scholarly journals Mathematical description of a hybrid quadrocopter for the purpose of computer simulation of controlled motion

2021 ◽  
pp. 78-85
Author(s):  
Valerij Borisovich Uspenskyi ◽  
Mariia Vladimirovna Nekrasova
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Combustion Engine ◽  
Center Of Mass ◽  
Integrated Design ◽  
Control Algorithms ◽  
Main Method ◽  
Controlled Motion ◽  
And Control ◽  
The Given

The problem of constructing the most complete mathematical model of the movement of a hybrid-type quadcopter, which, in addition to electric motors, is also equipped with an internal combustion engine, is considered. The relevance of this development is due to the desire to create a control system for a quadcopter of relatively new design, and the feasibility of development is due to the desire to use integrated design, improving the design of the device and elements of navigation and control. The developed mathematical model of the motion of the center of mass of the quadcopter and around the center of mass includes control variables and takes into account the gyroscopic moments from the rotors of the engines - carriers of kinetic moments. This model can be used in the process of designing and debugging control algorithms for such aircraft. The main method of modeling is the numerical integration of the system of differential equations. The given modeling complex will allow to carry out researches on influence of perturbing factors and imperfection of elements of a control system; test and improve management laws; to modernize the design of the quadcopter to increase the efficiency of operation. The advantage of the model is its validity, openness, versatility, as it is easy to adapt to any other design of the quadcopter.

scholarly journals Development of human lower limbs exoskeleton robot for medical rehabilitation

2021 ◽  
pp. 91-97
Author(s):  
E. A. Kotov ◽  
◽  
A. D. Druk ◽  
D. N. Klypin ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Experimental Research ◽  
Lower Limb ◽  
Lower Limbs ◽  
Medical Rehabilitation ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Controlled Motion ◽  
And Control

The article deals with the solution of the problem of optimizing the characteristics of controlled motion of human lower limb exoskeleton robot for improving medical rehabilitation. The aim of the work is to develop a rehabilitation device capable of providing controlled motion in two planes, as well as maintaining balance without loss of mobility. The design and control system of a rehabilitation trainer designed for performing mechanotherapy of the lower limbs of patients with locomotive disorders are proposed and characterized. The developed system has a number of significant differences from analogues and can be recommended for experimental research on patients with impaired locomotive functions

Mathematical Model and Control System for a Linear DC Motor

2021 ◽  
Author(s):  
Ivan Yu. Spitsyn ◽  
Aleksandr M. Sinitca ◽  
Vjacheslav V. Gulvanskii ◽  
Dmitrij A. Perevertailo ◽  
Aleksej V. Volkov
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Dc Motor ◽  
Linear Dc Motor ◽  
And Control

scholarly journals Design and Performance Evaluation of a Low-Cost Autonomous Sensor Interface for a Smart IoT-Based Irrigation Monitoring and Control System

Sensors ◽  
2019 ◽  
Vol 19 (17) ◽  
pp. 3643 ◽  
Author(s):  
Abba ◽  
Namkusong ◽  
Lee ◽  
Crespo
Keyword(s):  
Control System ◽  
Low Cost ◽  
Integrated Design ◽  
Monitoring And Control ◽  
Sensors And Actuators ◽  
Irrigation Systems ◽  
Sensor Interface ◽  
Monitoring And Control System ◽  
Autonomous Sensor ◽  
And Control

Irrigation systems are becoming increasingly important, owing to the increase in human population, global warming, and food demand. This study aims to design a low-cost autonomous sensor interface to automate the monitoring and control of irrigation systems in remote locations, and to optimize water use for irrigation farming. An internet of things-based irrigation monitoring and control system, employing sensors and actuators, is designed to facilitate the autonomous supply of adequate water from a reservoir to domestic crops in a smart irrigation systems. System development lifecycle and waterfall model design methodologies have been employed in the development paradigm. The Proteus 8.5 design suite, Arduino integrated design environment, and embedded C programming language are commonly used to develop and implement a real working prototype. A pumping mechanism has been used to supply the water required by the soil. The prototype provides power supply, sensing, monitoring and control, and internet connectivity capabilities. Experimental and simulation results demonstrate the flexibility and practical applicability of the proposed system, and are of paramount importance, not only to farmers, but also for the expansion of economic activity. Furthermore, this system reduces the high level of supervision required to supply irrigation water, enabling remote monitoring and control.

scholarly journals Equivalent Linearization Methods for a Control System with Clutching Inerter Damper

2019 ◽  
Vol 9 (4) ◽  
pp. 688 ◽  
Author(s):  
Luyu Li ◽  
Qigang Liang ◽  
Han Qin
Keyword(s):  
Control System ◽  
Numerical Study ◽  
Integrated Design ◽  
Inertial Mass ◽  
Structural Vibration ◽  
Equivalent Linearization ◽  
Sdof System ◽  
Linearization Methods ◽  
Study Results ◽  
And Control

Inerter-based dampers have gained great popularity in structural vibration control. In this paper, equivalent linearization methods (ELMs) for a single-degree-of-freedom (SDOF) system with a clutching inerter damper (CID) are studied. The comparison of a SDOF system with a CID and an inertial mass damper (IMD) shows the advantage of the CID. Considering that the system with the CID is nonlinear, which is problematic for its performance evaluation and the integrated design of the structure and control system, three equivalent linearization methods based on different principles are proposed and discussed in this paper. The CID is considered to be equal to a combination of an IMD and a viscous damper. The equivalent inertance and damping can be calculated using the obtained formulas for all methods. In addition, all methods are compared in a numerical study. Results show that the ELM based on period and energy is recommended for small inertance-mass ratios.

An Integrated Design Approach of Local Control System of a Linear Drive Single Facet Heliostat

2016 ◽  
Author(s):  
M. M. Nageb ◽  
A. A. El-Samahy ◽  
M. A. Rady ◽  
A. M. A. Amin ◽  
R. H. Abd El-Hamid ◽  
...  
Keyword(s):  
Control System ◽  
System Performance ◽  
Integrated Design ◽  
Control Design ◽  
Drive System ◽  
Solar Power Plant ◽  
Central Receiver ◽  
Design Variables ◽  
Integrated Design Approach ◽  
And Control

In a central receiver solar power plant, heliostats are arranged with respect to the central receiver so as to reflect the rays from the sun onto the power tower with high precision by tracking the sun in both the azimuth and elevation directions. The master control system of a solar power plant consists of different levels. The first level is local control; it takes care of the positioning of the heliostats when the aiming point and the time are given to the system, and informs upper level about the status of the heliostats field. The second logic level makes some important dispatch calculations of heliostats field. The most popular linear two-axis local driving system of heliostat consists of two linear driving actuators, the driving mechanism with rotary joints, and the controller. Traditional methods for heliostat design are often based on a sequential approach in which the mechanical structure is designed first and then the control system is advised. In order to reach the optimal design of heliostats, an integrated design approach that concurrently considers the interactions between the mechanical and control subsystems is necessary. In this article, an integrated design methodology of heliostat drive system is presented. The methodology is based on modeling and simulation. The dynamic models that describe the behavior of the mechanical and control components are presented. These models involve mechanical and control design variables such as the motor parameters, power screw (including back lash), heliostat mass, load forces, and wind forces. Matlab, Solidwork, and Simulink are chosen to apply PID tracking control to heliostats, due to the ability to arbitrarily model complex mechanical systems, directly import properly constructed, third-party 3D CAD models, simulate integrated control, handle a variety of robotics nomenclature, and other features. The present methodology is employed for integrated design of a single facet small size heliostat with mirror area of 3 m2.The methods described in this article also show a way to rapidly simulate novel and complex heliostat geometries. Analysis of the heliostat drive system performance and dynamic characteristics according to mechanical and control design variables is conducted for the purpose of control system design and performance optimization. The drive system performance is evaluated in terms of positioning tracking errors, system response, and control system behavior. It is shown that the mechanical characteristics of the ball power screw actuator such as ball-screw diameter, lead, overall flexibility, stiffness, backlash, and inertia significantly influence the performance of drive system.

Aspects Regarding Pneumatic System Simulated Control

2010 ◽  
Vol 166-167 ◽  
pp. 291-296 ◽  
Author(s):  
Rares Ciprian Mîndru ◽  
Vistrian Maties ◽  
Ciprian Lapusan ◽  
Ioan Adrian Cosma
Keyword(s):  
Differential Equations ◽  
High Speed ◽  
Integrated Design ◽  
Control Algorithms ◽  
Pneumatic Actuators ◽  
Positioning Systems ◽  
Electromagnetic Valve ◽  
Modeling Simulation ◽  
Mathematical Analyses ◽  
And Control

The paper proposes a large approach to pneumatic systems starting from the mathematical laws, written in the form of differential equations, which govern the operation of pneumatic systems and continuing with the simulation model. The concept of integrated design includes all approaches, needed for an optimal and deep system understanding, such as modeling, simulation and control. Pneumatic actuators have a nonlinear functionality because of air compressibility, the existing frictions and the valves nonlinearities. Because of these, they are used in high speed applications and simple positioning systems. Thus, the mathematical analyses of pneumatic systems have received a special attention. The differential equations were implemented in Matlab Simulink, and the model input represents the voltage on the electromagnetic valve, and the output seen on the "scope" represents the movement of the piston pneumatic axis. Some control algorithms are implemented and applied to the model and seen the basic differences.

Effect and Simulation on Control System of Boiler Parameters

2013 ◽  
Vol 411-414 ◽  
pp. 1711-1715
Author(s):  
Bing Hua Jiang ◽  
Li Fang ◽  
Hang Biao Guo
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Temperature Control ◽  
Pid Controller ◽  
Static Stability ◽  
Temperature Control System ◽  
Integrated Process ◽  
And Control

In this paper, taking integrated process and control platform as the background , did the research on mathematical model of boiler liner and parameters on the performance of the control system. First, created a mathematical model of the temperature of the boiler liner. Second, selected the PID controller to control the temperature control system in the case of the PID controller parameters remained unchanged. Finally, changed the boiler parameters, analyzed and compared the simulation waveforms of different boiler parameters in order to get the conclusion that different parameters had different influence on the static stability of the temperature control system and the temperature control system had anti-jamming capability.

Conception of Research on Bionic Underwater Vehicle with Undulating Propulsion

2011 ◽  
Vol 180 ◽  
pp. 160-167 ◽  
Author(s):  
Piotr Szymak ◽  
Marcin Morawski ◽  
Marcin Malec
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Mathematical Description ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Robotic Fish ◽  
Fish Movement ◽  
Vehicle Motion ◽  
Scientists And Engineers ◽  
And Control

Fish-like swimming has been attracting scientists and engineers attention since many years resulting in attempts of mathematical description of fish movement and its implementation in many interesting prototypes of underwater vehicles. In this paper, conception of research on simulation, implementation and control of bionic underwater vehicle BUV with undulating propulsion is presented. In the next sections, introduction and mathematical model of bionic underwater vehicle motion are included. Then, the last implementation of the robotic fish called CyberFish, which movement is based on the presented mathematic description is presented and shortly described. In the last sections, conception of research on control system of BUV and conclusions are presented.

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