Dynamics and Dynamical Systems Commons^™

Study Of Multibody Dynamics Using Matlab, Kalyani Soman

Mechanical & Aerospace Engineering Theses & Dissertations

Research in computational dynamics has gained importance in the past few years because of the demand for analysis and simulation of various multi-body systems in the growing mechanical and aerospace industry. These multi-body systems are made of individual bodies that are interconnected via mechanical joints. Mathematically, these joints that connect the bodies can be described as constraint equations imposed upon the motions of the involved free bodies. This process will result in an equation of motion expressed in the form of a differential-algebraic equation. It is the main objective of this thesis to develop a solution algorithm that can take …

Swing-Up And Balancing Nonlinear Control For A Rotational Inverted Pendulum, Jiang Wang

Mechanical & Aerospace Engineering Theses & Dissertations

In this thesis, nonlinear controllers are designed for the swing-up and balance modes of a rotational inverted pendulum, which is a pendulum hinged on a horizontally rotating link. The proposed control algorithms are designed by partial feedback linearization and sliding mode control techniques, for swing-up and balancing respectively. First a mathematical model of the pendulum dynamics is derived, followed by experimental verification. Then the system model is partially linearized, which makes it possible for the system to track a simple desired trajectory with "pump energy" function. Then a swing-up controller is designed. For an under-actuated mechanical system, like the inverted …

Correlation Of Finite Element Prediction And Experimental Measurements Of Aircraft Panel Structural Vibration, Olaf L. Storaasli

Mechanical & Aerospace Engineering Theses & Dissertations

With the rapid development of computational capabilities and the implementation of complex tools for commercial finite element programs, predicting structural dynamics and related acoustics of complex structures is presently achievable. Structural finite element modeling is a design tool widely utilized for analysis of problems of all kinds. However, high frequency vibration of complex structures, such as the reinforced aircraft panel used for this study, currently does not correlate well with experimental measurements using conventional modeling methods. An investigation into the commonly used modeling techniques as well as the new tools of commercial finite element analysis packages for the prediction of …

Broadband Dynamic Modification Using Feedforward Control, Kendeas Antonis Karantonis

Mechanical & Aerospace Engineering Theses & Dissertations

The use of feedforward control for dynamic modification is relatively new to the area of structural vibration control. In this thesis the disturbance path dynamics of a flexible aluminum beam, pinned at both ends and under the influence of broadband excitation inputs, are modified through the use of feedforward control. The ideal algebraically determined feedforward control method for response cancellation is first presented. Theoretically, this compensator modifies the disturbance path dynamics to any desired behavior. This ideal algebraic approach can only be used for minimum phase systems. In non-minimum phase systems, right half s-plane plant zeros emerge as unstable poles …

Dynamics And Control Of A Three Dimensional Gantry Crane With Cable Flexibility, Uchendu H. Eke

Mechanical & Aerospace Engineering Theses & Dissertations

The control of payload swing in industrial gantry cranes is a topic of widespread interest. In this thesis, the control of the swing of a payload idealized by a point mass assumption is investigated utilizing s, compact robotics matrix/vector representation of the dynamical model. In this form, this particular system can be viewed as sn underactuated manipulator with equal numbers of active and passive degrees of freedom. The full three dimensional model is developed and linearized by modelling the cable as a single thread of fiexible wire and the degree of dynamic coupling between the active and passive coordinates is …

A New Adjoint Variable Method For The Sensitivity Analysis Of Dynamic Responses, Krishnamoorthy Ramesh

Mechanical & Aerospace Engineering Theses & Dissertations

A new adjoint variable method has been formulated for finding the sensitivity derivatives of dynamic system responses. Though the method can be based on any step-by-step time marching scheme, the Wilson Theta Method has been chosen as the basis of the new formulation . Wilson Theta Method is an implicit numerical integration scheme for finding the dynamic system responses. The new formulation uses the differential form of equations of motion as given by the Wilson Theta Method in its formulation of the adjoint equation. The conventional methods used for finding the sensitivity derivatives, namely, the direct differentiation technique, the central …

Effects Of Radiative Interactions In Molecular Gases Under Local And Nonlocal Thermodynamic Equilibrium Conditions, Manoj Kumar Jha

Mechanical & Aerospace Engineering Theses & Dissertations

Basic formulations, analyses, and numerical procedures are presented to investigate radiative heat interactions in diatomic and polyatomic gases under local and nonlocal thermodynamic equilibrium conditions. Essential governing equations are presented for both gray and nongray gases. Information is provided on absorption models, relaxation times, and transfer equations. Radiative flux equations are developed which are applicable under local and nonlocal thermodynamic equilibrium conditions.

The problem is solved for fully developed laminar incompressible flows between two parallel plates under the boundary condition of a uniform surface heat flux. For specific applications, three diatomic and three polyatomic gases are considered. The results are …

The Influence Of Payload Dynamics On Trajectory Tracking Performance Of Robot Manipulator, Atul G. Kelkar

Mechanical & Aerospace Engineering Theses & Dissertations

Future space mission plans call for extensive use of remote manipulator systems for tasks such as assembly of lunar vehicles or space station modules, servicing of satellites, etc. These tasks demand very high precision end-effector motion control. Methods for compensating manipulator dynamics to achieve better trajectory tracking performance have been investigated by many researchers. Still, it is not always clear whether the added complexity of dynamic compensation is warranted for a given system. As an aid in evaluating when dynamic compensation is required, this thesis presents a method for the determination of maximum endpoint tracking error due to uncompensated inertial …

Comparison Of Digital Controllers Used In Magnetic Suspension And Balance Systems, William Allen Kilgore

Mechanical & Aerospace Engineering Theses & Dissertations

Dynamic systems that were once controlled by analog circuits are now controlled by digital computers. Presented is a comparison of the digital controllers presently used with magnetic suspension and balance systems. The overall response of the systems are compared using a computer simulation of the magnetic suspension and balance system and the digital controllers. The comparisons include responses to both simulated force and position inputs. A preferred digital controller is determined from the simulated responses.

Expert Systems For Automated Maintenance Of A Mars Oxygen Production System, Ming-Tsang Ho

Mechanical & Aerospace Engineering Theses & Dissertations

A prototype expert system has been developed for maintaining autonomous operation of a Mars oxygen production system. Normal operation conditions and failure modes according to certain desired criteria are tested and identified. Several schemes for failure detection and isolation using forward chaining, backward chaining, knowledge-based and rule-based are devised to perform several housekeeping functions. These functions include self-health checkout, an emergency shut down program, fault detection and conventional control activities. An effort has been made to derive the dynamic model of the system using Bond-Graph technique in order to develop the model-based failure detection and isolation scheme by estimation method. …

Development Of Load Carrying Thermoplastic Components For An Automotive Emergency Braking System, Joseph Gerard Sikora

Mechanical & Aerospace Engineering Theses & Dissertations

This thesis describes a classical approach to plastic parts' design leading to the development of load carrying fiber reinforced thermoplastic components for use in an automotive emergency braking system. The control arms that are the focus of this study are designed to withstand the static loads characteristic of the loads experienced by an automotive emergency braking system. The present study is particularly significant as a case study because the design involves development of load carrying components for use in the harsh automotive environment.

Beginning with a fundamental concept for the control arms, basic design criteria, and a limited insight into …

Dynamics Of Explosion Remnants In Earth-Orbits, Joseph T. Fuss

Mechanical & Aerospace Engineering Theses & Dissertations

Explosions in space produce particles that are hazardous to space vehicles. Some of these particles are not trackable and their locations must be predicted by dynamical methods.

This investigation sheds light on three different, areas, First, ignoring perturbations, the characteristics of a three dimensional envelope outlined by the sum of individual particle orbits is determined, Second, the distribution of the particles is found as a function of time, Finally, the movement, of the body via secular perturbations is investigated. Magnitudes of the explosion, the point of. detonation in the parent satellite's orbit, and the radius of perigee of the parent …