Mechatronic Systems, Simulation, Modeling and Control Part 3 potx

... equations in (26) into (25) and after operating and simplifying we have: ( ) ( ) 0 0 1 1 1 1 1 2 1 3 1 0 ( ) ( ) 0 2 2 2 22 3 2 1 2 0 0 ( ) ( ) 2 3 3 3 1 3 3 3 3 m m m P s s x y z x m m m P ... equations in (26) into (25) and after operating and simplifying we have: ( ) ( ) 0 0 1 1 1 1 1 2 1 3 1 0 ( ) ( ) 0 2 2 2 22 3 2 1 2 0 0 ( ) ( ) 2 3 3 3 1 3 3 3 3 m m...

Ngày tải lên: 21/06/2014, 07:20

... input impedance, output impedance, input 1 I Mechatronic Systems, Simulation, Modelling and Control Mechatronic Systems, Simulation, Modelling and Control8 From (27), the resonant frequencies ...                                                                                           ...

Ngày tải lên: 21/06/2014, 07:20

...  2 2 2 3 3 3 3 3 3 3 3 m a I m a m m g a c a P c P s h H s P c c a b a b x y z                                (51) Fig. 7. Basic architecture of the control system ...  2 2 2 3 3 3 3 3 3 3 3 m a I m a m m g a c a P c P s h H s P c c a b a b x y z                                (51) Fig. 7. Basic architecture o...

Ngày tải lên: 21/06/2014, 07:20

... x p3 x p4 + p 10 p 4 cos x p3 ( ¨ e 1 − r 1 (x) )  p 5 cos x p3 + p 6 sin x p3 + p 7 x p4  +  p 10 p 4 cos x p3 x p4 − p 10 p 4 ( p 3 − p 9 ) tan x p3  e (3) 1 + p 10 p 4 tan x p3 { ( p 3 − ... x p1   x p2 +  p 3 p 10 p 4 cos x p3 x p4 + p 10 p 4 tan x p3  p 3 p 9 − p 1 sin x p1 + p 2 cos x p1   ( x M3 − r 1 (x) ) +  p 3 ( x M3 − r 1 (x) ) + (2x p4 tan x p3 − p 3 + p...

Ngày tải lên: 21/06/2014, 07:20

... & Romano 2007b). Mechatronic Systems, Simulation, Modelling and Control1 86 Mechatronic Systems, Simulation, Modelling and Control1 82 where   1 , K diag k k    and assume that   1 0 K B   ... which makes controller’s tuning simpler. The dynamic part of the control law from (26) has the following form:               3 2 1 3 2 ,2 ,1 ,0 3 2...

Ngày tải lên: 21/06/2014, 07:20

... using Eq. (54) and the state feedback control law            1 , B B T EF x v b (55) into a linear system                3 3 3 3 3 3 3 3 3 3 3 3 x x x x x x 0 ... test was .32 7 m/s which correspond to a total impulse of 8.55 Ns. Mechatronic Systems, Simulation, Modelling and Control2 06 t 10 -2 s   g 3. 76 x 10 -3 rad-s -3/ 2  ...

Ngày tải lên: 21/06/2014, 07:20

... 2008 IEEE International Conference on Systems, Man, and Cybernetics, pp. 36 06 -36 11, Suntec, Singapore Mechatronic Systems, Simulation, Modelling and Control2 44 Ε S t ( ) [ ] = v ⋅ exp λ s ( ... rate, and the cumulative MTBF as software reliability assessment measures, and the predicted relative error. Mechatronic Systems, Simulation, Modelling and Control2 36 outp...

Ngày tải lên: 21/06/2014, 07:20

... Mechatronic Systems, Simulation, Modelling and Control2 86 Fig. 2. General approach for modelling and testing active flexible micromechanisms 2.2 Design optimization Modeling, ... the system must be controlled using proper actuators and sensors positions ( Control authorithy’): actuator and sensor positions are sought for influencing (controllability) and sensing (observab...

Ngày tải lên: 21/06/2014, 07:20

... 2 1 3 1 12 2 2 32 1 3 23 3 3 s s s s s s                When 0 1 2i i     or    1,2,3i or when  0 3i or    1,2,3i (30 ) a) b) Mechatronic Systems, Simulation, Modelling and Control1 30 On ... equations in (26) into (25) and after operating and simplifying we have: ( ) ( ) 0 0 1 1 1 1 1 2 1 3 1 0 ( ) ( ) 0 2 2 2 22 3 2 1 2...

Ngày tải lên: 21/06/2014, 11:20

... max1 max1 1 f f N f kf N k kfM s s  (33 ) Also, we have: . 1 1| max1 1 max11 f kkfM ff   (34 ) Considering Equations (33 ) and (34 ), the following equation is resulted: max1 NM f f s  (35 ) The value ... Vibration, US Patent No.5241 236 . Mechatronic Systems, Simulation, Modelling and Control2 2     cos , sin S md F d d l i d d               ...

Ngày tải lên: 21/06/2014, 11:20