Search results for "Step response"
showing 7 items of 7 documents
An Application of Iterative Identification and Control in the Robotics Field
2006
The plant model appropriate for designing the control strongly depends on the requirements. Simple models are enough to compute nondemanding controls. The parameters of well-defined structural models of flexible robot manipulators are difficult to determine because their effect is only visible if the manipulator is under strong actions or with high-frequency excitation. Thus, in this chapter, an iterative approach is suggested. This approach is applied to a one-degree-of-freedom flexible robot manipulator, first using some well-known models and then controlling a lab prototype. This approach can be used with a variety of control design and/or identification techniques.
Experimental study on the influence of controller firmware on multirotor actuator dynamics
2014
In this paper the dynamic response of a propeller actuator commonly used in hobby unmanned aerial vehicles is studied experimentally. It is shown that the choice of electronic speed controller firmware has a significant effect on the overall actuator dynamics. Six different scenarios are tested: 1+2) Rising/falling step response with the standard firmware of the Hobbyking F30a, 3+4) Rising/falling step response with firmware from Simon Kirby/GitHub and 5+6) Rising/falling step response with firmware from Simon Kirby/GitHub including complementary Pulse-Width-Modulation (PWM) switching. Experimental results show a significant difference in actuator dynamics depending on the chosen firmware. …
Is the transfer function method reliable in a European building context? A theoretical analysis and a case study in the South of Italy
2005
Abstract The available tools for dynamic simulation of the buildings thermal behaviour are manifold, and the most modern ones, known as TRNSYS, are founded upon the use of the Z-transform (ZT) set also called transfer function method (TFM). The transfer function method (TFM), recommended by American Society of Heating, Refrigerating and Air-Conditioning Engineers (ASHRAE), is one of the most modern tools available to solve heat transfer problems in building envelopes and environments. TFM utilises Z-transforms to solve the equation system that describes the heat transfer in a multi-layered wall. Due to an analogy with an electric circuit, it is possible to write the equation system in a mat…
An Analysis Method of the Electro-Hydraulic Rotational Module
2012
The paper presents a dynamic research of a rotational module of structure to industrial robot MA 221, to establish the functional characteristics that recommend it for use in the structure of the robot. Actual research performed by two methods: BODE and STEP response of the established the construction parameters values of electro-hydraulic servo-system for stable operation.
A backward sweep method for power flow solution in distribution networks
2010
Abstract A methodology for the analysis of radial or weakly meshed distribution systems supplying voltage dependent loads is here developed. The solution process is iterative and, at each step, loads are simulated by means of impedances. Therefore, at each iteration, it is necessary to solve a network made up only of impedances; for this kind of network, all the voltages and currents can be expressed as linear functions of a single unknown current (in radial systems) or of two unknown currents for each independent mesh (for meshed systems). The methodology has been called “backward” since the unique equation, in case of radial network, and the linear system of equations, in case of meshed n…
A successful backward step correlates with hip flexion moment of supporting limb in elderly people.
2018
Purpose The objective of this study was to determine the positional relationship between the center of mass (COM) and the center of pressure (COP) at the time of step landing, and to examine their relationship with the joint moments exerted by the supporting limb, with regard to factors of the successful backward step response. Methods The study population comprised 8 community-dwelling elderly people that were observed to take successive multi steps after the landing of a backward stepping. Using a motion capture system and force plate, we measured the COM, COP and COM-COP deviation distance on landing during backward stepping. In addition, we measured the moment of the supporting limb joi…
Time-domain-induced polarization: Full-decay forward modeling and 1D laterally constrained inversion of Cole-Cole parameters
2012
Time-domain-induced polarization has significantly broadenedits field of reference during the last decade, from mineralexploration to environmental geophysics, e.g., for clay and peatidentification and landfill characterization. Though, insufficientmodeling tools have hitherto limited the use of time-domaininducedpolarization for wider purposes. For these reasons, anew forward code and inversion algorithm have been developedusing the full-time decay of the induced polarization response,together with an accurate description of the transmitter waveformand of the receiver transfer function, to reconstruct thedistribution of the Cole-Cole parameters of the earth. The accuratemodeling of the tra…