Mechatronic Systems, Simulation, Modeling and Control 2012 Part 3 pdf

... 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

... 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 1 3 2 2 0 3 3 3 3 d d d k  ... differential equations: 3 (3) 2 (2) 2 (1) 0 3 3                     (34 ) 3 (3) 2 (2) 2 (1) 0 3 3                     (35...

Ngày tải lên: 21/06/2014, 11:20

... 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 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 { (...

Ngày tải lên: 21/06/2014, 11:20

... 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 ... 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...

Ngày tải lên: 21/06/2014, 11:20

... platform, and individually creation of a simulation program and an RT control program is needed, this paper proposes the Mechatronic Systems, Simulation, Modelling and Control2 30 Fig. 8. Server and ... dependent parts and independent parts. And, this paper proposes that separates platform dependent parts of the RT control framework. 2 .3. 1 Separation of platform depen...

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... d and the stress-free electric Mechatronic Systems, Simulation, Modelling and Control2 90 permittivity matrix ε are each represented by a single coefficient, d 31 and ε 33 respectively, and ... constitutive relations for the strain S 11 and electric displacement D 3 , as functions stress T 11 and electric field E 3 , take the form: 11 11 31 11 3 31 33 3 S...

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... Mechatronic Systems, Simulation, Modelling and Control2 98 Mechatronic Systems, Simulation, Modelling and Control2 94 3. 6 Example of an optimal synthesis of ... on Robotics and Automation, pp. 32 13- 3218, Taipei, Taiwan, September 20 03 Lim K. B., Gawronski W. (19 93) , Actuators and sensor placement for control of exible structures, Control and Dynamics ... on Robotics a...

Ngày tải lên: 21/06/2014, 11:20

... 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

... 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