Systems, Structure and Control 2012 Part 2 pptx

... Object K C C C Mechatronic Systems, Simulation,Modelling and Control2 6                  2 2 2 6 7 6 5 6 5 6 7 2 2 2 2 2 2 2 2 6 7 6 5 6 5 6 7 6 7 6 5 6 5 6 7 2 2 4 . 6 7 6 5 6 5 6 ... l                 l I (14) I 2 is the 2 2 identity matrix. Hence:   1 2 cos . sin cos 2 sin 2 2 2 2 cos . sin sin 2 cos 2 2 2 2 co 2 2...

Ngày tải lên: 21/06/2014, 11:20

...      2 2 2 2 2 2 2 2 2 2 2 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                                              2 2 2 3 3 3 3 ... r 2 ( x )  S ( x ) = − 1 d 2 (x)p 4 cos x p3  −d 2 (x) 0 d 1 (x) p 4 cos x p3  0 0 d 3 (x) 1  where ¯ e 1 = −σ 12 ˙ e 1 − σ 11 e 1 ¯ e 2 = −σ 24 e (3) 2 − σ 23 ¨...

Ngày tải lên: 21/06/2014, 11:20

... (Cesarotti et al., 20 07), (Cesarotti et al., 20 09), (Di Silvio et al., 20 07), (Andreassi et al., 20 09). In this chapter the whole methodology and the importance of links and interconnections ... & Boie, 20 03), (Cesarotti et al., 20 09) Energy consumption control Design and implementing monitoring system Forecasting and control consumption of specific users...

Ngày tải lên: 19/06/2014, 14:20

...                                     1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 1 2 3 1 2 3 2 K m p p p m a I m a m p p p p x y z a b b x y z (47) The Potential energy ...                                     1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 1 2 3 1 2 3 2 K m p p p m a I m a m p p p p x y z a b...

Ngày tải lên: 21/06/2014, 11:20

... channels, 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 ... (20 ). From equations of helicopter motion (3)(17) it follows that:       1 1 1 1 3 1 1 1 1 2 cos i G K k K f u I R I          (30)     2 2 2 3...

Ngày tải lên: 21/06/2014, 11:20

...                                   1 2 1 1 2 2 1 1 2 2 1 1 1 1 2 1 2 2 1 2 1 2 2 2 1 1 2 2 1 1 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , ...                                   1 2 1 1 2 2 1 1 2 2 1 1 1 1 2 1 2 2 1 2 1 2 2 2 1 1 2 2 1 1 , , , , , , , , , , , , , , , , , ,...

Ngày tải lên: 21/06/2014, 11:20

... position; c) Thruster 2 firing profile; d) Thruster 2 position 1 1 .2 1.4 1.6 1.8 2 2 .2 2.4 2. 6 2. 8 3 1 1 .2 1.4 1.6 1.8 2 2 .2 2.4 2. 6 2. 8 3 X c (m) Y c (m) Actual Commanded t = 46 s t = ... position; c) Thruster 2 firing profile; d) Thruster 2 position 1 1 .2 1.4 1.6 1.8 2 2 .2 2.4 2. 6 2. 8 3 1 1 .2 1.4 1.6 1.8 2 2 .2 2.4 2. 6 2. 8 3 X c (m...

Ngày tải lên: 21/06/2014, 11:20

... H 2 and H ∞ commonly appear in research works (Abreu 20 03), (Halim 20 02a), (Halim 20 02b). The performances of such high authority controllers have to take into account model uncertainties and ... H 2 and H ∞ commonly appear in research works (Abreu 20 03), (Halim 20 02a), (Halim 20 02b). The performances of such high authority controllers have to take into account mod...

Ngày tải lên: 21/06/2014, 11:20

... 439-446, 20 07 Barboni R., and al. (20 00), Optimal placement of PZT actuators for the control of beam dynamics, Smart Material and Structures, pp. 110- 120 , 20 00 Bernardoni P., and al. (20 04a), ... on Robotics and Automation, pp. 321 3- 321 8, Taipei, Taiwan, September 20 03 Lim K. B., Gawronski W. (1993), Actuators and sensor placement for control of exible structur...

Ngày tải lên: 21/06/2014, 11:20

... m WWjrjjW mmm l ⎛⎞ ⎜⎟ ′′ =+−−+ ⎜⎟ ⎝⎠ θ ϕ θϕ ϕ (9A) () () 2 2 22 2 2 2 2 cos 31cos3 cos CC R P R r IImhrI mWmrj W l ⎛⎞ ⎡ ⎤ ′ =+ + + + − + ⎜⎟ ⎢ ⎥ ⎣ ⎦ ⎝⎠ θ θθ ϕ (10A) () () 2 2 2 cos cos 2tantan cos cos 23 22 1sincos2 32 R PR R rr II ll mW ... ⎢⎥ − ⎢⎥⎢⎥ ⎢⎥ ⎢⎥ ⎢⎥ ⎢⎥⎢⎥ ⎢⎥ ⎣⎦ ⎣⎦ ⎣⎦ ⎣⎦⎣⎦ − − + − −         32 32 2 1 22 11 32 32 2 2 12 6 00 12 6 00 64 00...

Ngày tải lên: 19/06/2014, 15:20