The brachistochronic motion of a vertical disk rolling on a horizontal plane without slip
Апстракт
This paper deals with the brachistochronic motion of a thin uniform disk rolling on a horizontal plane without slip. The problem is formulated and solved within the frame of the optimal control theory. The brachistochronic motion of the disk is controlled by three torques. The possibility of the realization of the brachistochronic motion found in presence of Coulomb dry friction forces is inspected. Also, the influence of values of the coefficient of dry friction on the structure of the extremal trajectory is analyzed. Two illustrative numerical examples are provided.
Кључне речи:
rolling without slip / optimal control / nonholonomic constraints / Coulomb dry friction / brachistochronic motionИзвор:
Theoretical and Applied Mechanics, 2017, 44, 2, 237-254Издавач:
- Srpsko društvo za mehaniku, Beograd
DOI: 10.2298/TAM171002015O
ISSN: 1450-5584
WoS: 000423915600009
Scopus: 2-s2.0-85038895475
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Obradović, Aleksandar AU - Šalinić, Slaviša AU - Radulović, Radoslav PY - 2017 UR - https://machinery.mas.bg.ac.rs/handle/123456789/2603 AB - This paper deals with the brachistochronic motion of a thin uniform disk rolling on a horizontal plane without slip. The problem is formulated and solved within the frame of the optimal control theory. The brachistochronic motion of the disk is controlled by three torques. The possibility of the realization of the brachistochronic motion found in presence of Coulomb dry friction forces is inspected. Also, the influence of values of the coefficient of dry friction on the structure of the extremal trajectory is analyzed. Two illustrative numerical examples are provided. PB - Srpsko društvo za mehaniku, Beograd T2 - Theoretical and Applied Mechanics T1 - The brachistochronic motion of a vertical disk rolling on a horizontal plane without slip EP - 254 IS - 2 SP - 237 VL - 44 DO - 10.2298/TAM171002015O ER -
@article{ author = "Obradović, Aleksandar and Šalinić, Slaviša and Radulović, Radoslav", year = "2017", abstract = "This paper deals with the brachistochronic motion of a thin uniform disk rolling on a horizontal plane without slip. The problem is formulated and solved within the frame of the optimal control theory. The brachistochronic motion of the disk is controlled by three torques. The possibility of the realization of the brachistochronic motion found in presence of Coulomb dry friction forces is inspected. Also, the influence of values of the coefficient of dry friction on the structure of the extremal trajectory is analyzed. Two illustrative numerical examples are provided.", publisher = "Srpsko društvo za mehaniku, Beograd", journal = "Theoretical and Applied Mechanics", title = "The brachistochronic motion of a vertical disk rolling on a horizontal plane without slip", pages = "254-237", number = "2", volume = "44", doi = "10.2298/TAM171002015O" }
Obradović, A., Šalinić, S.,& Radulović, R.. (2017). The brachistochronic motion of a vertical disk rolling on a horizontal plane without slip. in Theoretical and Applied Mechanics Srpsko društvo za mehaniku, Beograd., 44(2), 237-254. https://doi.org/10.2298/TAM171002015O
Obradović A, Šalinić S, Radulović R. The brachistochronic motion of a vertical disk rolling on a horizontal plane without slip. in Theoretical and Applied Mechanics. 2017;44(2):237-254. doi:10.2298/TAM171002015O .
Obradović, Aleksandar, Šalinić, Slaviša, Radulović, Radoslav, "The brachistochronic motion of a vertical disk rolling on a horizontal plane without slip" in Theoretical and Applied Mechanics, 44, no. 2 (2017):237-254, https://doi.org/10.2298/TAM171002015O . .