The goal of the project is to investigate the influence of elastic mechanisms on technical, bipedal locomotion. In particular, the paper presents the parameter identification for a biologically inspired two-legged robot model. The simulation model consists of a rigid body model equipped with rubber straps. The arrangement of the rubber straps is based on the arrangement of certain muscle groups in a human being. The parameters of the elastic elements are identified applying numerical optimisation. Thus two optimisation algorithms are investigated and compared with respect to robustness and computing time. Moreover, different objective functions are defined and discussed. The behaviour of the resulting configuration of the system is explored in terms of biomechanics.
The optimal design of excitation signal is a procedure of generating an informative input signal to extract the model parameters with maximum pertinence during the identification process. The fractional calculus provides many new possibilities for system modeling based on the definition of a derivative of noninteger-order. A novel optimal input design methodology for fractional-order systems identification is presented in the paper. The Oustaloup recursive approximation (ORA) method is used to obtain the fractional-order differentiation in an integer order state-space representation. Then, the presented methodology is utilized to solve optimal input design problem for fractional-order system identification. The fundamental objective of this approach is to design an input signal that yields maximum information on the value of the fractional-order model parameters to be estimated. The method described in this paper was verified using a numerical example, and the computational results were discussed.
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A crucial feature in health monitoring of already existing structures is to be seen particularly in identifying their topical internal structural parameters and controlling their remaining bearing capacity in the course of ageing processes. This is commonly carried out by measuring the deformations/strains caused by test-loading and calculating the parameters on the basis of the metered data.
In the case of elastic response of materials, the information on the parameters is directly related to the time of measurement; in the case of visco-elastic response, however, the history of the time-depending structural response during the period between initial loading and initiating the test-measurements is generally unknown. The problem exists, then, to separate the superimposed strains due to the existing state and to the test-load. For solving the problem, at first the relevant relations between stress/strain and the visco-elastic parameters are considered. Then a procedure will be described how to determine the strain state owing to the test-load only and to calculate the relevant parameters as functions of time. According to the principle of time-shift invariance, the results describe the time-depending response of the viscoelastic material, no matter at which time the loads are applied.
The presented method will be illustrated by two simple but instructive examples.
Despite the ever-increasing computational power of modern processors, the reduction of complex multibody dynamic models remains an important topic of investigation, particularly for design optimization, sensitivity analysis, parameter identification, and controller tuning tasks, which can require hundreds or thousands of simulations. In this work, we first develop a high-fidelity model of a production sports utility vehicle in Adams/Car. Single-link equivalent kinematic quarter-car (SLEKQ, pronounced “sleek”) models for the front and rear suspensions are then developed in MapleSim. To avoid the computational complexity associated with introducing bushings or kinematic loops, all suspension linkages are lumped into a single unsprung mass at each corner of the vehicle. The SLEKQ models are designed to replicate the kinematic behaviour of a full suspension model using lookup tables or polynomial functions, which are obtained from the high-fidelity Adams model in this work. The predictive capability of each SLEKQ model relies on the use of appropriate parameters for the nonlinear spring and damper, which include the stiffness and damping contributions of the bushings, and the unsprung mass. Homotopy optimization is used to identify the parameters that minimize the difference between the responses of the Adams and MapleSim models. Finally, the SLEKQ models are assembled to construct a reduced 10-degree-of-freedom model of the full vehicle, the dynamic performance of which is validated against that of the high-fidelity Adams model using four-post heave and pitch tests.
Long transmission lines have to be compensated to enhance the transport of active power. But a wrong design of the compensation may lead to subsynchronous resonances (SSR). For studies often park equivalent circuits are used. The parameters of the models are often determined analytically or by a three-phase short-circuit test. Models with this parameters give good results for frequencies of 50 Hz and 100 Hz resp. 60 Hz and 120 Hz. But SSR occurs at lower frequencies what arises the question of the reliability of the used models. Therefore in this publication a novel method for the determination of Park equivalent circuit parameters is presented. Herein the parameters are determined form time functions of the currents and the electromagnetic moment of the machine calculated by transient finite-element simulations. This parameters are used for network simulations and compared with the finite-element calculations. Compared to the parameters derived by a three-phase short-circuit a significant better accuracy of simulation results can be achieved by the presented method.
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