In the last decade student teams at the Faculty of Engineering of the University of Debrecen have designed and constructed several race cars with alternative (electric or pneumatic) drives and took part and achieved successes in domestic and international competitions. For more successful racing a simulation program has been developed in Matlab for the calculation of the vehicle dynamic functions of the cars from their technical data. Currently, it has become a prerequisite of successful racing because of the large number of the possible values of technical data we can select the optimal ones by applying the above program combined with an optimizing procedure. The detailed description of the developed dynamic model and simulation program, together with the vehicle dynamics functions generated by the program are presented here. The description of the optimizing procedure will be presented elsewhere.
In this paper a vehicle dynamics model is presented, which is an example that contains all the necessary aspects of making a decent vehicle model. Several examples show the use of such a model: basic vehicle dynamics phenomena can be recognized with the simulation of a detailed vehicle model. We are dealing with the connection between downforce and under/oversteer in this paper. In addition, the use of numerical simulations in the field of control systems is pointed out by an example of simulating an ABS control for the vehicle.
In the frame structure of stacker cranes harmful mast vibrations may appear due to the inertial forces of acceleration or the braking movement phase. This effect may reduce the stability and positioning accuracy of these machines. Unfortunately, their dynamic properties also vary with the lifted load magnitude and position. The purpose of the paper is to present a controller design method which can handle the effect of a varying lifted load magnitude and position in a dynamic model and at the same time reveals good reference signal tracking and mast vibration reducing properties. A controller design case study is presented step by step from dynamic modeling through to the validation of the resulting controller. In the paper the dynamic modeling possibilities of single-mast stacker cranes are summarized. The handling of varying dynamical behavior is realized via the polytopic LPV modeling approach. Based on this modeling technique, a gain-scheduled controller design method is proposed, which is suitable for achieving the goals set. Finally, controller validation is presented by means of time domain simulations.
A kutatás célja két párhuzamos manipulátor kinematikájának és munkaterének vizsgálata. A kinematikai vizsgálatok vektoralgebrával és a Newton módszerrel készültek el. A munkaterek konstans orientációval kerültek ábrázolásra. A dolgozat eredménye, hogy a két manipulátor kinematikája és munkatere összehasonlítható. A számításokhoz a MATLAB program került felhasználásra.
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