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Power transfer and gear shifting control are the main duties of the transmission in a vehicle. This paper focuses on the modeling, simulation and control of a two speed automated transmission for electric vehicles having a seamless gear shifting specification. The transmission incorporates two-stage planetary gear sets and two braking mechanisms to control the gear shifting. Controlling the input...
The identification and trajectory prediction of spinning ball has been a problem for years. In order to improve the accuracy of trajectory prediction we take following measures: firstly the kinematics model of the flight spinning ball is analysed; then based on the Unscented Kalman Filter (UKF), the motion equation and observation equation of the ball's movement trajectory is constructed; finally...
This paper presents the responses of the vehicle and track components in terms of vertical forces and displacements. The considered vehicle model is a 10-DOF multi-rigid-body system supported on a track systems that consider three layers of structure. The car body is linked with the bogie through the secondary suspension system contained spring and damper elements. In the model of track, the rail...
This paper presents a solution to the residual vibration of 3-DOF Delta parallel robots. As the parallel mechanism is highly nonlinear, inverse dynamics analysis in explicit form by using Lagrangian formulation is proposed to linearize the system. To apply the Lagrangian method to the parallel mechanism, the structure is divided to sub-chains by imaginary open tree method. After deriving inverse dynamics...
Potential-function-based control strategy for path planning and formation control of Quadrotors is proposed in this work. The potential function is used to attract the Quadrotor to the goal location as well as avoiding the obstacle. The algorithm to solve the so called local minima problem by utilizing the wall-following behavior is also explained. The resulted path planning via potential function...
A velocity control approach based on the incremental backstepping (IB) is proposed to enhance the accuracy of the velocity control for the small unmanned aerial vehicles (SUAVs).The velocity control model is first formulated based on the SUAV movement equations and the thrust model. Then, the IB method is applied to the velocity control law design. Feedback of acceleration eliminates sensitivity to...
Directional Steering Systems (DSS) have been developed in the oil and gas industry to achieve high well production when compared to conventional drilling systems. In this paper a dynamic modeling of a DSS using four DC motors was developed. A controller was designed using Feedback Linearization technique for the cancellation of non-linear dynamics and LQR for the optimal linear control. Simulation...
Guidance law design of unmanned surface vessel (AUSV) design for ocean environment survey is as important as missions of autonomous vehicles and unmanned aerial vehicles (UAV). As the characteristic depicted, unmanned surface vessel is often used to sail under harsh climates to execute missions. However, there are many uncertainties on the ocean, such as wind gust, ocean current and irregular waves,...
The Wigner-Liouville (WL) equation is well suited to describe electronic transport in semiconductor devices. In the effective mass approximation the one dimensional WL equation reads ∂/∂t f(x, p, t) + p/m ∂/∂x f(x, p, t) − 1/h2 ∫ dp' W(x, p − p')f(x, p', t) = 0; (1) with the Wigner kernel given by W(x, p) = −i/2π ∫ dx' exp (−i px'/h) [V (x + x'/2) − V (x-x'/2)].(2) The Wigner kernel introduces a non-local...
This paper introduces a new distributed manipulation concept whereby objects operating under the action of a uniform force field are positioned perpendicular to the force field and oriented by selectively applying braking forces at various locations on the object. We assume that the braking locations do not slip, which gives the object dynamics the familiar form of the pendulum equation, but with...
An innovative type of mobile manipulator, designated Manipulator on VTOL (Vertical Take-Off and Landing) Aircraft (MOVA), is proposed as a potential candidate for autonomous execution of field work in less-structured environments. A planar MOVA system design is presented as the first step toward a fully functioning 3D system. The design has the minimum number of joints for the end-effector to achieve...
An analytical solution of self-coordinated beam dynamics equation is developed. The high current relativistic electronic bunches are used for generation of wake fields in wakefield structures with dielectric filling. Propagation under influence of both own beam created by dipole modes of Cherenkov field and outer focusing and deflecting fields is investigated. The received solutions can be used for...
The compliant rear-wheel steering (CRS) system can strengthen the characteristic of under-steer to guarantee the vehicle driving safety. One kind of CRS system equipped with the elasticity component of viscoelasticity is studied in this article. The kinematic simulation results show that if the steering stiffness of the CRS system is positive, the direction of compliant rear wheel steering is opposite...
In this communication, we propose a four-parameter fractional derivative Zener model for modeling of a viscoelastic element connected into a robotic system. We used force-displacement relation in order to obtain generalized forces of the element connected to two different bodies in the system. Generalized forces of the element are derived using the principle of virtual work. In order to obtain numerical...
Two-body unmanned surface vehicle is a new marine environment monitoring platform, with higher operating efficiency and wider applicability. In order to understand the movement features of this kind of ship, and to enhance its working capabilities and control precision, its dynamics model basing on six degrees of freedom equations is developed in this paper. The simulation results using this model...
Issues of vibrations in marine applications have become a major concern for many years. As a result, this paper investigates the flatness control of fitted equipment on marine vessels, which are subjected to disturbances from random sea wave. A back stepping control strategy is proposed to reduce the effect of disturbance simulated as random sea waves on the active marine suspension model. The control...
When the wave piercing catamaran is sailing in the ocean at a high speed, longitudinal motion might bring some adverse effects on its performance. The vertical acceleration generated makes the passengers and crew sick and the catamaran will be in a short-time failure. On general conditions, a ride control system is adopted to solve these problems. Firstly, a pitching and heaving motion model for the...
Cable-driven parallel robots with flexible spring spine were present to mimic a human neck. The fixed base and moving platform of the robots are connected by cables and a compression spring. The spring serves as cervical spine to support and facilitate the motion of moving platform corresponding to human head. The cables serve as the muscles around human neck to drive the robot. The bending motion...
Active constraints and virtual fixtures are popular control strategies used within human-robot collaborative manipulation tasks, particularly in the field of robot-assisted surgery. Recent research has shown how active constraints, which robotically regulate the motion of a tool that is primarily manipulated by a human, can be implemented in dynamic environments which change and deform throughout...
This paper presents the linear quadratic tracking (LQT) control of a quadrotor UAV by solving discrete time matrix difference Riccati Equation. First, the nonlinear dynamic model of the quadrotor is obtained by using Newton's equations of motion. Then, the nonlinear dynamic model is linearized around hover condition. The linearized dynamic model is used to solve the optimal control problem. A trade...
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