Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis

2015 ◽  
Vol 794 ◽  
pp. 419-426
Author(s):  
Philipp Tempel ◽  
Philipp Miermeister ◽  
Armin Lechler ◽  
Andreas Pott
Keyword(s):  
Real Time ◽  
Large Scale ◽  
Controller Design ◽  
Equations Of Motion ◽  
Parallel Robot ◽  
Kinematics And Dynamics ◽  
Hardware In The Loop ◽  
The Real ◽  
Linear Spring ◽  
Dynamics Modelling

This paper covers the kinematics and dynamics modelling of the mechatronic model for a 6 DOF cable-driven parallel robot and derives a real-time capable simulation model for such robots. The governing equations of motion for the platform are derived using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a linear spring-damper based cable model is introduced. Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema3 are presented. Given the real-time capability, the presented model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.

scholarly journals Power Hardware-in-the-Loop: Response of Power Components in Real-Time Grid Simulation Environment

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 593
Author(s):  
Moiz Muhammad ◽  
Holger Behrends ◽  
Stefan Geißendörfer ◽  
Karsten von Maydell ◽  
Carsten Agert
Keyword(s):  
Real Time ◽  
Power Distribution ◽  
Control Strategies ◽  
Power Grid ◽  
Energy System ◽  
Hardware In The Loop ◽  
Distribution Grid ◽  
Compensation Strategy ◽  
Software Environment ◽  
The Real

With increasing changes in the contemporary energy system, it becomes essential to test the autonomous control strategies for distributed energy resources in a controlled environment to investigate power grid stability. Power hardware-in-the-loop (PHIL) concept is an efficient approach for such evaluations in which a virtually simulated power grid is interfaced to a real hardware device. This strongly coupled software-hardware system introduces obstacles that need attention for smooth operation of the laboratory setup to validate robust control algorithms for decentralized grids. This paper presents a novel methodology and its implementation to develop a test-bench for a real-time PHIL simulation of a typical power distribution grid to study the dynamic behavior of the real power components in connection with the simulated grid. The application of hybrid simulation in a single software environment is realized to model the power grid which obviates the need to simulate the complete grid with a lower discretized sample-time. As an outcome, an environment is established interconnecting the virtual model to the real-world devices. The inaccuracies linked to the power components are examined at length and consequently a suitable compensation strategy is devised to improve the performance of the hardware under test (HUT). Finally, the compensation strategy is also validated through a simulation scenario.

scholarly journals Implementation and intelligent gain tuning feedback–based optimal torque control of a rotary parallel robot

2021 ◽  
pp. 107754632110191
Author(s):  
Farzam Tajdari ◽  
Naeim Ebrahimi Toulkani
Keyword(s):  
Real Time ◽  
Tracking Error ◽  
Parallel Robot ◽  
Torque Control ◽  
Test Bed ◽  
Linear Quadratic ◽  
Control Effort ◽  
The Real ◽  
Unknown Disturbances ◽  
Quadratic Integral

Aiming at operating optimally minimizing error of tracking and designing control effort, this study presents a novel generalizable methodology of an optimal torque control for a 6-degree-of-freedom Stewart platform with rotary actuators. In the proposed approach, a linear quadratic integral regulator with the least sensitivity to controller parameter choices is designed, associated with an online artificial neural network gain tuning. The nonlinear system is implemented in ADAMS, and the controller is formulated in MATLAB to minimize the real-time tracking error robustly. To validate the controller performance, MATLAB and ADAMS are linked together and the performance of the controller on the simulated system is validated as real time. Practically, the Stewart robot is fabricated and the proposed controller is implemented. The method is assessed by simulation experiments, exhibiting the viability of the developed methodology and highlighting an improvement of 45% averagely, from the optimum and zero-error convergence points of view. Consequently, the experiment results allow demonstrating the robustness of the controller method, in the presence of the motor torque saturation, the uncertainties, and unknown disturbances such as intrinsic properties of the real test bed.

Altitude Controller Design for Quadcopter UAV

2015 ◽  
Vol 74 (1) ◽  
Author(s):  
Muhammad Zaki Mustapa
Keyword(s):  
Real Time ◽  
Attitude Control ◽  
Controller Design ◽  
Design Method ◽  
Time Windows ◽  
The Real ◽  
Data Acquisition Card ◽  
Aerial Vehicle ◽  
Hovering Control ◽  
Real Time Application

This paper discusses on attitude control of a quadcopter unmanned aerial vehicle (UAV) in real time application. Newton-Euler equation is used to derive the model of system and the model characteristic is analyzed. The paper describes the controller design method for the hovering control of UAV automatic vertical take-off system. In order to take-off the quadcopter and stable the altitude, PID controller has been designed. The scope of study is to develop an altitude controller of the vertical take-off as realistic as possible. The quadcopter flight system has nonlinear characteristics. A simulation is conducted to test and analyze the control performance of the quadcopter model. The simulation was conducted by using Mat-lab Simulink. On the other hand, for the real time application, the PCI-1711 data acquisition card is used as an interface for controller design which routes from Simulink to hardware. This study showed the controller designs are implemented and tuned to the real system using Real Time Windows Target approach by Mat-Lab Simulink.

Single Chip Microcomputer Cluster Management

2014 ◽  
Vol 933 ◽  
pp. 584-589
Author(s):  
Zhi Chun Zhang ◽  
Song Wei Li ◽  
Wei Ren Wang ◽  
Wei Zhang ◽  
Li Jun Qi
Keyword(s):  
Real Time ◽  
Management System ◽  
Large Scale ◽  
Fault Tolerant ◽  
Single Chip ◽  
Single Chip Microcomputer ◽  
Cluster Management ◽  
The Real ◽  
Time Performance ◽  
Operational Phase

This paper presents a system in which the cluster devices are controlled by single-chip microcomputers, with emphasis on the cluster management techniques of single-chip microcomputers. Each device in a cluster is controlled by a single-chip microcomputer collecting sample data sent to and driving the device by driving data received from the same cluster management computer through COMs. The cluster management system running on the cluster management computer carries out such control as initial SCM identification, run time slice management, communication resource utilization, fault tolerance and error corrections on single-chip microcomputers. Initial SCM identification is achieved by signal responses between the single-chip microcomputers and the cluster management computer. By using the port priority and the parallelization of serial communications, the systems real-time performance is maximized. The real-time performance can be adjusted and improved by increasing or decreasing COMs and the ports linked to each COM, and the real-time performance can also be raised by configuring more cluster management computers. Fault-tolerant control occurs in the initialization phase and the operational phase. In the initialization phase, the cluster management system incorporates unidentified single-chip microcomputers into the system based on the history information recorded on external storage media. In the operational phase, if an operation error of reading and writing on a single-chip microcomputer reaches a predetermined threshold, the single-chip microcomputer is regarded as serious fault or not existing. The cluster management system maintains accuracy maintenance database on external storage medium to solve nonlinear control of specific devices and accuracy maintenance due to wear. The cluster management system uses object-oriented method to design a unified driving framework in order to enable the implementation of the cluster management system simplified, standardized and easy to transplant. The system has been applied in a large-scale simulation system of 230 single-chip microcomputers, which proves that the system is reliable, real-time and easy to maintain.

scholarly journals Real-Time Safety Evaluation for Slope during Construction Using Numerical Forecast and Sensor Monitoring Platform

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2978 ◽  
Author(s):  
Sherong Zhang ◽  
Dejun Hou ◽  
Chao Wang ◽  
Xuexing Cao ◽  
Fenghua Zhang ◽  
...  
Keyword(s):  
Numerical Model ◽  
Real Time ◽  
Evaluation System ◽  
Large Scale ◽  
Safety Evaluation ◽  
The Real ◽  
Study Results ◽  
Data Feedback ◽  
Numerical Forecast ◽  
Slope Safety

Geology uncertainties and real-time construction modification induce an increase of construction risk for large-scale slope in hydraulic engineering. However, the real-time evaluation of slope safety during construction is still an unsettled issue for mapping large-scale slope hazards. In this study, the real-time safety evaluation method is proposed coupling a construction progress with numerical analysis of slope safety. New revealed geological information, excavation progress adjustment, and the support structures modification are updating into the slope safety information model-by-model restructuring. A dynamic connection mapping method between the slope restructuring model and the computable numerical model is illustrated. The numerical model can be generated rapidly and automatically in database. A real-time slope safety evaluation system is developed and its establishing method, prominent features, and application results are briefly introduced in this paper. In our system, the interpretation of potential slope risk is conducted coupling dynamic numerical forecast and monitoring data feedback. The real case study results in a comprehensive real-time safety evaluation application for large slope that illustrates the change of environmental factor and construction state over time.

Real-Time Multibody Vehicle Dynamics Software for Virtual Handling Tests

2007 ◽  
Author(s):  
Sung-Soo Kim ◽  
Kyoungnam Ha ◽  
Dohyun Kim ◽  
Taeoh Tak ◽  
Seung-Eon Shin
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Vehicle Dynamics ◽  
Equations Of Motion ◽  
Synthesis Method ◽  
Hardware In The Loop ◽  
Vehicle Modeling ◽  
Time Dynamics ◽  
Point Data ◽  
Suspension Model

Real-time multibody vehicle dynamics software has been developed for virtual handling tests. The software can be utilized for hardware in the loop simulations and consists of three modules such as a graphical vehicle modeling preprocessor, real time dynamics solver, and virtual reality graphic postprocessor for virtual handling tests. In the graphical vehicle modeling preprocessor, vehicle hard point data for a suspension model are automatically converted into multibody vehicle model. In the real time dynamics solver, efficient subsystem synthesis method is used to create multibody equations of motion a subsystem by a subsystem. In the virtual reality graphic postprocessor, virtual proving ground environment has been also developed by using OpenGL for virtual handling tests. This software is written C and can be converted to the S-function as a plant model in the RT-LAB real time environment for HILS application.

SCM Based High Precision Temperature Controller Design

2013 ◽  
Vol 313-314 ◽  
pp. 549-552 ◽  
Author(s):  
Zhen Hua Han ◽  
Ze Hu Feng
Keyword(s):  
Water Temperature ◽  
Real Time ◽  
Temperature Control ◽  
Control Method ◽  
Controller Design ◽  
Heating Time ◽  
Single Chip ◽  
The Real ◽  
Pid Algorithm ◽  
Analog Voltage

t is designed by adopting SUNPLUS SPCE061A version 16-bits Single Chip Microcomputer; it has realized functions as manual setting temperature, automatic temperature control, showing the real-time temperature of water. The testing mode of water temperature adopts AD590 version integrated analog temperature sensor to perceive the temperature of water in vessels and uses operational amplifier to amplify minute analog voltage signal outputted by sensor. It employs keyboard scan mode to set target temperature (40°C~90°C) and displays dynamically the real-time temperature of water with digestion. The system controls the guide circuit and closing of the heating device by using relay circuit, achieving the aim of keeping design temperature constant essentially. PID algorithm is adopted in water temperature control method. The proportion, integration and differential constant in PID algorithm are debugged with experiments in order to control the proportion of heating time and reduce the adjusting time of the system. The system boasts the advantages of high controlling precision, stability and reliability, flexible operation, strong currency.

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