Solving inverted pendulum by co-simulation between multi-body solver MotionSolve and signal processing control in solidThinking Activate. The simulation of inverted pendulum uses an innovative model of friction which is physically and mathematically more accurate than usual CAE friction models. This model of friction adds nonlinearity to the system. Two types of controlling mechanism for active balancing of inverted pendulum are used: PID and ANN controller. A non-traditional false angular deviation approach for returning a cart to its initial position was used.
This paper deals with the modelling and control of balanced wheeled autonomous mobile robot. For the MBS dynamics modelling software tool Matlab-SimMechanics is used. The model derived automatically from geometric-topological description of MBS is used for the control purposes (local linearization for state space control, testing of nonlinear system controlled by LQR) and also as a reference during the analytical model formulation for global feedback linearization. The dual accelerometer is used as a tilt sensor and the proposed method for sensory processing is described in this paper. The approach is based on iterative solution of nonlinear equation. Control using the state space (LQR) and the feedback linearization is compared. Also, the influence of sensor noises and delays implemented into the model are discussed. Finally, the solution is verified on real physical model controlled by means of hardware ni the loop (HIL). and Obsahuje seznam literatury
Fibres, cables, wires and fibres can play an important role in design of many machines. One of the most interesting applications is replacement of chosen rigid elements of a manipulator or a mechanism by cables. The main advantage of this design is the achievement of a lower moving inertia, which leads to a higher mechanism speed, and lower production costs. An inverted pendulum attached and driven by two fibres serves as a typical testing system for the investigation of the fibres properties influence of the system dynamic response. Motion of the pendulum of this nonlinear system is investigated using the alaska simulation tool and an in-house program created in the MATLAB system. Since mass of fibres can influence employed types of fibre models, chosen dynamic quantities (e.g. pendulum angle, vibration amplitude etc.), are investigated in dependence on the excitation frequency for various fibres weights. and Obsahuje seznam literatury
For investigation of influence of various subsoil geological structures on spectral acceleration amplitudes of foundation soil it is necessary to continue in long time monitoring of near seismic events by using of large number of field accelerometers. The new special apparatus for automatic recording of spectral acceleration response was constructed. Principle of this apparatus is reverse pendulum with piezoelectric converter. This simple construction makes possible production numerous series with small requirements on capital expenditure and installation. The function of developed apparatus prototype was field-tested in station Prague - Květnice. Various seismic signals were recorded and also response amplitude of earthquake with focus near Červený Kostelec (10 October 2005, 10 : 51 : 57.4 ; M = 3.4; R = 156 km; φ = 50.47; λ = 16.07)., Jiří Buben and Vladimír Rudajev., and Obsahuje bibliografii