Lyapunov controller design for transverse vibration of a cable-linked transporter system

Modeling and Lyapunov controller design for transverse vibration of a flexible cable transporter system with arbitrarily varying lengths are presented using Hamilton's principle and Lyapunov theory. The axial velocity of the system is assumed to be unknown in the model. This is different from existing literature where the axial velocity is assumed either to be constant or prescribed. The governing equations include two coupled non-linear Partial Differential Equations (PDEs) and boundary conditions. The interactions between the cables and the slider, pulleys, and motors are included in the model. Numerical solution of the derived governing equations is obtained using Galerkin's method. Based on the Lyapunov theory, we propose two boundary controllers and one domain point-wise controller, which suppress the transverse vibration of the cables effectively while assuring the attainment of the slider goal. The proposed controllers dissipate the vibration energy and guarantee the stability of the closed-loop system in Lyapunov sense. Simulation results demonstrate the effectiveness of the proposed controllers.A short version of this paper was presented in 2004 ASME International Mechanical Engineering Conference and Exposition, Anaheim CA, November 14-19, 2004.     

Clearance and friction-induced dynamics of chain CVT drives

A continuously variable transmission (CVT) is an emerging automotive transmission technology that offers a continuum of gear ratios between desired limits. A chain CVT is a friction-limited drive as its performance and torque capacity rely significantly on the friction characteristic of the contact patch between the chain and the pulley. Moreover, such a CVT is susceptible to clearance formation due to assembly defects or extensive continual operation of the system, which further degrades its performance and leads to early wear and failure of the system. The present research focuses on developing models to understand the influence of clearance and different friction characteristics on the dynamic performance of a chain CVT drive. A detailed planar multibody model of a chain CVT is developed in order to accurately capture the dynamics characterized by the discrete structure of the chain, which causes polygonal excitations in the system. A suitable model for clearance between the chain links is embedded into this multibody model of the chain CVT. Friction between the chain link and the pulley sheaves is modeled using different mathematical models which account for different loading scenarios. The mathematical models, the computational scheme, and the results corresponding to different loading scenarios are discussed. The results discuss the influence of friction characteristics and clearance parameters on the dynamic performance, the axial force requirements, and the torque transmitting capacity of a chain CVT drive.     

多体系统动力学微分／代数方程组的一类缩并算法

提出了多体系统动力学微分／代数组初值问题的一类缩并数值积分方法，首先通过矩阵正交分解法对增广系统转化为非超定系统，然后用Ｔａｙｌｏｒ展开法将其改写为可交替失代的格式，并用Ｎｅｗｔｏｎ迭代与差分修正求得系统响应，文末通过对平面二连杆操作手仿真验证了算法有有效性。     

串联电池组接触电阻故障诊断分析

开发资源节约型、环境友好型的电动汽车是当前全球汽车技术革命和产业转型的前沿阵地和技术制高点。为确保电动汽车行驶过程中的安全,避免电池发生功率衰退故障,采用一阶RC等效电路模型分析电池组的接触故障,并利用最小二乘法对模型参数进行识别,研究模型参数随电池荷电状态的变化规律。然后,在Simscape仿真模拟电池故障现象的基础上,分析出现电池电压变化异常的电池故障,得知其原因为接触电阻故障或内阻异常增加。最后,通过实验对比故障前后单体电池的电压、电流和内阻,总结得到电池发生接触故障的方法。     

基于Simscape的动力锂离子电池的建模与仿真

随着电动车的普及,动力锂离子电池的研究受到人们的重视,建立精确的锂离子电池模型对动力锂离子电池的研究至关重要。采用锂离子电池的等效电路模型,利用Simulink的Simscape模块搭建电池的模型。在模型中运用安时计量法对锂离子电池的SOC进行估算,对动力锂离子电池模型在不同工作情况下进行仿真分析。所建锂离子电池模型可集成到电动汽车整车系统等大系统模型及其仿真分析中,节约研发成本。     

Dynamic Simulation of Multibody Systems Using a New State-Time Methodology

This paper presents a new methodology demonstrating the feasibility and advantages of a state-time formulation for dynamic simulation of complex multibody systems which shows potential advantages for exploiting massively parallel computing resources. This formulation allows time to be discretized and parameterized so that it can be treated as a variable in a manner similar to the system state variables. As a consequence of such a state-time discretization scheme, the system of governing equations yields to a set of loosely coupled linear-quadratic algebraic equations that is well-suited in structure for some families of nonlinear algebraic equations solvers. The goal of this work is to develop efficient multibody dynamics algorithm that is extremely scalable and better able to fully exploit anticipated immensely parallel computing machines (tera flop, peta flop and beyond) made available to it.     

Quantum Entanglement and Cryptography for Automation and Control of Dynamic Systems

This paper addresses the application of quantum entanglement and cryptography for automation and control of dynamic systems.A dynamic system is a system where t...     

Modal analysis of constrained multibody systems undergoing constant accelerated motions

The modal characteristics of constrained multibody systems undergoing constant accelerated motions are investigated in this paper. Relative coordinates are employed to derive the equations of motion, which are generally nonlinear in terms of the coordinates. The dynamic equilibrium position of a constrained multibody system needs to be obtained from the nonlinear equations of motion, which are then linearized at the dynamic equilibrium position. The mass and the stiffness matrices for the modal analysis can be obtained from the linearized equations of motion. To verify the effectiveness and the accuracy of the proposed method, two numerical examples are solved and the results obtained by using the proposed method are compared with those obtained by analytical and other numerical methods. The proposed method is found to be accurate as well as effective in predicting the modal characteristics of constrained multibody systems undergoing constant accelerated motions.     

A straight methodology to include multibody dynamics in graduate and undergraduate subjects

Multibody dynamics discipline is so mature and has so many applications in the industry, that currently it is essential for mechanical engineering students to learn its basic theoretical foundations. However, universities cannot always integrate the matter as a standalone subject. This article presents an efficient methodology to teach kinematic and dynamic analysis of 3D multibody systems in courses with severe time constraints. A simple theoretical approach (the natural or fully Cartesian coordinates) and a high level programming language (MATLAB) are used. The theory level is shown with two examples: a closed-chain 3D robot and a McPherson car suspension system. Several real exam exercises at the end illustrate the skills acquired by the students in courses of 12 h of theory and 15 h of personal work. This methodology overcomes the limitation of time and the complexity of the issue, and turns out to be one of the simplest approaches to teach multibody systems theory in short graduate or undergraduate courses.