Kinematics and Control of the TowPlow: A Steerable Articulated Vehicle System

2014 ◽  
Author(s):  
Jaeyoung Kang ◽  
Steven A. Velinsky
Keyword(s):  
Kinematic Analysis ◽  
Radius Of Curvature ◽  
Steering Angle ◽  
Vehicle System ◽  
Kinematic Characteristics ◽  
Articulated Vehicle ◽  
Constant Radius ◽  
Simulation Results ◽  
And Control

The TowPlow is a novel type of snowplow that consists of a conventional snowplow vehicle and a steerable, plow-mounted trailer. The trailer is equipped with hydraulic-powered steerable axles so that it can be steered up to 30 degrees with respect to the tractor. The combination of the front plow of the towing snowplow and the trailer-equipped plow is able to clear a path up to approximately 24-ft wide, which is the width of two typical traffic lanes. In this paper, the kinematic characteristics of the TowPlow are derived using instantaneous centers of velocity. Based on the derived equations, the relation between the radius of curvature and the trailer wheel steering angle that allows the tractor-trailer to maintain its initial articulation angle is defined. Also, simulations of constant radius turning are performed with and without the trailer’s corrective steering, and the results are compared. Even though the kinematic analysis does not take forces and inertia into account, it is clearly demonstrated in the simulation results that appropriate steering of the trailer wheel is necessary to maintain the articulation angle of the TowPlow and to prevent the device from intruding into adjacent lanes.

Study of Rider Model for Motorcycle Racing Simulation

2020 ◽  
Author(s):  
Masatsugu Nishimura ◽  
Yoshitaka Tezuka ◽  
Enrico Picotti ◽  
Mattia Bruschetta ◽  
Francesco Ambrogi ◽  
...  
Keyword(s):  
Predictive Control ◽  
Running Speed ◽  
Steering Angle ◽  
Conventional Model ◽  
Linear Region ◽  
New Model ◽  
Constant Radius ◽  
Simulation Results ◽  
Braking Force ◽  
Motorcycle Dynamics

Various rider models have been proposed that provide control inputs for the simulation of motorcycle dynamics. However, those models are mostly used to simulate production motorcycles, so they assume that all motions are in the linear region such as those in a constant radius turn. As such, their performance is insufficient for simulating racing motorcycles that experience quick acceleration and braking. Therefore, this study proposes a new rider model for racing simulation that incorporates Nonlinear Model Predictive Control. In developing this model, it was built on the premise that it can cope with running conditions that lose contact with the front wheels or rear wheels so-called "endo" and "wheelie", which often occur during running with large acceleration or deceleration assuming a race. For the control inputs to the vehicle, we incorporated the lateral shift of the rider's center of gravity in addition to the normally used inputs such as the steering angle, throttle position, and braking force. We compared the performance of the new model with that of the conventional model under constant radius cornering and straight braking, as well as complex braking and acceleration in a single (hairpin) corner that represented a racing run. The results showed that the new rider model outperformed the conventional model, especially in the wider range of running speed usable for a simulation. In addition, we compared the simulation results for complex braking and acceleration in a single hairpin corner produced by the new model with data from an actual race and verified that the new model was able to accurately simulate the run of actual MotoGP riders.

Model development and control of an auto-refrigerated polystyrene polymerization reactor

2021 ◽  
pp. 014233122110251
Author(s):  
Reyhane Mokhtarname ◽  
Ali Akbar Safavi ◽  
Leonhard Urbas ◽  
Fabienne Salimi ◽  
Mohammad M Zerafat ◽  
...  
Keyword(s):  
Temperature Control ◽  
Model Development ◽  
Heat Removal ◽  
Superior Performance ◽  
Polymerization Process ◽  
Vacuum System ◽  
Control Scheme ◽  
Simulation Results ◽  
And Control ◽  
Operating Plant

Dynamic model development and control of an existing operating industrial continuous bulk free radical styrene polymerization process are carried out to evaluate the performance of auto-refrigerated CSTRs (continuous stirred tank reactors). One of the most difficult tasks in polymerization processes is to control the high viscosity reactor contents and heat removal. In this study, temperature control of an auto-refrigerated CSTR is carried out using an alternative control scheme which makes use of a vacuum system connected to the condenser and has not been addressed in the literature (i.e. to the best of our knowledge). The developed model is then verified using some experimental data of the real operating plant. To show the heat removal potential of this control scheme, a common control strategy used in some previous studies is also simulated. Simulation results show a faster dynamics and superior performance of the first control scheme which is already implemented in our operating plant. Besides, a nonlinear model predictive control (NMPC) is developed for the polymerization process under study to provide a better temperature control while satisfying the input/output and the heat exchanger capacity constraints on the heat removal. Then, a comparison has been also made with the conventional proportional-integral (PI) controller utilizing some common tuning rules. Some robustness and stability analyses of the control schemes investigated are also provided through some simulations. Simulation results clearly show the superiority of the NMPC strategy from all aspects.

A multigroup model for cholera dynamics and control

2015 ◽  
Vol 09 (01) ◽  
pp. 1650001 ◽  
Author(s):  
Drew Posny ◽  
Chairat Modnak ◽  
Jin Wang
Keyword(s):  
Reproduction Number ◽  
Vaccination Strategy ◽  
Sharp Threshold ◽  
Indirect Transmission ◽  
Dynamics And Control ◽  
Simulation Results ◽  
Transmission Pathways ◽  
And Control ◽  
Control Study ◽  
The Basic Reproduction Number

We propose a general multigroup model for cholera dynamics that involves both direct and indirect transmission pathways and that incorporates spatial heterogeneity. Under biologically feasible conditions, we show that the basic reproduction number R0 remains a sharp threshold for cholera dynamics in multigroup settings. We verify the analysis by numerical simulation results. We also perform an optimal control study to explore optimal vaccination strategy for cholera outbreaks.

Vehicle coupled bifurcation analysis of steering angle and driving torque

2021 ◽  
pp. 095440702098540
Author(s):  
Xianbin Wang ◽  
Shuming Shi
Keyword(s):  
Bifurcation Analysis ◽  
Hybrid Method ◽  
Vehicle Dynamics ◽  
Front Wheel ◽  
Steering Angle ◽  
Driving Mode ◽  
Vehicle System ◽  
Autonomous Equation ◽  
Real Coded Genetic Algorithm ◽  
Driving Torque

The mechanism of vehicle dynamics steering bifurcation has almost been confirmed. But the present steering bifurcation mechanism cannot explain the bifurcation phenomena caused by the driving torque. As a result, the vehicle coupled bifurcation analysis of the steering angle and driving torque has not been studied. Based on the five degrees of freedom (5DOF) vehicle system dynamics model with driving torque involved, the vehicle dynamics equilibriums under different driving torque and driving mode were searched by a hybrid method in this paper. The hybrid method combined the real-coded Genetic Algorithm with Quasi-Newton gradient method. According to the definition of static bifurcation of nonlinear systems, the equilibrium bifurcation of 5DOF vehicle system was confirmed. Then, the 5DOF vehicle system model was transformed into autonomous equation with the front wheel steering angle as intermediate variable. From the two aspects of constant steering angle amplitude and constant driving torque, the bifurcation diagrams of different driving mode were calculated. The vehicle coupled bifurcation characteristics of steering angle and driving torque were analyzed. The results show that the values of the driving torque will directly affect the bifurcation characteristics of vehicle dynamics system. The coupled feature of the front wheel steering angle and driving torque effect on vehicle bifurcation is obvious.

scholarly journals Kinematic Analysis of Three-Wire-Driven Parallel (TWDP) Robot

2011 ◽  
Vol 2-3 ◽  
pp. 302-307 ◽  
Author(s):  
Tao Yu ◽  
Qing Kai Han
Keyword(s):  
Static Analysis ◽  
Parallel Robot ◽  
Analytical Models ◽  
Kinematics Analysis ◽  
Mechanism Model ◽  
Good Movement ◽  
Dynamics And Control ◽  
Movement Stability ◽  
Simulation Results ◽  
And Control

In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed. With its mechanism model, three typical kinematics analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail. In static analysis, the change of tensions in the wires is calculated based on previous kinematics analysis. The simulation results show the robot has good movement stability. The paper can provide useful materials to study of dynamics and control on wire-driven robot.

Methodology for Wheelchair Design Based on Simulation Analyses

2021 ◽  
Author(s):  
Grzegorz Dobrzynski ◽  
Michal Abramowski
Keyword(s):  
Modeling And Simulation ◽  
Control Systems ◽  
Simulation Results ◽  
And Control

The article presents the stages of modeling and simulation of a new design of a wheelchair with the option of moving up and down stairs. These analyzes were aimed at the synthesis of the de-sign parameters and parameters of the sensor and control systems. The simulation results were verified by experimentally testing the prototype.

Fractal analysis and control of the competition model

2016 ◽  
Vol 09 (03) ◽  
pp. 1650045 ◽  
Author(s):  
Mianmian Zhang ◽  
Yongping Zhang
Keyword(s):  
Feedback Control ◽  
Mathematical Models ◽  
Fractal Analysis ◽  
Fractal Geometry ◽  
Julia Set ◽  
Julia Sets ◽  
Competition Model ◽  
Simulation Results ◽  
Population Competition ◽  
And Control

Lotka–Volterra population competition model plays an important role in mathematical models. In this paper, Julia set of the competition model is introduced by use of the ideas and methods of Julia set in fractal geometry. Then feedback control is taken on the Julia set of the model. And synchronization of two different Julia sets of the model with different parameters is discussed, which makes one Julia set change to be another. The simulation results show the efficacy of these methods.

Decoupling Control for Unwinding Tension Control Systems

2012 ◽  
Vol 262 ◽  
pp. 367-371
Author(s):  
Min Bian ◽  
Mei Yang
Keyword(s):  
Control Systems ◽  
Strong Coupling ◽  
Control Process ◽  
Tension Control ◽  
Decoupling Control ◽  
Driver Model ◽  
Control Performance ◽  
Printing Quality ◽  
Simulation Results ◽  
And Control

During the printing process, invariable tension is very important to make sure the high printing quality. It’s well known that the relation of tension and tape velocity is strong-coupling based on the model of tension control, the modeling of tension possesses varies a lot in the control process, and various disturbances are inevitable during printing. All of these make the tension control systems unstable and affect the printing quality. This paper purposes a method to decrease the strong-coupling relation between speed and tension and control the speed-tension accurately. Based on the shaft-less printing press, the unwinding tension model and servo driver model are given. Decoupling controller is designed in this paper, and simulation results show that this method can improve the coupling degree and control performance.

A Kinematic Analysis of How Young Adults with and Without Autism Plan and Control Goal-Directed Movements

Motor Control ◽  
2006 ◽  
Vol 10 (3) ◽  
pp. 244-264 ◽  
Author(s):  
Cheryl M. Glazebrook ◽  
Digby Elliott ◽  
James Lyons
Keyword(s):  
Young Adults ◽  
Kinematic Analysis ◽  
Control Goal ◽  
And Control
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