Solid State Phenomena Vol. 198

Abstract: This paper discusses a nonlinear robust control design procedure to micro air vehicle that uses the singular value (μ) and μ-synthesis technique. The optimal robust control law that combines a linear parameters varying (LPV) of UAV (unmanned aerial vehicle) are realized by using serial connection of the Kestrel autopilot and the Gumstix microprocessor. Thus, the robust control feedback loops, which handle the uncertainty of aerodynamics derivatives, are used to ensure robustness stability of the UAV local dynamics in longitudinal and lateral control directions.

Abstract: The paper deals with speed/position servosystem with 2-phase electrical induction motor for robotic applications. The new developed method has been used for speed/position control. The precision of position determination is less than 2.5 ^o el. in steady-state operation in spite of virtual sensorless method. It needs for real time control - high computing power for control algorithms and very small time sampling interval. Maximum of motor electromagnetic torque is providing by field oriented control (FOC).

Abstract: nverse method algorithm for invention of mechatronic systems in vibrotechnics is used for robotic systems motion control synthesis. The main difference between this method and simple analysis method is that before synthesis of a real system optimal control task for abstract initial subsystem is solved. After calculations the optimal control law is found that allows to synthesise series of structural schemes for real systems on a basis of initial subsystem. It is shown that optimal control action corresponds to the case of boundary values of area limits. For realizing optimal control actions in general case a system of one degree of freedom needs feedback system with two adapters: one for measure displacement and second for measure velocity. It is shown that simple case exists of the control with only one adapter when motion changes directions. It means that control action is like negative dry friction and switch points are along zero velocity line.

Abstract: The paper presents the mechatronic approach to design a robust anti-sway crane control system on the laboratory stand, physical model of an overhead traveling crane. The core of a problem in realizing the anti-sway crane closed-loop control system in industrial practice is the reliable technique of measuring swing angle of payload suspended on a rope. Thus, the contactless method utilizing dynamic vision system is proposed in the paper. The poles assignment-based method of fuzzy gain scheduling crane control system designing is applied to built the crane control scheme. The software and hardware equipment of laboratory stand allows to automate the process of prototyping the control system and built the control application based on the programmable logic controller (PLC).

Abstract: This paper presents an interactive system for childrens lower limbs rehabilitation, which aims to satisfy the essential requirements for progress in rehabilitation by stimulating a childs senses through image and sound. Brain activity measurement with an EEG sensor is used as a function steering the rehabilitation process. Through the interactive integration of the function of movement rehabilitation with mental stimulation of a child it will be possible to support the development of cognitive functions, cause-effect thinking, stimulation of the senses and to improve coordination and spatial orientation of the young patient and also encourage and motivate them to participate fully during therapy.

Abstract: The paper presents the control system for an electro-hydraulic vibration exciter. A vibration exciter is used to carry out kinematic and forced excitations. Such excitations are needed during the static and dynamic examinations of suspension assemblies and their elements, such as damping springs. The most important elements of the exciter are: a hydraulic servo valve, a hydraulic actuator, a control system and a hydraulic supply station. An inductor works in a negative feedback loop. A set point generator and controller are parts of a real-time control system. The authors used a cRIO-9022 industrial computer from National Instruments analogue input and output modules. Apart from supporting I/O modules, the cRIO controller in a real-time system communicates with an FPGA circuit that forms a control loop. The use of an FPGA (Field Programmable Gate Array) allowed for implementing a hardware control loop through a vibration exciter, as well as other control loops used in the research (such as controlling an active executive element). The use of such a system architecture enabled the parallel operation of multiple control threads. The selected structure also allows for flexible selection of the measuring channels, which are essential for system monitoring and data acquisition.

Abstract: The paper presents the concept of virtual driver of hybrid wheeled vehicle. For this purpose was chosen LabVIEW software and CompactRIO dedicated controller. In the LabVIEW software has been built a mathematical model of a wheeled vehicle taking into account the specific characteristics of engines and torque converter. Wheeled vehicle model has been optimized for metropolitan road conditions where there is frequent braking and acceleration of the wheeled vehicle. For the acceleration of the vehicle in the first phase of motion corresponds to the electric unit, and then at an appropriate speed drive is switched to the internal combustion engine. Using LabVIEW and CompactRIO dedicated controller it is possible to build a virtual controller used for testing hybrid powertrain of a wheeled vehicle in the laboratory. The controller requires an accurate mathematical model to build a wheeled vehicle taking into account the exact characteristics of these two units, external forces acting on wheeled vehicle (resistance movement). The use of virtual driver allows the selection of both powertrain of hybrid wheeled vehicle, to test them as engines working separately or simultaneously with the use of the synergy of energy.

Abstract: In this paper a method for shaping the dynamic characteristics of vibration isolation systems is presented. The multi-criteria optimisation procedure is utilized in order to find the Pareto-optimal system configuration with simultaneous minimization of conflicted optimisation criteria: the isolated body acceleration and suspension travel. As an example of the proposed method, the seat with a pneuma-hydraulic suspension is investigated and its vibro-isolation properties are shaped by an appropriate selection of the system characteristics. The basic findings of the paper consist in the optimisation procedure that takes into account the nonlinear dynamic behaviour of vibration isolation systems.

Abstract: This paper presents a model reduction technique of a 3-D pipe system with flowing liquid. In the analysis and design of control (mechatronic) systems it is useful to work with simple, low order models. A hybrid reduced order model is proposed. The system model consists of two parts, the modal model and the finite element model.

Abstract: In the present work, the description of a numerical model for predicting the electromagnetic composite ring expansion process and validation of a developed numerical code is presented. The strength response of rings materials under high strain rate deformation was described by using the well-known JohnsonCook constitutive relationship. Numerical considerations and experimental validation were performed for a composite ring consisted of a copper drive ring and X37CrMoV51 steel ring specimen. The analyses of the obtained results allow to find out that good convergence of theoretical and experimental data was achieved.