Design, modelling and control of two degrees of freedom flexible antenna sensors
Başlık çevirisi mevcut değil.
- Tez No: 403069
- Danışmanlar: DR. VICENTE FELIU BATLLE
- Tez Türü: Doktora
- Konular: Elektrik ve Elektronik Mühendisliği, Enerji, Electrical and Electronics Engineering, Energy
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2015
- Dil: İngilizce
- Üniversite: University of Castilla-La Mancha
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 177
Özet
Özet yok.
Özet (Çeviri)
We have presented a mechatronic application and the modelling framework needed to control a 2DOF exible-beam sensor using a vibration-free position control and a movement strategy. With regard to the complete mechanics, hardware and software design in their entirety, we have studied and identi ed the overall system parameters and illustrated a complete strategy that can be used to deal with the problems in our speci c case study. In the case of the design framework, we have formulated a complete control strategy and made use of a controlled antenna when the exible-beam sensor comes into contact with objects. This document presents the multiple experiments used to validate all the model assumptions and methods proposed by means of realistic case studies. We have shown the applicability of our design and control as regards exible beam-based sensors and the perception of haptics. The principal features outlined in this thesis are described below: Firstly, we have described the main literature review and framework of the thesis, in addition to providing a short review of the modelling and control of exible beams in order to explain the aims of the thesis and our solution approaches. We have also summarised current literature related to examples of similar beam applications and bio-mimetic active sensors. Secondly, we have introduced a simple mechanism specially designed to have a single vibration mode which may be similar in function to some sensory systems present in nature. However, no e ort is made to attempt to mimic the physical characteristic of natural sensory systems in this work. Thirdly, a complete design that uses a basic computer system has been designed, along with all the necessary software, hardware and sensory system for the complete application. The communication hardware of the interfaces and platform algorithms, such as input/output signals and the communication algorithm, have been designed in order to obtain a suitable sampling time for the entire system. Fourthly, this study proposes a reduced dynamic model of the system and this model has then been used as a basis for the study of a complete control method. We have argued that active sensing should consider the controlled movement of the vibrissal shaft as a characteristic feature of the system and described a vibration-free method and a movement strategy. Fifthly, we have experimentally validated the proposed dynamics and control methods, and have found both the model and assumptions to be valid. Simulations with which to guide many of our designs and proposed methods have also been presented. Finally, illustrative examples of the antenna touching an object have been performed as realistic study cases based on the applicability of the proposed methods when the antenna follows a trajectory.
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