Abstract: This paper deals with the study of devices for displacement of the mould base of blow-molding machines. The displacement of the mould in the studied case is carried out by a linear actuator, which ensures the descent of the mould base and by extension springs, which return the letter in the initial position. The aim of this paper is to study the inverse dynamics of the device for displacement of the mould base of blow-molding machines and to determine its optimum parameters for higher rate of production. In the other words, it is necessary to solve the inverse dynamic problem to find the equation of motion linking applied forces with displacements. This makes it possible to determine the stiffness coefficient of the spring to turn the mold base back to the initial position for a given time. The obtained results are illustrated by a numerical example. It is shown that applying a spring with stiffness returns the mould base of the blow molding machine into the initial position in 0.1 sec.
Abstract: Boiler is one of the critical unit in a petrochemical plant. Steam produced by the boiler is used for various processes in the plant such as urea and ammonia plant. An alternative method to optimize the boiler combustion system is presented in this paper. Adaptive Neuro-Fuzzy Inference System (ANFIS) approach is applied to model the boiler using real-time operational data collected from a boiler unit of the petrochemical plant. Nonlinear equation obtained is then used to optimize the air to fuel ratio using Genetic Algorithm, resulting an optimal ratio of 15.85. This optimal ratio is then maintained constant by ratio controller designed using inverse dynamics based on ANFIS. As a result, constant value of oxygen content in the flue gas is obtained which indicates more efficient combustion process.
Abstract: The article deals with the tool in Matlab GUI form
that is designed to analyse a mechatronic system sensitivity and
tolerance. In the analysed mechatronic system, a torque is transferred
from the drive to the load through a coupling containing flexible
elements. Different methods of control system design are used. The
classic form of the feedback control is proposed using Naslin method,
modulus optimum criterion and inverse dynamics method. The
cascade form of the control is proposed based on combination of
modulus optimum criterion and symmetric optimum criterion. The
sensitivity is analysed on the basis of absolute and relative sensitivity
of system function to the change of chosen parameter value of the
mechatronic system, as well as the control subsystem. The tolerance
is analysed in the form of determining the range of allowed relative
changes of selected system parameters in the field of system stability.
The tool allows to analyse an influence of torsion stiffness, torsion
damping, inertia moments of the motor and the load and controller(s)
parameters. The sensitivity and tolerance are monitored in terms of
the impact of parameter change on the response in the form of system
step response and system frequency-response logarithmic
characteristics. The Symbolic Math Toolbox for expression of the
final shape of analysed system functions was used. The sensitivity
and tolerance are graphically represented as 2D graph of sensitivity
or tolerance of the system function and 3D/2D static/interactive graph
of step/frequency response.
Abstract: We propose a control design scheme that aims to
prevent undesirable liquid outpouring and suppress sloshing during
the forward and backward tilting phases of the pouring process, for
the case of liquid containers carried by manipulators. The proposed
scheme combines a partial inverse dynamics controller with a PID
controller, tuned with the use of a “metaheuristic" search algorithm.
The “metaheuristic" search algorithm tunes the PID controller based
on simulation results of the plant-s linearization around the operating
point corresponding to the critical tilting angle, where outpouring
initiates. Liquid motion is modeled using the well-known pendulumtype
model. However, the proposed controller does not require
measurements of the liquid-s motion within the tank.
Abstract: This paper focuses on the development of bond graph
dynamic model of the mechanical dynamics of an excavating mechanism
previously designed to be used with small tractors, which are
fabricated in the Engineering Workshops of Jomo Kenyatta University
of Agriculture and Technology. To develop a mechanical dynamics
model of the manipulator, forward recursive equations similar to
those applied in iterative Newton-Euler method were used to obtain
kinematic relationships between the time rates of joint variables
and the generalized cartesian velocities for the centroids of the
links. Representing the obtained kinematic relationships in bondgraphic
form, while considering the link weights and momenta as
the elements led to a detailed bond graph model of the manipulator.
The bond graph method was found to reduce significantly the number
of recursive computations performed on a 3 DOF manipulator for a
mechanical dynamic model to result, hence indicating that bond graph
method is more computationally efficient than the Newton-Euler
method in developing dynamic models of 3 DOF planar manipulators.
The model was verified by comparing the joint torque expressions
of a two link planar manipulator to those obtained using Newton-
Euler and Lagrangian methods as analyzed in robotic textbooks. The
expressions were found to agree indicating that the model captures
the aspects of rigid body dynamics of the manipulator. Based on
the model developed, actuator sizing and valve sizing methodologies
were developed and used to obtain the optimal sizes of the pistons
and spool valve ports respectively. It was found that using the pump
with the sized flow rate capacity, the engine of the tractor is able to
power the excavating mechanism in digging a sandy-loom soil.
Abstract: In this paper we compare the response of linear and
nonlinear neural network-based prediction schemes in prediction of
received Signal-to-Interference Power Ratio (SIR) in Direct
Sequence Code Division Multiple Access (DS/CDMA) systems. The
nonlinear predictor is Multilayer Perceptron MLP and the linear
predictor is an Adaptive Linear (Adaline) predictor. We solve the
problem of complexity by using the Minimum Mean Squared Error
(MMSE) principle to select the optimal predictors. The optimized
Adaline predictor is compared to optimized MLP by employing
noisy Rayleigh fading signals with 1.8 GHZ carrier frequency in an
urban environment. The results show that the Adaline predictor can
estimates SIR with the same error as MLP when the user has the
velocity of 5 km/h and 60 km/h but by increasing the velocity up-to
120 km/h the mean squared error of MLP is two times more than
Adaline predictor. This makes the Adaline predictor (with lower
complexity) more suitable than MLP for closed-loop power control
where efficient and accurate identification of the time-varying
inverse dynamics of the multi path fading channel is required.