Sharif Digital Repository

Hard disk drives are the main component of computers for permanent data storage. The security of the stored data is related closely to the air gap between the read-write head and the surface of disk. This gap which is created by the aerodynamic force between head and the disk is altered continually by lateral oscillations of disk. In the extreme condition of zero gap and contact between the protective coating layer and subsequently the magnetic material of the disk with the head, the disk will be scratched and damaged. Therefore, the active or passive control of these vibrations has a particular importance in the technology of manufacturing of hard disks. The first step in active control... 

In this thesis, a new approach is proposed for two-level optimal control of large-scale nonlinear systems. In this approach, by defining some parameters as coordination parameters the overall system is decomposed into several interactive subsystems, where the optimization problem redefines for each one of them. The obtained sub-problems which are in the form of standard optimal control problems with lower dimension are solved in the first level. To obtain the overall optimal solution, coordination of the first level solutions is performed in the second level. For solving the first level problems, the indirect gradient and Newton methods are used. The gradient method is applied in the first... 

Planning safe rendezvous and docking trajectories between two spacecrafts has a high importance in the space applications. In order to make two spacecrafts moving in different orbits closer, two stages must be completed simultaneously: First the implementation of rendezvous maneuver which deals with the generation of control/guidance commands leading to trajectories that lead the chaser towards the target. Second the docking maneuver incorporation which makes the two spacecrafts closer with the relative zero attitude. Various approaches have been dealt with till now using the analytical and numerical approaches generally considering rendezvous, not the docking maneuver. These approaches... 

Growing consumer expectations, legislation pushing for lower emissions, increasing fuel prices, and the fact that petroleum is a finite resource are factors leading to groundbreaking changes in the automotive industry. Design and production of vehicles that use the lowest fuel are the most effective ways to reduce pollution. The use of both ICE and EM increases the complexity of HEV power management and advanced power management policy is required for achieving higher performance and lower fuel consumption. In this study, at first the benefits of series-parallel configuration are discussed comparing to other configuration. According to this, the present thesis provides a control strategy for... 

One of the key issues in the design of vessels is their proper stability and performance in waves. Therefore, the use of twin-hull vessel designs such as conventional catamaran and SWATH is suitable for improving stability and seakeeping quality. Although SWATH has a better seakeeping quality than a conventional catamaran, it has been observed that at high forward speeds, especially in head waves, the vertical motions of the vessel is greatly enhanced. Various methods such as correction of the hull form and the use of fin stabilizers can be used to modify SWATH vessel motion behavior. These control surfaces can respond appropriately to the dynamic forces from the waves, reducing the motions... 

The goal of this thesis is modeling and simulation of aircraft landing motion in order to evaluate the performance of an optimal anti-skid brake system (ABS) for the main landing gears with friction effects. In this process, the aircraft 6DOF perturbed equations of motion augmented with pertinent friction and brake forces and moments have been utilized. Subsequently, the problem is formulated within the framework of an optimal LQR that has allowed for generation of control brake commands as well as aircraft landing performance at different landing conditions with and without the proposed ABS. The results demonstrate the proposed ABS has been effective in providing admissible landing... 

Quadcopters are a bunch of vertical takeoff and landing UAVs and generally consist of four symmetric arms, each possessing a rotor-blade at the end. Quadcopters are able to retain their state and position by performing static maneuverability. Conventional quadcopters have less actuators (four engines) than their DOF (six degrees of freedom in the space). Thus, it is impossible to control all DOF of the system independently. Nevertheless, one can make a solution to this problem by increasing the number of actuators, so that each rotor-blade can also rotate about the corresponding arm. Such a quadcopter is so called a “tilt-rotor quadcopter”. The aim of this work is to model a tilt-rotor... 

Nowadays, due to the increasing use of Air Handling Units (AHU) in buildings, reducing energy consumption and improving the performance of these devices is one of the most important goals of researchers in the field of heating, ventilation and air conditioning (HVAC) technology. The purpose of this project is to design an optimal control system in different parts of the Air Handling Unit in order to provide standard ambient and breathing conditions for the people. Therefore, the mathematical model of the multi-zone space and the equipment of the Air Handling Unit are studied as separate subsystems based on the laws of thermodynamics and heat transfer. The obtained equations provide a... 

Today, a lot of efforts have been done in order to commercialize space travels. Spacecrafts have a lot of components and producing each of them spends high costs. Components such as propellant tanks and boosters are multi segment and are released simultaneously and therefore it is economically feasible to recover them. Due to Parafoil ability in low-cost, soft (no damage to the cargo) and accurate landing, it is gradually replacing parachute. Parafoil can fly long distances after being released, so its landing point could be determined. The aim of the study is to evaluate this scenario in which some segments of launch vehicle (e.g. booster) that are equipped with Parafoil expand their...