The diploma thesis deals with putting the pendulum into upright position and its stabilization on a real system. The opening chapter describes the limiting various implementation inverse pendulums, the use of major laboratory tasks in industry, and the selection of appropriate methods for stabilization. The real system was properly identified and parameterized. The mathematical model of the inverse pendulum was derived using the Lagrange method of the second type, the nonlinear system was converted into a status description and linearized for the needs of the state controller design. The system was simulated in the Matlab Simulink environment. The LQR controller was chosen as the regulator stabilizing in upright cases. A Kalman controller in discrete form was prepared for the filter signal and estimation of residual states. The energy method was chosen for the upright pendulums. The proposed methods were tested and implemented in simulation and on a real system.

This thesis deals with the design of a lecture model of an inverse pendulum controled by a flywheel, which is a system of an unstable beam with an electromotor and a reaction wheel at its end. The moment of motor acting on the flywheel also causes a moment acting on the beam, which is the way the system is controled. The device works connected to a personal computer.

A PID controller and a Fuzzy Logic controller were designed to balance an inverted pendulum system. Both controllers were implemented in a Digital Signal Processor (DSP). Measurements of the angular position of the pendulum (feedback signal) were taken from a precision potentiometer and transformed into digital by an Analog Interface Board (AlB) to be processed by the DSP. The DSP generated the digital control signal that was converted into analog by the AlB and then filtered and amplified to drive a DC motor. The DC motor provided the control force for the mobil base where the inverted pendulum was mounted. The PID controller was designed to move an unstable pole of the system from the tight side of the s-plane into the left side of the s-plane to provide stability and fast response. The Fuzzy Logic controller was designed using thirteen control rules that were generated using human intuition. It was found that the Fuzzy Logic controller required a considerably larger amount of memory than the PID controller. In general, the Fuzzy Logic controller performed better than the PID controller. It was concluded that nonlinearities present in some components of the system caused the PID controller not to perform as well. It was also found that the Fuzzy Logic controller was less sensitive to these nonlinearities, resulting in a better control of the inverted pendulum.

This diploma thesis deals with construction design of a pendulum for the jaw crusher DCJ 700x300. The first part of the thesis is dedicated to treatment of mineral materials with focus on minimizing minerals. The second part deals with devices used for crushing minerals, jaw crushers and their variants in particular. The third part is devoted to specific design of the jaw crusher based on assigned input. The next part deals with construction design of the pendulum and technology of its production exploring weldments and casts. The aim of this thesis is to perform a strength analysis of the chosen version of pendulum production using the FEM method. The diploma thesis includes drawing documentation of the jaw crusher and the pendulum.

Le développement de nouvelles motorisations plus économes en carburant, entraine une augmentation du niveau de vibration. Afin de répondre à cela, Valeo développe un nouveau système : le pendule centrifuge. C’est dans cette phase de développement que s’inscrit ce travail de thèse. L’objectif est de réaliser un outil de pré-dimensionnement permettant de modéliser l’endommagement des guidages d’un pendule centrifuge. Une première étude expérimentale présente la faisabilité du suivi du système mécanique par l’utilisation de l’imagerie dynamique. Des essais de caractérisation matériaux des différents constituants du système viennent ensuite compléter l’étude. Ce travail expérimental réalisé à l’aide d’un tribomètre bi-disque permet d’obtenir les lois de frottements en fonction du taux de glissement ainsi que leur sensibilité à l’état de surface, au traitement thermique et au chargement. Un modèle théorique de détermination des valeurs du glissement est ensuite proposé, permettant de prendre en compte les différentes géométries de pendules. Enfin, les perspectives d’industrialisation sont envisagées en proposant une étude paramétrique sur le système réel en vue de son dimensionnement ainsi qu’une étude d’endurance pour modéliser l’usure du système. / The development of more fuel efficient engines results in an increase in the vibration levels. To solve this, Valeo is developing a new system: the centrifugal pendulum. This PhD research thesis registered as a contribution to the system development phase. The objective is to realize a predimensioning tool in order to model the wear of a centrifugal pendulum. A first experimental study shows the feasibility of monitoring the mechanical system through the use of dynamic imaging. Materials characterization tests of the various system components complete the study. The experimental work carried out using a twin-disc tribometer provides the friction laws versus sliding rate and their sensitivity to surface condition, processing and loading. A theoretical model for determining sliding values is then proposed to take into account the different pendulum geometries. Finally, the perpectives of industrialization are considered with a parametric study on the real system for a sizing purpose and an endurance study to model the wear of the system.

京都大学 / 0048 / 新制・課程博士 / 博士(人間・環境学) / 甲第18353号 / 人博第666号 / 新制||人||160(附属図書館) / 25||人博||666(吉田南総合図書館) / 31211 / 京都大学大学院人間・環境学研究科共生人間学専攻 / (主査)准教授 神﨑 素樹, 教授 森谷 敏夫, 准教授 久代 恵介, 教授 小田 伸午 / 学位規則第4条第1項該当 / Doctor of Human and Environmental Studies / Kyoto University / DFAM

Almost all logging in Sweden is carried out by the Cut-To-Length method. The method is carried out by two machines, a harvester and a forwarder. The forwarder transports the cut logs from the forest to a landing area for further transportation. Due to the uneven ground, the operators are subjected to high amplitude vibrations and the vehicle damages the ground soil when the pressure is unevenly distributed between the vehicles wheels. In an endeavor to decrease soil damage and increase the comfort for the operator, Skogforsk in collaboration with eXtractor is developing a pendulum arm suspended forwarder, named XT28. The benefit with such a forwarder is that each pendulum arm and wheel can be controlled individually. In this project a scale model (1:5) of the XT28 was developed and realized in order to enable implementation and development of a control system for its active pendulum arm suspension. A scaled model is much easier to handle and manage when tests is going to be performed. Additionally it is much more cost efficient than working with a full-scaled model. The focus point for this project will be the pendulum arm suspension and as a final test the function of this type of suspension will be tested and examined. Apart from a few design changes the downscaled model is a good representation of the XT28 and can be used in the development of a control system. After testing, it can be said that the downscaled prototype represents the full-scaled forwarder well when it comes to test the function of the pendulum arms. / Skogsavverkningen i Sverige utförs nästan uteslutande genom cut-to-length-metoden. Metoden utförs av två maskiner, en skördare och en skotare. Skotaren transporterar fällda träd från skogen till en lastplats för vidare transport. På grund av det ojämna underlaget utsätts operatören för vibrationer med hög amplitud och fordonet skadar underlaget när marktrycket är ojämnt fördelat mellan hjulen. I ett försök att minska markskador och öka komforten för operatören utvecklar Skogforsk i sammarbete med eXtractor en skotare med pendelarmsdämpning, där hjulen kan styras individuellt. Skotaren heter XT28. I detta projekt utvecklades och framställdes en skalmodell (1:5) av XT28 med syftet att möjliggöra förverkligandet och utvecklandet av ett kontrollsystem till den aktiva dämpningen i pendelarmarna. En skalmodell är mycket enklare att hantera när tester skall utföras. Dessutom är det mer kostnadseffektivt jämfört med att arbeta med fullskalemodellen. Detta projekts fokus kommer att ligga på pendelarmarna och som ett slutgiltigt test kommer funktionen av denna dämpning att testas och undersökas. Med undantag av några konstruktionsändringar representerar den nedskalade modellen skotaren XT28 väl och kan användas i utvecklandet av ett kontrollsystem. Efter utförda tester kan det konstateras att den nedskalade prototypen representerar den fullskaliga skotaren väl när det kommer till att testa funktionen av pendelarmsdämpningen.

Spinal cord injury and stroke affect many people each year and can result in the loss of muscle function. Current research attempts to correct muscle paralysis through the use of mechanical braces or through open-loop stimulation methods. However, prosthetic systems that use closed-loop control strategies can offer improved functionality by accounting for the changing dynamics associated with the human body and external disturbances. In particular, closed-loop functional electrical stimulation (FES) offers the possibility of moving paralyzed muscles in a predetermined manner, allowing a paraplegic individual to regain the ability to perform some tasks. An experimental setup was designed for the development and testing of a closed-loop FES control system, as well as the characterization of muscle properties. Due to the complexities associated with using a human subject, an inverted pendulum model is utilized for this preliminary study. This model is a basic engineering control problem often used when studying postural control in humans. In particular, electrical stimuli will be applied to the gastrocnemius muscle of a frog in order to produce a contraction force that will drive an inverted pendulum and maintain its desired angle. The stimulation signal will be determined by control algorithms applied through the use of Matlab® and implemented in real-time with a data acquisition system. This setup will help provide an understanding of the muscle behavior and can be used to establish the validity of proposed controller methods.

Control theory can be used to make an unstable system stable. This thesis seeks to do this, where the system is a two DOF inverted pendulum with reaction wheels for stabilisation. The thesis also seeks to answer what is most important for making it stabilize for a longer period of time. It was decided that a state space controller was to be used with various sensors measuring the states. To be able to design a functioning demonstrator, a mathematical model of the system dynamics was developed. In the end the demonstrator proved to function as desired, being able to balance indefinitely. It was found that it is absolutely necessary to either give the controller a perfect set point or to implement an automatic set point. / Reglerteknik kan användas för att göra ostabila system stabila. Målet med detta projekt var att göra detta med ett system i form av en inverterad pendel med två frihetsgrader som balanseras med hjälp av två svänghjul. Projektet söker att besvara frågan om vad som är de viktigaste faktorerna för att få systemet att vara stabilt över en längre tid. En tillståndsåterkoppling användes som regulator vilket innebar att flera olika sensorer behövdes för att mäta de olika tillstånden. För att kunna konstruera en fungerande prototyp utvecklades en matematisk modell av systemet vilken användes för simulering av systemet. Till slut konstruerades en fungerade prototyp som till synes kunde balansera över oöverskådlig tid. En av de faktorer som visade sig påverka huruvida systemet uppnår stabilitet över längre tid var hur bra referenspunkt som gavs till regulatorn, det vill säga det tillstånd som regulatorn reglerar systemet mot. Det visade sig vara möjligt att implementera en självjusterande referenspunkt som gjorde systemet stabilt över tid.

Konstgräs används i stor utsträckning och dess miljöpåverkan är omdebatterad. Oro finns över spridning av mikroplaster och dess miljöpåverkan. Flera studier på spridning av större mikroplast finns, medan spridning av luftburna partiklar är mindre väl utforskat. Studier på detta är till sin natur svåra då tester i fält försvåras av förekomsten av mätbrus i form av partiklar från trafik etc. Detta arbete syftar till att i kontrollerad miljö, genom att använda en Brittisk pendelrigg, undersöka bildandet av luftburna partiklar vid yttre påverkan på konstgräs. Skillnaden mellan olika konstgrässystem studeras, i detta fall olika typer av granulat, s.k. infill. Tester körs med de tre vanligaste granulattyperna, SBR, TPE samt EPDM. I dessa tester kan skillnad påvisas mellan EPDM gentemot de andra två typerna, där EPDM ger upphov till fler luftburna partiklar. / Artificial turf is today widely used, and its environmental impact is much-debated. There are some concerns regarding the spread of microplastics and their environmental impact. Some studies regarding the spread of larger particles exist, while the impact in the form of airborne particles is less well explored. Studies on airborne particulates are quite complicated, as measuring these is made complicated by the already existing particles from traffic and such. In this study a British pendulum is utilized to, in a controlled environment, try to ascertain if a difference may exist between different types of turf. In this study the three most commonly used types of rubber granules, infill, are tested. These are SBR, TPE and EPDM. These tests show a difference in release of airborne particle between EPDM and the other two types, where EPDM generate more airborne particles.