Tip-Tilt Motion Control of Fast Steering Mirror in the Giant Magellan Telescope (GMT)

2011 ◽  
Author(s):  
Taekyung Lee ◽  
Hyo-Sung Ahn ◽  
Young-Soo Kim ◽  
Kwijong Park
Keyword(s):  
Mathematical Model ◽  
Steady State ◽  
Motion Control ◽  
Actuator Saturation ◽  
Adaptive Controller ◽  
Motion Controller ◽  
Modeling Error ◽  
Actual System ◽  
Model Stability ◽  
Motion System

This paper develops a tip-tilt motion controller of fast steering mirror (FSM) in the Giant Magellan telescope (GMT). A mathematical model of tip-tilt motion system of FSM is derived, and then based on this model, stability analysis is carried out. A heuristic adaptive controller is designed for the tip-tilt motion control with modeling error. The heuristic controller consists of two different adaptations such as initial adaptive control and adaptation at steady state errors. Through numerical simulations, the validity of the controller is illustrated. After that this paper addresses several practical issues like disturbance from wind, actuator saturation and resonance frequency from mechanical structure in implementing the controller to the actual system.

Effect of Nozzle Junction and Equipment Stiffness on Absorption of Pipe Thermal Loads

2015 ◽  
Vol 138 (2) ◽  
Author(s):  
Kedar A. Damle ◽  
Pratik S. Gharat ◽  
Rudolf Neufeld ◽  
Wilhelm Peters
Keyword(s):  
Mathematical Model ◽  
Steady State ◽  
Pressure Range ◽  
Nozzle Diameter ◽  
Combined Effects ◽  
Thermal Loads ◽  
Actual System ◽  
Foundation Design ◽  
Local Loads ◽  
The Given

As an industry norm, the nozzle local loads are considered to be local and are not considered in foundation design. Presently, this norm is under debate. One opinion is some percent of these loads are to be considered to be transferred to the foundation. The horizontal forces on the foundation are more critical than vertical forces. Attempt has been made to understand the system and create a model which will represent the system to a good approximation. A mathematical model is developed to demonstrate the actual system. It is a stiffness system consisting of equipment, nozzle junction, and connected piping. The connected pipes are heated sequentially to generate nozzle loads in axial and out plane directions. Steady-state thermal loads are calculated for the given system stiffness. Governing parameters are identified and altered to note the effect. The governing parameters identified are equipment diameter (D), nozzle location on equipment (x), and nozzle diameter (d). The effect is studied for pressure range (20–120 bar) and temperature (100–400 °C). The results of percentage loads transferred with respect to the governing parameters are plotted. It is observed that nozzle loads in axial directions are transferred to the foundation almost 100%, whereas out plane loads are absorbed by the system to a greater extent. Further study is required to investigate combined effects of all such nozzle loads for single equipment. The results may be refined for different materials and effect of nozzle reinforcement.

Analysis on steady-state vibration induced by backlash in machine tool rotary table

2016 ◽  
Vol 231 (22) ◽  
pp. 4163-4171 ◽  
Author(s):  
Xiao Yang ◽  
Dun Lu ◽  
Jun Zhang ◽  
Wanhua Zhao
Keyword(s):  
Mathematical Model ◽  
Steady State ◽  
Machine Tool ◽  
Mechanical System ◽  
Dynamic Behavior ◽  
Critical Region ◽  
Stability Region ◽  
Rotary Table ◽  
Motion Controller ◽  
The Stability

This paper presents a mathematical model of a machine tool rotary table with backlash to describe the dynamic behavior of the mechanical system and the motion controller. The accuracy of this model is verified by experiments. The steady-state vibration under different conditions is simulated to investigate its mechanism and change rule. The results show that the steady-state vibration is attributed to the alternate impact of transmission components. Based on the different performances of the steady-state vibration for different control gains and different motion directions, the concept of stability region in the plane of control gains is presented. In the critical region, the steady-state vibration only occurs when the table moves toward backlash. The complex contact regimes may lead to a significant increase in the amplitude of the steady-state vibration. Besides, the influences of the load and the magnitude of backlash on the steady-state vibration and the stability region are also discussed.

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

Utilizing an Adaptive Controller (Azadi Controller) for Trajectory Planning of PUMA 560 Robot

2011 ◽  
Vol 403-408 ◽  
pp. 4880-4887
Author(s):  
Sassan Azadi
Keyword(s):  
Steady State ◽  
Trajectory Planning ◽  
Positive Feedback ◽  
Fuzzy Controller ◽  
Research Work ◽  
Adaptive Controller ◽  
The Novel ◽  
Transient Responses ◽  
Simulation Results ◽  
Good Substitute

This research work was devoted to present a novel adaptive controller which uses two negative stable feedbacks with a positive unstable positive feedback. The positive feedback causes the plant to do the break, therefore reaching the desired trajectory with tiny overshoots. However, the two other negative feedback gains controls the plant in two other sides of positive feedback, making the system to be stable, and controlling the steady-state, and transient responses. This controller was performed for PUMA-560 trajectory planning, and a comparison was made with a fuzzy controller. The fuzzy controller parameters were obtained according to the PSO technique. The simulation results shows that the novel adaptive controller, having just three parameters, can perform well, and can be a good substitute for many other controllers for complex systems such as robotic path planning.

Backstepping Based Adaptive Control of Magnetic Levitation System

2013 ◽  
Vol 341-342 ◽  
pp. 945-948 ◽  
Author(s):  
Wei Zhou ◽  
Bao Bin Liu
Keyword(s):  
Parameter Uncertainty ◽  
Closed Loop ◽  
Controller Design ◽  
Magnetic Levitation ◽  
Adaptive Controller ◽  
Closed Loop System ◽  
Actual System ◽  
Levitation System ◽  
Magnetic Levitation System ◽  
Control Accuracy

In view of parameter uncertainty in the magnetic levitation system, the adaptive controller design problem is investigated for the system. Nonlinear adaptive controller based on backstepping is proposed for the design of the actual system with parameter uncertainty. The controller can estimate the uncertainty parameter online so as to improve control accuracy. Theoretical analysis shows that the closed-loop system is stable regardless of parameter uncertainty. Simulation results demonstrate the effectiveness of the presented method.

scholarly journals Temporal Evolution of Immunity Distributions in a Population with Waning and Boosting

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
M. V. Barbarossa ◽  
M. Polner ◽  
G. Röst
Keyword(s):  
Mathematical Model ◽  
Steady State ◽  
Temporal Evolution ◽  
Disease Outbreaks ◽  
Population Level ◽  
Coupled System ◽  
Disease Outbreak ◽  
Periodic Disease ◽  
Evolution Of Immunity

We investigate the temporal evolution of the distribution of immunities in a population, which is determined by various epidemiological, immunological, and demographical phenomena: after a disease outbreak, recovered individuals constitute a large immune population; however, their immunity is waning in the long term and they may become susceptible again. Meanwhile, their immunity can be boosted by repeated exposure to the pathogen, which is linked to the density of infected individuals present in the population. This prolongs the length of their immunity. We consider a mathematical model formulated as a coupled system of ordinary and partial differential equations that connects all these processes and systematically compare a number of boosting assumptions proposed in the literature, showing that different boosting mechanisms lead to very different stationary distributions of the immunity at the endemic steady state. In the situation of periodic disease outbreaks, the waveforms of immunity distributions are studied and visualized. Our results show that there is a possibility to infer the boosting mechanism from the population level immune dynamics.

scholarly journals The mathematical stability study for the system of the CoO(OH) – overoxidized polypyrrole composite synthesis in the presence of fluor ions

2016 ◽  
Vol 16 ◽  
pp. 13-17
Author(s):  
V. Tkach ◽  
S.C. De Oliveira ◽  
R. Ojani ◽  
P.I. Yagodynets ◽  
U. Páramo-García
Keyword(s):  
Mathematical Model ◽  
Steady State ◽  
Bifurcation Analysis ◽  
Stability Theory ◽  
Stability Study ◽  
Linear Stability Theory ◽  
Monotonic Instability ◽  
Overoxidized Polypyrrole ◽  
Polypyrrole Composite ◽  
Steady State Stability

The potentiostatic synthesis of CoO(OH) – Overoxidized polypyrrole composite in the presence of fluor ions has been investigated mathematically. The corresponding mathematical model was described and analyzed by means of linear stability theory and bifurcation analysis. The steady-state stability requirements, like also oscillatory and monotonic instability conditions are derived.Mongolian Journal of Chemistry 16 (42), 2015, 13-17

Relationship between the Steady-Handling Characteristics of Automobiles and Their Stability

1973 ◽  
Vol 15 (5) ◽  
pp. 326-328 ◽  
Author(s):  
R. S. Sharp
Keyword(s):  
Mathematical Model ◽  
Steady State ◽  
Degree Of Freedom ◽  
Nonlinear Region ◽  
Handling Characteristics ◽  
Yield Information ◽  
Turning Motion ◽  
The Stability ◽  
Three Degree Of Freedom

Analyses of the steady-state handling behaviour of an automobile and the stability of its steady-turning motion, based on a three degree of freedom mathematical model, are used to show that the steady behaviour and the stability are related similarly in the nonlinear region as in the well documented linear one. It is concluded that analysis and measurement of the steady behaviour will yield information on the stability of automobiles.

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