Dynamics and control in precision mechanics

the study of bright and surface discrete cavity solitons dynamics in saturable nonlinear media

امروزه سالیتون ها بعنوان امواج جایگزیده ای که تحت شرایط خاص بدون تغییر شکل در محیط منتشر می-شوند، زمینه مطالعات گسترده ای در حوزه اپتیک غیرخطی هستند. در این راستا توجه به پدیده پراش گسسته، که بعنوان عامل پهن شدگی باریکه نوری در آرایه ای از موجبرهای جفت شده، ظاهر می گردد، ضروری است، زیرا سالیتون های گسسته از خنثی شدن پراش گسسته در این سیستم ها بوسیله عوامل غیرخطی بوجود می آیند. گسستگی سیستم عامل...

development and implementation of an optimized control strategy for induction machine in an electric vehicle

in the area of automotive engineering there is a tendency to more electrification of power train. in this work control of an induction machine for the application of electric vehicle is investigated. through the changing operating point of the machine, adapting the rotor magnetization current seems to be useful to increase the machines efficiency. in the literature there are many approaches wh...

Math 439 Course Notes Lagrangian Mechanics, Dynamics, and Control

Discrete Mechanics and Optimal Control for Constrained Multibody Dynamics

This paper formulates the dynamical equations of mechanics subject to holonomic constraints in terms of the states and controls using a constrained version of the Lagrange-d’Alembert principle. Based on a discrete version of this principle, a structure preserving time-stepping scheme is derived. It is shown that this respect for the mechanical structure (such as a reliable computation of the en...

Mechanics, control and internal dynamics of quadrotor tool operation

We propose a novel control framework to enable a quadrotor to operate a tool attached on it. We first show that any Cartesian control at the tool-tip can be generated if and only if the tool-tip is located strictly above or below the quadrotor’s centerof-mass. We then fully characterize the internal dynamics of the spatial quadrotor tool operation, which arises due to the quadrotor’s under-actu...