Recent content by Payam30

Hi, I have a 2nd order of sliding mode observer of the form: \dot{\hat{x}} = \hat{f}(x,t) + \delta f + \Psi(u,y) +[ \frac{d \Omega}{dx}]^{-1} \upsilon where ##\upsilon##: \upsilon_1= \alpha_1 \lambda_1^{1/2} | y_1 -\hat{x}_1|^{1/2}*sign(y_1 -\hat{x}_1) \upsilon_2= \alpha_2...

I only integrate the \dot{\omega}. can you explain more. Do you think negative values of ##\omega## are okej? I tried with higher torque and it worked. The problem is Matlab or any programming language doesn't know where it exists any forces. For example when the vehicle is standing still, there...

Now I'm confused, look at the reference here. https://theses.lib.vt.edu/theses/available/etd-5440202339731121/unrestricted/CHAP3_DOC.pdf From the figure and in order to have balance you have to have a ## T## and #Fx# is the traction force that is a function of ##\mu## that is the friction...

I have no idea. However 400 rad/s is very high. ##\omega ## should the sam direction as torque

Hi, I have a Driving wheel for which I'm trying to make an observer for. The abserver works very well however , since I don't have my background in mechanics something strange happens. I have to say that I don't know why I think it's strange and that's why I put my question here. Lets assume we...

Solved. Thanks

You were right. I did following scheme: The SMC is as following: u = u_d - \frac{K}{b} sat(\frac{\sigma}{\theta}) I have actually problem with founding \theta . This is the boundary thickness. anyone with insights in SMC.

You mean that I should solve the differential equation instead of using the transfer funktion? That could work...

Thank you for your response. As you see in the picture, the input should go to the dynamic. The dynamic of the slip is : ## \dot{\lambda} = (- \frac{g}{R\omega} + \frac{Rmg(\lambda -1)}{\omega J})\mu - \frac{(\lambda -1)}{\omega J}T## So this is the case: Reference value ---> SMC -----> dynamics...

if you use MikTex then go to Package manager and search for caption and then install it.

For writing reports I would recommend TexStudio. and for articles and other than reports and books I would recommend Latexila on Linux. Latexila is a very lightweight and user friendly latex editor. I used it for many years until something strange happened with it and it wouldn't run auto...

Hi, I've had obtained a mathematical model for the slip controller issue. As you see I have the diffequation for the slip. and the input that force the system to zero error is provided as well. Now it's time to implement it in simulink or matlab. I took a look at the example provided on...

Hi, I was thinking of the slip that is defined as following: $$ s = \frac{R\omega}{v_x} -1 $$ The definition of the effective radius according to Chand and Sandu [1] $$ \begin{equation} R_e = \left\{ \begin{array}{l l} R - R \left(1- \frac{1...

Hi, I'm working on a wheel loader task and my mission is to optimize the feul consumbtion and controlling the slipp using a appropriate optimal control method. All data is from the tires and I have to by some method tell the motor how much it has to give to machine to drive. Anyone suggest a...

Hi, I'm doing a study about tire dynamics and have some question that I can't get answers to. The first images shows the forces balances. Since we have no turqe the force has to balance ant the extensence of the T_r is obvious...