scholarly journals Estabilidad y diseño de un controlador LQR para un sistema Bola-Viga

2020 ◽  
pp. 23-29
Author(s):  
Pedro Tellez-Cuevas ◽  
Aldo Hernández-Luna ◽  
Manuel Cruz-Luna
Keyword(s):  
Stability Analysis ◽  
Performance Analysis ◽  
Servo Motor ◽  
Control Engineering ◽  
Lqr Control ◽  
Beam System ◽  
Lqr Controller ◽  
The Stability ◽  
Dc Servomotor ◽  
Input Torque

This article presents the design of an LQR controller for a Ball-Beam system, as well as its stability analysis, the control of a Ball-Beam system is one of the most interesting for control engineering since it is a highly non-dynamic system linear. The objectives of this document focus on the performance of the system using an LQR control for different disturbances as well as obtaining the phase plans. The work starts with the modeling of the ballgirder system, which consists of two mechanical arms, a gear box and a DC servomotor, later the LQR control is designed, this allows simulation and obtaining the response of the controller under different conditions. In the system the input torque is generated from the DC servo motor to control the position of the ball on the beam, where the ball rolls freely on the beam. Performance analysis is performed using robust LQR and the performance characteristics of the system are presented. Finally, the stability analysis is carried out by plotting the phase planes.

Concept Of The Decomposition And Aggregation Method With Example: Part 1

1988 ◽  
pp. 27-40
Author(s):  
Dr. Zainol Anuar Mohd. Sharif ◽  
Ng Boon Choong
Keyword(s):  
Stability Analysis ◽  
Dynamic Systems ◽  
Basic Concept ◽  
Large Scale ◽  
Direct Method ◽  
Aggregation Method ◽  
Control Engineering ◽  
Large Scale Systems ◽  
Engineering Economics ◽  
The Stability

This paper describes the basic concept of the decomposition and aggregation method. It shows the feasibility of the method and its advantages when applied, particularly to large scale systems. This method is extensively used in solving problems related to control engineering, economics, optimization and stability. This paper also illustrates specifically the application of the method of decomposition and aggregation in the analysis of dynamic systems. It is divided into two important parts, namely; the decomposition part which involves breaking up a large system into subsystems and the aggregation part which is obtained through a reformulation of the Liapunov's second method (direct method). The relation between the decomposition and the aggregation methods is also shown. The procedure for checking the stability based on this concept is also outlined.For further illustration, an example of a dynamic system has been included. It shows how the system is decomposed and aggregated to suit the requirement for stability analysis.

Stability Analysis of the Nanjung Water Diversion Twin Tunnels based on Convergence Measurement

2019 ◽  
Vol 1 (1) ◽  
pp. 49-60
Author(s):  
Simon Heru Prassetyo ◽  
Ganda Marihot Simangunsong ◽  
Ridho Kresna Wattimena ◽  
Made Astawa Rai ◽  
Irwandy Arif ◽  
...  
Keyword(s):  
Stability Analysis ◽  
Convergence Rate ◽  
Critical Strain ◽  
Convergence Rates ◽  
Strain Analysis ◽  
Water Diversion ◽  
Tunnel Face ◽  
Tunnel Stability ◽  
The Stability ◽  
Twin Tunnels

This paper focuses on the stability analysis of the Nanjung Water Diversion Twin Tunnels using convergence measurement. The Nanjung Tunnel is horseshoe-shaped in cross-section, 10.2 m x 9.2 m in dimension, and 230 m in length. The location of the tunnel is in Curug Jompong, Margaasih Subdistrict, Bandung. Convergence monitoring was done for 144 days between February 18 and July 11, 2019. The results of the convergence measurement were recorded and plotted into the curves of convergence vs. day and convergence vs. distance from tunnel face. From these plots, the continuity of the convergence and the convergence rate in the tunnel roof and wall were then analyzed. The convergence rates from each tunnel were also compared to empirical values to determine the level of tunnel stability. In general, the trend of convergence rate shows that the Nanjung Tunnel is stable without any indication of instability. Although there was a spike in the convergence rate at several STA in the measured span, that spike was not replicated by the convergence rate in the other measured spans and it was not continuous. The stability of the Nanjung Tunnel is also confirmed from the critical strain analysis, in which most of the STA measured have strain magnitudes located below the critical strain line and are less than 1%.

Stability of bounded rapid shear flows of a granular material

1996 ◽  
Vol 308 ◽  
pp. 31-62 ◽  
Author(s):  
Chi-Hwa Wang ◽  
R. Jackson ◽  
S. Sundaresan
Keyword(s):  
Growth Rate ◽  
Stability Analysis ◽  
Granular Material ◽  
Bulk Density ◽  
Particulate Material ◽  
Dominant Mode ◽  
Marginal Stability ◽  
Sheared Layer ◽  
The Stability ◽  
Unusual Type

This paper presents a linear stability analysis of a rapidly sheared layer of granular material confined between two parallel solid plates. The form of the steady base-state solution depends on the nature of the interaction between the material and the bounding plates and three cases are considered, in which the boundaries act as sources or sinks of pseudo-thermal energy, or merely confine the material while leaving the velocity profile linear, as in unbounded shear. The stability analysis is conventional, though complicated, and the results are similar in all cases. For given physical properties of the particles and the bounding plates it is found that the condition of marginal stability depends only on the separation between the plates and the mean bulk density of the particulate material contained between them. The system is stable when the thickness of the layer is sufficiently small, but if the thickness is increased it becomes unstable, and initially the fastest growing mode is analogous to modes of the corresponding unbounded problem. However, with a further increase in thickness a new mode becomes dominant and this is of an unusual type, with no analogue in the case of unbounded shear. The growth rate of this mode passes through a maximum at a certain value of the thickness of the sheared layer, at which point it grows much faster than any mode that could be shared with the unbounded problem. The growth rate of the dominant mode also depends on the bulk density of the material, and is greatest when this is neither very large nor very small.

A new control approach for a class of linear switched systems with time-varying delay

2021 ◽  
pp. 014233122199272
Author(s):  
Abbas Zabihi Zonouz ◽  
Mohammad Ali Badamchizadeh ◽  
Amir Rikhtehgar Ghiasi
Keyword(s):  
Stability Analysis ◽  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Switching Systems ◽  
Time Varying ◽  
Matrix Inequalities ◽  
Time Varying Delay ◽  
Linear Switching Systems ◽  
The Stability ◽  
Varying Delay

In this paper, a new method for designing controller for linear switching systems with varying delay is presented concerning the Hurwitz-Convex combination. For stability analysis the Lyapunov-Krasovskii function is used. The stability analysis results are given based on the linear matrix inequalities (LMIs), and it is possible to obtain upper delay bound that guarantees the stability of system by solving the linear matrix inequalities. Compared with the other methods, the proposed controller can be used to get a less conservative criterion and ensures the stability of linear switching systems with time-varying delay in which delay has way larger upper bound in comparison with the delay bounds that are considered in other methods. Numerical examples are given to demonstrate the effectiveness of proposed method.

scholarly journals Modelling and Stability Analysis of Articulated Vehicles

2021 ◽  
Vol 11 (8) ◽  
pp. 3663
Author(s):  
Tianlong Lei ◽  
Jixin Wang ◽  
Zongwei Yao
Keyword(s):  
Stability Analysis ◽  
Critical Velocity ◽  
Equations Of State ◽  
Steering System ◽  
Analysis Model ◽  
Nonlinear Dynamic Model ◽  
Equilibrium Equations ◽  
Eigenvalue Method ◽  
Articulated Vehicles ◽  
The Stability

This study constructs a nonlinear dynamic model of articulated vehicles and a model of hydraulic steering system. The equations of state required for nonlinear vehicle dynamics models, stability analysis models, and corresponding eigenvalue analysis are obtained by constructing Newtonian mechanical equilibrium equations. The objective and subjective causes of the snake oscillation and relevant indicators for evaluating snake instability are analysed using several vehicle state parameters. The influencing factors of vehicle stability and specific action mechanism of the corresponding factors are analysed by combining the eigenvalue method with multiple vehicle state parameters. The centre of mass position and hydraulic system have a more substantial influence on the stability of vehicles than the other parameters. Vehicles can be in a complex state of snaking and deviating. Different eigenvalues have varying effects on different forms of instability. The critical velocity of the linear stability analysis model obtained through the eigenvalue method is relatively lower than the critical velocity of the nonlinear model.

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