Control Of Mechanical Systems Research Articles

Motion control of mechanical systems under conditions of force-moment uncertainty of the external environment based on the principle of the Archimedes’ lever

If it is impossible to directly control the movement of a heavily loaded mechanical system with a limited power source of energy (HM-motor) under the condition of a force-torque uncertainty of the medium, it is shown that an effective solution to this problem is the transition to robust control, the technical implementation of which is achieved by embedding a gearbox-variator in the control system, which is one of the modern modifications of the classic Archimedes’ lever. Keywords: source of limited mechanical power, force-torque uncertainty, force-torque robustness, inherent robustness, mechanical characteristic, gearbox-variator, power sources, robustness index, dynamic self-levelling, d'Alembert's principle, Archimedes' lever equation. lutikovaolga@mail.ru

Internal control mechanism in agro-industrial production in Kazakhstan

The effectiveness of management in agricultural sector of economy largely depends on the effectiveness of management decisions. The goal is to study the relationship between the linear and nonlinear internal control system (ICS) using the structure of the Committee (COSO) based on the model of agricultural enterprises of the Republic of Kazakhstan. Methods – multiple linear regression test. The paradigm of this study is the officials from the head of the farm to the head of the unit. Results – it has been established that linear and nonlinear relationships in the system control mechanism are characterized by multi-collinear, autocorrelation and heterocedastic testing, which will allow them to be adapted to the agricultural entities of the republic. The predictions were checked before the results of the multiple linear regression tests were obtained. It is shown that each economic entity has its own technological, economic and regional characteristics, which are reflected in the specifics of internal supervision. The authors note that any of its methods represents a template that requires specification, based on the specifics of the enterprise. Horizontal control involves accounting for costs, income and financial results based on developed plans (budgets) for the year with monthly data detailing. Vertical control is the analysis, regulation of expenses and income. The article defines organizational and methodological approaches to the creation and effective functioning of internal control systems in business entities in agricultural sector. To monitor its effective performance, standardization and documentation of procedures is necessary. Conclusions – the continuous monitoring system allows providing information and analytical support for situational approaches to managing an agricultural enterprise, integrating calculation, analysis, control and planning into a single self-regulatory mechanism, minimizing possible operational and financial risks.

Dynamic mode decomposition with memory.

This study proposed a numerical method of dynamic mode decomposition with memory (DMDm) to analyze multidimensional time-series data with memory effects. The memory effect is a widely observed phenomenon in physics and engineering and is considered to be the result of interactions between the system and environment. Dynamic mode decomposition (DMD) is a linear operation-based, data-driven method for multidimensional time-series data proposed in 2008. Although DMD is a successful method for time-series data analysis, it is based on ordinary differential equationsand thus cannot incorporate memory effects. In this study, we formulated the abstract algorithmic structure of DMDm and demonstrate its utility in overcoming the memoryless restriction imposed by existing DMD methods on the time-evolution model. In the numerical demonstration, we utilized the Caputo fractional differential to implement an example of DMDm such that the time-series data could be analyzed with power-law memory effects. Thus, we developed a fractional DMD, which is a DMD-based method with arbitrary (real value) order differential operations. The proposed method was applied to synthetic data from a set of fractional oscillators and model parameters were estimated successfully. The proposed method is expected to be useful for scientific applications and aid in model estimation, control, and failure detection of mechanical, thermal, and fluid systems in factory machines, such as modern semiconductor manufacturing equipment.

Синтез квазиоптимальных законов управления на основе принципа декомпозиции и редукции задачи Лагранжа к изопериметрической в условиях неопределенности

The decomposition principle serves as the basis for methods for constructing universal laws of control of mechanical systems that ensure the stability of any target movement from a set of permissible ones and do not contain information about the dynamic parameters of the control object. It is known that the use of reduction of the Lagrange problem to an isoperimetric one makes it possible to obtain an effective solution to the problem of synthesis of nonlinear control laws, the structure of which determines the variant of nonlinear correction of the control laws of the decomposition principle, which provides an increase in performance. This happens due to the fact that the solution of the game problem is obtained under the assumption of the worst variant of disturbing forces. With a known structure of the controlled system or the availability of information about external forces based on their measurement, the correction of the control law makes it possible to improve the quality of control in comparison with the traditional solution. The purpose of this work is to increase the efficiency of control of nonlinear dynamic systems under uncertainty conditions based on the use of a quasi-optimal control structure obtained on the basis of the maximum condition of the generalized power function and the principle of release, and to analyze the effectiveness of the resulting solution in terms of speed using numerical simulation.

Evolution of Crack Analysis in Structures Using Image Processing Technique: A Review

Structural health monitoring (SHM) involves the control and analysis of mechanical systems to monitor the variation of geometric features of engineering structures. Damage processing is one of the issues that can be addressed by using several techniques derived from image processing. There are two types of SHM: contact-based and non-contact methods. Sensors, cameras, and accelerometers are examples of contact-based SHM, whereas photogrammetry, infrared thermography, and laser imaging are non-contact SHM techniques. In this research, our focus centres on image processing algorithms to identify the crack and analyze its properties to detect occurred damages. Based on the literature review, several preprocessing approaches were employed including image enhancement, image filtering to remove the noise and blur, and dynamic response measurement to predict the crack propagation.

Design of three-roll bending machine tool and research on compensation algorithm

With the rapid development of profile processing industry, the processing shape, efficiency, and consistency of profiles are more and more demanding. In this case, the progress of bending machine tools was very important. In this study, the disadvantages and shortcomings of traditional three-roll bending machine are investigated, and a new design of three-roll bending machine is proposed, including a new mechanical structure, hydraulic pressure, and control system. ABAQUS was used to analyze the constrained mode of the table, and the first six order natural frequencies and natural vibration modes were obtained. A mathematical model was established to analyze the relationship between the pressure displacement and the forming radius under ideal working conditions, and the limit position of the downward movement of the lower press roll and the speed relationship between the lower press roll and the support roll are discussed. Based on the experimental data, the nonlinear curve fitting was carried out on the rebound compensation algorithm of asymmetric rolling bending forming. The fitting rebound compensation algorithm was carried out on the symmetric rolling bending forming experiment. The experimental results show that this algorithm can be applied to both symmetric rolling bending and asymmetric rolling bending.

Realizing self-powered mechanical transmission control system via triboelectric nanogenerator and electrorheological fluid composed soft starter

Soft starters are effective devices used to provide overload protection for motors from large mechanical shocks during the start-up period. However, existing soft starters require additional power supplies, sensors, and complex control elements that pose serious challenges to the integration, versatility, and operability of mechanical transmission system. Herein, we propose a newly soft starter based on the triboelectric nanogenerator (TENG) and electrorheological fluid (ERF) to realize a self-powered mechanical transmission system. Both ERF’s rheological characteristic and the baffle structure play a role in the torque of device. Driven by TENG, the soft starter with optimized baffle achieves a 715% growth in transmission torque compared to that of the device without baffle. And a smooth start is obtained with transmission speeds ranging from 0% to 100%. In application demonstration, this triboelectric soft starter (TSS) has the capacity to gain a smooth operation of the high-speed motor. In contrast, the direct start generates an overshoot, leading to a break in the conveyor belt. The TSS designed in this work with the advantages of self-powered, highly integrated, easy to operate, and low cost, provides a prospective strategy for broadening the application of TENG in mechanical transmission systems.

Sustainability transitions to circular cities: Experimentation between urban vitalism and mechanism

The “circular city” is a recent addition to a string of urban sustainability concepts that call for transformative changes in the way we plan, build and (re-)shape cities. However, it is often criticised for its ambiguity. Experimentation is a prevalent mode of urban governance for realising transformative ambitions in the face of deep uncertainty and ambiguity, yet it is highly malleable for diverse (and vested) interests. This conceptual article explores the circular city as a boundary object which can have multiple translations amongst actors working toward a seemingly common goal. Based on examples of circular experimentation in the existing literature, we characterise mechanistic and vitalist worldviews of the circular city—where the former views the city as a controllable mechanical system while the latter likens the city to a living being. We identify contradictions between mechanistic and vitalist tendencies within the visions, networks and learning processes of circular experimentation. We argue that boundary objects can be a useful tool for facilitating a productive dialectic between worldviews in urban experimentation, using contradiction as a driver of change. We conclude with recommendations for facilitating a dialectical approach to experimentation and suggestions for further research.

Application of metal rubber for semi-active vibration control of mechanical transmission systems

This study proposes a novel semi-active vibration control technique for mechanical transmission systems. The backbone of current research technology is the adaptive stiffness and damping properties of metal rubber (MR) which plays the role of tuning to the vibrational system eigenmodes. The adaptive properties of MR material were proved by a previous study, but the present research investigates the effect of this feature on the structural response and designs an MR-based semi-active vibration controller for industrial application. For this purpose, the semi-active control strategy is created based on an optimal tuning using experimental harmonic test results. The control strategy is applied in practice using a linear actuator controlled by a double pole double throw (DPDT) relay, and National Instruments hardware and software for reading data and writing the control task. The isolator attachment position is defined through the analysis of eigenmode shapes that are predetermined by numerical simulation. A maximum isolation rate of 55.17% is measured near the vibration isolator position. It is observed that the isolation position has a prominent effect on structure vibration behavior where the elastic wave has been reduced in amplitude by passing the isolator position. The effectiveness of the MR-based semi-active control approach is eminent and its application for vibration isolation of commercial mechanical transmission systems could be studied in the future.

Flexible Performance-Based Neural Network Control for Mechanical Systems Under DoS Attack and Event Triggering

In this work, the flexible performance-based control scheme is presented for the networked uncertain mechanical system under the quasi-periodic denial-of-service (DoS) attack and the appointed event-triggering (ET) mechanism. This scheme features the capability of releasing and recovering the prescribed performance in light of the activation and sleeping of the DoS attack. These functionalities attribute to the introduction of a self-regulation auxiliary system that is developed based on the theories of the positive system and the finite-time stability. Furthermore, the neural network (NN) is utilized to approximate the system uncertainty, and the noncertainty-equivalent structure is adopted to construct the update law of the NN. Then, the influence of the quasi-periodic DoS attack and the appointed ET mechanism on uncertainty approximation are totally isolated. Based on the Lyapunov function method and the invariant set theory, the boundedness of the closed-loop system is theoretically proved. Finally, both the numerical and experimental illustrations are presented to demonstrate the effectiveness and the benefits of the developed control scheme.

Continuous finite-time fuzzy control of mechanical systems via non-Lipschitz membership functions

This document presents a method to construct continuous fuzzy controllers that yield finite-time stability of the closed-loop system. The proposed approach allows the user to follow classical design procedures for fuzzy systems without using other finite-time techniques such as sliding modes. The finite-time stability property is a consequence of a special kind of input membership function of the fuzzy inference system.The continuity properties of the fuzzy inference system are studied. Sufficient conditions for the output of the fuzzy inference system to be Lipschitz continuous are stated.A comparison with the asymptotic counterpart of the controller is also presented. The results support the hypothesis that finite-time controllers provide improved robustness to the steady state response.

Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control

Sequential Convex Programming (SCP) has recently gained significant popularity as an effective method for solving optimal control problems and has been successfully applied in several different domains. However, the theoretical analysis of SCP has received comparatively limited attention, and it is often restricted to discrete-time formulations. In this paper, we present a unifying theoretical analysis of a fairly general class of SCP procedures for continuous-time optimal control problems. In addition to the derivation of convergence guarantees in a continuous-time setting, our analysis reveals two new numerical and practical insights. First, we show how one can more easily account for manifold-type constraints, which are a defining feature of optimal control of mechanical systems. Second, we show how our theoretical analysis can be leveraged to accelerate SCP-based optimal control methods by infusing techniques from indirect optimal control.

Design and Control Strategies for Mechanical Hydraulic Transmission Systems

With the development of social and economic development, all walks of life are progressing rapidly, and mechanical hydraulic transmission technology has been widely used. Mechanical hydraulic transmission technology is a widely used, high efficiency, energy-saving and environmentally friendly transmission technology, mainly using liquid as the medium, relying on the pressure of the liquid to transmit power. Due to the strong mobility of the liquid, the pressure and flow of the liquid can be changed at will, therefore, it is widely used in mechanical hydraulic transmission systems. This paper takes the design of mechanical hydraulic transmission system as content, combined with the analysis of contemporary problems in the design and control of mechanical hydraulic transmission system, and explores the common problems and solutions in the design process of mechanical hydraulic transmission system. This paper discusses the design and control methods of mechanical hydraulic transmission system control strategy, and hopes to provide some reference for colleagues.

Propeller thrust tower crane slewing mechanism model identification

Any study of the dynamics and control of mechanical systems is based on adequate mathematical models that contain the dynamic parameters of the system under study. Their evaluation, in particular for the tower crane boom system, is a particularly relevant scientific and practical problem, the solution of which will provide the basis for further calculations of the optimal modes of movement of the tower crane slewing mechanism. The research aims to determine the dynamic parameters of the installation (moment of inertia of the slewing mechanism J, torque of dry friction forces M0, driving torque coefficient K1) and to plan experimental studies. The experimental method, numerical optimization methods (in particular, the modified Rot-Ring-PSO method), and statistical methods were used to conduct the research. Based on the results of the experiments, the dynamic parameters of the mathematical model of the laboratory installation of the tower crane slewing mechanism with propeller thrust were identified. The criterion that evaluates the identification error of the parameters K1, M0, and J was formed and minimized using the Rot-Ring-PSO algorithm. Plots of the kinematic characteristics of the movement of the boom system in terms of the angle of rotation of the boom and the speed of rotation of the boom were constructed. When processing the experimental data, the dependence of the error values on the supply voltage of the propeller drive was revealed. The error in the boom rotation speed at the drive supply voltage of 90% (compared to the voltage variant of 40%) decreased by almost 15%, and the error in the boom rotation angle at the drive supply voltage of 90% (compared to the supply voltage variant of 40%) decreased by almost 3 times. The regularity has been confirmed that with an increase in the supply voltage, the error value of the system decreases. In the course of processing the experimental studies, the dynamic parameters of the installation were identified: K1=4.80‧10-8 V/(rpm)2, M0=34.519 Nm, J=24.21 kgm2. The obtained results will be used to optimise the plant’s motion modes, and the developed identification algorithm can be used for other similar problems

Constructive exponential tracking control for mechanical systems via Hamiltonian realization and contraction analysis method

The conventional tracking control of mechanical systems is generally based on the stabilization of error dynamics and most of the results can only guarantee asymptotic tracking of the desired trajectories. Since error dynamics are generally time-varying, it is very difficult to find appropriate Lyapunov functions or control Lyapunov functions to complete stability analysis and controller design. To address this limitation, the novel constructive exponential tracking control method is proposed to mechanical systems by utilizing the Hamiltonian realization and contraction analysis in this paper. Firstly, based on the Hamiltonian realization and use the structural characteristics of port-Hamiltonian systems, the exponential tracking controllers are constructed for fully actuated and under-actuated mechanical systems by combining the pre-feedback with feedback control. The proposed tracking control strategies can be used to discuss fully actuated and under-actuated mechanical systems in a unified framework. Then the exponential decay-rate of tracking controllers and procedure for selecting control parameters for fully actuated and under-actuated mechanical systems are given. Finally, comparative simulations and experiments are carried out to illustrate the effectiveness and robustness of the proposed control strategy.

Research on the design of mechanical robot control system for industrial PC in the context of big data

Abstract In the digitalization of big data information, how to use big data technology to design and study the mechanical robot control system of industrial PC has become a key topic of concern in today’s society. In this paper, robot kinematic modeling is mainly used to analyze and study the robot motion equations and control system operation mechanism, and the motion controller of the industrial robot control system is selected from the CLIPPERPMAC controller of the PMAC motion controller series. The approach to reducing the operation error of the industrial robot system from the control perspective is discussed. The error is reduced by adjusting the PID parameters of the PMAC motion controller in automatic and manual ways, and the error is further reduced by introducing fuzzy control algorithms. By comparing the original curve, the curve after the PID adjustment of PMAC itself and the curve after the introduction of the fuzzy controller, the curve error is kept below 5%, which is determined to be an effective method to reduce the error. This study can precisely realize the design and research of mechanical robot control systems, thus providing a guiding reference value for the research of industrial robot mechanization.

Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances

AbstractThis work investigates the energy shaping control of a class of underactuated mechanical systems with first‐order actuator dynamics and subject to both matched and unmatched constant additive disturbances. To this end, a new nonlinear control law which includes two independent integral actions is presented. The controller design is outlined for systems with first‐order actuator dynamics, and also for systems with direct actuation. The effectiveness of the proposed approach is demonstrated with numerical simulations on an inertia wheel pendulum and on a ball‐on‐beam system, both actuated by electric DC motors and subject to constant disturbances.

Virtual nonholonomic constraints: A geometric approach

Virtual constraints are relations imposed in a control system that become invariant via feedback instead of real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the velocities. In this work, we introduce the notion of virtual nonholonomic constraints in a geometric framework. More precisely, it is a controlled invariant distribution associated with an affine connection mechanical control system. We show the existence and uniqueness of a control law defining a virtual nonholonomic constraint and we characterize the trajectories of the closed-loop system as solutions of a mechanical system associated with an induced constrained connection. Moreover, we characterize the dynamics for nonholonomic systems in terms of virtual nonholonomic constraints, i.e., we characterize when can we obtain nonholonomic dynamics from virtual nonholonomic constraints.

International Conference on Applied Sciences ICAS2022

Banja Luka, Bosnia and Herzegovina, May 25-28, 2022 International Conference on Applied Sciences ICAS2022 took place in Banja Luka, Bosnia and Herzegovina, in the period May 25–28, 2022, at the University of Banja Luka, with the aims to serve as a platform for exchange of information between various areas of applied sciences, and to promote the communication between the scientists of different nations, countries and continents.The conference has been focused on several fields of application, operation and influence of the applied sciences and technologies on industry. Topics of the conference covers a comprehensive spectrum of issues from: 1. Fundamental Sciences: Numerical approximation and analysis, Numerical simulation, Numerical optimization, General statistical methods, Stochastic analysis methods, Analytical and numerical techniques, Finite element methods, Dynamical systems methods, Chemical composition analysis, Energy analysis, Heat transfer, Interdisciplinary applications of physics, Environmental aspects, Effects of pollution, Fuzzy logic, and others… 2. Computers Engineering: Computer modeling and simulation, Algorithms, Software engineering, Artificial intelligence, Neural networks, Image processing, Data acquisition: hardware and software, Data presentation and visualization, Data analysis: algorithms and implementation, Data management, Big Data, Internet and network applications, and others… 3. Electrical Engineering: Electrical and electronic instruments and components, Circuits and circuit components, Signal processing electronics, Power electronics, Electric motors, Electric vehicles, Biomass energy, Wind energy, Solar energy, Solar cells (photovoltaics), Conventional hydropower, Hydroturbines, and others… 4. Mechanical Engineering: General theory of classical mechanics, Computational methods in classical mechanics, Control of mechanical systems, Dynamics and kinematics of rigid bodies, Mechanical properties of solids, Applied mechanics and design, Deformation and plasticity, Mechanical modes of vibration, Mechatronics, Robotic systems engineering, Automotive engineering, Vehicle technology, Aerospace systems and technology, and others… 5. Materials Engineering: Methods of materials synthesis and materials processing, Methods of materials testing and analysis, Metals and metallic alloys, Metallurgy, Nonmetals, Porous materials, Granular materials, Polymers, Biomaterials, Composite materials, Organic compounds, Nanoscale materials and structures, Structural failure of materials, and others…During the four days of the conference, 4 keynote lectures and 121 oral talks were delivered.Based on the works presented at the conference, 45 papers have been selected to be included in this volume of Journal of Physics: Conference Series.List of Organizers, Event sponsored, Honorary Committee, Organizing Committee, Scientific Committee are available in the pdf.

Mechatronics in Agriculture and the Teaching of Mathematics

Mechatronics in Agriculture, refers to the integration of mechanical engineering, electronics, control systems, and computer science in designing and creating intelligent systems. In the context of agriculture, mechatronics plays a crucial role in automating various processes to improve productivity, efficiency, and sustainability in farming. By the other hand the teaching of mathematics is an essential component of education, helping students develop critical thinking, problem-solving, and analytical skills. Regarding the teaching of mathematics, integrating mechatronics can provide practical applications for mathematical concepts. Mechatronics systems involve mathematical models, algorithms, and control systems. By incorporating mechatronics projects into math curricula, students can gain hands-on experience applying mathematical concepts to real-world problems. This integration can make mathematics more engaging, relevant, and tangible for students, fostering a deeper understanding and appreciation for the subject. Overall, integrating mechatronics in agriculture not only improves agricultural practices but also offers opportunities to enhance the teaching of mathematics through practical applications. The final recommendation is that mechatronics for the teaching of mathematics should be interrelated with agricultural projects so that students learn in a positive way with contributions to the community, likewise research in this regard should be promoted since it is null in these topics.