Global Stabilization of a Fully Actuated Mechanical System on a Riemannian Manifold including Control Saturation Effects

2006 ◽  
Author(s):  
Nalin A. Chaturvedi ◽  
Anthony M. Bloch ◽  
N. Harris McClamroch
Keyword(s):  
Riemannian Manifold ◽  
Mechanical System ◽  
Global Stabilization ◽  
Control Saturation ◽  
Saturation Effects

Study of the dynamics of ТПА 350 automatic mill working stand elements

2020 ◽  
Vol 76 (8) ◽  
pp. 830-840
Author(s):  
S. R. Rakhmanov ◽  
V. V. Povorotnii
Keyword(s):  
Mechanical System ◽  
Dynamic Model ◽  
Maximum Amplitude ◽  
Calculation Scheme ◽  
Dynamic Loads ◽  
Forced Oscillations ◽  
Mass Model ◽  
Automatic Mill ◽  
Hollow Billet ◽  
Oscillation Movement

To form a necessary geometry of a hollow billet to be rolled at a pipe rolling line, stable dynamics of the base equipment of the automatic mill working stand has a practical meaning. Among the forces, acting on its parts and elements, significant by value short-time dynamic loads are the least studied phenomena. These dynamic loads arise during transient interaction of the hollow billet, rollers, mandrel and other mill parts at the forced grip of the hollow billet. Basing of the calculation scheme and dynamic model of the mechanical system of the ТПА 350 automatic mill working stand was accomplished. A mathematical model of dynamics of the system “hollow billet (pipe) – working stand” within accepted calculation scheme and dynamic model of the mechanical system elaborated. Influence of technological load of the rolled hollow billet variation in time was accounted, as well as variation of the mechanical system mass, and rigidity of the ТПА 350 automatic mill working stand. Differential equations of oscillation movement for four-mass model of forked sub-systems of the automatic mill working stand were made up, results of their digital calculation quoted. Dynamic displacement of the stand elements in the inter-roller gap obtained, which enabled to estimate the results of amplitude and frequency characteristics of the branches of the mill rollers setting. It was defined by calculation, that the maximum amplitude of the forced oscillations of elements of the ТПА 350 automatic mill working stand within the inter-roller gap does not exceed 2 mm. It is much higher than the accepted value of adjusting parameters of the deformation center of the ТПА 350 automatic mill. A scheme of comprehensive modernization of the rollers setting in the ТПА 350 automatic mill working stand was proposed. It was shown, that increase of rigidity of rollers setting in the ТПА 350 automatic mill working stand enables to stabilize the amplitude of forced oscillations of the working stand elements within the inter-rollers gap and considerably decrease the induced nonuniform hollow billet wall thickness and increase quality of the rolled pipes at ТПА 350.

Analysis of a 2DOF Nonlinear Mechanical System Using the Normal Form Method

2019 ◽  
Author(s):  
David Julian Gonzalez Maldonado ◽  
Peter Hagedorn ◽  
Thiago Ritto ◽  
Rubens Sampaio ◽  
Artem Karev
Keyword(s):  
Normal Form ◽  
Mechanical System ◽  
Nonlinear Mechanical ◽  
Nonlinear Mechanical System ◽  
Normal Form Method
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