scholarly journals The use of the theory of nonholonomic constraints in the process of automatic control of a manipulating machine

2021 ◽  
Author(s):  
Edyta Ładyżyńska-Kozdraś ◽  
Barbara Kozłowska ◽  
Danyil Potoka
Keyword(s):  
Automatic Control ◽  
Nonholonomic Constraints ◽  
Working Environment ◽  
Reference Standard ◽  
Control Laws ◽  
Executive System

The presented study contains a sample of utilization of the control laws treated as kinematic relations of parameter deviations and realized in the process of ordered automatic control of a manipulating machine. Movement of the grasping end is considered in an inertial reference standard rigidly joined with an immobile working environment of the manipulator. The specificity of the control's choice required creating program relations constituting the ordered parameters describing the movement of the manipulator's elements. During work, the ordered parameters are compared to the parameters realized in the process of the grasping end's work. This was deviations are determined, which thanks to properly prepared control laws are leveled by the manipulator's control executive system.

Parallel Computing as a Tool for Tuning the Gains of Automatic Control Laws

2017 ◽  
Vol 15 (6) ◽  
pp. 1189-1196 ◽  
Author(s):  
M.A. Cruz ◽  
R.S. Ortigoza ◽  
C.M. Sanchez ◽  
V.M.H. Guzman ◽  
J.S. Gutierrez ◽  
...  
Keyword(s):  
Parallel Computing ◽  
Automatic Control ◽  
Control Laws

The Experiment Design and Research of a Special Liner Wear

2012 ◽  
Vol 246-247 ◽  
pp. 682-686
Author(s):  
Li Gang Qu ◽  
Jian Li ◽  
Dong Dong Su
Keyword(s):  
Operating System ◽  
Automatic Control ◽  
Data Acquisition ◽  
Supervisory Control ◽  
Wear Test ◽  
Fatigue Property ◽  
Least Square Method ◽  
Least Square ◽  
Working Environment ◽  
Test Device

This thesis imitates the practical working environment of certain special bush and accomplishes the design of parts wear test device. By the development of PLC operating system, it combines the tester and principal computer and achieves the automatic control of experimental procedures and the supervisory control of experimental tasks, establishing relatively complete data acquisition channel and accurately analyzes fatigue property of parts by the fitting liner wear curve of the least square method. This promotes the development of special the experiment of fatigue property of parts.

scholarly journals ALGORITHM FOR SYNTHESIZING PARAMETERS OF CONTROL LAWS OF TECHNICAL SYSTEMS UNDER POLYNOMIAL APPROXIMATION OF NONLINEARITIES

2018 ◽  
pp. 97-102
Author(s):  
V. F. Shishlakov ◽  
E. Yu. Vataeva ◽  
I. G. Krivolapchuk ◽  
N. V. Reshetnikova
Keyword(s):  
Automatic Control ◽  
Control Systems ◽  
Polynomial Approximation ◽  
Nonlinear Characteristics ◽  
Control Laws ◽  
Software Complex ◽  
Automatic Control Systems ◽  
New Class ◽  
Advantages And Disadvantages ◽  
Direct Variational Method

The paper considers the algorithm for solving the problem of synthesis of automatic control systems (ACS) with nonlinear characteristics for polynomial approximation. As a mathematical apparatus, the inversion of the direct variational method of analysis, Galerkin generalized method, is applied to the solution of the problem. Recurrence relations are obtained that make it possible to extend this method to a new class of dynamical systems with nonlinear elements whose characteristics are approximated polynomially. The advantages and disadvantages of various methods of approximation of automatic control systems with nonlinear characteristics are analyzed. The presented algorithm of the software complex is universal and allows solving the synthesis problem for control systems of different classes and structures from unified mathematical, methodological and algorithmic positions.

A New Methodology for Robot Controller Design

2005 ◽  
Author(s):  
Jan Peters ◽  
Michael Mistry ◽  
Firdaus Udwadia ◽  
Stefan Schaal
Keyword(s):  
Controller Design ◽  
Nonholonomic Constraints ◽  
Rigid Body Dynamics ◽  
Specific Class ◽  
Open Chain ◽  
Control Laws ◽  
Suggested Approach ◽  
Robot Controller ◽  
Closed Chain ◽  
Gauss Principle

Gauss’ principle of least constraint and its generalizations have provided a useful insights for the development of tracking controllers for mechanical systems [1]. Using this concept, we present a novel methodology for the design of a specific class of robot controllers. With our new framework, we demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic framework, and show experimental verifications on a Sarcos Master Arm robot for some of these controllers. We believe that the suggested approach unifies and simplifies the design of optimal nonlinear control laws for robots obeying rigid body dynamics equations, both with or without external constraints, holonomic or nonholonomic constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.

scholarly journals Self-Oscillations of The Free Turbine Speed in Testing Turboshaft Engine with Hydraulic Dynamometer

Aerospace ◽  
2021 ◽  
Vol 8 (4) ◽  
pp. 114
Author(s):  
Oleksandr Lytviak ◽  
Vasyl Loginov ◽  
Sergii Komar ◽  
Yevhen Martseniuk
Keyword(s):  
Automatic Control ◽  
Control Systems ◽  
Control Laws ◽  
Automatic Control Systems ◽  
First Case ◽  
Calculation Results ◽  
Nonlinear Features ◽  
Turbine Speed ◽  
Turboshaft Engine ◽  
Helicopter Main Rotor

Self-oscillations are one of the common problems in the complex automatic system, that can occur due to the features of the workflow and the design of the governor. The development of digital control systems has made it possible to damp self-oscillations by applying complex control laws. However, for hydromechanical systems, such way is unacceptable due to the design complexity and the governor cost. The objective of this work is to determine the parameters of the hydromechanical free turbine speed controller, ensuring the absence of self-oscillations during ground tests of the turboshaft engine with a hydraulic dynamometer. The TV3-117VM engine (Ukraine) with the NR-3VM regulator pump (Ukraine) was selected as the object of the study. However, self-oscillations can also occur in any modifications of the TV3-117 engine with any NR-3 regulator pump. The results of the research may be of interest to engineers and scientists who investigate the dynamics of automatic control systems for similar engines. The paper analyses the nonlinear features of the empirical characteristics of the FTSC leading to self-oscillations of the engine speed. The authors propose the mathematical model of the automatic control system dynamics, which takes into account all the features of the engine and regulator pump. It is shown that the load characteristics of the water brake and the helicopter main rotor can differ significantly. Research of the dynamic characteristics of the TV3-117VM engine was carried out. The analysis showed a good agreement between the calculation results and the field test results, and made it possible to determine the parameters of the controller, which lead to self-oscillations during test. Two cases are considered. The first case includes ground tests of the engine with a water brake; the second case—flight tests of the engine as part of the helicopter’s power plant. The data obtained make it possible to develop recommendations for adjusting the hydromechanical governor without testing it on the engine.

scholarly journals Synthesis of control laws of electromechanical systems under polynomial approximation of characteristics of nonlinear elements

2018 ◽  
Vol 161 ◽  
pp. 02006 ◽  
Author(s):  
Vladislav Shishlakov ◽  
Elizaveta Vataeva ◽  
Natalia Reshetnikova ◽  
Dmitriy Shishlakov
Keyword(s):  
Control System ◽  
Automatic Control ◽  
Automatic Control System ◽  
Polynomial Approximation ◽  
Mathematical Apparatus ◽  
Galerkin’S Method ◽  
Nonlinear Characteristics ◽  
Electromechanical Systems ◽  
Control Laws ◽  
New Class

The paper presents the solution of the problem of synthesis of the laws of control of electromechanical automatic control system under polynomial approximation. As a mathematical apparatus of the decision the generalized Galerkin's method is applied. This method is extended to a new class of objects with nonlinear characteristics approximated polynomially.

The Dynamic Analysis of a Torpedo-Shaped Underwater Vehicle as an Object with Superimposed Nonholonomic Constraints Treated as Control Laws

2013 ◽  
Vol 210 ◽  
pp. 320-325
Author(s):  
Edyta Ladyżyńska-Kozdraś
Keyword(s):  
Numerical Simulation ◽  
Mathematical Model ◽  
Dynamic Analysis ◽  
Dynamic Properties ◽  
Nonholonomic Constraints ◽  
Underwater Vehicle ◽  
Control Laws ◽  
Coupling Dynamics ◽  
Mother Ship ◽  
Controlled Object

The paper presents the process of modeling and investigation of dynamic properties of automatically controlled underwater vehicle as an object with superimposed nonholonomic constraints. Based on torpedoes, a universal mathematical model of a robotic underwater vehicle comprising coupling dynamics of a controlled object with superimposed guidance has been built. This model is now being used to make numerical simulation program, that illustrates the behaviour of the object during guidance. A review on motion of the underwater vehicle considered in the inertial system associated with mother-ship.

Automatically Controlled Anti-Collision Manoeuvre and its Numerical Simulation with Disturbances

2013 ◽  
Vol 210 ◽  
pp. 156-165
Author(s):  
Jerzy Graffstein
Keyword(s):  
Numerical Simulation ◽  
Control System ◽  
Automatic Control ◽  
Numerical Simulations ◽  
Abrupt Change ◽  
State Variables ◽  
Control Laws ◽  
Analysis Of Results ◽  
System Robustness ◽  
And Control

The article presents the discussion focused on specific features of the problem of flying objects motion when performing an example of anti collision manoeuvre. To realise this task, the structure of automatic control system with appropriate control laws are proposed. The nature of discussed manoeuvre needs the appropriate numerical method for computing desired values of state variables for subsequent phases of objects motion. These values are obtained adequately for their roles in several phases of motion. Numerical simulations are completed for the aircraft performing the anti collision manoeuvre consisted in abrupt change of yaw. Objects behaviour was tested in case of motion affected by disturbances. The analysis of results obtained by numerical simulations makes possible conclusions on stability of objects motion and control system robustness to assumed kind and level of disturbances.

Simplified Dynamic Model for Amount of Directional Correction of Small-Diameter Tunneling Robot

1992 ◽  
Vol 114 (3) ◽  
pp. 476-480 ◽  
Author(s):  
Shin-ichi Aoshima ◽  
Tetsuro Yabuta
Keyword(s):  
Automatic Control ◽  
Dynamic Model ◽  
Robot Control ◽  
Small Diameter ◽  
Control Technology ◽  
Control Laws ◽  
Telecommunication Cable ◽  
Fluid Jets ◽  
Direction Control ◽  
Dynamic Simulator

In the last decade, small-diameter tunneling technology has improved considerably. As a result, the use of this technology is expected to increase dramatically [1]. For example, one microtunneling system can produce microtunnels ranging in diameter from 45 to 150 mm by using mechanically assisted high-pressure, low-volume fluid jets [2]. However, no dynamic model or automatic direction control has yet been designed for this technology. This paper describes a simplified dynamic model for the amount of vertical directional correction for a small-diameter tunneling robot designed to install telecommunication cable conduit. This model can also be used for the horizontal direction. The direction control of a tunneling robot conventionally depends on both the experience and intuition of the operator, and there have been no studies with regard to its automation. Therefore, in order to establish an automatic control technology for a small-diameter tunneling robot, we construct a simplified dynamic model for the amount of directional correction of the robot taking its past trajectory into consideration. We can make a dynamic simulator for the tunneling robot using this dynamic model. With this simulator, we can establish control laws for robot control. So, this study can contribute to the development of automatic control technology for a tunneling robot.

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