Walking Stability Analysis of Multi-Legged Crablike Robot over Slope

2013 ◽  
Vol 572 ◽  
pp. 636-639
Author(s):  
Xi Chen ◽  
Gang Wang
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Stability Criterion ◽  
Stability Margin ◽  
Static Stability ◽  
Matlab Simulation ◽  
And Performance ◽  
The Stability ◽  
The Mathematical Model ◽  
The Relationship

This paper deals with the walking stability analysis of a multi-legged crablike robot over slope using normalized energy stability margin (NESM) method in order to develop a common stabilization description method and achieve robust locomotion for the robot over rough terrains. The robot is simplified with its static stability being described by NESM. The mathematical model of static stability margin is built so as to carry out the simulation of walking stability over slope for the crablike robot that walks in double tetrapod gait. As a consequence, the relationship between stability margin and the height of the robots centroid, as well as its inclination relative to the ground is calculated by the stability criterion. The success and performance of the stability criterion proposed is verified through MATLAB simulation and real-world experiments using multi-legged crablike robot.

Modeling and Stability Analysis of Hydraulic System for Wave Simulation

2013 ◽  
Vol 291-294 ◽  
pp. 1934-1939
Author(s):  
Jian Jun Peng ◽  
Yan Jun Liu ◽  
Yu Li ◽  
Ji Bin Liu
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Mathematical Models ◽  
Hydraulic System ◽  
Simulation System ◽  
Displacement Sensor ◽  
Schematic Diagram ◽  
Wave Simulation ◽  
The Stability ◽  
The Mathematical Model

This thesis put forward a hydraulic wave simulation system based on valve-controlled cylinder hydraulic system, which simulated wave movement on the land. The mathematical model of valve-controlled symmetric cylinder was deduced and the mathematical models of servo valve, displacement sensor and servo amplifier were established according to the schematic diagram of the hydraulic system designed, on the basis of which the mathematical model of hydraulic wave simulation system was obtained. Then the stability of the system was analyzed. The results indicated that the system was reliable.

scholarly journals Practical Computational Approach for the Stability Analysis of Fuzzy Model-Based Predictive Control of Substrate and Biomass in Activated Sludge Processes

Processes ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 531
Author(s):  
Pedro M. Vallejo LLamas ◽  
Pastora Vega
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Activated Sludge ◽  
Predictive Control ◽  
Closed Loop ◽  
Complex Dynamics ◽  
Linear Time ◽  
Fuzzy Model ◽  
The Stability ◽  
The Mathematical Model

This paper presents a procedure for the closed-loop stability analysis of a certain variant of the strategy called Fuzzy Model-Based Predictive Control (FMBPC), with a model of the Takagi-Sugeno type, applied to the wastewater treatment process known as the Activated Sludge Process (ASP), with the aim of simultaneously controlling the substrate concentration in the effluent (one of the main variables that should be limited according to environmental legislations) and the biomass concentration in the reactor. This case study was chosen both for its environmental relevance and for special process characteristics that are of great interest in the field of nonlinear control, such as strong nonlinearity, multivariable nature, and its complex dynamics, a consequence of its biological nature. The stability analysis, both of fuzzy systems (FS) and the very diverse existing strategies of nonlinear predictive control (NLMPC), is in general a mathematically laborious task and difficult to generalize, especially for processes with complex dynamics. To try to minimize these difficulties, in this article, the focus was placed on the mathematical simplification of the problem, both with regard to the mathematical model of the process and the stability analysis procedures. Regarding the mathematical model, a state-space model of discrete linear time-varying (DLTV), equivalent to the starting fuzzy model (previously identified), was chosen as the base model. Furthermore, in a later step, the DLTV model was approximated to a local model of type discrete linear time-invariant (DLTI). As regards the stability analysis itself, a computational method was developed that greatly simplified this difficult task (in a local environment of an operating point), compared to other existing methods in the literature. The use of the proposed method provides useful conclusions for the closed-loop stability analysis of the considered FMBPC strategy, applied to an ASP process; at the same time, the possibility that the method may be useful in a more general way, for similar fuzzy and predictive strategies, and for other complex processes, was observed.

scholarly journals Θ-SEIHRD mathematical model of Covid19-stability analysis using fast-slow decomposition

PeerJ ◽  
2020 ◽  
Vol 8 ◽  
pp. e10019
Author(s):  
OPhir Nave ◽  
Israel Hartuv ◽  
Uziel Shemesh
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Nonlinear Differential Equations ◽  
Equilibrium Points ◽  
Asymptotic Methods ◽  
Fast Subsystem ◽  
The Stability ◽  
System Variables ◽  
The Mathematical Model ◽  
Slow Decomposition

In general, a mathematical model that contains many linear/nonlinear differential equations, describing a phenomenon, does not have an explicit hierarchy of system variables. That is, the identification of the fast variables and the slow variables of the system is not explicitly clear. The decomposition of a system into fast and slow subsystems is usually based on intuitive ideas and knowledge of the mathematical model being investigated. In this study, we apply the singular perturbed vector field (SPVF) method to the COVID-19 mathematical model of to expose the hierarchy of the model. This decomposition enables us to rewrite the model in new coordinates in the form of fast and slow subsystems and, hence, to investigate only the fast subsystem with different asymptotic methods. In addition, this decomposition enables us to investigate the stability analysis of the model, which is important in case of COVID-19. We found the stable equilibrium points of the mathematical model and compared the results of the model with those reported by the Chinese authorities and found a fit of approximately 96 percent.

Stability Analysis of a Load-Sensing Hydraulic System

1988 ◽  
Vol 202 (2) ◽  
pp. 79-88 ◽  
Author(s):  
S D Kim ◽  
H S Cho ◽  
C O Lee
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Stability Criterion ◽  
Hydraulic System ◽  
Operating Conditions ◽  
Conventional System ◽  
System Parameters ◽  
Hurwitz Stability ◽  
Load Sensing ◽  
The Stability

The load-sensing hydraulic system is an energy saving hydraulic system which improves the efficiency of transmitting power from the pump to the load. However, its stability characteristics deteriorate critically due to the addition of the load-sensing mechanism, compared with those of the conventional system. In this paper, a non-linear mathematical model of the load-sensing hydraulic system is formulated, taking into consideration the dynamics of the load-sensing pump. Based upon linearization of this model for various operating conditions, the stability analysis has been made using the Routh-Hurwitz stability criterion. The results of the theoretical stability analysis were assured through experiments. Both results show that stability is critical to the choice of system parameters such as the setting pressure of the pump compensator and the load inertia.

scholarly journals Modeling and Stability Analysis of Wedge Clutch System

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Jian Yao ◽  
Li Chen ◽  
Chengliang Yin
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Piecewise Linear ◽  
Wedge Angle ◽  
Stable Condition ◽  
System A ◽  
Actuation System ◽  
Linearized System ◽  
The Stability ◽  
The Mathematical Model

A wedge clutch with unique features of self-reinforcement and small actuation force was designed. Its self-reinforcement feature, associated with different factors such as the wedge angle and friction coefficient, brings different dynamics and unstable problem with improper parameters. To analyze this system, a complete mathematical model of the actuation system is built, which includes the DC motor, the wedge mechanism, and the actuated clutch pack. By considering several nonlinear factors, such as the slip-stick friction and the contact or not of the clutch plates, the system is piecewise linear. Through the stability analysis of the linearized system in clutch slipping phase, the stable condition of the designed parameters is obtained asα>arctan⁡(μc). The mathematical model of the actuation system is validated by prototype testing. And with the validated model, the system dynamics in both stable and unstable conditions is investigated and discussed in engineering side.

scholarly journals Stability Analysis of the Corruption Free Equilibrium of the Mathematical Model of Corruption in Nigeria

2020 ◽  
Vol 8 (2) ◽  
pp. 61-68
Author(s):  
Victor Akinsola ◽  
ADEYEMI BINUYO
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Equilibrium State ◽  
Equilibrium Points ◽  
Basic Reproductive Number ◽  
Reproductive Number ◽  
Operator Technique ◽  
Eigen Values ◽  
The Stability ◽  
The Mathematical Model

In this paper, a mathematical model of the transmission dynamics of corruption among populace is analyzed. The corruption free equilibrium state, characteristic equation and Eigen values of the corruption model were obtained. The basic reproductive number of the corruption model was also determined using the next generation operator technique at the corruption free equilibrium points. The condition for the stability of the corruption free equilibrium state was determined. The local stability analysis of the mathematical model of corruption was done and the results were presented and discussed accordingly. Recommendations were made from the results on measures to reduce the rate of corrupt practices among the populace.   

scholarly journals Effect of Twin Vertical Stabilizers on Lateral Directional Static Stability of an Aircraft – A Computational Study

2022 ◽  
pp. 89-95
Author(s):  
K Ajay Kumar Goud ◽  
Y D Dwivedi
Keyword(s):  
Stability Analysis ◽  
Dynamic Model ◽  
Computational Study ◽  
Static Stability ◽  
Lateral Stability ◽  
Control Parameters ◽  
Stability And Control ◽  
The Stability ◽  
And Control ◽  
The Relationship

The advantages of twin vertical Stabilizers over a single vertical Stabilizer of an aero plane are the rationale for this study. For conventional aero planes, the use of double vertical Stabilizers is being considered. The contribution to lateral stability has been examined for this application. XFLR5 software was used to conduct the overall analysis. The analysis was conducted for a single vertical Stabilizer as well as twin vertical Stabilizers, and the findings were compiled and correlated. It is critical to be able to fully explain and evaluate the stability and control parameters. It is crucial to understand the relationship between the aerodynamics of the airframe and its stability characteristics in order to increase flight endurance and deployment effectiveness. The stability analysis based on the dynamic model of the twin boom vertical Stabilizer is presented in this paper. The lateral-directional stability of an aero plane with a single vertical tail is determined to be 20% more efficient than that with twin boom vertical Stabilizers. The trim condition is moderately satisfied by an aircraft with twin vertical Stabilizers.

Temperature Influence on Performance of Oxidation Ponds

1991 ◽  
Vol 24 (5) ◽  
pp. 85-96 ◽  
Author(s):  
Qingliang Zhao ◽  
Zijie Zhang
Keyword(s):  
Mathematical Model ◽  
Temperature Influence ◽  
Field Scale ◽  
Experiment Data ◽  
Computer Technique ◽  
Oxidation Pond ◽  
Optimum Model ◽  
Oxidation Ponds ◽  
The Mathematical Model ◽  
The Relationship

By means of simulated tests of a laboratory–scale oxidation pond model, the relationship between BOD5 and temperature fluctuation was researched. Mathematical modelling for the pond's performance and K1determination were systematically described. The calculation of T–K1–CeCe/Ci) was complex but the problem was solved by utilizing computer technique in the paper, and the mathematical model which could best simulate experiment data was developed. On the basis of experiment results,the concept of plug–ratio–coefficient is also presented. Finally the optimum model recommended here was verified with the field–scale pond data.

Pulse-Width Modulated Amplifier for DC Servo System and Its Matlab Simulation

2015 ◽  
Vol 9 (1) ◽  
pp. 625-631
Author(s):  
Ma Xiaocheng ◽  
Zhang Haotian ◽  
Cheng Yiqing ◽  
Zhu Lina ◽  
Wu Dan
Keyword(s):  
Mathematical Model ◽  
Transfer Function ◽  
Input Signal ◽  
Pulse Width ◽  
Rotation Speed ◽  
Servo Motor ◽  
Matlab Simulation ◽  
Pulse Width Modulated ◽  
Signal Changes ◽  
The Relationship

This paper introduces a mathematical model for Pulse-Width Modulated Amplifier for DC Servo Motor. The relationship between pulse-width modulated (PWM) signal and reference rotation speed is specified, and a general model of motor represented by transfer function is also put forward. When the input signal changes, the rotation speed of the servo motor will change accordingly. By changing zeros and poles, transient performance of this system is discussed in detail, and optimal ranges of the parameters is recommended at the end of discussion.

Instability of Heated Panels in Supersonic Air Flow

2008 ◽  
Vol 33-37 ◽  
pp. 1101-1108
Author(s):  
Zhi Chun Yang ◽  
Wei Xia
Keyword(s):  
Stability Analysis ◽  
Stability Boundary ◽  
Boundary Curve ◽  
Static Stability ◽  
Static Deformation ◽  
Limit Cycle Oscillation ◽  
Aerodynamic Load ◽  
Aeroelastic System ◽  
Aerodynamic Pressure ◽  
The Stability

An investigation on the stability of heated panels in supersonic airflow is performed. The nonlinear aeroelastic model for a two-dimensional panel is established using Galerkin method and the thermal effect on the panel stiffness is also considered. The quasi-steady piston theory is employed to calculate the aerodynamic load on the panel. The static and dynamic stabilities for flat panels are studied using Lyapunov indirect method and the stability boundary curve is obtained. The static deformation of a post-buckled panel is then calculated and the local stability of the post-buckling equilibrium is analyzed. The limit cycle oscillation of the post-buckled panel is simulated in time domain. The results show that a two-mode model is suitable for panel static stability analysis and static deformation calculation; but more than four modes are required for dynamic stability analysis. The effects of temperature elevation and dimensionless parameters related to panel length/thickness ratio, material density and Mach number on the stability of heated panel are studied. It is found that panel flutter may occur at relatively low aerodynamic pressure when several stable equilibria exist for the aeroelastic system of heated panel.

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