scholarly journals SMALL-SIZED UNIAXIAL TWO-WHEEL ROBOT FOR EDUCATIONAL LABORATORY

2019 ◽  
Vol 16 (32) ◽  
pp. 147-167
Author(s):  
K. S LELKOV ◽  
E. D KURIS ◽  
Y. V STOLYAROV ◽  
I. A NIKITENKO ◽  
S. V KRAPIVIN
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Physical Nature ◽  
Educational Process ◽  
Control Algorithms ◽  
Measuring Systems ◽  
Supplementary Education ◽  
Data Merging ◽  
Model Control ◽  
Scale Modelling

This article is dedicated to the development of the uniaxial two-wheel robot (UTR) constructed as the upper pendulum. This robot is intended to be used as a simple and inexpensive model for robotic engineering laboratory classes. Such robot can be used for educational purposes in higher education institutions, as well as in robotic engineering courses in schools and supplementary education institutions. Experimental UTR unit and its general specifications have been developed. The article describes the synthesis of UTR’s simplified mathematical model, control system and hardware composition. It is proven that the simplified equations are correct. In addition, it presents the algorithms of driving engines torque formation based on measurements of sensors with various physical nature and different filtration methods. Possible data merging variants’ diagram is presented. In the process of the half-full scale modelling, the researching of robot movements was conducted simultaneously with the recording of primary information from all measuring systems. As a defined motion, the stabilisation concerning the horizon from the position when the rotation angle of a platform was 40 degrees has been chosen. It has been determining that the robot's engines can enhance torque ranging from 0.05 to 0.22 Nm. The combination of the described mathematical model, control algorithms and specific features of certain structural components ensure the efficiency of UTR application in the educational process. Several UTR control system variants are described, and the simulation results are presented. The article also includes the results of hardware simulation.

scholarly journals МОДЕЛЮВАННЯ ХІМІКО-ТЕХНОЛОГІЧНИХ ПРОЦЕСІВ У SCADA ЗА ДОПОМОГОЮ ТЕХНОЛОГІЇ OPEN PLATFORM COMMUNICATIONS

2020 ◽  
pp. 59-66
Author(s):  
Ігор Леонідович Левчук ◽  
Олег Петрович Мисов ◽  
Ксенія Олексіївна Фесенко ◽  
Антон Романович Шейкус
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Mathematical Models ◽  
Information Exchange ◽  
Raw Materials ◽  
Synthesis Process ◽  
Technological Processes ◽  
Open Platform ◽  
Model Control ◽  
Opc Technology

The subject of study in the article are methods for integrating mathematical models of chemical-technological processes implemented in universal modeling programs into modern SCADA systems for developing and improving methods for controlling these processes. The goal is to develop a control system for the synthesis of acetylene in a kinetic reactor, based on a computer model created in universal modeling programs and integrated into SCADA using open platform communications (OPC) technology. Tasks: to create a mathematical model of the process of synthesis of acetylene based on the selected universal modeling program; to develop a way to integrate the resulting model into modern SCADA using OPC technology; to develop in SCADA a control system for the process of synthesis of acetylene according to a mathematical model as part of a functional human-machine interface and control subsystem algorithms; get transient graphs and prove the efficiency of the control system. Conduct a process study using a mathematical model. The methods used are computer simulation of technological processes; OPC technology; SCADA based management. The following results are obtained. A control system for the acetylene synthesis process based on SCADA Trace-Mode and a mathematical model implemented in the ChemCAD package has been developed, while the model - control system information exchange is implemented based on OPC technology. Checked and proved the efficiency of the resulting control system. A mathematical study of the process was carried out, an experimental dependence of the yield of the final product, acetylene, on the temperature, and consumption of raw materials at the inlet of the reactor was established. Conclusions. The novelty of the results is as follows. A new method is proposed for integrating mathematical models implemented in the ChemCAD modeling package into modern SCADA, based on OPC technology. A study of the process of acetylene synthesis by a mathematical model was carried out, experimental dependences of the acetylene yield on temperature and ethylene consumption at the inlet of the synthesis reactor were obtained. An analysis of the obtained experimental dependences showed the need to use cascade control algorithms to increase the efficiency of controlling the process of acetylene synthesis in a kinetic reactor.

scholarly journals MODELING AND SIMULATION OF QUAY CRANE CONTROL SYSTEM FOR PID CONTROLLER OPTIMAL PARAMETERS DETERMINATION / KRANTINĖS KRANO VALDYMO SISTEMOS KOMPIUTERINIS MODELIAVIMAS OPTIMALIOMS PID VALDIKLIO VERTĖMS NUSTATYTI

2016 ◽  
Vol 8 (5) ◽  
pp. 540-547
Author(s):  
Tomas Eglynas ◽  
Audrius Senulis ◽  
Marijonas Bogdevičius ◽  
Arūnas Andziulis ◽  
Mindaugas Jusis
Keyword(s):  
Mathematical Model ◽  
Parameter Estimation ◽  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Loop System ◽  
Control Algorithms ◽  
Closed Loop System ◽  
Matlab Simulink ◽  
Crane Control

The main control object of Quay crane, which is operating in seaport intermodal terminal cargo loading and unloading process, is the crane trolley. One of the main frequent problem, which occurs, is the swinging of the container. This swinging is caused not only by external forces but also by the movement of the trolley. The research results of recent years produced various types of control algorithms by the other researchers. The control algorithms are solving separate control problems of Quay crane in laboratory environment. However, there is still complex control algorithm design and the controller’s parameter estimation problems to be solved. This paper presents mathematical model of the Quay crane trolley mechanism with the suspended cargo. The mathematical model is implemented in Matlab Simulink environment and using Dormand-Prince solving method. The presented model of laboratory quay crane mathematical model is dedicated to parameter estimation of PID controller of closed loop system with the usage of S –form speed input profile. The article includes the dynamic model of the presented system, the description of closed loop system and modeling results. These results will be used as an initial information for the PID parameters estimation in real quay crane control system. The simu-lation of the model was performed using estimated values of controller. The sway influence of the cargo, the usage of the trolley speed input S-shaper and the PID controller was used to control the trolley speed. Jūriniame įvairiarūšiame terminale atliekant konteinerių krovos procesus, vienas iš krantinės kranų valdymo objektų yra vežimėlis. Viena iš problemų, su kuria susiduriama dažniausiai, yra konteinerio svyravimai, kuriuos, be išorinių veiksnių, taip pat sukelia ir vežimėlio judėji-mas. Remdamiesi paskutinių kelerių metų tyrimais, mokslininkai sukūrė įvairių valdymo algoritmų, kurie laboratorinėmis sąlygomis spren-džia atskiras krantinės kranų valdymo problemas. Tačiau kompleksinių ir efektyvių valdymo algoritmų ir jų valdymo sistemos parametrų nustatymo metodai vis dar kuriami ir tobulinami. Šiame darbe sudarytas krantinės krano vežimėlio su kabančiu kroviniu mechanizmo sis-temos matematinis modelis. Šis modelis realizuotas Matlab Simulink aplinkoje ir sprendžiamas taikant Dormand-Prince metodą. Sukurtas laboratorinio krantinės krano valdymo sistemos kompiuterinis modelis skirtas uždarosios valdymo sistemos PID valdiklio parametrams nustatyti, kai užduoties signalui taikomas S formos greičio kitimo profilis. Darbe pateiktas sistemos dinaminis modelis, aprašyta uždaroji valdymo sistema, pateikti kompiuterinio modeliavimo rezultatai, kuriuos planuojama panaudoti kaip pradinę informaciją realaus krano PID valdiklio parametrams derinti. Atlikta simuliacija naudojant nustatytas vertes ir įvertinti krovinio svyravimai taikant S formos greičio kitimo profilį kartu su PID valdikliu vežimėlio greičiui valdyti.

scholarly journals Fault Tolerant Traffic Control System Based on Multiobjective Optimization

2020 ◽  
Vol 24 (4) ◽  
pp. 11-18
Author(s):  
Dobrosław Cieślewicz
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Traffic Control ◽  
Fault Tolerant ◽  
Control Algorithms ◽  
Simulation Studies ◽  
Advanced Control ◽  
Traffic Control System ◽  
Matlab Programming ◽  
The Mathematical Model

The mathematical model is a simplified representation of certain phenomena, which takes into account only the essential features. Nowadays, congested road infrastructures are becoming a growing problem, especially in larger urban centres. This problem can be somewhat reduced by using advanced control algorithms. This article attempts to control the traffic flow on a macroscopic scale. For this purpose, a discrete, nonlinear mathematical model was adopted. Using the MATLAB programming environment, a control system for a small communication network was developed and optimised. Then, assuming a sample scenario, simulation studies were conducted for this network.

scholarly journals Mathematical description of a hybrid quadrocopter for the purpose of computer simulation of controlled motion

2021 ◽  
pp. 78-85
Author(s):  
Valerij Borisovich Uspenskyi ◽  
Mariia Vladimirovna Nekrasova
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Combustion Engine ◽  
Center Of Mass ◽  
Integrated Design ◽  
Control Algorithms ◽  
Main Method ◽  
Controlled Motion ◽  
And Control ◽  
The Given

The problem of constructing the most complete mathematical model of the movement of a hybrid-type quadcopter, which, in addition to electric motors, is also equipped with an internal combustion engine, is considered. The relevance of this development is due to the desire to create a control system for a quadcopter of relatively new design, and the feasibility of development is due to the desire to use integrated design, improving the design of the device and elements of navigation and control. The developed mathematical model of the motion of the center of mass of the quadcopter and around the center of mass includes control variables and takes into account the gyroscopic moments from the rotors of the engines - carriers of kinetic moments. This model can be used in the process of designing and debugging control algorithms for such aircraft. The main method of modeling is the numerical integration of the system of differential equations. The given modeling complex will allow to carry out researches on influence of perturbing factors and imperfection of elements of a control system; test and improve management laws; to modernize the design of the quadcopter to increase the efficiency of operation. The advantage of the model is its validity, openness, versatility, as it is easy to adapt to any other design of the quadcopter.

THE DEVELOPMENT OF THE MATHEMATICAL MODEL OF PREDICTING THE INDICATORS OF ACCREDITATION OF TECHNICAL UNIVERSITIES IN THE RUSSIAN FEDERATION

2017 ◽  
pp. 27-38
Author(s):  
Olga Mikhaylovna Tikhonova ◽  
Alexander Fedorovich Rezchikov ◽  
Vladimir Andreevich Ivashchenko ◽  
Vadim Alekseevich Kushnikov
Keyword(s):  
Mathematical Model ◽  
System Dynamics ◽  
Regression Model ◽  
Oriented Graph ◽  
Real Data ◽  
Educational Process ◽  
Proposed Model ◽  
Linear Differential ◽  
The University ◽  
The Mathematical Model

The paper presents the system of predicting the indicators of accreditation of technical universities based on J. Forrester mechanism of system dynamics. According to analysis of cause-and-effect relationships between selected variables of the system (indicators of accreditation of the university) there was built the oriented graph. The complex of mathematical models developed to control the quality of training engineers in Russian higher educational institutions is based on this graph. The article presents an algorithm for constructing a model using one of the simulated variables as an example. The model is a system of non-linear differential equations, the modelling characteristics of the educational process being determined according to the solution of this system. The proposed algorithm for calculating these indicators is based on the system dynamics model and the regression model. The mathematical model is constructed on the basis of the model of system dynamics, which is further tested for compliance with real data using the regression model. The regression model is built on the available statistical data accumulated during the period of the university's work. The proposed approach is aimed at solving complex problems of managing the educational process in universities. The structure of the proposed model repeats the structure of cause-effect relationships in the system, and also provides the person responsible for managing quality control with the ability to quickly and adequately assess the performance of the system.

Design and implementation of C-MEX S-functions in an Android-based networked control system laboratory

2021 ◽  
pp. 014233122110268
Author(s):  
Lei Cao ◽  
Guo-Ping Liu ◽  
Wenshan Hu ◽  
Jahan Zaib Bhatti
Keyword(s):  
Control System ◽  
Networked Control System ◽  
Networked Control ◽  
Control Algorithms ◽  
Basic Block ◽  
Air Bearing ◽  
Experiment Validation ◽  
Functional Blocks ◽  
New Feature ◽  
Three Degree Of Freedom

The Android-based networked control system laboratory (NCSLab) is a remote control laboratory that adopts an extensible architecture, mainly including Android mobile devices, MATLAB servers, controllers and test rigs. In order to conduct various simulations and experiments more effectively in NCSLab, the first key issue that needs to be solved is to enable users to design their own control algorithms or functional blocks on the Android client, rather than just using the basic block libraries provided by the system. So, this paper proposes and implements a scheme for Android-based compilation of C-MEX S-functions. With this new feature, users can design personalized algorithm according to their requirements in the form of S-functions, which can be called and executed after being compiled by MATLAB server. Finally, through the experiment validation of the three-degree-of-freedom air bearing spacecraft platform, it is proved that the method of Android-based C-MEX S-functions is reliable and efficient, and this scheme well enhances the functionality and mobility of Android-based NCSLab.

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".

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