scholarly journals Multi-Body Dynamics Modeling and Control for Strapdown Inertially Stabilized Platforms Considering Light Base Support Characteristics

2020 ◽  
Vol 10 (20) ◽  
pp. 7175
Author(s):  
Zhongshi Wang ◽  
Dapeng Tian ◽  
Lei Shi ◽  
Jinghong Liu
Keyword(s):  
Disturbance Compensation ◽  
Dynamics Modeling ◽  
Tracking Accuracy ◽  
Dynamics Model ◽  
Modeling And Control ◽  
Body Dynamics ◽  
Feedforward Controller ◽  
Multi Body ◽  
And Control ◽  
Compound Disturbance

The dynamics model used for inertially or strapdown inertially stabilized platforms is based on the rotor and motor load, and it either does not consider the stator or it implicitly assumes a fixed stator. It has been determined that vibrations occur in the system when a controller is used in strapdown inertially stabilized platforms with a light base support. As the system is also affected by multi-source disturbances, which are the main factors that affect the control accuracy. For the above two problems, this paper originally establishes a multi-body dynamics model including the controller. The composite controller not only suppresses the vibration successfully, but also greatly improves the disturbance compensation and tracking performance of the strapdown inertially stabilized platforms. Specifically, a modified feedback controller is used to suppress the vibrations analyzed according to the dynamics model. The friction feedforward and residual disturbance observer facilitates the design of compound disturbance compensation on the basis of composite hierarchical anti-disturbance control. To emphasize the advantages of strapdown inertially stabilized platforms, the feedforward controller employs feedforward angular velocity and acceleration. The results of the numerical analysis and experiments indicate that vibrations are successfully suppressed and tracking accuracy and disturbance isolation ability are improved.

scholarly journals Dynamics Modeling and Control of a Quadrotor with Swing Load

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
S. Sadr ◽  
S. Ali A. Moosavian ◽  
P. Zarafshan
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Suspended Load ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Constant Length ◽  
Modeling And Control ◽  
Aerial Robots ◽  
And Control

Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in order to control the position and attitude of the quadrotor. The performance of this proposed controller is evaluated by nonlinear simulations and, finally, the results demonstrate the effectiveness of the control strategy for the quadrotor with suspended load in various maneuvers.

Multi-Body Dynamics Modeling of a Spherical Mobile Robot

2014 ◽  
Vol 635-637 ◽  
pp. 1321-1324
Author(s):  
Yao Cai ◽  
Feng Gao ◽  
Ze Ning Liu
Keyword(s):  
Mobile Robot ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Kinematics Model ◽  
Body Dynamics ◽  
Spherical Mobile Robot ◽  
Multi Body ◽  
Kane Method

This paper presents the multi-body dynamics modeling of a spherical mobile robot based on Kane method. Based on the kinematics model, the Kane method is employed to analyze the motion of three main parts of robot. A two order dynamics model of spherical mobile robot is obtained. To validate such model, some simulations are fulfilled in both Mathematica and RecurDyn environments. Simulation result shows that, the modeling of spherical mobile robot is correct and effective.

Dynamics modeling and characteristics analysis of scissor seat suspension

2015 ◽  
Vol 23 (17) ◽  
pp. 2819-2829 ◽  
Author(s):  
Xinjie Zhang ◽  
Chunlei Wang ◽  
Konghui Guo ◽  
Ming Sun ◽  
Qilin Yao
Keyword(s):  
Control Strategies ◽  
Relative Displacement ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Leverage Ratio ◽  
Seat Suspension ◽  
Lower Base ◽  
Body Dynamics ◽  
Characteristics Analysis ◽  
Multi Body

Scissor seat suspension is used widely for attenuating the cab vibration of commercial vehicles, and obtaining its dynamics characteristics accurately is the basis of scissor seat suspension optimization, control and development. As a result, this paper focuses on the scissor seat suspension dynamics modeling and characteristics analysis. Firstly, the scissor seat suspension constraint dynamics equations are derived according to the detailed physical structure. Then, a numerical algorithm with the Baumgarte is proposed to solve the derived multi-body dynamics model which considers the correlation between generalized velocity [Formula: see text] and acceleration [Formula: see text] in the numerical iteration procedure. Finally, a simplified scissor seat suspension vertical dynamics model is formulated. The “spring equivalent leverage ratio” defined as the ratio of the spring vertical deformation to the relative displacement between the upper base and the lower base, as well as the “damper equivalent leverage ratio” defined as the ratio of the damper vertical velocity to the relative velocity between the upper and lower base, are proposed to study the scissor seat suspension vertical dynamics characteristics. This paper demonstrates that the proposed scissor seat suspension multi-body dynamics model provides a precise dynamics characteristics description, which can be used for the scissor seat suspension structure optimization and virtual product development. Additionally, the proposed simplified scissor seat suspension vertical dynamics model shows benefits for its control strategies development.

Modeling and Control of a Nonlinear Active Suspension Using Multi-Body Dynamics System Software

2014 ◽  
Vol 67 (1) ◽  
Author(s):  
M. Fahezal Ismail ◽  
Y. M. Sam ◽  
S. Sudin ◽  
K. Peng ◽  
M. Khairi Aripin
Keyword(s):  
Ride Comfort ◽  
Active Suspension ◽  
Suspension System ◽  
Ride Quality ◽  
System Software ◽  
Composite Nonlinear Feedback ◽  
Modeling And Control ◽  
Body Dynamics ◽  
Multi Body ◽  
And Control

This paper describes the mathematical modeling and control of a nonlinear active suspension system for ride comfort and road handling performance by using multi-body dynamics software so-called CarSim. For ride quality and road handling tests the integration between MATLAB/Simulink and multi-body dynamics system software is proposed. The control algorithm called the Conventional Composite Nonlinear Feedback (CCNF) control was introduced to achieve the best transient response that can reduce to overshoot on the sprung mass and angular of control arm of MacPherson active suspension system. The numerical experimental results show the control performance of CCNF comparing with Linear Quadratic Regulator (LQR) and passive system. 

Dynamic model of an air spring and integration into a vehicle dynamics model

2008 ◽  
Vol 222 (10) ◽  
pp. 1813-1825 ◽  
Author(s):  
F Chang ◽  
Z-H Lu
Keyword(s):  
Dynamic Model ◽  
Vehicle Dynamics ◽  
Simulation Method ◽  
Heat Transfer Process ◽  
Spring Model ◽  
Dynamics Model ◽  
Air Spring ◽  
Full Vehicle ◽  
Body Dynamics ◽  
Multi Body

It is worthwhile to design a more accurate dynamic model for air springs, to investigate the dynamic behaviour of an air spring suspension, and to analyse and guide the design of vehicles with air spring suspensions. In this study, a dynamic model of air spring was established, considering the heat transfer process of the air springs. Two different types of air spring were tested, and the experimental results verified the effectiveness of the air spring model compared with the traditional model. The key factors affecting the computation accuracy were studied and checked by comparing the results of the experiments and simulations. The new dynamic model of the air spring was integrated into the full-vehicle multi-body dynamics model, in order to investigate the air suspension behaviour and vehicle dynamics characteristics. The co-simulation method using ADAMS and MATLAB/Simulink was applied to integration of the air spring model with the full-vehicle multi-body dynamics model.

Dynamics modeling and control of active track tensioning system for tracked vehicle

2019 ◽  
Vol 26 (11-12) ◽  
pp. 989-1000
Author(s):  
Pingxin Wang ◽  
Xiaoting Rui ◽  
Hailong Yu ◽  
Bo Li
Keyword(s):  
Control Strategies ◽  
Stable Range ◽  
Dynamics Modeling ◽  
Modeling And Control ◽  
Flow Equations ◽  
Ground Pressure ◽  
Coupling System ◽  
Hydraulic Mechanism ◽  
And Control ◽  
Peak Value

Track assemblies are widely used to reduce vehicles’ ground pressure and improve their off-road performance. During off-road, the track tension has a significant effect on the performance of the crawler driving system. Previous control strategies only make use of the motions of partial road wheels. This paper develops a logical improvement to govern the motion of the track tensioner by using all road wheels. First, a dynamic model of the hydraulic-mechanism coupling system is established using the transfer matrix method for multibody systems and pressure-flow equations. Then, in order to get the angle of the idler arm, a modeling method of wheel envelope perimeter is developed, which is based on the locations of all wheels. Simulation results indicate that the control system maintains the wheel envelope perimeter almost constant while road wheels swing and decrease the possibility of peel-off and breakage of the track. It alleviates the track repeated stretch and keeps the tension in a stable range to reduce the fatigue damage. The control strategy can effectively reduce the peak value of the upper track tension during a vehicle passing through obstacles. This study suggests that the active track tensioning system can be implemented to improve the driving properties of tracked vehicles.

Multi-body dynamics modeling and TMD optimization based on the improved AFSA for floating wind turbines

2019 ◽  
Vol 141 ◽  
pp. 305-321 ◽  
Author(s):  
Jiao He ◽  
Xin Jin ◽  
S.Y. Xie ◽  
Le Cao ◽  
Yifan Lin ◽  
...  
Keyword(s):  
Wind Turbines ◽  
Dynamics Modeling ◽  
Body Dynamics ◽  
Multi Body
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