Improvement Methods and Ways of Manipulator Electromechanical Force Compensating System

2021 ◽  
Vol 64 (1) ◽  
pp. 69-76
Author(s):  
Anzhela Danshina ◽  
◽  
Oleg Kravchenko ◽  
Azamat Bekin ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Force Feedback ◽  
Mechanical Vibration ◽  
Operating Conditions ◽  
Problem Solution ◽  
Force Control System ◽  
System Improvement ◽  
Executive Mechanism

In paper electromechanical system for force compensating medium manipulator used in industry for motion different cargo was presented. Working purpose is determination of research method of manipulator with force compensating control system. Improvement methods and ways of current force compensating manipulator sys-tem are concerned. Research showed that now light-weight structures of manipulators with elastic mechanical transmissions are used. Low stiffness of mechanisms increases elastic mechanical vibration of cargo. Active methods of compensation are used using an electric drive with a force control system in executive mechanism of manipulator for realization of compensation of cargo weight and damping of elastic mechanical vibrations. Control system is recommended to build with main force feedback in elastic element. Multifactorial method is rational to use during choosing device of manipulator electromechanical module. This method considers the most main operating conditions of manipulator. Problem solution of control influence synthesizing must make with correctors with differentiating properties. Studies have shown that proposed methods for improving force compensating manipulators will make structure as lightweight, reduce inertia, increase working area of manipulator, and improve quality of operations for moving various cargos

scholarly journals DETERMINATION OF QUALITY OF CAREER DEVELOPMENT AND MODEL BUILDING OF THE PROCESS OF DEVELOPMENT AND IMPLEMENTATION OF SYSTEM OF OCCUPATIONAL SAFETY MANAGEMENT

2016 ◽  
Vol 4 (4) ◽  
pp. 529-535
Author(s):  
Татьяна Шарашкина ◽  
Tatyana Sharashkina
Keyword(s):  
Control System ◽  
Occupational Safety ◽  
Model Building ◽  
Safety Management ◽  
Labor Protection ◽  
Normative Documents ◽  
The Russian Federation ◽  
Definition Of

In the article various approaches to determination of quality of labor life are considered and on their basis author´s definition of this concept is given. As an element of quality of labor life the special attention is paid to a control system of labor protection. The acts and normative documents regulating labor protection in the Russian Federation are provided in the article. Process of development and deployment of a control system of labor protection at the enterprise is presented in the form of creation of business process by IDEF0 technique. The program of formation of a control system of labor protection according to requirements of GOST 12.0.230-2007 is also developed.

The Use of Parameter Influence Coefficients in Computer Analysis of Dynamic Systems

SIMULATION ◽  
1964 ◽  
Vol 3 (2) ◽  
pp. 53-63 ◽  
Author(s):  
Hans F. Meissinger
Keyword(s):  
Random Noise ◽  
Original System ◽  
Operating Conditions ◽  
Influence Coefficient ◽  
Problem Solution ◽  
Computer Technique ◽  
Influence Coefficients ◽  
Parameter Values ◽  
Parameter Influence

A new computer technique is described which yields the partial derivatives of problem variables with re spect to pertinent system parameters simultaneously with the solution of the original system differential equations. These derivatives, known as parameter influence coefficients, are valuable to the analyst in enhancing his understanding of system characteris tics. If the problem solution x(t, λ) and the parameter influence coefficient ∂x/∂λ (t, λ) is known for a par ticular operating point where λ= λ0, then it is pos sible to make a first-order prediction of system behavior at a neighboring point having the new parameter value λ1 = λ0 + Δλ. Similar predictions can be made if not one but several parameters are to be varied. Thus, the knowledge of parameter in fluences often helps to reduce the total number of computer runs required in a parametric system study. Typical applications of the technique are: linear ex trapolation in the neighborhood of a known solution, determination of design tolerances of a system, and prediction of critical parameter values and stability boundaries. The most useful application pertains to systems disturbed by random noise where normally a very large number of computer runs would be re quired to analyze the system on a statistical basis in a variety of operating conditions. Several illustrative examples are presented in the paper.

scholarly journals Control and analytical aspects of the management of financial results of enterprises

2021 ◽  
Vol 273 ◽  
pp. 10039
Author(s):  
Guzaliya Klychova ◽  
Evgenia Zaugarova ◽  
Alsou Zakirova ◽  
Angelina Dyatlova ◽  
Ildus Gimadiev
Keyword(s):  
Control System ◽  
Internal Control ◽  
Control Measures ◽  
Enterprise Management ◽  
Effective Management ◽  
Rational Distribution ◽  
Internal Control System ◽  
System Improvement ◽  
Enterprise Management System

The presence or absence of effective internal control system at the enterprise has a significant impact on the success of business development, competitiveness increase, development of information system, improvement of quality of accounting and analytical support of enterprise management system. With the help of internal control system the directions of improvement of financial and economic activity of the enterprise are defined, the procedures allowing to maximize profit are defined, rational distribution of expenses is provided. The purpose of research - development of theoretical bases and development of recommendations about perfection of methodical maintenance of the internal control of financial results. For development of theoretical bases of internal control the article suggests conceptual model of internal control system of financial results. During the research the procedures which are carried out at internal control of financial results are ranked depending on the control stages. Working documents which promote increase of efficiency of planning of inspection, timely collection of proof and full realization of control measures are offered. The application of the developed working documents in practical activities, will contribute to achieving the goals and solving urgent problems of internal control for effective management of the financial results of the production activities of the enterprise.

scholarly journals Compensation predictive automation of the smart house climate control systems

Vestnik MGSU ◽  
2019 ◽  
pp. 734-747
Author(s):  
Aleksey V. Kychkin ◽  
Alexandr I. Deryabin ◽  
Olga L. Vikentyeva ◽  
Lidiia V. Shestakova
Keyword(s):  
Control System ◽  
Predictive Control ◽  
Operating Conditions ◽  
Disturbance Compensation ◽  
Climate Control ◽  
Indoor Temperature ◽  
Efficient Operation ◽  
Quality Of Control ◽  
Smart House

Introduction. The gained experience in the field of building automation and IoT technologies yields a new approach to the management of engineering subsystems that provides stated parameters of operation quality throughout the entire building lifecycle. This paper explores compensatory and predictive algorithms in the scope of the aforementioned approach to manifest control over building climate parameters utilizing IoT controllers. This research aims to improve the management efficiency of smart house engineering subsystems through the implementation of a control system (CS) capable to compensate disturbances and predict their variations using an IoT controller and an analytical server. Materials and methods. In order to improve the quality of control, various algorithms based on analysis of data collected from controllers can be employed. The collected data about the object accumulated over the entire period of operation can be used to build a model for the purposes of predictive control. The predictive control allows to forecast the parameters having an effect on the object and compensate it beforehand under the inertia conditions. The continuous adaptation and adjustment of the CS model to operating conditions allows permanent optimizing the settings of the control algorithm ensuring the efficient operation of local control loops. Results. The CS is based on an IoT controller and able to predict and compensate potential disturbances. The compensation algorithm is updated depending on the behavior of the object properties, quality of control and availability of data most suitable for identification. Conclusions. The capabilities of the control system based on the IoT controller and generation of a compensatory and predictive control signal with the algorithm hosted at a cloud server are demonstrated on the indoor temperature control model. The following simulation models of the indoor temperature variation process are considered: model without CS, model with proportional plus integral controller with disturbance compensation and model with IoT controller-based CS with disturbance compensation. Structural and parametric identification of the models are accomplished by means of active experiment.

scholarly journals Dynamic Conditions for a Three-level LLC Converter with a Phase-Pulse Control

2019 ◽  
Vol 124 ◽  
pp. 01013
Author(s):  
K. V. Bykov ◽  
N. M. Lazareva ◽  
V. M. Yarov
Keyword(s):  
Control System ◽  
Transfer Functions ◽  
Load Resistance ◽  
Simulation Modelling ◽  
Open Circuit ◽  
Operating Conditions ◽  
Response Curves ◽  
Parametric Synthesis ◽  
Dynamic Operating

Usually, parametric synthesis of controllers for a closed control system is carried out for nominal conditions, and then the source performance for other load resistance values is estimated. As a result, the control system may not always provide the sufficient mode stabilization with a changing load resistance value. The paper suggests an alternative version. It deals with estimation of dynamic transient responses for the required mode parameter in an open-circuit system as well as with determination of transfer functions and the controller parameters for the most complicated version of transient response curves. The paper presents the results of simulation modelling of dynamic operating conditions for LLC converter using Simulink Matlab as well as load characteristics for three versions of a closed control system.

scholarly journals DETERMINATION OF DYNAMIC LOADS IN TRANSMISSIONS TRACKED FOREST MACHINE WHILE OVERCOMING OBSTACLES

2017 ◽  
Vol 7 (1) ◽  
pp. 185-196
Author(s):  
Клубничкин ◽  
Vladislav Klubnichkin ◽  
Клубничкин ◽  
Evgeniy Klubnichkin ◽  
Бухтояров ◽  
...  
Keyword(s):  
High Speed ◽  
Experimental Studies ◽  
Operating Conditions ◽  
Dynamic Loads ◽  
Pilot Studies ◽  
Torque Transmission ◽  
Characteristic Species ◽  
Final Drive

The theoretical analysis of dynamic phenomena in transmission tracked forest machine is much more difficult in the absence of experimental data on the effects of the input characteristic of the machine. The most characteristic species in the transmission effects that arise under real operating conditions allow to evaluate the results of experimental studies, they also provide an opportunity to assess the quality of theoretical studies. To determine the loading of the transmission in the experiment involves the measurement of a number of kinematic and power parameters characterizing the speed and stress state of the transmission. In the course of the research used a special measuring equipment made in Germany includes the high-speed digital telemetry system for strain "TEL1-PCM-HS" company KMT. This article describes how to determine the dynamic load transmission elements tracked forest machine LZ-5 in overcoming individual barriers in experimental studies (tests). The paper presents a program of pilot studies tracked forest machine. Presented curves change the time settings on the final drives and cardan shaft, depending on the speed of the engine and drive sprockets in overcoming obstacles GLZM with different gears. histograms were constructed on the distribution of the torque transmission shafts for various modes of overcoming obstacles in order to analyze the influence of operational factors on the magnitude of dynamic loads. The article presents the distribution curve of the moments on the driven shaft final drive to overcome obstacles tracked forest machine with a pack assortments in the volume of 12m3. It was noted that there are no less than 20 times the dynamic point values, which exceed the estimated time for the overcoming of obstacles. From the studies that the transmission level of at least dynamic forces having height obstacles.

scholarly journals Configuring adaptive PID-controllers of the automatic speed control system of the GTE

2020 ◽  
Vol 8 (6) ◽  
pp. 143-156
Author(s):  
K. E. Chertilin ◽  
V. D. Ivchenko
Keyword(s):  
Control System ◽  
Automatic Control ◽  
Gas Turbine ◽  
Adaptive Systems ◽  
Fuzzy Controller ◽  
Operating Conditions ◽  
Rule Base ◽  
Adaptation Algorithm ◽  
Automatic Control Systems

For non-stationary objects with parameters, which could be changed significantly during operation, using conventional controllers in the form of proportional-integraldifferential regulators may not provide the required quality of the system. Therefore, it is desirable to create an adaptive automatic control system with the structure and parameters of the control regulator that are purposefully changed to ensure the system adaptation, that is based on information about the properties of the object of regulation and external influences, to the changing operating conditions. The problem of designing adaptive systems is one of the most important in control theory and related fields. This is conditioned by two factors: the complexity of solving the problem as a whole and the presence of a large number of technically diverse situations that need to be adapted and optimized. In the paper, an adaptive system for the automatic control of the speed of a gas turbine engine, which includes a magnetic amplifier, a DC motor with a gearbox, a fuel supply valve and a tachogenerator, is developed. For adaptive control execution, three proportional-integral-differential controllers were proposed: "classic", fuzzy and neurofuzzy. The parameters of the "classic" controller were optimized using linear programming methods. The membership functions and the rule base were proposed for the fuzzy controller. An adaptation algorithm was selected for the neuro-fuzzy controller. Three controllers were used for three engine-operating modes: low-gas, cruiser and maximum during the computer simulation of the system. A comparative analysis of the quality of the three regulators was performed and it is based on the obtained transient characteristics. The derived results can be used in the development of automatic control systems for gas turbine engines.

Objective Tire Footprint Segmentation Assessment from High-Speed Videos

2019 ◽  
Vol 48 (4) ◽  
pp. 315-328
Author(s):  
Rodrigo Nava ◽  
Duc Fehr ◽  
Frank Petry ◽  
Thomas Tamisier
Keyword(s):  
High Speed ◽  
Accurate Determination ◽  
Ground Truth ◽  
Operating Conditions ◽  
Contact Patch ◽  
The Road ◽  
Quantitative Image ◽  
Processing Techniques

ABSTRACT The tire establishes the contact between the vehicle and the road. It transmits all forces and moments to the road via its contact patch or footprint and vice versa. The visual inspection of this contact patch using modern optical equipment and image processing techniques is essential for evaluating tire performance. Quantitative image-based analysis can be useful for accurate determination of tire footprint under various operating conditions. Very frequently, methods used in tire footprint segmentation cannot be assessed quantitatively due to the lack of a reference contact area to which the different algorithms could be compared. In this work, we present a novel methodology to characterize the dynamic tire footprint and evaluate the quality of its segmentation from various video sequences in the absence of a ground truth.

A Control Method for Robot Fingers with Three-Axis Force Sensor

2014 ◽  
Vol 614 ◽  
pp. 175-178
Author(s):  
Ming Hua Luo ◽  
Chun Wei Pan ◽  
Xiu Wen Yang ◽  
Xin Hua Luo
Keyword(s):  
Control System ◽  
Force Control ◽  
Force Feedback ◽  
Control Method ◽  
Dynamic Balance ◽  
Force Sensor ◽  
Robot Hand ◽  
Closed Loops ◽  
Force Control System ◽  
Grasping Force

This paper proposed a new grasping method for robot fingers with three-axis force sensors. When a robot hand with two fingers is grasping an object, such as an egg, two closed loops with negative feedback in force-control system are start. When grasping force of the two fingers are equal reference force, dynamic balance is reached. Once tiny sliding between egg and finger occurred, force feedback start immediately, dynamic balance is reached again. In this way, our robot hand can firmly grasps eggs, even if vibration added on the robot hand.

Simulation and Contrast Analysis of tem Images of Cracks

1990 ◽  
Vol 48 (1) ◽  
pp. 578-579
Author(s):  
D. Goyal ◽  
A. H. King
Keyword(s):  
Displacement Vector ◽  
Crack Tip ◽  
Perfect Crystal ◽  
Operating Conditions ◽  
Displacement Fields ◽  
Fringe Contrast ◽  
Orthogonal Geometry ◽  
Moire Fringe ◽  
Moiré Fringe

TEM images of cracks have been found to give rise to a moiré fringe type of contrast. It is apparent that the moire fringe contrast is observed because of the presence of a fault in a perfect crystal, and is characteristic of the fault geometry and the diffracting conditions in the TEM. Various studies have reported that the moire fringe contrast observed due to the presence of a crack in an otherwise perfect crystal is distinctive of the mode of crack. This paper describes a technique to study the geometry and mode of the cracks by comparing the images they produce in the TEM because of the effect that their displacement fields have on the diffraction of electrons by the crystal (containing a crack) with the corresponding theoretical images. In order to formulate a means of matching experimental images with theoretical ones, displacement fields of dislocations present (if any) in the vicinity of the crack are not considered, only the effect of the displacement field of the crack is considered.The theoretical images are obtained using a computer program based on the two beam approximation of the dynamical theory of diffraction contrast for an imperfect crystal. The procedures for the determination of the various parameters involved in these computations have been well documented. There are three basic modes of crack. Preliminary studies were carried out considering the simplest form of crack geometries, i. e., mode I, II, III and the mixed modes, with orthogonal crack geometries. It was found that the contrast obtained from each mode is very distinct. The effect of variation of operating conditions such as diffracting vector (), the deviation parameter (ω), the electron beam direction () and the displacement vector were studied. It has been found that any small change in the above parameters can result in a drastic change in the contrast. The most important parameter for the matching of the theoretical and the experimental images was found to be the determination of the geometry of the crack under consideration. In order to be able to simulate the crack image shown in Figure 1, the crack geometry was modified from a orthogonal geometry to one with a crack tip inclined to the original crack front. The variation in the crack tip direction resulted in the variation of the displacement vector also. Figure 1 is a cross-sectional micrograph of a silicon wafer with a chromium film on top, showing a crack in the silicon.

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