scholarly journals A Two Wheel Self-Balancing Vehicle

2021 ◽  
Vol 29 (49) ◽  
pp. 78-93
Author(s):  
Rastislav Ďuriš ◽  
Eva Labašová ◽  
Jarmila Oravcová ◽  
Štefan Šimon
Keyword(s):  
Control Algorithm ◽  
Low Cost ◽  
Equations Of Motion ◽  
Practical Implementation ◽  
Pid Algorithm ◽  
Complementary Filter ◽  
Real Model ◽  
Linearized Model ◽  
Nonlinear Equations Of Motion ◽  
The Mathematical Model

Abstract This paper deals with the development of the equation of motion and practical implementation of low cost two-wheel self-balancing model of a Segway transporter. The experimental model of cart was designed and made under this study. Nonlinear equations of motion of real model and linearized model were derived. To develop the mathematical model, Matlab/Simulink was applied. The mechanical part was implemented into Simulink, and a DC motor was considered as a linear system. The real model was tested for its balance by implementation of a control algorithm consisting of a complementary filter and PID algorithm on an Arduino development board with peripheral devices. The fully functional self-balancing model was used as a demonstration in the teaching process of the Mechatronics courses.

Load Transfer Control for a Gantry Crane with Arbitrary Delay Constraints

2002 ◽  
Vol 8 (2) ◽  
pp. 135-158 ◽  
Author(s):  
Paolo Dadone ◽  
Hugh F. Vanlandingham
Keyword(s):  
Load Transfer ◽  
Multiple Scales ◽  
Equations Of Motion ◽  
Gantry Crane ◽  
Phase Plane Analysis ◽  
Plane Analysis ◽  
Nonlinear Approach ◽  
Linearized Model ◽  
Nonlinear Equations Of Motion ◽  
Quadratic And Cubic Nonlinearities

This paper describes a method to move the load of a gantry crane to a desired position in the presence of known, but arbitrary, motion-inversion delays as well as cart acceleration constraints. The method idea is based on a phase-plane analysis of the linearized model. In order to limit residual pendulation at the goal position, the method is extended to account for quadratic and cubic nonlinearities. The method of multiple scales is used to determine an approximate solution to the nonlinear equations of motion, thus providing a more accurate measure of the frequency of the oscillations. The nonlinear approach is very successful in limiting residual oscillations to very small values (less than 1 degree of amplitude), offering a reduction, with respect to the linear case, of as much as two orders of magnitude. Finally, this method offers a rationale for the future development of a controller for suppression of load oscillations in ship-mounted cranes in the presence of arbitrary delays.

A Control System on Soil Temperature

2014 ◽  
Vol 599-601 ◽  
pp. 673-679
Author(s):  
Shi Guo Chen ◽  
Li Hua Hu ◽  
Dong Sheng Wu ◽  
Xue Yong Chen
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Soil Temperature ◽  
Control Algorithm ◽  
Soil Ecology ◽  
Control Soil ◽  
Pid Algorithm ◽  
And Control ◽  
The Mathematical Model

The soil’s temperature plays an important role of soil ecology research. In order to gain and control soil’ temperature. A control system is proposed for soil’s temperature. And a new control algorithm which is based on the PID algorithm is designed in the control system to handle the complex change of the soil’s temperature. It does not need to know the mathematical model of soil’s temperature. At last, the control result is analyzed in this paper. The result shows that the soil’s temperature is controlled ideal by this control system which is accurate to 0.5°C.

Dynamics and Stability of Non-Planar Rigid Rotor Equipped with Two Ball-Spring Autobalancers

2019 ◽  
Vol 19 (02) ◽  
pp. 1950001 ◽  
Author(s):  
Mousa Rezaee ◽  
Mir Mohammad Ettefagh ◽  
Reza Fathi
Keyword(s):  
Mathematical Model ◽  
Nonlinear Equations ◽  
Equations Of Motion ◽  
Rigid Rotor ◽  
Out Of Plane ◽  
New Type ◽  
Nonlinear Equations Of Motion ◽  
The Mathematical Model ◽  
System Time

Recently, a new type of automatic ball balancer (ABB), called the ball-spring autobalancer (AB), has been proposed, which substantially eliminates the drawbacks of the traditional ABBs. In previous studies, the dynamics of the Jeffcott planar rotor equipped with ball-spring AB has been investigated. In the Jeffcott model, it is assumed that the ABB is located on the plane of the unbalance disk. However, for the non-planar rigid rotor with distributed imbalances, out-of-plane motions may occur, and the Jeffcott model becomes unreliable as the tilting motion cannot be explained. To this end, the aim of this paper is to analyze the capability of the ball-spring AB in balancing non-planar rotors and to reconfirm its pre-claimed advantages over the traditional ABBs for balancing non-planar rotors. To start, the mathematical model of the rigid rotor with two ball-spring ABs is established, based on which the nonlinear equations of motion are derived. Then, the system time responses are computed numerically and the balanced stable regions are acquired by the Lyapunov’s first method. The results of this study show that the ball-spring ABs can balance the non-planar rotors and the tilting motion does not impair the pre-claimed advantages of the ball-spring AB.

scholarly journals Design of Autonomous Mobile Robot for Cleaning in the Environment with Obstacles

2021 ◽  
Vol 11 (17) ◽  
pp. 8076
Author(s):  
Arpit Joon ◽  
Wojciech Kowalczyk
Keyword(s):  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Low Cost ◽  
Robotic Arm ◽  
Vacuum System ◽  
Practical Implementation ◽  
Low Level ◽  
Cleaning Robot ◽  
Web Camera ◽  
High Level

This paper describes the design and development of a cleaning robot, using adaptive manufacturing technology and its use with a control algorithm for which there is a stability proof. The authors’ goal was to fill the gap between theory and practical implementation based on available low-cost components. Adaptive manufacturing was chosen to cut down the cost of manufacturing the robot. Practical verification of the effectiveness of the control algorithm was achieved with the experiments. The robot comprises mainly three assemblies, a four-wheel-drive platform, a four-degrees-of-freedom robotic arm, and a vacuum system. The inlet pipe of the vacuum system was attached to the end effector of the robotic arm, which makes the robot more flexible to clean uneven areas, such as skirting on floors. The robot was equipped with a LIDAR sensor and web camera, giving the opportunity to develop more complex methods. A low-level proportional–integral–derivative (PID) speed controller was implemented, and a high-level controller that uses artificial potential functions to generate repulsive components, which avoids collision with obstacles. Robot operating system (ROS) was installed in the robot’s on-board system. With the help of the ROS node, the high-level controller generates control signals for the low-level controller.

scholarly journals Development of a Five-Degree-of-Freedom Seated Human Model and Parametric Studies for Its Vibrational Characteristics

2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Jong-Jin Bae ◽  
Namcheol Kang
Keyword(s):  
Equations Of Motion ◽  
Degree Of Freedom ◽  
Human Model ◽  
Whole Body ◽  
Mode Shapes ◽  
Vibrational Characteristics ◽  
Parametric Studies ◽  
Linearized Model ◽  
Nonlinear Equations Of Motion ◽  
Whole Body Vibrations

This study focuses on the biodynamic responses of a seated human model to whole-body vibrations in a vehicle. Five-degree-of-freedom nonlinear equations of motion for a human model were derived, and human parameters such as spring constants and damping coefficients were extracted using a three-step optimization processes that applied the experimental data to the mathematical human model. The natural frequencies and mode shapes of the linearized model were also calculated. In order to examine the effects of the human parameters, parametric studies involving initial segment angles and stiffness values were performed. Interestingly, mode veering was observed between the fourth and fifth human modes when combining two different spring stiffness values. Finally, through the frequency responses of the human model, nonlinear characteristics such as frequency shift and jump phenomena were clearly observed.

Steady-State Responses in Systems of Nearly-Identical Torsional Vibration Absorbers

2003 ◽  
Vol 125 (1) ◽  
pp. 80-87 ◽  
Author(s):  
A. S. Alsuwaiyan ◽  
Steven W. Shaw
Keyword(s):  
Steady State ◽  
Torsional Vibration ◽  
Equations Of Motion ◽  
Vibration Absorbers ◽  
Fully Nonlinear Equations ◽  
State Response ◽  
Steady State Responses ◽  
Nonlinear Equations Of Motion ◽  
The Mathematical Model ◽  
State Responses

In this paper we consider the steady-state response of a rotor fitted with a system of nearly identical torsional vibration absorbers. The absorbers are of the centrifugal pendulum type, which provide an effective mean of attenuating torsional vibrations of the rotor at a given order. The model considered employs absorbers that are tuned close to the order of the excitation, with an intentional mistuning that is selected by design, and imperfections among the absorbers which arise from manufacturing, wear, and other effects. It is shown that these systems can experience localized responses in which the response amplitude of one or more absorbers can become relatively large as compared to the response of the corresponding system with identical absorbers. The results are based on an exact steady-state analysis of the mathematical model, and they show that the strength of the localization depends on the average level of absorber mistuning (a design parameter), the magnitude of the relative imperfections among the absorbers, and the absorber damping. It is found that the most desirable situation is one in which the relative imperfections are kept as small as possible, and that this becomes more crucial when the levels of mistuning and damping are very small. The results of the analysis are confirmed by simulations of the fully nonlinear equations of motion of the rotor/absorber system. It is concluded that the presence of localization should be accounted for in absorber designs, since its presence makes the absorbers less effective in terms of vibration reduction and, perhaps more significantly, it can drastically reduce their operating range, since such absorbers typically have limited rattle space.

scholarly journals Pocket MUSE: an affordable, versatile and high-performance fluorescence microscope using a smartphone

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Yehe Liu ◽  
Andrew M. Rollins ◽  
Richard M. Levenson ◽  
Farzad Fereidouni ◽  
Michael W. Jenkins
Keyword(s):  
High Performance ◽  
Point Of Care ◽  
Low Cost ◽  
Consumer Electronics ◽  
Practical Implementation ◽  
The Novel ◽  
Point Of Care Diagnostics ◽  
Optical Module ◽  
Optical Configuration ◽  
User Friendly

AbstractSmartphone microscopes can be useful tools for a broad range of imaging applications. This manuscript demonstrates the first practical implementation of Microscopy with Ultraviolet Surface Excitation (MUSE) in a compact smartphone microscope called Pocket MUSE, resulting in a remarkably effective design. Fabricated with parts from consumer electronics that are readily available at low cost, the small optical module attaches directly over the rear lens in a smartphone. It enables high-quality multichannel fluorescence microscopy with submicron resolution over a 10× equivalent field of view. In addition to the novel optical configuration, Pocket MUSE is compatible with a series of simple, portable, and user-friendly sample preparation strategies that can be directly implemented for various microscopy applications for point-of-care diagnostics, at-home health monitoring, plant biology, STEM education, environmental studies, etc.

On the Parametric Excitation of Pendulum-Type Vibration Absorber

1961 ◽  
Vol 28 (3) ◽  
pp. 330-334 ◽  
Author(s):  
Eugene Sevin
Keyword(s):  
Energy Transfer ◽  
Numerical Solution ◽  
Parametric Excitation ◽  
Equations Of Motion ◽  
Vibration Absorber ◽  
Single Cycle ◽  
Linearized System ◽  
Nonlinear Equations Of Motion ◽  
Beam Oscillation ◽  
Energy Interchange

The free motion of an undamped pendulum-type vibration absorber is studied on the basis of approximate nonlinear equations of motion. It is shown that this type of mechanical system exhibits the phenomenon of auto parametric excitation; a type of “instability” which cannot be accounted for on the basis of the linearized system. Complete energy transfer between modes is shown to occur when the beam frequency is twice the simple pendulum frequency. On the basis of a numerical solution, approximately 150 cycles of the beam oscillation take place during a single cycle of energy interchange.

Development of Dedicated Controller for HVAC

2012 ◽  
Vol 430-432 ◽  
pp. 1472-1476
Author(s):  
Jin Ming Yang ◽  
Yi Lin
Keyword(s):  
Fuzzy Control ◽  
Control Algorithm ◽  
Control Strategies ◽  
Control Software ◽  
Interface Circuits ◽  
Pid Algorithm ◽  
Hardware Interface ◽  
Hvac Control ◽  
Fuzzy Control Algorithm

This article describes the development of a dedicated controller for HVAC control, and introduces the hardware interface circuits about some main chip on controller. In addition, the article also explains composition and principle about control software applied to the controller, further more points out that the fuzzy control algorithm is more reasonable than the PID algorithm for most HVAC control and dedicated control strategies play an important role for HVAC control.

Dynamic Simulation Control Algorithm Based on the Time Domain

2014 ◽  
Vol 568-570 ◽  
pp. 1020-1025
Author(s):  
Zhuo Wei Jiang ◽  
Chun Ming Gao
Keyword(s):  
Dynamic Simulation ◽  
Time Domain ◽  
Control Algorithm ◽  
Low Cost ◽  
Analog Filter ◽  
Cost Performance ◽  
Dynamic Simulator ◽  
Simulation Control ◽  
The Time Domain ◽  
Computation Speed

In view of badly transplanting of analog filter and low cost performance of digital filter for the washing out signal methods used by dynamic simulator, this paper proposed a computer intelligent time domain method. We decompose signal with the computer intelligence in the time domain, and convert the signal into the corresponding movement form respectively, then get the final result by overlaying them. The experimental results show that this method not only can achieve the effect of the traditional methods, better portability and faster computation speed, but also can be achieved directly on general computers.

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