Abstract-Hydraulic wind power transfer systems exhibit a highly nonlinear dynamic influenced by system actuator hysteresis and disturbances from wind speed and load torque. This paper presents a system identification approach to approximate such a nonlinear dynamic. Piecewise affine (PWA) models are obtained utilizing the averaged nonlinear models of hysteresis in a confined space. State-space representation of PWA models is obtained over the allocated operating point clusters.The experimental results demonstrate a close agreement with that of the simulated. The experimental results and simulation show more than 91% match.Index Terms-Hydraulic wind power systems, nonlinear systems, piecewise affine (PWA) models, system identification.

Abstract-Hydraulic circuits can transfer remarkable amounts of energy in the desired direction without taking large space. To implement this technology for harvesting energy of wind appropriately, models of the system are required. Hydraulic wind power technology has the benefits of eliminating expensive and bulky variable ratio gearbox and its costly maintenance while enabling the integration of multiple wind turbines in a single generation unit. In this paper, the dynamics of different hydraulic elements are studied, nonlinearities are taken into account, pressure dynamics in different parts of the system are studied, and the motor load effects are considered. Based on these considerations, a novel non-linear state space representation of the system is introduced. Results of the mathematical model and the experimental data are compared to verify the proposed model. The comparison demonstrated that the mathematical model captures all major characteristics of the hydraulic circuit and can model the system behavior under different operating conditions.

This paper presents dynamic modeling and simulation of the industrial robot, Stiiubli TX40, and proposes a precise simulator to develop approaches for experimental simulation in kinematics, dynamics and control analysis. The robot model has been developed as accurate as the real one by implementing dynamic model of robot in ADAMS, dynamic modeling software, and also linking with MA TLAB for motion studies. Finally the simulator is verified by tracking a predefined pose with minimum error.