<p> Large dynamic systems and flexible structures like long robot links with many degree of freedoms are always challenging issues for engineers to model and control. These structures can be modeled with some methods like modal superposition and numerical integration. </p><p> Transfer Matrix Method (TMM) is another method that can be used to model large systems with a huge number of subsystems and flexible structures.By using Transfer matrix method, the size of matrix reduces. Having smaller matrix sizes helps us to have less computation and fast answer. Also, this method is very flexible, because it is possible for us to add or eliminate one subsystem easily. Transfer matrix method like other methods has its drawbacks. TMM is limited to linear systems and can not be used for non-linear ones. Moreover, this method just gives frequency-domain output and can not perform time-domain simulation. </p><p> By combining TMM and numerical integration methods, we have a new method which is called Discrete Time Transfer Matrix Method (DT-TMM). DT-TMM can model non-linear systems too. Time-domain output is another advantage of this method. Two approaches considered in this research to combine TMM and numerical integration. First approach is describing acceleration and velocity based on the displacement. Another approach is using acceleration to calculate the velocity and displacement. Also, different methods of numerical integration like Fox-Euler, Houbolt, Park Stiffly Stable, Newmark Beta and Wilson studied in this research.</p>
| Identifer | oai:union.ndltd.org:PROQUEST/oai:pqdtoai.proquest.com:10128867 |
| Date | 30 August 2016 |
| Creators | Alizadehyazdi, Vahid |
| Publisher | Southern Illinois University at Edwardsville |
| Source Sets | ProQuest.com |
| Language | English |
| Detected Language | English |
| Type | thesis |
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