

2019 ◽  
Author(s):  
Heeseong Kim ◽  
Taehyun Shim ◽  
Byungjun Sung
Keyword(s):  
Control System ◽  
Dynamic Control ◽  
Modeling And Control ◽  
Yaw Control ◽  
Articulated Vehicle ◽  
Vehicle Systems ◽  
Vehicle Dynamic Control ◽  
And Performance ◽  
Traction System ◽  
And Control

Abstract This paper investigates an effectiveness of vehicle dynamic control (VDC) system based on torque vectoring technique using in-wheel-motors to improve the performance of articulated vehicle systems. A 10 degree-of-freedom (DOF) articulated vehicle model including a tractor and a single axle trailer has been developed and its responses are validated with commercial vehicle software of Trucksim. This model includes a nonlinear tire model (MF tire), a hydraulic damping at the hitch, and a traction system using in-wheel-motors at the trailer axle. In this paper, a yaw control system is developed to track the reference yaw rate with application of yaw moment at the trailer axle using torque distribution of in-wheel-motors. The effectiveness of the proposed control system is validated through simulation of sinusoidal steering maneuver on high mu and slippery road conditions. The simulation results show that in-wheel-motors can improve safety and performance of articulate vehicle systems.

Test Machine and Control System Interactions in the Evaluation of Rate-Dependent Metal Flow

1993 ◽  
Vol 115 (2) ◽  
pp. 179-186 ◽  
Author(s):  
S. B. Brown ◽  
V. R. Dave
Keyword(s):  
Control System ◽  
Dynamic Response ◽  
Mechanical Test ◽  
Metal Flow ◽  
Test System ◽  
Rate Change ◽  
Test Machine ◽  
Strain Rate Change ◽  
Rate Dependent ◽  
And Control

Although rate-change experiments are essential for characterizing rate-dependent flow, certain nonobvious aspects of test machine dynamic response and control system strategies can distort rate-change data. These distortions are large enough to cause rate-change experiments to characterize the test system dynamic response instead of the test material’s rate dependence. We demonstrate that both relaxation and strain rate change experiments exhibit this potential distortion of test data. Investigators performing these experiments must therefore examine control error carefully to assure that the experiments are valid. We demonstrate that the standard PID control modes normally used in servocontrolled mechanical test equipment will generate error. Either P or PD control modes are more appropriate for rate-change experiments.

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