The diploma thesis deals with control of rotary inverted pendulum - Furuta pendulum. Solution for power electronics, sensors and coupling with PC is described, identification of parameters and nonlinear simulation model in Matlab/Simulink and SimMechanics toolbox is presented. Second type Lagrange equation is used for determination of equations of motion. Controll system based on state-space model of mechanism and LQR algorithm for design of state-space controller is used and switching between swing-up cotroller a stabilizing state-space control is achieved according to actual angular position of pendulum's angle. Input integrator eliminating steady state error was used with success.

This master thesis deals with structural design of pendulum for single toggle jaw crusher DC 110x70 and consists of several main parts. The first part focuses on the processing of mineral materials, especially on the process of mechanical uncoupling. The second part compares main characteristics of single toggle and double toggle jaw crushers. The third part deals with the structural nodes for the crusher DC 110x70. Another part is consisted of two variants for the pendulum construction with a comparison of the advantages and disadvantages. For the selected variant is carried out the stress control using Finite element method (FEM) in the program I-DEAS. The last part focuses on the positioning an exit slit for designed pendulum.

<p>U doktorskoj disertaciji razmatra se merenje sile i pomeraja pomoću<br />senzora koji mogu da se integrišu u već postojeće elemente na<br />robotskim i industrijskim sistemima. Sila se meri merenjem<br />deformacije elastičnog elementa. Za merenje pomeraja postignuto je<br />na dva načina: optičkom komponentom i induktivnom strukturom<br />izrađenom štampanjem na fleksibilnoj foliji i njenim odgovarajućim<br />sečenjem. Merenje sile demonstrirano je na primeru klatna sa bazom<br />kod kojeg se meri sila kontakta sa podlogom, a merenje pomeraja je<br />pokazano na primeru merenja vibracija. Sistem za merenje vibracija<br />dopunjen je i sistemom za automatsko podešavanje radne tačke koji se<br />može iskoristiti za automatsku kalibraciju.</p> / <p>In this thesis, measurement of force and displacement has been analyzed<br />using sensors which can be embedded into existing elements of robotic and<br />industrial systems. Force is measured by measuring the deformation of<br />elastic elements. Two mehtods have been applied to displacement<br />measurement: an optical component and an inductive structure fabricated by<br />printing on flexible substrate and its subsequent cutting. Measurement of<br />force has been demonstrated on a pendulum attached to its base, where the<br />contact between the base and its support is measured. Displacement<br />measurement has been shown by measuring vibration. The vibration<br />measurement system is supplemented with an automatic operating point<br />adjustment system which also adds an automatic calibration feature.</p>

Vorgeschichte Mit Vorträgen von Professor Werner Wuttke und Professor Ullrich Reinhold wurde in der Hochschulbibliothek das im Lichtschacht des Glasgebäudes installierte Foucaultsche Pendel übergeben. Dies war schon wegen der Seltenheit der Installation in der Region eine Besonderheit. Die gleichzeitig in Betrieb genommene Webcam ermöglicht nun die Beobachtung weltweit rund um die Uhr: http://www.fh-zwickau.de/index.php?id=701 http://141.32.4.72/view/view.shtml

The forwarder acts as an important role in mechanized Cut-to-Length timber harvesting system. But the majority of forwarder products on the market are not suspended or simply suspended by bogies which limit the riding quality of forwarder and result in soil damage due to large tireground interaction force. The Forestry Research Institute of Sweden is developing an active controlled pendulum arm suspension system actuated by hydraulic cylinders on the forwarder prototype named XT28. The aim of this active suspension system is to compensate the inherent shortcomings of the current suspension solutions. The thesis project focuses on implementing a heterogeneous simulation methodology which integrates the Multi-Body System model of XT28 built in MSC ADAMS/View with active suspension control model developed in MATLAB/Simulink. Thus, the co-simulation process is visualized in ADAMS/View. The results show that the active controlled pendulum arm suspension could improve the riding quality in a large extend and reduce the force between tire and ground at the same time. The cosimulation between ADAMS and Simulink is proved as a feasible and efficient approach to study the active control system for pendulum arm suspension on XT28 forwarder. / Skotaren har tillsammans med skördaren en central roll i den fullt mekaniserade kortvirkesmetoden för skogsavverkning. Majoriteten av dagens skotare på marknaden har sex eller åtta hjul, som är monterade parvis på boggilådor. Det innebär att de saknar chassidämpning, vilket begränsar operatörens komfort och orsakar även stora markskador på mjuk mark. Skogforsk koordinerar realiseringen av en fullskaleprototyp, som går under arbetsnamnet XT28, med sex hjul monterade på varsin pendelarm. Pendelarmarna har varsin hydraulcylinder som möjliggör aktiv helmaskinsdämpning. Detta examensarbete är inriktat på att skapa, demonstrera och verifiera en heterogen simuleringsmetodik, som integrerar och möjliggör samsimulering av en dynamisk mekanikmodell utvecklad i MSC Adams/View med en reglermodell för aktiv styrning av pendelarmarna. Reglermodellen har utvecklats i MATLAB / Simulink. Simuleringsresultaten, som visualiseras i Adams-miljön, visar att den aktiva pendelarmregleringen skulle kunna förbättra åkkomforten signifikant, och också kraftigt markkontaktkrafterna. Det visas att samsimulering mellan ADAMS och Simulink är en effektiv metod för att verifiera prestandan hos aktiva reglersystem för pendelarmsfjädring på prototypskotaren XT28.

Cut-To-Length (CTL) logging is the dominating logging method in many parts of the world. CTL logging requires a forwarder for the logs from the felling area to a landing area. Due to the harsh off-road working conditions, a well performed suspension system is necessary for the forwarder. A down-scaled forwarder prototype of the full-scale XT28 prototype was developed last year but without any control system. In this project, the forwarder was conducted to the Skogforsk standard rough ground test and development and implementation of a control system was chosen as a refinement task. Structure refinement was also achieved for the improvement of the dynamic behavior. Within the project, the down-scaled version of standard test track was realized as well. The control system with fuzzy logic control strategy was implemented to control the pitch and roll angle when passing the bumps on the track. The scaling effect was investigated with the Buckingham Pi Theorem and utilized to understand the relation between the dynamic behavior of the down-scaled prototype and the full-scale forwarder. During the test, the pitch and roll angle history were collected with a maximum angle of 8 degrees when the forwarder was moving with a speed of 0.06m/s. The test with the control system was recorded but due to the vibration it was hard to collect data in this circumstance. From the test, it is clear that the control system was able to work but its ability was limited owing to the slow reaction speed of the linear actuator. With the analysis of the real hydraulic actuator, it was implied that a better performance could be achieved if this control system was implemented on the full-scale forwarder. / Kortvirkesmetoden är den dominerade avverkningsmetoden i Sverige och resten av Europa. Metoden baseras på två maskiner, en skördare och en skotare, där skotaren transporterar det kapade virket till en uppsamlingsplats för vidare transport med lastbil. För att minska helkroppsvibrationer vid arbete i hård och ojämn terrängen, är det önskvärt att skotaren kan förses med ett effektivt och hållbart fjädringssystem. En nedskalad skotare, baserad på fullskaleprototypen XT28, utvecklades vid ett examensarbete förra året. Skalmodellen saknade styrsystem. I detta projekt realiserades också en nedskalad prototyp av den standardiserade provbana för hård och ojämn terräng som tagits fram av Skogforsk. Ett aktivt styrsystem, med syftet att förbättra skalmodellens dynamisk prestanda i ojämn terräng, utvecklades också för skalmodellens pendelarmar. Den valda reglerstrategin för rollvinkeln, baserades på fuzzi-logik. Skalningseffekterna undersöktes med Buckingham Pi, och dessa resultat användes för att förstå förhållandet mellan dynamiskt beteende hos skalprototypen och fullskaleprototypen. Under testet, registrerades pitch- och rollvinklarna, med en maximal vinkel på 8 grader. Vid provet framfördes skotaren med hastigheten 0,06 m/s. På grund av vibrationerna var det svårt att samla in analyserbara data för styrsystemet. Från testet, är det klart att styrsystemet kunde arbeta som tänkt, men dess förmåga var begränsad på grund av skalmodellens långsamma elektriska ställdonen. Analys av de verkliga hydrauliska ställdonen i fullskaleprototypen indikerar att styrsystemet skulle fungera betydligt bättre för den verkliga skotaren.

No description available.

A concept for undergraduate mechanics courses at universities is introduced where traditional pencil-paper based exercises are partially replaced by experimental exercises, in which smartphones are used as measurement devices. A detailed guidance for practical realization and implementation of these tasks formats into the course is presented. Three smartphone-based experimental exercises ‘The tilting smartphone’, ‘The oscillation balance’ and ‘Using the Smartphone in a Torsion Pendulum’ are presented. First empirical results with respect to the learning achievement indicate a mid size effect on the understanding of the physical concepts. Compared to the traditional pencil-paper based exercises, the students performance in the experimental exercises is slightly lower, although the motivation to solve these tasks is higher.

Studded tires are widely used during the winter season in the Nordic countries due to their performance qualities in extreme cold temperatures, however they cause wear on the road surface. This is not only an economic problem but also a health problem due to amount of airborne wear particles that are generated.  Therefore, a test method under controlled laboratory conditions for tire and road wear is needed. In this thesis,studded tire wear on concrete road samples are studied using two test equipments; a Pin on disc and a British pendulum rig test.  Three different types of concrete road materials and two different types of tire stud geometries were used in the study. The road sample wear ranks the same in both test equipment’s following the rebound hardness of the concrete material. For the two studded tires samples differences in the amount of wear could be noticed. One possible explanation here is the wear dependence on the velocity due to the difference in simulated vehicle speed for the two tests equipment’s. / Dubbdäck används i stor utsträckning under vintersäsongen i Norden på grund av deras prestandaegenskaper i kalla temperaturer. Ett problem med dubbdäck är att de orsakar slitage på vägytan. Detta är inte bara ett ekonomiskt problem utan också ett hälsoproblem då en del av slitaget är partiklar som är luftburna och inandningsbara. Därför finns det ett behov av testmetoder för däck och vägslitage i kontrollerad laboratoriemiljö. I denna studie utvärderas dubbdäcksnötning i två testutrustningar; den brittiska vägpendeln och en pinne-på-skiva maskin. Prov utfördes med tre olika vägvarianter av betong och två olika dubbgeometrier. Storleken på nötningen rankades den samma för de olika vägbeläggningarna i de två olika provutrustningarna. Dock så inverkade dubbgeometrin på resultatet och olika nivåer på vägslitage kunde noteras för de två dubbvarianterna i beroende på val av provutrustning. En möjlig förklaring kan vara ett hastighetsberoende av nötningen då de två olika provutrustningarna simulerar olika fordonshastigheter.

The focus of this document is on the design, modeling, and control of a self-balancing two wheel robot, hereafter referred to as the balance bot, driven by independent brushless DC (BLDC) motors. The balance bot frame is composed of stacked layers allowing a lightweight, modular, and rigid mechanical design. The robot is actuated by a pair of brushless DC motors equipped with Hall effect sensors and encoders allowing determination of the angle and angular velocity of each wheel. Absolute orientation measurement is accomplished using a full 9-axis IMU consisting of a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer. The control algorithm is designed to minimize deviations from a set point specified by an external radio remote control, which allows the remote operator to steer and drive the bot wirelessly while it remains balanced. Multiple dynamic models are proposed in this analysis, and the selected model is used to develop a linear-quadratic regulator based state-feedback controller to perform reference tracking. Controller tracking performance is improved by incorporating a prefilter stage between the setpoint command from the remote control and the state-feedback controller. Modeling of the actuator dynamics is considered brie y and is discussed in relation to the control algorithm used to balance the robot. Electrical and software design implementations are also presented with a focus on effective implementation of the proposed control algorithms. Simulated and physical testing results show that the proposed balance bot and controller design are not only feasible but effective as a means of achieving robust performance under dynamic tracking profiles provided by the remote control.