Direct and inverse dynamic quasilinear problems of poroelasticity

2021 ◽  
Author(s):  
Kholmatzhon Imomnazarov ◽  
A. E. Kholmuradov ◽  
Nosir Dilmuradov
Keyword(s):  
Inverse Dynamic ◽  
Quasilinear Problems

Inductor Saturation Compensation in Three-Phase Three-Wire Voltage-Source Converters via Inverse System Dynamics-I

2020 ◽  
Author(s):  
Ziya Özkan ◽  
Ahmet Masum Hava
Keyword(s):  
Dynamic Model ◽  
Dynamic Performance ◽  
Current Control ◽  
Inverse System ◽  
Voltage Source ◽  
Voltage Source Converter ◽  
Two Phase ◽  
Inverse Dynamic ◽  
Three Phase ◽  
Steady State Current

In three-phase three-wire (3P3W) voltage-source converter (VSC) systems, utilization of filter inductors with deep saturation characteristics is often advantageous due to the improved size, cost, and efficiency. However, with the use of conventional synchronous frame current control (CSCC) methods, the inductor saturation results in significant dynamic performance loss and poor steady-state current waveform quality. This paper proposes an inverse dynamic model based compensation (IDMBC) method to overcome these performance issues. Accordingly, a review of inductor saturation and core materials is performed, and the motivation on the use of saturable inductors is clarified. Then, two-phase exact modelling of the 3P3W VSC control system is obtained and the drawbacks of CSCC have been demonstrated analytically. Based on the exact modelling, the inverse system dynamic model of the nonlinear system is obtained and employed such that the nonlinear plant is converted to a fictitious linear inductor system for linear current regulators to perform satisfactorily.

Inverse Dynamic Model and a Control Application of a Novel 6-DOF Hybrid Kinematics Manipulator

2010 ◽  
Vol 63 (1) ◽  
pp. 3-23 ◽  
Author(s):  
Peter Paul Pott ◽  
Achim Wagner ◽  
Essameddin Badreddin ◽  
Hans-Peter Weiser ◽  
Markus L. R. Schwarz
Keyword(s):  
Dynamic Model ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Control Application ◽  
Hybrid Kinematics

Dynamic Modeling of a High-Dynamic Flight Simulator

2014 ◽  
Vol 687-691 ◽  
pp. 610-615 ◽  
Author(s):  
Hui Liu ◽  
Li Wen Guan
Keyword(s):  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Flight Simulator ◽  
Inverse Dynamic ◽  
Dynamic Formulation ◽  
Time Histories ◽  
Rotational Degrees Of Freedom ◽  
High Dynamic ◽  
Euler Approach ◽  
Simulation Results

High-dynamic flight simulator (HDFS), using a centrifuge as its motion base, is a machine utilized for simulating the acceleration environment associated with modern advanced tactical aircrafts. This paper models the HDFS as a robotic system with three rotational degrees of freedom. The forward and inverse dynamic formulations are carried out by the recursive Newton-Euler approach. The driving torques acting on the joints are determined on the basis of the inverse dynamic formulation. The formulation has been implemented in two numerical simulation examples, which are used for calculating the maximum torques of actuators and simulating the time-histories of kinematic and dynamic parameters of pure trapezoid Gz-load command profiles, respectively. The simulation results can be applied to the design of the control system. The dynamic modeling approach presented in this paper can also be generalized to some similar devices.

Experimental Validation of a Dynamic Simulation

1990 ◽  
Author(s):  
K. Harold Yae ◽  
Su-Tai Chern ◽  
Howyoung Hwang
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Simulation ◽  
Time Domain ◽  
Experimental Validation ◽  
Initial Conditions ◽  
Hydraulic Cylinder ◽  
Force Output ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
The Time Domain

Abstract Using forward and inverse dynamic analysis, the dynamic simulation of a backhoe has been compared with experiments. In the experiment, recorded were the configuration and force histories; that is, velocity and position, and force output from the hydraulic cylinder-all were measured in the time domain. When the experimental force history is used as driving force in the simulation, forward dynamic analysis produces a corresponding motion history. And when the experimental motion history is used as if a prescribed trajectory, inverse dynamic analysis generates a corresponding force history. Therefore, these two sets of motion and force histories — one set from experiment, and the other from the simulation that is driven forward and backward with the experimental data — are compared in the time domain. The comparisons are discussed in regard to the effects of variations in initial conditions, friction, and viscous damping.

Design Human-Robot Collaborative Lifting Task Using Optimization

2021 ◽  
Author(s):  
Asif Arefeen ◽  
Yujiang Xiang
Keyword(s):  
Degrees Of Freedom ◽  
Joint Angle ◽  
Joint Torque ◽  
Robotic Arm ◽  
Inverse Dynamic ◽  
Floating Base ◽  
Grasping Forces ◽  
Design Variables ◽  
Human Arm ◽  
Lifting Task

Abstract In this paper, an optimization-based dynamic modeling method is used for human-robot lifting motion prediction. The three-dimensional (3D) human arm model has 13 degrees of freedom (DOFs) and the 3D robotic arm (Sawyer robotic arm) has 10 DOFs. The human arm and robotic arm are built in Denavit-Hartenberg (DH) representation. In addition, the 3D box is modeled as a floating-base rigid body with 6 global DOFs. The interactions between human arm and box, and robot and box are modeled as a set of grasping forces which are treated as unknowns (design variables) in the optimization formulation. The inverse dynamic optimization is used to simulate the lifting motion where the summation of joint torque squares of human arm is minimized subjected to physical and task constraints. The design variables are control points of cubic B-splines of joint angle profiles of the human arm, robotic arm, and box, and the box grasping forces at each time point. A numerical example is simulated for huma-robot lifting with a 10 Kg box. The human and robotic arms’ joint angle, joint torque, and grasping force profiles are reported. These optimal outputs can be used as references to control the human-robot collaborative lifting task.

Drive System Sizing of a 6-DOF Parallel Robotic Platform

2014 ◽  
Author(s):  
Hermes Giberti ◽  
Davide Ferrari
Keyword(s):  
Optimal Solution ◽  
Parallel Robot ◽  
Drive System ◽  
Pareto Optimal ◽  
Hardware In The Loop ◽  
Motion Simulation ◽  
Inverse Dynamic ◽  
Kinematic Chains ◽  
Fixed Base ◽  
Parallel Kinematic

In this work, it is considered a 6-DoF robotic device intended to be applied for hardware-in-the-loop (HIL) motion simulation with wind tunnel models. The requirements have led to a 6-PUS parallel robot whose linkages consist of six closed-loop kinematic chains, connecting the fixed base to the mobile platform with the same sequence of joints: actuated Prism (P), Universal (U), and Spherical (S). As is common for parallel kinematic manipulators (PKMs), the actual performances of the robot depend greatly on its dimensions. Therefore, a kinematic synthesis has been performed and several Pareto-optimal solutions have been obtained through a multi-objective optimization of the machine geometric parameters, using a genetic algorithm. In this paper, the inverse dynamic analysis of the robot is presented. Then, the results are used for the mechanical sizing of the drive system, comparing belt- to screw-driven units and selecting the motor-reducer groups. Finally, the best compromise Pareto-optimal solution is definitely chosen.

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