Hydraulic Actuator Tuning in the Control of a Rotating Flexible Beam Mechanism

1995 ◽  
Author(s):  
Michael J. Panza ◽  
Roger W. Mayne
Keyword(s):  
Hydraulic Resistance ◽  
System Model ◽  
Flexible Beam ◽  
Hydraulic Actuator ◽  
Control Effort ◽  
Actuation System ◽  
Wide Range ◽  
Position Feedback ◽  
Simulation Results ◽  
Beam Mechanism

Abstract The end point position and vibration control of a rotating flexible beam mechanism driven by a hydraulic cylinder actuator is considered. An integrated nonlinear system model comprised of beam dynamics, hydraulic actuator, control valves, and control scheme is presented. Control based on simple position feedback along with a hydraulic actuation system tuned to suppress beam vibration over a wide range of angular motion is investigated. For positioning to small to moderate mechanism angles, a linear system model with the actuator tuned for good open loop performance is developed. Actuator tuning is accomplished by varying the system hydraulic resistance according to a dimensionless parameter defining the interaction between the actuator and flexible beam. Simulation results for a closed loop system indicate that this simple tuned control provides comparable performance and requires less control effort than an untuned system with a more complex state feedback optimal controller. To compensate for geometric nonlinearities that cause instability when positioning to large mechanism angles, an active actuator tuning scheme based on continuous variation of hydraulic resistance is proposed. The active variable resistance controller is combined with simple position feedback and designed to provide a constant dimensionless actuator-flexible beam interaction parameter throughout the motion. Simulation results are presented to show the stabilizing effect of this control strategy.

Hydraulic Actuator Tuning in the Control of a Rotating Flexible Beam Mechanism

1996 ◽  
Vol 118 (3) ◽  
pp. 449-456 ◽  
Author(s):  
M. J. Panza ◽  
R. W. Mayne
Keyword(s):  
Hydraulic Resistance ◽  
System Model ◽  
Flexible Beam ◽  
Hydraulic Actuator ◽  
Control Effort ◽  
Actuation System ◽  
Wide Range ◽  
Position Feedback ◽  
Simulation Results ◽  
Beam Mechanism

The end point position and vibration control of a rotating flexible beam mechanism driven by a hydraulic cylinder actuator are considered. An integrated nonlinear system model comprised of beam dynamics, hydraulic actuator, control valves, and control scheme is presented. Control based on simple position feedback, along with a hydraulic actuation system tuned to suppress beam vibration over a wide range of angular motion, is investigated. For positioning to small to moderate mechanism angles, a linear system model with the actuator tuned for good open-loop performance is developed. Actuator tuning is accomplished by varying the system hydraulic resistance according to a dimensionless parameter defining the interaction between actuator dynamics and the fundamental mode of the flexible beam. Simulation results for a closed-loop system indicate that this simple tuned control provides comparable performance and requires less control effort than an untuned system with a more complex state feedback optimal controller. To compensate for geometric nonlinearities that cause instability when positioning to large mechanism angles, an active actuator tuning scheme based on continuous variation of hydraulic resistance is proposed. The active variable resistance controller is combined with simple position feedback and designed to provide a constant dimensionless actuator-flexible beam interaction parameter throughout the motion. Simulation results are presented to show the stabilizing effect of this control strategy.

scholarly journals Design and Evaluation of Large-Scale IoT-Enabled Healthcare Architecture

2021 ◽  
Vol 11 (8) ◽  
pp. 3623
Author(s):  
Omar Said ◽  
Amr Tolba
Keyword(s):  
Packet Loss ◽  
Large Scale ◽  
Performance Metrics ◽  
Medical System ◽  
Healthcare Data ◽  
High Altitude Platforms ◽  
Wide Range ◽  
Simulation Results ◽  
Healthcare Architecture ◽  
The Internet Of Things

Employment of the Internet of Things (IoT) technology in the healthcare field can contribute to recruiting heterogeneous medical devices and creating smart cooperation between them. This cooperation leads to an increase in the efficiency of the entire medical system, thus accelerating the diagnosis and curing of patients, in general, and rescuing critical cases in particular. In this paper, a large-scale IoT-enabled healthcare architecture is proposed. To achieve a wide range of communication between healthcare devices, not only are Internet coverage tools utilized but also satellites and high-altitude platforms (HAPs). In addition, the clustering idea is applied in the proposed architecture to facilitate its management. Moreover, healthcare data are prioritized into several levels of importance. Finally, NS3 is used to measure the performance of the proposed IoT-enabled healthcare architecture. The performance metrics are delay, energy consumption, packet loss, coverage tool usage, throughput, percentage of served users, and percentage of each exchanged data type. The simulation results demonstrate that the proposed IoT-enabled healthcare architecture outperforms the traditional healthcare architecture.

A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator

2011 ◽  
Vol 328-330 ◽  
pp. 2108-2112
Author(s):  
Jing Shuang Lu ◽  
Chun Mei Du ◽  
Rui Zhou ◽  
Na Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Vertical Plane ◽  
Flexible Manipulator ◽  
System Model ◽  
Error Signal ◽  
Dynamics Model ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
Simulation Results

A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.

Aerodynamic Similarity Principles and Scaling Laws for Windmilling Fans

2018 ◽  
Author(s):  
Dilip Prasad
Keyword(s):  
Rotational Speed ◽  
Pressure Loss ◽  
Scaling Laws ◽  
Dynamic Pressure ◽  
Stagnation Pressure ◽  
Design Parameters ◽  
Similarity Parameter ◽  
Wide Range ◽  
Simulation Results ◽  
Good Agreement

Windmilling requirements for aircraft engines often define propulsion and airframe design parameters. The present study is focused is on two key quantities of interest during windmill operation: fan rotational speed and stage losses. A model for the rotor exit flow is developed, that serves to bring out a similarity parameter for the fan rotational speed. Furthermore, the model shows that the spanwise flow profiles are independent of the throughflow, being determined solely by the configuration geometry. Interrogation of previous numerical simulations verifies the self-similar nature of the flow. The analysis also demonstrates that the vane inlet dynamic pressure is the appropriate scale for the stagnation pressure loss across the rotor and splitter. Examination of the simulation results for the stator reveals that the flow blockage resulting from the severely negative incidence that occurs at windmill remains constant across a wide range of mass flow rates. For a given throughflow rate, the velocity scale is then shown to be that associated with the unblocked vane exit area, leading naturally to the definition of a dynamic pressure scale for the stator stagnation pressure loss. The proposed scaling procedures for the component losses are applied to the flow configuration of Prasad and Lord (2010). Comparison of simulation results for the rotor-splitter and stator losses determined using these procedures indicates very good agreement. Analogous to the loss scaling, a procedure based on the fan speed similarity parameter is developed to determine the windmill rotational speed and is also found to be in good agreement with engine data. Thus, despite their simplicity, the methods developed here possess sufficient fidelity to be employed in design prediction models for aircraft propulsion systems.

Aerodynamic Similarity Principles and Scaling Laws for Windmilling Fans

2018 ◽  
Vol 140 (12) ◽  
Author(s):  
Dilip Prasad
Keyword(s):  
Rotational Speed ◽  
Pressure Loss ◽  
Scaling Laws ◽  
Dynamic Pressure ◽  
Stagnation Pressure ◽  
Design Parameters ◽  
Similarity Parameter ◽  
Wide Range ◽  
Simulation Results ◽  
Good Agreement

Windmilling requirements for aircraft engines often define propulsion and airframe design parameters. The present study is focused on two key quantities of interest during windmill operation: fan rotational speed and stage losses. A model for the rotor exit flow is developed that serves to bring out a similarity parameter for the fan rotational speed. Furthermore, the model shows that the spanwise flow profiles are independent of the throughflow, being determined solely by the configuration geometry. Interrogation of previous numerical simulations verifies the self-similar nature of the flow. The analysis also demonstrates that the vane inlet dynamic pressure is the appropriate scale for the stagnation pressure loss across the rotor and splitter. Examination of the simulation results for the stator reveals that the flow blockage resulting from the severely negative incidence that occurs at windmill remains constant across a wide range of mass flow rates. For a given throughflow rate, the velocity scale is then shown to be that associated with the unblocked vane exit area, leading naturally to the definition of a dynamic pressure scale for the stator stagnation pressure loss. The proposed scaling procedures for the component losses are applied to the flow configuration of Prasad and Lord (2010). Comparison of simulation results for the rotor-splitter and stator losses determined using these procedures indicates very good agreement. Analogous to the loss scaling, a procedure based on the fan speed similarity parameter is developed to determine the windmill rotational speed and is also found to be in good agreement with engine data. Thus, despite their simplicity, the methods developed here possess sufficient fidelity to be employed in design prediction models for aircraft propulsion systems.

Development of an Antagonistic SMA Actuator for Instar Rifle Stabilization System

Aerospace ◽  
2005 ◽  
Author(s):  
Brian Barnes ◽  
Diann Brei ◽  
Jonathan Luntz ◽  
Chris LaVigna
Keyword(s):  
Motion Control ◽  
Pulse Width ◽  
High Stress ◽  
Experimental Characterization ◽  
Pulse Width Modulated ◽  
Actuation System ◽  
Position Feedback ◽  
Sma Actuator ◽  
Feedback Control Strategy

Shape memory alloys are notoriously slow and suffer from creep and controllability issues [1,2]. This paper presents three methods to address these issues: a high-stress cyclic conditioning regime to reduce creep to operationally insignificant levels, an unconventional pulse-width-modulated duty cycle with heatsink to increase frequency to the ten hertz range, and simple position feedback control strategy for motion control. These methods are discussed within the context of a simple antagonistic leveraged SMA actuation system developed for an INertially STAbilized Rifle (INSTAR). An overview of design and basic parameter models for the L-Lever is provided along with benchtop experimental characterization of the quasistatic and dynamic behavior. The actuator was integrated into a one degree of freedom INSTAR platform to demonstrate the insitu methods via barrel control. The methods discussed in this paper led to a fast, low-creep, controllable actuator with outstanding authority resulting in precise barrel control with capabilities to greatly increase shooter accuracy.

scholarly journals DIESEL INJECTOR PUMP WITH RING CONTROL VALVE

2020 ◽  
pp. 68-76
Author(s):  
Fanil' Gabdrafikov ◽  
Irshat Aysuvakov ◽  
Ilgiz Galiev
Keyword(s):  
Fuel Injection ◽  
Ring Width ◽  
Control Valve ◽  
Free Edge ◽  
Original Position ◽  
Design Parameters ◽  
Elastic Ring ◽  
Hydraulic Actuator ◽  
Wide Range ◽  
Ring Valve

The studies were carried out with the aim of modernizing the pump injector with a hydraulic actuator of the HEUI system plunger with the development of a control valve model based on a split elastic ring that provides fast fuel injection control. The upgraded device differs from the existing ones in that instead of a control freely floating valve (ball) or a poppet valve with springs, a valve in the form of a split elastic ring is installed in the valve assembly. One end of this ring is fixed rigidly, the other is freely movable to block the drain channel of the liquid. The canal overlaps the free edge of the ring when the electromagnet is turned on (installed with a gap inside the ring), and also (in the absence or malfunction of the electromagnet) from the valve itself running under the pressure of the supplied fluid. When upgrading the pump injector by the proposed method and using an annular control valve with electronic control (with optimal ring parameters), a new technical effect is achieved - reducing the response time of the control valve. This is due to the fact that the free edge of the split elastic ring, like a mechanical multiplier, blocks the drain canal π times faster than the valve stroke when it rises from the pressure of the fluid flow or signal when the electromagnet is on. The ring valve simultaneously acts as a spring to return to its original position, simplifying the design as much as possible. In the course of research, a new mathematical expression was derived for calculating the valve stroke depending on its design parameters. Using this formula, the optimal parameters of the control ring valve of the pump injector were established, which affect the quality of fuel injection in a wide range of diesel operation: diameter - 20 mm, ring width - 12 mm, thickness - 0.46 mm, diameter of the control fluid supply canal - 3 mm.

scholarly journals Dynamic Routing and Coordination of Cluster for Unmanned Aerial Vehicle (UAV) Swarms

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Ali Abbas ◽  
Bhawani Shankar Chowdhry ◽  
Muhammad Saqib ◽  
Vishal Dattana
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Efficient Solution ◽  
High Mobility ◽  
Combinatorial Problem ◽  
Communication Graph ◽  
Frequent Change ◽  
Swarm Optimization ◽  
Wide Range ◽  
Aerial Vehicle ◽  
Simulation Results

The flying networks provide an efficient solution for a wide range of military and commercial purposes. The demand for portable and flexible communication is directed towards a quick growth in interaction among unmanned aerial vehicles (UAVs). Due to the frequent change in topology and high mobility of vehicles, routing and coordination becomes a challenging task. To maximize the throughput of the network, this study addresses the UAV swarm’s problems related to the coordination and routing and defines the proposed solution to solve these issues. For this, a network is assumed which contains an equal number of dynamic vehicles. It also presents the communication graph concept of UAVs and designs a fixed-wing UAV model to improve the efficiency of the network in terms of throughput. Furthermore, the proposed algorithm based on Cauchy particle swarm optimization (CPSO) aims towards the better performance of UAV swarms and aims to solve the combinatorial problem. The simulation results show and confirm the performance of the proposed algorithm.

Research on Simulation and Modeling of Split Double-Rotor Motor Based on Indirect Vector Control

2011 ◽  
Vol 317-319 ◽  
pp. 672-677
Author(s):  
Bin Wei ◽  
Ji Bin Hu ◽  
Zeng Xiong Peng
Keyword(s):  
Control System ◽  
Vector Control ◽  
Stable State ◽  
System Model ◽  
Dynamic Capability ◽  
Simulation And Modeling ◽  
Simulation Results ◽  
Set Up ◽  
Vector Control System ◽  
Control Principle

A novel vector control system of the split double-rotor motor based on indirect vector control principle has been proposed. The mathematic models of the primary machine and the secondary machine are set up respectively. Through the coupling of the two models, the system model of the split double-rotor motor is build. Matlab software is used for the simulation and analysis of this indirect vector control system. According to the simulation results, the validity of system model is proved with nicer static and dynamic capability, and without steady-state error in stable state. These are important to analyze and design the double-rotor motor. Furthermore, the results provide the basis for simulation and apply of double-rotor motor in HEV.

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