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Hybrid isolation system with wire-rope isolators and magnetorheological dampers for the isolation of blast-induced vibration

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STRUCTURAL control & HEALTH MONITORING 2022年第9期29卷

作者： Shen, Chao Li, Wan-Hua Du, Jian-Guo PLA Inst Def Engn AMS Luoyang 471023 Peoples R China

The aim of this research is to improve the isolation performance and energy dissipation characteristics of the widely used passive isolation (PI) system with wire-rope isolators (WRIs) under the excitation of various blast-induced vibration loads through the use of a semi-active control system. A hybrid isolation (HI) system composed of WRIs and an innovative magnetorheological (MR) damper equipped with a motion controller is proposed, which can protect sensitive equipment and nonstructural elements by attenuating their dynamic response. The designs of the MR damper's magnetic circuit and control system were validated by establishing an electromagnetic field finite element model and a motion controller simulation model, respectively. A series of quasi-static and shock table tests were conducted on models using three types of isolation: (1) a PI with WRIs, (2) an HI without a motion controller, and (3) an HI alone. The results show that the proposed MR damper can effectively restrain the tensile vibration of WRIs, significantly increase the isolation rate, and provide greater energy dissipation in HI systems with different weights of static loading subjected to various blast-induced vibration loads.

关键词： blast-induced vibration control algorithms isolation performance magnetorheological damper wire-rope isolator

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Řídicí jednotka pro BLDC motor

Řídicí jednotka pro BLDC motor

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作者： Krejčí, Ondřej Brno University of Technology

Tato diplomová práce se zabývá problematikou EC motorů. Jsou zde popsány základní vlastnosti bezkartáčových motorů, jejich principy, způsoby konstrukce a metody sním&#... 详细信息

Tato diplomová práce se zabývá problematikou EC motorů. Jsou zde popsány základní vlastnosti bezkartáčových motorů, jejich principy, způsoby konstrukce a metody snímání polohy rotoru. Zároveň jsou zmíněny běžně používané algoritmy pro řízení EC motorů včetně teorie třífázových pulsních měničů. Práce se dále zabývá detailním návrhem univerzálního měniče pro EC motor a jeho praktickou realizací. Je zde proveden výpočet ztrát na výkonových prvcích měniče, návrh chladiče a popsáno měření na realizovaném vzorku.

关键词： EC motor třífázový střídač řídicí algoritmy vektorové řízení snímání polohy rotoru rozběh EC motoru ztrátový výkon chlazení InstaSPIN-FOC EC motor three-phase convertor control algorithms vector control rotor position detection EC motor star

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Review of snake robots in constrained environments

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ROBOTICS AND AUTONOMOUS SYSTEMS 2021年 141卷

作者： Liu, Jindong Tong, Yuchuang Liu, Jinguo Imperial Coll London Hamlyn Ctr London England Chinese Acad Sci Shenyang Inst Automat SIA State Key Lab Robot Beijing Peoples R China Chinese Acad Sci Inst Robot & Intelligent Mfg Beijing Peoples R China Univ Chinese Acad Sci Beijing Peoples R China

Snake robots have advantages of terrain adaptability over wheeled mobile robots and traditional articulated robot arms because of their limbless thin body structure and high flexibility. They have extensive applications in tasks such as rescue, disaster recovery, inspection and minimally invasive surgery. Current research on snake robots is mainly focused on snake-like locomotion and the embodiment of these motion gaits for different applications. Modular structure and real-time control algorithms are two key aspects for snake robots operating in constrained environments. This review will attempt to address both. First, a review on the snake motion and the body structure is provided, which outlines the biological foundation of all snake robots. This is followed by the mechanical structure of snake robots, especially the structure of elemental snake modules. Finally, control algorithms for variant terrain contours and obstacle avoidance are discussed. The review also outlines emerging application areas and potential future directions of snake robots. (C) 2021 Elsevier B.V. All rights reserved.

关键词： Snake robots Joint structure control algorithms Constrained environment

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Modelování a simulace robustních řídicích algoritmů pro EC motory

Modelování a simulace robustních řídicích algoritmů p...

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作者： Smilek, Jan Brno University of Technology

Tato práce se zabývá problematikou vývoje algoritmů pro řízení bezkartáčového střídavého (BLAC) motoru. Nejprve je vypracována rešeršní studie, obsahují... 详细信息

Tato práce se zabývá problematikou vývoje algoritmů pro řízení bezkartáčového střídavého (BLAC) motoru. Nejprve je vypracována rešeršní studie, obsahující odvození matematického modelu EC motoru a přehled vybraných metod senzorového i bezsenzorového řízení. Dále práce představuje realizaci simulačního modelu, sestaveného v prostředí Matlab/Simulink s využitím toolboxu SimPowerSystems. V následující části je popsána realizace algoritmu senzorového řízení motoru s využitím Hallových senzorů a odhadu polohy. Poté je představen modul pro bezsenzorový odhad polohy a způsob jeho implementace do stávajícího modelu pro zvýšení robustnosti řídicího algoritmu. Poslední část práce se zabývá tvorbou grafického prostředí pro změnu vybraných parametrů modelu a shrnuje a porovnává dosažené výsledky.

关键词： EC motor BLAC řídicí algoritmy odhad polohy matematický model Simulink EC motor BLAC control algorithms position estimation mathematical model Simulink Text

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A New Approach to the Direct Synthesis of a Digital controller

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IFAC Proceedings Volumes 1989年第18期22卷 171-176页

作者： A. De Carli A. Kozlovic Department of Computer and Systems Sciences University of Rome “La Sapienza” Via Eudossiana 18 I 00184 Roma Italy

A procedure for the design of digital controllers, without referring to the analytical model of the closed loop system, is presented. The pocedure can be applied when the model of the plant is available and the sampling time is fixed. The main requirements of a closed-loop system are defined by referring to the step and the frequency responses. By applying a spline function approximation, the sampled values of the impulsive response of closed-loop system are directly worked out. From these latter the controller is synthetized as a non recursive filter by applying a deconvolution approach. Since the implementation of a non recursive filter could require a computing time not compatible with the sampling time, a recursive filter can be deduced from the sampled values of the impulsive response of the controller. Identification procedures, based on the least square approximation, can be suitably used to this aim. An appropriate choice of the structure of the recursive filter allows to improve the accuracy without increasing its order. A CAD program, based on the proposed procedure, has been assembled by using only few commads of the MATLAB package. The program has been organized so as it can be by people not acquainted with the control of digital systems but intesested to improve the performance of the closed-loop system by using a signal processor for implementing the controller.

关键词： control algorithms numerical controllers signal processors

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Hybrid Position/Force algorithms for Biped Locomotion

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IFAC Proceedings Volumes 2000年第27期33卷 453-458页

作者： Filipe M. Silva J.A. Tenreiro Machado Dept. of Mechanical Engineering University of Aveiro Portugal Dept. of Electrical Engineering Polytechnic Institute of Porto Portugal

This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The complete walking cycle is divided in two phases: i ) single support - in which it is studied the trajectory controllability based on simple motion goals and ii ) exchange of support - in which the forward leg should absorb the impact and then gradually accept the robot’s weight. The contact of the foot with the constrained surface is modelled through linear spring-damper systems. The control algorithms are simulated and their effectiveness and robustness are discussed.

关键词： trajectory planning dynamics control algorithms force control walking

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Design and Research on Power Systems and algorithms for controlling Electric Underground Mining Machines Powered by Batteries

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ENERGIES 2021年第13期14卷

作者： Kozlowski, Artur Boloz, Lukasz Inst Innovat Technol EMAG Lukasiewicz Res Network Leopolda 31 PL-40189 Katowice Poland AGH Univ Sci & Technol Fac Mech Engn & Robot Dept Machinery Engn & Transport A Mickiewicza Av 30 PL-30059 Krakow Poland

This article discusses the work that resulted in the development of two battery-powered self-propelled electric mining machines intended for operation in the conditions of a Polish copper ore mine. Currently, the global mining industry is seeing a growing interest in battery-powered electric machines, which are replacing solutions powered by internal combustion engines. The cooperation of Mine Master, Lukasiewicz Research Network-Institute of Innovative Technologies EMAG and AGH University of Science and Technology allowed carrying out a number of works that resulted in the production of two completely new machines. In order to develop the requirements and assumptions for the designed battery-powered propulsion systems, underground tests of the existing combustion machines were carried out. Based on the results of these tests, power supply systems and control algorithms were developed and verified in a virtual environment. Next, a laboratory test stand for validating power supply systems and control algorithms was developed and constructed. The tests were aimed at checking all possible situations in which the battery gets discharged as a result of the machine's ride or operation and when it is charged from the mine's mains or with energy recovered during braking. Simulations of undesirable situations, such as fluctuations in the supply voltage or charging power limitation, were also carried out at the test stand. Positive test results were obtained. Finally, the power supply systems along with control algorithms were implemented and tested in the produced battery-powered machines during operational trials. The power systems and control algorithms are universal enough to be implemented in two different types of machines. Both machines were specially designed to substitute diesel machines in the conditions of a Polish ore mine. They are the lowest underground battery-powered drilling and bolting rigs with onboard chargers. The machines can also be charged by external

关键词： battery drive battery power supply self-propelled mining machines electric mining machines 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

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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Study of Stability of Precise Tiled-grating Device

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STROJNISKI VESTNIK-JOURNAL OF MECHANICAL ENGINEERING 2015年第2期61卷 99-106页

作者： Liao Yunfei Zhou Yi Liu Youhai Zuo Dong Tan Bo Chongqing Univ Coll Mech Engn Chongqing 400044 Peoples R China

To satisfy the high-stability requirement of a tiled grating we have analyzed and optimized the stability of a newly designed precise tiled-grating device considering three aspects: structure design, transmission chain, and control algorithms. The main structure of the device is changed from a parallel-board structure to a new tetrahedral brace design, enhancing the overall vibration stability;during the analysis of the transmission chain, the adjustment accuracy and stability of the device were ensured by slowing the growth of the error transmission factor;and for the optimization analysis of the PID control algorithms, we adopted a latch compensation method to avoid the saturated loss and a four-point central difference method to avoid the disturbances, thus enhancing the stability control of the device. To test the stability of the device, an optical experiment with a reference spot was designed. The experimental results showed that over 380 s, the ambient excitation response was always within an acceptable range. The average deflections about the X axis and Y axis are 0.243 and 0.00146 mu rad, respectively, which satisfy the stability requirement.

关键词： tiled-grating compressor stability dynamic response tetrahedral transmission chain control algorithms

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A flexible and time-efficient schedule-based communication tool for integrated lighting and thermal simulations of spaces with controlled artificial lighting and complex fenestration systems

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JOURNAL OF BUILDING PERFORMANCE SIMULATION 2016年第4期9卷 382-396页

作者： Vera, Sergio Bustamante, Waldo Molina, German Uribe, Daniel Pontificia Univ Catolica Chile Dept Construct Engn & Management Sch Engn Av Vicuna Mackenna 4860 Santiago Chile Ctr Sustainable Urban Dev CEDEUS Santiago Chile Pontificia Univ Catolica Chile Sch Architecture El Comendador 1916 Santiago Chile

Complex Fenestration Systems (CFS) incorporate a non-specular layer within the window assembly (e.g. undulated and perforated screens). CFS are often incorporated to the building facade for improving building thermal and visual performance. Thermal-lighting simulations of spaces with CFS are carried out with different tools. However, an integrated lighting and thermal analysis is a complex task to be implemented at the design stage of buildings that incorporates CFS. This paper presents mkSchedule, a new Radiance-based tool that allows the flexible and time-efficient generation of a schedule for the CFS position and luminaries power fraction. The methodology incorporates the three-phase method and use scripts written in Lua programming language. The schedule can be used for detailed thermal-lighting simulations. This work presents the application of this methodology to an office space, showing that the methodology is flexible enough to set different CFS and luminaries' controls, providing annual schedule in short computing time.

关键词： integrated thermal and lighting simulations complex fenestration systems artificial lighting schedule control algorithms

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