Sökning: "Motion control simulation"

Visar resultat 1 - 5 av 64 avhandlingar innehållade orden Motion control simulation.

1. 1. Look-ahead Control of Heavy Trucks utilizing Road Topography

   Författare :Erik Hellström; Lars Nielsen; Torkel Glad; Linköpings universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; predictive control; dynamic programming; Automatic control; Reglerteknik;

   Sammanfattning : The power to mass ratio of a heavy truck causes even moderate slopes to have a significant influence on the motion. The velocity will inevitable vary within an interval that is primarily determined by the ratio and the road topography. LÄS MER

3. 2. On Kinematic Modelling and Iterative Learning Control of Industrial Robots

   Författare :Johanna Wallén; Mikael Norrlöf; Svante Gunnarsson; Geir Hovland; Linköpings universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Industrial robots; kinematics; Maple; modelling; iterative learning control; experiments; Automatic control; Reglerteknik;

   Sammanfattning : Good models of industrial robots are necessary in a variety of applications, such as mechanical design, performance simulation, control, diagnosis, supervision and offline programming. This motivates the need for good modelling tools. In the first part of this thesis the forward kinematic modelling of serial industrial robots is studied. LÄS MER

4. 3. Reconfigurable Motion Control Systems for Over-Actuated Road Vehicles

   Författare :Leo Laine; Chalmers tekniska högskola; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; over-actuated; road vehicle; reconfigurable; control allocation; hybrid electric vehicle; motion control system;

   Sammanfattning : Over-actuated systems, such as today's road vehicle configurations, have more motion actuators than controlled motions. For example, a passenger car has a combustion engine and four mechanical brakes, all of which can be used individually to correct any error in yaw rate when the vehicle becomes under- or oversteered. LÄS MER

5. 4. Optimization-Based Motion Planning and Model Predictive Control for Autonomous Driving : With Experimental Evaluation on a Heavy-Duty Construction Truck

   Författare :Pedro F. Lima; Bo Wahlberg; Paolo Falcone; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Automatic Control; Autonomous Driving; Model Predictive Control; Motion Planning; Optimization; Electrical Engineering; Elektro- och systemteknik;

   Sammanfattning : This thesis addresses smooth motion planning and path following control of autonomous large and heavy industrial vehicles, such as trucks and buses, using optimization-based techniques. Autonomous driving is a rapidly expanding technology that promises to play an important role in future society, since it aims at more energy efficient, more convenient, and safer transport systems. LÄS MER

7. 5. Development of a PKM control system by design, modelling, simulation and integration

   Författare :Qi Huang; KTH; []
   Nyckelord :Control System Design; PKM machines; Kinematic transformation; Dynamic modelling; Motion control simulation;

   Sammanfattning : PKM (ParallelKinematicMechanism) machines have received increasing interestfrom industries. Nevertheless, they didn't turn out goodresults in control performances as desired. One of the reasonsis the unsuitability of the available control systems for theparallel mechanisms.This thesis presents a process to develop a PKM controlsystem. LÄS MER