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SSRN 2025年

作者： Sun, Guoxin Xia, Longfei Du, Xinpeng Yu, Qihui Zhang, Jianlong Qin, Ripeng School of Mechanical Engineering Inner Mongolia University of Science and Technology Inner Mongolia Autonomous Region Baotou014010 China Inner Mongolia Engineering Technology Research Center of Mechatronics System Intelligent Diagnosis & Control Engineering 014010 China Inner Mongolia Ming yang North Smart Energy Research and Development Center Co LTD China Department of Mechanical Engineering Denmark Inner Mongolia University of Science and Technology China

In response to the limitations of existing external pipe-crawling robots, which are unable to automatically adjust clamping force during operation, a novel external pipe-crawling robot has been designed. To enable adaptive clamping based on varying pipeline conditions, an adaptive clamping force control method based on optimal speed curve tracking is proposed. First, the target clamping force is calculated according to pipeline conditions, and it is then converted into a target speed signal through optimal speed curve planning. Subsequently, the motor precisely tracks the speed signal to achieve accurate clamping force control. Experimental results from the robot prototype demonstrate that the proposed algorithm maintains a clamping force control error rate of less than 8.0% under pipelines with different diameters, inclination angles, and surface roughness, ensuring stable operation across various pipeline conditions. © 2025, The Authors. All rights reserved.

关键词： Clamping devices

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Prototype Development of Portable Head Feed Harvesting Robot 5

Prototype Development of Portable Head Feed Harvesting Robot

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5th International Symposium on Material, mechatronics and Energy 2018, ISMME 2018

作者： Anugrah, Muh Rifai Jeky Muhammad, Abdul Kadir Taufik, Akhmad Syam, Rafiuddin Center for Mechatronics and Control System Mechatronic Engineering Polytechnic of Ujung Pandang Indonesia

This study aims to develop a prototype of portable head feed harvesting robot that can be installed in a tractor so that the users of tractors that initially only function during the farming season can also function during the harvesting season. This machine is divided into 3 main parts. In the first part there is a cutting mechanism that functions to cut rice using a DC electric motor with a crank mechanism connection to the cutting shaft. The second part is a rice lifting mechanism which functions to lift the rice cut into the conveyor belt position. The third part is a connection that connects the rice cutting machine to the used tractor using a bolt connection. The machine has been tested on rice field and work successfully. © Published under licence by IOP Publishing Ltd.

关键词： Harvesting

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Modeling and control design of switched reluctance machines using modelica

Modeling and control design of switched reluctance machines ...

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IASTED International Conference on Applied Simulation and Modelling, ASM 2011

作者： Ji, Yang Bals, Johann Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

ISBN: (纸本)9780889868939

Compared with traditional electric machines, switched reluctance machines exhibit a significant improvement on production, robustness and efficiency. However, some inherent drawbacks of those kinds of machines such as noise and high torque ripple at low speed have to be well managed. In the last years, some dedicated control strategies to overcome the high torque ripple of switched reluctance machines have been proposed, where an accurate mathematical model is often necessary. In this paper, a novel Mod-elica library for physical modeling of switched reluctance machines is addressed. Both linear and nonlinear models of switched reluctance machines are regarded. By using physical modeling approach with Modelica language, the maximal reusability, flexibility and range of modelling can be ensured. Furthermore, fundamental control units both for current based controller design and direct torque controller design are also incorporated into the library. The Modelica switched reluctance machine library allows quick virtual prototyping and simulation of a switched reluctance machine with various relevant controller. One application example with a 16 stator 12 rotor poles 4 phase switched reluctance machine is presented to illustrate the use of the developed Modelica switched reluctance machine library.

关键词： Reusability

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A Fish Feeding Robot Prototype with a Water Level control system Using a Proportional - Integral controller 8

A Fish Feeding Robot Prototype with a Water Level Control Sy...

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2022 8th International Conference on Electrical Engineering, control and Robotics, EECR 2022

作者： Muhammad, Abdul Kadir Dermawan Center for Mechatronics and Control System Mechanical Engineering Department State Polytechnic of Ujung Pandang Indonesia

The purpose of this study is to develop a fish feeding robot prototype that equipped with a water level control system for pond use and to propose an effective control scheme for the robot prototype and the water level control system. The system used in this paper consists of a feed storage tank, a feed distribution mechanism, a feed ejection mechanism, an ejector position turning mechanism, a water level control system, a base and a solar panel system for energy sources. The three mechanisms used three DC motors as actuator, respectively. The water level control system used a water pump to pump water out of pond when the level of water exceeds the maximum level limit, and an ultrasonic sensor to measure the level of water in pond. On - Off and proportional - integral (PI) controllers used to control DC motors of the three mechanisms, and the water level control system, respectively. Performances of the robot prototype with the water level control system were examined through laboratory scale experiments. The result of the conducted experiments are presented and discussed. © Published under licence by IOP Publishing Ltd.

关键词： DC motors

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Garbage Compaction Mechanism of Three-Wheels Electrical Motorcycle 5

Garbage Compaction Mechanism of Three-Wheels Electrical Moto...

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5th International Symposium on Material, mechatronics and Energy 2018, ISMME 2018

作者： Alfaroq Putera, Andi Cahya Adi Rahman, Abdul Muhammad, Abdul Kadir Syam, Rafiuddin Center for Mechatronics and Control System Mechatronics Enginering State Polytechnic of Ujung Pandang Makassar Indonesia Departerment of Mechanical Enginering University of Hasanuddin Makassar Indonesia

This research aims to design a trash in a three-wheels electric motor with a compaction mechanism so that it can increase the volume of the trash than usual and the jack mechanism that reduces human power for waste management. This developed also includes a garbage cover with a cover mechanism that can block the smell of garbage when open or closed. The mechanism is controlled using a microcontroller and the actuator used a stepper motor. This tool has been tested using garbage and the equipment is running well. © Published under licence by IOP Publishing Ltd.

关键词： Compaction

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Development of Quadcopter for Tracking Object Using Image Processing 5

Development of Quadcopter for Tracking Object Using Image Pr...

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5th International Symposium on Material, mechatronics and Energy 2018, ISMME 2018

作者： Nugraha, Muhammad Ifan Utomo, Ardiansyah Tri Taufik, Akhmad Tandioga, Remigius Syam, Rafiuddin Center for Mechatronics and Control System Departement of Mechatronics Engineering State Polytechnic of Ujung Pandang Makassar Indonesia Mechanical Engineering Dept. Hasanuddin University Indonesia

Quadcopter is an unmanned aircraft that could be used as an image recorder at various view angle that can't be placed by a human. This research is done to planning, building and implement a quadcopter that is equipped with a camera. Then, we apply for a tracking object program in the quadcopter which is called image processing. Therefore, this research begins by designing the mechanical and electrical of the quadcopter. While the designing of the software is done by making image processing program using C++. Data collection is done by testing the device in each section. Based on the result of research and testing, the result shows that quadcopter could follow a straight moving human, then it turns 90 to right as far as 10 meters. But, there are any movements that we did not expect before, which is in the altitude of the quadcopter, it because of the instability of the loiter flight mode. © Published under licence by IOP Publishing Ltd.

关键词： Image processing

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Multi-level power quality assessment towards virtual testing of more electric aircraft

Multi-level power quality assessment towards virtual testing...

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2010 9th International Power and Energy Conference, IPEC 2010

作者： Ji, Yang Bals, Johann Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Muenchnerstr. 20 Wessling Germany

ISBN: (纸本)9781424473991

This paper introduces a multi-level power quality assessment approach towards virtual testing of more electric aircraft. Three levels with increasing accuracies are rough, approximated and exact power quality assessment. The requirement to the accuracy of power quality assessment strongly depends on different analysis jobs. With the multi-level power quality assessment approach, both sufficient accuracy and minimal cost can be ensured. Advanced steady-state analysis approaches for the switched power electronic systems with regard to the exact power quality assessment are introduced. The convergence performance of the applied steady-state analysis approaches is significantly improved by estimation of the state variables at steady-state using a generalized averaging technique. The proposed approach that has been implemented in Dymola is demonstrated by a pulse width modulated buck converter. ©2010 IEEE.

关键词： DC-DC converters

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Optimization based steady-state analysis of switched power electronic systems

Optimization based steady-state analysis of switched power e...

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2010 IEEE 12th Workshop on control and Modeling for Power Electronics, COMPEL 2010

作者： Ji, Y. Pfeiffer, A. Bals, J. Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Muenchnerstr. 20 Wessling Germany

ISBN: (纸本)9781424474639

This paper introduces an optimization based approach towards steady-state analysis of switched power electronic systems. The convergence performance of the optimization is improved by the estimation of the state variables in steady-state. Accurate state variable estimation can be achieved by previously simulating a set of multi-resolution approximations - averaged models of the original topological model using generalized averaging technique. An unified harmonic state space representation for a wide class of power electronic systems is presented to allow automatical generation of the averaged models with selective approximation accuracy. The proposed approach that has been implemented in Dymola is demonstrated by a pulse width modulated buck converter.

关键词： State space methods

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Heterogeneous, multi-tier wheel ground contact simulation for planetary exploration

Heterogeneous, multi-tier wheel ground contact simulation fo...

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2015 ECCOMAS Thematic Conference on Multibody Dynamics, Multibody Dynamics 2015

作者： Lichtenheldt, Roy Hellerer, Matthias Barthelmes, Stefan Buse, Fabian Robotics and Mechatronics Center Institute of System Dynamics and Control Münchener Straße 20 Weßling82234 Germany

ISBN: (纸本)9788494424403

Today's growing scientific interest in extraterrestrial bodies increases the necessity of extended mobility on these bodies. Thus, planetary exploration systems are facing new challenges in terms of mission planning, obstacle and soil traversability. In order to fit the tight schedules of space missions and to cover a large variety of environmental conditions, experimental test setups are complemented by numerical simulation models used as virtual prototypes. In this context we present an integrated simulation environment which allows for using different available contact models, ranging from simple but real-time capable approximations based on rigid-body modeling techniques up to very accurate solutions based on Discrete Element Method (DEM). For this work, a one-point Bekker based approach and the so-called Soil Contact Model (SCM), which is a multipoint extension of the Bekker-Wong method taking soil deformation into account, are used. These two contact models are applied for homogeneous models with only one type of contact model for all wheels as well as for a heterogeneous multi-tiered model with different contact models for the wheels. It will be shown that the multi-tiered approach enhances the simulation result accuracy compared to the results of a homogeneous model with a low level of detail while speeding up the simulation in comparison to a homogeneous higher tier model.

关键词： Finite difference method

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Frequency Characteristics Analysis of Wind–Storage Joint Frequency Regulation system Taking Into Account the State of Storage Battery

Journal of Engineering (United Kingdom)

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Journal of Engineering (United Kingdom) 2025年第1期2025卷

作者： Yu, Qihui Li, Yuhui Zhang, Jianlong Qin, Ripeng Hao, Xueqing Sun, Guoxin Department of Mechanical Engineering Inner Mongolia University of Science & Technology Baotou China Inner Mongolia Engineering Technology Research Center of Mechatronics System Intelligent Diagnosis & Control Engineering Baotou China Inner Mongolia Mingyang North Smart Energy Research and Development Center Co. Ltd. Baotou China

With the adjustment of the global energy structure, the power system under the penetration of new energy has developed rapidly. In response to the frequency security issues brought by new energy to the power system and the influence of the state of energy storage batteries on the system frequency, this paper constructs a frequency response model for wind–storage joint frequency regulation to analyze the frequency characteristics of the power system under different operating conditions. On this basis, considering the influence of the state of energy storage batteries on the system frequency, a system model under the scenario of additional load disturbance is built the influence of environmental temperature on the state of energy storage batteries is analyzed to explore the changes in system frequency under high- and low-temperature conditions;finally, the robustness of the system frequency model under different wind speed changes is analyzed. The results show that when the state of energy storage batteries is considered in the wind–storage joint frequency regulation, the system frequency overshoot is reduced by 6.01%, the frequency recovery time is shortened by 3.476 s, and the steady-state frequency error is reduced by 0.004;high- and low-temperature environments will cause the frequency recovery time to be prolonged, with an overshoot of 16.30% in the 45°C high-temperature environment and an overshoot of 52.66% in the −25°C low-temperature environment;the lowest point of the system frequency remains above 49.6 Hz in the wind speed range of 5–15 m/s. Copyright © 2025 Qihui Yu et al. Journal of Engineering published by John Wiley & Sons Ltd.

关键词： energy storage battery frequency characteristics primary frequency regulation wind power

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