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Generally, studies on inverted pendulum system only considered the viscous friction, the system with controllers designed based on this model was stable in simulations. However, when the controller was implemented in experimental system, small oscillation resulted. This paper give strong evidence that stick-slip friction between the cart and the track is the source of the small amplitude oscillations...
An intermittent impact type escape apparatus used in high-rise buildings based on the principle of escapement mechanism usually applied in clock for time controlling was designed in this paper. The escapement mechanism in escape apparatus can consume gravitational potential energy of body. Applied the modularized design method, mechanical system of the escape apparatus consisted of a transmission...
The equations of motion of a four-bar mechanism are derived, which includes the joint clearance and is under the condition of constant crank rotate speed. The contact model for planar revolute joints is based on a continuous contact force model related to the contact conditions. Simulations are performed based on the model for the four-bar mechanism built in MATLAB, for cases at different crank speeds...
Compared with conventional vehicle, axis-fixed gear parallel hybrid vehicle adds a motor which is usually installed between clutch and transmission. This will lead to increase transmission the input shaft inertia, synchronization inertia, speed, and rotor speed difference, which will make the conventional synchronizer difficult to meet the synchronization requires of the hybrid vehicle. This paper...
Vehicle energy-saving is important to relieve source shortage and protect environment. This article mainly discusses the control of parallel hydraulic hybrid heavy vehicle (PHHHV), which uses hydraulic components to recycle the brake energy. Through analyzing the two power sources and two brake systems in the PHHHVs, the control rules have been brought out. By logic threshold value control strategy,...
To develop a robot system which can implement search and rescue work, an assisted driving mechanism which can automatically pull flexible cable of rescue robot into ruins is researched. The system is formed by two parts. The driving part is designed by principle of friction wheel to drive the rescue robot. The supporting part is formed by planar four-bar linkage which can be opened and tightened....
The basic structure of ISG HEV and the function of energy-saving clutch is introduced in this paper. Based on the dynamics analysis of the clutch engaging process, educed formula of jerk. Analysed the 4 phase of the clutch engaging process. Summed up the control principia of the clutch engagement speed. This method is applied to study on Jingang HEV, and it is proven that changing the clutch engagement...
For being convenient for the design, improvement and use of pile clamping mechanism of hydraulic static pile driver, the static forces of pile clamping mechanism and prefabricated pile were researched and analyzed under pile driving; the contact between prefabricated pile and pile clamping jaws under pile driving was investigated. The equation of the maximum transmission pile driving force of pile...
The platform aim to provide accurate friction experiment instrument for scientific research institutions and schools. The friction is measured on the testing platform by displacement method, then the amplification and filter signal is sent to the computer for data collecting and storing by means of lab-view real-time collection software, to realize the automatic test of friction coefficient. Through...
Friction is a key factor that influences the low velocity performance of high precision servo systems. It usually causes the steady-state error of servo systems and results in the creeping phenomenon in low velocity motions. Friction is complicated nonlinear process with time-varying uncertainties. The traditional PID controller of servo systems with fricition was not satisfactory in control precision...
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