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Friction modelling is a delicate problem which poses several challenges to control engineers. This work focuses on two recent models which describe friction with nonlinear dynamical systems: The Lugre model, and the model of Bliman & Sorine. Comparisons are made concerning friction phenomena captured, computational issues, identification of model parameters and behaviour at zero-crossings of t
This thesis investigates frictional effects on the stabilization of a rotating inverted pendulum. Because of friction, limit cycles arise when trying to stabilize the inverted pendulum. The stabilization is done using linear state feedback. For estimation of the states, Kalman filters are used. Both real-time experiments and simulations are performed. Two friction models are used, one classical wi
This report is a study on placement of accelerometers in a rolling missile. A Kalman filter is used for estimation of some states of the rolling missile. The rolling angle is assumed to be known. The states are fed back to give the missile desired dynamics. Reference signals in the form of desired accelerations are also introduced.
The report shows that one transverse measuring accelerome
Recent years intensive measures of land-based emissions have increased the share contributed from ships and other marine activities. The main problem here is the nitrogen oxides emitted from today's fuel-optimized diesel engines used by the majority of ships. ABB Fläkt Marine is one of the very few companies that provides a solution to emissions on nitrogen oxides. This is made with a techniqu
Facilities to present simulation results as animations on the Internet have been developed. They can take simulation results from the modeling and simulation environment Dymola and convert them to a Virtual Reality Model Language (VRML) representation, which is the new Internet protocol for displaying three dimensional graphical worlds with sound effects. Mathematical models for sound have been de
The possibility of supervising controllers in buildings with the help of Internet and Java is investigated. The task is to develop a computer system with necessary software that enables connection over Internet from a client computer to a server computer that contains information about the controllers in a data base. It should be possible to study values and attributes of the controllers. Java and
This report investigates time optimization of a process where brazed heat exchangers are soldered in a vacuum furnace. This process consists of three phases, heating soldering and cooling. Physical models have been obtained by using stationary conditions. These are not sufficient to describe the actual very complex behavior. Instead, nonphysical models have been identified. Simulations of the heat
