scholarly journals DEVELOPMENT OF MATHEMATICAL MODEL OF THE CONTROL SYSTEM OF LINKS OF THE SNAKE LIKE ROBOT

2016 ◽  
Vol 2 (1) ◽  
pp. 150-154
Author(s):  
Гладышев ◽  
Andrey Gladyshev ◽  
Алейников ◽  
Andrey Aleynikov ◽  
Афонин ◽  
...  
Keyword(s):  
Differential Equation ◽  
Mathematical Model ◽  
Control System ◽  
Transfer Function ◽  
Transfer Functions ◽  
Modular Control ◽  
The Moment ◽  
External Forces ◽  
The Mathematical Model ◽  
Angle Of Rotation

The mathematical model of a modular control system of links of the snake like robot for realization of the wave movement considering the moments of the external forces created by adjacent links and external indignations is given in work. As model of the electric drive of a direct current the differential equation of the second order connecting tension of u(t) given on the electric motor, the moment of loading of Mn (t) and an output angle of rotation of a shaft θ(t) is used. Transfer functions of separate links are calculated, and transfer function of a control system in general is received.

scholarly journals Operational Optimization of the Electromechanical System in Non-deterministic Conditions

2020 ◽  
Vol 19 ◽  
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Technical Problem ◽  
Control Object ◽  
Electromechanical System ◽  
Operational Optimization ◽  
The Moment ◽  
Definition Of ◽  
The Impact ◽  
The Mathematical Model

On the basis of theoretical and practical studies of the electromechanical system, the scientific and technical problem of improving the control system of the electromechanical system during the impact on it of multi-vector perturbations is solved. The result of the study is the integration of differential equations with coefficients dependent on the oscillations of the control object. In the theoretical part, the mathematical model of the electromechanical system was synthesized, which made it possible to investigate ways of minimizing the deviation angles and time intervals required to stabilize the motion of the electromechanical system, which allowed indirectly to realize the associated signal with the stochastic nature of the moment of oscillation of the control object on the coordinate plane. The method of parametric optimization of the mathematical model of the electromechanical system in the function of the angle of inclination is also improved and investigated. Based on the definition of the structure and algorithms of work, the efficiency of the control system of the electromechanical system increases in terms of reducing the stabilization time of the control object.

scholarly journals Mathematical model of orientation of a ferromagnetic particle in magnetic field

2018 ◽  
Vol 224 ◽  
pp. 02041
Author(s):  
Eugene Masyutkin ◽  
Vasilii Masyagin ◽  
Boris Avdeyev
Keyword(s):  
Magnetic Field ◽  
Mathematical Model ◽  
Homogeneous Magnetic Field ◽  
System Of Differential Equations ◽  
Medium Resistance ◽  
The Moment ◽  
Fourth Order Method ◽  
Driving Torque ◽  
The Mathematical Model ◽  
Angle Of Rotation

A mathematical model of the rotational motion of a particle with pronounced ferromagnetic properties, due to the moment of forces from the side of an external homogeneous magnetic field is deduced in the article. The basis of the model is the equation for the moment of forces effecting on a solid body. The driving torque is the magnetic moment, calculated through the strength of the external field and the magnetization of the material. The counter–torque is the moment of medium resistance, which mainly depends on the viscosity of the medium in which the simulated body is located. The dependences of the angle of rotation and angular velocity on time are determined. The mathematical model is represented as a system of differential equations. The developed mathematical model was solved by a Runge – Kutta fourth order method. The obtained results are presented in the form of graphs.

scholarly journals NUMERICAL SEARCH OF MATHEMATICAL MODEL PARAMETERS OF FOOD PRODUCTS FROM HYDROBIONTS FOR PASTEURIZATION PPROCESS

2021 ◽  
Vol 2021 (2) ◽  
pp. 89-98
Author(s):  
Alexander Alekseevich Zhuk
Keyword(s):  
Mathematical Model ◽  
Transfer Function ◽  
Transfer Functions ◽  
Food Products ◽  
Model Parameters ◽  
Product Model ◽  
Canned Food ◽  
Product Temperature ◽  
Order Factor ◽  
The Mathematical Model

The article highlights the numerical search for the mathematical model parameters of food products from hydrobionts put into hermetically sealed canning containers. The mathematical description of the canned products was given as transfer functions. The input value is a retort short-term temperature-time dependence and the output value is the product temperature dynamics. The search for the transfer function coefficients was performed by the numerical optimization method based on the plant response. The product temperature response data was obtained experimentally with thermologgers of the “iButton Data Loggers” series during canned food pasteurization. The numerical search for the mathematical model parameters of food products was carried out using the software AutoCont Lite: SeekerC developed by the author at the Automation and Computer Engineering Department of Murmansk State Technical University. A first-order factor was chosen as a candidate for a product model in a tin can, and for a product in a glass container there was chosen a third-order factor. To solve the problem of numerical search for model parameters the integral estimate was employed as an optimization criterion. It is calculated as the square deviation between the output values of the model and the plant over the investigation period. The research resulted in mathematical models of fishery-canned products obtained in the transfer function form. The obtained result was applied for modeling and subsequent automatic control system implementation for the industrial autoclave ASCAMAT-230 during the canned food pasteurization.

scholarly journals DETERMINING DYNAMIC ACCURACY INDICATORS OF MULTICOORDINATE WORKING MACHINES IN THE FORM OF ROD STRUCTURES FOR FUZZY INERTIA AND DISSIPATION PARAMETERS

2016 ◽  
Vol 20 (4) ◽  
Author(s):  
VASYL STRUTYNSKIY ◽  
LEONID KOZLOV
Keyword(s):  
Mathematical Model ◽  
Dynamic Model ◽  
Elastic System ◽  
Dynamic Accuracy ◽  
Manipulator Design ◽  
The Moment ◽  
Angular Displacements ◽  
External Forces ◽  
Rod Structures ◽  
The Mathematical Model

<p>The paper considers<strong> </strong>a manipulator design and its dynamic model developed by the authors. On the basis of this dynamic model a mathematical model of the manipulator has been created, which enables its spatial motion investigation.  The mathematical model takes into account the manipulator inertia tensor with fuzzy components. The developed computation procedure makes it possible to determine cross-angular displacements of the manipulator for impact and sinusoidal laws of torque variation. During random variations of the moment of external forces, complex cross-angular displacements of the manipulator occur. The displacement trajectory includes an elliptical region that corresponds to the ellipse of the manipulator elastic system stiffness. The range of the manipulator upper-end displacement trajectory is maximal in the direction close to that of minimal cross-angular stiffness of the manipulator elastic system.</p>

scholarly journals Electro Magneto Elastic Actuator for Nanoscience

2019 ◽  
Vol 3 (1) ◽  
Keyword(s):  
Mathematical Model ◽  
Transfer Function ◽  
External Load ◽  
Transfer Functions ◽  
Physical Parameters ◽  
Structural Scheme ◽  
Matrix Transfer Function ◽  
The Matrix ◽  
The Mathematical Model

The mathematical model, the structural scheme, the matrix transfer function, the characteristics of the electro magneto elastic actuator is obtained. The transfer functions of the magneto elastic actuator are described the characteristics of the actuator with regard to its physical parameters and external load.

A Model Improvement of a Supercritical Unit Coordination Control System

2013 ◽  
Vol 680 ◽  
pp. 488-494
Author(s):  
Hai Ming Niu ◽  
Zhong Xu Han ◽  
Huan Pao Huang ◽  
Hong Min Zhang
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Coordinated Control ◽  
Coordination Control ◽  
Model Improvement ◽  
Unit Coordination ◽  
The Mathematical Model ◽  
Controlled Object

Base on the mathematical model of a common coordinated control system in field of thermal, by analyzing characteristics of the controlled object supercritical once-through boiler coordinated control system, the article puts forward suggestions for improvement, and verifies the results of the analysis by test.

The Control of Vibration Transmissibility Using an Electrodynamic Actuator –Close-Loop Solution

2013 ◽  
Vol 436 ◽  
pp. 166-173
Author(s):  
A. Mihaela Mîţiu ◽  
Daniel Constantin Comeagă ◽  
Octavian G. Donţu
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Mechanical System ◽  
Closed Loop ◽  
Mechanical Systems ◽  
Vibration Transmissibility ◽  
Technical Solutions ◽  
The Mathematical Model

In this paper are presented some aspects of transmissibility control of mechanical systems with 1 DOF so that the effects of vibration on their action to be minimized. Some technical solutions that can be used for this purpose is analyzed. Starting from the mathematical model of an electro-mechanical system with 1 DOF, are identified the parameters which influence the effectiveness of the transmissibility control system using an electrodynamic actuator who work in "closed loop".

A Meshless Method for Solving the Mathematical Model Associated the Leakage Problem in Gas Pipeline

2014 ◽  
Vol 986-987 ◽  
pp. 1418-1421
Author(s):  
Jun Shan Li
Keyword(s):  
Differential Equation ◽  
Mathematical Model ◽  
Partial Differential Equation ◽  
Inverse Problem ◽  
Basis Function ◽  
Meshless Method ◽  
Numerical Solutions ◽  
Basis Functions ◽  
Gas Pipeline ◽  
The Mathematical Model

In this paper, we propose a meshless method for solving the mathematical model concerning the leakage problem when the pressure is tested in the gas pipeline. The method of radial basis function (RBF) can be used for solving partial differential equation by writing the solution in the form of linear combination of radius basis functions, that is, when integrating the definite conditions, one can find the combination coefficients and then the numerical solution. The leak problem is a kind of inverse problem that is focused by many engineers or mathematical researchers. The strength of the leak can find easily by the additional conditions and the numerical solutions.

An Experimental Study of Tendon Vibration Control System for Flexible Space Structures

1991 ◽  
Author(s):  
Yoshisada Murotsu ◽  
Hiroshi Okubo ◽  
Kei Senda
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Vibration Control ◽  
Transfer Functions ◽  
Mimo Systems ◽  
Experimental System ◽  
Space Structures ◽  
Flexible Beam ◽  
Tendon Vibration ◽  
Large Space

Abstract The idea of a tendon vibration control system for a beam-like flexible space structure has been proposed. To verify the feasibility of the concept, an experimental tendon control system has been constructed for the vibration control of a flexible beam simulating Large Space Structures (LSS). This paper discusses modeling, identification, actuator disposition, and controller design for the experimental system. First, a mathematical model of the whole system of the beam and tendon actuator is developed through a finite element method (FEM). Second, to obtain an accurate mathematical model for designing a controller, unknown characteristic parameters are estimated by using an output error method. The validity of the proposed identification scheme is demonstrated by good agreement between the transfer functions of the experimental system and an identified model. Then, disposition of actuators is discussed by using the modal cost analysis. Finally, controllers are designed for SISO and MIMO systems. The feasibility of the proposed controller is verified through numerical simulation and hardware experiments.

Design and Experimental Validation of a LQG Control System for the Stabilization of a 2DOF Commercial Gimbal Using Physical Modelling Techniques

2020 ◽  
Author(s):  
Julián Andres Gómez Gómez ◽  
Camilo E. Moncada Guayazán ◽  
Sebastián Roa Prada ◽  
Hernando Gonzalez Acevedo
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
State Space ◽  
Transient Response ◽  
Space Form ◽  
Angular Position ◽  
Physical Modelling ◽  
Motor Shaft ◽  
Brushless Dc ◽  
The Mathematical Model

Abstract Gimbals are mechatronic systems well known for their use in the stabilization of cameras which are under the effect of sudden movements. Gimbals help keeping cameras at previously defined fixed orientations, so that the captured images have the highest quality. This paper focuses on the design of a Linear Quadratic Gaussian, LQG, controller, based on the physical modeling of a commercial Gimbal with two degrees of freedom (2DOF), which is used for first-person applications in unmanned aerial vehicle (UAV). This approach is proposed to make a more realistic representation of the system under study, since it guarantees high accuracy in the simulation of the dynamic response, as compared to the prediction of the mathematical model of the same system. The development of the model starts by sectioning the Gimbal into a series of interconnected links. Subsequently, a fixed reference system is assigned to each link body and the corresponding homogeneous transformation matrices are established, which will allow the calculation of the orientation of each link and the displacement of their centers of mass. Once the total kinetic and potential energy of the mechanical components are obtained, Lagrange’s method is utilized to establish the mathematical model of the mechanical structure of the Gimbal. The equations of motion of the system are then expressed in state space form, with two inputs, two outputs and four states, where the inputs are the torques produced by each one of the motors, the outputs are the orientation of the first two links, and the states are the aforementioned orientations along with their time derivatives. The state space model was implemented in MATLAB’s Simulink environment to compare its prediction of the transient response with the prediction obtained with the representation of the same system using MATLAB’s SimMechanics physical modelling interface. The mathematical model of each one of the three-phase Brushless DC motors is also expressed in state space form, where the three inputs of each motor model are the voltages of the corresponding motor phases, its two outputs are the angular position and angular velocity, and its four states are the currents in two of the phases, the orientation of the motor shaft and its rate of change. This model is experimentally validated by performing a switching sequence in both the simulation model and the physical system and observing that the transient response of the angular position of the motor shaft is in accordance with the theoretical model. The control system design process starts with the interconnection of the models of the mechanical components and the models of the Brushless DC Motor, using their corresponding state space representations. The resulting model features six inputs, two outputs and eight states. The inputs are the voltages in each phase of the two motors in the Gimbal, the outputs are the angular positions of the first two links, and the states are the currents in two of the phases for each motor and the orientations of the first two links, along with their corresponding time derivatives. An optimal LQG control system is designed using MATLAB’s dlqr and Kalman functions, which calculate the gains for the control system and the gains for the states estimated by the observer. The external excitation in each of the phases is carried out by pulse width modulation. Finally, the transient response of the overall system is evaluated for different reference points. The simulation results show very good agreement with the experimental measurements.

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