Journal articles: 'Dynamical Electromechanical System'

1

He, Xiang Xin, Jian Guo Li, and Yue Hua Pang. "Modeling and Simulation of Electromechanical Coupling Dynamics for Permanent Magnet Synchronous AC Servomotor." Advanced Materials Research 418-420 (December 2011): 2106–9. http://dx.doi.org/10.4028/www.scientific.net/amr.418-420.2106.

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Lagrange-Maxwell equations and Park transform are adopted based on electrical and mechanical energy equations consisting of servomotor parameters. Lagrange-Maxwell equations are transformed from three-phase stator reference coordinates to two-phase rotor reference coordinates. Electromechanical coupling dynamics equations of permanent magnet synchronous servomotor in two-phase reference coordinates are obtained. In this dynamical modeling method of electromechanical coupling system, to establish dynamical differential equations needs to measure amplitude of the flux induced by the permanent magnets and the winding's inductance in dq0 reference of the motor but needs not to measure the size of magnetic circuit. The equations deduced is terse, efficient, and the equations easy to use. Electromechanical coupling dynamics system, servomotor is simulated. Simulation results show that the electromechanical coupling dynamics equations deduced for servomotor are correct, and current control schemes are reasonable.

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Mejia Salazar, Carlos Enrique, and Julián Esteban Rendón Roldán. "Fractional order modeling of a nonlinear electromechanical system." Enfoque UTE 9, no. 4 (2018): 45–56. http://dx.doi.org/10.29019/enfoqueute.v9n4.398.

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This paper presents a novel modeling technique for a VTOL electromechanical nonlinear dynamical system, based on fractional order derivatives. The proposed method evaluates the possible fractional differential equations of the electromechanical system model by a comparison against actual measurements and in order to estimate the optimal fractional parameters for the differential operators of the model, an extended Kalman filter was implemented. The main advantages of the fractional model over the classical model are the simultaneous representation of the nonlinear slow dynamics of the system due to the mechanical components and the nonlinear fast dynamics of the electrical components.

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Chelidze, David, and Joseph P. Cusumano. "A Dynamical Systems Approach to Failure Prognosis." Journal of Vibration and Acoustics 126, no. 1 (2004): 2–8. http://dx.doi.org/10.1115/1.1640638.

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In this paper, a previously published damage tracking method is extended to provide failure prognosis, and applied experimentally to an electromechanical system with a failing supply battery. The method is based on a dynamical systems approach to the problem of damage evolution. In this approach, damage processes are viewed as occurring in a hierarchical dynamical system consisting of a “fast,” directly observable subsystem coupled to a “slow,” hidden subsystem describing damage evolution. Damage tracking is achieved using a two-time-scale modeling strategy based on phase space reconstruction. Using the reconstructed phase space of the reference (undamaged) system, short-time predictive models are constructed. Fast-time data from later stages of damage evolution of a given system are collected and used to estimate a tracking function by calculating the short time reference model prediction error. In this paper, the tracking metric based on these estimates is used as an input to a nonlinear recursive filter, the output of which provides continuous refined estimates of the current damage (or, equivalently, health) state. Estimates of remaining useful life (or, equivalently, time to failure) are obtained recursively using the current damage state estimates under the assumption of a particular damage evolution model. The method is experimentally demonstrated using an electromechanical system, in which mechanical vibrations of a cantilever beam are dynamically coupled to electrical oscillations in an electromagnet circuit. Discharge of a battery powering the electromagnet (the “damage” process in this case) is tracked using strain gauge measurements from the beam. The method is shown to accurately estimate both the battery state and the time to failure throughout virtually the entire experiment.

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Chedjou, J. C., K. Kyamakya, I. Moussa, H. P. Kuchenbecker, and W. Mathis. "Behavior of a Self-Sustained Electromechanical Transducer and Routes to Chaos." Journal of Vibration and Acoustics 128, no. 3 (2005): 282–93. http://dx.doi.org/10.1115/1.2172255.

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This paper studies the dynamics of a self-sustained electromechanical transducer. The stability of fixed points in the linear response is examined. Their local bifurcations are investigated and different types of bifurcation likely to occur are found. Conditions for the occurrence of Hopf bifurcations are derived. Harmonic oscillatory solutions are obtained in both nonresonant and resonant cases. Their stability is analyzed in the resonant case. Various bifurcation diagrams associated to the largest one-dimensional (1-D) numerical Lyapunov exponent are obtained, and it is found that chaos can appear suddenly, through period doubling, period adding, or torus breakdown. The extreme sensitivity of the electromechanical system to both initial conditions and tiny variations of the coupling coefficients is also outlined. The experimental study of̱the electromechanical system is carried out. An appropriate electronic circuit (analog simulator) is proposed for the investigation of the dynamical behavior of the electromechanical system. Correspondences are established between the coefficients of the electromechanical system model and the components of the electronic circuit. Harmonic oscillatory solutions and phase portraits are obtained experimentally. One of the most important contributions of this work is to provide a set of reliable analytical expressions (formulas) describing the electromechanical system behavior. These formulas are of great importance for design engineers as they can be used to predict the states of the electromechanical systems and respectively to avoid their destruction. The reliability of the analytical formulas is demonstrated by the very good agreement with the results obtained by both the numeric and the experimental analysis.

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LIU, Shuang. "Dynamical Bifurcation Study on Electromechanical Coupling Vibration in Rolling Mill’s Drive System." Journal of Mechanical Engineering 46, no. 03 (2010): 83. http://dx.doi.org/10.3901/jme.2010.03.083.

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Notué Kadjie, A., P. R. Nwagoum Tuwa, and Paul Woafo. "An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control." Shock and Vibration 2017 (2017): 1–13. http://dx.doi.org/10.1155/2017/3979384.

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The authors numerically investigate the dynamics and control of an electromechanical robot arm consisting of a pendulum coupled to an electrical circuit via an electromagnetic mechanism. The analysis of the dynamical behavior of the electromechanical device powered by a sinusoidal power source is carried out when the effects of the loads on the arm are neglected. It is found that the device exhibits period-n T oscillations and high amplitude oscillations when the electric current is at its smallest value. The specific case which considers the effects of the impulsive contact force caused by an external load mass pushed by the arm is also studied. It is found that the amplitude of the impulse force generates several behaviors such as jump of amplitude and distortions of the mechanical vibration and electrical signal. For more efficient functioning of the device, both piezoelectric and adaptive backstepping controls are applied on the system. It is found that the control strategies are able to mitigate the signal distortion and restore the dynamical behavior to its normal state or reduce the effects of perturbations such as a short time variation of one component or when the robot system is subject to noises.

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Blokhin, Aleksandr, Sergey Dobryaev, Aleksandr Plekhov, and Vladimir Titov. "Electromechanical Complex of Test Loading Stand of Multistage Transmissions with Automatic Control." Applied Mechanics and Materials 763 (May 2015): 78–85. http://dx.doi.org/10.4028/www.scientific.net/amm.763.78.

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We investigated the modes of operation of the drive and loading electromechanical systems of the test loading stand, which provides necessary motion trajectories and changes loads of steps in transmission with command and automatic control. We revealed the factors that determine accuracy and dynamic properties of the controlled dynamical system with elastic mechanical constraints. We proposed system structures of energy-saving power consumption in the node connecting the stand to the electrical network.

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Saka, Takashi. "Strain analysis in Si micro-electromechanical systems by dynamical X-ray diffraction." Journal of Applied Crystallography 45, no. 3 (2012): 496–502. http://dx.doi.org/10.1107/s0021889812008953.

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Long-range strain in nearly perfect crystalline materials can be detected by dynamical X-ray diffraction. Long-range strain due to uniform bending or torsion is undetectable by conventional methods when the specimen is vertical in a symmetrical Laue setting, but it can be detected by rotating the specimen along the scattering vector. This method is applied to Si devices for a resonating torsion mirror in a micro-electromechanical system. X-ray transmission topography clearly reveals local strain concentrations as enhancements or reductions in the diffraction intensity where non-uniform strain exists. In conjunction with reflection plane-wave topography, a model of local strain is proposed and the strain qualitatively analysed.

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Rincon, Carlos, Jorge Alencastre, and Richard Rivera. "Analytical Modelling of an Active Vibration Absorber for a Beam." Mathematics 11, no. 9 (2023): 2009. http://dx.doi.org/10.3390/math11092009.

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Attenuation of mechanical vibrations is an ongoing field of research in engineering aiming at reducing damage and improving performance in the presence of dynamical forces. Different alternatives have been proposed over time; the active vibration absorber can be highlighted as an alternative which can absorb the vibration from system in real time. In this study, an active vibration absorber was modelled as an electromechanical device. It was applied to a cantilever beam, mathematically modelled as a continuous beam. A set of differential equations representing the dynamical behaviour of the cantilever beam and active vibration absorber was obtained and it was simulated in Matlab Simulink®. Results indicated that the active vibration absorber is able to significantly reduce the vibration amplitudes of a system, especially in resonance conditions. The analytical model and procedure developed here can easily spread to any more complex system.

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Diop, A. D., C. Nichita, J. J. Belhache, B. Dakyo, and E. Ceanga. "Error Evaluation for Models of Real Time Wind Turbine Simulators." Wind Engineering 24, no. 3 (2000): 203–21. http://dx.doi.org/10.1260/0309524001495567.

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This paper deals with errors inherent in modelling wind turbine simulators. Firstly, different wind turbine simulators are categorised. The work concerns simulators having a real-time soft simulator and an electromechanical tracking system, using any type of servomotor 15–17. Having presented the wind turbine linearised models, with respect to types of servomotor control (in speed or in torque), an analysis is made of simulator mathematical models and simulation performance evaluation, according to the dynamical behaviour of the electromechanical tracking systems. Next, the simulator performances calculation is presented, followed by a simulation error analysis for some particular cases, in order to highlight the differences between the speed and torque control structures. Finally, a servomotor choice principle is established, illustrated by numerical results obtained with the servomotor of a real time wind turbine simulator.

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Maciel, Gabriel Pedro Ramos, and Roberto Spinola Barbosa. "An Error Bound for Low Order Approximation of Dynamical Systems Subjected to Initial Conditions." TEMA (São Carlos) 19, no. 2 (2018): 197. http://dx.doi.org/10.5540/tema.2018.019.02.197.

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In recent years, a great effort has been taken focused on the development of reduced order modeling techniques of dynamical systems. This necessity is pushed by the requirement for efficient numerical techniques for simulations of dynamical systems arising from structural dynamics, controller design, circuit simulation, fluid dynamics and micro electromechanical systems.We introduce a method to calculate the minimum upper $\mathcal{L}_2$ error bound of a linear time invaritant reduced order model considering any possible unitary initial conditions (IC). As a consequence, the proposed method calculates the unitary IC vector which leads to the maximum $\mathcal{L}_2$ norm of the error. Based on this error bound, it is discussed the capacity of a reduced order system to approximate the free transient response in the worst case scenario.

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Chelidze, David, Joseph P. Cusumano, and Anindya Chatterjee. "A Dynamical Systems Approach to Damage Evolution Tracking, Part 1: Description and Experimental Application." Journal of Vibration and Acoustics 124, no. 2 (2002): 250–57. http://dx.doi.org/10.1115/1.1456908.

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In this two-part paper we present a novel method for tracking a slowly evolving hidden damage process responsible for nonstationarity in a fast dynamical system. The development of the method and its application to an electromechanical experiment is the core of Part 1. In Part 2, a mathematical model of the experimental system is developed and used to validate the experimental results. In addition, an analytical connection is established between the tracking method and the physics of the system based on the idea of averaging and the slow flow equations for the hidden process. The tracking method developed in this study uses a nonlinear, two-time-scale modeling strategy based on the delay reconstruction of a system’s phase space. The method treats damage-induced nonstationarity as evolving in a hierarchical dynamical system containing a fast, directly observable subsystem coupled to a slow, hidden subsystem. The utility of the method is demonstrated by tracking battery discharge in a vibrating beam system with a battery-powered electromagnetic restoring force. Applications to systems with evolving material damage are also discussed.

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Luo, Haitao, Huadong Li, Xingyuan Wu, Guangming Liu, and Wei Zhang. "Dynamic Modeling and Active Vibration Control of Piezoelectric Laminated Structure Based on Macrofiber Composite." Structural Control and Health Monitoring 2024 (April 20, 2024): 1–24. http://dx.doi.org/10.1155/2024/8826434.

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In this paper, a ground-based experimental system for solar array active vibration suppression has been established. Firstly, in order to establish an accurate model of the solar array, the solar array is regarded as a flexible cantilevered thin plate, and the corresponding dynamical equations are derived using the absolute nodal coordinate method. In addition, in this paper, the more advanced MFC piezoelectric patch is used instead of the traditional PZT piezoelectric ceramic patch. The electromechanical coupling finite element model of the P1-type MFC patch is established and substituted into the kinetic equation of the solar array. Finally, the accuracy of the electromechanical coupling modeling and the control effect of active vibration suppression were verified using the PID control. A set of experimental frameworks for evaluating the active vibration suppression effect, including the free vibration test, sinusoidal perturbation test, and white noise perturbation test, as well as the analysis strategy of the test data, are established.

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Jiang, Qiang, Hong Yi Liu, Jian Jun Hao, and Yue Cheng. "Ratio Control Strategy for an Electromechanical Continuously Variable Transmission Based on Engine Models." Advanced Materials Research 291-294 (July 2011): 2861–65. http://dx.doi.org/10.4028/www.scientific.net/amr.291-294.2861.

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Electromechanical control CVT (EM-CVT) is a new type of continuously variable transmission, and its ratio quality is an important parameter validated the performance of vehicle. In order to study the dynamical coupling technology between EM-CVT and engine under the running state of vehicle, the special character of two working models is obtained by engine experiment; according to the principle of the EM-CVT, the relation between vehicle speed and ration is theoretically analyzed. Based on the basic theory of PID control, the improved PID control algorithm is proposed for the speed ratio control of the EM-CVT, and experimental verification is made. The experimental results show that there is a significant effect on the system with this algorithm.

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Boiadjiev, George, Vladimir Kotev, Kamen Delchev, and Toni Boiadjiev. "Modeling and Development of a Robotized Hand-Hold Bone Cutting Device." Applied Mechanics and Materials 300-301 (February 2013): 479–83. http://dx.doi.org/10.4028/www.scientific.net/amm.300-301.479.

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Many surgical operations such as Total knee arthroplasty (TKA) and Total hip arthroplasty (THA) as well as bone fracture reposition require bone cutting manipulations. We have been developing a two degree of freedom robotized bone cutting hand-hold device. It is intended to execute cutting operation in order to avoid problems as accuracy errors, overheating and to obtain smooth bone surface. Surgeons have to orientate and hold the cutting robot, maintaining the contact with the bone during the operation all the time while the device executes manipulation automatically. Dynamical model based on graph theory and the orthogonally principle is derived for considered electromechanical system. Design of the mechanical part of bone cutting robotized device is provided

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Zhu, Yinfei, Han Zhao, Hao Sun, Shengchao Zhen, and Zicheng Zhu. "Robust control design of electric helicopter tail reduction system: Fuzzy and optimal view." Journal of Vibration and Control 26, no. 9-10 (2020): 814–29. http://dx.doi.org/10.1177/1077546319889852.

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The optimal robust control with a fuzzy approach is applied to design the electric helicopter tail reduction system in this article. Firstly, the fuzzy dynamical model of the electric helicopter tail reduction system with uncertainties and external disturbances is established, which may be time varying. Then, we propose a deterministic robust controller (differing from IF-THEN rules in traditional fuzzy control) to solve the uncertain problem in electric helicopter tail reduction systems. The electromechanical system with the proposed controller is proved to be stable via the Lyapunov function. The control gain with an optimal design is considered, which minimizes a fuzzy performance index associated with both the control error and the control cost. Furthermore, simulations compared with linear-matrix-inequality control are made to validate the effectiveness and stability of the optimal robust controller. All results show that the performance of the fuzzy electric helicopter tail reduction system can be always guaranteed by this optimal robust control approach.

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WU, Jianxin. "Dynamical modeling and computation on electromechanical coupling system of grain reshaping machine tool for solid propellant rocket motor." Chinese Journal of Mechanical Engineering 44, no. 03 (2008): 110. http://dx.doi.org/10.3901/jme.2008.03.110.

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Lozynskyy, Orest, Yuriy Biletskyi, Andriy Lozynskyy, Volodymyr Moroz, and Lidiya Kasha. "Construction of open-loop electromechanical system fundamental matrix and its application for calculation of state variables transients." Energy engineering and control systems 6, no. 2 (2020): 110–19. http://dx.doi.org/10.23939/jeecs2020.02.110.

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The article considers the methods of calculating the transition matrix of a dynamic system, which is based on the transient matrix representation by the matrix exponent and on the use of the system signal graph. The advantages of the transition matrix calculating using a signal graph are shown. The application of these methods to find the transition matrix demonstrated on the simple electromechanical system example. It is shown that the expression for the transition matrix as a matrix exponent completely corresponds to the expression found by means of the inverse matrix and based on the use of the signal graph. The transient matrix of a dynamical system thus found as a matrix exponent can be used to analyze processes in a system that is described by differential equations with integer derivatives. The formation of a transient matrix for the analysis of system processes, which is described by equations with fractional derivatives, is also considered. It is shown that the description of processes in systems with fractional derivatives based on the transient matrix and the representation of the fractional derivative in the form of Caputo-Fabrizio makes it possible to study coordinate transients without approximations in the description of the fractional derivative.

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Al-Baidhani, Humam, and Marian K. Kazimierczuk. "Design and Implementation of Digital PID Control for Mass-Damper Rectilinear Systems." Mathematics 12, no. 18 (2024): 2921. http://dx.doi.org/10.3390/math12182921.

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The mechanical systems were modeled using various combinations of mass-damper-spring elements to analyze the system dynamics and improve the system stability. Due to the marginal stability property of the mass-damper rectilinear system, a proper control law is required to control the mass position accurately, improve the relative stability, and enhance the dynamical response. In this paper, a mathematical model of the electromechanical system was first derived and analyzed. Next, a digital PID controller was developed based on the root locus technique, and a systematic design procedure is presented in detail. The proposed digital control system was simulated in MATLAB and compared with other control schemes to check their tracking performance and transient response characteristics. In addition, the digital PID control algorithm of the mass-damper rectilinear system was implemented via dSPACE platform to investigate the real-time control system performance and validate the control design methodology. It has been shown that the digital PID controller yields zero percentage overshoot, fast transient response, adequate stability margins, and zero steady-state error.

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Pietrala, Mateusz, Piotr Leśniewski, and Andrzej Bartoszewicz. "Sliding Mode Control with Minimization of the Regulation Time in the Presence of Control Signal and Velocity Constraints." Energies 14, no. 10 (2021): 2887. http://dx.doi.org/10.3390/en14102887.

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In this paper, the design of the terminal continuous-time sliding mode controller is presented. The influence of the external disturbances is considered. The robustness for the whole regulation process is obtained by adapting the time-varying sliding line. The representative point converges to the demand state in finite time due to the selected shape of the nonlinear switching curve. Absolute values of control signal, system velocity and both of these quantities are bounded from above and considered as system constraints. In order to evaluate the dynamical performance of the system, the settling time is selected as a quality index and it is minimized. The approach presented in this paper is particularly suited for systems in which one state (or a set of states) is the derivative of the other state (or a set of states). This makes it applicable to a wide range of electromechanical systems, in which the states are the position and velocity of the mechanical parts.

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Tajik, Fatemeh, and George Palasantzas. "Dynamical Sensitivity of Three-Layer Micro Electromechanical Systems to the Optical Properties of the Intervening Liquid Layer." Physics 5, no. 4 (2023): 1081–93. http://dx.doi.org/10.3390/physics5040070.

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Here, we investigate the actuation dynamics of a micro device with different intervening liquids between the actuating components under the influence of Casimir and dissipative hydrodynamic forces. This is enabled via phase space portraits, which demonstrate that by increasing the dielectric response of the intervening layer the autonomous device may not come into stiction due to the decreasing in magnitude Casmir force. Unlike the micro devices that are placed in vacuum with an intervening liquid, the phase portraits show only a spiral trajectory which eventually stops at a rest position due to the strong energy dissipation by the position dependent hydrodynamic drag forces, even when considering sufficiently strong restoring forces. Moreover, it is feasible to expand the area of motion using intervening liquids with lower dynamic viscosity or increasing the slip length of the intervening fluid. Finally, under the influence of an external driven force, which is the realistic case for possible applications, the system can reach stable oscillation at larger separations with an amplitude higher for the liquid that led to lower Casimir and hydrodynamic forces. Hence, the results presented in this study are essential for studying the dynamical behavior of MEMS and their design in liquid environments.

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Abdelraouf, M. E., A. Kandil, W. K. Zahra, and A. Elsaid. "Investigation of a MEMS resonator model with quintic nonlinearity." Journal of Physics: Conference Series 2793, no. 1 (2024): 012019. http://dx.doi.org/10.1088/1742-6596/2793/1/012019.

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Abstract Micro-electromechanical system (MEMS) resonator is decidedly utilized in a diversity of areas, including time referencing, movement sensing, signal filtration, mass detecting, and further numerous applications. The aim of this article is to use the multiple scales approach to derive analytical formulas for MEMS resonator vibration response. The properties of the complicated nonlinear system at various AC and DC voltages are investigated to be extremely well captured by modeling the dynamics of the micro-beam using multiple scales technique. The resulting Jacobian matrix eigenvalues are tested to verify the stability ranges of these solutions; hence, the jump phenomenon that occurs in experimental performance is interpreted. To study the influence of resonator characteristics on the nonlinear dynamical behavior of such a beam, several response plots are presented. Finally, a numerical solution is obtained with the fourth order Rung-Kutta method to verify the studied model’s overall behavior.

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Jia, Wen Chuan, Xin Luo, Fang Yuan, Lei Zhou, and Wei Jiang. "Structural Feature-Based Model Templates Design for Ultra-Precision Positioning System." Advanced Materials Research 346 (September 2011): 272–79. http://dx.doi.org/10.4028/www.scientific.net/amr.346.272.

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Ultra-precision mechanism lies in the core of ultra-precision electromechanical equipment, and is characterized by direct electromagnetic driving, air bearing supporting and ultra-precise vibration-isolation, putting a great challenge on design methodology and tools. This paper presents a model template design method which can provide effective computer aided design and engineering tools for new system design by encapsulating the design methods and design experience of ultra-precision mechanism into series of design templates. The model template contains toolkits both for forward structural design applied to new systems, and for the analysis and optimization of existing systems, as well as mathematical model and visualization tool in physical domain. The model templates are encapsulated and assembled according to the dynamical parameters and specific design parameters. Using planar electromagnetic drive structure in ultra-precision positioning system as an example, this paper discusses the design scheme of structure’s model template in detail, and introduces fast calculation method for magnetic field and visualization program, as well as forward design method for electromagnetic coil structure. Fast scheme design and analysis for ultra-precision mechanism can be achieved by using design templates.

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Luo, Shaohua, Frank L. Lewis, Yongduan Song, and Roberto Garrappa. "Dynamical analysis and accelerated optimal stabilization of the fractional-order self-sustained electromechanical seismograph system with fuzzy wavelet neural network." Nonlinear Dynamics 104, no. 2 (2021): 1389–404. http://dx.doi.org/10.1007/s11071-021-06330-5.

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Jia, Lei, Jiankang Yang, Xiaojiao Gu, Ziliang Liu, and Xiaoying Ma. "Composite synchronization of three inductor motors with a circular distribution by a fuzzy proportional–integral–derivative method in a vibration system." Mechanical Sciences 14, no. 1 (2023): 143–58. http://dx.doi.org/10.5194/ms-14-143-2023.

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Abstract. In this article, the composite synchronization of three inductor motors with a circular distribution by a fuzzy PID (proportional–integral–derivative) method in a vibration system is investigated. The composite synchronization motion is comprised of self-synchronization and controlled synchronization motions. In the self-synchronization section, the electromechanical coupling dynamical model of the vibration system is established by introducing an inductor motor model into the dynamic model. The responses of the vibrating system are calculated, and the synchronous condition and stability criterion are both derived. With the controlled synchronization section, a master–slave controlling strategy and fuzzy PID method are applied on the controlling model. The stability of the control system is proved by the Lyapunov stability theory. A series of simulations are employed to demonstrate the practicability of the designed method. Finally, some experiments are conducted to verify the effectiveness of the proposed control method in practical application. The proposed control method exhibits a superior ability to satisfy the control of multiple motors, to be accurate in targeting the rotational speed arrival, and to be strongly robust against uncertainties and disturbances. The composite synchronization theory introduces a novel concept to design and develop types of vibration equipment.

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Ramirez-Laboreo, Edgar, Eduardo Moya-Lasheras, and Carlos Sagues. "Design of a perfect-tracking soft-landing controller for electromagnetic switching devices." Nonlinear Dynamics 111 (September 9, 2022): 427–38. https://doi.org/10.1007/s11071-022-07853-1.

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Electromagnetic switching devices such as electromechanical relays and solenoid valves suffer from impacts and mechanical wear when they are activated using a constant-voltage policy. This paper presents a new control approach that aims at achieving soft landing in these devices, i.e., a movement without neither impacts nor bouncing. The hybrid nonlinear dynamics of the system is firstly described taking into account the limited range of motion that characterizes this class of devices. Then, the nonlinear expression of the control law is derived and a method to design a soft-landing reference trajectory is proposed. It is shown that, when certain conditions are met, the design methodology presented in the paper results in a controller that achieves perfect tracking of the reference trajectory and, hence, soft landing is accomplished. The theoretical analysis is validated by simulation using a dynamical model of a specific switching device.

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Chen, Siyuan, Laijun Chen, Sen Cui, Hanchen Liu, Wei Wei, and Shengwei Mei. "Electromechanical modeling of advanced adiabatic compressed air energy storage system compressed charging unit: Incorporating compressor dynamical performance under variable operating conditions." Applied Energy 389 (July 2025): 125739. https://doi.org/10.1016/j.apenergy.2025.125739.

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Mescheder, Ulrich, Michael Lootze, and Khaled Aljasem. "Evaluation and Optimization of a MOEMS Active Focusing Device." Micromachines 12, no. 2 (2021): 172. http://dx.doi.org/10.3390/mi12020172.

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In this paper we present a detailed evaluation of a micro-opto-electromechanical system (MOEMS) for active focusing which is realized using an electrostatically deformed thin silicon membrane. The evaluation is done using finite element methods and experimental characterization of the device behavior. The devices are realized in silicon on insulator technology. The influence of internal stress especially resulting from the high compressive buried oxide (BOX) layer is evaluated. Additionally, the effect of stress gradients in the crystalline device layer and of high reflective coatings such as aluminum is discussed. The influence of variations of some important process steps on the device performance is quantified. Finally, practical properties such as focal length control, long-term stability, hysteresis and dynamical response are presented and evaluated. The evaluation proves that the proposed membrane focusing device is suitable for high performance imaging (wavefront errors between λ/5–λ/10) with a large aperture (5 mm).

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Jia, Lei, Guohui Wang, Cheng Pan, Ziliang Liu, and Xin Zhang. "Controlled synchronization of a vibrating screen driven by two motors based on improved sliding mode controlling method." PLOS ONE 18, no. 11 (2023): e0294726. http://dx.doi.org/10.1371/journal.pone.0294726.

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With a requirement of miniaturization in modern vibrating screens, the vibration synchronization method can no longer meet the process demand, so the controlled synchronization method is introduced in the vibrating screen to achieve zero phase error state and realize the purpose of increasing the amplitude. In this article, the controlled synchronization of a vibrating screen driven by two motors based on improved sliding mode controlling method is investigated. Firstly, according to the theory of mechanical dynamics, the motion state of the vibrating screen is simplified as the electromechanical coupling dynamical model of a vibrating system driven by two inductor motors. And then the synchronization conditions and stability criterion of the vibrating system are derived and numerically analyzed. Based on a master-slave controlling strategy, the controllers of two motors are respectively designed with Super-Twisting sliding mode control (ST-SMC) and backstepping second-order complementary sliding mode control (BSOCSMC), while the uncertainty is estimated by an adaptive radial basis function neural network (ARBFNN). In addition, Lyapunov stability analysis is performed on the two controllers to prove their stability theoretically. Finally, simulation analysis is conducted based on the dynamics model in this paper.

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Jorge, Guillermo Calderón-Guizar, Ramírez-González Miguel, and Castellanos-Bustamante Rafael. "Identification of low frequency oscillation modes in large transmission systems." Revista Facultad de Ingeniería –redin-, no. 82 (March 16, 2017): 31–39. https://doi.org/10.17533/udea.redin.n82a04.

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There is a typical dynamical performance associated with every system. Oscillations are phenomena inherent to dynamical systems and the analysis of such phenomena is a fundamental issue for understanding the dynamical behavior of a particular system. Knowledge of the system natural modes, frequencies and its associated dampingratio, provide valuable information regarding the system performance after being subjected to a disturbance. Due to the operational requirements, topological changes in the transmission network of the electrical power systems are quite common. This causes modification in both frequency and damping values of the natural system modes. In the past, normal changes in the operating condition have kicked up undamped power oscillations in the Mexican system, thus assessing the damping of critical oscillation modes of the system is of utmost importance. This paper reports on the application of modal analysis and time domain simulations for computing and tracking the most dominant low frequency oscillations, also known as interarea modes, in the Mexican power system under different operating conditions. As a result, the most influential system variables on the low frequency oscillations have been identified

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Zhong, Xiang, Buyi Wang, Rong Li, Yimin Wu, Mengchao Ma, and Huaxia Deng. "Energy conversion mechanisms of a seesaw-type energy harvester." Journal of Physics D: Applied Physics 55, no. 25 (2022): 255002. http://dx.doi.org/10.1088/1361-6463/ac5941.

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Abstract Vibration energy harvesters with bistable characteristics, which can convert mechanical energy to electric energy, are typically cantilever beams with magnetic repulsion. In order to enhance their low-frequency performance, a seesaw-type approach has been proposed, which can make the structure overcome the potential barrier more easily. In this paper, we establish electromechanical coupling equations of the whole system, and prove that the internal beam delivers mechanical energy to the primary beam based on time-domain analysis. Meanwhile, frequency-domain analysis and solutions are conducted to investigate the dynamical and electrical behaviors of the system based on the adjustment of different parameters. We find that both the mechanical and electrical responses are enhanced gradually with the decrease of the relative damping coefficient within the bounds of the discussion. And the maximum response amplitude can be increased by a factor of 11.3 just by adjusting the position of the internal beam. Furthermore, the length of the internal beam can affect the responses of the system visibly and regularly, and the maximum response amplitude remains unchanged when changing the length of the internal beam from 80 to 100 mm. All of this suggests that the mechanisms of a seesaw-type energy harvester will provide guidance for designing a more appropriate structure, depending on different applications.

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Tan, Dongli, Guicheng Ran, Guangling Xie, et al. "Effect of Different Technologies on Performance Enhancement of the Micro-Combustor for the Micro Thermophotovoltaic Application: A Review." Energies 14, no. 20 (2021): 6577. http://dx.doi.org/10.3390/en14206577.

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With the improvement and development of micro-mechanical manufacturing technology, people can produce an increasing variety of micro-electromechanical systems in recent years, such as micro-satellite thrusters, micro-sensors, micro-aircrafts, micro-medical devices, micro-pumps, and micro-motors. At present, these micro-mechatronic systems are driven by traditional energy power systems, but these traditional energy power systems have such disadvantages as short endurance time, large size, and low energy density. Therefore, efforts were made to study micro-energy dynamical systems with small size, light gravity, high density and energy, and long duration so as to provide continuous and reliable power for these systems. In general, the micro-thermal photoelectric system not only has a simple structure, but also no moving parts. The micro-thermal photoelectric system is a micro-energy power system with good application prospects at present. However, as one of the most important structural components of micro-thermal photoelectric systems, the microburner, is the key to realize the conversion of fuel chemical energy to electric energy in micro-thermal photoelectric system. The studies of how to improve the flame stability and combustion efficiency are very necessary and interesting. Thus, some methods to improve the performance of micro-burners were introduced and summarized systematically, hoping to bring some convenience to researchers in the field.

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Berri, Pier Carlo, Matteo D. L. Dalla Vedova, and Paolo Maggiore. "A Simplified Monitor Model for EMA Prognostics." MATEC Web of Conferences 233 (2018): 00016. http://dx.doi.org/10.1051/matecconf/201823300016.

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The complexity of aircraft systems is steadily growing, allowing the machine to perform an increasing number of functions; this can result in a multitude of possible failure modes, sometimes difficult to foresee and detect. A prognostic tool to identify the early signs of faults and perform an estimation of Remaining Useful Life (RUL) can allow adaptively scheduling maintenance interventions, reducing the operating costs and increasing safety [1-4]. A first step for the RUL estimation is an accurate Fault Detection & Identification (FDI) to infer the system health status, necessary to determine when the components will no more be able to match their requirements [5]. With a model-based approach, the FDI is a model-matching problem, intended to adjust a parametric Monitor Model (MM) to reproduce the response of the system. The MM shall feature a low computational cost to be executed iteratively on-board; at the same time, it shall be detailed enough to account for a several failure modes [6]. We propose the simplification of an Electromechanical Actuator (EMA) dynamical model [7] for model-based FDI, focusing on the BLDC motor and Power Electronics, which account for most the computational cost of the original high fidelity model.

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Deng, Peng-cheng, Lin Li, and Chao Li. "Study on vibration of mistuned bladed disk with bi-periodic piezoelectric network." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 231, no. 2 (2016): 350–63. http://dx.doi.org/10.1177/0954410016636916.

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The paper deals with the vibration suppression of a bladed disk structure with a piezoelectric network. The piezoelectric network without inductors has a different period (so-called bi-period) from that of the bladed disk. The research focuses on reducing amplified response or localized vibration, a phenomenon existing in bladed disks and induced by mistuning. The study is based on an electromechanical and cyclic-periodic lumped parameter model with two degrees of freedom per sector. Both mechanical mistuning and electrical mistuning have been taken into account. The modified modal assurance criterion is adopted to evaluate the ability of bi-periodic piezoelectric networks for suppressing vibration. The Monte Carlo simulation is used to calculate the modified modal assurance criterion of the system with random mistuning. To validate the numerical results, an experiment research is also carried out. In order to perform a comparison between numerical results and experimental results, the method of equivalent blisk model is introduced to identify the lumped parameters of the experimental model. In the experiment, traveling wave excitations are simulated as dynamical loads to excite the resonant vibration of coupling bladed disks in a rotating state. The results show that with a good design, the bi-periodic piezoelectric network can effectively suppress the amplified-forced-response due to the mistuning of the system, even though there are less piezoelectric patches and electric elements in the system compared to the system with piezoelectric shunt circuits.

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Biolek, Zdeněk, Dalibor Biolek, Viera Biolková, and Zdeněk Kolka. "Extended Higher-Order Elements with Frequency-Doubled Parameters: The Hysteresis Loops Are Always of Type II." Sensors 23, no. 16 (2023): 7179. http://dx.doi.org/10.3390/s23167179.

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Current MEMS (Micro Electro Mechanical Systems) can be modeled by state-dependent elements that exhibit hysteretic behavior. Examples include capacitors and inductors whose capacitances and inductances are dependent on the instantaneous state of the electromechanical system, resistors whose resistances exhibit temperature changes when the elements are actually heated, etc. Regardless of the physical background, such hysteresis manifestations can be studied uniformly in the broader framework of generic and extended higher-order elements, in which a classification of hysteretic loops into types I and II is established. The loop type is an important dynamical parameter of an element, having the potential to indicate, for example, its (in)volatility. Thus far, there is no reliable criterion to determine the type of steady loop from the defining relations of an element. This work reports on one special class of extended elements that produces type II loops under all circumstances. The paper presents hitherto unpublished connections between the frequency-doubling parameters of an element and the type of its hysteresis loop. The new findings are expressed by several theorems that allow the type of hysteresis to be inferred from the frequency behavior of the element parameter or state, and vice versa. These procedures are demonstrated with examples and verified by computer simulations.

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Meng, Qingheng, Yuanlin Zhang, Jin Wei, Yuh-Chung Hu, Yan Shi, and Tao Yu. "Dynamic Characteristics of Microring Driven by the Symmetrically Distributed Electrostatic Force." Complexity 2021 (February 4, 2021): 1–12. http://dx.doi.org/10.1155/2021/1926052.

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This paper aims at investigating the dynamic characteristics of a microring driven by dual arch electrodes because they are basic elements of microelectrostatic motors. The dual arch electrodes surround the periphery of the microring and are arranged symmetrically to the center of the ring. The electrodes are fixed while the microring is flexible. The electrostatic force will deform the microring, while the deflection of the microring changes the gap between the microring and the electrodes, thereby changing the electrostatic force. Therefore, this is an electromechanical coupling effect. The nonlinear partial-differential equation that governs the motion of the microring is derived based on thin shell theory. Then, based on the assumption of small deflection, the nonlinear governing equation is linearized by truncating the higher-order terms of the Taylor series expansion of the nonlinear electrostatic force. After that, the linearized governing equation is discretized into a set of ordinary differential equations using Galerkin method in which the mode shape functions of the ring are adopted. The influences of the structural damping of the microring and the span of the arch electrodes on the forced response and dynamical stabilities of the microring are investigated. The results show that the damping ratio has a great influence on the system instability during high-frequency excitation. The unstable region of the system can increase with the increase of the electrode span; the response amplitude can also be increased within a certain range.

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Wu, Kai, Kuo Lu, Qingsong Li, et al. "Analysis of Parametric and Subharmonic Excitation in Push-Pull Driven Disk Resonator Gyroscopes." Micromachines 12, no. 1 (2021): 61. http://dx.doi.org/10.3390/mi12010061.

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For micro-electromechanical system (MEMS) resonators, once the devices are fabricated and packaged, their intrinsic quality factors (Q) will be fixed and cannot be changed, which seriously limits the further improvement of the resonator’s performance. In this paper, parametric excitation is applied in a push-pull driven disk resonator gyroscope (DRG) to improve its sensitivity by an electrical pump, causing an arbitrary increase of the “effective Q”. However, due to the differential characteristics of the push-pull driving method, the traditional parametric excitation method is not applicable. As a result, two novel methods are proposed and experimentally carried out to achieve parametric excitation in the push-pull driven DRGs, resulting in a maximum “effective Q” of 2.24 × 106 in the experiment, about a 7.6 times improvement over the intrinsic Q. Besides, subharmonic excitation is also theoretically analyzed and experimentally characterized. The stability boundary of parametric excitation, defined by a threshold voltage, is theoretically predicted and verified by related experiments. It is demonstrated that, when keeping the gyroscope’s vibration at a constant amplitude, the fundamental frequency driving voltage will decrease with the increasing of the parametric voltage and will drop to zero at its threshold value. In this case, the gyroscope operates in a generalized parametric resonance condition, which is called subharmonic excitation. The novel parametric and subharmonic excitation theories displayed in this paper are proven to be efficient and tunable dynamical methods with great potential for adjusting the quality factor flexibly, which can be used to further enhance the resonator’s performance.

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Rejabov, Zaylobitdin Mamatovich. "Dynamic Models Of An Electromechanical Electric Drive System Of An Asynchronous Motor." American Journal of Engineering And Techonology 03, no. 04 (2021): 134–39. http://dx.doi.org/10.37547/tajet/volume03issue04-21.

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Asynchronous motors require its study not only in stationary modes, but also in dynamic ones. At the same time, this makes it possible to formulate the corresponding requirements for automatic control devices of a regulated IM, the implementation of which will ensure the optimal course of transient processes in the electric drive system; it requires its study not only in stationary modes, but also in dynamic ones. This simultaneously makes it possible to formulate the corresponding requirements for automatic control devices of variable IM, the implementation of which will ensure the optimal course of transient processes in the electric drive system The study of electromechanical transient modes requires a joint consideration and solution of the equations of equilibrium of electrical quantities in the windings of the machine and the equations of motion of an electric drive.

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Haas, Werner, and Kurt Schlacher. "Design of Dynamical Controllers for Electromechanical Hamiltonian Systems." IFAC Proceedings Volumes 33, no. 14 (2000): 763–68. http://dx.doi.org/10.1016/s1474-6670(17)36322-x.

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Zhao, Gang Ling, Li Qun Chen, and Jing Li Fu. "Lie Symmetries for Discrete Electromechanical Dynamical Systems with Irregular Lattices." Applied Mechanics and Materials 138-139 (November 2011): 267–72. http://dx.doi.org/10.4028/www.scientific.net/amm.138-139.267.

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In this article, we study Lie symmetries and conservation laws of the discrete electromechanical dynamical systems with irregular lattices. The Lagrange-Maxwell equation and transformation operators in the space of continuous and discrete variables are introduced, the determining equations and the structural equations of Lie symmetry theory are obtained under infinitesimal transformations with respect to generalized coordinates. Finally, we discuss an example to illustrate these results.

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Tchaban, Vasyl. "Motion dynamics of a multicharging system in an electric field." Computational Problems of Electrical Engineering 12, no. 2 (2022): 35–39. http://dx.doi.org/10.23939/jcpee2022.02.035.

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In electrotechnical research there is a problem of analysis of the interaction of moving charged bodies on their trajectories. Its practical solution is possible only on the basis of an adequate mathematical model. To this end, we have adapted the law of force interaction of stationary charges by Charles Coulomb in the case of motion at all possible speeds. This takes into account the finite rate of propagation of the electrical interaction. Differential equations of motion of a closed system of charged moving bodies in their electric field are obtained. On this basis, the transients in a three-charge proton-electron system are simulated, such as the electromechanical equilibrium of an atom of a periodic table of elements. The simulation results are attached.

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Chen, Kai, Jibin Hu, and Zengxiong Peng. "Analysis of torsional stability and the dynamical characteristics of electromechanical systems." Advances in Mechanical Engineering 9, no. 6 (2017): 168781401770207. http://dx.doi.org/10.1177/1687814017702079.

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Prydalnyi, Borys, and Heorhiy Sulym. "Identification of Analytical Dependencies of the Operational Characteristics of the Workpiece Clamping Mechanisms with the Rotary Movement of the Input Link." Acta Mechanica et Automatica 15, no. 1 (2021): 47–52. http://dx.doi.org/10.2478/ama-2021-0007.

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Abstract The research is devoted to the problem of determining the efficiency of the workpiece fixing mechanism operation. Improving characteristics of workpiece fixing is one of the required conditions to increase the cutting modes, which may help to enhance the machining productivity. The study investigates the main characteristics and general features of a new structure of clamping mechanisms with electromechanical actuators for fixation of rotation bodies. The main advantages of using electromechanical clamping actuators with self-braking gear are presented. Two simplified dynamical models for the description of different stages of the clamping process are developed. The calculation scheme was formulated to find out how the mass-geometric parameters of mechanism elements should influence the main characteristics of the clamping mechanisms of this type.

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Cavagnaro, Robert J., Jason C. Neely, Franois-Xavier Fay, Joseba Lopez Mendia, and Judith A. Rea. "Evaluation of Electromechanical Systems Dynamically Emulating a Candidate Hydrokinetic Turbine." IEEE Transactions on Sustainable Energy 7, no. 1 (2016): 390–99. http://dx.doi.org/10.1109/tste.2015.2492943.

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Yajima, Takahiro, and Hiroyuki Nagahama. "Geometric Structures of Fractional Dynamical Systems in Non-Riemannian Space: Applications to Mechanical and Electromechanical Systems." Annalen der Physik 530, no. 5 (2018): 1700391. http://dx.doi.org/10.1002/andp.201700391.

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Dimino, Ignazio, Federico Gallorini, Massimiliano Palmieri, and Giulio Pispola. "Electromechanical Actuation for Morphing Winglets." Actuators 8, no. 2 (2019): 42. http://dx.doi.org/10.3390/act8020042.

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As a key enabler for future aviation technology, the use of servo electromechanical actuation offers new opportunities to transition innovative structural concepts, such as biomimicry morphing structures, from basic research to new commercial aircraft applications. In this paper, the authors address actuator integration aspects of a wing shape-changing flight surface capable of adaptively enhancing aircraft aerodynamic performance and reducing critical wing structural loads. The research was collocated within the Clean Sky 2 Regional Aircraft Demonstration Platform (IADP) and aimed at developing an adaptive winglet concept for green regional aircraft. Finite Element-based tools were employed for the structural design of the adaptive device characterized by two independent movable tabs completely integrated with a linear direct-drive actuation. The structural design process was addressed in compliance with the airworthiness needs posed by the implementation of regional airplanes. Such a load control system requires very demanding actuation performance and sufficient operational reliability to operate on the applicable flight load envelope. These requirements were met by a very compact direct-drive actuator design in which the ball recirculation device was integrated within the screw shaft. Focus was also given to the power-off electric brake necessary to block the structure in a certain position and dynamically brake the moveable surface to follow a certain command position during operation. Both the winglet layout static and dynamic robustness were verified by means of linear stress computations at the most critical conditions and normal mode analyses, respectively, with and without including the integrated actuator system.

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Shadrin, V. S., A. V. Bolshunov, and V. Ya Klimov. "On control and telemetry systems of borehole core drilling in glaciers and subglacial rocks with electromechanical cable-suspended drills." Earth sciences and subsoil use 47, no. 4 (2025): 442–52. https://doi.org/10.21285/2686-9993-2024-47-4-442-452.

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The purpose of the research is to study and systematize relevant scientific works on monitoring and telemetry systems for operating parameters of borehole core drilling in glaciers and subglacial rocks with electromechanical cable-suspended drills. The study includes a review of monitoring and telemetry systems for operational parameters of core drilling with electromechanical cable-suspended drills, which are used by domestic and foreign specialists when drilling wells in ice and subglacial rocks on islands in the Arctic and Antarctica. Based on the results obtained, a unified concept of the considered systems is defined and their features are outlined. A functional block diagram of a monitoring and telemetry system for operating parameters of core drilling with electromechanical cable-suspended drills is proposed. Taking into account the identified features and applied technical solutions in the monitoring and telemetry systems created by domestic and foreign specialists, the authors of the article formulate the requirements for the monitoring and telemetry system of the core drilling of rocks using a reciprocating rotary method. These requirements will be taken into account when developing a system for monitoring and telemetry of the reciprocating rotary method of drilling boreholes in subglacial rocks, which is one of the stages of the research conducted as a part of development and justification of the technology of subglacial rock core sampling in Antarctica by a dynamically balanced cable-suspended drill.

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Konowrocki, Robert, Agnieszka Pręgowska, and Tomasz Szolc. "Experimental and Numerical Investigations for the Controlled Rotary Damper Dynamically Interacting with the Electromechanical Rotating System." Solid State Phenomena 240 (August 2015): 198–205. http://dx.doi.org/10.4028/www.scientific.net/ssp.240.198.

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In the paper dynamic electromechanical coupling between the structural model of the rotating machine drive system and the circuit model of the asynchronous motor has been investigated. By means of the computer model of the rotating machine drive system the results of experimental testing have been confirmed. From the obtained results of computations and measurements it follows that the coupling between the considered rotating system and the installed rotary dampers with the magneto-rheological fluid (MRF) results in effective energy dissipation leading to significant reduction of undesired torsional vibrations.

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Zhang, Xiaodong, Jing Nie, Jinhong He, Fengbin Lin, and Yang Liu. "Digitally Controlled Piezoelectric Metamaterial for Low-Frequency and High-Efficiency Sound Absorption." Materials 18, no. 9 (2025): 2102. https://doi.org/10.3390/ma18092102.

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This study proposes a membrane-type metamaterial with digitally controlled piezoelectric actuation for low-frequency sound absorption applications. The hybrid structure integrates an aluminum membrane functionally bonded with programmable piezoelectric patches (PZTs) and a sealed air cavity. Two innovative control strategies—Resistance Enhancement and Resonance Enhancement—dynamically adjust circuit impedance to maximize electromechanical energy conversion efficiency, thereby optimizing absorption at targeted frequencies. These strategies are implemented via a real-time digital feedback system. A coupled piezoelectric-structural-acoustic model is established to characterize the system’s transfer function, with validation through both finite element simulations and impedance tube experiments. Numerical and experimental results demonstrate nearly complete absorption around the resonant frequency, and the bandwidth can be further broadened through multi-resonance superposition. Theoretical analysis confirms that the active control strategies simultaneously modulate the acoustic impedance components (resistance and reactance), thereby optimizing electromechanical energy conversion efficiency. This work establishes a novel active-control methodology for low-frequency and high-efficiency noise mitigation.

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Burkus, Ervin, Ákos Odry, Jan Awrejcewicz, István Kecskés, and Péter Odry. "Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots." Machines 10, no. 6 (2022): 466. http://dx.doi.org/10.3390/machines10060466.

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This paper presents a novel model-based structural optimization approach for the efficient electromechanical development of hexapod robots. First, a hexapod-design-related analysis of both optimization objectives and relevant parameters is conducted based on the derived dynamical model of the robot. A multi-objective optimization goal is proposed, which minimizes energy consumption, unwanted body motion and differences between joint torques. Then, an optimization framework is established, which utilizes a sophisticated strategy to handle the optimization problems characterized by a large set of parameters. As a result, a satisfactory result is efficiently obtained with fewer iterations. The research determines the optimal parameter set for hexapod robots, contributing to significant increases in a robot’s walking range, suppressed robot body vibrations, and both balanced and appropriate motor loads. The modular design of the proposed simulation model also offers flexibility, allowing for the optimization of other electromechanical properties of hexapod robots. The presented research focuses on the mechatronic design of the Szabad(ka)-III hexapod robot and is based on the previously validated Szabad(ka)-II hexapod robot model.

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Journal articles on the topic 'Dynamical Electromechanical System'

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