Search results for "Control Engineering"

Drivetrain design optimization for electrically actuated systems via mixed integer programing

2015

The proposed paper presents a method to optimally select components of a drivetrain for an electrically actuated machine. A simple mathematical model of the machine is established and inequality constraints which determine the choice of drivetrain components are formulated. Elements to be picked (namely, a motor, a gearbox, and a drive) are taken from a discrete set of data provided in the catalogs of industrial motors and drives manufacturers. By solving an optimization problem, a combination of components which both satisfy design requirements and minimize the total drivetrain cost is selected. The operation of the selected drivetrain is verified against the motor loadability curves. In a…

Mechanical Bistable Structures for Microrobotics and Mesorobotics from Microfabrication to Additive Manufacturing

2018

International audience; The use of mechanical bistable structures in the design of microrobots and mesorobots has many advantages especially for flexible robotic structures. However, depending on the fabrication technology used, the adequacy of theoretical and experimental mechanical behaviors can vary widely. In this paper, we present the manufacturing results of bistable structures made with two extensively used contemporary technologies: MEMS and FDM additive manufacturing. Key issues of these fabrication technologies are discussed in the context of microrobotics and mesorobotics applications.

Research of Tool-Coupling Based Electro-hydraulic System Development Method

2015

This paper introduces a new kind of tool-coupling based electro-hydraulic system development method including designing character-oriented electro-hydraulic system development and design procedure, co-simulation based system coupling strategy, client-server model management method. An integrated development platform is designed for co-simulation among AMESim, Matlab\Simulink, Flowmaster, Saber and Simplorer. The platform can manage each simulator’s models and co-simulation procedure. The result illustrates tool coupling based electro-hydraulic system development method can improve the efficiency of multi-team collaborative design for electro-hydraulic system and also can analyze and evaluat…

PerPot: A metamodel for simulation of load performance interaction

2001

A metamodel is introduced, which on one hand can help to understand particular effects and phenomena in the interaction of load and performance in training processes. On the other hand, it can be used as a starting point for refinements to specific adaptation models. Finally, a software tool has been developed that supports different simulation approaches—for example, basic analysis of model parameter influences, diagnosis of the state of real adaptation systems, optimization of given load performance interactions, and planning optimal training schedules.

Robust H<inf>∞</inf> filtering for stochastic networked control systems

2014

A Bond Graph Approach to Modeling and Simulation of Nonlinear Wind Turbine System

2013

This chapter addresses the problem of bond graph methodology as a graphical approach for modeling of wind turbine generating systems. The purpose of this chapter is to show some of the benefits of the bond graph approach in contributing a model for wind turbine systems. We will present a nonlinear model of a wind turbine generating system, containing pitch, drive train, tower motion and generator. All which will be modeled by means of bond graph. We will especially focus on the drive train, and show the difference between modeling with a classical mechanical method and by using bond graph. The model consists of realistic parameters, but we are not trying to validate a specific wind turbine …

Minimizing the cycle time in serial manufacturing systems with multiple dual-gripper robots

2006

Robots are being used more and more extensively as material-handling systems for automated manufacturing systems. This is especially true for dual-gripper robots whose in-process buffer (the robot's second gripper) constitutes a further element of flexibility. When the number of stations to be served is high and the set of activities the robot must execute is great, the system throughput may depend on robot capability rather than on process times. In such conditions, the use of several robots leads to an increase in system productivity. Obviously, the design and the management of such a handling system becomes more complex: the minimum number of robots required, the work stations to be serv…

Sensorless induction machine drive for fly-wheel generation unit based on a TLS-based non-linear observer

2016

This paper proposes a sensorless technique for an induction machine Flywheel Energy Storage System (FESS) based on a non-linear observer integrated with a total least-squares speed estimator taking into consideration the IM (Induction Machine) saturation effects. The nonlinear observer is based on an original formulation of the dynamic model of the IM including the magnetic saturation, rearranged in a space-state form, after assuming as state variables the stator current and the rotor magnetizing current space-vectors in the stator reference frame. The choice of the observer gain has been made by the use of Lyapunov's method. The speed signal needed by the non-linear observer for the flux e…

Fuzzy Control Strategy for Cooperative Non-holonomic Motion of Cybercars with Passengers Vibration Analysis

2021

The cybercars are electric road wheeled non-holonomic vehicles with fully automated driving capabilities. They contribute to sustainable mobility and are employed as passenger vehicles. Non-holonomic mechanics describes the motion of the cybercar constrained by non-integrable constraints, i.e. constraints on the system velocities that do not arise from constraints on the configuration alone. First of all there are thus with dynamic nonholonomic constraints, i.e. constraints preserved by the basic Euler-Lagrange equations (Bloch, 2000; Melluso, 2007; Raimondi & Melluso, 2006-a). Of course, these constraints are not externally imposed on the system but rather are consequences of the equations…

Fuzzy EKF Control for Wheeled Nonholonomic Vehicles

2006

In this paper a new Fuzzy extended Kalman robust control system for position and orientation tracking of nonholonomic vehicles with two wheels actuated by two independent DC motors is presented. The problem of robustness and localization are solved simultaneously. About the robustness, some perturbations coming from the outside environment and depending on the contact between the wheels and the ground, involve violations of the nonholonomic constraints. The fuzzy controller of this work is able to obtain a dynamic term of robustness with respect to the perturbations above. However, by using encoders only, the measures of actual position and orientation of the vehicle are with Gaussian noise…