scholarly journals Multibody model of fruit harvesting trucks: comparison with experimental data and rollover analysis

2018 ◽  
Vol 49 (2) ◽  
pp. 92-99 ◽  
Author(s):  
Stefano Melzi ◽  
Edoardo Sabbioni ◽  
Michele Vignati ◽  
Maurizio Cutini ◽  
Massimo Brambilla ◽  
...  
Keyword(s):  
Experimental Tests ◽  
Soil Stiffness ◽  
Safety Issues ◽  
Multibody Model ◽  
Centre Of Gravity ◽  
Rollover Risk ◽  
Speed Up ◽  
The Stability ◽  
Italian National Institute ◽  
Comparison With Experimental Data

Fruit harvesting trucks are used to easy and speed-up the work of agricultural operators. These vehicles are provided with a moving cargo bed, which can be raised up to 3 meters from the ground so that workers are closer to the plants top. Due to factors like height of centre of gravity and operation on soft and irregular soil, these vehicles present several safety issues. This research, carried out inside a project funded by INAIL (Italian National Institute for Insurance against Accidents at Work), analysed the stability of fruit harvesting trucks with particular focus on rollover risk. Experimental tests were carried out to characterise the response of these vehicles. Multibody models of two trucks were then developed and used to determine the rollover angle along a generic direction considering the effect of vehicle configuration and of tire-soil stiffness.

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021 ◽  
pp. 1-31
Author(s):  
S.H. Derrouaoui ◽  
Y. Bouzid ◽  
M. Guiatni
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Experimental Tests ◽  
Generic Model ◽  
System Control ◽  
System A ◽  
Viable Solution ◽  
Generic Modeling ◽  
Adaptive Control Strategy ◽  
The Stability

Abstract Recently, transformable Unmanned Aerial Vehicles (UAVs) have become a subject of great interest in the field of flying systems, due to their maneuverability, agility and morphological capacities. They can be used for specific missions and in more congested spaces. Moreover, this novel class of UAVs is considered as a viable solution for providing flying robots with specific and versatile functionalities. In this paper, we propose (i) a new design of a transformable quadrotor with (ii) generic modeling and (iii) adaptive control strategy. The proposed UAV is able to change its flight configuration by rotating its four arms independently around a central body, thanks to its adaptive geometry. To simplify and lighten the prototype, a simple mechanism with a light mechanical structure is proposed. Since the Center of Gravity (CoG) of the UAV moves according to the desired morphology of the system, a variation of the inertia and the allocation matrix occurs instantly. These dynamics parameters play an important role in the system control and its stability, representing a key difference compared with the classic quadrotor. Thus, a new generic model is developed, taking into account all these variations together with aerodynamic effects. To validate this model and ensure the stability of the designed UAV, an adaptive backstepping control strategy based on the change in the flight configuration is applied. MATLAB simulations are provided to evaluate and illustrate the performance and efficiency of the proposed controller. Finally, some experimental tests are presented.

scholarly journals The two-dimensional hydrodynamical theory of moving aerofoils. IV

1947 ◽  
Vol 188 (1015) ◽  
pp. 439-463
Keyword(s):  
Stability Problem ◽  
Two Dimensional ◽  
Centre Of Gravity ◽  
First Approximation ◽  
Von Karman ◽  
Moving Cylinder ◽  
Period Equation ◽  
The Stability ◽  
Von Kármán ◽  
Hydrodynamical Theory

In the first part of this paper opportunity has been taken to make some adjustments in certain general formulae of previous papers, the necessity for which appeared in discussions with other workers on this subject. The general results thus amended are then applied to a general discussion of the stability problem including the effect of the trailing wake which was deliberately excluded in the previous paper. The general conclusion is that to a first approximation the wake, as usually assumed, has little or no effect on the reality of the roots of the period equation, but that it may introduce instability of the oscillations, if the centre of gravity of the element is not sufficiently far forward. During the discussion contact is made with certain partial results recently obtained by von Karman and Sears, which are shown to be particular cases of the general formulae. An Appendix is also added containing certain results on the motion of a vortex behind a moving cylinder, which were obtained to justify certain of the assumptions underlying the trail theory.

Numerical and Experimental Approaches to Investigate the Stability of a Motorcycle Vehicle

2006 ◽  
Author(s):  
Federico Cheli ◽  
Marco Bocciolone ◽  
Marco Pezzola ◽  
Elisabetta Leo
Keyword(s):  
Degrees Of Freedom ◽  
Structural Parameters ◽  
Experimental Tests ◽  
Roll Angle ◽  
Longitudinal Motion ◽  
Reference Trajectory ◽  
Steering Angle ◽  
Steady State Condition ◽  
The Stability ◽  
Linearized Model

The study of motorcycle’s stability is an important task for the passenger’s safety. The range of frequencies involved for the handling stability is lower than 10 Hz. A numerical model was developed to access the stability of a motorcycle vehicle in this frequency range. The stability is analysed using a linearized model around the straight steady state condition. In this condition, the vehicle’s vertical and longitudinal motion are decoupled, hence the model has only four degrees of freedom (steering angle, yaw angle, roll angle and lateral translation), while longitudinal motion is imposed. The stability was studied increasing the longitudinal speed. The input of the model can be either a driver input manoeuvre (roll angle) or a transversal component of road input able to excite the vibration modes. The driver is introduced in the model as a steering torque that allows the vehicle to follow a reference trajectory. To validate the model, experimental tests were done. To excite the vehicle modes, the driver input was not taken into account considering both the danger for the driver and the repeatability of the manoeuvre. Two different vehicle configurations were tested: vehicle 1 is a motorcycle [7] and vehicle 2 is a scooter. Through the use of the validated model, a sensitivity analysis was done changing structural (for example normal trail, steering angle, mass) and non structural parameters (for example longitudinal speed).

Influence of Axial Excitations and of Boundary Conditions on the Parametric Instability of a Beam

1995 ◽  
Author(s):  
Régis Dufour ◽  
Alain Berlioz ◽  
Thomas Streule
Keyword(s):  
Finite Element ◽  
Boundary Conditions ◽  
Ritz Method ◽  
Parametric Instability ◽  
Experimental Tests ◽  
Time Varying ◽  
Periodic Force ◽  
Modal Reduction ◽  
Time Varying Parameter ◽  
The Stability

Abstract In this paper the stability of the lateral dynamic behavior of a pinned-pinned, clamped-pinned and clamped-clamped beam under axial periodic force or torque is studied. The time-varying parameter equations are derived using the Rayleigh-Ritz method. The stability analysis of the solution is based on Floquet’s theory and investigated in detail. The Rayleigh-Ritz results are compared to those of a finite element modal reduction. It shows that the lateral instabilities of the beam depend on the forcing frequency, the type of excitation and the boundary conditions. Several experimental tests enable the validation of the numerical results.

Design of a Force Feedback Chatter Control System

1972 ◽  
Vol 94 (1) ◽  
pp. 5-10 ◽  
Author(s):  
C. Nachtigal
Keyword(s):  
Machine Tool ◽  
Frequency Domain ◽  
Transient Response ◽  
Force Feedback ◽  
Design Procedure ◽  
Experimental Tests ◽  
Work Piece ◽  
Regenerative Chatter ◽  
Chatter Control ◽  
The Stability

The analysis of machine tool chatter from frequency domain considerations is generally accepted as a valid representation of the regenerative chatter phenomenon. However, active control of regenerative chatter is still in its embryonic stage. It was established in reference [2] that a measurement of the cutting force could be effectively used in conjunction with a controller and a tool position servo system to increase the stability of an engine lathe and to improve its transient response. This paper presents the design basis for such a system, including both analytical and experimental considerations. The design procedure stems from a real part stability criterion based on the work by Merritt [1]. Because of the unknown variability in the dynamics of a machine tool system, the controller parameters were chosen to accomodate some mismatch between structure and tool servo dynamics. Experimental tests to determine the stability zone of the controlled machine tool system qualitatively confirmed the analytical design results. The experimental results were consistent in that the transient response tests confirmed the frequency domain stability tests. It was also demonstrated experimentally that the equivalent static stiffness of a flexible work-piece system could be substantially increased.

scholarly journals Virtual Testing of Counterbalance Forklift Trucks: Implementation and Experimental Validation of a Numerical Multibody Model

Machines ◽  
2020 ◽  
Vol 8 (2) ◽  
pp. 26
Author(s):  
Alberto Martini ◽  
Giovanni Paolo Bonelli ◽  
Alessandro Rivola
Keyword(s):  
Model Updating ◽  
Experimental Tests ◽  
Rigid Bodies ◽  
Specific Test ◽  
Operating Cycle ◽  
Virtual Testing ◽  
Multibody Model ◽  
Testing Tools ◽  
Forklift Truck ◽  
Preliminary Model

This study investigates the dynamic behavior of a recently developed counterbalance forklift truck. The final objective is creating virtual testing tools based on numerical multibody models to evaluate the dynamic stresses experienced by the forklift family of interest during a reference operating cycle, defined by the manufacturer’s testing protocols. This work aims at defining sufficiently accurate and easy-to-implement modelling approaches and validation procedures. It focuses on a specific test, namely the passage of a speed-bump-like obstacle at high velocity, which represents one of the most severe conditions within the reference cycle. Indeed, unlike most of the other wheeled vehicles, forklifts typically do not have advanced suspension systems and their dynamic response is significantly affected by ground irregularities. To this end, a preliminary model of the complete forklift, featuring rigid bodies and a simplified tire–ground contact model, is implemented with a commercial software. Experimental tests are conducted on the forklift to measure the vehicle vibrations when running on the obstacle, for model validation purposes. After model updating, the results provided by the numerical simulations match the experimental data satisfactorily. Hence, the modelling and validation strategies are proven viable and effective.

scholarly journals Large Scale Renewable Energy Integration: Issues and Solutions

Energies ◽  
2019 ◽  
Vol 12 (10) ◽  
pp. 1996 ◽  
Author(s):  
G. V. Brahmendra Kumar ◽  
Ratnam Kamala Sarojini ◽  
K. Palanisamy ◽  
Sanjeevikumar Padmanaban ◽  
Jens Bo Holm-Nielsen
Keyword(s):  
Renewable Energy ◽  
Large Scale ◽  
Renewable Energy Sources ◽  
Frequency Variation ◽  
Energy Integration ◽  
Renewable Energy Integration ◽  
Safety Issues ◽  
Additional Strain ◽  
The Stability ◽  
Stability Issues

In recent years, many applications have been developed for the integration of renewable energy sources (RES) into the grid in order to satisfy the demand requirement of a clean and reliable electricity generation. Increasing the number of RES creates uncertainty in load and power supply generation, which also presents an additional strain on the system. These uncertainties will affect the voltage and frequency variation, stability, protection, and safety issues at fault levels. RES present non-linear characteristics, which requires effective coordination control methods. This paper presents the stability issues and solutions associated with the integration of RES within the grid.

CFD Methodology for the Simulation of Mixture Formation of High Performance PFI Engines

2011 ◽  
Author(s):  
Claudio Forte ◽  
Gian Marco Bianchi ◽  
Enrico Corti ◽  
Gaspare Argento ◽  
Stefano Fantoni
Keyword(s):  
High Performance ◽  
Experimental Tests ◽  
Critical Issue ◽  
Spark Ignition Engines ◽  
Mixture Formation ◽  
Injection Process ◽  
Cfd Models ◽  
Cycle Simulation ◽  
Spark Plug ◽  
The Stability

Mixture composition strongly influences the stability of combustion of spark ignition engines. The control of air to fuel ratio at ignition is a critical issue for high performance engines: due to the low stroke-to-bore ratio the maximum power is reached at very high regimes, letting little time to the fuel to evaporate and mix with air. The aim of this work is to present a CFD methodology for the evaluation of mixture formation applied to a Ducati high performance engine. The phenomena involved in the process are highly heterogeneous, and particular care must be taken to the choice of CFD models and their validation. In the present work all the main models involved in the simulations are validated against experimental tests available in the literature, selected based on the similarity of physical conditions with those of the engine configuration under analysis. The multi-cycle simulation methodology here presented reveals to be a useful tool for the evaluation of the mixture quality around the spark plug at ignition, allowing a parametric analysis of the effects of the injection process on engine output.

Stochastic resonance and stability for an ecological vegetation growth system driven by colored noises and multiplicative signal

2016 ◽  
Vol 30 (24) ◽  
pp. 1650308 ◽  
Author(s):  
Kang-Kang Wang ◽  
Ya-Jun Wang ◽  
Jian-Cheng Wu
Keyword(s):  
Stochastic Resonance ◽  
Multiplicative Noise ◽  
Signal To Noise Ratio ◽  
Periodic Signal ◽  
Expansion Process ◽  
Correlation Times ◽  
Vegetation Growth ◽  
Growth System ◽  
Speed Up ◽  
The Stability

In this paper, we investigate the steady-state properties and the transition rate for an ecological vegetation growth system induced by the terms of the colored multiplicative and additive noises. Numerical results indicate that the multiplicative noise and the additive one can reduce the stability of the ecological system and slow down the development velocity of the vegetation, while two noise self-correlation times can increase the stability of the system and speed up the expansion process of the vegetation system. With respect to the stochastic resonance (SR) phenomenon caused by noise terms and a multiplicative weak periodic signal, the results show that the additive noise always enhances the SR effect, two noise self-correlation time terms can produce SR phenomenon, but play opposite roles in enhancing or inhibiting the SR effect under different parameter conditions. In particular, the two self-correlation times can keep up the maximum of the signal-to-noise ratio (SNR) invariant in specific situations. Analogously, the multiplicative noise can not only improve the SNR, but also restrain the SR phenomenon in different cases.

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