scholarly journals Dynamic Modeling and Control of a Parallel Mechanism Used in the Propulsion System of a Biomimetic Underwater Vehicle

2021 ◽  
Vol 11 (11) ◽  
pp. 4909
Author(s):  
Juan Antonio Algarín-Pinto ◽  
Luis E. Garza-Castañón ◽  
Adriana Vargas-Martínez ◽  
Luis I. Minchala-Ávila
Keyword(s):  
Dynamic Modeling ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Tracking Error ◽  
Propulsion System ◽  
Parallel Mechanisms ◽  
Motion Generation ◽  
Inverse Dynamic ◽  
Caudal Fin ◽  
Fuzzy Pd

Incorporation of parallel mechanisms inside propulsion systems in biomimetic autonomous underwater vehicles (BAUVs) is a novel approach for motion generation. The vehicle to which the studied propulsion system is implemented presents thunniform locomotion, and its thrust depends mainly on the oscillation from its caudal fin. This paper describes the kinematic and dynamic modeling of a 3-DOF spherical 3UCU-1S parallel robotic system to which the caudal fin of a BAUV is attached. Lagrange formalism was employed for inverse dynamic modeling, and its derivation is detailed throughout this paper. Additionally, the implementation of control strategies to compute forces required to actuate limbs to change platform’s flapping frequencies was developed. Four controllers: classic PD, a feedforward plus feedback PD, an adaptive Fuzzy-PD, and a feedforward plus Fuzzy-PD were compared in different simulations. Results showed that augmenting oscillating frequencies (from 0.5 to 5 Hz) increased the complexity of the path tracking task, where the classic control strategy (i.e., PD) was not sufficient, reaching percentage errors above 9%. Control strategies using feedforward terms combined with adaptive feedback techniques reduced tracking error below 2% even during the presence of external disturbances.

scholarly journals Study on Application of T-S Fuzzy Observer in Speed Switching Control of AUVs Driven by States

2014 ◽  
Vol 2014 ◽  
pp. 1-8
Author(s):  
Xun Zhang ◽  
Xinglin Hu ◽  
Yang Zhao ◽  
Zhaodong Tang
Keyword(s):  
Control Method ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Tracking Error ◽  
Vertical Plane ◽  
Speed Control ◽  
Switching Control ◽  
Current Profile ◽  
Switching Law ◽  
Fuzzy Observer

Considering the inherent strongly nonlinear and coupling performance of autonomous underwater vehicles (AUVs), the speed switching control method for AUV driven by states is presented. By using T-S fuzzy observer to estimate the states of AUV, the speed control strategies in lever plane, vertical plane, and speed kept are established, respectively. Then the adaptive switching law is introduced to switch the speed control strategies designed in real time. In the simulation, acoustic Doppler current profile/side scan sonar (ADCP/SSS) observation case is employed to demonstrate the effectiveness of the proposed method. The results show that the efficiency of AUV was improved, the trajectory tracking error was reduced, and the steady-state ability was enhanced.

Dynamic Modeling of a High-Dynamic Flight Simulator

2014 ◽  
Vol 687-691 ◽  
pp. 610-615 ◽  
Author(s):  
Hui Liu ◽  
Li Wen Guan
Keyword(s):  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Flight Simulator ◽  
Inverse Dynamic ◽  
Dynamic Formulation ◽  
Time Histories ◽  
Rotational Degrees Of Freedom ◽  
High Dynamic ◽  
Euler Approach ◽  
Simulation Results

High-dynamic flight simulator (HDFS), using a centrifuge as its motion base, is a machine utilized for simulating the acceleration environment associated with modern advanced tactical aircrafts. This paper models the HDFS as a robotic system with three rotational degrees of freedom. The forward and inverse dynamic formulations are carried out by the recursive Newton-Euler approach. The driving torques acting on the joints are determined on the basis of the inverse dynamic formulation. The formulation has been implemented in two numerical simulation examples, which are used for calculating the maximum torques of actuators and simulating the time-histories of kinematic and dynamic parameters of pure trapezoid Gz-load command profiles, respectively. The simulation results can be applied to the design of the control system. The dynamic modeling approach presented in this paper can also be generalized to some similar devices.

Dynamic modeling and design of controller for the 2-DoF serial chain actuated by a cable-driven robot based on feedback linearization

2021 ◽  
pp. 095440622110279
Author(s):  
Vahid Bahrami ◽  
Ahmad Kalhor ◽  
Mehdi Tale Masouleh
Keyword(s):  
Dynamic Modeling ◽  
Pid Controller ◽  
Feedback Linearization ◽  
Tracking Error ◽  
Pid Controllers ◽  
Serial Chain ◽  
Simulation Results ◽  
The Stability ◽  
Feedback Linearization Approach ◽  
Bounded Disturbance

This study intends to investigate a dynamic modeling and design of controller for a planar serial chain, performing 2-DoF, in interaction with a cable-driven robot. The under study system can be used as a rehabilitation setup which is helpful for those with arm disability. The latter goal can be achieved by applying the positive tensions of the cable-driven robot which are designed based on feedback linearization approach. To this end, the system dynamics formulation is developed using Lagrange approach and then the so-called Wrench-Closure Workspace (WCW) analysis is performed. Moreover, in the feedback linearization approach, the PD and PID controllers are used as auxiliary controllers input and the stability of the system is guaranteed as a whole. From the simulation results it follows that, in the presence of bounded disturbance based on Roots Mean Square Error (RMSE) criteria, the PID controller has better performance and tracking error of the 2-DoF robot joints are improved 15.29% and 24.32%, respectively.

Kinetic and Dynamic Modeling of Single ActuatorWave-Like Robot

Robotica ◽  
2019 ◽  
Vol 37 (11) ◽  
pp. 1971-1986
Author(s):  
Ruoyu Feng ◽  
Peng Zhang ◽  
Junfeng Li ◽  
Hexi Baoyin
Keyword(s):  
Power Consumption ◽  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Kinematic Model ◽  
Theoretical Models ◽  
Equation Of Motion ◽  
Kinematics And Dynamics ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis

SummaryIn this study, the kinematics and dynamics of a single actuator wave (SAW)-like robot are explored. Comprising a helical spine and links, SAW has the potential for miniaturization. A kinematic model for SAW is firstly established, and the dynamic equation of motion is derived based on Kane’s method. For validation, the motion of SAW is simulated using both MATLAB and ADAMS, and the comparison of results demonstrates the effectiveness of the theoretical models. Then the inverse dynamic analysis is performed to reveal the power consumption. Finally, robot prototypes are developed and tested to confirm the robot velocity predicted by simulations.

Study and Simulation on the Energy Efficiency Management Control Strategy of Ship Based on Clean Propulsion System

2015 ◽  
Author(s):  
Kai Wang ◽  
Xinping Yan ◽  
Yupeng Yuan
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Control Strategy ◽  
Control Strategies ◽  
Management Control ◽  
Propulsion System ◽  
Power Requirement ◽  
Doubly Fed ◽  
System Configurations ◽  
And Control

Nowadays, with the higher voice of ship energy saving and emission reduction, the research on energy efficiency management is particularly necessary. Energy efficiency management and control of ships is an effective way to improve the ship energy efficiency. In this paper, according to the new clean propulsion system configurations of 5000 tons of bulk carrier, the energy efficiency management control strategy of the clean propulsion system is designed based on the model of advanced brushless doubly-fed shaft generator, propulsion system using LNG/diesel dual fuel engine and energy consumption of the main engine for reducing energy consumption. The simulation model of the entire propulsion system and the designed control strategy were designed. The influence of the engine speed on the ship energy efficiency was analyzed, and the feasibility of the energy efficiency management control strategies was verified by simulation using Matlab/Simulink. The results show that the designed strategies can ensure the power requirement of the whole ship under different conditions and improve the ship energy efficiency and reduce CO2 emissions.

Experimental Study on H∞ Control for United Brake of Electric Vehicle

2011 ◽  
Vol 204-210 ◽  
pp. 498-501
Author(s):  
Chuan Wei Zhang
Keyword(s):  
Robust Control ◽  
Electric Vehicle ◽  
Pid Control ◽  
Control Strategies ◽  
Tracking Error ◽  
Research Work ◽  
Response Speed ◽  
Rotational Inertia ◽  
Variable Load ◽  
Braking Distance

This paper discusses different united brake control strategies of electric vehicle (EV), presents a novel H∞ robust united brake control strategy for EV. Research work is done under different conditions namely variable battery voltage and variable load rotational inertia, separately. A comparison between conventional PID control and H∞ robust control is done when they are applied to the above mentioned conditions. Under the united brake condition, the experimental results show that the braking distance is shortened by the united brake system in the emergent brake; the braking ability of the EV is improved. H∞ robust control has better performance than the traditional PID control both in steady-state tracking error and response speed.

Inverse dynamic modeling of a parallel wrist rehabilitation robot towards an assistive control modality

2021 ◽  
Author(s):  
Bogdan Gherman ◽  
Alexandru Banica ◽  
Paul Tucan ◽  
Calin Vaida ◽  
Tiberiu Antal ◽  
...  
Keyword(s):  
Dynamic Modeling ◽  
Rehabilitation Robot ◽  
Inverse Dynamic
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