Research Article
Studies and Research on an Inverted Pendulum-Type Mobile Robot
Dorin-Mihail Dinulescu*
Issue:
Volume 12, Issue 5, October 2024
Pages:
84-97
Received:
23 October 2024
Accepted:
13 November 2024
Published:
21 November 2024
Abstract: This paper presents a comprehensive study on the development and analysis of a mobile robot based on the inverted pendulum concept, a challenging system due to its inherent instability and non-linear dynamics. The primary objective of the research is to design and implement a control system that ensures the robot's balance and mobility in real-time environments. The inverted pendulum model, commonly used in robotics to test control algorithms, is employed due to its simplicity yet high sensitivity to control inputs. A dynamic model of the system is derived, and various control strategies are explored, including Proportional-Integral-Derivative (PID) control and state-space representation. The robot's mechanical structure, sensor integration, and actuation are designed to support the complex control requirements. Simulation and experimental testing are conducted to validate the effectiveness of the proposed control algorithms, highlighting their performance in maintaining balance under various conditions such as external disturbances and uneven terrain. Results demonstrate that the implemented control system successfully stabilizes the robot, achieving a high degree of accuracy and responsiveness. The article contributes to the field of mobile robotics by providing insights into the control of highly unstable systems and offer potential applications in areas such as autonomous transportation, robotics education, and dynamic balancing devices.
Abstract: This paper presents a comprehensive study on the development and analysis of a mobile robot based on the inverted pendulum concept, a challenging system due to its inherent instability and non-linear dynamics. The primary objective of the research is to design and implement a control system that ensures the robot's balance and mobility in real-time...
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Research Article
Fault Analysis of 600MW Generator Stator Bars in a Power Station
Issue:
Volume 12, Issue 5, October 2024
Pages:
98-106
Received:
7 November 2024
Accepted:
21 December 2024
Published:
27 December 2024
Abstract: The stator bar, as the component connecting the coils in the generator to the external circuit, is the main carrier of current and electric field. It is hailed as the "heart" of the generator and plays a crucial role in it. Based on the specific fault phenomena of the stator bar of a 600MW large power station generator under complex operating conditions, this paper analyzes the fault causes in combination with the disassembly inspection. The direct cause of the fault is determined to be the grounding of the stator bar and the iron core. Furthermore, a three-dimensional numerical model of the stator bar is constructed based on the high-precision finite element analysis method, focusing on internal defects and their mechanism of partial discharge characteristics. It is pointed out that internal defects caused by different reasons will lead to increased partial discharge at the defects, and the main insulation will deteriorate due to the continuous influence of partial discharge during operation. The research and analysis results can provide a reference for the operation, maintenance, and fault diagnosis of the same type of stator bars to a certain extent, and have positive significance for promoting the continuous optimization, improvement, and professional management of the same type of equipment.
Abstract: The stator bar, as the component connecting the coils in the generator to the external circuit, is the main carrier of current and electric field. It is hailed as the "heart" of the generator and plays a crucial role in it. Based on the specific fault phenomena of the stator bar of a 600MW large power station generator under complex operating condi...
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