On nonlinear dynamics and control of a robotic arm with chaos

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Numerical and experimental investigation of a vibration system with non-ideal vibration source

An excitation force that is not influenced by the system's states is said to be an ideal energy source. In real situations, a direct and feedback coupling between the excitation source and the system must always exist. This manifestation of the law of conversation of energy is known as Sommerfeld Effect. In the case of obtaining a mathematical model for such system, additional equations are usually necessary to describe the vibration sources and their coupling with the mechanical system. In this work, a cantilever beam and a non-ideal electric DC motor that is fixed to the beam free end is analyzed. The motor has an unbalanced mass that provides excitation to the system proportional to the current applied to the motor. During the motor's coast up operation, as the excitation frequency gets closer to the beam first natural frequency and if the drive power increases further, the DC motor speed remains constant until it suddenly jumps to a much higher value (simultaneously the vibration amplitude jumps to a much lower value) upon exceeding a critical input power. It was found that the Sommerfeld effect depends on some system parameters and the motor operational procedures. These parameters are explored to avoid the resonance capture in Sommerfeld effect. Numerical simulations and experimental tests are used to help insight this dynamic behavior.

Evaluation of effective nucleon-nucleon potential and description of α-cluster type nuclei in restricted dynamics approach

The application of the Restricted Dynamics Approach in nuclear theory, based on the approximate solution of many-particle Schrödinger equation, which accounts for all conservation laws in many-nucleon system, is discussed. The Strictly Restricted Dynamics Model is used for the evaluation of binding energies, level schemes, E2 and Ml transition probabilities as well as the electric quadrupole and magnetic dipole momenta of light a-cluster type nuclei in the region 4 ≤ A ≤ 40. The parameters of effective nucleonnucleon interaction potential are evaluated from the ground state binding energies of doubly magic nuclei 4He, 16O and 40Ca.

Nonlinear ball and beam control system identification

The Ball and Beam system is a common didactical experiment in control laboratories that can be used to illustrate many different closed-loop control techniques. The plant itself is subjected to many nonlinear effects, which the most common comes from the relative motion between the ball and the beam. The modeling process normally uses the lagrangean formulation. However, many other nonlinear effects, such as non-viscous friction, beam flexibility, ball slip, actuator elasticity, collisions at the end of the beam, to name a few, are present. Besides that, the system is naturally unstable. In this work, we analyze a subset of these characteristics, in which the ball rolls with slipping and the friction force between the ball and the beam is non-viscous (Coulomb friction). Also, we consider collisions at the ends of the beam, the actuator consists of a (rubber made) belt attached at the free ends of the beam and connected to a DC motor. The model becomes, with those nonlinearities, a differential inclusion system. The elastic coefficients of the belt are experimentally identified, as well as the collision coefficients. The nonlinear behavior of the system is studied and a control strategy is proposed.

Application of Volterra series in nonlinear mechanical system identification and in structural health monitoring problems

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)