Massive conductor impedance and peculiarities of transients in electrical circuits with massive conductors of pulsed power facilities
At a small skin depth the electromagnetic field in conductors can be defined by the boundary layer method. The derived asymptotic solution makes it possible to determine the expansion in a series of the voltage drop across massive conductors. In this expansion the first term describes the limiting solution with infinite conductivity and corresponds to self-induction electro-motive force (EMF) of the external magnetic field or voltage drop across external inductance of massive conductors. Asymptotic correction of the first-order approximation corresponds to the fraction of the voltage drop calculated under the impedance boundary conditions on the surface of the conductors. The second-order correction takes into account the curvature of the conductor surface and inhomogeneity of the external magnetic field and varies in time directly as does current in the conductors, i.e. as in the case with voltage drop across a usual resistor. Such approximation establishes the relation between current and voltage drop on massive conductors, which can be included into the Kirchhoff’s equations for analysis and calculation of the transients in the circuits with massive conductors. The purpose of the paper is consideration of the peculiarities of the transients in electrical circuits, the methods of measurement of the massive conductor parameters, as well as the methods of the transients calculations in the time domain, which use the asymptotic representation of the voltage drop on massive conductors.
Transients in Pulsed Electrical Circuits With Massive Conductors
The method for analysis and calculation of transients in electrical circuits taking into account the magnetic field penetration in massive conductors is presented. This paper describes the analytic solution for pulse response and transfer admittance of massive conductors at the initial stage of transients. The algorithms for calculation of transients in electrical circuits with massive conductors are presented. The author considers as an example the current waveforms of the capacitor discharge in the oscillatory circuit and pulse-forming network with massive conductor
Kinematic Modelling and Simulation of a 2R Robot Using SolidWorks and Verification by MATLAB / Simulink Regular Paper
The  simulation  of  robot  systems  is  becoming very popular, especially with  the  lowering of  the cost of computers,  and  it  can  be  used  for  layout  evaluation, feasibility studies, presentations with animation and off‐ line programming. The  trajectory  planning  of  redundant manipulators  is  a very  active  area  since  many  tasks  require  special characteristics  to  be  satisfied.  The  importance  of redundant manipulators has  increased over  the  last  two decades  because  of  the  possibility  of  avoiding singularities  as  well  as  obstacles  within  the  course  of motion.  The  angle  that  the  last  link  of  a  2  DOF manipulator makes with the x‐axis is required in order to find the solution for the inverse kinematics problem. This angle  could  be  optimized  with  respect  to  a  given specified  key  factor  (time,  velocity,  torques)  while  the end‐effector  performs  a  chosen  trajectory  (i.e., avoiding an obstacle) in the task space. Modeling  and  simulation  of  robots  could  be  achieved using  either  of  the  following  models:  the  geometrical model (positions, postures), the kinematic model and the dynamic model. To  do  so,  the  modelization  of  a  2‐R  robot  type  is implemented. Our main  tasks  are  comparing  two  robot postures with the same trajectory (path) and for the same length  of  time,  and  establishing  a  computing  code  to obtain the kinematic and dynamic parameters. SolidWorks  and MATLAB/Simulink  softwares  are  used to check the theory and the robot motion simulation. This  could  be  easily  generalized  to  a  3‐R  robot  and possibly therefore to any serial robot (Scara, Puma, etc.). The verification of the obtained results by both softwares allows  us  to  qualitatively  evaluate  and  underline  the validityof  the  chosen  model  and  obtain  the  right conclusions. The results of  the simulations are discussed and an agreement between the two softwares is certainly obtained.