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| Знайдено в інших БД: | Журнали та продовжувані видання (1) | Реферативна база даних (5) |
Список видань за алфавітом назв: Авторський покажчик Покажчик назв публікацій  |
Пошуковий запит: (<.>A=Gruhler G$<.>) | |||
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Загальна кількість знайдених документів : 5 Представлено документи з 1 до 5 |
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| 1. | 
Gruhler G. Control strategy for a mobile platform with an omnidirectional drive [Електронний ресурс] / G. Gruhler, A. V. Bublikov, I.A. Gorlach, G. Cawood // Науковий вісник Національного гірничого університету. - 2015. - № 2. - С. 84-89. - Режим доступу: http://nbuv.gov.ua/UJRN/Nvngu_2015_2_15 Purpose. Mobile robots are used in many areas of industry and commerce. This paper describes research on and development of a mobile platform, which is based on the concept of a ball-on-ball balancer, with two electrical drives at an angle of 90o providing a velocity vector in any direction in the horizontal plane. The purpose is to implement an originally novel principle for an omnidirectional mobile platform of very high agility, which is able at any given situation to move immediately in any direction without additional steering movements or steering mechanism. Methodology. In advance of the design and implementation of the control strategy for the mobile device, the method of theoretical modelling of the vehicle's properties and behaviour was applied. The developed theoretical and numerical dynamic models take into account all the control parameters which allow for the determination of the critical value of angular acceleration of the driving wheel. This is needed to prevent any slippage of the ball as this would result in the loss of accuracy of positioning. The equations of motion were implemented in the platform controller and tested. The mobile platform consists of a ball of 0,2 m radius driven in the X-Y plane by two wheels that are attached to servo motors. The mobile platform is controlled by a CAN PLC controller interfacing with the motor drives, accelerometers and a laser sensor for feedback. Wireless communication provides the interface with the station controller via Wi-Fi and XBee Series 2 modules. Findings. The experimentally obtained results show that the mobile platform can be reliably controlled using the ball-on-ball balancer principle with the developed control algorithm. Additional application of a sensor for guiding the mobile platform along obstacles or guiding lines improves the accuracy of the movement. Originality. The originality of the control strategy for a mobile platform with an omnidirectional drive, proposed at the paper, is the avoiding slippage by limiting the platform acceleration to below the critical value by means of monitoring and limiting the lead values of the feedback control loop of the driving wheels. Practical value. Development of control strategy for the mobile robot, which is based on the concept of a ball-on-ball balancer with two electrical drives at an angle of 90o providing a velocity vector in any direction in the horizontal plane. | ||
| 2. | 
Gruhler G. Electirc road vehicles – overview, concepts and research at reutlingen university [Електронний ресурс] / G. Gruhler, S. Dashevsky, J. Kranz, T. Zawischka // Збірник наукових праць Національного гірничого університету. - 2011. - № 36(2). - С. 95-105. - Режим доступу: http://nbuv.gov.ua/UJRN/znpngu_2011_36(2)__14 | ||
| 3. | 
Tkachov V. Development of the algorithm for the automated synchronization of energy consumption by electric heaters under condition of limited energy resource [Електронний ресурс] / V. Tkachov, G. Gruhler, A. Zaslavski, А. Bublikov, S. Protsenko // Восточно-Европейский журнал передовых технологий. - 2018. - № 2(8). - С. 50-61. - Режим доступу: http://nbuv.gov.ua/UJRN/Vejpte_2018_2(8)__8 Запропоновано алгоритм автоматичної синхронізації роботи обігрівачів за умови обмеженого енергоресурсу. Особливістю алгоритму є автоматичний розподіл обігрівачів на пріоритетні та непріоритетні за умови передбачуваності роботи обігрівача. Пріоритетні обігрівачі синхронізують свою роботу у часі таким чином, щоб залишковий електричний ресурс використовувався максимально повно та був доступним кожному непріоритетному обігрівачеві. Алгоритм може бути використаний для вдосконалення системи управління електричним опаленням згідно з концепцією "розумного будинку". | ||
| 4. |
Bublikov A. V. Automation of the control process by the shearer drum in terms of coal seam hypsometry [Електронний ресурс] / A. V. Bublikov, V. V. Tkachov, D. L. Kolosov, G. Gruhler, M. I. Stadnik // Naukovyi visnyk Natsionalnoho Hirnychoho Universytetu. - 2021. - № 3. - С. 5-13. - Режим доступу: http://nbuv.gov.ua/UJRN/Nvngu_2021_3_3 Purpose - to improve the efficiency of mining equipment functioning through the introduction of fuzzy inference algorithms into the control of mining facilities being complex objects with dynamic, randomly varied operation modes. A stage to determine nonfuzzy input variable systems as statistic indices has been added to universally accepted algorithm of a fuzzy interference. The indices make it possible to identify operation mode of mining equipment or operation mode transitions. Each input nonfuzzy variable of the system is a result of statistic processing of information signals from the sensors to find unique regularities within the signal; the regularities should correspond to one or several operation modes of the machine, or transitions between them. Additional linguistic input variables of "Previously, their operation mode was..." are introduced to trace temporally varied operation modes of the mining machine. Taking into consideration features of input nonfuzzy variables formation, the system performs fuzzy inference discretely in time; in this context, fuzzy inference interference algorithm is added by the conditions for data accumulation, variations, and zero variations in the machine operation mode. A technique to integrate a behavioural model of a mining machine, considered as a control object, into a fuzzy inference algorithm has been proposed. Moreover, recommendations, concerning determination of both nonfuzzy and linguistic input variables of the system, formation of a basis of fuzzy products, and determination of conditions for data accumulation have been formulated. Originality of the proposed technique is to use a behavioural model of a mining machine, considered as a control object, for the fuzzy inference algorithm in the form of a set of operation modes of a machine and in the form of a scheme of time-dependent changes in operation modes. The proposed technique is theoretical basis to solve topical scientific and application problem as well as to use nonfuzzy algorithms to control mining machines to improve their efficiency.Purpose. To develop a method for synthesizing a fuzzy automatic control system for a shearer drum in terms of coal seam hypsometry basing on the information criterion of the beginning of rock cutting-off by the drum to reduce ash content of the extracted coal. Methodology. Taking into consideration peculiarities of determining a distinct information criterion of the beginning of rock cutting-off by the drum and regularities of its variations during the shearer operation, a fuzzy inference algorithm is developed for a system of fuzzy automatic drum control in terms of seam hypsometry. In this context, rules of fuzzy productions, parameters of the membership functions of terms of the output linguistic variable system, and fuzzy operations are substantiated according to the recommendations of a classic Mamdani fuzzy inference algorithm. Studies are carried out to analyze the efficiency of the proposed fuzzy inference algorithm basing on the introduced relative parameter of the number of effective control actions formed by the fuzzy control system. Simulation modeling makes it possible to perform comparative analysis of the efficiency of the drum control. Findings. In the course of research, an algorithm of fuzzy control of the shearer's upper drum in terms of coal seam hypsometry has been developed basing on the determination of direct and inverse transfer from coal breaking near the seam roof by the shearer drum to rock breaking with the help of statistical analysis of the stator power of a cutting drive motor. Originality. For the first time, a method of synthesis of fuzzy automatic control of the drum in terms of seam hypsometry has been proposed. Practical value. The proposed method is the theoretical basis to solve important scientific and applied problem of the automation of the coal shearer drum in terms of seam hypsometry to reduce ash content of the produced coal. | ||
| 5. |
Pivnyak G. Classification of heating conditions in terms of smart control of indoor heating with the use of uncontrolled electric heaters [Електронний ресурс] / G. Pivnyak, G. Gruhler, A. Bublikov, Yu. Papaika, Ye. Voskoboinyk // Naukovyi visnyk Natsionalnoho Hirnychoho Universytetu. - 2022. - № 4. - С. 78-83. - Режим доступу: http://nbuv.gov.ua/UJRN/Nvngu_2022_4_15 Purpose. To reduce specific energy consumption for heating municipal and industrial buildings by introducing smart indoor temperature control taking into consideration individual dependences of characteristics of each person as a consumer of energy resources on specific heating conditions. Methodology. The energy-efficient and smart control of indoor heating is based on the fact that a control system is to elaborate and provide a compromise solution as for comfortable perception of proper conditions of someone's staying indoors and minimum consumption of energy resources. To do that, first of all the problem should be solved concerning recognition of different heating conditions by a smart control system aimed at providing a process of system learning and database formation. To complete this task, the parameters of one-dimensional dynamic models describing heat-exchange processes are proposed to be used as the information signs for the classification of situations in terms of heating relative to the uncontrolled electric heaters; the input value is the heater capacity, and the output value is the air temperature within the local indoor zone. Within the framework of the development of a method for classifying indoor heating conditions, dependences of the parameters of dynamic models of local indoor heating zones on the characteristics of local heating zones were analysed. Besides, certain regularities of a control process for heaters were determined; that helped provide accurate identification of the models of local heating zones without considerable changes in a preset temperature mode. Computational experiments made it possible to evaluate the accuracy of determination of information signs for the classification of heating conditions while representing real characteristics of indoor heat-exchange processes. Findings. The studies resulted in the development of a method for identifying dynamic properties of indoor heat zones for the cases of using uncontrolled electric heaters with two states. Originality. For the first time, certain regularities have been identified concerning a capacity control process for electric heaters with two states and a process of temperature measurement within the local indoor zones. The regularities made it possible to determine the parameters of dynamic models of indoor heat-exchange processes with high accuracy and without considerable changes in the preset temperature mode, and to use these parameters as information signs while classifying the heating conditions. Practical value. The obtained regularities of the processes of heater control and temperature measurement allowed developing a method for identification of dynamic properties of local indoor heat zones, which makes up the basis for a classification procedure of heating conditions. | ||
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