scholarly journals Stability Control and Turning Algorithm of an Alpine Skiing Robot

Sensors ◽  
2019 ◽  
Vol 19 (17) ◽  
pp. 3664 ◽  
Author(s):  
Si-Hyun Kim ◽  
Bumjoo Lee ◽  
Young-Dae Hong
Keyword(s):  
Humanoid Robot ◽  
Control Method ◽  
Stability Control ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Alpine Skiing ◽  
Turning Radius ◽  
Pass Through ◽  
The Many ◽  
Robot Platform

This paper proposes a general stability control method that uses the concept of zero-moment-point (ZMP) and a turning algorithm with a light detection and ranging (LiDAR) sensor for a bipedal alpine skiing robot. There is no elaborate simulator for skiing robots since the snow has complicated characteristics, such as compression and melting. However, real experiments are laborious because of the many varied skiing conditions. The proposed skiing simulator could be used, so that a humanoid robot can track its desired turning radius by modeled forces that are similar to real ones in the snow. Subsequently, the robot will be able to pass through gates with LiDAR sensors. By using ZMP control, the robot can avoid falling down while tracking its desired path. The performance of the proposed stabilization method and autonomous turning algorithm are verified by a dynamics simulation software, Webots, and the simulation results are obtained while using the small humanoid robot platform DARwIn-OP.

Lateral Stability Control Design for Tractor Semitrailer Based on Virtual Prototyping

2010 ◽  
Vol 118-120 ◽  
pp. 728-732
Author(s):  
Shu Wen Zhou ◽  
Si Qi Zhang ◽  
Guang Yao Zhao
Keyword(s):  
High Speed ◽  
Virtual Prototyping ◽  
Control Design ◽  
Stability Control ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Lateral Stability ◽  
Analysis Model ◽  
Vehicle Model ◽  
Yaw Rate

Tractor semitrailers on high speed obstacle avoidance under emergency are likely to arise rollover or jack-knifing, which are serious risks for motorists. A dynamic stability analysis model of a three-axle tractor semitrailer vehicle is developed using the application tool. The linearized vehicle model is utilized to predict the dynamics state of the tractor semitrailer built in multibody dynamics simulation software. The lateral stability simulation for yaw rate following and anti-rollover has been performed on the dynamic model based on virtual prototyping. The results show that the lateral stability control based on tractor semitrailer proposed in this paper can stabilize the tractor semitrailer, rollover and jack-knifing can be prevented to a large extent.

Based the Active Defense Substation Domain Strategy Control Method to against Blackout

2014 ◽  
Vol 1070-1072 ◽  
pp. 687-692
Author(s):  
Qing Wei Zhang ◽  
Sheng Yang ◽  
Ying Dai
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Control Strategies ◽  
Stability Control ◽  
Simulation Software ◽  
System Stability ◽  
Active Defense ◽  
Real Time Analysis ◽  
Strategy Control ◽  
Building Program

In the previous blackout, overload components out of operation often leaded to the expansion of the accident. One active defense substation domain strategy control system was proposed to prevent the N-1 contingencies to N-2 contingencies caused blackout. Through the substation elements states real time analysis , the active defense control strategy was created by learn from the principles and action messages of backup switching equipment, protection and automatic stability control devices. In order to keep the overall system stability, the active defense control strategy was completed by actively put in the standby element or quit part of the overload elements, to make the system into a new equilibrium state. Contrasting these control strategies by PSCAD/EMTDC simulation software, the results presented that this strategy could quickly change the “Close to collapse” zone into the stability states and the building program simple and practical.

scholarly journals Robust Control Design for Autonomous Vehicles Using Neural Network-Based Model-Matching Approach

Energies ◽  
2021 ◽  
Vol 14 (21) ◽  
pp. 7438
Author(s):  
Dániel Fényes ◽  
Tamás Hegedus ◽  
Balázs Németh ◽  
Péter Gáspár
Keyword(s):  
Neural Network ◽  
Robust Control ◽  
Control Method ◽  
Reference Signal ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Control Input ◽  
Model Matching ◽  
Test Scenario ◽  
Robust Control Design

In this paper, a novel neural network-based robust control method is presented for a vehicle-oriented problem, in which the main goal is to ensure stable motion of the vehicle under critical circumstances. The proposed method can be divided into two main steps. In the first step, the model matching algorithm is proposed, which can adjust the nonlinear dynamics of the controlled system to a nominal, linear model. The aim of model matching is to eliminate the effects of the nonlinearities and uncertainties of the system to increase the performances of the closed-loop system. The model matching process results in an additional control input, which is computed by a neural network during the operation of the control system. Furthermore, in the second step, a robust H∞ is designed, which has double purposes: to handle the fitting error of the neural network and ensure the accurate tracking of the reference signal. The operation and efficiency of the proposed control algorithm are investigated through a complex test scenario, which is performed in the high-fidelity vehicle dynamics simulation software, CarMaker.

scholarly journals Method of Improving Lateral Stability by Using Additional Yaw Moment of Semi-Trailer

Energies ◽  
2020 ◽  
Vol 13 (23) ◽  
pp. 6317
Author(s):  
Zhenyuan Bai ◽  
Yufeng Lu ◽  
Yunxia Li
Keyword(s):  
Reference Model ◽  
Slip Rate ◽  
Stability Control ◽  
Vital Role ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Driving Safety ◽  
Lateral Stability ◽  
Matlab Simulink ◽  
Braking Torque

The lateral stability control of tractor semi-trailer plays a vital role for enhancing its driving safety, and the distributed electric drive structure of a hub motor creates opportunities and challenges for realising the lateral stability accurately. Based on the dynamics simulation software TruckSim, a nonlinear dynamic tractor semi-trailer model is established, and a MATLAB/Simulink linear three-degree-of-freedom monorail reference model is established. The upper controller adopts fuzzy proportional–integral–derivative control to export active yaw torque values of the tractor and semi-trailer. The lower controller outputs the driving/braking torque of each wheel according to the target wheel driving/braking rules and torque distribution rules. The tractor produce an active yaw torque through conventional differential braking the hub motor is installed on both sides of the semi-trailer, and the active yaw torque is produced by the coordinated control of the driving/braking torque of the hub motor and the differential braking of the mechanical braking system. To prevent wheel locking, the slip rate of each wheel is controlled. Finally, based on the TruckSim–MATLAB/Simulink cosimulation platform, cosimulation is performed under typical working conditions. The simulation results show that the control strategy proposed in this report is superior to the conventional differential braking control (ESP). It can not only improve the lateral stability of the vehicle more effectively, but also improve the roll stability.

scholarly journals Research on sports planning and stability control of humanoid robot table tennis

2020 ◽  
Vol 17 (1) ◽  
pp. 172988142090596
Author(s):  
Zichen Nie
Keyword(s):  
Trajectory Planning ◽  
Humanoid Robot ◽  
Control Method ◽  
Least Squares Method ◽  
Human Life ◽  
Humanoid Robots ◽  
Stability Control ◽  
Living Environment ◽  
The Body ◽  
Table Tennis

The humanoid robot has the human shape and has great advantages in assisting human life and work. The ability to work, especially in a dynamic, unstructured environment, is an important prerequisite for humanoid robots to assist humans in their mission. Table tennis hitting involves a variety of key technologies such as visual inspection, trajectory planning, and artificial intelligence. It is an important research example that can reflect the ability of humanoid robots. First, according to the requirements of humanoid robots in the human living environment and the requirements of coordinating table tennis batting movements throughout the body, a method of establishing a humanoid robot model was analyzed, and a control system was designed to meet the needs of rapid table tennis batting. Second, a motion model construction and optimization algorithm based on intelligent learning training is proposed. Based on the parameter knowledge base established by the multiple trajectories of table tennis, a kind of electromagnetic mechanism and D-optimality regularized orthogonal minima are introduced. Design a two-pass method (regularized orthogonal least squares method + D-optimality) to learn the two-level learning method, which is used to learn the key parameters of the table tennis model. Third, for human-like robotic table tennis fast-moving, it is necessary to satisfy both the task and the stability requirements and to propose a stability-optimized whole-system coordinated trajectory planning method. The effectiveness of the proposed humanoid robot table tennis hitting motion planning and stability control method is verified by experiments.

scholarly journals EVALUATION OF PLUG-IN PARALLEL HEV TOPOLOGIES USING OPTIMAL CONTROL METHODS AND VEHICLE DYNAMICS SIMULATION

2021 ◽  
Vol 17 (2) ◽  
Author(s):  
Rastislav Toman ◽  
Jolana Heřmanová
Keyword(s):  
Optimal Control ◽  
Vehicle Dynamics ◽  
Hybrid Electric Vehicle ◽  
Internal Combustion Engines ◽  
Control Method ◽  
Minimum Principle ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Control Methods ◽  
Optimal Control Method

Hybrid electric vehicle (HEV) powertrains with parallel topologies are among the frequently used layouts, because of their easy applicability on an existing conventional powertrain, by the addition of hybrid modules with mild, full, or a plug-in capability. This paper investigates three of such parallel HEV topologies: P2, P3, and P4; all in a plug-in variant, to find-out which one performs best. Apart from the topology consideration, one of the other common questions or challenges in HEV development is the ICE concept selection. To address it, the paper combines the three HEV topologies with three technologically different internal combustion engines, all with the same power outputs. Then, all the powertrain and ICE combinations are tested in homologation driving cycles and vehicle dynamics simulation test – different acceleration tests – giving a holistic methodology suitable for thorough HEV topology evaluation, identifying all possible hybridization benefits. To find the maximum CO2 potential, it is convenient to exclude the effect of the energy management control strategy on the CO2 result in a charge sustaining driving cycle; therefore, to use some optimal control method. For this task, the paper compares the Equivalent Consumption Minimization Strategy, that realizes a Pontryagin’s minimum principle against the Dynamic Programming optimal control method, which is based on Bellman’s principle of optimality. Both control methods are available as a part of GT-Suite 0D/1D/3D multi-physics CAE simulation software, that is used in our whole study.

Developing a Kinematic Estimation Model for a Climbing Mobile Robotic Welding System

2010 ◽  
Author(s):  
Aaron T. O’Toole ◽  
Stephen L. Canfield
Keyword(s):  
Kinematic Model ◽  
Robotic Welding ◽  
Estimation Model ◽  
Mobile Platforms ◽  
Low Profile ◽  
Turning Radius ◽  
Equivalence Model ◽  
Kinematic Equivalence ◽  
Welding System ◽  
Robot Platform

Skid steer tracked-based robots are popular due to their mechanical simplicity, zero-turning radius and greater traction. This architecture also has several advantages when employed by mobile platforms designed to climb and navigate ferrous surfaces, such as increased magnet density and low profile (center of gravity). However, creating a kinematic model for localization and motion control of this architecture is complicated due to the fact that tracks necessarily slip and do not roll. Such a model could be based on a heuristic representation, an experimentally-based characterization or a probabilistic form. This paper will extend an experimentally-based kinematic equivalence model to a climbing, track-based robot platform. The model will be adapted to account for the unique mobility characteristics associated with climbing. The accuracy of the model will be evaluated in several representative tasks. Application of this model to a climbing mobile robotic welding system (MRWS) is presented.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

Case Study on Modeling Fire Action Complexity in Fire Safety Engineering of Structures

2017 ◽  
Vol 21 ◽  
pp. 102-107
Author(s):  
Constantin Sorin Scutarasu ◽  
Dan Diaconu-Şotropa ◽  
Marinela Barbuta
Keyword(s):  
Numerical Simulation ◽  
Fire Safety ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Structural Safety ◽  
Modular Organization ◽  
Field Of Study ◽  
Safety Design ◽  
Fire Safety Design ◽  
Technical Regulations

Important goals in the fire safety design, such as preventing loss of life and goods damage, are achieved by maintaining the stability of structures exposed to fire for a period of time established by norms and standards. Real fire scenarios confirm that the specific technical regulations which actually have a prescriptive character (both national and international) do not deal with sufficient possibilities regarding the assessment of structural fire safety. The new approach on structural safety, based on engineering notions, gives us additional prospects on it and it is included in the issues of the fire safety design of structures. A relatively new field of study, known by a few professionals focused on fire safety (but well acknowledged in the research area), fire safety design met with lots of changes and restructuring of the governing concepts and procedures and of the information with which they operate, due to the fast accumulation of experience in this area of engineering activity. Consequently, after countries such as Australia, Canada, New Zeeland or USA provided towards professionals specific technical regulations for fire safety design, groups of experts in these aforementioned countries have joined their forces to try to diminish the differences that exists between those regulations and to give a unitary character to them, a better conceptualized engineering approach of the fire safety design. The result: occurrence of the publication International Fire Engineering Guidelines (last edition from 2005). The systematic approach of fire safety design in constructions pointed, once again, the possibility of modular organization of this field of study, the relations between modules being established according to the objective or objectives in the fire safety design for a specified building. This article aims to put forward, from this modularized perspective, the study of the fire safety design of a building exposed to fire; hence, the practical part of the article exhibits the numerical simulation of initialization and development of the fire process for a large scale religious building. The main features of the building represent the amount of space that facilitates the spreading of smoke and warm gases and which increases the risk of damaging the structural reinforced concrete elements. Application calls to specific numerical simulation with a higher degree of credibility, such as those realized by the FDS (Fire Dynamics Simulation) software.

The Application of Second-Developed ADAMS on Simulation of Individual Soldier Automatic Weapon

2012 ◽  
Vol 182-183 ◽  
pp. 1056-1059
Author(s):  
Yan Jun Zhao ◽  
Wen Qing Ge ◽  
Cheng Xu
Keyword(s):  
Simulation Software ◽  
Dynamics Simulation ◽  
Design Efficiency ◽  
Parameter Modification

Based on ADAMS, The dynamics simulation software of individual soldier automatic weapon was developed. Parameter modification, remodeling, dynamics simulation, simulation replay, obtain and save of results of Individual Soldier Automatic weapon model by finely Chinese interface were completed. The software brings convenient for user,and improves design efficiency. The results show that the software is reliable.

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