Modelling, simulation and experiment with double pendulum chaotic toy

1999 ◽  
Author(s):  
B. R. Andrievskii ◽  
A. L. Fradkov ◽  
V. A. Konoplev ◽  
A. P. Konjukhov
Keyword(s):  
Double Pendulum ◽  
Simulation And Experiment ◽  
Modelling Simulation

Wave-Based Control of a Crane System With Complex Loads

2017 ◽  
Vol 139 (8) ◽  
Author(s):  
Jiao Zhou ◽  
Kai Zhang ◽  
Gengkai Hu
Keyword(s):  
Wave Scattering ◽  
Control Method ◽  
Model Simulation ◽  
Double Pendulum ◽  
Time Varying ◽  
Pendulum Model ◽  
Simulation And Experiment ◽  
Special Case ◽  
Transmission And Reflection ◽  
Load Mass

In the framework of wave-based method, we have examined swing motion control for double-pendulum and load-hoist models. Emphases are placed on wave scattering by the middle load mass in the double-pendulum model and on time-varying configuration in the load-hoist model. By analyzing wave transmission and reflection, trolley's motion to alleviate swing is designed by absorbing reflected wave through adjusting the velocity of trolley. Simulation and experiment are also conducted to validate the proposed control method. The results show that with the designed trolley's motion swings of load can be significantly reduced for both double-pendulum model, suspended rod model which is demonstrated a special case of double-pendulum model, and load-hoist model. Simulation results agree well with the experimental measurement. Launch velocity profiles may have important impact on motion design, especially on force necessary to displace trolley. Finally, a wave-based feedback control is also discussed to demonstrate the flexibility of method.

Modelling, simulation and experiment of a novel pure rolling cycloid reducer with involute teeth

2014 ◽  
Vol 21 (2) ◽  
pp. 184 ◽  
Author(s):  
Yuan Song ◽  
Qizheng Liao ◽  
Shimin Wei ◽  
Lei Guo ◽  
Hongzhou Song ◽  
...  
Keyword(s):  
Pure Rolling ◽  
Simulation And Experiment ◽  
Modelling Simulation

Design and performance evaluation of a spherical robot assisted by high-speed rotating flywheels for self-stabilization and obstacle surmounting

2021 ◽  
pp. 1-17
Author(s):  
Yibo Hu ◽  
Yanding Wei ◽  
Mengnan Liu
Keyword(s):  
Dynamic Characteristics ◽  
High Speed ◽  
Double Pendulum ◽  
Spherical Robot ◽  
Maximum Stability ◽  
Simulation And Experiment ◽  
Operation Stability ◽  
Robot Performance ◽  
And Performance ◽  
The Stability

Abstract In order to reinforce the operation stability and obstacle capability of a spherical robot, this paper presents a spherical robot with high-speed rotating flywheel, the mechanical structure of which is mainly composed of a spherical shell, a double pendulum on both sides and two high-speed flywheels. The robot has three excitation modes: level running, self-stability operating and obstacle surmounting. The dynamic characteristics of the pendulum, flywheel and brake of the robot are discussed through the establishment of kinematic and dynamic model of the spherical robot and the influence of parameters like weight, flywheel speed and flywheel position on its dynamic characteristics and robot performance is optimized and analyzed in detail. The research results indicate that the two flywheels located in the center of the sphere apart can bring the maximum stability gain to the sphere. Finally, the simulation and experiment of the stability gain brought by the high-speed flywheel to the sphere verify that the operation stability of the sphere is effectively improved after using the flywheel, and the robot that stops the flywheel through a brake fixed on the pendulum has better obstacle surmounting performance.

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