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Use of a rotor type UAV that can perform three-dimensional movement and hover is being actively pursued. Although a multi-rotor type UAV is important, because it is driven by electric motors its application has the limitation of a short cruising time. In this study, the composition and control system of a single rotor UAV that achieves attitude control by pivotable vertical fins are proposed. Herein,...
This study uses the open-source wave energy converter simulator (WEC-Sim) code to model the Columbia Power Technologies SeaRay 1:7 scale WEC. WEC-Sim is intended to run quickly on standard desktop equipment and provide a very gentle learning curve for WEC modeling. This paper focuses on the linear implementation of WEC-Sim as that requires the least simulation time and is often the starting point...
Electric vehicles offer the capability to recover energy by electric braking and therefore to extend the range. Generally, the total demanded brake force of a vehicle is divided and allocated to the front and the rear wheels due to safety and stability issues. Consequently, common electric vehicles with only one central electric machine which drives one axle cannot exhaust the whole potential of recuperation...
Electric vehicles offer the capability to recover energy by electric braking and therefore to extend the range. Due to the dynamic axle load shift during brake applications and corresponding brake force distributions, drive train topologies with single front drive and single rear drive have different potentials with regard to recuperation. The axle load shift of a vehicle is significantly influenced...
Ships stability and safety are always threatened by the unavoidable sway in the complicated situation of the sea, e.g. strong wind and roaring waves. Ensuring the stability of the ship as a difficult task has received its popularities in the community in the past few decades. However, conventional control methods such as sliding mode control (SMC) and Proportional integral derivative (PID) fail to...
The most critical part of the induction machines which determines on their life time operation are rolling element bearings. To ensure reliable drive with an induction machine requires deep insight in electro-mechanical dynamics during its operation. The flexible multibody modeling technique enables the simulation of dynamic loads on all drive components. This paper focuses on complex dynamic modeling...
The space station modules form various configuration at different mission phase, and large scale robotic arm is one of the ways to realize the assembly of space modules on orbit. This paper made integrated simulation of dynamics and controlling models about aerocraft and 7-Dof rigid-flexible coupling robotic arm by Simulink and ADAMS. It makes the simulating analysis of the process of robotic arm...
The aim of this paper is to design a torque sensorless controller for a human-electric hybrid bicycle. The human input torque is estimated using the disturbance observer to design the controller for electric motor to assist the cyclist based on the requirement. The closed loop stability is ensured for various assist condition as per the standard. Simulation results are presented to validate the proposed...
We have developed the robotic vehicle on water that moves by the rider's balance. Previously, due to the lack of stability of the vehicle, balancing skill was required for the rider. In general, the center of buoyancy of the floating body influences on the stability. Therefore, in this paper, the floating vehicle was modeled and the appropriate body shape and size that improves the stability was simulated...
The friction coefficient identification of dry clutch is a precondition for precise model-based dry clutch control. Recursive Least Square with forgetting factors is adopted to identify the friction coefficient of dry clutch during vehicle starting-up process. Because the accuracy of the engine damp coefficient affects friction coefficient identification of the clutch, it is necessary to identify...
Effects of different design parameters on the performance of a hybrid city bus were studied. A system simulation model of the hybrid city bus was developed and used for studying the effects of drive motor torque and vehicle mass on vehicle performance, fuel consumption and stability during regenerative braking. Increasing the maximum torque by 60 % from the nominal value was found to improve the fuel...
Double-motors-double-screws (DMDS) drive system is used in the feeding system of the high precision machine tool to improve the rigidity and to eliminate the effect of the backlash nonlinearity. The parameters in this system change with the working condition, the traditional control method cannot achieve the desirable performance. In this paper, we established the mathematical model of the DMDS drive...
In the past few decades demand for Multi Terrain Robot applications have been increased significantly. These robots can be employed for the purpose of security surveillance and rescue purposes in the remote areas. In remote areas the terrain is not uniform and hence stability of the robot becomes a challenging task. In this paper, a new design is proposed for the mobile robot, which aims to perform...
The driving range of electric vehicles can be extended using regenerative braking. Regenerative braking uses the electric drive system, and therefore only the driven wheels, for decelerating the vehicle. Braking on one axle affects the stability of the vehicle, especially for road conditions with reduced friction. This paper discusses three control strategies for preventing loss of stability while...
This paper considers RISE control for two-degree-of-freedom (2DOF) human lower limb with antagonistic bi-articular muscles. The antagonistic bi-articular muscles straddle the waist joint and the knee joint in the lower limb. Because the nonlinear model of the lower limb of the human body is uncertain, a robust control method is developed yield semiglobal asymptotic tracking. Simulation results indicate...
It is the focus of the research on the bearingless motors to suspend the rotor stably by controlling rotor radial displacement. Without studying the relationship between the radial suspension force and rotor radial displacement, traditional control method for rotor radial displacement has some drawbacks such as the complexity of computation and the time-consuming tuning. In order to overcome these...
In this paper, a 3 degree-of-freedom bearingless permanent magnet motor with axial active suspension is proposed. The structure and suspension principle of this novel bearingless permanent magnet motor are described in detail and its suspension mathematical models are constructed. Based on the mathematical models, a control system is designed for the new type bearingless permanent magnet motor. The...
Simulation and analysis of the dynamic force-free control of robot arm with revolute joints are presented in this paper. Initially, modeling of dynamic force-free control method is described. Then simulation is carried out for single arm and two arm links robots by adopting Matlab/Simulink environment. The model characteristics of the force-free control is utilized to demonstrate the autonomous safety...
In this study, a co-operative regenerative braking control algorithm for the HEV with an electric booster brake was proposed and its performance was evaluated. A dynamic model for the electric booster brake system was derived to develop the electric booster brake performance simulator and its performance was investigated. In addition, a dynamic model for the 6-speed AT-based hybrid vehicle was established...
Automated Manual Transmission (AMT) technology is concerned widely in the filed of automatic transmission. However, shifting quality, in particular the gap of power interruption is one of the key issues that have not been solved. To some extent, AMT equipped with two degree of freedom electromagnetic Actuator (2-DOF EMA) will reduce the time of power interruption and improve the shift quality. The...
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