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Статті в журналах з теми "Servomechanisms Computer simulation"
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Stein, Jeffrey L., and Churn-Hway Wang. "Estimation of Gear Backlash: Theory and Simulation." Journal of Dynamic Systems, Measurement, and Control 120, no. 1 (March 1, 1998): 74–82. http://dx.doi.org/10.1115/1.2801324.
Повний текст джерелаАнотація:
Machine and product condition monitoring is important to product quality control, especially for unmanned manufacturing. This paper proposes a technique for the estimation of clearance in mechanical systems under dynamic conditions with specific application to the estimation of backlash in gear systems of servomechanisms. The technique is based on a momentum transfer analysis that shows that the change in the speed (defined as bounce) of the primary gear due to impact with the secondary gear is related to the magnitude of the backlash. An algorithm is presented to estimate the bounce in real-time. The algorithm estimates the bounce by computing the standard bounce which is defined as the standard deviation of the demodulated envelope of the primary gear speed. The standard bounce is shown to be a good measure of the bounce when the system is excited sinusoidally. The algorithm’s accuracy and sensitivity are verified through computer simulation of an open-loop DC servomechanism. An approximately linear relationship between the standard bounce and the backlash magnitude is observed. This holds for backlash values exceeding recommended tolerances by ±100 percent. The algorithm is also shown to be insensitive to changes in the simulation model structure, model parameters as well as system and measurement noise. The estimation technique is accurate, computationally simple, and requires no additional sensors if the servosystem to be monitored already has a conventional tachometer.
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Lee, S. R., and K. Srinivasan. "Self-Tuning Control Application to Closed-Loop Servohydraulic Material Testing." Journal of Dynamic Systems, Measurement, and Control 112, no. 4 (December 1, 1990): 680–89. http://dx.doi.org/10.1115/1.2896195.
Повний текст джерелаАнотація:
Extensive reliance on manual controller tuning in closed-loop material testing applications makes such applications good candidates for self-tuning control implementation. The current work deals with the modeling, on-line identification, and self-tuning control of electrohydraulic servomechanisms used for closed-loop control of stroke, load, or strain involving low signal frequencies. The application to load and strain control results in servovalve operation close to null and increases the significance of nonideal aspects of servovalve operation such as valve mechanical null offset, valve overlap and radial clearance. Modifications in process modeling and on-line identification necessary to accommodate these aspects are described and shown to be effective by simulation and experiment. A pole-placement controller design approach is used for controller adaptation, the control algorithm being chosen based on analysis of robustness of the control system. The self-tuning control system is shown to be effective, by simulation and experiment.
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Ye, N., S. Scavarda, M. Betemps, and A. Jutard. "Models of a Pneumatic PWM Solenoid Valve for Engineering Applications." Journal of Dynamic Systems, Measurement, and Control 114, no. 4 (December 1, 1992): 680–88. http://dx.doi.org/10.1115/1.2897741.
Повний текст джерелаАнотація:
PWM (Pulse width modulated) solenoid valves possess the advantages of low cost, high flow rate gain, and simple structure. However, the use of a PWM solenoid valve causes both discontinuity and nonlinearity of the flow rate; this results in difficulties of modeling and of control. This paper presents our work on modelling a pneumatic PWM solenoid valve for engineering applications. Two models are presented: one is the instantaneous mass flow rate model which can be used in the simulation to study the dynamic behavior of pneumatic PWM control systems; another model is the equivalent mass flow rate model which is developed for facilitating the synthesis of pneumatic PWM servomechanisms. An equation for determining the maximum operating modulation ratio of the PWM solenoid valve is also presented. Simulated results using the established models are compared with the experimental results for both the static characteristics of a PWM solenoid valve and the dynamic behavior of a system composed of a PWM solenoid valve and a constant volume chamber.
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Chávez-Estrada, Francisco A., Jacobo Sandoval-Gutiérrez, Juan C. Herrera-Lozada, Mauricio Olguín-Carbajal, Daniel L. Martínez-Vázquez, Miguel Hernández-Bolaños, and Israel Rivera-Zárate. "Performance Comparisons of Bio-Micro Genetic Algorithms on Robot Locomotion." Applied Sciences 10, no. 11 (June 2, 2020): 3863. http://dx.doi.org/10.3390/app10113863.
Повний текст джерелаАнотація:
This paper presents a comparison of four algorithms and identifies the better one in terms of convergence to the best performance for the locomotion of a quadruped robot designed. Three algorithms found in the literature review: a standard Genetic Algorithm (GA), a micro-Genetic Algorithm ( μ GA), and a micro-Artificial Immune System ( μ AIS); the fourth algorithm is a novel micro-segmented Genetic Algorithm ( μ sGA). This research shows how the computing time affects the performance in different algorithms of the gait on the robot physically; this contribution complements other studies that are limited to simulation. The μ sGA algorithm uses less computing time since the individual is segmented into specific bytes. In contrast, the use of a computer and the high demand in computational resources for the GA are avoided. The results show that the performance of μ sGA is better than the other three algorithms (GA, μ GA and μ AIS). The quadruped robot prototype guarantees the same conditions for each test. The structure of the platform was developed by 3D printing. This structure was used to accommodate the mechanisms, sensors and servomechanisms as actuators. It also has an internal battery and a multicore Embedded System (mES) to process and control the robot locomotion. The computing time was reduced using an mES architecture that enables parallel processing, meaning that the requirements for resources and memory were reduced. For example, in the experiment of a one-second gait cycle, GA uses 700% of computing time, μ GA (76%), μ AIS (32%) and μ sGA (13%). This research solves the problem of quadruped robot’s locomotion and gives a feasible solution (Central Pattern Generators, (CPGs)) with real performance parameters using a μ sGA bio-micro algorithm and a mES architecture.
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MBIHI DJOUMESSI, Markov. "Design and Virtual Simulation of an Optimal PID/LQRT-PSO Control System for 2WD Mobile Robots." Algerian Journal of Signals and Systems 6, no. 2 (June 30, 2021): 98–111. http://dx.doi.org/10.51485/ajss.v6i2.130.
Повний текст джерелаАнотація:
This research paper presents a relevant contribution to optimal control of angular velocities with trajectories tracking for 2WD mobile robots. The dynamic model of each robotic servomechanisms is modelled from experimental data as a second order transfer function. Then, the direct and reverse kinematic equations are analytically developed. Then, the LQRT (Linear Quadratic Regulator with Tracking) gains for angular velocity of servomechanisms, are computed over infinite time horizon from corresponding Riccatti equations, using PSO (Particles Swarm Optimization) values of weighted matrix Q and R. Therefore, the LQRT solution computed from PSO of Q and R is known as LQRT-PSO. In addition, the LQRT-PSO gains computed from the related Riccati equations, are transformed into equivalent PID/LQRT-PSO gains for angular velocities control. Furthermore, a trajectory tracking flowchart is designed to reinforce the robustness of the overall control system. On the other hand, relevant developments conducted in the design step, are organized into an overall Matlab/Simulink PID/LQRT-PSO scheme. Finally, the obtained simulation results are presented in order to show the high performance of the proposed PID/LQRT-PSO control scheme for 2WD mobile robots.
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Ułanowicz, Leszek, and Ryszard Sabak. "Computer Aided Design Process for Hydraulic Servo." Journal of KONBiN 52, no. 4 (December 1, 2022): 11–40. http://dx.doi.org/10.2478/jok-2022-0039.
Повний текст джерелаАнотація:
Abstract This study presents a method of computer support for the design of a hydraulic servo dedicated to the aircraft control system. A 3D geometric model of the servo was developed, which enabled the simulation of its kinematics. The paper presents a simulation model of a hydraulic servo that enables simulation of the dynamics of its mechanisms. The servomechanism model takes into account the dynamics of the movement of the distributor slider and the dynamics of the actuator piston rod movement under the influence of forces occurring in the servo. As a result of the simulation, step characteristics and static characteristics of the servo response were obtained. The presented model makes it possible to visualize the dynamics of operation of the prototype servo in various modes of its operation with different parameters of its control. It allows you to quickly and conveniently test the concept of an hydraulic servo and evaluate its functioning.
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Siew, Boon C., Ben M. Chen, and Tong H. Lee. "Design and Implementation of a Robust Controller for a Free Gyro-Stabilized Mirror System." Journal of Dynamic Systems, Measurement, and Control 121, no. 3 (September 1, 1999): 550–56. http://dx.doi.org/10.1115/1.2802513.
Повний текст джерелаАнотація:
In this paper, we consider the problem of designing a robust controller for a multivariable servomechanism of a free gyro-stabilized mirror system where there exists cross-coupling between the axes. The nonlinear dynamics of the system are first linearized and reformulated into an H∞ problem. A reduced order output feedback controller is then designed using the asymptotic time-scale and eigenstructure assignment (ATEA) technique. The overall design has been implemented using a personal computer with C++ and tested on the actual gyro-stabilized mirror system. Our simulation and implementation results show that the design is very successful.
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Osiecki, Leszek, Piotr Patrosz, Bettina Landvogt, Janusz Piechna, Tomasz Zawistowski, and Bartek Zylinski. "Simulation of fluid structure interaction in a novel design of high pressure axial piston hydraulic pump." Archive of Mechanical Engineering 60, no. 4 (December 1, 2013): 509–29. http://dx.doi.org/10.2478/meceng-2013-0031.
Повний текст джерелаАнотація:
Abstract A novel type of an axial, piston-driven high pressure hydraulic pump with variable capacity marks a significant improvement in the area of the hydraulic machinery design. Total discharge from hydrostatic forces eliminates a need for a servomechanism, thus simplifying operation, reducing weight and introducing the possibility of the pump displacement control by computer. PWK-type pumps, invented in the Gdansk University of Technology, offer high efficiency for pressure levels up to 55 MPa, ability to work self sucking even at high speed. However, the heart of the new invention, the commutation unit, creates harmful pressure peaks. Those peaks can be mitigated by the introduction of a compensation chamber with elastic walls. Owing to the dynamic character of events taking place in the pump, a need for computer simulation arouse in order to understand phenomena leading to the occurrence of pressure peaks and choose compensation chamber parameters accordingly. A CFD package alone would not be sufficient to reliably represent the interaction between the compensation chamber wall and the working fluid. This paper presents Fluid Structure Interaction approach comparing 3 different models: 2 simplified models of the pump and a full pump model.
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Krivts, Dr Igor L. "Optimization of Performance Characteristics of Electropneumatic (Two-Stage) Servo Valve." Journal of Dynamic Systems, Measurement, and Control 126, no. 2 (June 1, 2004): 416–20. http://dx.doi.org/10.1115/1.1771693.
Повний текст джерелаАнотація:
Servo valve is the key element in electropneumatic servomechanism. In this study, an electropneumatic two-stage servo valves were investigated in order to improve their static and dynamic characteristics. These servo valves consist of a pilot stage and a power stage. The paper discusses three different pilot stages: the jet pipe pilot stage, the supply (side) flapper nozzle pilot stage and the exhaust (side) flapper nozzle pilot stage. The static and dynamic characteristics of the devices were investigated analytically and by computer simulation. For the three pilot stage types it was found that the optimal value of the static and dynamic characteristics could be obtained if the ratio between the effective areas of the supply channel and exhaust port of the pilot stage has a definite value (depending on the pilot stage type).
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Cheok, Ka C., Hongxing Hu, and Nan K. Loh. "Modeling and Identification of a Class of Servomechanism Systems With Stick-Slip Friction." Journal of Dynamic Systems, Measurement, and Control 110, no. 3 (September 1, 1988): 324–28. http://dx.doi.org/10.1115/1.3152689.
Повний текст джерелаАнотація:
This paper describes a technique for modeling and identifying a class of nonlinear servomechanism systems with stick-slip friction. The physics of the stick-slip friction is considered in modeling the process. Identification of the system parameters is formulated as a nonlinear optimization problem. A modified simplex algorithm is proposed as the optimization procedure. The difficulties encountered in choosing identification algorithm and input signals for the problem are discussed. A simulation example of a servomotor system is provided.
Дисертації з теми "Servomechanisms Computer simulation"
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DeVore, Scott Lawrence. "Simulation methods for optical disk drive functions." Diss., The University of Arizona, 1988. http://hdl.handle.net/10150/184474.
Повний текст джерелаАнотація:
Computer simulations of the optical servo functions of optical disk drives are developed and compared with experimental results. The focus control servo is investigated first, with emphasis on the astigmatic focus detection method. A paraxial ray trace, enhanced to allow tolerance studies of tilted and decentered surfaces, is used to calculate the size and orientation of an astigmatic blur on a quadrant photodetector as a function of focus error. The resulting irradiance distribution is integrated over the detector elements and processed to yield typical focus servo signals. A method for simulating generalized astigmatic focus systems, independent of a particular design, is also shown. The simulation results are used to derive normalized tolerance curves for detector misalignment and spot motion. Alignment diagnostics based on the servo signals are also presented. A wavefront aberration model is also developed and used to investigate the focus servo's performance in the presence of common aberrations. Simulations based on diffraction theory are used to investigate the radial tracking servo. Both scalar and vector diffraction theories are considered. The scalar theory is found to be adequate in most cases, while offering a large advantage in computational efficiency. A model for computing the signals detected by scanning the microscopic features of the disk is developed using the optical cross transfer function that describes the imaging characteristics of partially coherent systems. This model is used to investigate push-pull and three beam tracking. Aberrations, data patterns, detector misalignment, and pregroove profile are all examined for their effects on the servo signals. Crosstalk between the focus and tracking error detection is also briefly considered, and a possible extension of the radial tracking servo model to investigate this phenomenon is suggested.
Частини книг з теми "Servomechanisms Computer simulation"
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Caldwell, Barrett S., Megan Nyre-Yu, and Jordan R. Hill. "Advances in Human-Automation Collaboration, Coordination and Dynamic Function Allocation." In Advances in Transdisciplinary Engineering. IOS Press, 2019. http://dx.doi.org/10.3233/atde190141.
Повний текст джерелаАнотація:
Effective integration of humans and automation in control systems engineering has been an ongoing effort since the original publication of McRuer’s descriptions of human operators in servomechanism systems in 1959. Over the past 60 years, increasing capabilities of automation and computer systems have resulted in changing considerations of function allocation and human-automation interaction since Fitts’ “Humans are better at / Machines are better at” descriptions of the early 1950s. The processes of distributed autonomy and dynamic function allocation in modern human-automation and human-robotic interactions benefit from increased computing capabilities, resulting in systems with potentially fluid (and sometimes conflicting) boundaries for human vs. automation control. Using examples from human and robotic spaceflight, robotics can demonstrate significant autonomy (automated “safe-moding” and restart by Mars rovers), and humans may have limited autonomy (when astronauts conducting extravehicular activity rely on and wait for ground controllers to create or modify procedures to complete required tasks). Proposed future advances in human-automation interaction and coordination include the development of “centaur” teams of humans interacting with sophisticated software and robotic agents as team members (rather than fixed allocations as human-controlled servos or automation-controlled autonomous systems). Approaches within the authors’ lab include qualitative research of process and cognitive task demands to create functional architecture for AI applications in cyber security. Another method uses agent-based modeling to incorporate individual thinking style and interpersonal interactions in task performance simulations, effectively creating more robust hybrid systems incorporating cognitive and social factors in complex settings.
Тези доповідей конференцій з теми "Servomechanisms Computer simulation"
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Nicolae, Vasiliu, Cojocaru-Greblea Toma, Calinoiu Constantin, Vasiliu Daniela, and Bontos Marius Daniel. "Modeling and simulation of a hybrid electrohydraulic flight control servomechanism for A380." In 2018 7th International Conference on Computers Communications and Control (ICCCC). IEEE, 2018. http://dx.doi.org/10.1109/icccc.2018.8390452.
Повний текст джерела
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Treakle, Thomas W., Dean T. Mook, Stergios I. Liapis, and Ali H. Nayfeh. "A Time-Domain Study of the Use of Moving Weights to Reduce Roll Motions." In ASME 1998 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/imece1998-0553.
Повний текст джерелаАнотація:
Abstract The use of actively controlled moving weights on board ships to reduce roll motion is investigated. The weights simulate in principle anti-roll-tank systems and can also be considered a possible anti-roll device in their own right. The investigation is based on time-domain simulations. The full seven-degree-of-freedom set of governing equations for the complete system is derived. And a two-degree-of-freedom non-linear approximation for the roll motion only is derived from these seven equations. The reduced set of equations is used to determine the influence of various parameters and to evaluate control strategies. A PID controller is developed to command the position of the weight and a servomechanism model is used to predict its actual position. Then, the moving-weight system is incorporated into LAMP (Large-Amplitude-Motion Program), a computer code developed by SAIC that integrates the governing equations of the sea and the equations of motion of the ship interactively and predicts the motion of the ship in the time domain. Comparison of the results from the two simulations shows that there is fairly good correlation between the simple and complex models, but the simple model is a little optimistic in predicting the effectiveness of the moving-weight system. The results predict that the moving-weight system can be an excellent roll-suppressing device when (1) the moving weight is as small as 1% of the displacement of the ship, (2) the weight is located below the center of gravity, and (3) the maximum distance the weight moves is as small as 15% of the half-beam.