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Design & Manufacturing of Wave Maker
, M.Sc. Thesis Sharif University of Technology ; Seif, Mohammad Saeed (Supervisor) ; Kazemzadeh Hannani, Siamak (Supervisor)
Abstract
In the present study, waves maker and its effective parameters has been investigated. Different kind of wave makers have been investigated and compared with each others. Then, according to marine laboratory requirnents such as Dimensions, seakeeping tests, installation place and budget, a proper wave maker is designed. In design procedure, differential equations of waves and paddle wavemaker, wavemaker's power, forces on paddle and mechanical system with servo motor are used. For improving efficiency of system and converting the rotary motion to linear motion, a ball screw is utilized.
Disturbance Reduction Servo Motor Controller Design and Implementation
, M.Sc. Thesis Sharif University of Technology ; Nobakhti, Amin (Supervisor)
Abstract
The servomechanisms have wide industrial application such as robotics, Computer Numerical Control (CNC) machines, automated manufacturing and solar tracking. Several methods have already been proposed for servo motor control that the most important of them are Proportional Integral Derivative (PID), H2/H--, intelligent based controllers, and model predictive control. Problem specifications and user requirements, will determine the appropriate approach in each case. The aim of this thesis is construction of a real-life camera stabilizer to be used in the motion picture industry. Effects of base movement on the performance should be decreased by choosing appropriate sensors and control...
Impedance Control of Balance Robot
, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
In recent years, rehabilitation has become of particular importance due to direct connection with the quality of life of human beings. Balance training and assessment devices have been designed to provide means for rehabilitation of patients with balance problems. Sharif balance robot is an example which has been developed at Sharif University of Technology. The subject stays on a plate with active rotation in both Medial-Lateral and Anterior-Posterior directions. The active rotation of this plate is provided by two electrical motors embedded inside the machine. Position commands for this plate are sent to the electrical motor by the control hardware which consists of a PC104 running...
Simulation and experimental validation of flow-current characteristic of a sample hydraulic servo valve
, Article Scientia Iranica ; Volume 17, Issue 5 B , 2010 , Pages 327-336 ; 10263098 (ISSN) ; Seifi, R ; Saadat Foumani, M ; Sharif University of Technology
2010
Abstract
This paper presents a novel model to simulate the flow-current characteristic curve of an electro-hydraulic servo valve in steady state condition. This characteristic curve has three major zones: dead zone, linear zone and saturation zone. By using the presented approach, we can simulate the behavior of all types of valves including under lapped, critical center (zero lapped) and over lapped valves. A hydraulic tester has been designed and constructed for validation of the results. It can test the performance of flow-current and some other properties of the valve. Comparison of experimental and simulated curves describes that the model has an acceptable accuracy in determining the four...
Design of sliding mode and model reference adaptive control strategies for multivariable tape transport mechanism: a performance comparison
, Article Microsystem Technologies ; Volume 22, Issue 2 , 2016 , Pages 419-431 ; 09467076 (ISSN) ; Moradian, H ; Moradi, H ; Sharif University of Technology
Springer Verlag
Abstract
This paper presents sliding mode control and model reference adaptive control strategies for the tape transport mechanism. A nonlinear multivariable MIMO model of the process, consisting of take-up and supply reel servos for tape tension control and capstan servo for speed control is considered. The sliding mode control is applied for the nonlinear dynamic model of the process, while the model reference adaptive control deals with the linearized one. Moreover, in order to associate with the realistic model of system, design of controllers is accomplished with respect to parametric uncertainties. It is shown that both control strategies can guarantee asymptotic stability of the closed-loop...
Robust regulation and tracking system design for multivariable control of the tape transport mechanism
, Article Microsystem Technologies ; Vol. 18, Issue. 5 , 2012 , pp. 557-573 ; ISSN: 09467076 ; Bakhtiari-Nejad, F ; Alasty, A ; Sharif University of Technology
Abstract
Tape mechanisms must be able to transport the tape with a constant velocity for achieving high rate of data transfer. In this paper, a multivariable model of tape transport mechanism including the take-up and supply reel servos for tape tension control and capstan servo for speed control is considered. To achieve desired performance,pole-placement approach based on general canonical control form (GCCF) is used. Instead of using expensive tension sensors, an observer is designed. A regulator system is developed for disturbance rejection; and a modified integral control is designed for perfect tracking of desired setpoints in tape speed and tensions. Since the real dynamic model associates...
Performance control of a tape transport mechanism using entire eigenstructure assignment
, Article ASME International Mechanical Engineering Congress and Exposition, Proceedings ; Vol. 10, Issue PART A , 2010 , pp. 133-140 ; ISBN: 9780791843833 ; Hajikolaei, K. H ; Motamedi, M ; Alasty, A ; Sharif University of Technology
Abstract
To achieve high rate of data transfer, tape mechanisms must be able to transport the tape with a constant velocity for scanning. During this process, it is desired to make the rise time minimized without timing and data transfer errors. In this paper, three servo systems including the take-up and supply reel servos for tape tension control and capstan servo for speed control are considered. So, tape transport mechanisms can be described with a nonlinear multi-input multi-output system (MIMO). After state-space representation of the problem, feedback control is designed for tracking objective. It should be mentioned that an increase in the speed of time response of system corresponds to an...
Robust regulation and tracking system design for multivariable control of the tape transport mechanism
, Article Microsystem Technologies ; Volume 18, Issue 5 , 2012 , Pages 557-573 ; 09467076 (ISSN) ; Bakhtiari Nejad, F ; Alasty, A ; Sharif University of Technology
2012
Abstract
Tape mechanisms must be able to transport the tape with a constant velocity for achieving high rate of data transfer. In this paper, a multivariable model of tape transport mechanism including the take-up and supply reel servos for tape tension control and capstan servo for speed control is considered. To achieve desired performance,pole-placement approach based on general canonical control form (GCCF) is used. Instead of using expensive tension sensors, an observer is designed. A regulator system is developed for disturbance rejection; and a modified integral control is designed for perfect tracking of desired setpoints in tape speed and tensions. Since the real dynamic model associates...
Performance control of a tape transport mechanism using entire eigenstructure assignment
, Article ASME International Mechanical Engineering Congress and Exposition, Proceedings, 13 November 2009 through 19 November 2009 ; Volume 10, Issue PART A , 2010 , Pages 133-140 ; 9780791843833 (ISBN) ; Haji Hajikolaei, K ; Motamedi, M ; Alasty, A ; Sharif University of Technology
Abstract
To achieve high rate of data transfer, tape mechanisms must be able to transport the tape with a constant velocity for scanning. During this process, it is desired to make the rise time minimized without timing and data transfer errors. In this paper, three servo systems including the take-up and supply reel servos for tape tension control and capstan servo for speed control are considered. So, tape transport mechanisms can be described with a nonlinear multi-input multi-output system (MIMO). After state-space representation of the problem, feedback control is designed for tracking objective. It should be mentioned that an increase in the speed of time response of system corresponds to an...