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1
Struktura mechaniczna i układ sterowania zrobotyzowanym montażem astronomicznym
Kozłowski K., Pazderski D., Krysiak B., Jedwabny T., Kozłowski S., Brock S., Janiszewski D., Nowopolski K.
Prace Naukowe Politechniki Warszawskiej. Elektronika
|
2018
|
z. 196
5--14
PL
Praca przedstawia ogólny opis dotyczący projektowania zrobotyzowanego montażu teleskopu astronomicznego klasy 0,5 m. Scharakteryzowano strukturę mechaniczną i elektryczną urządzenia oraz jego elementy pomiarowe. Następnie przedstawiono algorytm sterowania osią wykorzystujący aktywną kompensację zakłócenia. Wyniki śledzenia trajektorii złącza obrotowego zbadano eksperymentalnie również w odniesieniu do przestrzeni zewnętrznej.
EN
In this paper, a short description of a robotised mount of the 0.5 m class astronomical telescope is provided. Mechanical and electrical parts of the mount and its measuring system are discussed. Next, an algorithm designed for motion control which is based on the active disturbance rejection paradigm is considered. In order to illustrate the performance of the closed-loop system, experimental results of trajectory tracking in the joint and the task spaces are compared.
2
Content available remote The impact of the wheel rim contact with the rail on energy consumption
Bryk K., Łukaszewski K.
Pojazdy Szynowe
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2017
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Nr 2
62--69
EN
The article presents studies on the effect of change of the wheel flange friction coefficient with the rail on the rail vehicle energy consumption. It describes how to simulate the phenomena analyzed on the basis of the dynamics of rigid bodies connected with elastic elements. The wheel rail contact was simulated using the FASTSIM contact algorithm. The results relating to the drive through track curves of varying radii were presented.
PL
W artykule zaprezentowano badania nad wpływem zmiany współczynnika tarcia styku obrzeża koła z szyną na zużycie energii przez pojazd szynowy. Opisano sposób symulowania analizowanego zjawiska w oparciu o dynamikę brył sztywnych połączonych elementami podatnymi. Styk koło szyna zasymulowano przy użyciu algorytmu kontaktu FASTSIM. Przedstawiono wyniki odnoszące się do przejazdu przez łuki toru o różnym promieniu.
3
Content available remote Structure modeling of the CLAAS ARION 620 road-rail shunting tractor
Medwid M., Stawecki W., Czerwiński J., Jakuszko W., Kazimierczak E.
Pojazdy Szynowe
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2017
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Nr 2
1--14
EN
The article presents the third-generation road-rail shunting tractor based on the CLAAS ARION 620 agricultural tractor. The mechanical, hydraulic and pneumatic structure of the tractor, traction parameters on the track, built-in traction system and the draw and buffer gears give it the characteristics of a universal vehicle designed for driving on roads as well as rail tracks with a normal gauge of 1435 mm or the 1520 mm wide track or a normal and wide track.
PL
W artykule zaprezentowano ciągnik szynowo-drogowy trzeciej generacji wykonany na bazie ciągnika rolniczego CLAAS ARION 620. Przedstawiono strukturę mechaniczną, hydrauliczną i pneumatyczną ciągnika, parametry trakcyjne na torze, zabudowany szynowy układ jezdny oraz urządzenia pociągowo-zderzne nadające mu cechy pojazdu uniwersalnego przeznaczonego do jazdy po drogach kołowych i torach kolejowych o normalnym rozstawie 1435 mm i na torach szerokich 1520 mm oraz na torach normalnych i szerokich.
4
Content available remote An intelligent computing technique in identification problems
Orantek P.
Computer Assisted Mechanics and Engineering Sciences
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2006
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Vol. 13, No. 2
351-364
EN
The paper is devoted to the application of the evolutionary algorithms, gradient methods and artificial neural networks to identification problems in mechanical structures. The special intelligent computing technique (ICT) of global optimization is proposed. The ICT is based on the two-stage strategy. In the first stage the evolutionary algorithm is used as the global optimization method. In the second stage the special local method which combines the gradient method and the artificial neural network is applied. The presented technique has many advantages: (i) it can be applied to problems in which the sensitivity is very hard to compute, (ii) it allows shortening the computing time. The key problem of the presented approach is the application of the artificial neural network to compute the sensitivity analysis. Several numerical tests and examples are presented.
5
Content available remote Identyfication pf loads in mechanical structures-helicopter case study
Uhl T.
Computer Assisted Mechanics and Engineering Sciences
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2002
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Vol. 9, No. 1
151-160
EN
This paper presents possibility of identification of loads in mechanical systems based on response measurements during operation. Information of loads is very useful in diagnostic process, if usage of structure is under investigation. State of the art in the field of loads identification is presented. The problem of load identification is defined, and some methods are presented. The paper is focused on the problem of loads identification based on measurements of process parameters or movement parameters for vehicles or airplanes. Two methods are applied to show applicability of this approach in industrial practice; neural network based method and regression model based method. A case study of identification of load of helicopter structure during flight is presented.
6
Content available remote Optimization of mechanical structures using interval analysis
Pownuk A.
Computer Assisted Mechanics and Engineering Sciences
|
2000
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Vol. 7, No. 4
699-705
EN
The problem of optimal design consists in finding the optimum parameters according to a specified optimality criterion. Existing optimization methods [1,2] usually are not reliable or cannot use the nondifferentiable, not continuous objective functions or constraints. An interval global optimization method is very stable and robust, universally applicable and fully reliable. The interval algorithm guarantees that all stationary global solutions have been found. In this paper the algorithm is applied to optimization of mechanical systems, calculation of extreme values of mechanical quantities and to optimization of structures with uncertain parameters.
7
Content available remote Analysis of linear mechanical structures with uncertainties by means of interval methods
Kulpa Z., Pownuk A., Skalna I.
Computer Assisted Mechanics and Engineering Sciences
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1998
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Vol. 5, nr 4
443-477
EN
One of the simplest ways of representation of uncertain or inexact data, as well as inexact computations with them, is based on interval arithmetic. In this approach, an uncertain (real) number is represented by an interval (a continuous bounded subset) of real numbers which presumably contains the unknown exact value of the number in question. Despite its simplicity, it conforms very well to many practical situations, like tolerance handling or managing rounding errors in numerical computations. Also, the so-called alfa-cut method of handling fuzzy sets membership functions is based on replacing a fuzzy set problem with a set of interval problems.
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