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High-altitude gliding unmanned underwater vehicles (HAGUUVs) are released in high attitude and works in water after a short glide in the air. According to the High-altitude Gliding UUV airborne emission requirements, the folding mechanism of wings of the HAGUUV is desighed. On the basis of mechanics analysis of the organization, the dynamics modeling of organization's unfolding process is given by...
A brief analysis on the operating characteristic of separable starting process between driving motor and load operation is made. Firstly, the existing problem of coordinating the jerk level and transmitted torque at the clutch lock-up time is illustrated. To further improve the torque capacity, pedal throttle is adjusted while clutch is engaging. And contrasts are made between the variable-idle speed...
Accuracy, stability and reliability are required for modern mechanical system where joint clearance is one of the key factors that affect the characteristics. In terms of the characteristics of the panel's low speed and reciprocating oscillation, the joint model with clearance is established. Then, through embedding the joint model into the ideal mechanism, the dynamical model of deployable panels...
Obtaining a dynamic model for the parallel mechanism is always regarded as a challenging process due to high complexity of the dynamic equations especially in presence of friction. In this paper the process of black-box identification of friction and rigid-body dynamics of an overconstrained 3-DOF decouple mechanism is addressed. Since the under study mechanism is an overconstrained parallel mechanism,...
This paper deals with the problem of trajectory generation in the joint space, several mathematical functions are used as motion profile. The choice of the motion profile is very important because it affects the performance of the robot. Several factors involved in this choice, but the most important is the smoothness of movement and therefore the continuity of the torque. To see the effect of each...
Identification of system parameters of a small DC motor is a complex and challenging task. This research proposes a disturbance observer (DOB) based novel Change of Inertia Observer (CIOB) to estimate the moment of inertia of a DC motor. Moment of inertia of a small DC motor is estimated using CIOB based velocity test and reaction torque observer (RTOB) based inverse motion acceleration test, and...
In this paper1, the process of obtaining a model of the laboratory Anti-Lock Brake System (ABS) is presented. In the identification process the grey-box method and data fitting technique are used. The model parameters estimation procedure is split into three steps. First, the individual wheel parameters are identified. Next, a slip friction curve between car wheel and the wheel simulating relative...
This paper is concerned with speed tracking control problem for permanent-magnet synchronous drives (PMSM) in the presence of an variable load torque and unknown model parameters. The disturbance of speed control caused by inaccuracy of model parameters has been investigated. A load torque observer has been proposed to observe the load torque and estimate the disturbance caused by inaccuracy of model...
The paper documents a computational design and an experimental verification of a vibration rejection scheme for an inertially stabilized platform mounted on a mobile base. The mechanical configuration of the platform is that of a standard double gimbal, which realizes a mass stabilization of the line of sight of an optoelectronic payload such as a camera an/or laser ranger finder. Nonideal static...
In most servo motor drive applications, speed control is affected not only by disturbance torque but also by mechanical parameters such as inertia and friction coefficient. This paper presents a new technique for the inertia and friction identification which are based on adaptive identification. The strategy has been simulated and implemented in a drive system. The results demonstrate the high performance...
Spherical robot is a special type of mobile robot which spherical structure offers special characteristic of motion, for example it has the capability to recover from collisions with static or mobile obstacles in the same area. In this paper the motion control of a kind of spherical robot based on conservation of angular momentum is discussed. Firstly, the dynamic model of a simplified version of...
A novel power assisted steering system was proposed in this paper, due to the independent driving characteristics of electric vehicle (EV) with four-wheel-independent-drive. The basic theory of differential drive torque assisted steering is discussed at first. After that, vehicle dynamics model with steering system was built in SIMULINK, and the control strategy for minimizing the difference between...
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