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 Underactuated Mechanical Nonminimum-Phase Systems. Analysis and Control
Наименование:

Underactuated Mechanical Nonminimum-Phase Systems. Analysis and Control

автор Philippe M. издательство Книга по Требованию Прочие виды транспорта
Cтраниц 100        мягкая обложка       
Аннотация:This thesis establishes the formal link between nonminimum phase and underactuation and proposes suitable control techniques. Two-link underactuated mechanical systems without friction are shown to be nonminimum phase for those outputs that i) correspond to an arbitrary combination of the coordinates, and ii) are small-time locally controllable. On the control side, the forces present in these systems are separated into two categories, namely the actuator forces (direct effect of the input), and the state-dependent forces (integral effect of the input) such as gravity, Coriolis, centrifugal and possibly aerodynamic forces. The first scheme neglects the direct influence of the input, leading to a minimum-phase, flat approximation. The second strategy does not neglect the nonminimum-phase part but rather transforms it into a delay. These schemes are illustrated on a two-degree-of-freedom helicopter termed the Toycopter. In this system, the aerodynamic force is manipulated by changing the propeller rotation speed while maintaining the angle of attack constant. Underactuated mechanical systems have fewer independent actuators than the number of degrees of freedom.
Автор: Philippe M.
Издательство: Книга по Требованию
Год:2009
Цена:
1996 руб
Нет в наличии
Поиск: Underactuated Mechanical Nonminimum-Phase Systems. Analysis and Control
НОВЫЙ ГОД СИМВОЛ 2013 ГОДАУКРАШЕНИЯ
КАРНАВАЛ НА НОВЫЙ ГОД РАСПРОДАЖА
Ортомолекулярная медицина Orthomol Устрание причин заболеваний. Ортомоль это новый метод для лечения и профилактики болезней. Orthomol - ортомолекулярная медицина.
Технология PLC (Power Line Communication)

В случае же ортогонального частотно-разделенного мультиплексирования (OFDM), центры поднесущих частот размещены так, что пик каждого последующего сигнала совпадает с нулевым значением предыдущих (рис.3). Такое размещение позволяет более эффективно использовать доступную полосу частот. Перед тем как отдельные поднесущие частоты будут объединены в один сигнал, они претерпевают фазовую модуляцию (рис.4), каждая -- своей последовательностью бит. После этого все они проходят через PowerPacke e gi e и собираются в единый информационный пакет, который еще называют OFDM-symbol. На рисунке 5 приведен пример относительной квадратурной фазовой манипуляции (DQPSK - Differe ial Quadra ure Phase Shif Keyi g) на каждой из 4-х поднесущих частот в диапазоне 4-5 МГц. Реально в технологии Powerli e используются 84 поднесущие частоты в диапазоне 4-21 МГц (рис.6). Теоретическая скорость передачи данных при использовании параллельных потоков с одновременным фазовым модулированием сигналов составляет более 100 Мб/с. Адаптация к физической среде, устранение ошибок и разрешение конфликтов. При передаче сигналов по бытовой сети электропитания могут возникать большие затухания в передающей функции на определенных частотах, что приведет к потере данных (рис. 7).] В технологии Powerli e предусмотрен специальный метод решения этой проблемы -- динамическое выключение и включение передачи сигнала (dy amically ur i g off a d o da a-carryi g sig als).
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