Control Of Mechanical Systems Research Articles

Fly by Wire Advancements in Aviation over Conventional Flight Control Systems

Abstract: This report shows the advancement of flight control systems, from the old human controlled mechanical systems to the modern fly by wire systems in use today. It also compares the two systems, and investigates the reasons behind the change. This change is a significant and an extraordinary representation of the advancements made in the avionic industry and of the development of aeronautical technologies. The fly-by wire system represents a large fast forwarding in the industry, from complex mechanically controlled systems, to large hydraulically controlled systems, to computer assisted fly by wire system. The use of fly-by wire systems has significantly reduce the weight of the flight control systems, while increasing the scope to add multiple redundancy flight control systems, which can increase the safety in case of failures in a particular system. Further development in fly-by wire systems comes in the form of advancing from analog to digital computing systems

Novel gain-tuning for sliding mode control of second-order mechanical systems: theory and experiments

The sliding mode control is well-known as a useful control technique that can be applied in several real-world applications. However, a straightforward and efficient process of selecting the sliding mode control gains remains a challenging but interesting topic. This paper investigates a novel gain tuning method for the sliding mode control of second-order mechanical systems. Firstly, we obtain relations between the gains and the natural and damping ratio of the closed-loop system. Secondly, the time constant of the system’s actuators and the system response performance criteria, including settling time and delay time, are taken into consideration to determine appropriate ranges of the gains. These gain ranges allow control designers to select the controller gains in a time-saving manner and ensure that the desired system performance is met and the actuators work properly. Finally, the proposed method is applied to the gain tuning process of a sliding mode altitude controller for an actual quadcopter unmanned aerial vehicle. Simulation and experimental results demonstrate the applicability and effectiveness of this method.

Modelling and Control of a Two-Wheel Inverted Pendulum Using Fuzzy-PID-Modified State Feedback

Control of mechanical systems by electronic systems controlled by computer programs is one of the most active research areas in mechatronic systems engineering. These programs carry out control laws, which are algorithms. This study focuses on Segway control (a two-wheeled inverted pendulum which is a highly nonlinear and unstable open-loop system). Our research entails creating a control law to stabilize this system. We proposed using a state feedback controller, which provided us with a stable system and a lower error margin; however, to correct this error, we used a combination of the state feedback controller and the fuzzy-PID controller. The effectiveness of the proposed method is demonstrated using simulation results.

Constraint-following control for uncertain mechanical systems: an intelligent multi-agent game-theoretic approach

Constraint-following control for uncertain mechanical systems: an intelligent multi-agent game-theoretic approach

Mechanical linearization of mechanical control systems without controllability assumption

We present a linearization procedure of mechanical control systems that preserves the mechanical structure of the system, i.e. the mechanical linearization. We give necessary and sufficient conditions for such linearization in two main (static) cases, namely state–space linearization and feedback linearization. In contrast to the classical cases, such mechanical linearizations can be performed without assuming controllability of the linearized system.

Hydrodynamic and environmental modelling influence on numerical analysis of an innovative installation method for floating wind

This paper presents a numerical modelling methodology for an innovative installation method of floating wind turbines. The study analyses the influence of hydrodynamic and environmental modelling factors on the dynamics of a multibody system consisting of a catamaran with three wind turbines and a spar foundation with a mooring system. The research focuses on features such as viscous drag on the spar, hydrodynamic interaction between floating bodies, long- and short-crested waves, first- and second-order wave loads, wave directions, and wave peak periods. The study found that hydrodynamic modelling factors had a significant effect on the horizontal motion of the installation system but a negligible effect on vertical motion and mooring system tension. Therefore, it is recommended to consider viscous drag forces, hydrodynamic interaction, and first- and second-order wave forces when developing mechanical damping and control systems to reduce horizontal motion. The study also suggests using both long- and short-crested waves for numerical analysis when estimating the weather window for installation operability analysis. Overall, this study contributes to the development of an efficient and practical installation method for floating wind turbines by analysing the impact of hydrodynamic and environmental factors on the dynamics of the multibody system.

Perancangan Mesin Potong Torch Asetilen Dengan Gerak 2Axis Menggunakan Sistem Kontrol Arduino

The problem of the oxy-acetylene welding plate cutting tool that is commonly used today is still in a manual way, and is not equipped with driving equipment. This results in the performance of the oxy-acetylene welding plate cutting tool when cutting is not optimal and efforts need to be made to improve the cutting tool in order to facilitate work. The purpose of this research is to produce a construction design of an automatic oxy-acetylene welding plate cutting tool. and can determine the suitability of mechanical components with the arduino control system used. The working method of the tool design process includes work preparation, data collection and making the formulation of problems and objectives to be achieved. Literature study by looking for articles, which are updated to produce solutions to existing problems. Making component and assembly designs and simulations by making calculations and uses on the mechanical construction and control systems used. Using the application of the ZW3D licensed computer aid design program, this research created a design for oxy-acetylene welding plate cutting tools by combining oxy-acetylene welding with stepper motors driven by Arduino control. Producing automatic motion with x and y axes, so that it can facilitate cutting work. The size of the designed tool is 700 mm x 700 mm x 800 mm. From the calculation, the maximum torque required by the plasma cutting table is 0.218 Nm, and the maximum power is 6.845 Watt. The motor chosen is a Nema23 stepper motor because the price is relatively cheap and in accordance with the calculation specifications. Lead Screw is used as a converter of rotary motion from stepper motor into linear motion, with specifications used with diameter = 8 mm, length = 500 mm and pitch = 2 mm.

Reinforcement learning based adaptive control for uncertain mechanical systems with asymptotic tracking

This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation. The considered system can depict the behavior of a large class of engineering systems, such as vehicular systems, robot manipulators and satellites. All these systems are often characterized by highly nonlinear characteristics, heavy modeling uncertainties and unknown perturbations, therefore, accurate-model-based nonlinear control approaches become unavailable. Motivated by the challenge, a reinforcement learning (RL) adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics. The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error (RISE) control approach. Different from a classical RISE control law, a tanh(·) function is utilized instead of a sign(·) function to acquire a more smooth control signal. The developed controller requires very little prior knowledge of the dynamic model, is robust to unknown dynamics and exogenous disturbances, and can achieve asymptotic output tracking. Eventually, co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom (3-DOF) manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.

Optimal design of robust control for fuzzy mechanical systems with flexible components

Optimal design of robust control for fuzzy mechanical systems with flexible components

Exploring the Application of PLC Technology in Mechanical Electrical Control Devices

China's industrial sector has made great progress after years of development, and the field of science and technology has promoted the rapid growth of the industrial economy through technological upgrading. In the face of the new situation of social development, the previous manual mode of operation can no longer meet the development of the times, so it is necessary to make innovations in machinery manufacturing. Taking industrial production as an example, PLC technology is a new type of technology that can greatly improve the efficiency of industrial production and enhance the productivity of enterprises, thus solving the problems of production relations and productivity. It can be seen that in the future development stage PLC technology can get better development, especially in the field of electrical control using PLC technology, can improve the safety of electrical control devices, but also in the automation level, the level of efficiency has a good role in promoting. This article will focus on the application status of PLC technology, and a detailed description of mechanical electrical control. The impact of this technology on mechanical electrical control will be analyzed, focusing on existing control systems, such as FCS systems and DCS systems, which are the more common types of control systems today. Finally, the specific application areas of the technology in the mechanical electrical control system are analyzed, such as the basic control system of the DCS system and the integrated control system. During the application of the above content will be affected by a variety of variable factors, around which the analysis can be carried out to improve the automation level of mechanical electrical control devices.

Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics

In this work we present some new results on energy shaping control for underactuated mechanical systems with high-order actuator dynamics. To this end, we propose an extension of the Interconnection and damping assignment Passivity based control methodology to account for actuator dynamics. This brings the following new results: i) a potential and kinetic energy shaping and damping assignment procedure that yields two alternative controllers; ii) a potential energy shaping and damping assignment procedure for a narrower class of underactuated mechanical systems. The proposed approach is illustrated with numerical simulations on three examples: an Acrobot system with a series elastic actuator; a soft continuum manipulator actuated by electroactive polymers; a two-mass-spring system actuated by a DC motor.

Preface

International Workshop “Mathematical Modeling and Scientific Computing: Focus on complex processes and systems” (dedicated to the memory of Nikolai Botkin) Munich, October 4-7, 2022 This proceedings volume contains papers presented at the second International Workshop “Mathematical Modeling and Scientific Computing: Focus on complex processes and systems”, MMSC 2022, dedicated to the memory of Nikolai Botkin (22.03.1956–14.09.2019). Nikolai Botkin contributed significantly to mathematical modeling of various physical and biological processes, to the development of numerical methods and algorithms for optimal control of mechanical systems described by ordinary differential equations as well as for complex distributed systems, optimization and nonlinear programming, elasticity theory, hydrodynamics, thermodynamics, and homogenization theory.The first International Workshop MMSC 2020 was held on November 19-20, 2020 at the Technical University of Munich. The proceedings were published with CEUR-WS.org https://ceur-ws.org/Vol-2783/The second workshop MMSC 2022 was held on October 4-7, 2022 at the Technical University of Munich, Germany, in virtual format. Following the scientific interests of Nikolai Botkin, the workshop topics covered mathematical modeling and computer simulation for a wide range of optimal control and trajectory optimization problems, linear and nonlinear programming issues, as well as comprehensive applications in biology, medicine, thermodynamics and aerospace engineering. Recent achievements in machine learning and neural network technologies, challenges in simulation of cerebral blood circulation and bacterial quorum sensing were presented and discussed.In total, 35 invited talks of 77 authors from 12 countries were delivered. Out of 22 papers submitted to Morressier platform, 22 were accepted after peer-review.The editors would like to cordially thank the members of the Program and Organizing Committees, the participants, and the reviewers for actively contributing to the success of MMSC 2022.Editors of the MMSC 2022 ProceedingsVarvara Turova, Andrey Kovtanyuk, Johannes ZimmerList of Program Committee, Organizing Committee are available in this pdf.

Comparative Studies and Analyses of the Different Mechanical Sand Control Systems: A Case Study of a Well Completed in the Niger- Delta of Nigeria

Abstract: Sand production problems are as old as oil drilling itself. It is argued to be the oldest problem plaguing the oil industry. This phenomenon leads to high economic losses in oil and gas production. If the passive methods of sand control of selective and oriental perforations fail, the active methods which involve the chemical and mechanical methods are called into play. This project work compares four mechanical sand control methods; Cased-Hole Gravel Pack, Wire-Wrapped Screens, Pre-Packed Screens and Slotted Liner. It studies the effectiveness of each system, total skin offered and their effects on well productivity. As a control, the data of a well completed without any sand control system in place in the Niger-Delta region of Nigeria was obtained. the IPR/VLP plots were made and the flow efficiencies were calculated. The well was later simulated with the four cases mentioned above and the total skin and flow efficiencies calculated. It was discovered that the flow efficiencies showed a reduction due to the installation of the sand control tools and the skin offered by each sand control system. The flow efficiencies dropped from 0.476 025 to 0.475 977 for Wire-wrapped Screen, 0.475 930 for Cased-Hole Gravel Pack, 0.475 914 for Pre-Packed Screen and finally 0.052 890 for the Slotted Liner. The drops in flow efficiencies were validated by the increasing values of total skin factors from 0 for No Sand Control System, 0.000 484 86 for Wire-Wrapped Screen, 0.002 359 for Pre-Packed Screen, 1.76 for Cased-Hole Gravel Pack and 49.82 for The Slotted Liner. Parameters as Absolute Open Flow Potential (AOFP), Productivity Index (P.I.), Total Skin Value and Liquid (Oil) Production Rate showed that the Wire-Wrapped Screen was the best sand control solution for the given well

Minimal seven‐element series‐parallel realizability of a certain positive‐real biquadratic impedance

SummaryThe minimal complexity realization of low‐order positive‐real immittances as resistor–inductor–capacitor (RLC) (or damper‐spring‐inerter) networks is an essential unsolved problem in the theory of network synthesis, and the results can be directly applied to the inerter‐based mechanical systems control. This paper solves the realizability problem of a certain class of biquadratic impedances as any seven‐element series‐parallel RLC network, where the impedance contains a repeated zero and pole of multiplicity two. In contrast to the previous results of this problem, the work in this paper considers the general case and removes the restrictions on the network structures and the number of reactive elements. The final results present a necessary and sufficient condition for the realizability of such an impedance as any seven‐element series‐parallel RLC network. A network synthesis example in suspension control design is presented to illustrate the results of this paper and the applications in inerter‐based mechanical control.

Development of an optimal mechanical ventilation system control strategy based on weather forecasting data for outdoor air cooling in livestock housing

Development of an optimal mechanical ventilation system control strategy based on weather forecasting data for outdoor air cooling in livestock housing

Application Time Management of Concrete Precast Wall Work on High-rise Campus Building

In the implementation of building construction, especially in the context of functionality of campus buildings, punctuality is an important thing that must be strictly followed because it concerns the start of lecture schedules that cannot be delayed. Therefore, it is necessary to have precise time management of building construction during all the implementation. It’s cannot be separated in building construction between the innovation of work methods and improvisation of quality control which are two processes that need to be implementation in an effort to achieve efficiency and. One of the innovations in building construction, is installation of a concrete precast wall as a cover for the facade of the Binus campus building. Concrete precast wall is made of a good material, as an effort to reduce solar heat entering the room. Furthermore, all existing constraints must be mapped properly as support implementation concrete precast wall. One of antecedents of implementation concrete precast wall in building construction is time management of machine construction tools when use tower crane. Researcher knows the issues of building construction are limitations time using tower crane efficiently, working tools, weather conditions, time of material application, labelling system, quality control mechanism and installation system. In other side, those strengths, weaknesses, opportunities, threats, that can be used as an approach and analysis, start from resource mapping, work requirements, material quality control and coordination systems between sub-supporters. The success of this work depends on the application and coordination calculation time, inspection and quality procedure is main of a consistent methodology from manufacturing in the workshop to installation in the field. In addition, efficiency and effectiveness can provide good quality, saving time and costs.

Collaborative Simulation of Mechanical Structure and Control Systems of Leighton Chajnantor Telescope

Leighton Chajnantor Telescope (LCT) will be moved from the summit of Maunakea, Hawaii to Chajnantor Plateau, Chile and be refurbished there. Strong wind disturbance at the new site will bring great challenges to the servo control of LCT. It is necessary and important to develop a simulation platform that behaves as close as possible to the real telescope for testing the performance of the designed servo controller. In this paper, a collaborative simulation platform of LCT based on Adams and Matlab/Simulink is constructed. On this platform, the mechanical structure model of LCT can be integrated with its control system model such that a collaborative simulation of the mechanical structure and the control system of LCT can be conducted. The mechanical structure model of LCT, which contains both rigid body models (i.e., the mount) and flexible body models (i.e., the primary reflector), is developed by using Adams. The servo system model and the wind disturbance model are constructed by using Matlab/Simulink. By conducting collaborative simulation, the performances of the servo controller based on the rigid body model and the rigid-flexible coupling model of LCT are compared. The comparison shows that the controller designed based on the rigid body model does not perform well when it is employed to control the rigid-flexible coupling model of LCT. However, by readjusting parameters of the servo controller, its performance can be further improved when applied to the rigid-flexible coupling model. Therefore, an LCT model of integrated mechanical structure and control systems is very helpful for analyzing its performance more accurately and designing a better servo controller.

Development and Verification of an Autonomous and Controllable Mobile Robot Platform

In this paper, we design a mobile robot platform, which employs a fully autonomous mechanical structure and electrical control system. Two driving wheels realize flexible steering movement with four universal wheels. A variety of sensors are built on the mobile robot platform, including the Inertial Measurement Unit (IMU) used to establish the inertial navigation coordinate system and the Velodyne’s Puck lidar sensor (VLP-16) used to obtain the three-dimensional (3D) point cloud information of the environment. Then, we build a software control architecture based on the Robot Operating System (ROS), using multi-node communication to perform positioning, environment perception, dynamic obstacle avoidance, path planning and motion control. Furthermore, a method of actively exploring the environment and constructing a map is proposed, using multi-path evaluation for real-time path planning and obstacle avoidance. In the end, we conduct autonomous exploration experiments to verify the performance of the designed mobile robot platform in indoor multi-obstacle scenes.

GPS-Based Toll-Collection and Accident Detection System

India is a highly populated country and with this comes the problem of transportation and logistics involved with accommodating the transportation of people and goods all over the nation. Infrastructure such as roads, highways and toll booths is a huge undertaking in terms of state finances, resulting in delayed improvements and maintenance to the transportation system around the country. With a population of this size, a high amount of vehicle traffic is to be expected in the transportation sector. This increases the chances of accidents which results in the loss of innocent lives, time, and goods. To solve this problem, we introduce a novel idea of a Virtual Toll counter with an Accident control mechanism system based on GPS. By comparing the position of the vehicle and the toll plaza, the owner of the vehicle can be charged from the account. We suggest using GPS to set up geofences by providing the latitude and longitude of the toll plaza's corner as a solution. The owner of the car can have their account debited by comparing the position of the vehicle and the toll plaza. This system can serve up to 300 vehicles per hour. The accident alarm system, also based on GPS, sends an emergency notification to the nearest first aid centre moments after the accident has occurred using a GSM module & coordinates the incident through a GPS module. In the unusual instance of no casualties, a switch is provided to stop the message from being sent. This can help the medical rescue team save valuable time.

Extremum seeking control for fully actuated mechanical systems on Lie groups in the absence of dissipation

In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The configuration and the velocity of the mechanical system are treated as unknown quantities. The only source of information about the current system state is provided by real-time measurements of a scalar signal whose value has to be minimized. The signal is assumed to be given by a configuration-dependent objective function, which is not known analytically. Our goal is to asymptotically stabilize the mechanical system about states with vanishing velocity and a minimum value of the objective function. The proposed control law employs periodic perturbation signals to extract information about the gradient of the objective function and the velocity of the mechanical system from the response of the sensed signal. Under suitable assumptions, we prove local and non-local stability properties of the closed-loop system. The general results are illustrated by examples.