检索结果-内蒙古大学图书馆

International Workshop on Variable Structure Systems, VSS

作者： M. Zeinali School of Engineering Mechanical and Mechatronics Program Laurentian University Sudbury Ontario Canada

In this paper the design, analysis and implementation of improved first-order continuous adaptive sliding mode control (CASMC) based on online estimation of the lumped time-varying uncertainties for tracking control of the robot manipulators is presented. The proposed method allows to address the main drawbacks of conventional sliding mode control: the chattering phenomenon, and the requirement for a priori knowledge of the bounds of the uncertainties, and also the chattering problem associated with adaptive discontinuous sliding mode controllers, while the robustness property of the conventional sliding mode control is preserved. Furthermore, in the previously published version of the controller [1], the estimate of robot inertia matrix is needed to realize the adaptive component of the control law. In this work, the skew-symmetry property (passivity property) of robot dynamic is used to eliminate that requirement. The global stability and robustness of the proposed controller are established in the presence of time-varying uncertainties using Lyapunov's approach and fundamentals of sliding mode theory. The robustness is achieved without knowing the bound of uncertainties. The dynamic model of a two-degrees of freedom (2-DOF) rigid robot is used for simulation study and a 2-DOF flexible-link robot is used as an experimental test-bed to evaluate the performance, and robustness of the controller. Based on the simulations and experimental results, the proposed controller performs remarkably well in terms of the tracking error convergence, estimation of lumped uncertain parameter. And it is robust against un-modeled dynamics and external disturbances.

关键词： Uncertainty Mathematical model Robustness Manipulator dynamics Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

A plug-in procedure for hybridization of PI controllers ⁎

引用

IFAC-PapersOnLine 2019年第1期52卷 892-897页

作者： Mariella M. Quadros Ignacio Rubio Scola Valter J.S. Leite Sophie Tarbouriech Electrical Engineering Graduate Program CEFET-MG & UFSJ Belo Horizonte MG 30510-000 Brazil. National University of Rosario (UNR) CIFASIS — CONICET Rosario 2000 Argentine. Department of Mechatronics Engineering CEFET-MG Divinópolis MG 25503-822 Brazil. LAAS — CNRS Université de Toulouse CNRS France.

The nonlinear action of hybrid PI controllers makes possible to achieve almost none overshot with the smallest rise time possible (for the available input energy) and a settling time almost equal to the rise time. However, all of these nice properties require changes on the control loop. Our contribution is the proposition of a plug-in control action that can be added to the classical linear PI to avoid changes in the hardware, and still achieve the same behavior of a recently introduced adaptive hybrid PI controller. Our proposal is illustrated by real-time level control experiments in a nonlinear reservoir. Performance indexes are presented to evaluate the experimental tests.

关键词： Hybrid PI controllers. Implementation. Robust control. Performance limits. Integral performance indexes

来源：评论

学校读者我要写书评

暂无评论

An Improved Impedance Estimation Method Based on Power Variations in Grid-Connected Inverters

An Improved Impedance Estimation Method Based on Power Varia...

引用

Brazilian Power Electronics Conference, COBEP

作者： José H. Suárez Hugo M. C. Gomes Luan S. Santana Alfeu J. Sguarezi Filho Leandro L. O. Carralero Fabiano F. Costa Department of Electrical Engineering Federal University of Bahia Salvador Brazil Pos-graduate program in Mechatronics Federal University of Bahia Salvador Brazil Centre Eng. Model. Appl. Social Scien. Federal University of ABC Santo André Brazil

ISBN: (数字)9781728141800

ISBN: (纸本)9781728141817

This paper proposes an improved version of a grid-impedance estimation method based on imposed variations of active and reactive power injected by inverters into the grid. The variations cause changes in the synchronous voltage v d and current i q at the point of common coupling (PCC) between the inverter and the grid. These variations are used to calculate the grid impedance. The proposed improvement relies on a positive sequence estimator enhanced by a Fourier filter which provides harmonic rejection capability to the method. A complete evaluation of the proposed method is performed through simulations in Matlab/Simulink environment. The results show that the method notably refines the impedance computation in moderate weak grids.

关键词： Estimation Impedance Inverters Resistance Inductance Distributed power generation Reactive power

来源：评论

学校读者我要写书评

暂无评论

Experimental verification of UAS based battery terminal voltage collapse detection on a simple embedded platform 11

Experimental verification of UAS based battery terminal volt...

引用

11th International Symposium on mechatronics and its Applications, ISMA 2018

作者： Alkhawaja, Fares Koirala, Koshish Daffalla, Mirghani Kassem, Mohamad Tily, Muhammad Amin Al-Rousan, Ghaith Mukhopadhyay, Shayok Mechatronics Graduate Program American University of Sharjah P.O Box 26666 Sharjah United Arab Emirates Department of Electrical Engineering American University of Sharjah P.O Box 26666 Sharjah United Arab Emirates

ISBN: (纸本)9781538610787

This paper experimentally verifies that the Universal Adaptive Stabilization (UAS) based Li-ion battery terminal voltage collapse strategy can be implemented on a simple embedded platform i.e. microcontrollers. Due to the complex nature of Nussbaum type switching functions, it is usually assumed that using the UAS strategy with certain Nussbaum functions is very computationally intensive and requires extremely powerful computation equipment due to the small step-size requirements. However, in this paper we present the implementation and verification of a universal adaptive stabilizer, which uses a Mittag-Leffler function as a Nussbaum function, and implement it on a simple microcontroller based system, i.e. the PIC24FJ128GA010 which is a focal point in this paper. The adaptive observer has proven to be capable of tracking the terminal voltage of different batteries in several separate trials. In another set of experiments, it is shown that bypassing the low-pass filter may also provide alternate ways to detect Li-ion battery terminal voltage collapse. © 2018 IEEE.

关键词： Lithium-ion batteries

来源：评论

学校读者我要写书评

暂无评论

Grain Size Effect on Saddle Phenomenon in V-Bending Process of Thin Sheet Metal

Grain Size Effect on Saddle Phenomenon in V-Bending Process ...

引用

The Third International Conference on Applied engineering,Materials and Mechanics(ICAEMM 2018)

作者： Chang-Cheng Chen Yi-Xiang Hong Department of Mechanical Engineering Taipei City University of Science and Technology Master Program of Mechatronics Taipei City University of Science and Technology

The ability to predict springback on sheet metal bending processes is like an important feature of the ability to predict the final geometry of sheet metal parts. The grain size effect makes the application of traditional design method difficult in processing. Understanding the effects of grain size effects is an important and powerful way to effectively compensate for and eliminate springback as it passes through tool and process design. In this paper, 99.5% pure iron specimens were heat treated at different temperature to obtain the specified grain sizes. The effects of different grain sizes on the saddle after Vbending of the thin sheet metal were investigated. The results show that at the same thickness of specimens,the grain size has no significant effect on the saddle height. However, with the increase of the thickness of the specimens, the saddle will also be more prominent protruding height.

关键词： Grain Size Effect on Saddle Phenomenon in V-Bending Process of Thin Sheet Metal

来源：评论

学校读者我要写书评

暂无评论

Influence of Wheel-Rail Contact Stiffness on the H2 Controlled Active Suspension Design

引用

IFAC-PapersOnLine 2017年第1期50卷 3642-3647页

作者： Soyiç Leblebici A. Türkay S. Mechatronics Program Eskisehir Osmangazi University Eskisehir Turkey Electrical and Electronics Engineering Department Anadolu University Eskisehir Turkey

In this work, the mathemtical model of a railway passenger car with conventional and radial-elastic wheels is analyzed. Stochastic excitations are applied to the wheelsets. The local elasticity between the wheel and the rail is modelled by a linearized stiffness behaviour due to geometrical effects to simplify the controller design procedure for H2 analysis. An optimization of the vertical dynamics is performed by reducing the the H2 norms of the dynamic wheel forces while keeping the RMS gain of carbody accelerations at a constant level. It is seen that the controller performs well on the low frequency range where the ride comfort is more pronounced and partially on the high frequency range to suppress the environmental ground vibrations and structure-borne noise. © 2017

关键词： 17 DOF full-car model H2 control Hertzian stiffness Railway vehicle random vibrations

来源：评论

学校读者我要写书评

暂无评论

The Development Mechanism of Microcontroller-Based Water Level and Temperature Control

引用

IOP Conference Series: Materials Science and engineering 2019年第1期619卷

作者： S Ka'ka R Tandioga Lewi A K Muhammad A Rahman A Taufik Mechatronics Study Program Mechanical Engineering Department Ujung Pandang State Polytechnic 90245 Makassar South Sulawesi Indonesia

The development of Microcontroller-Based Water Level and Temperature Control is the development of Microcontroller-Based Water Level Control Design. This equipment is a tool that can be used to monitor and control the level and temperature of water. The aim of this research is to make a water level and temperature control device based on microcontroller, and to display the information of water level and temperature on the computer. The research methods used during the implementation process of this research are : literature study, hardware and software design, and data retrieval. The Microcontroller-based Water Level and Temperature Control uses two sensors, namely : ultrasonic sensor to detect water level, then the second sensor is a thermocouple sensor which is used to detect water temperature. This equipment uses a water pump to flow water from one tank to another, and the heater that used to heat water. The device has 2 buttons, where the first button is used to control the water level, and the second button is used to control the level and temperature of the water. Based on the results of the study it can be concluded that this water level and temperature control system works well as expected, where this equipment uses a multi position control system mode that has been programmed in the Arduino software and can display sensor readings in the form graphs using matlab software.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Control of master slave robotics system using optimal control schemes

引用

IOP Conference Series: Materials Science and engineering 2019年第1期610卷

作者： Sara A Rashad Mohamed Sallam A M Bassiuny A M Abdel Ghany Department of Electromechanical Engineering Mechatronics program Heliopolis University Cairo Egypt Department of Mechanical Engineering Helwan University Cairo Egypt Department of Electrical Engineering October 6 University Giza Egypt

This paper presents application of Proportional Integral Derivative (PID) and Non-linear PID (NPID) controllers to optimally operate the master slave robotic system. Teleoperation is widely used in different applications, such as surgical robots, underwater vehicles, power lines and even in space. However there are problems in teleoperation systems that may lead to degradation in system performance or even to system instability. This paper presents new and optimal control schemes that can satisfy the required performance, insure system stability and achieve zero tracking error in presence of constant time delay and model approximation. Optimal gains are obtained using the Genetic Algorithm in a systematic way that could be applied to other control schemes. The results proved the effectiveness of both control schemes than the previously applied scheme. The NPID control scheme has better performance, provided position tracking and achieved zero tracking error in less settling time than PID one. The results obtained by the presented control schemes are evaluated based on comparing the system performance using three different types of controllers which are P-like, Genetic PID and Genetic NPID. The study was carried out using MATLAB/SIMULINK 2017a.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Linearization of two-state thruster models

引用

Journal of Physics: Conference Series 2020年第1期1490卷

作者： Dieky Adzkiya Hendro Nurhadi Teguh Herlambang Department of Mathematics Institut Teknologi Sepuluh Nopember Indonesia Center of Excellence for Mechatronics and Industrial Automation Research Center Institut Teknologi Sepuluh Nopember Indonesia Department of Industrial Mechanical Engineering Institut Teknologi Sepuluh Nopember Indonesia Study Program of Information Systems Universitas Nahdlatul Ulama Surabaya Indonesia

A thruster is a device used for station keeping, attitude control, in the reaction control system, or long-duration, low-thrust acceleration. Thruster is one of the main components in autonomous surface vehicle. In th...

关键词：

来源：评论

学校读者我要写书评

暂无评论

Analysis of Bone Remodeling Under Piezoelectricity Effects Using Boundary Elements

引用

Journal of Bionic engineering 2017年第4期14卷 659-671页

作者： Miguel Cerrolaza Vannessa Duarte Diego Garzon-Alvarado National Institute of Bioengineering Central University of Venezuela Caracas Venezuela International Center for Numerical Methods in Engineering ( CIMNE) Polytechnic University of Catalonia Barcelona Spain Virtual Rooms Program ( CIMNE) Polytechnic University of Catalonia Barcelona Spain Laboratory of Biomimetics Group of Mechanobiology of Organs and Tissues Biotechnology Institute Department of Mechanical Engineering and Mechatronics National University of Colombia Bogota Colombia

Piezoelectric materials exhibit a response to mechanical-electrical coupling, which represents an important contribution to the electrical-mechanical interaction in bone remodeling process. Therefore, the study of the piezoelectric effect on bone re- modeling has high interest in applied biomechanics. The effects of mechano-regulation and electrical stimulation on bone healing are explained. The Boundary Element Method （BEM） is used to simulate piezoelectric effects on bones when shearing forces are applied to collagen fibers to make them slip past each other. The piezoelectric fundamental solutions are obtained by using the Radon transform. The Dual Reciprocity Method （DRM） is used to simulate the particular solutions in time-dependent problems. BEM analysis showed the strong influence of electrical stimulation on bone remodeling. The examples discussed in this work showed that, as expected, the electrically loaded bone surfaces improved the bone deposition. BEM results confirmed previous findings obtained by using the Finite Element Method （FEM）. This work opens very promising doors in biomechanics research, showing that mechanical loads can be replaced, in part, by electrical charges that stimulate strengthening bone density. The obtained results herein are in good agreement with those found in literature from experimental testing and/or other simu- lation approaches.

关键词： bone remodeling numerical methods piezoelectricity boundary element anisotropy

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：