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Wenming Zhang
University of Science & Technology Beijing
Computer Science & IT

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Feedback Linearization Control for Path Tracking of Articulated Dump Truck Xuan Zhao; Jue Yang; Wenming Zhang; Jun Zeng
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 13, No 3: September 2015
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v13i3.1810

Abstract

The articulated dump truck is a widespread tansport vehicle for narrow rough terrain environment. To achieve the autonomous driving in the underground tunnel, this ariticle proporses a path following strategy of articulated vehicle based on feedback linearization algorithm. Fisrt of all, the articulated vehicle kinematics model, which reflects the relationship of the structure parameters and state variables, is established. Refering to the model, the nonlinear errors equation between real path and reference path, which are as the feedback from the path tracking process, is solved and linearized. After estimating the system controllable, according to the error equation, the path following controller with feedback linearization algorithm is designed through calaculating the parameters with the pole assignment. Finally, the hardware in the loop simulation on NI cRIO and PXI controller is lunched for verifying the control quality and real-time path tracking performance.
Characteristics Analysis of Non-linear Torsional Vibration in Engine and Generator Shafting system Wei Zhang; Wenming Zhang; Xuan Zhao; Miaomiao Guo
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 13, No 1: March 2015
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v13i1.129

Abstract

To solve the non-linear torsional vibration problem of engine and generator shafting causing body structural vibration and noise in motorized wheel vehicle, where the engine and the generator connected directly. First of all, analysis the characteristics of the shafting system, besides the external shock excitation of engine and generator. Then, through lumped parameter model method, mathematical model of the non-linear torsional vibration was established, which could reflect the dynamic characteristics of the system. Analysis the effect of mechanical parameters and electromagnetic parameters on the shafting. And get the non-linear differential equations of the system torsional vibration, which expresses the relation between structural parameters, electromagnetic parameters and the system dynamic characteristics. And multiple scales method was used to solve the equations. Non-contact measurement method was used in the torsional vibration test. Finally, consistency of the results, indicate that the research method used is reliability and accuracy, and get the critical speed of the shafting torsional vibration.
Co-Authors Jue Yang Jun Zeng Miaomiao Guo Wei Zhang Xuan Zhao Xuan Zhao