Adaptive LQR-Control Design and Friction Compensation for Flexible High-Speed Rack Feeders

2013 ◽  
Vol 9 (1) ◽  
Author(s):  
Dominik Schindele ◽  
Harald Aschemann
Keyword(s):  
High Speed ◽  
Practical Importance ◽  
Control Design ◽  
Vertical Direction ◽  
Control Measures ◽  
Experimental Setup ◽  
Tracking Accuracy ◽  
Maximum Acceleration ◽  
Elastic Multibody System ◽  
Control Concept

Rack feeders for the automated operation of high bay rackings are of high practical importance. They are characterized by a horizontally movable carriage supporting a tall and flexible vertical beam structure, on which a cage containing the payload can be positioned in vertical direction. To shorten the transport times by using trajectories with increased maximum acceleration and jerk values, accompanying control measures can be introduced counteracting or avoiding undesired vibrations of the flexible structure. In this contribution, both the control-oriented modeling for an experimental setup of such a flexible rack feeder and the model-based design of a gain-scheduled feedforward and feedback control structure are presented. Whereas, a kinematical model is sufficient for the vertical axis, the horizontal motion of the rack feeder is modeled as a planar elastic multibody system with the cage position as scheduling parameter. For the mathematical description of the bending deflections, a one-dimensional Ritz ansatz is introduced. The tracking control design is performed separately for both the horizontal and the vertical axes using decentralized state-space representations. Remaining model uncertainties are estimated by a disturbance observer. The resulting tracking accuracy of the proposed control concept is shown by measurement results from the experimental setup. Furthermore, these results are compared to those obtained with an alternative control concept from previous work.

scholarly journals Leg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait

2019 ◽  
Vol 9 (7) ◽  
pp. 1508 ◽  
Author(s):  
Xuanqi Zeng ◽  
Songyuan Zhang ◽  
Hongji Zhang ◽  
Xu Li ◽  
Haitao Zhou ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
High Speed ◽  
Gait Pattern ◽  
Stride Frequency ◽  
Tracking Accuracy ◽  
Element Analysis ◽  
Maximum Acceleration ◽  
Quadruped Robots ◽  
Trot Gait ◽  
High Acceleration

In this paper, a single leg platform for quadruped robots is designed based on the motivation of high-speed locomotion. The leg is designed for lightweight and low inertia with a structure of three joints by imitating quadruped animals. Because high acceleration and extensive loadings will be involved on the legs during the high-speed locomotion, the trade-off between the leg mass and strength is specifically designed and evaluated with the finite element analysis. Moreover, quadruped animals usually increase stride frequency and decrease contact time as the locomotion speed increases, while maintaining the swing duration during trot gait. Inspired by this phenomenon, the foot-end trajectory for quadruped robots with a high-speed trot gait is proposed. The gait trajectory is planned for swing and stance phase; thus the robot can keep its stability with adjustable trajectories while following a specific gait pattern. Especially for the swing phase, the proposed trajectory can minimize the maximum acceleration of legs and ensure the continuity of position, speed, and acceleration. Then, based on the kinematics analysis, the proposed trajectory is compared with the trajectory of Bézier curve for the power consumption. Finally, a simulation with Webots software is carried out for verifying the motion stability with two trajectory planning schemes respectively. Moreover, a motion capture device is used for evaluating the tracking accuracy of two schemes for obtaining an optimal gait trajectory suitable for high-speed trot gait.

scholarly journals Droplet impact onto a spring-supported plate: analysis and simulations

2021 ◽  
Vol 128 (1) ◽  
Author(s):  
Michael J. Negus ◽  
Matthew R. Moore ◽  
James M. Oliver ◽  
Radu Cimpeanu
Keyword(s):  
High Speed ◽  
Flexible Substrate ◽  
Practical Importance ◽  
Hybrid Approach ◽  
Hydrodynamic Pressure ◽  
Analytical Framework ◽  
Canonical System ◽  
Linear Process ◽  
Plate Motion ◽  
The Impact

AbstractThe high-speed impact of a droplet onto a flexible substrate is a highly non-linear process of practical importance, which poses formidable modelling challenges in the context of fluid–structure interaction. We present two approaches aimed at investigating the canonical system of a droplet impacting onto a rigid plate supported by a spring and a dashpot: matched asymptotic expansions and direct numerical simulation (DNS). In the former, we derive a generalisation of inviscid Wagner theory to approximate the flow behaviour during the early stages of the impact. In the latter, we perform detailed DNS designed to validate the analytical framework, as well as provide insight into later times beyond the reach of the proposed analytical model. Drawing from both methods, we observe the strong influence that the mass of the plate, resistance of the dashpot, and stiffness of the spring have on the motion of the solid, which undergo forced damped oscillations. Furthermore, we examine how the plate motion affects the dynamics of the droplet, predominantly through altering its internal hydrodynamic pressure distribution. We build on the interplay between these techniques, demonstrating that a hybrid approach leads to improved model and computational development, as well as result interpretation, across multiple length and time scales.

scholarly journals Rotor Dynamics Analysis of Rotating Machine Systems Using Artificial Neural Networks

2003 ◽  
Vol 9 (4) ◽  
pp. 255-262 ◽  
Author(s):  
M. Kalkat ◽  
Ş. Yıldırım ◽  
I. Uzmay
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Vertical Direction ◽  
Rotor Dynamics ◽  
Experimental Setup ◽  
Dynamics Analysis ◽  
Rotating Machine ◽  
Rotating Systems ◽  
Machine Systems ◽  
Vibration Parameters

Adirect-coupled rotor system was designed to analyze the dynamic behavior of rotating systems in regard to vibration parameters. The vibration parameters are amplitude, velocity, and acceleration in the vertical direction. The system consisted of a machine analyzer, shaft, disk, master-trend software, and power unit. Four different points were detected and measured by the experimental setup. The vibration parameters were found and saved from master-trend software. These parameters were employed as the desired parameters of the network. A neural network is designed for analyzing a system's vibration parameters. The results showed that the network could be used as an analyzer of such systems in experimental applications.

Development of a Master-Slave Robotic System for MRI-Guided Intracardiac Interventions

2013 ◽  
Author(s):  
Amirhossein Salimi ◽  
Amin Ramezanifar ◽  
Javad Mohammadpour ◽  
Karolos M. Grogoriadis
Keyword(s):  
Magnetic Resonance Imaging ◽  
Pid Control ◽  
Control Design ◽  
Robotic System ◽  
Experimental Setup ◽  
Resonance Imaging ◽  
Parallel Platform ◽  
Mri Guided ◽  
Magnetic Resonance Imaging Mri ◽  
Reference Trajectories

Restricted space inside the magnetic resonance imaging (MRI) scanner bore prevents surgeons to directly interact with the patient during MRI-guided procedures. This motivates the development of a robotic system that can act as an interface during those interventions. In this paper, we present a master-slave robotic system as a solution to the aforedescribed issue. The proposed system consists of a commercial PHANTOM device (product of The Sensable Technologies) as the master robot and an MRI-compatible patient-mounted parallel platform (that we name ROBOCATH) designed to serve as the slave mechanism inside the scanner bore. We present in this paper the design principles for the platform, as well as the PID control design for the system. We use our experimental setup to evaluate the performance of the system by examining the effectiveness of the slave platform in tracking the reference trajectories generated by the master robot.

Kinematics of Tongue Projection in Chamaeleo Oustaleti

1991 ◽  
Vol 159 (1) ◽  
pp. 109-133 ◽  
Author(s):  
PETER C. WAINWRIGHT ◽  
DAVID M. KRAKLAU ◽  
ALBERT F. BENNETT
Keyword(s):  
High Speed ◽  
Prey Capture ◽  
Maximum Velocity ◽  
Head Movements ◽  
Florida State University ◽  
State University ◽  
Maximum Acceleration ◽  
Related Family ◽  
High Speed Cinematography ◽  
Tongue Movements

The kinematics of prey capture by the chamaeleonid lizard Chamaeleo oustaleti were studied using high-speed cinematography. Three feeding sequences from each of two individuals were analyzed for strike distances of 20 and 35 cm, at 30°C. Ten distances and angles were measured from sequential frames beginning approximately 0.5 s prior to tongue projection and continuing for about 1.0 s. Sixteen additional variables, documenting maximum excursions and the timing of events, were calculated from the kinematic profiles. Quantified descriptions of head, hyoid and tongue movements are presented. Previously unrecognized rapid protraction of the hyobranchial skeleton simultaneously with the onset of tongue projection was documented and it is proposed that this assists the accelerator muscle in powering tongue projection. Acceleration of the tongue occurred in about 20ms, reaching a maximum acceleration of 486 m s−2 and maximum velocity of 5.8m s−1 in 35 cm strikes. Deceleration of the tongue usually began within 5 ms before prey contract and the direction of tongue movement was reversed within 10 ms of prey contact. Retraction of the tongue, caused by shortening of the retractor muscles, reached a maximum velocity of 2.99 ms−1 and was complete 330 ms after prey contact. Projection distance influences many aspects of prey capture kinematics, particularly projection time, tongue retraction time and the extent of gape and head movements during tongue retraction, all of which are smaller in shorter feedings. Though several features of the chameleon strike have apparently been retained from lizards not capable of ballistic tongue projection, key differences are documented. Unlike members of a related family, the Agamidae, C. oustaleti uses no body lunge during prey capture, exhibits gape reduction during tongue projection and strongly depresses the head and jaws during tongue retraction. Note: Present address: Department of Biological Sciences, Florida State University, Tallahassee, FL 32306, USA.

Some problems of assessing the dynamic crack resistance of structural steels

2021 ◽  
Vol 18 (3) ◽  
pp. 428-435
Author(s):  
Vladimir I. SMIRNOV ◽  
◽  
Tatiana A. KNOPOVA ◽  
Sergey S. MAYER ◽  
◽  
...  
Keyword(s):  
Crack Resistance ◽  
High Speed ◽  
Dynamic Testing ◽  
Practical Importance ◽  
Dynamic Strength ◽  
Structural Steels ◽  
Dynamic Crack ◽  
Unstable Fracture ◽  
Structural Elements ◽  
Limiting State

Objective: Solving the problem of determining the conditions for the onset and development of unstable fracture, which is extremely important for the development of methods for calculating the limiting states of structural elements, improving the dynamic testing schemes of materials and classifying steels according to their ability to resist fracture. Methods: Analytical methods for assessing the limiting state of structural elements are used. Results: A brief overview of the available test methods for structural steels for dynamic strength and crack resistance is given. The experience accumulated by domestic and foreign practices in testing steels for strength and crack resistance under high-speed loading is analyzed. The disadvantages of the existing methods for assessing the indicators of dynamic strength and resistance to brittle fracture are indicated. Practical importance: It is shown that along with the traditional methods for assessing strength based on safety factors, it is necessary to develop and apply new methods for assessing the limiting state of structural elements, including by the criteria of crack resistance

Comparison of the fast-start performances of closely related, morphologically distinct threespine sticklebacks (Gasterosteus spp.)

1996 ◽  
Vol 199 (12) ◽  
pp. 2595-2604 ◽  
Author(s):  
T Law ◽  
R Blake
Keyword(s):  
Angular Velocity ◽  
High Speed ◽  
High Performance ◽  
Gasterosteus Aculeatus ◽  
Morphological Characteristics ◽  
Maximum Velocity ◽  
Threespine Stickleback ◽  
Biomechanical Study ◽  
Maximum Acceleration ◽  
Fast Start

Fast-start escape performances for two species of threespine stickleback, Gasterosteus spp., were investigated using high-speed cinematography (400 Hz). The two fishes (not yet formally described, referred to here as benthic and limnetic) inhabit different niches within Paxton Lake, British Columbia, Canada, and are recent, morphologically distinct species. All escape responses observed for both species were double-bend C-type fast-starts. There were no significant differences between the species for any linear or angular parameter (pooled averages, both species: duration 0.048 s, distance 0.033 m, maximum velocity 1.10 m s-1, maximum acceleration 137 m s-2, maximum horizontal angular velocity 473.6 rad s-1 and maximum overall angular velocity 511.1 rad s-1). Benthics and limnetics have the greatest added mass (Ma) at 0.3 and 0.6 body lengths, respectively. The maximum Ma does not include the fins for benthics, but for limnetics the dorsal and anal fins contribute greatly to the maximum Ma. The deep, posteriorly placed fins of limnetics enable them to have a fast-start performance equivalent to that of the deeper-bodied benthics. Both the limnetic and benthic fishes have significantly higher escape fast-start velocities than their ancestral form, the anadromous threespine stickleback Gasterosteus aculeatus, suggesting that the high performance of the Paxton Lake sticklebacks is an evolutionarily derived trait. In this biomechanical study of functional morphology, we demonstrate that similar high fast-start performance can be achieved by different suites of morphological characteristics and suggest that predation might be the selective force for the high escape performance in these two fishes.

Integrated optimal design of a high-speed planar parallel manipulator

2018 ◽  
Vol 233 (9) ◽  
pp. 2976-2990 ◽  
Author(s):  
Zhengsheng Chen ◽  
Minxiu Kong
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
High Speed ◽  
Design Method ◽  
Tracking Error ◽  
Dimensional Synthesis ◽  
Tracking Accuracy ◽  
Nsga Ii ◽  
Parameters Tuning ◽  
Planar Parallel Manipulator

To obtain excellent comprehensive performances of the planar parallel manipulator for the high-speed application, an integrated optimal design method, which integrated dimensional synthesis, motors/reducers selection, and control parameters tuning, is proposed, and the 3RRR parallel manipulator was taken as the example. The kinematic and dynamic performances of condition number, velocity index, acceleration capability, and low-order frequency are taken into accounts for the dimensional synthesis. Then, to match motors/reducers parameters and keep an economical cost, the constraint equations and the parameters library are built, and the cost is chosen as one of the optimization objectives. Also, to get high tracking accuracy, the dynamic forward plus proportional–derivative control scheme is introduced, and the tracking error is chosen as one of the optimization objectives. Hence, the optimization model including dimensional synthesis, motors/reducers selection and controller parameters tuning is established, which is solved by the genetic algorithm II (NSGA-II). The result shows that comprehensive performances can be effectively promoted through the proposed integrated optimal design, and the prototype was constructed according to the Pareto-optimal front.

Three Practical Examples of Magnetic Bearing Control Design Using a Modern Tool

2002 ◽  
Vol 124 (4) ◽  
pp. 1025-1031 ◽  
Author(s):  
M. Spirig ◽  
J. Schmied ◽  
P. Jenckel ◽  
U. Kanne
Keyword(s):  
Dynamic Behavior ◽  
High Speed ◽  
Control Design ◽  
Industrial Applications ◽  
Magnetic Bearing ◽  
Engineering Practice ◽  
Digital Implementation ◽  
Bearing Characteristic ◽  
Multistage Centrifugal Compressor ◽  
Modern Tool

The use of magnetic bearing in industrial applications has increased due to their unique properties. Nowadays efficiency and predictability in handling rotors on magnetic bearings is asked with the same standard as conventional rotors on oil or roller bearings. First of all one must be aware of the special technical properties of magnetic bearing designs. The dynamic behavior of the rotor combined with requirements of the application define the desired bearing characteristic. With modern tools covering the mechanical aspects as well as the electronic controllers and their digital implementation on a DSP, these properties can be designed. However, despite the use of such efficient tools engineering practice is needed. Therefore this paper summarizes the major steps in the control design process of industrial applications. Three rotors supported on magnetic bearing with their specific dynamic behavior are presented: a very small high speed spindle (120,000 rpm); a small industrial turbo molecular pump rotor (36,000 rpm); and a large multistage centrifugal compressor (600 to 6300 rmp). The results of the analyses and their experimental verification are given.

scholarly journals A study of vibration exposure and work practices of Loader and Dozer operators in opencast mines

2012 ◽  
Vol 2 (2) ◽  
pp. 3-7 ◽  
Author(s):  
Bibhuti Bhusan Mandal ◽  
Krishnendu Sarkar ◽  
Veena Manwar
Keyword(s):  
Health Risk ◽  
Occupational Safety ◽  
Vertical Direction ◽  
Control Measures ◽  
Whole Body ◽  
Reverse Direction ◽  
Work Practices ◽  
Continuous Change ◽  
Background Exposure ◽  
Opencast Mines

Background: Exposure to whole body vibration (WBV) at work and development of musculoskeletal disorders are well linked. Vehicle vibrations are usually perceived to occur in vertical direction and are likely to cause lumbar disorders in operators. Vibration characteristics of the machines need to be studied and compared with work practices which may indicate nature of health risk to operators. This may help in developing specific action plans to control vibration related health risk. Objective: The objectives of the study were, to measure and analyze vibration magnitudes, observe work practices of Loaders and Dozers, evaluate health risk to their operators and to formulate recommendations for control measures. Methods and Material: Frequency weighted Root Mean Square values of acceleration data was collected as per guidelines in ISO 2631-1:1997 using human vibration analyzers. WBV exposure of 40 (Forty) Loader and Dozer operators in eight opencast mines were evaluated to assess health risk using vibration magnitude and corresponding daily exposure durations. Results and Conclusion: The dominant axis of vibration in dozers was found to be X (front to back) in 80% of the equipments. This is different from transporting equipment like Dumpers which have Z axis as dominant axis of vibration. A continuous change of movement in forward and reverse direction and rash driving were found to be contributory factors for increased vibration intensity along X- axis. It was observed that 27(68%) of them showed moderate whereas 12(30%) equipment showed high health risk. It is suggested that vibration control measures should be designed and adopted based not only on the intensity but also on the dominant axis typical to the equipment and work practices.DOI: http://dx.doi.org/10.3126/ijosh.v2i2.6144 International Journal of Occupational Safety and Health, Vol 2. No 2 (2012) 3-7 

Sign in / Sign up

Export Citation Format

Share Document