| dc.identifier.uri | http://hdl.handle.net/11401/76434 | |
| dc.description.sponsorship | This work is sponsored by the Stony Brook University Graduate School in compliance with the requirements for completion of degree. | en_US |
| dc.format | Monograph | |
| dc.format.medium | Electronic Resource | en_US |
| dc.language.iso | en_US | |
| dc.publisher | The Graduate School, Stony Brook University: Stony Brook, NY. | |
| dc.type | Dissertation | |
| dcterms.abstract | The research results being presented in this thesis is divided into two areas. The first area is related to the development of a systematic method for model parameter identification of a large class of fully and not fully controlled nonlinear dynamics systems such as robot manipulators. The developed method is based on Trajectory Pattern Method (TPM). The developed method uses trajectory patterns with feed-forward controls to identify the system model parameters. The developed method ensures full system stability; does not require close initial estimated values for the system parameters to be identified; and provides a systematic method of emphasizing on estimation of the parameters associated with lower order terms of the system dynamics and gradually upgrading the accuracy with which the model parameters, particularly those associated with the higher order terms of the system dynamics are estimated. The second area of research that is being presented is related to dynamic response characteristics of electrically powered actuation systems in general and in non-linear dynamics systems in particular. Here, the term actuation systems refers to the actuator elements as well as their driving power electronics and its other related components. The study shows that the actuation forces/torques provided by such actuation systems can be divided into two basic groups. The first group corresponds to the components of the actuator force/torque that is ``actuator motion independent''. The dynamic response of this group is relatively high and limited only by the dynamic response limitations - for the case of electrically driven actuation systems - of the driving power amplifiers, electronics, computational and signal processing devices and components. The second group corresponds to those components of the actuator forces/torques that is ``actuator motion dependent''. The dynamic response of this group is relatively low and dependent on the actuator effective inertial load and actuation speed. In all mechanical systems that are properly designed, the dynamic response of the first group is significantly higher than those of the second group. By separating the required actuating forces/torques into the above two groups, the dynamic response of such nonlinear dynamics systems may be determined for a given synthesized trajectory. The information can also be used to significantly increase the performance of control systems of such mechanical systems. | |
| dcterms.available | 2017-09-20T16:50:15Z | |
| dcterms.contributor | Purwar, Anurag | en_US |
| dcterms.contributor | Rastegar, Jahangir | en_US |
| dcterms.contributor | Dhadwal, Harbans. | en_US |
| dcterms.contributor | Ge, Jeffrey | en_US |
| dcterms.creator | Feng, Dake | |
| dcterms.dateAccepted | 2017-09-20T16:50:15Z | |
| dcterms.dateSubmitted | 2017-09-20T16:50:15Z | |
| dcterms.description | Department of Mechanical Engineering. | en_US |
| dcterms.extent | 118 pg. | en_US |
| dcterms.format | Monograph | |
| dcterms.format | Application/PDF | en_US |
| dcterms.identifier | http://hdl.handle.net/11401/76434 | |
| dcterms.issued | 2014-12-01 | |
| dcterms.language | en_US | |
| dcterms.provenance | Made available in DSpace on 2017-09-20T16:50:15Z (GMT). No. of bitstreams: 1
Feng_grad.sunysb_0771E_12121.pdf: 1284851 bytes, checksum: ce79aabd81c6054eb5f8832fd5825603 (MD5)
Previous issue date: 1 | en |
| dcterms.publisher | The Graduate School, Stony Brook University: Stony Brook, NY. | |
| dcterms.subject | Actuation Devices, Model Parameter Identification, Nonlinear Dynamic System, Nonlinear System Response, Trajectory Pattern Method | |
| dcterms.subject | Mechanical engineering | |
| dcterms.title | On the Dynamics of Non-Linear Systems and Actuation Devices | |
| dcterms.type | Dissertation | |
