Optimal feedback gains of a delayed proportional-derivative (PD) control for balancing an inverted pendulum

In the dynamics analysis and synthesis of a con-trolled system, it is important to know for what feedback gains can the controlled system decay to the demanded steady state as fast as possible. This article presents a sys-tematic method for finding the optimal feedback gains by taking the stability of an inverted pendulum system with a delayed proportional-derivative controller as an example. First, the condition for the existence and uniqueness of the stable region in the gain plane is obtained by using the D-subdivision method and the method of stability switch. Then the same procedure is used repeatedly to shrink the stable region by decreasing the real part of the rightmost charac-teristic root. Finally, the optimal feedback gains within the stable region that minimizes the real part of the rightmost root are expressed by an explicit formula. With the optimal feedback gains, the controlled inverted pendulum decays to its trivial equilibrium at the fastest speed when the initial val-ues around the origin are fixed. The main results are checked by numerical simulation.     

Steering performance of an inverted pendulum vehicle with pedals as a personal mobility vehicle

From the viewpoints of environmental protection, support for the aged and ensuring the right to mobility, there is a need to develop a new type of mobility vehicle that provides more effective transportation. The authors propose an inverted pendulum vehicle with pedals as one of the forms of personal mobility vehicles (PMVs). In this paper, the steering performance of the inverted pendulum vehicle with pedals is discussed based on experiments on a prototype. From the experimental results, it was confirmed that the errors from the five subjects for the target trajectory and the five-grade evaluation of the maneuverability were similar. Finally, we created an inverted pendulum vehicle with pedals to which was added a reaction actuator for the steering system. From the experimental results, it was found that setting appropriate feedback gains for the handle steering angle and its rate of rotation, which control the right and left wheel driving torques, resulted in greatly improved maneuverability.     

Hopf bifurcation of an oscillator with quadratic and cubic nonlinearities and with delayed velocity feedback

This paper studies the local dynamics of an SDOF system with quadratic and cubic stiffness terms, and with linear delayed velocity feedback. The analysis indicates that for a sufficiently large velocity feedback gain, the equilibrium of the system may undergo a number of stability switches with an increase of time delay, and then becomes unstable forever. At each critical value of time delay for which the system changes its stability, a generic Hopf bifurcation occurs and a periodic motion emerges in a one-sided neighbourhood of the critical time delay. The method of Fredholm alternative is applied to determine the bifurcating periodic motions and their stability. It stresses on the effect of the system parameters on the stable regions and the amplitudes of the bifurcating periodic solutions. The project supported by the National Natural Science Foundation of China (19972025)     

Asymptotic and oscillation of the solutions for a class of the first order neutral differential equations

ＩｎｔｒｏｄｕｃｔｉｏｎＯｗｉｎｇｔｏｔｈｅｅｘｔｅｎｓｉｖｅａｐｐｌｉｃａｔｉｏｎｏｆｎｅｕｔｒａｌｅｑｕａｔｉｏｎｓ,ｍｏｒｅａｎｄｍｏｒｅｓｔｕｄｉｅｓｈａｖｅｂｅｎｍａｄｅｏｎｔｈｅｂｅｈａｖｉｏｒｏｆｔｈｅｓｏｌｕｔｉｏｎｓ［１,２］．Ｆｏ...     

热冲击载荷作用下的含球形空腔的广义热弹性功能梯度球形各向同性体

This paper is concerned with the determination of thermoelastic displacement, stress and temperature in a functionally graded spherically isotropic infinite elastic medium having a spherical cavity, in the context of the linear theory of generalized thermoelasticity with two relaxation time parameters （Green and Lindsay theory）. The surface of cavity is stress-free and is subjected to a time-dependent thermal shock. The basic equations have been written in the form of a vector-matrix differential equation in the Laplace transform domain, which is then solved by an eigenvalue approach. Numerical inversion of the transforms is carried out using the Bellman method. Displacement, stress and temperature are computed and presented graphically. It is found that variation in the thermo-physical properties of a material strongly influences the response to loading. A comparative study with a corresponding homogeneous material is also made.     

Analysis of velocity equation of steady flow of a viscous incompressible fluid in channel with porous walls

Steady flow of a viscous incompressible fluid in a channel, driven by suction or injection of the fluid through the channel walls, is investigated. The velocity equation of this problem is reduced to nonlinear ordinary differential equation with two boundary conditions by appropriate transformation and convert the two‐point boundary‐value problem for the similarity function into an initial‐value problem in which the position of the upper channel. Then obtained differential equation is solved analytically using differential transformation method and compare with He's variational iteration method and numerical solution. These methods can be easily extended to other linear and nonlinear equations and so can be found widely applicable in engineering and sciences. Copyright © 2009 John Wiley & Sons, Ltd.     

Torsional vibration of functionally graded nano-rod under magnetic field supported by a generalized torsional foundation based on nonlocal elasticity theory

Abstract

This article contains the nonlocal elasticity theory to capture size effects in functionally graded (FG) nano-rod under magnetic field supported by a torsional foundation. Torque effect of an axial magnetic field on an FG nano-rod has been defined using Maxwell’s relation. The material properties were assumed to vary according to the power law in radial direction. The Navier equation and boundary conditions of the size-dependent FG nano-rod were derived by the Hamilton’s principle. These equations were solved by employing the generalized differential quadrature method (GDQM). Presented model has the ability to turn into the classical model if the material length scale parameter is taken to be zero. The effects of some parameters, such as inhomogeneity constant, magnetic field and small-scale parameter, were studied. As an important result of this study can be stated that an FG nano-rod model based on the nonlocal elasticity theory behaves softer and has smaller natural frequency.     

Numerical study of an oscillatory turbulent flow over a flat plate

Oscillatory turbulent flow over a flat plate is studied using large eddy simulation (LES) and Reynolds-average Navier-Stokes (RANS) methods. A dynamic subgrid-scale model is employed in LES and Saffman's turbulence model is used in RANS. The flow behaviors are discussed for the accelerating and decelerating phases during the oscillating cycle. The friction force on the wall and its phase shift from laminar to turbulent regime are also investigated for different Reynolds numbers. The project supported by the Youngster Funding of Academia Sinica and by the National Natural Science Foundation of China     

Influence of drag laws on pressure and bed material recirculation rate in a cold flow model of an 8 MW dual fluidized bed system by means of CPFD

A cold flow model of an 8 MW dual fluidized bed (DFB) system is simulated using the commercial computational particle fluid dynamics (CPFD) software package Barracuda. The DFB system comprises a bubbling bed connected to a fast fluidized bed with the bed material circulating between them. As the hydrodynamics in hot DFB plants are complex because of high temperatures and many chemical reaction processes, cold flow models are used. Performing numerical simulations of cold flows enables a focus on the hydrodynamics as the chemistry and heat and mass transfer processes can be put aside. The drag law has a major influence on the hydrodynamics, and therefore its influence on pressure, particle distribution, and bed material recirculation rate is calculated using Barracuda and its results are compared with experimental results. The drag laws used were energy-minimization multiscale (EMMS), Ganser, Turton–Levenspiel, and a combination of Wen–Yu/Ergun. Eleven operating points were chosen for that study and each was calculated with the aforementioned drag laws. The EMMS drag law best predicted the pressure and distribution of the bed material in the different parts of the DFB system. For predicting the bed material recirculation rate, the Ganser drag law showed the best results. However, the drag laws often were not able to predict the experimentally found trends of the bed material recirculation rate. Indeed, the drag law significantly influences the hydrodynamic outcomes in a DFB system and must be chosen carefully to obtain meaningful simulation results. More research may enable recommendations as to which drag law is useful in simulations of a DFB system with CPFD.