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RISS 인기검색어
- 검색키워드
- 저자 : Peter Eberhard (검색결과 4 건)
- 무료
- 기관 내 무료
- 유료
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A Modular Formulation for Flexible Multibody Systems Including Nonlinear Finite Elements
Lars Kubler,Peter Eberhard 대한기계학회 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.1S
A formulation for flexible multi body systems (MBS) is Investigated, where rigid MBS substructures are coupled with flexible bodies described by a nonlinear finite element (FE) approach Several aspects that turned out to be crucial for the presented approach are discussed The system describing equations are given m differential algebraic form (DAE), where many sophisticated solvers exist In this paper the performance of several solvers is investigated regarding their suitability for the application to the usually highly stiff DAE The substructures are connected With each other by nonlinear algebraic constraint equations Further, partial derivatives of the constraints are required, which often leads to extensive algebraic trans-formations Handcoding of analytically determined derivatives is compared to an approach utilizing algorithmic differentiation<br/>
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Experimental studies of control concepts for a parallel manipulator with flexible links
Markus Burkhardt,Robert Seifried,Peter Eberhard 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.7
Control of flexible multibody systems, such as flexible manipulators, is a challenging task. This is especially true if end-effector trajectorytracking is aspired. On the one hand, these systems require a large number of generalized coordinates to describe their dynamicalbehavior accurately. On the other hand, only a small subset of these values can be measured or reconstructed on-the-fly. Hence, it is difficult,if not nearly impossible, to use a state controller. In addition, flexible systems are underactuated, i.e. they possess less control inputsthan generalized coordinates. In case of a non-collocated output controller, which is the case for end-effector trajectory tracking, theclosed loop of the system might lose passivity and is non-minimum phase. In order to achieve end-effector trajectory tracking, exact andapproximate feed-forward controls can be applied. In this work, two different versions of such concepts are compared experimentally. These model-based concepts are computed off-line and they supply, next to the required input values, a C1-continuous solution of thecomplete state vector which can be used for feedback control. If the system is non-minimum phase, a two-sided boundary value problemhas to be solved and the solution includes a pre-actuation as well as a post-actuation phase. While the exact method incorporates all dynamicaleffects of the flexible multibody system, the approximate concepts neglect certain implications, for example the dynamical effectsdue to the flexibility. In addition to the presentation of the theoretical basics of the control approaches and the underlying models,this contribution addresses some of the crucial obstacles, which have to be overcome for the operation of the test bench, e.g., signal conditioning,state reconstruction and friction compensation. Since the installed sensors do not allow the direct measurement of the endeffectorposition, image tracking is used to judge the quality of the different control approaches.
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Atsushi Kawaguchi,Kai Sedlaczek,Atsushi Kawamoto,Peter Eberhard 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.4
This paper deals with a new type of shock absorbing device that cooperates between two colliding objects. The new device utilizes a four-bar-chain-like articulated mechanism with some possible actuations. The devices are assumed to be deployed in the pre-crash phase (by sensing and identifying unavoidable collisions) so as to provide an extended deformable region between the two objects. Moreover, by functioning like a four-bar-chain mechanism, they produce a repulsive effect by pushing each other and sliding in the opposite lateral direction. To investigate the capacity of the proposed articulated shock absorbing mechanism, a standard numerical optimization technique called SQP and a new optimization technique called ALPSO are applied. ALPSO is an attractive method for solving multimodal optimization problems based on Particle Swarm Optimization and constraint treatment using an Augmented Lagrange Method. We demonstrate ALPSO and show its applicability to this problem. The optimization process automatically determines the mode of the operation and gives an estimation of the development potential of the new device.
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Sloshing cargo in silo vehicles
Florian Fleissner,Vincenzo D´Alessandro,Werner Schiehlen,Peter Eberhard 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.4
The driving stability of silo vehicles is significantly affected by the type of cargo that is transported and the design of the tank. Cargo motion can have both beneficial and negative aspects in terms of driving stability and braking performance. Neglecting the influence of the dynamically moving cargo in driving simulations of silo vehicles leads to significant errors in the simulation results. We propose a new method for the dynamic simulation of silo vehicles carrying granulates. The method couples Lagrangian particle methods, such as the discrete element method, and multibody systems methods using co-simulations. We demonstrate the capability of the new approach by providing simulation results of two benchmark maneuvers.
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