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2012 13th International Carpathian control Conference, ICCC 2012

作者： Snamina, Jacek AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

The influence of non-uniform magnetic field on the beam with magnetorheological fluid is used to build the vibration control algorithms. A special laboratory stand with appropriate electromagnet was built to test free and forced vibrations of the beam with and without control. Experiments were done to determine the stiffness and damping parameters of the beam for various currents flowing in electromagnet coils. A vibration control algorithm was proposed, based on the system identification data and using the averaging technique of nonlinear system analysis. © 2012 IEEE.

关键词： Vibration control

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The application of a piezoelectric stack for control of small flow intensity hydraulic fluid

The application of a piezoelectric stack for control of smal...

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2012 13th International Carpathian control Conference, ICCC 2012

作者： Pluta, Janusz Sibielak, Marek AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

This paper aims to present the throttle valve, in which a piezoelectric stack was used for adjustment of the flow section area of the throttle aperture. The valve was built based on a proprietary design, using the components of a standard manufactured overflow valve. Laboratory tests were carried out to establish the valve's characteristics, describing its usefulness for control of small flow intensity. LabView software was used for measuring the data gathered. The test results, after conversion, were developed using the Matlab/Simuling software package. This paper presents the most notable results of the tests of a valve equipped with a high-voltage piezoelectric stack. Based on the results obtained, the functional correlation between the volumetric flow rate, pressure drop in the throttling aperture and control signal input to the piezoelectric stack were determined. © 2012 IEEE.

关键词： MATLAB

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Bi-axial exciter of mechanical vibrations

Bi-axial exciter of mechanical vibrations

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2012 13th International Carpathian control Conference, ICCC 2012

作者： Pluta, Janusz Orkisz, Pawel AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

This article presents mechanical vibrations exciter, which is electrohydraulic device designed to extorting bi-axial vibrations. The priority task of exciter is to excite physical model with related to exploitations real conditions parameters of signals The building of working device and his important assemblies are described. The most important part of exciter is electrohydraulic control system which ensures the obtainment of required parameters of generated signal. Exciter is compound from: mechanical construction, two servomechanisms, station of hydraulic power supply, electric power supply and control system. The possibility of built device with can extorting vibrations of horizontal platform both in one, as in two axis was introduced. For end the results after two years of exploitation were showed. © 2012 IEEE.

关键词： control systems

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Bi-axial exciter of mechanical vibrations

Bi-axial exciter of mechanical vibrations

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International Carpathian control Conference (ICCC)

作者： Janusz Pluta Pawel Orkisz Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

关键词： Vibrations Electrohydraulics Laboratories Servomechanisms Pistons Transducers

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Multibody bionic systems modeling - The puppet master approach

Multibody bionic systems modeling - The puppet master approa...

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International Carpathian control Conference (ICCC)

作者： Janusz Kowal Wojciech Lepiarz Andrzej Sioma Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

In this study, the puppet master approach to solve the kinematics of complex multi-body systems is introduced. The puppet master approach is shown in comparison with traditional analytical one. The method is used to solve multi-body systems of bio-inspired concept prototypes. In these examples the strong and weak sides of this approach are shown. The puppet master approach can be used to rapidly evaluate and compare different concept prototypes.

关键词： Legged locomotion Kinematics Prototypes Algorithm design and analysis Joints Dynamics

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The application of a piezoelectric stack for control of small flow intensity hydraulic fluid

The application of a piezoelectric stack for control of smal...

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International Carpathian control Conference (ICCC)

作者： Janusz Pluta Marek Sibielak Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow AGH University of Science and Technology Poland

关键词： Valves Apertures Laboratories Correlation Actuators Shape Temperature measurement

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The application of a non-uniform magnetic field to semi-active vibration control of a beam with magnetorheological fluid

The application of a non-uniform magnetic field to semi-acti...

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International Carpathian control Conference (ICCC)

作者： Jacek Snamina Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

关键词： Vibrations Laser beams Magnetic fields Electromagnets Damping Fluids Equations

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control system simulation for endoscopie surgical manipulator based on virtual chain approach

Control system simulation for endoscopie surgical manipulato...

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2012 1st International Conference on Innovative engineering Systems, ICIES 2012

作者： Ibrahim, Khalil Ramadan, Ahmed Farmi, Mohamed Kobayashi, Yo Abo-Ismail, Ahmed Fujie, Masakatus G. Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Computers and Automatic Control Engineering Dep. Tanta University Tanta Egypt Mechanical Department Mansoura University Mansoura Egypt Faculty of Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781467344388

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopie surgical manipulator. The proposed mechanism, 2-PUU 2PUS, is designed based on the screw theory and the parallel virtual chain type synthesis method. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB software. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error. © 2012 IEEE.

关键词： MATLAB

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Advanced controlling of the prototype of SMA linear actuator

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 93-101页

作者： Dominik, Ireneusz Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

During research on SMA wires the prototype of linear position actuator was built. The shape memory alloy (SMA) wires used in construction of the actuator are nonlinear and time variant. Thus, it was decided to use a fuzzy controller to control the actuator. However, because of the nature of SMA wires which work by changes of their temperature, after a few minutes of continuous work the actuator did not work accurately. In other words, the existing singleton values in a knowledge base were inappropriate. That is why each time after longer continuous work of the actuator it was needed to manually find and change the mentioned values. It took a lot of time and effort so eventually it was decided to create a real time auto-tuning algorithm which could identify crucial parameters of the actuator each time when it was needed. Together with initial values learning algorithm the advanced controlling of SMA actuator was created. © (2011) Trans Tech Publications, Switzerland.

关键词： Shape memory effect

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Fuzzy logic control of rotational inverted pendulum

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 84-92页

作者： Dominik, Ireneusz Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

The rotational inverted pendulum is a structure that was primarily developed by Katsuhisa Furuta. It is widely used thorough the control laboratories to demonstrate the effectiveness of nonlinear control algorithms. The rotational inverted pendulum is a nonlinear system of fourth order with a single input variable. In this article the full dynamic equations of motion of the rotational inverted pendulum are derived using Lagrangian formulation. Consequently, a comparison of obtained mathematical model with other models described and available in literature is conducted by means of computer simulations. Eventually, a complete energy build-up swing-up algorithm and fuzzy stabilization algorithm for the system are developed. The control algorithm is then implemented on a PLC device in order to control the existing laboratory stand available at the department of process control [1]. The algorithm is implemented with the use of ladder logic and structured text programming language. The robustness of elaborated balancing control is verified by subsequent real-time tests conducted on the laboratory stand. © (2011) Trans Tech Publications, Switzerland.

关键词： Fuzzy logic

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