Wyniki wyszukiwania - BazTech

1

Modeling and control of a simplified high-speed vehicle moving in reduced-pressure conditions

Strawa Natalia, Malczyk Paweł

Archive of Mechanical Engineering

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2019

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Vol. LXVI, nr 3

355--377

EN

In times of rapidly progressing globalization, the possibility of fast long-distance travel between high traffic cities has become an extremely important issue. Currently, available transportation systems have numerous limitations, therefore, the idea of a high-speed transportation system moving in reduced-pressure conditions has emerged recently. This paper presents an approach to the modelling and simulation of the dynamic behaviour of a simplified high-speed vehicle that hovers over the track as a magnetically levitated system. The developed model is used for control system design. The purpose of passive and active suspension discussed in the text is to improve both the performance and stability of the vehicle as well as ride comfort of passengers travelling in a compartment. Comparative numerical studies are performed and the results of the simulations are reported in the paper with the intent to demonstrate the benefits of the approach employed here.

2

Control design for untimed Petri nets using Markov Decision Processes

Daoui C., Lefebvre D.

Operations Research and Decisions

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2017

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Vol. 27, No. 4

27--43

EN

Design of control sequences for discrete event systems (DESs) has been presented modelled by untimed Petri nets (PNs). PNs are well-known mathematical and graphical models that are widely used to describe distributed DESs, including choices, synchronizations and parallelisms. The domains of application include, but are not restricted to, manufacturing systems, computer science and transportation networks. We are motivated by the observation that such systems need to plan their production or services. The paper is more particularly concerned with control issues in uncertain environments when unexpected events occur or when control errors disturb the behaviour of the system. To deal with such uncertainties, a new approach based on discrete time Markov decision processes (MDPs) has been proposed that associates the modelling power of PNs with the planning power of MDPs. Finally, the simulation results illustrate the benefit of our method from the computational point of view.

3

Embedded controller for balancing type robot

Tutro J., Wesołowski K., Pauluk M., Marchewka D.

Pomiary Automatyka Robotyka

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2013

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R. 17, nr 1

141-146

PL

Artykuł jest podsumowaniem prac nad projektem robota balansującego typu Segway. W ramach prac zaprojektowano platformę mechaniczną, sterownik elektroniczny oraz zaimplementowano algorytm sterowania robotem. Robot wyposażony jest w cyfrowy żyroskop i silniki prądu stałego z enkoderami. Sterownik w oparciu o odczyty z czujników steruje ruchem robota równocześnie stabilizując jego położenie. Część mechaniczną projektu wykonano przy użyciu oprogramowania CAD (SolidWorks). Zbudowane modele mechaniczne zaimportowano do środowiska MATLAB/Simulink, w którym opracowano i przetestowano sterownik. W trakcie prac wykorzystano techniki projektowania w oparciu o modele (ang. Model Based Design).

EN

The article is a summary of the Segway two-wheel balancing robot project. The project included design of the mechanical platform and implementation of control algorithm on the controller. The robot contains digital gyroscopes and DC motors with encoders. The controller based on measurements from the sensors stabilizes the robot in an upright position and allows it to move. The mechanical part was designed using CAD (SolidWorks), and then imported into Simulink environment. The design techniques based on models (Model Based Design) were used.

4

A self-stabilising multipurpose single-wheel robot

Buratowski T., Cieślak P., Giergiel M., Uhl T.

Journal of Theoretical and Applied Mechanics

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2012

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Vol. 50 nr 1

99-118

EN

This article presents a design process of a single-wheel robot which consists of building a theoretical model, designing a mechanical structure, simulating the design, building a prototype and testing it. It describes the control strategy for this vehicle, developed during the simulation process, and how it works for a ready built prototype. It mainly focuses on the self-stabilisation problem encountered in the single-wheel structure and shows the test rig results for this case. The design of the robot is under patent protection.

PL

Praca przedstawia zgłoszoną do opatentowania konstrukcję jednokołowego robota anholonomicznego, wyposażonego w układ sterowania oraz system stabilizacji bazujący na budowie odwróconego wahadła fizycznego.

5

Controller Concept for a Highly Parallel Machine Tool

Habersohn Ch., Bleicher F.

Engineering Transactions

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2012

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Vol. 60, iss. 4

315-332

EN

Modern high performance cutting processes force high demands on new machine tool concepts with enhanced mechanical stability and better dynamic behavior. In the development of innovative machine tool concepts the main focus is still set on the design of mechanical structures with parallel kinematics. The new machining center “X-Cut” consists of a double scissor kinematic structure with a degree of parallelism of two, incorporating four drives for the XY plane movement. Thus, the arrangement of four interlinked axes leads to an over-determined kinematic structure. Due to the complex behavior of the kinematic structure a new method in NC-controller design and parameterization is needed, including enhanced compensation and preloading algorithms.

6

On abstraction and interpretability: a behavioural perspective

Pfaff R., Burnham K. J.

Systems Science

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2009

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Vol. 35, no 2

19-26

EN

The process of abstracting physical systems to obtain models and interpret these for the desired purpose is considered from a perspective originating from the behavioural framework. It is pointed out that for the purpose of modelling regenerative processes or passive controllers, the behavioural framework and bond graphs are well suited. The reader is introduced to modelling of dynamical systems in the behavioural framework; in this context system representations predominant in the behavioural framework are presented. In addition, the concepts of interconnection and control by interconnection are shown together with a numerical simulation and an illustrative example. Bond graphs for graphical modelling of systems without a priori assumptions of causality are presented, with the key concepts illustrated by repeating the illustrative example from the behavioural modelling section by help of bond graphs. A comparison shows that manifest behaviours of interconnected systems can be stated directly from the corresponding bond graph. This shows the common applicability of both techniques to handle real world modelling and control problems.

7

A Controller Design for the Khepera Robot : A Rough Set Approach

Suraj Z., Peters J. F., Grochowalski P.

Fundamenta Informaticae

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2005

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Vol. 67, nr 1-3

219-231

EN

The Khepera robot belongs to the family of miniature mobile robots of the K-Team firm. It is used in a number of places for scientific and educational purposes. Considering its advantages (such as small size, precision of movement, ease of control), it is applied to testing different approaches in the domain of artificial intelligence. This paper describes the methodology of a control system design for the Khepera robot based on a rough set approach. The proposed approach entails a study of robot behaviour insofar as its movements are influenced by measurements from its sensors and the choice of actions that make it possible for the robot to achieve its system goals. The constructed controller concerns the realization of some tasks such as avoiding the obstacles, reaching a target, following an obstacle, finding the way out of a labyrinth. The proposed controller has been tested on both a robot simulator and on a real robot. Our experimental results show that the proposed rough set methodology can be applied to the design of a controller for the Khepera robot.