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An improved discretisation method relative to the geometric dimensions of the rotor-bearing system in the calculation of its critical speeds using the transfer matrix method (TMM) is introduced to enhance the computation precision. This work is motivated by the noise analysis of the power system, wherein the noise source identification in a multiple source environment is challenging and hence the...
The structure and control system of the angular servo robot have been proposed in this paper. The main parts of the robot are the body and motion platform. When the robot turns round, the motion platform could keep balance and without an interference from the turning. According to the structure of the robot, Lagrange theorem is chosen to establish the dynamic model through the analysis of kinetic...
This paper focus on the dynamic modeling and the LQR and PID controllers for the self balancing unicycle robot. The mechanism of the unicycle robot is designed. The pitching and rolling balance could be achieved by the driving of the motor on the wheel and the balance weight on the body of robot. The dynamic equations of the robot are presented based on the Routh equation. On this basis, the LQR and...
In this paper, we focus on the two-wheeled self-balancing robot dynamic model and controller design. Establishing the dynamic model, through Lagrange equation of the generalized coordinates of the robot system. According to the partial feedback linearization principle, making the two free degree of the left and right wheel be linear. The pitch angle between the vertical shaft and the centroid direction...
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