In this paper the construction and structure for the implementation of linear and angular velocity controllers of a selfbalanced differential robot using the NI myRIO embedded system and the LabVIEW software are presented. Each of the two wheels of the robot has a PID speed controller, and a low-resolution encoder, so this makes the speed measurement have abrupt variations, consequently compromising the quality of the action of the controllers in the process. To solve such problem, we used the one-dimensional Kalman filter. In addition to the implementation of the linear and angular velocity controllers and the wheel speed controllers of the robot, the control system must act in self-balancing. At the end, practical results, conclusions and recommendations are presented.Resumo: Neste artigo são apresentadas a construção e uma estrutura para a implementação de controladores de velocidade linear e angular de um robô diferencial auto equilibrado utilizando o sistema embarcado NI myRIO e o software LabVIEW. Cada uma das duas rodas do robô possui um controlador de velocidade PID, e um encoder de baixa resolução, portanto, isto faz que a medição da velocidade tenha variações bruscas, consequentemente, comprometendo a qualidade da ação dos controladores no processo. Para resolver tal problema, utilizou-se o Filtro de Kalman de uma dimensão. Além da implementação dos controladores de velocidade linear, angular e das velocidades das rodas; o sistema de controle deve também atuar nas rodas para manter o equilíbrio. Ao final, são apresentados resultados práticos, conclusões e recomendações.
This work presents the practical implementation of an application using the repetitive controller in a first order plant to eliminate periodic disturbances. Repetitive control is useful if periodic disturbances act in industrial processes, such as energy systems and cyclic vibrations. The implemented control system presents a repetitive controller, using the discrete internal model, that is plugged in parallel to a classic PI controller. Rejection of disturbances is achieved if the time period is exactly known. Simulation and experimental results are provided to prove the effectiveness of repetitive control by compensating for periodic disturbances. Such control is a possible solution for steel processes that suffer from periodic disturbances such as continuous casting. Resumo: Este trabalho apresenta a implementação prática de uma aplicação utilizando o controlador repetitivo em uma planta de primeira ordem, para eliminar distúrbios periódicos. O controle repetitivo é útil se perturbações periódicas atuam em processos industriais, como em sistemas de energia e vibrações cíclicas. O sistema de controle implementado apresenta um controlador repetitivo, usando o modelo interno discreto, que é plugado em paralelo a um controlador clássico PI. A rejeição de perturbações é alcançada se o período de tempo for exatamente conhecido. Simulação e resultados experimentais são fornecidos para comprovar a eficácia do controle repetitivo ao compensar distúrbios periódicos. Tal controle é uma possível solução para processos siderúrgicos que sofre com perturbações periódicas como o lingotamento contínuo.
A multibody dynAmic model for evAluAting the vibrAting modes of geAr trAin systems r. P. monteiro, r. vidoni & f. concli faculty of science and technology, free university of bozen-bolzano, italy AbstrAct nowadays, the use of gearboxes in the mechanical sector has significantly increased due to the various possible applications and new materials available on the market. moving through each application, from robotics to the automotive sector, the use of gearboxes ensures high efficiency with a compact structure. generally, gearboxes are composed by gears, shafts and bearings, and each of these components can be subjected to failures. therefore, in the analysis of each mechanical component it is central to let the system operate properly. in fact, the presence of a damage can lead to a slight variation of system properties (e.g. stiffness). to design even more reliable gearboxes, it results fundamental to monitor the system's health state and the damage progress. to better understand these phenomena, a numerical study is here presented. A back-to-back gear rig (fixed-axis two-stage test rig) is used as reference. it was developed an effective multibody dynamic model that exploits a combination of two different approaches -the lumped Parameter method (lPm) and the finite element method (fem). in this work, the effect of different operative and loading conditions was studied. in particular, the effect of damages on the eigenfrequencies and on the vibrational spectra was investigated based on numerical simulations. the stiffnesses of the gear train components, used in the lPm, were estimated by means of dedicated fem simulations. the results of the lPm were validated with experimental data acquired on a real healthy back-to-back rig. moreover, the effect of a tooth root damage on the vibrational spectra was analysed. the stiffnesses of the system's components affect considerably the eigenfrequencies. As predicted by the fem simulations, in presence of damage, the stiffness of the teeth varies significantly, affecting the vibrational spectra. therefore, this work can be an effective starting point to setup a monitoring strategy of gearboxes.
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