scholarly journals On the Stability Analysis of a Coupled Rigid Body

2018 ◽  
Vol 09 (03) ◽  
pp. 210-222
Author(s):  
Olaniyi S. Maliki ◽  
Victor O. Anozie
Keyword(s):  
Stability Analysis ◽  
Rigid Body ◽  
The Stability

Automated Stability Analysis of a Vehicle in Combined Pitch and Roll

2002 ◽  
Author(s):  
James K. Sprague ◽  
Shyi-Ping Liu
Keyword(s):  
Stability Analysis ◽  
Rigid Body ◽  
Contact Forces ◽  
Design Parameters ◽  
Spherical Coordinates ◽  
Stability Boundaries ◽  
Overturning Stability ◽  
Heading Angle ◽  
The Stability ◽  
Six Degree Of Freedom

This paper presents a rigid body modeling approach using ADAMS™ for an overturning stability analysis of a vehicle stopped at an arbitrary heading angle on a steep grade. The vehicle is modeled as a six-degree-of-freedom rigid body with multiple contact forces acting on the ground. A gravity vector bounded by sets of spherical coordinates is applied to the vehicle to represent the physics of a vehicle stopped on a grade with any arbitrary combination of pitch and roll angles. A design of experiments study is performed to locate the overturning stability boundaries within given levels of design parameters. Results are output using two effective graphical means of depicting the stability regions and magnitude of contact forces.

The Stability Analysis on Reservoir Bank Slope of Granite Stained Subgrade

2011 ◽  
Vol 250-253 ◽  
pp. 1711-1716
Author(s):  
Li Chao Wang ◽  
Ping Gen Zhou
Keyword(s):  
Stability Analysis ◽  
Rigid Body ◽  
Limit Equilibrium ◽  
Limit Equilibrium Method ◽  
Dynamic Compaction ◽  
Sliding Surface ◽  
Bank Slope ◽  
The Stability ◽  
Safety Operation ◽  
Reservoir Bank Slope

The limit equilibrium method for rigid body is used to analyze the stability of subgrade reservoir bank slope of granite stained. The sliding of subgrade reservoir bank slope reinforced by dynamic compaction along the interface will not be happened. In the most unfavorable conditions , the sliding surface will be formed inside the stained subgrade, which threatened to the safety operation of the expressway.

On the Stability of Robot Compliant Motion Control: Theory and Experiments

1990 ◽  
Vol 112 (3) ◽  
pp. 417-426 ◽  
Author(s):  
H. Kazerooni ◽  
B. J. Waibel ◽  
S. Kim
Keyword(s):  
Stability Analysis ◽  
Rigid Body ◽  
Dynamic Behavior ◽  
Stability Condition ◽  
Robot Manipulator ◽  
Rigid Body Dynamics ◽  
Robot Dynamics ◽  
Direct Drive ◽  
Body Dynamics ◽  
The Stability

The work presented here is a nonlinear approach for the stability analysis of robot manipulators in compliant maneuvers. Stability of the environment and the manipulator taken as a whole has been investigated, and a bound for stable manipulation has been derived. The stability analysis has been investigated using unstructured models for the dynamic behavior of the robot manipulator and the environment. This unified approach of modeling robot dynamics is expressed in terms of sensitivity functions as opposed to the rigid body dynamics derived by Lagrangian approach. It allows us to incorporate the dynamic behavior of all the elements of a robot manipulator (i.e., actuators, sensors and the structural compliance of the links) in addition to the rigid body dynamics. We show that for stability of the robot, there must be some initial compliancy either in the robot or in the environment. According to this stability condition, smaller sensitivity either in the robot or in the environment leads to a narrower stability range. In the limit, when both robot and environment have zero sensitivity, stability cannot be guaranteed. The general stability condition has been extended to the particular case where the environment is very rigid in comparison with the robot stiffness. This condition has been verified via simulation and experiment on the Minnesota direct drive robot.

Stability Analysis of the Nanjung Water Diversion Twin Tunnels based on Convergence Measurement

2019 ◽  
Vol 1 (1) ◽  
pp. 49-60
Author(s):  
Simon Heru Prassetyo ◽  
Ganda Marihot Simangunsong ◽  
Ridho Kresna Wattimena ◽  
Made Astawa Rai ◽  
Irwandy Arif ◽  
...  
Keyword(s):  
Stability Analysis ◽  
Convergence Rate ◽  
Critical Strain ◽  
Convergence Rates ◽  
Strain Analysis ◽  
Water Diversion ◽  
Tunnel Face ◽  
Tunnel Stability ◽  
The Stability ◽  
Twin Tunnels

This paper focuses on the stability analysis of the Nanjung Water Diversion Twin Tunnels using convergence measurement. The Nanjung Tunnel is horseshoe-shaped in cross-section, 10.2 m x 9.2 m in dimension, and 230 m in length. The location of the tunnel is in Curug Jompong, Margaasih Subdistrict, Bandung. Convergence monitoring was done for 144 days between February 18 and July 11, 2019. The results of the convergence measurement were recorded and plotted into the curves of convergence vs. day and convergence vs. distance from tunnel face. From these plots, the continuity of the convergence and the convergence rate in the tunnel roof and wall were then analyzed. The convergence rates from each tunnel were also compared to empirical values to determine the level of tunnel stability. In general, the trend of convergence rate shows that the Nanjung Tunnel is stable without any indication of instability. Although there was a spike in the convergence rate at several STA in the measured span, that spike was not replicated by the convergence rate in the other measured spans and it was not continuous. The stability of the Nanjung Tunnel is also confirmed from the critical strain analysis, in which most of the STA measured have strain magnitudes located below the critical strain line and are less than 1%.

Stability of bounded rapid shear flows of a granular material

1996 ◽  
Vol 308 ◽  
pp. 31-62 ◽  
Author(s):  
Chi-Hwa Wang ◽  
R. Jackson ◽  
S. Sundaresan
Keyword(s):  
Growth Rate ◽  
Stability Analysis ◽  
Granular Material ◽  
Bulk Density ◽  
Particulate Material ◽  
Dominant Mode ◽  
Marginal Stability ◽  
Sheared Layer ◽  
The Stability ◽  
Unusual Type

This paper presents a linear stability analysis of a rapidly sheared layer of granular material confined between two parallel solid plates. The form of the steady base-state solution depends on the nature of the interaction between the material and the bounding plates and three cases are considered, in which the boundaries act as sources or sinks of pseudo-thermal energy, or merely confine the material while leaving the velocity profile linear, as in unbounded shear. The stability analysis is conventional, though complicated, and the results are similar in all cases. For given physical properties of the particles and the bounding plates it is found that the condition of marginal stability depends only on the separation between the plates and the mean bulk density of the particulate material contained between them. The system is stable when the thickness of the layer is sufficiently small, but if the thickness is increased it becomes unstable, and initially the fastest growing mode is analogous to modes of the corresponding unbounded problem. However, with a further increase in thickness a new mode becomes dominant and this is of an unusual type, with no analogue in the case of unbounded shear. The growth rate of this mode passes through a maximum at a certain value of the thickness of the sheared layer, at which point it grows much faster than any mode that could be shared with the unbounded problem. The growth rate of the dominant mode also depends on the bulk density of the material, and is greatest when this is neither very large nor very small.

A new control approach for a class of linear switched systems with time-varying delay

2021 ◽  
pp. 014233122199272
Author(s):  
Abbas Zabihi Zonouz ◽  
Mohammad Ali Badamchizadeh ◽  
Amir Rikhtehgar Ghiasi
Keyword(s):  
Stability Analysis ◽  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Switching Systems ◽  
Time Varying ◽  
Matrix Inequalities ◽  
Time Varying Delay ◽  
Linear Switching Systems ◽  
The Stability ◽  
Varying Delay

In this paper, a new method for designing controller for linear switching systems with varying delay is presented concerning the Hurwitz-Convex combination. For stability analysis the Lyapunov-Krasovskii function is used. The stability analysis results are given based on the linear matrix inequalities (LMIs), and it is possible to obtain upper delay bound that guarantees the stability of system by solving the linear matrix inequalities. Compared with the other methods, the proposed controller can be used to get a less conservative criterion and ensures the stability of linear switching systems with time-varying delay in which delay has way larger upper bound in comparison with the delay bounds that are considered in other methods. Numerical examples are given to demonstrate the effectiveness of proposed method.

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