Multibody System Dynamics最新文献_第8页

Estimation of wheelset equivalent conicity using the dual extended Kalman filter 利用对偶扩展卡尔曼滤波估计轮对等效圆锥度

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-27 DOI: 10.1007/s11044-023-09942-4

Prapanpong Damsongsaeng, Rickard Persson, Sebastian Stichel, Carlos Casanueva

{"title":"Estimation of wheelset equivalent conicity using the dual extended Kalman filter","authors":"Prapanpong Damsongsaeng, Rickard Persson, Sebastian Stichel, Carlos Casanueva","doi":"10.1007/s11044-023-09942-4","DOIUrl":"https://doi.org/10.1007/s11044-023-09942-4","url":null,"abstract":"Abstract This paper presents the implementation of the dual extended Kalman filter (DEKF) to estimate wheelset equivalent conicity, an accurate understanding of which can facilitate the implementation of an effective model-based estimator. The estimator is developed to identify the wheelset equivalent conicity of high-speed railway vehicles while negotiating a curve. The designed DEKF estimator employs two discrete-time extended Kalman filters combining state and parameter estimators in parallel. This estimator uses easily available measurements from acceleration sensors measuring at axle boxes and a rate gyroscope measuring bogie frame yaw velocity. Two tests, including linearized and actual wheel-rail geometry, are carried out at a speed of 250 km/h with stochastic and deterministic track features using multibody simulations, SIMPACK. The results with acceptable estimation errors for both track conditions indicate adequate performance and reliability of the designed DEKF estimator. They demonstrate the feasibility of utilizing this DEKF method in rail vehicle applications as the knowledge of time-varying parameters is not only important in achieving an effective estimator for vehicle control but also useful for vehicle condition monitoring.","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136236002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Space-time rigid multibody dynamics 时空刚体多体动力学

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-27 DOI: 10.1007/s11044-023-09945-1

C. Hesch, S. Glas, S. Schuß

引用次数: 0

Command shaped trajectory tracking control for a two-link flexible manipulator 双连杆柔性机械臂命令形轨迹跟踪控制

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-27 DOI: 10.1007/s11044-023-09947-z

Sandeep Kumar, Subir Kumar Saha, Ashish Singla, Satinder Paul Singh, Tarun Kumar Bera

引用次数: 0

Spatial locomotion of a metameric earthworm-like robot: generation and analysis of gaits 类蚯蚓机器人的空间运动:步态的生成与分析

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-26 DOI: 10.1007/s11044-023-09943-3

Qiwei Zhang, Jian Xu, Hongbin Fang

引用次数: 0

Exudyn – a C++-based Python package for flexible multibody systems Exudyn——一个基于c++的Python包，用于灵活的多体系统

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-09 DOI: 10.1007/s11044-023-09937-1

Johannes Gerstmayr

引用次数: 2

Investigation of the driving characteristics of electric bicycles by means of multibody simulation 基于多体仿真的电动自行车行驶特性研究

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-09 DOI: 10.1007/s11044-023-09940-6

Johannes Bolk, Burkhard Corves

引用次数: 0

Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs 基于DAEs建模的缆索驱动并联机器人扩展卡尔曼滤波器综合的数值与实验研究

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-09 DOI: 10.1007/s11044-023-09941-5

Jason Bettega, Giovanni Boschetti, Borja R. Frade, Francisco González, Giulio Piva, Dario Richiedei, Alberto Trevisani

{"title":"Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs","authors":"Jason Bettega, Giovanni Boschetti, Borja R. Frade, Francisco González, Giulio Piva, Dario Richiedei, Alberto Trevisani","doi":"10.1007/s11044-023-09941-5","DOIUrl":"https://doi.org/10.1007/s11044-023-09941-5","url":null,"abstract":"Abstract Cable-driven parallel robots are parallel robots where light-weight cables replace rigid bodies to move an end-effector. Their peculiar design allows obtaining large workspaces, high-dynamic handlings, ease of reconfigurability and, in general, low-cost architecture. Knowing the full state variables of a cable robot may be essential to implement advanced control and monitoring strategies and imposes the development of state observers. In this work a general approach to develop nonlinear state observers based on an extended Kalman filter (EKF) is proposed and validated both numerically and experimentally by referring to a cable-suspended parallel robot. The state observer is based on a system model obtained by converting a set of differential algebraic equations into ordinary differential equations through different formulations: the penalty formulation, the Udwadia–Kalaba formulation, and the Udwadia–Kalaba–Phohomsiri formulation, which have been chosen since they can handle the presence of redundant constraints as often happens in cable-driven parallel robots. In the numerical investigation, the EKF is validated simulating encoders heavily affected by quantization errors to demonstrate the filtering capabilities of EKF. In the experimental investigation, a very challenging validation is proposed: only two sensors measuring the rotations of two motors are used to estimate the actual position and velocity of the end-effector. This result cannot be achieved by sole forward kinematics and clearly proves the effectiveness of the proposed observer.","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"291 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135142113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Estimating coach-suspension parameters through stop braking: analytical modeling and validation 通过停止制动估计客车悬架参数:分析建模和验证

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-06 DOI: 10.1007/s11044-023-09936-2

Sudhir Kumar Singh, Sanjay R. Singh, Vikranth Racherla

引用次数: 0

Multibody model of the human-inspired robot CHARMIE 仿人机器人CHARMIE的多体模型

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-06 DOI: 10.1007/s11044-023-09933-5

Fernando Gonçalves, Tiago Ribeiro, A. Fernando Ribeiro, Gil Lopes, Paulo Flores

{"title":"Multibody model of the human-inspired robot CHARMIE","authors":"Fernando Gonçalves, Tiago Ribeiro, A. Fernando Ribeiro, Gil Lopes, Paulo Flores","doi":"10.1007/s11044-023-09933-5","DOIUrl":"https://doi.org/10.1007/s11044-023-09933-5","url":null,"abstract":"Abstract The rapid ageing of the worldwide population raises pressing concerns related to ensuring proper healthcare and quality of life for older adults. A human-like mobile domestic robot, named CHARMIE, is being produced to aid in these situations by performing household chores, thus increasing the autonomy of persons with mobility limitations. The present work provides a valuable contribution to the development of CHARMIE by building a simulation environment that computes the system’s main dynamics. The obtained environment is used to evaluate the quality of the robot’s control system, to perform its structural optimization and to allow a proper selection of actuators. The system is tackled as a kinematic tree that starts on the robot’s base and then splits into three branches at the torso: the left arm, the right arm, and the head. The multibody model solves the forward kinematics and inverse dynamics of the main mechanisms by employing two recursive algorithms centred around the Newton–Euler formulation. A novel, modular, and efficient seven-step methodology was created to implement these two algorithms and program a simulator from start to finish. These seven steps include studying the system’s configuration, converting its properties into software inputs, and computing the phenomena that cannot be automatically addressed by the two recursive formulations. The presented methodology was fully validated by comparing its results to those obtained from a commercial software; the two models produced identical results.","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135351341","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Discrete adjoint method for variational integration of constrained ODEs and its application to optimal control of geometrically exact beam dynamics 约束微分方程变分积分的离散伴随法及其在几何精确梁动力学最优控制中的应用

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-06 DOI: 10.1007/s11044-023-09934-4

Matthias Schubert, Rodrigo T. Sato Martín de Almagro, Karin Nachbagauer, Sina Ober-Blöbaum, Sigrid Leyendecker

引用次数: 0