scholarly journals STABILITY ANALYSIS OF SOFTWARE MANIPULATOR MOVEMENTS USING MATHCAD

2019 ◽  
Vol 27 (4) ◽  
pp. 52-57
Author(s):  
Natalya Sergeevna Ashchepkova
Keyword(s):  
Mathematical Modeling ◽  
Control System ◽  
Stability Analysis ◽  
Linear Equations ◽  
Control Object ◽  
Design Stage ◽  
Extended Object ◽  
The Matrix ◽  
The Stability ◽  
Conditions Of Stability

Abstract. The method of the stability analysis of the manipulator program movements with use of Mathcad applied programs package is offered. On the basis of the manipulator’s kinematic scheme, the matrices of homogeneous transformations of Denavit Hartenberg are formed and a mathematical model of the extended control object is drawn up. An outline of an extended object control system consisting of a manipulator and an actuator is presented. For example, the linear equations of the manipulator, actuators, meter and controller are considered. The task of synthesizing the manipulator control algorithm is to determine the coefficients of the matrix transfer function of the controller that satisfy the conditions of stability and quality of transients. Mathematical modeling of manipulator programmatic movements was performed using the Matchad application package. The analysis of simulation results allows us to evaluate: manipulator workspace, control system performance, grip positioning accuracy, dependence of grip positioning error on the nature of load and the law of motion. A change in the dynamic characteristics of an extended control object causes a change in the controllability of systems, for the considered example rang Q = 2, i.e. the system is fully controllable. This method can be used to analyze the manipulation of the manipulator at the design stage; allows to determine the influence of design, kinematic and dynamic parameters on the manipulation of the manipulator and perform mathematical modeling of the manipulator motion. Calculation examples are given that confirm the expediency and effectiveness of using the Mathcad application software package to solve this type of problem.

scholarly journals Stability Problem of Wave Variable Based Bilateral Control: Influence of the Force Source Design

2013 ◽  
Vol 2013 ◽  
pp. 1-11
Author(s):  
Dapeng Tian ◽  
Bao Zhang ◽  
Honghai Shen ◽  
Jiaquan Li
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
Time Delay ◽  
Robust Stability ◽  
Scattering Theory ◽  
Stability Problem ◽  
Bilateral Control ◽  
Wave Variable ◽  
Small Gain ◽  
The Stability

The wave variable has been proposed to achieve robust stability against the time delay in bilateral control system. However, the influence of the force source on the overall system is still not clear. This paper analyzes this problem and proposes a supplement to the stability analysis for wave variable based bilateral control. Based on the scattering theory, it is pointed out that the design of force source decides the passivity of the two-port network of slave robot. This passivity influences the stability of overall system. Based on the characteristic equation and small gain theorem, it is clear that inappropriate designed force source in encoding the wave variable destroys the stability in the presence of time delay. A wave domain filter makes up for the broken stability. The principle of this reparation is explained in this paper. A reference is also provided by the analysis to design the parameter of the wave domain filter. Experiments prove the correctness and validity.

scholarly journals MATHEMATICAL MODELING OF THE 3(Н)-QUINAZOLIN-4-ONЕ SYNTHESIS PROCESS

2021 ◽  
pp. 51-57
Keyword(s):  
Mathematical Modeling ◽  
Reaction Rate ◽  
Linear Equations ◽  
Product Yield ◽  
Farm Animals ◽  
Synthesis Process ◽  
Optimal Conditions ◽  
System Of Linear Equations ◽  
Molar Ratios ◽  
The Matrix

The aim is to optimize the conditions for the synthesis of 3(H)-quinazolin-4-one by the method of mathematical modeling to develop a technology for producing the substance of a new domestic drug used in the treatment of farm animals from helminths. In mathematical modeling, the method of a small number of squares was used. Analytical dependences of the product yield on temperature, reaction time, and molar ratios of the starting materials were determined. A system of linear equations has been compiled. The system of linear equations was performed by the matrix method (A, B, C).The average reaction rate was determined. Based on the results obtained, a 3(H)-quinazolin-4-one diagram using the Maple 18 program and an icon diagram of the reaction duration, temperature, and reaction rate are shown. Based on the results of mathematical modeling, a highly efficient technological scheme for obtaining 3(H)-quinazolin-4-one has been developed. Based on this technology, compound 3(H)-quinazolin-4-one was synthesized in quantitative products at the Institute of Plant Chemistry, at a pilot production plant.The results obtained confirmed the found optimal conditions

scholarly journals Computation of time-delay for Delayed Network Controlled Temperature Control System

2021 ◽  
Vol 2070 (1) ◽  
pp. 012102
Author(s):  
V Venkatachalam ◽  
M Ramasubramanian ◽  
M Thirumarimurugan ◽  
D Prabhakaran
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
Temperature Control ◽  
Closed Loop ◽  
Simulation Software ◽  
Loop System ◽  
Temperature Control System ◽  
Closed Loop System ◽  
The Stability ◽  
Time Invariant

Abstract This paper presents an Investigation on the stability of network controlled temperature control system having Time-Invariant feedback delays, by utilizing a direct method for TDS stability analysis. A PI controller based stability analysis for temperature control system with Time invariant feedback loop delay has been constructed in this paper. The stability problem has been formulated based on the transfer function model of the closed loop system with various time delays. For different subsets of the controller parameters, based on the stability criterion’s maximal permissible bound of the network link delay that the closed loop system can accommodate without losing the stability has been computed. The effectiveness of the obtained result was validated on a benchmark temperature control system using MATLAB simulation software.

scholarly journals Design and Implementation of an Intelligent Blade Pitch Control System and Stability Analysis for a Small Darrieus Vertical-Axis Wind Turbine

Energies ◽  
2021 ◽  
Vol 15 (1) ◽  
pp. 235
Author(s):  
Gebreel Abdalrahman ◽  
Mohamed A. Daoud ◽  
William W. Melek ◽  
Fue-Sang Lien ◽  
Eugene Yee
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
Power Output ◽  
Pitch Angle ◽  
Vertical Axis ◽  
Prototype Model ◽  
Vertical Axis Wind Turbine ◽  
Pitch Control ◽  
Hybrid Controller ◽  
The Stability

A few studies have been conducted recently in order to improve the aerodynamic performance of Darrieus vertical-axis wind turbines with straight blades (H-type VAWTs). The blade pitch angle control is proposed to enhance the performance of H-type VAWTs. This paper aims to investigate the performance of an H-type VAWT in terms of its power output and self-starting capability using an intelligent blade pitch control strategy based on a multi-layer perceptron artificial neural network (MLP-ANN) method. The performance of the proposed blade pitch controller is investigated by adding a conventional controller (PID) to the MLP-ANN controller (i.e., a hybrid controller). The dynamics of an H-type VAWT is mathematically modeled in a nonlinear state space for the stability analysis in the sense of Lyapunov. The effectiveness of the proposed pitch control system is validated by building an H-type VAWT prototype model that is extensively tested outdoors under different conditions for both fixed and variable pitch angle configurations. Results demonstrated that the blade-pitching technique enhanced the power output of an H-type VAWT by approximately 22%. The hybrid controller that used a high percentage of the MLP-ANN controller achieved a better control performance by reducing the overshoot of the control response at high rotor speeds.

Research on Root Locus Correction Algorithm in Automatic Control System

2020 ◽  
Vol 12 (3) ◽  
pp. 30-45
Author(s):  
Weifang Zhai ◽  
Juan Feng
Keyword(s):  
Control System ◽  
Automatic Control ◽  
Automatic Control System ◽  
Control Object ◽  
Correction Method ◽  
Stability Control ◽  
Root Locus ◽  
Expected Performance ◽  
The Stability ◽  
Classical Control

Aiming at the stability control of the automatic control system, this paper proposes a root locus correction scheme. By establishing the mathematical model of the control object and using the root locus correction method in the classical control theory, the design of the control system is completed. The simulation experiment of the control system is carried out in the MATLAB environment, and the key points of the scheme are summarized. The simulation results show that the scheme not only successfully achieves the stability control of the system, but also meets the expected performance index, which fully proves its correctness and effectiveness.

scholarly journals Event-Triggered Stability Analysis of Semi-Markovian Jump Networked Control System with Actuator Faults and Time-Varying Delay via Bessel–Legendre Inequalities

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-16 ◽  
Author(s):  
Hongqian Lu ◽  
Chaoqun Guo ◽  
Yue Hu ◽  
Wuneng Zhou
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
Networked Control System ◽  
Time Varying ◽  
Actuator Faults ◽  
Markovian Jump ◽  
Time Varying Delay ◽  
The Stability ◽  
Varying Delay ◽  
Event Triggered

This paper discusses the stability of semi-Markovian jump networked control system containing time-varying delay and actuator faults. The system dynamic is optimized while the network resource is saved by introducing an improved static event-triggered mechanism. For deriving a less conservative stability criterion, the Bessel–Legendre inequalities approach is employed to the stability analysis and plays a major role. By constructing the enhanced Lyapunov–Krasovskii functional (LKF) relevant to the Legendre polynomials, a stability criterion with lower conservativeness indexed by N is derived, and the conservativeness will decrease as N increases. In addition, a controller is designed. To prove the validity of this paper, numerical examples are provided at the last.

Development of Fuzzy Controllers with Dynamics Regarding Stability Conditions and Sensitivity Analysis

2004 ◽  
Vol 8 (5) ◽  
pp. 499-506 ◽  
Author(s):  
Radu-Emil Precup ◽  
◽  
Stefan Preitl ◽  
Péter Korondi ◽  
Keyword(s):  
Sensitivity Analysis ◽  
Control System ◽  
Stability Analysis ◽  
Stability Conditions ◽  
Fuzzy Controllers ◽  
Electrical Drives ◽  
Points Of View ◽  
The Stability ◽  
Predictive Effect

The paper presents development techniques for fuzzy controllers with dynamics and with predictive effect dedicated to some electrical drives with variable inertia. The development techniques are presented regarding the stability analysis based on programs developed in Matlab & Simulink. In addition, it presents points of view regarding the sensitivity analysis on the basis of some sensitivity models associated to the control system.

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