• Title/Summary/Keyword: Dynamic Model

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Implementation of a dynamic control for a mobile robot (이동 로보트의 동적 제어 구현)

  • 이장명;김용태
    • Journal of the Korean Institute of Telematics and Electronics S
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    • v.34S no.1
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    • pp.54-64
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    • 1997
  • In this paper, a method of dynamic modeling and a dynamic control of a mobile robot are presented to show the superiority of the dynamic control comparing to the PD control. This dynamic model is derived from the cartesian coordinates using lagrange equations. Based upon the derived dynamic model, we implemented the dynamic control of the mobile robot using the computed torque method. Time varying non-linear friction terms are not incroporated in this dynamic model. Instead, those are considered as disturbances. This uncertainty in dynamic model of mobile robot is compensated by the outer loop controller using PD algorithm. The validity of this model and the control algorithm are confirmed through the experiments, where the dynamic control algorithm demonstrated robust velocity tracking performance against the unmodeled non-linear frictions. The superiority of this algorithm is demonstrated by comparing to classical PD control algorithm.

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A Dynamic Model of PEMFC for Residential Power Generator (가정용 연료전지 시스템 동특성 해석 모델)

  • Yu, Sang-Seok;Kim, Han-Seok;Lee, Sang-Min;Lee, Young-Duk;Ahn, Kook-Young
    • 한국신재생에너지학회:학술대회논문집
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    • pp.12-16
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    • 2007
  • A dynamic model of proton exchange membrane fuel cell(PEMFC) system is designed to understand the performance of the PEMFC in residential power generator(RPG) over various balance of plant(BOP) options. In particular, since the performance of PEMFC system should be optimized for given operating ranges, it is necessary to design suitable BDP components which can support the operating ranges. The objective of this study is to develop a dynamic system model for the study of PEMFC performance over various BOP options. Therefore, a dynamic model is composed of a PEMFC stack model, a water management system model, a thermal management system model and a fuel/air supply model and the model is integrated under SIMULINK(R)environment. Basic simulation results will be presented.

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Study on a 2-Dimensional Dynamic Modeling Technique to Analyze the Overriding Phenomena of Rollingstock (열차의 타고오름 해석을 위한 2차원 충돌동역학 모델링 기법 연구)

  • Kim, Geo-Young;Koo, Jeong-Seo;Kwon, Tae-Soo
    • Journal of the Korean Society for Railway
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    • v.14 no.1
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    • pp.11-18
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    • 2011
  • This paper proposed a new 2-D multi-body dynamic modeling technique to analyze overriding behaviors taking place during train collision. This dynamic model is composed of nonlinear springs, dampers and masses by considering the deformable characteristics of carbodies as well as energy absorbing structures and components. By solving this dynamic model for rollingstock, energy absorbing capacities of collision elements, accelerations of passenger sections, impact forces applied to interconnecting devices, and overriding displacements can be well estimated. For a case study, we chose KHST (Korean High Speed Train), obtained crush characteristic data of each carbody section from 3-D finite element analysis, and established a 2-D multi-body dynamic model. This 2-D dynamic model was simulated under the train-to-train collision scenarios, and evaluated with 3-D virtual testing model. It was founded from the simulation results that this 2-D dynamic model could well predict overriding behaviors, and the modeling technique of carbody deformation was very important in overriding estimation.

A study on time optimal positioning control of robotic manipulator (로보트 팔의 최소시간 위치제어에 관한 연구)

  • 김종찬;배준경;박종국
    • 제어로봇시스템학회:학술대회논문집
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    • pp.45-48
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    • 1986
  • In this paper, time optimal positioning control of the robotic manipulator is discussed. The equations for dynamic model of the robotic manipulator are nonolinear, and each link is highly coupled. A feedback linearizing and decoupling transformation makes the dynamic model linearized and decoupled, and optimal control input for the linear and decoupled system is derived.

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A Dynamic Modeling of 6×6 Skid Type Vehicle for Real Time Traversability Analysis over Curved Driving Path (곡선주행 실시간 주행성 분석을 위한 스키드 차량의 동역학 모델링)

  • Joo, Sang-Hyun;Lee, Ji-Hong
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.4
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    • pp.359-364
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    • 2012
  • Real-Time Traversability should be analyzed from the equiped sensors' data in real time for autonomous outdoor navigation. However, it is difficult to find out such traversability that considers the terrain roughness and the vehicle dynamics especially in case of skid type vehicle. The traversability based on real time dynamic analysis was proposed to solve such problem but in navigation with strait driving path. To adapt the method into the navigation with curved driving path, a path following controller should be incorporated into the dynamic model even though it cause the real time problem. In this paper, a dynamic model is proposed to solve the real time problem in the traversability analysis based on real time dynamic simualtion. The dynamic model contains the control dummy which is connected to the vehicle body with a universal joint to follow the curved path without controller. Simulation and experimental results on $6{\times}6$ articulated unmanned ground vehicle demonstrate the method's effectiveness and applicability into the traversability analysis on terrain with bumps.

Development of Operating Mechanism of a Pretensioner using Internal Gear Pairs (내접 기어를 이용한 프리텐셔너의 구동 메커니즘 개발)

  • Jung, Sung-Pil;Park, Tae-Won;Kim, Wook-Hyeon;Hong, Yo-Sun
    • Journal of the Korean Society for Precision Engineering
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    • v.27 no.3
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    • pp.89-94
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    • 2010
  • The pretensioner is used to retract the belt webbing and tighten up any slack in the event of a crash. The retracting force of the pretensioner helps move the passenger into the optimum crash position in his or her seat. In this paper, the new concept of an operating mechanism of the pretensioning system is presented. The internal gear design program is developed using MATLAB. Two kinds of numerical analysis model are created. The first one, the rigid body dynamic model, is used to estimate the performance of several gear pairs. The initial performance of the new operating mechanism is analyzed and the best combination of the gear pairs is selected. The second one, the structural dynamic model, is used to calculate the deformation of the gear teeth. To decrease the deformation and interference of the teeth, the shape of the gear pairs is changed.

An Inverse Dynamic Model of Upper Limbs during Manual Wheelchair Propulsion (수동 휠체어 추진 중 상지 역동역학 모델)

  • Song, S.J.
    • Journal of rehabilitation welfare engineering & assistive technology
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    • v.7 no.1
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    • pp.21-27
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    • 2013
  • Manual wheelchair propulsion can lead to pain and injuries of users due to mechanical inefficiency of wheelchair propulsion motion. The kinetic analysis of the upper limbs during manual wheelchair propulsion needs to be studied. A two dimensional inverse dynamic model of upper limbs was developed to compute the joint torque during manual wheelchair propulsion. The model was composed of three segments corresponding to upper arm, lower arm and hand. These segments connected in series by revolute joints constitute open chain mechanism in sagittal plane. The inverse dynamic method is based on Newton-Euler formalism. The model was applied to data collected in experiments. Kinematic data of upper limbs during wheelchair propulsion were obtained from three dimensional trajectories of markers collected by a motion capture system. Kinetic data as external forces applied on the hand were obtained from a dynamometer. The joint rotation angles and joint torques were computed using the inverse dynamic model. The developed model is for upper limbs biomechanics and can easily be extended to three dimensional dynamic model.

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