scholarly journals Bricklaying Robot Lifting and Levelling System

2021 ◽  
Vol 23 (4) ◽  
pp. B257-B264
Author(s):  
Piotr Wos ◽  
Ryszard Dindorf ◽  
Jakub Takosoglu
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Design Process ◽  
Hydraulic System ◽  
Servo Drive ◽  
Synchronization Errors ◽  
Position Errors ◽  
Hydraulic Servo ◽  
The Mathematical Model ◽  
Servo Drive System

The article presents the concept of building and controlling a Bricklaying Robotic System (BRS). The research presents the design process and how to control a four-cylinder electro-hydraulic servo drive system. The article presents a mathematical model and optimizes the process of aligning the mobile support platform of the masonry robot. The lifting mechanism was presented and its kinematic analysis performed. The mathematical model of the hydraulic system was described. The control system, designed for the masonry robot lifting platform, includes position errors for a single drive axis and synchronization errors between the axes.

Mathematical Model of the Servo Drive with Friction Wheals. Simulations and Real Object Examination Results

2013 ◽  
Vol 198 ◽  
pp. 15-20 ◽  
Author(s):  
Lukasz Fracczak
Keyword(s):  
Mathematical Model ◽  
Cardiac Surgery ◽  
Control System ◽  
Simulation Model ◽  
Degrees Of Freedom ◽  
Point Of View ◽  
Real Object ◽  
Servo Drive ◽  
Two Degrees Of Freedom ◽  
The Mathematical Model

In this paper the servo drive with friction wheels is presented. The servo drive is designed to move the automatic laparoscope tool or laparoscope camera (thereinafter laparoscope sleeve or sleeve) in two Degrees of Freedom (DOF). The description of the drive mechanism, operating principle and mathematical model of this drive is presented. Based on this model, the Control System (CS) has been created, and used to the construction of a simulation model. The simulation illustrates the proper functionality of the mathematical model of the servo drive with the described CS. This paper also presents the servo drive test stand and the most important examination results from the point of view of using them in the cardiac surgery Robin Heart robot.

Optimization of Satellite Momentum Wheel Control System Based on Genetic Programming

2013 ◽  
Vol 748 ◽  
pp. 771-778
Author(s):  
Yu Song Huang ◽  
Yun Feng Dong
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Genetic Programming ◽  
Design Process ◽  
Attitude Control ◽  
Control Method ◽  
Complex Structure ◽  
Control Law ◽  
Reaction Wheel ◽  
The Mathematical Model

Due to reliability requirements, the reaction wheel actuator of the satellite attitude control system always use traditional control method. For the satellite which has complex structure, it's difficult to build the mathematical model with classical control method. The selection of control parameters is also difficult. The design process last long and the model have poor adaptability when the parameters change. Compare to genetic algorithms, genetic programming which have the capabilities to evolve automatically, have the advantage of being able to optimize the structure of the mathematical model. Results of optimization and simulation show that design the reaction wheel actuator control law with genetic programming can simplify the design process. And the evolved control law is better than traditional PD control law.

scholarly journals Simulation and Study on Non-Sinusoidal Oscillation Control System of Continuous Casting Mold

2011 ◽  
Vol 2-3 ◽  
pp. 53-56 ◽  
Author(s):  
Xiao Jun Zhang
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Total System ◽  
Continuous Casting Mold ◽  
Oscillation Control ◽  
Mold Oscillation ◽  
Hydraulic Servo ◽  
Working Principle ◽  
Parameter Values ◽  
The Mathematical Model

The paper describes the composition and working principle of the mold oscillation control system. The mathematical model of hydraulic servo control system is established. The total system transfer function is established by MATLAB program. By using the SIMULINK module, we determined various components’ parameter values. We got different simulation curves and Bode plots by inputting non- sinusoidal function and carrying out the dynamic simulation to the mold oscillation mathematical model, we also analyzed stability of the whole system to verify the accuracy of system design.

A Model Improvement of a Supercritical Unit Coordination Control System

2013 ◽  
Vol 680 ◽  
pp. 488-494
Author(s):  
Hai Ming Niu ◽  
Zhong Xu Han ◽  
Huan Pao Huang ◽  
Hong Min Zhang
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Coordinated Control ◽  
Coordination Control ◽  
Model Improvement ◽  
Unit Coordination ◽  
The Mathematical Model ◽  
Controlled Object

Base on the mathematical model of a common coordinated control system in field of thermal, by analyzing characteristics of the controlled object supercritical once-through boiler coordinated control system, the article puts forward suggestions for improvement, and verifies the results of the analysis by test.

The Control of Vibration Transmissibility Using an Electrodynamic Actuator –Close-Loop Solution

2013 ◽  
Vol 436 ◽  
pp. 166-173
Author(s):  
A. Mihaela Mîţiu ◽  
Daniel Constantin Comeagă ◽  
Octavian G. Donţu
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Mechanical System ◽  
Closed Loop ◽  
Mechanical Systems ◽  
Vibration Transmissibility ◽  
Technical Solutions ◽  
The Mathematical Model

In this paper are presented some aspects of transmissibility control of mechanical systems with 1 DOF so that the effects of vibration on their action to be minimized. Some technical solutions that can be used for this purpose is analyzed. Starting from the mathematical model of an electro-mechanical system with 1 DOF, are identified the parameters which influence the effectiveness of the transmissibility control system using an electrodynamic actuator who work in "closed loop".

Design and Experimental Validation of a LQG Control System for the Stabilization of a 2DOF Commercial Gimbal Using Physical Modelling Techniques

2020 ◽  
Author(s):  
Julián Andres Gómez Gómez ◽  
Camilo E. Moncada Guayazán ◽  
Sebastián Roa Prada ◽  
Hernando Gonzalez Acevedo
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
State Space ◽  
Transient Response ◽  
Space Form ◽  
Angular Position ◽  
Physical Modelling ◽  
Motor Shaft ◽  
Brushless Dc ◽  
The Mathematical Model

Abstract Gimbals are mechatronic systems well known for their use in the stabilization of cameras which are under the effect of sudden movements. Gimbals help keeping cameras at previously defined fixed orientations, so that the captured images have the highest quality. This paper focuses on the design of a Linear Quadratic Gaussian, LQG, controller, based on the physical modeling of a commercial Gimbal with two degrees of freedom (2DOF), which is used for first-person applications in unmanned aerial vehicle (UAV). This approach is proposed to make a more realistic representation of the system under study, since it guarantees high accuracy in the simulation of the dynamic response, as compared to the prediction of the mathematical model of the same system. The development of the model starts by sectioning the Gimbal into a series of interconnected links. Subsequently, a fixed reference system is assigned to each link body and the corresponding homogeneous transformation matrices are established, which will allow the calculation of the orientation of each link and the displacement of their centers of mass. Once the total kinetic and potential energy of the mechanical components are obtained, Lagrange’s method is utilized to establish the mathematical model of the mechanical structure of the Gimbal. The equations of motion of the system are then expressed in state space form, with two inputs, two outputs and four states, where the inputs are the torques produced by each one of the motors, the outputs are the orientation of the first two links, and the states are the aforementioned orientations along with their time derivatives. The state space model was implemented in MATLAB’s Simulink environment to compare its prediction of the transient response with the prediction obtained with the representation of the same system using MATLAB’s SimMechanics physical modelling interface. The mathematical model of each one of the three-phase Brushless DC motors is also expressed in state space form, where the three inputs of each motor model are the voltages of the corresponding motor phases, its two outputs are the angular position and angular velocity, and its four states are the currents in two of the phases, the orientation of the motor shaft and its rate of change. This model is experimentally validated by performing a switching sequence in both the simulation model and the physical system and observing that the transient response of the angular position of the motor shaft is in accordance with the theoretical model. The control system design process starts with the interconnection of the models of the mechanical components and the models of the Brushless DC Motor, using their corresponding state space representations. The resulting model features six inputs, two outputs and eight states. The inputs are the voltages in each phase of the two motors in the Gimbal, the outputs are the angular positions of the first two links, and the states are the currents in two of the phases for each motor and the orientations of the first two links, along with their corresponding time derivatives. An optimal LQG control system is designed using MATLAB’s dlqr and Kalman functions, which calculate the gains for the control system and the gains for the states estimated by the observer. The external excitation in each of the phases is carried out by pulse width modulation. Finally, the transient response of the overall system is evaluated for different reference points. The simulation results show very good agreement with the experimental measurements.

scholarly journals The Research on the Visual Obstacle-Avoidance Optimization in Robots Control

2013 ◽  
Vol 756-759 ◽  
pp. 372-375
Author(s):  
Hong Bin Tian
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Obstacle Avoidance ◽  
Visual Information ◽  
Structural Model ◽  
Three Dimension ◽  
Coordination Control ◽  
Dimension Space ◽  
The Mathematical Model ◽  
Very High

In order to increase the movement capability of the robotic visual system in three-dimension space, the paper designs an obstacle-avoidance algorithm based on robotic movement visual by effectively processing the visual information colleted by the robotics. This paper establishes a structural model of coordination control system. The obstacles can be effectively identified and avoided by the obstacle-avoidance theory in the robotics coordination operation. The mathematical model of the obstacle-avoidance algorithm can predict the locations of the obstacles. The experiment proves the proposed algorithm can avoid the obstacles in three-dimension space and the accuracy is very high.

Mobile Worm-Like Robots for Pipe Inspection

2015 ◽  
pp. 168-218 ◽  
Author(s):  
Sergey Fedorovich Jatsun ◽  
Andrei Vasilevich Malchikov
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Mobile Robots ◽  
Experimental Studies ◽  
Design Parameters ◽  
Robot Motion ◽  
Robot Dynamics ◽  
Confined Space ◽  
Pipe Inspection ◽  
The Mathematical Model

This chapter describes various designs of multilink mobile robots intended to move inside the confined space of pipelines. The mathematical model that describes robot dynamics and controlled motion, which allows simulating different regimes of robot motion and determining design parameters of the device and its control system, is presented. The chapter contains the results of numerical simulations for different types of worm-like mobile robots. The experimental studies of the in-pipe robots prototypes and their analyses are presented in this chapter.

The Control and Model of Synchronous Generator on Ship

2012 ◽  
Vol 195-196 ◽  
pp. 1095-1101
Author(s):  
Le Luo ◽  
Lan Gao ◽  
Liang Chen ◽  
Liang Hu
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Simulation Model ◽  
Synchronous Generator ◽  
Excitation Control ◽  
Synchronous Generators ◽  
Simulation Test ◽  
Power Station ◽  
Model And Simulation ◽  
The Mathematical Model

This paper analyzes the characteristics of marine power station. The mathematical model and simulation model of synchronous generators AVR+PSS excitation control system was built. At last the simulation test of suddenly add load was did in MATLAB/simulink environment. The result shows that the excitation control system has well stability, rapidity and some robustness.

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