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This paper is concerned with the conditions under which deterministic systems containing a hysteresis-type nonlinearity are identifiable from input-output measurements. The approach to the problem requires that identifiability conditions for appropriately defined nearly-equivalent systems be obtained initially. Then conditions under which identifiability of the nearly-equivalent nonlinear (but non-hysteretic)...
In an effort to apply computers to aid the control of aircraft, a study is being conducted on the use of a computer to change the dynamics of a hand controller as a function of several variables. Such a stick could be termed a "Smart Stick" if its dynamic properties could change by computer control as a function of measured variables. The variables considered here are the G fields experienced...
Reflectone has recently completed final development of a high quality digital feedback control system used to control forces developed by a hydrostatic actuator based flight control loading system for a flight simulator. This system represents a significant advance in the state of the art over the commonly used analog systems. This paper will present the basic design and capabilities of the technique,...
Direct drive is an ideal drive method which has excellent features including no backlash, low friction, and high mechanical stiffness. Applying the direct drive method to robot arms, however, leads to an impractical design because of the following two drawbacks. One is that a direct-drive arm tends to be heavier than a conventional arm with transmission mechanisms; because the motors of direct-drive...
A hot strip rolling mill is a complex system which requires sophisticated regulations in order to obtain a constant thickness of the strip at the exit of the mill (the screw positions and the roll speeds are the control variables). Here we present new regulations which take in account the temperature measurements at the exit of the roughing mill. The preset values of the control variables are computed...
This paper presents a multivariable P.I. controller for long freight trains. The controller achieves asymptotic tracking of a given velocity profile, and minimizes a quadratic performance index subject to physical and practical constraints. The new controller is capable of accommodating various disturbances such as the variations in the grade profile and aerodynamic resistance as well as changes in...
The paper describes a simple free-floating disc electro-hydraulic valve which may be used as a switching or pulse-width-modulated device. The operation of the valve is described and experimental data is presented of the steady-state and dynamic characteristics for a 25mm dia. disc valve. A quasi-steady state model is proposed to predict the non-linear electro-magnetic and flow forces on the valve...
This paper describes the development of an analysis tool for the interactive design of control systems for manipulators and similar electro-mechanical systems amenable to representation as structures in a topological chain. The chain consists of a series of elastic bodies subject to small deformations and arbitrary displacements. The bodies are connected by hinges which permit kinematic constraints,...
This paper investigates the pneumatic implementation of a lateral active suspension system for passenger rail vehicles. Included are an actuator bandwidth study on a high order linear model of rail vehicle lateral dynamics to which an active suspension was added, the modeling of a pneumatic actuator, and a nonlinear digital simulation of the pneumatic system on a single degree of freedom vehicle model...
A nonlinear, lumped parameter pantograph model including geometric and coulomb friction nonlinearities and variable stiffness has been developed. The model performance has been compared with experimental dynamic response data measured on a prototype pantograph. Responses of the model and the experimental data including subharmonic and harmonic resonances are in close agreement for motions excited...
We develop first the dynamics for muscle based on sarcomere properties and then the dynamics for the musculotendinous unit based on muscle architecture and muscle and tendon properties. We outline next how tendon force dynamics can be used with limb dynamics to define the complete musculoskeletal system. After listing the model parameters specific and non-specific to the quadriceps muscle, consisting...
The problem of automatic steering control of a large tanker in a seaway is formulated within the framework of linear quadratic Gaussian (LQG) control theory. Wave disturbance are characterized by shaping filters, and Kalman filters are designed using these disturbance noise models. LQG controllers are designed to minimize a performance criterion commonly thought to be representative of propulsion...
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