This paper introduces a new scheme for sliding mode control using symmetry principles for a rotating inverted pendulum, with the possibility of extension of this control scheme to other dynamic systems. This was proven for swing up and stabilisation control problems via the new sliding mode control scheme using both simulations and experiments of rotary inverted pendulum (RIP) underactuated systems. According to the Lyapunov theory, a section of the pendulum was compensated with a scale error in the upright position, as the desired trajectory was followed by the pendulum arm section. As the RIP’s dynamic equations were nonlinearly complex and coupled, the complex internal dynamics made the task of controller design difficult. The system control for the pathway of the reference model of the rotational actuator with the application of the sliding mode technique for moving back and forth up the inverted pendulum’s structure, till the arm to reach the linear range round the vertical upright position, was created and tested in an existent device. The stabilisation scheme was switched on in the sliding mode as soon as the arm reached the linear range. A comparison of the stabilisation performance for the same rotating inverted pendulum as discussed by other authors revealed that the proposed controller was more flexible and reliable in terms of the swing up and stabilisation time.
This paper deals with modeling and simulation of Hydraulic crane for load lifting in order to determine its dynamics, methods for lifting control and minimization of oscillations. The proposed procedure is modelling of crane with method of schematic design with inerconnected elements that represents crane parts, and its 3-d visualization. Simulations will be planned and applied for lifting motion of Crane's Boom with hangind load. Dynamic analysis will be carried through simulations and solution of Euler differential equations of second order. Diagrams with results of main dynamic and kinematic parameters will be presented for main parts of crane as the solution results of the analyzed system. Based on these results conclusions will be presented. The aim is to find optimal lifting control process and dynamic behavior of crane which is important for motion planning, failure analysis and safety during work. Analysis will be done using modeling and simulations with computer application MapleSim.
The paper deals with the optimal design and analysis of quarter car vehicle suspension system. For optimal designs are used the optimal parameters which have been derived by comparison of two optimisation algorithms: Sequential Quadratic Program (SQP) and Genetic Algorithms (GA's), for a five chosen design parameters. The goal function is chosen to provide the possibility to emphasize three main objectives of vehicle suspensions; ride comfort, suspension travel and road holding. Fuzzy Logic Control (FLC) is considered to control active suspension for the optimal parameters derived by GA's, and the rule base can be tuned to improve each of the above objectives, while the main focus is to minimise the vertical vehicle body acceleration. It also deals with parametric analysis, state space modelling, Laplace Transform, Transfer Function, Stability, Controllability, Observability and many other important attributes to analyse quarter car vehicle model.
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