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SMART MULTIMODE TRANSMISSION FOR AUTOMOBILES

SMART MULTIMODE TRANSMISSION FOR AUTOMOBILES

ASME International Design Engineering Technical Conferences / Computers and Information in Engineering Conference (IDETC/CIE 2017)

作者： Srinath, Nitin Kumar, Ashwin Joladarashi, Sharnappa NITK Surathkal Dept Mech Engn Mangalore India

ISBN: (纸本)9780791858158

There are two basic types of transmissions- manual and automatic. While manual transmissions have greater transmission efficiency and better overall driving experience, it is difficult and not as easy to handle as automatic transmissions. Automatic transmissions make life a lot easier for the driver but are less efficient and laggard. So, the aim of this project is to take the best of both worlds and combine it in one, i.e. a transmission system that is capable of working as both a manual and an automatic transmission. For this, we plan to automate a regular manual transmission with a manual override option on both the clutch and the gearbox systems. Motors will be used to control the clutch and the changing of gears in the gearbox. In the manual mode, the motors will be operated by user input switches (clutch pedal and stick shift). In the automatic mode, the same motors will be controlled by a control algorithm based on various inputs like weight of the car, inclination, speed of the engine and the car etc.

关键词： Automobiles Motors Mechanical drives Manual transmissions Weight (Mass) Switches control algorithms Engines Gears

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control algorithms for Prevention of Impacts in Rehabilitation Systems

Control Algorithms for Prevention of Impacts in Rehabilitati...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Bae, Joonbum Kong, Kyoungchul Tomizuka, Masayoshi Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA Sogang Univ Dept Mech Engn Seoul South Korea

ISBN: (纸本)9781457708398

Safety is one of the most important requirements in robotic rehabilitation systems. Vulnerable users may get injured or feel pain by a sudden impact, i.e. large assistive torque or fast change in the assistive torque from the rehabilitation systems. In automated rehabilitation systems, the desired torque is determined in real-time based on measurements that represent the patient's status. Abrupt changes of the desired torque command may cause the impact on the patient during the operation of the rehabilitation system. In this paper, a proxy is placed between the desired position and current position of the actuator as a safety buffer to prevent impacts from the rehabilitation system. The actuator tracks the proxy as accurate as possible with a sliding mode controller, which compensates for the modeling uncertainties and nonlinearities in the actuator. The performance of the proposed control algorithm has been verified by experiments with a compact series elastic actuator installed at the knee joint of an orthotic.

关键词： Actuators Humans Joints Safety Springs Torque Trajectory actuators assistive torque automated rehabilitation systems compact series elastic actuator control algorithms medical robotics nonlinearities modeling patient status robotic rehabilitation systems sliding mode controller uncertainties modeling variable structure systems

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Bird's Eye View on Systems and control - General View and Case Studies

Bird's Eye View on Systems and Control - General View and Ca...

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11th IFAC Symposium on Advances in control Education (ACE)

作者： Vamos, T. Bars, R. Sik, D. Hungarian Acad Sci Inst Comp Sci & Control MTA SZTAKI Budapest Hungary Budapest Univ Technol & Econ Dept Automat & Appl Informat MTA BME Control Engn Res Grp Budapest Hungary

Systems and control are all around us. System view, understanding systems and how they are controlled is important for everyone. The behavior of systems is determined by some fundamental principles which can be understood by everyone. The main principles governing systems and control are presented on different levels. The first level is dedicated for everyone. Comics-like interpretation is provided with explanations. The second level discusses the main topics dedicated for the interested students. Several case studies demonstrate how system view is considered in different areas of life. With this approach systems in different areas of life could be better understood contributing to better decisions influencing their performance. The third level provides deeper insight into some aspects of modern mathematical system theory, to geometric view of control systems. The material is available on a web site on the internet. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elservier Ltd. All rights reserved.

关键词： control education control case studies systems and control for everyone control disciplines control structures control algorithms geometric view of control systems

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Handling Actuator Saturation as Underactuation: Case Study With Acroboter Service Robot

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JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS 2017年第3期12卷 031011-031011页

作者： Zelei, Ambrus Bencsik, Laszlo Stepan, Gabor MTA BME Res Grp Dynam Machines & Vehicles H-1111 Budapest Hungary Budapest Univ Technol & Econ Dept Appl Mech H-1111 Budapest Hungary

Model-based control methods such as inverse dynamics control and computed torque control encounter difficulties if actuator saturation occurs. However, saturation is a common phenomenon in robotics leading to significant nonlinearity in system behavior. In this study, the saturation of the actuator torques is considered as a temporary reduction of the number of independent control inputs. The reduction of the number of actuators leads to an underactuated control problem which typically involves the handling of differential algebraic equation systems. The saturated system may become especially complex when intricate combinations of the actuator saturations appear. A servoconstraint-based inverse dynamics control method for underactuated multibody systems is applied for the treatment of actuator torque saturation. In case of human-friendly robots, the problem of saturation cannot be avoided on the level of trajectory planning because unexpected human perturbations may take place, which result in such abrupt changes in the desired trajectory that lead to saturation at some actuators. A case study for the service robot Acroboter shows the applicability of the proposed approach.

关键词： Robots Actuators Dynamics (Mechanics) Dimensions Multibody systems control algorithms

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The Modified MFC Structure for control of Certain Class of Linear and Nonlinear Plants 21

The Modified MFC Structure for Control of Certain Class of L...

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21st International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Grzywacz, Bogdan West Pomeranian Univ Technol ZUT Fac Elect Engn KSiP Szczecin Poland

ISBN: (纸本)9781509018666

The concept of control of wide class of plants with use of modified MFC (Model Following control) structure has been proposed. The primary loop in MFC structure contains so-called "associated model". This model is controlled by algorithm which makes that process of generation of consecutive amplitudes of model reference response is governed by time-variable time-scale depending on error signal. The algorithm "disconnects" state variable scheme of "associated model" when difference between reference signal and model output is equal to zero. The transient state observed on model output can be easily modified by choice of gains influencing the rate of changes of model state variables. This algorithm yields perfect performance of model output process (lack of overshoots, stability). Using accessible signals representing model state variables, their derivatives as well as error signal one can generate input signal of real plant. For accurate model of plant the plant output signal perfectly follows the model output. The identification inaccuracies can be compensated by controller in secondary feedback loop, like in classic MFC structures. It has been shown that control process can be immediately evaluated with use of IAE criterion by reading of two co-ordinates of model reference response. The attached examples confirm impressive properties of control algorithm synthesized according to proposed methodology.

关键词： control algorithms time-variable time-scale MFC structure

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Model Predictive control for Electric Heaters

Model Predictive Control for Electric Heaters

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2nd International Conference on Industrial Informatics - Computing Technology, Intelligent Technology, Industrial Information Integration (ICIICII)

作者： Wei, Di Li, Xiangshun Lei, Cheng Wuhan Univ Technol Sch Automat Wuhan Peoples R China

ISBN: (纸本)9781509035755

Electric heaters are widely applied in the industrial areas of chemistry, power and manufacturing etc. It is very important to effectively and efficiently control the heater. The performance of the controller is vital to the control system of heater. The characteristics of heater and the control algorithm could decide the performance of the whole control system. In this paper, the model of the electric heater can be simplified as a linear system which can be described in the state space form. The controller based on model predictive is proposed to control the temperature process of the heater. Simulation results show the validity of the proposed controller.

关键词： electric heaters model predictive control control algorithms

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A Comprehensive Study of Key Electric Vehicle (EV) Components, Technologies, Challenges, Impacts, and Future Direction of Development

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ENERGIES 2017年第8期10卷 1217页

作者： Un-Noor, Fuad Padmanaban, Sanjeevikumar Mihet-Popa, Lucian Mollah, Mohammad Nurunnabi Hossain, Eklas Khulna Univ Engn & Technol Dept Elect & Elect Engn Khulna 9203 Bangladesh Univ Johannesburg Dept Elect & Elect Engn ZA-2006 Auckland Pk South Africa Ostfold Univ Coll Fac Engn Kobberslagerstredet 5 N-1671 Krakeroy Fredrikstad Norway Oregon Tech Dept Elect Engn & Renewable Energy Klamath Falls OR 97601 USA

Electric vehicles (EV), including Battery Electric Vehicle (BEV), Hybrid Electric Vehicle (HEV), Plug-in Hybrid Electric Vehicle (PHEV), Fuel Cell Electric Vehicle (FCEV), are becoming more commonplace in the transportation sector in recent times. As the present trend suggests, this mode of transport is likely to replace internal combustion engine (ICE) vehicles in the near future. Each of the main EV components has a number of technologies that are currently in use or can become prominent in the future. EVs can cause significant impacts on the environment, power system, and other related sectors. The present power system could face huge instabilities with enough EV penetration, but with proper management and coordination, EVs can be turned into a major contributor to the successful implementation of the smart grid concept. There are possibilities of immense environmental benefits as well, as the EVs can extensively reduce the greenhouse gas emissions produced by the transportation sector. However, there are some major obstacles for EVs to overcome before totally replacing ICE vehicles. This paper is focused on reviewing all the useful data available on EV configurations, battery energy sources, electrical machines, charging techniques, optimization techniques, impacts, trends, and possible directions of future developments. Its objective is to provide an overall picture of the current EV technology and ways of future development to assist in future researches in this sector.

关键词： electric vehicle energy sources motors charging technologies effects of EVs limitations of EVs energy management control algorithms global EV sales trends and future developments

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KINEMATICS ANALYSIS AND control OF A THREE:FINGERED METAMORPHIC ROBOT HAND

KINEMATICS ANALYSIS AND CONTROL OF A THREE:FINGERED METAMORP...

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ASME International Design Engineering Technical Conference / Computer and Information in Engineering Conference (IDETC/CIE)

作者： Calzati, Matteo Zhang, Ketao Castelli, Vincenzo Parenti Dai, Jian S. Univ London Kings Coll London Ctr Robot Res London WC1E 7HU England Univ Bologna Alma Mater Studiorum Viale Risorgimento 2 Bologna Italy Univ London Kings Coll London Sch Nat & Math Sci Ctr Robot Res London WC2R 2LS England Univ Bologna Alma Mater Studiorum Dipartimento Ingn Ind Meccan Applicata Macchine Bologna Italy

ISBN: (纸本)9780791850169

This paper presents the kinematics analysis of a three fingered metamorphic hand (Metahand) and the Lab View based control system of the robotic hand. In this study, the structure of the Metahand composed of an articulated palm and three fingers is introduced first. With the design parameters of the hybrid structure of the Metahand, analytical modeling of both forward and inverse kinematics is revealed, leading to reachable workspace and trajectory of all three fingertips. In particular, the analytical modeling of inverse kinematics is further verified by a numeric method Following the theoretical investigation, a complete prototype with integrated servomotors and electric circuit for control system are produced. Further, a control system with Lab View software is developed to realize the kinematics based control algorithm. A number of grasping tests are implemented to demonstrate the dexterity of the three fingered Metahand.

关键词： Computer software control algorithms Trajectories (Physics) Kinematics Servomotors Grasping Modeling End effectors Numerical analysis control systems Design Circuits Engineering prototypes

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Overcoming control Challenges in the Artificial Pancreas 11

Overcoming Control Challenges in the Artificial Pancreas

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11th International Conference on Intelligent Systems - Theories and Applications (SITA)

作者： El Hachimi, M. Ballouk, A. Lebbar, H. Mohammedia Univ Hassan II Casablanca FST Lab Elect Energy Automat & Data Proc LEEA & TI BP 146 Mohammadia 20650 Morocco

ISBN: (纸本)9781509057818

This study compares recent control algorithms of Artificial Pancreas;Proportional-Integral-Derivative (PID) and Model Predictive control (MPC). PID controller is applicable to many controls problem, often performs satisfactorily and eliminates the offset. However, it can perform poorly in some applications, does not in general provide optimal control and is unstable with integral control. On the other hand, MPC is able to deal with large multivariable constraints and can be used for non-minimal phase. Then this study focus on two issues, the first one is the nonlinearity of the control problem, and it is demonstrated how this can be tackled via asymmetric objective functions, the proposed MPC strategy employs an asymmetric, state-dependent objective function that leads to a nonlinear optimization problem, The second issue is to propose a velocity-weighting mechanism, within an MPC problem's cost function, that facilitates penalizing predicted hyperglycemic blood-glucose excursions based on the predicted blood-glucose levels' rates of change.

关键词： control algorithms Artificial Pancreas nonlinearity PID MPC multivariable constraints

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Group Regional Consensus of Networked Lagrangian Systems With Input Disturbances

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2017年第9期139卷 094501-094501页

作者： Liu, Jun Miao, Zhonghua Ji, Jinchen Zhou, Jin Shanghai Univ Shanghai Inst Appl Math & Mech Shanghai 200072 Peoples R China Jining Univ Dept Math Qufu 273155 Shandong Peoples R China Shanghai Univ Sch Mechatron Engn & Automat Shanghai 200072 Peoples R China Univ Technol Sydney Fac Engn & IT POB 123 Ultimo NSW 2007 Australia Shanghai Univ Shanghai Inst Appl Math & Mech Shanghai Key Lab Mech Energy Engn Shanghai 200072 Peoples R China

Networked multirobot systems under the coordinated control can perform tasks more effectively than a group of individually operating robots. This paper studies the group regional consensus of networked multirobot systems (formulated by second-order Lagrangian dynamics) having input disturbances under directed acyclic topology. An adaptive control protocol is designed to achieve group regional consensus of the networked Lagrangian systems with parametric uncertainties for both leader and leader-less cases. Sufficient conditions are established to guarantee group regional consensus for any prior given desired consensus errors. Compared with the existing work, a distinctive feature of the proposed control algorithm is that the stability analysis indicates the global validity of the obtained consensus results. Numerical examples are provided to demonstrate the effectiveness of the proposed scheme.

关键词： Adaptive control Errors Topology Theorems (Mathematics) Dynamics (Mechanics) Stability control algorithms Robots Computer simulation Uncertainty

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