Method for computing the stability margin of 2-D discrete systems

1990 ◽  
Vol 26 (15) ◽  
pp. 1139
Author(s):  
S. Tzafestas ◽  
A. Kanellakis ◽  
N. Theodorou
Keyword(s):  
Stability Margin ◽  
Discrete Systems ◽  
The Stability

Computation of the stability margin of two-dimensional discrete systems

1992 ◽  
Vol 37 (6) ◽  
pp. 824-827 ◽  
Author(s):  
A. Kanellakis ◽  
S.G. Tzafestas ◽  
N. Theodorou
Keyword(s):  
Stability Margin ◽  
Discrete Systems ◽  
Two Dimensional ◽  
The Stability

scholarly journals Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4911
Author(s):  
Qian Hao ◽  
Zhaoba Wang ◽  
Junzheng Wang ◽  
Guangrong Chen
Keyword(s):  
Impedance Control ◽  
Stability Margin ◽  
Planning Method ◽  
Legged Robots ◽  
Gait Planning ◽  
Quadruped Locomotion ◽  
Quadruped Robots ◽  
Adjustment Strategy ◽  
Compliant Behavior ◽  
The Stability

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

Study on the characteristics of secondary arc current of UHV high compensation degree TCSC line under the fine-tuning mode

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Baina He ◽  
Yadi Xie ◽  
Jingru Zhang ◽  
Nirmal-Kumar C. Nair ◽  
Xingmin He ◽  
...  
Keyword(s):  
Transmission Line ◽  
Transmission Lines ◽  
Stability Margin ◽  
Transmission Capacity ◽  
Fine Tuning ◽  
Series Compensation ◽  
Arc Current ◽  
Compensation Device ◽  
The Stability ◽  
Recovery Voltage

Abstract In the transmission line, the series compensation device is often used to improve the transmission capacity. However, when the fixed series capacitor (FSC) is used in high compensation series compensation device, the stability margin cannot meet the requirements. Therefore, thyristor controlled series compensator (TCSC) is often installed in transmission lines to improve the transmission capacity of the line and the stability of the system. For cost considerations, the hybrid compensation mode of FSC and TCSC is often adopted. However, when a single-phase grounding fault occurs in a transmission line with increased series compensation degree, the unreasonable distribution of FSC and TCSC will lead to the excessive amplitude of secondary arc current, which is not conducive to rapid arc extinguishing. To solve this problem, this paper is based on 1000 kV Changzhi-Nanyang-Jingmen UHV series compensation transmission system, using PSCAD simulation program to established UHV series compensation simulation model, The variation law of secondary arc current and recovery voltage during operation in fine tuning mode after adding TCSC to UHV transmission line is analyzed, and the effect of increasing series compensation degree on secondary arc current and recovery voltage characteristics is studied. And analyze the secondary arc current and recovery voltage when using different FSC and TCSC series compensation degree schemes, and get the most reasonable series compensation configuration scheme. The results show that TCSC compensation is more beneficial to arc extinguishing under the same series compensation. Compared with several series compensation schemes, it is found that with the increase of the proportion of TCSC, the amplitude of secondary arc current and recovery voltage vary greatly. Considering various factors, the scheme that is more conducive to accelerating arc extinguishing is chosen.

scholarly journals Stability of Nonlinear Autonomous Quadratic Discrete Systems in the Critical Case

2010 ◽  
Vol 2010 ◽  
pp. 1-23 ◽  
Author(s):  
Josef Diblík ◽  
Denys Ya. Khusainov ◽  
Irina V. Grytsay ◽  
Zdenĕk Šmarda
Keyword(s):  
Lyapunov Functions ◽  
Critical Case ◽  
Autonomous Systems ◽  
Discrete Systems ◽  
Simple Eigenvalue ◽  
Discrete Equations ◽  
The Matrix ◽  
The Stability ◽  
Important Characterization

Many processes are mathematically simulated by systems of discrete equations with quadratic right-hand sides. Their stability is thought of as a very important characterization of the process. In this paper, the method of Lyapunov functions is used to derive classes of stable quadratic discrete autonomous systems in a critical case in the presence of a simple eigenvalueλ=1of the matrix of linear terms. In addition to the stability investigation, we also estimate stability domains.

scholarly journals ALGORITHM AND SOFTWARE FOR CALCULATING THE STABILITY OF THE FORM OF EQUILIBRIUM OF DISCRETE SYSTEMS

2019 ◽  
Vol 13 (3) ◽  
pp. 44-49
Author(s):  
A.A. SHKURUPIY ◽  
A.N. PASCHENKO ◽  
P.B. MYTROFANOV
Keyword(s):  
Discrete Systems ◽  
Stability Loss ◽  
Transcendental Equation ◽  
Loss Of Stability ◽  
Displacement Method ◽  
Software Complex ◽  
Complex Functions ◽  
Transcendental Functions ◽  
The Stability ◽  
Theoretical Mechanics

The paper presents an algorithm for calculating the stability of the form of equilibrium of the first kind of compressed discrete systems by the method of displacements in combination with themethods of iterations and bisection. The use of the displacement method in combination with the iteration and bisection methods makes it possible to effectively determine the minimum critical stress or strain at the first bifurcation and their corresponding form of loss of stability, both for statically determined and statically undetectable systems. This approach, using matrixforms, makes it possible to significantly simplify the calculations of the analytical condition for the loss of stability of compressed discrete systems (the stability loss equation), which has high orders, as well as to construct the form of loss of stability corresponding to a critical load, that is, to solve the problem of loss of stability of equilibrium. The calculation of the compressed discrete system on the stability of the form of equilibrium actually reduces to the solution of the difficultly described nonlinear transcendental equation, which is the equation of loss of stability. The difficulty lies in the absence of an analytical solution of such an equation due to the presence of complex functions of Zhukovsky, which have transcendental functions in their structure. Such solution can be performed only with the use of numerical methods. This algorithm for calculating the loss of equilibrium of the first kind of compressed discrete systems by displacement in combination with the methods of iteration and bisection is implemented in the software complex "Persist" for a PC in Windows OS. The program was approbated and implemented in theeducational process at the Department of Structural and Theoretical Mechanics of the Poltava National Technical Yuri Kondratyuk University during the training of specialists in engineering specialties.

scholarly journals Suppression of Subsynchronous Vibration in the SSME HPFTP

1991 ◽  
Author(s):  
David G. Becht ◽  
Larry A. Hawkins ◽  
Joseph K. Scharrer ◽  
Brian T. Murphy
Keyword(s):  
Test Data ◽  
Stability Margin ◽  
Data Evaluation ◽  
Fire Testing ◽  
Dynamic Data ◽  
Hot Gas ◽  
The Stability

Abstract SSME HPFTP hot-fire dynamic data evaluation and rotordynamic analysis both confirm that two of the most significant turbopump attributes in determining susceptibility to subsynchronous vibration are impeller interstage seal configuration and rotor sideload resulting from turbine turnaround duct configuration and hot gas manifold. Recent hot-fire testing has provided promising indications that the incorporation of roughened “damping” seals at the impeller interstages may further increase the stability margin of this machine. A summary of the analysis which led to the conclusion that roughened seals would enhance the stability margin is presented herein, along with a correlation of the analysis with recent test data.

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