Actuator Line Modeling of Wind Turbine Wakes
Troldborg, Niels
2009-01-01
the 3D Navier Stokes solver EllipSys3D and a LES turbulence model. Simple models, based on applying body forces in the computational domain, are developed for imposing sheared and turbulent infow and their validity is discussed. A few computations on stand alone turbines are compared to measurements...... sheared inflow shows that besides an expected vertical skewed wake the wake also becomes increasingly asymmetric in the horizontal direction as it is convected downstream. The latter phenomena, which is also often observed in measurements, is argued to be caused by the rotation of the wake. A detailed...
Actuator line modeling of vertical-axis turbines
Bachant, Peter; Wosnik, Martin
2016-01-01
To bridge the gap between high and low fidelity numerical modeling tools for vertical-axis (or cross-flow) turbines (VATs or CFTs), an actuator line model (ALM) was developed and validated for both a high and a medium solidity vertical-axis turbine at rotor diameter Reynolds numbers $Re_D \\sim 10^6$. The ALM is a hybridization of classical blade element theory with Navier--Stokes based flow models, and in this study both $k$--$\\epsilon$ Reynolds-averaged Navier--Stokes (RANS) and Smagorinsky large eddy simulation (LES) turbulence models were tested. The RANS models were able to be run on coarse grids while still providing good convergence behavior in terms of the mean power coefficient, and also approximately four orders of magnitude reduction in computational expense compared with 3-D blade-resolved RANS simulations. Submodels for dynamic stall, end effects, added mass, and flow curvature were implemented, resulting in reasonable performance predictions for the high solidity rotor, more discrepancies for the...
Wind Turbine Large-Eddy Simulations on Very Coarse Grid Resolutions using an Actuator Line Model
Tossas, Luis A Martínez; Meneveau, Charles
2016-01-01
In this work the accuracy of the Actuator Line Model (ALM) in Large Eddy Simulations of wind turbine flow is studied under the specific conditions of very coarse spatial resolutions. For finely-resolved conditions, it is known that ALM provides better accuracy compared to the standard Actuator Disk Model (ADM) without rotation. However, we show here that on very coarse resolutions, flow induction occurring at rotor scales can affect the predicted inflow angle and can adversely affect the ALM predictions. We first provide an illustration of coarse LES to reproduce wind tunnel measurements. The resulting flow predictions are good, but the challenges in predicting power outputs from the detailed ALM motivate more detailed analysis on a case with uniform inflow. We present a theoretical framework to compare the filtered quantities that enter the Large-Eddy Simulation equations as body forces with a scaling relation between the filtered and unfiltered quantities. The study aims to apply the theoretical derivation ...
Determining the optimal smoothing length scale for actuator line models of wind turbine blades
Martinez, Luis; Meneveau, Charles
2015-11-01
The actuator line model (ALM) is a widely used tool for simulating wind turbines when performing Large-Eddy Simulations. The ALM uses a smearing kernel ηɛ = 1 /ɛ3π 3 / 2 exp (-r2 /ɛ2) , where r is the distance to an actuator point, and ɛ is the smoothing length scale which establishes the kernel width, to project the lift and drag forces onto the grid. In this work, we develop formulations to establish the optimum value of the smoothing length scale ɛ, based on physical arguments, instead of purely numerical constraints. This parameter has a very important role in the ALM, to provide a length scale, which may, for example, be related to the chord of the airfoil being studied. In the proposed approach, we compare features (such as vertical pressure gradient) of a potential flow solution for flow over a lifting surface with features of the solution of the Euler equations with a body force term. The potential flow solution over a lifting surface is used as a general representation of an airfoil. The method presented aims to minimize the difference between these features of the flow fields as a function of the smearing length scale (ɛ), in order to obtain the optimum value. This work is supported by NSF (IGERT and IIA-1243482) and computations use XSEDE resources.
Optimal smoothing length scale for actuator line models of lifting surfaces
Martinez-Tossas, Luis A
2015-01-01
The actuator line model (ALM) is a commonly used method to represent lifting surfaces such as wind turbine blades within Large-Eddy Simulations (LES). In ALM the lift and drag forces are replaced by an imposed body force which is typically smoothed over several grid points using a Gaussian kernel with some prescribed smoothing width $\\epsilon$. To date, the choice of $\\epsilon$ has most often been based on numerical considerations mostly related to the grid spacing used in LES. However, especially for finely resolved LES with grid spacings on the order or smaller than the chord-length of the blade, the best choice of $\\epsilon$ is not known. Focusing first on the lift force, here we find $\\epsilon$ and the force center location that minimize the square difference between the velocity fields obtained from solving 2D potential flow over Joukowski airfoils and solving the Euler equations including the imposed body force. The latter solution is found for the linearized problem, and is valid for small angles of at...
Improving actuator disk wake model
The wind energy industry has traditionally relied on simple wake models for estimating Wind Turbine (WT) wake losses. Despite limitations, low requirements in terms of detailed rotor information makes their use feasible, unlike more complex models, such as Blade Element Method (BEM) or Actuator Line. Froude's Actuator Disk (AD) does not suffer the simpler model's limitation of prescribing the wake through a closed set of equations, while sharing with them the low rotor data requirements. On the other hand they require some form of parametrization to close the model and calculate total thrust acting on the flow. An Actuator Disk model was developed, using an iterative algorithm based on Froude's one-dimensional momentum theory to determine the WT's performance, proving to be successful in estimating the performance of both machines in undisturbed flow and in the wake of an upstream machines. Before Froude's AD limitations compared to more complex rotor models, load distributions emulating those of a BEM model were tested. The results show that little impact is obtained at 3 rotor diameters downstream and beyond, agreeing with common definition of a far-wake that starts at 1-2 diameters downstream, where rotor characteristics become negligible and atmospheric flow effects dominate
Analytical dynamic modeling of fast trilayer polypyrrole bending actuators
Analytical modeling of conjugated polymer actuators with complicated electro-chemo-mechanical dynamics is an interesting area for research, due to the wide range of applications including biomimetic robots and biomedical devices. Although there have been extensive reports on modeling the electrochemical dynamics of polypyrrole (PPy) bending actuators, mechanical dynamics modeling of the actuators remains unexplored. PPy actuators can operate with low voltage while producing large displacement in comparison to robotic joints, they do not have friction or backlash, but they suffer from some disadvantages such as creep and hysteresis. In this paper, a complete analytical dynamic model for fast trilayer polypyrrole bending actuators has been proposed and named the analytical multi-domain dynamic actuator (AMDDA) model. First an electrical admittance model of the actuator will be obtained based on a distributed RC line; subsequently a proper mechanical dynamic model will be derived, based on Hamilton's principle. The purposed modeling approach will be validated based on recently published experimental results
Modeling and control of precision actuators
Kiong, Tan Kok
2013-01-01
IntroductionGrowing Interest in Precise ActuatorsTypes of Precise ActuatorsApplications of Precise ActuatorsNonlinear Dynamics and ModelingHysteresisCreepFrictionForce RipplesIdentification and Compensation of Preisach Hysteresis in Piezoelectric ActuatorsSVD-Based Identification and Compensation of Preisach HysteresisHigh-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric ActuatorsConcluding RemarksIdentification and Compensation of Frict
Fabrication of Spiral Micro Coil Lines for Electromagnetic Actuators
Setomoto, Masaru; Matsumoto, Yoshifumi; Yamashita, Shuhei; Noda, Daiji; Hattori, Tadashi
With the recent progress in downsizing and the sophistication of various industrial products, the need for more compact actuators is increasing. Actuators account for the larger percentage of volume and weight of a product compared with other parts and devices. We have proposed fabrication process of spiral micro coils that employs X-ray lithography. This process will be effective for fabricating coils of a high aspect ratio lines. Reducing the size of coil lines and increasing their aspect ratio are expected to reduce the size and increase the output of actuators. Using this process, we formed spiral coil lines that can be used in electromagnetic actuators. X-ray lithography was used to form a high aspect ratio helical structure on the surface of an acrylic resin pipe. As a measure to suppress void generation, which is one of the shortcomings of electroplating processes, the sputtering apparatus and plating equipment were improved, a pretreatment process was additionally provided, and the actual electroplating method was improved. As a result, a void-free metallic deposit could be formed on a thin coil line. At the final step of this research study, we etched the coil line to determine optimal etching conditions.
Actuator Line/Navier-Stokes Computations for Flows past the Yawed MEXICO Rotor
Shen, Wen Zhong; Sørensen, Jens Nørkær; Yang, H.
2011-01-01
In the paper the Actuator Line/Navier-Stokes model has been used to simulate flows past the yawed MEXICO rotor. The computed loads as well as the velocity field behind the yawed rotor are compared to detailed pressure and PIV measurements which were carried out in the EU funded MEXICO project...
Electromechanical modelling for piezoelectric flextensional actuators
The piezoelectric flextensional actuator investigated in this paper comprises three pre-stressed piezoceramic lead zirconate titanate (PZT) stacks and an external, flexure-hinged, mechanical amplifier configuration. An electromechanical model is used to relate the electrical and mechanical domains, comprising the PZT stacks and the flexure mechanism, with the dynamic characteristics of the latter represented by a multiple degree-of-freedom dynamic model. The Maxwell resistive capacitive model is used to describe the nonlinear relationship between charge and voltage within the PZT stacks. The actuator model parameters and the electromechanical couplings of the PZT stacks, which describe the energy transfer between the electrical and mechanical domains, are experimentally identified without disassembling the embedded piezoceramic stacks. To verify the electromechanical model, displacement and frequency experiments are performed. There was good agreement between modelled and experimental results, with less than 1.5% displacement error. This work outlines a general process by which other pre-stressed piezoelectric flextensional actuators can be characterized, modelled and identified in a non-destructive way. (paper)
Design, test and model of a hybrid magnetostrictive hydraulic actuator
Chaudhuri, Anirban; Yoo, Jin-Hyeong; Wereley, Norman M.
2009-08-01
The basic operation of hybrid hydraulic actuators involves high frequency bi-directional operation of an active material that is converted to uni-directional motion of hydraulic fluid using valves. A hybrid actuator was developed using magnetostrictive material Terfenol-D as the driving element and hydraulic oil as the working fluid. Two different lengths of Terfenol-D rod, 51 and 102 mm, with the same diameter, 12.7 mm, were used. Tests with no load and with load were carried out to measure the performance for uni-directional motion of the output piston at different pumping frequencies. The maximum no-load flow rates were 24.8 cm3 s-1 and 22.7 cm3 s-1 with the 51 mm and 102 mm long rods respectively, and the peaks were noted around 325 Hz pumping frequency. The blocked force of the actuator was close to 89 N in both cases. A key observation was that, at these high pumping frequencies, the inertial effects of the fluid mass dominate over the viscous effects and the problem becomes unsteady in nature. In this study, we also develop a mathematical model of the hydraulic hybrid actuator in the time domain to show the basic operational principle under varying conditions and to capture phenomena affecting system performance. Governing equations for the pumping piston and output shaft were obtained from force equilibrium considerations, while compressibility of the working fluid was taken into account by incorporating the bulk modulus. Fluid inertia was represented by a lumped parameter approach to the transmission line model, giving rise to strongly coupled ordinary differential equations. The model was then used to calculate the no-load velocities of the actuator at different pumping frequencies and simulation results were compared with experimental data for model validation.
Actuator line/Navier–Stokes computations for the MEXICO rotor: comparison with detailed measurements
Shen, Wen Zhong; Zhu, Wei Jun; Sørensen, Jens Nørkær
2012-01-01
In the European collaborative MEXICO (Model Experiments in Controlled Conditions) project, a series of experiments was carried out on a 4.5 m diameter wind turbine rotor to validate numerical diagnostics tools. Here, some of the measured data are compared with computations of the combined actuator...... line/Navier–Stokes (AL/NS) model developed at the Technical University of Denmark. The AL/NS model was combined with a large eddy simulation technique and used to compute the flow past the MEXICO rotor in free air and in the DNW German‐Dutch wind tunnel for three commonly defined test cases at wind...
Otten, Alexander; van Vuuren, Wieke; Stienen, Arno; van Asseldonk, Edwin; Schouten, Alfred; van der Kooij, Herman
2011-01-01
Robotics used for diagnostic measurements on, e.g. stroke survivors, require actuators that are both stiff and compliant. Stiffness is required for identification purposes, and compliance to compensate for the robots dynamics, so that the subject can move freely while using the robot. A hydraulic actuator can act as a position (stiff) or a torque (compliant) actuator. The drawback of a hydraulic actuator is that it behaves nonlinear. This article examines two methods for controlling a nonlinear hydraulic actuator. The first method that is often applied uses an elastic element (i.e. spring) connected in series with the hydraulic actuator so that the torque can be measured as the deflection of the spring. This torque measurement is used for proportional integral control. The second method of control uses the inverse of the model of the actuator as a linearizing controller. Both methods are compared using simulation results. The controller designed for the series elastic hydraulic actuator is faster to implement, but only shows good performance for the working range for which the controller is designed due to the systems nonlinear behavior. The elastic element is a limiting factor when designing a position controller due to its low torsional stiffness. The model-based controller linearizes the nonlinear system and shows good performance when used for torque and position control. Implementing the model-based controller does require building and validating of the detailed model. PMID:22275654
Cfd modeling of a synthetic jet actuator
Synthetic jet actuators show good promise as an enabling technology for innovative boundary layer flow control applied to external surfaces, like airplane wings, and to internal flows, like those occurring in a curved engine inlet. The appealing characteristics of a synthetic jet are zero-net-mass flux operation and an efficient control effect that takes advantages of unsteady fluid phenomena. The formation of a synthetic jet in a quiescent external air flow is only beginning to be understood and a rational understanding of these devices is necessary before they can be applied to the control of flows outside of the laboratory. The synthetic jet flow generated by a planar orifice is investigated here using computational approach. Computations of the 2D synthetic jet are performed with unsteady RANS modeled with the Realizable κ - ε turbulence model available in FLUENT environment. In this present work, the ability of the first order turbulence model, employed in our computations, to model the formation of the counter-rotating-vortex pair (CVP) that appears in the flow-field was investigated. Computational results were in good agreement with experimental measurements. The effectiveness of such control actuator was tested on separated boundary layer. Preliminary investigation were presented and discussed
Simulating wind and marine hydrokinetic turbines with actuator lines in RANS and LES
Bachant, Peter; Wosnik, Martin
2015-11-01
As wind and marine hydrokinetic (MHK) turbine designs mature, focus is shifting towards improving turbine array layouts for maximizing overall power output, i.e., minimizing wake interference for axial-flow or horizontal-axis turbines, or taking advantage of constructive wake interaction for cross-flow or vertical-axis turbines. Towards this goal, an actuator line model (ALM) was developed to provide a computationally feasible method for simulating full turbine arrays inside Navier-Stokes models. The ALM predicts turbine loading with the blade element method combined with sub-models for dynamic stall and flow curvature. The open-source software is written as an extension library for the OpenFOAM CFD package, which allows the ALM body force to be applied to their standard RANS and LES solvers. Turbine forcing is also applied to volume of fluid (VOF) models, e.g., for predicting free surface effects on submerged MHK devices. An additional sub-model is considered for injecting turbulence model scalar quantities based on actuator line element loading. Results are presented for the simulation of performance and wake dynamics of axial- and cross-flow turbines and compared with moderate Reynolds number experiments and body-fitted mesh, blade-resolving CFD. Work supported by NSF-CBET grant 1150797.
Multiscale modeling and topology optimization of poroelastic actuators
Andreasen, Casper Schousboe; Sigmund, Ole
2012-01-01
This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material microstruc......This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material...
Modeling Populations of Thermostatic Loads with Switching Rate Actuation
Totu, Luminita Cristiana; Wisniewski, Rafal; Leth, John-Josef
We model thermostatic devices using a stochastic hybrid description, and introduce an external actuation mechanism that creates random switch events in the discrete dynamics. We then conjecture the form of the Fokker-Planck equation and successfully verify it numerically using Monte Carlo...... simulations. The actuation mechanism and subsequent modeling result are relevant for power system operation....
Numerical modeling of shape memory alloy linear actuator
Jani, Jaronie Mohd; Huang, Sunan; Leary, Martin; Subic, Aleksandar
2015-09-01
The demand for shape memory alloy (SMA) actuators in high-technology applications is increasing; however, there exist technical challenges to the commercial application of SMA actuator technologies, especially associated with actuation duration. Excessive activation duration results in actuator damage due to overheating while excessive deactivation duration is not practical for high-frequency applications. Analytical and finite difference equation models were developed in this work to predict the activation and deactivation durations and associated SMA thermomechanical behavior under variable environmental and design conditions. Relevant factors, including latent heat effect, induced stress and material property variability are accommodated. An existing constitutive model was integrated into the proposed models to generate custom SMA stress-strain curves. Strong agreement was achieved between the proposed numerical models and experimental results; confirming their applicability for predicting the behavior of SMA actuators with variable thermomechanical conditions.
Piezoelectric Actuator Modeling Using MSC/NASTRAN and MATLAB
Reaves, Mercedes C.; Horta, Lucas G.
2003-01-01
This paper presents a procedure for modeling structures containing piezoelectric actuators using MSCMASTRAN and MATLAB. The paper describes the utility and functionality of one set of validated modeling tools. The tools described herein use MSCMASTRAN to model the structure with piezoelectric actuators and a thermally induced strain to model straining of the actuators due to an applied voltage field. MATLAB scripts are used to assemble the dynamic equations and to generate frequency response functions. The application of these tools is discussed using a cantilever aluminum beam with a surface mounted piezoelectric actuator as a sample problem. Software in the form of MSCINASTRAN DMAP input commands, MATLAB scripts, and a step-by-step procedure to solve the example problem are provided. Analysis results are generated in terms of frequency response functions from deflection and strain data as a function of input voltage to the actuator.
Validation of the actuator line/Navier Stokes technique using mexico measurements
Shen, Wen Zhong; Zhu, Wei Jun; Sørensen, Jens Nørkær
2010-01-01
This paper concerns the contribution of DTU MEK in the international research collaboration project (MexNext) within the framework of IEA Annex 29 to validate aerodynamic models or CFD codes using the existing measurements made in the previous EU funded projectMEXICO (Model Experiments in Control......This paper concerns the contribution of DTU MEK in the international research collaboration project (MexNext) within the framework of IEA Annex 29 to validate aerodynamic models or CFD codes using the existing measurements made in the previous EU funded projectMEXICO (Model Experiments...... in Controlled Conditions). The Actuator Line/Navier Stokes (AL/NS) technique developed at DTU is validated against the detailed MEXICO measurements. The AL/NS computations without the DNW wind tunnel with speeds of 10m/s, 15m/s and 24m/s. Comparisons of blade loading between computations and measurements show...
Damping of bending waves in truss beams by electrical transmission lines with PZT actuators
dell`Isola, F.; Vidoli, S. [Univ. di Roma `La Sapienza` (Italy). Dipt. di Ingegneria Strutturale e Geotecnica
1998-11-01
A new device to damp mechanical waves in modular truss beams has been proposed. It is based on the electro-mechanical coupling of the truss beam with an electrical transmission line by a line distribution of PZT actuators. It has been proved that extensional and torsional waves can be damped using a standard second-order transmission line, and that such a line is not suitable to damp bending waves. In the present paper, we propose to couple the beam with a fourth-order transmission line, obtained from the standard one by adding a voltage-driven current generator, thus electrically paralleling the structure of the bending wave equation. As a detailed description of the system would require huge numerical programming, to test qualitatively the efficiency of the proposed electro-mechanical coupling we consider a coarse continuum model of piezoelectro-mechanical (PEM) beams, using an identification procedure based on the principle of virtual power. We define the critical value for line impedance maximizing the electro-mechanical energy exchange for every wave frequency, thus proving that the electric damping of bending waves by distributed PZT control is technically feasible. (orig.) With 10 figs., 1 tab., 10 refs.
Model and control of tendon actuated robots
Palli, Gianluca
2007-01-01
The use of tendons for the transmission of the forces and the movements in robotic devices has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, high reliability, simplicity in the mechanic design and, finally, in the reduced cost of the resulting kinematic chain. After a brie...
Sarmast, Sasan; Segalini, Antonio; Mikkelsen, Robert Flemming;
2016-01-01
different wind turbines have been simulated: one with constant circulation along the blades, to replicate the vortex method approximations, and the other with a realistic circulation distribution, to compare the outcomes of the vortex model with real operative wind-turbine conditions (Tjæreborg wind turbine......). The vortex model matched the numerical simulation of the turbine with constant blade circulation in terms of the near-wake structure and local forces along the blade. The results from the Tjæreborg turbine case showed some discrepancies between the two approaches, but overall, the agreement is...
Modelling of dielectric barrier discharge plasma actuators with thick electrodes
Hoskinson, A R; Hershkowitz, N, E-mail: hershkowitz@engr.wisc.edu [Department of Engineering Physics, University of Wisconsin-Madison, Madison, WI 53706 (United States)
2011-03-02
We have developed a new two-dimensional fluid simulation to model the plasma dynamics in surface dielectric barrier discharges operating in air. Single-barrier (one electrode insulated) and double-barrier (both electrodes insulated) discharges have been observed to generate a force in the nearby air, making them potentially useful as aerodynamic actuators. Many previous simulations of such discharges have modelled the electrodes as thin strips. We instead consider plasma actuators including cylindrical electrodes of various sizes. In single-barrier actuators, the size of the exposed electrode qualitatively affects the discharge dynamics, particularly with a negative-going applied voltage. For both geometries, the simulations predict the formation of plasma structures similar to those imaged in previous experiments. Experimentally observed increases in forces for actuators with smaller high-voltage electrodes were only reproduced for the single-barrier geometry. Due to limitations of computational power, voltage rates of change for all simulations were higher than those used in experiments.
Verification and validation of an actuator disc model
Réthoré, Pierre-Elouan; Laan, van der, Paul Maarten; Troldborg, Niels;
2014-01-01
Wind turbine wake can be studied in computational fluid dynamics with the use of permeable body forces (e.g. actuator disc, line and surface). This paper presents a general flexible method to redistribute wind turbine blade forces as permeable body forces in a computational domain. The method can...
Validation of the actuator line method using near wake measurements of the MEXICO rotor
Nilsson, Karl; Shen, Wen Zhong; Sørensen, Jens Nørkær;
2015-01-01
The purpose of the present work is to validate the capability of the actuator line method to compute vortex structures in the near wake behind the MEXICO experimental wind turbine rotor. In the MEXICO project/MexNext Annex, particle image velocimetry measurements have made it possible to determine...
Model of Polysilicon Electro-thermal Micro Actuator and Research of Micro Scale Effect
ZHANGYong-yu; SHENXue-jin; CHENXiao-yang
2004-01-01
A type of crank beam electro-thermal mircro actuator was prescribed Mechanical model of the actuatar was estabilished,and the static characteristic was analzed Comparing the theoretical analzsis with experimental data,it is found that the thermodynamic character of material in micro actuator has a different variable regularity contrasted to that used in macro scale machines.it is the micro scale effect that results in the deriation between the simulating result and experimental results the thermodynamic expression of polysilicon which was fitted by means of the experimental data concerned was used to modify the mechanical model The modifiex model ,in which the mircro scale thermodynamic characteristic characteristic was considered,was more reasonable and could make the optimal design and control strategies analyzing the straight-line micro actuator more feasible.
Dynamic modeling of brushless dc motors for aerospace actuation
Demerdash, N. A.; Nehl, T. W.
1980-01-01
A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.
Nonlinear finite element modeling of THUNDER piezoelectric actuators
Taleghani, Barmac K.; Campbell, Joel F.
1999-06-01
A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (Thin Layer Unimorph Ferroelectric Driver) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.
Non-Linear Finite Element Modeling of THUNDER Piezoelectric Actuators
Taleghani, Barmac K.; Campbell, Joel F.
1999-01-01
A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (THin Layer UNimorph Ferroelectric DrivER) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.
DYNAMIC FREE ENERGY HYSTERESIS MODEL IN MAGNETOSTRICTIVE ACTUATORS
无
2006-01-01
A dynamic free energy hysteresis model in magnetostrictive actuators is presented. It is the free energy hysteresis model coupled to an ordinary different equation in an unusual way. According to its special structure, numerical implementation method of the dynamic model is provided. The resistor parameter in the dynamic model changes according to different frequency ranges. This makes numerical implementation results reasonable in the discussed operating frequency range. The validity of the dynamic free energy model is illustrated by comparison with experimental data.
Dynamic response modelling and characterization of a vertical electrothermal actuator
Mathematical modelling and characterization of the dynamic response of a microelectromechanical system (MEMS) electrothermal actuator are presented in this paper. The mathematical model is based on a second-order partial differential equation (one-dimensional heat transfer) and a second-order ordinary differential equation (mechanical dynamic equation). The simulations are implemented using the piecewise finite difference method and the Runge–Kutta algorithm. The electrothermal modelling includes thermal conduction, convective thermal loss and radiation effects. The temperature dependence of resistivity and thermal conductivity of single crystal silicon have also been taken into consideration in the electrothermal modelling. It is calculated from the simulation results that the 'cold' beam of the electrothermal actuator is not only a mechanical constraint but also a thermal response compensation structure. The 0–90% electrothermal rise times for the individual 'hot' and 'cold' beams are calculated to be 32.9 ms and 42.8 ms, respectively, while the 0–90% electrothermal rise time for the whole actuator is calculated to be 17.3 ms. Nonlinear cubic stiffness has been considered in the thermal-mechanical modelling. Dynamic performances of the device have been characterized using a laser vibrometer, and the 0–90% thermal response time of the whole structure has been measured to be 16.8 ms, which matches well with the modelling results. The displacements of the device under different driving conditions and at resonant frequency have been modelled and measured, and the results from both modelling and experiment agree reasonably well. This work provides a comprehensive understanding of the dynamic behaviour of the electrothermal actuation mechanism. The model will be useful for designing control systems for microelectrothermal actuated devices
Nonlinear Model-Based Fault Detection for a Hydraulic Actuator
Van Eykeren, L.; Chu, Q.P.
2011-01-01
This paper presents a model-based fault detection algorithm for a specific fault scenario of the ADDSAFE project. The fault considered is the disconnection of a control surface from its hydraulic actuator. Detecting this type of fault as fast as possible helps to operate an aircraft more cost effect
National Aeronautics and Space Administration — SSCI proposes to develop innovative algorithms for the integration of Health Monitoring (HM) subsystem with the existing FLARE (Fast on-Line Actuator...
Modelling and control of double-cone dielectric elastomer actuator
Branz, F.; Francesconi, A.
2016-09-01
Among various dielectric elastomer devices, cone actuators are of large interest for their multi-degree-of-freedom design. These objects combine the common advantages of dielectric elastomers (i.e. solid-state actuation, self-sensing capability, high conversion efficiency, light weight and low cost) with the possibility to actuate more than one degree of freedom in a single device. The potential applications of this feature in robotics are huge, making cone actuators very attractive. This work focuses on rotational degrees of freedom to complete existing literature and improve the understanding of such aspect. Simple tools are presented for the performance prediction of the device: finite element method simulations and interpolating relations have been used to assess the actuator steady-state behaviour in terms of torque and rotation as a function of geometric parameters. Results are interpolated by fit relations accounting for all the relevant parameters. The obtained data are validated through comparison with experimental results: steady-state torque and rotation are determined at a given high voltage actuation. In addition, the transient response to step input has been measured and, as a result, the voltage-to-torque and the voltage-to-rotation transfer functions are obtained. Experimental data are collected and used to validate the prediction capability of the transfer function in terms of time response to step input and frequency response. The developed static and dynamic models have been employed to implement a feedback compensator that controls the device motion; the simulated behaviour is compared to experimental data, resulting in a maximum prediction error of 7.5%.
Nonlinear Hamiltonian modelling of magnetic shape memory alloy based actuators.
Gauthier, Jean-Yves; Hubert, Arnaud; Abadie, Joël; Chaillet, Nicolas; Lexcellent, Christian
2008-01-01
This paper proposes an application of the Lagrangian formalism and its Hamiltonian extension to design, model and control a mechatronic system using Magnetic Shape Memory Alloys. In this aim, an original dynamical modelling of a Magnetic Shape Memory Alloy based actuator is presented. Energy-based techniques are used to obtain a coherent modelling of the magnetical, mechanical and thermodynamic phenomena. The Lagrangian formalism, well suited in such a case, is introduced and used to take int...
Distributed and lumped element models for a bimorph-actuated micromirror
A procedure to model electrothermally actuated devices is developed and demonstrated using a 1D scanning micromirror. The micromirror is actuated by thermal bimorphs and an embedded platinum (Pt) resistor is used for generating Joule heating. Electrothermal, thermal and thermomechanical models are developed and integrated to generate a compact electrothermomechanical model. The electrothermal model relates the thermal power generated in the device to the applied voltage. The thermomechanical model evaluates the mirror rotation angle. The thermal model is developed by drawing analogy between heat flow in the device and current flow through an electrical transmission line. It provides the temperature of the embedded heater and the bimorph actuators. The heat loss coefficient to the surrounding atmosphere is obtained from finite element (FE) simulations. The distributed thermal resistances are represented by an equivalent circuit model with a few elements. A simplification of the circuit model is proposed when small length scales are involved. Rotation angle per unit power input predicted by the circuit model has an error of less than 8% compared to experimental results.
Nonlinear dynamic modeling for smart material electro-hydraulic actuator development
Larson, John P.; Dapino, Marcelo J.
2013-03-01
Smart material electro-hydraulic actuators use hydraulic rectification by one-way check valves to amplify the motion of smart materials, such as magnetostrictives and piezoelectrics, in order to create compact, lightweight actuators. A piston pump driven by a smart material is combined with a hydraulic cylinder to form a self-contained, power-by-wire actuator that can be used in place of a conventional hydraulic system without the need for hydraulic lines and a centralized pump. The performance of an experimental actuator driven by a 12.7 mm diameter, 114 mm length Terfenol-D rod is evaluated over a range of applied input frequencies, loads, and currents. The peak performance achieved is 37 W, moving a 220 N load at a rate of 17 cm/s and producing a blocked pressure of 12.5 MPa. Additional tests are conducted to quantify the dynamic behavior of the one-way reed valves using a scanning laser vibrometer to identify the frequency response of the reeds and the effect of the valve seat and fluid mass loading. A lumped-parameter model is developed for the system that includes valve inertia and fluid response nonlinearities, and the model results are compared with the experimental data.
Panjwani Balram
2014-01-01
Full Text Available Wind energy is a good alternative to meet the energy requirements in some parts of the world; however the efficiency of wind farm depends on the optimized location of the wind turbines. Therefore a software tool that is capable of predicting the in-situ performance of multiple turbine installations in different operating conditions with reliable accuracy is needed. In present study wind farm layout design tool OffWindSolver is developed within the OpenFoam architecture. Unsteady PisoFoam solver is extended to account for wind turbines, where each turbine is modeled as a sink term in the momentum equation. Turbine modeling is based on actuator line concepts derived from SOWFA code, where each blade of the turbine is represented as a line. The loading on each line/blade of the turbine is estimated using the Blade Element Method (BEM. The inputs for the solver are tabulated airfoil aerodynamic data, dimension and height of the wind turbines, wind magnitude and direction. OffWindSolver is validated for a real wind farm – Lillgrund offshore facility in Sweden/Denmark operated by Vattenfall Vindkraft AB. Because of the scale of the computation, we only examine the effect of wind from one direction at one speed. In the absence of time dependent Marine Atmospheric Boundary Layer (MABL, a log wind profile with surface roughness of 0.04 is used at the inlet. The simulated power production of each turbine is compared to the field data and large-eddy simulation. The overall power of the wind farm is well predicted. The simulation shows the significant decreases of the power for those turbines that were in the wake.
Model and Design of a Power Driver for Piezoelectric Stack Actuators
Chiaberge M
2010-01-01
Full Text Available A power driver has been developed to control piezoelectric stack actuators used in automotive application. An FEM model of the actuator has been implemented starting from experimental characterization of the stack and mechanical and piezoelectric parameters. Experimental results are reported to show a correct piezoelectric actuator driving method and the possibility to obtain a sensorless positioning control.
Magneto-mechanical actuation model for fin-based locomotion
Carbajal, Juan Pablo; 10.2495/DN100331
2011-01-01
In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary motors which implies at least one mechanical conversion of the motion. We seek a solution that directly bends the fin and, at the same time, is able to exploit the magneto-mechanical properties of the fin material. This strong fin-actuator coupling blends the actuator and the body of the robot, allowing cross optimization of the system's elements. We study a simplified model of an elastic element, a spring-mass system representing a flexible fin, subjected to nonlinear forcing, emulating magnetic interaction. The dynamics of the system is studied under unforced and periodic forcing conditions. The analysis is focused on the limit cycles present in the system, which allows the periodic bending of the fin and the generation of thrust. The frequency, maximum amplitude and cente...
Modeling and Control of Electromechanical Actuators for Heavy Vehicle Applications
Pettersson, Alexander; Storm, Patrik
2012-01-01
The possibility to develop control systems for electromechanical actuators at Scania is studied, in particular the focus is on how to exchange the intelligent actuators used today with dumb ones. An intelligent actuator contains its own control electronics and computational power, bought as a unit from suppliers by Scania and controlled via the CAN bus. A dumb actuator contains no means of controlling itself and its I/O is the motor’s power pins. Intelligent actuators tend to have limited con...
Active Flow Control Using Sweeping Jet Actuators on a Semi-Span Wing Model
Melton, LaTunia Pack; Koklu, Mehti
2016-01-01
Wind tunnel experiments were performed using active flow control on an unswept semispan wing model with a 30% chord trailing edge flap to aid in the selection of actuators for a planned high Reynolds number experiment. Two sweeping jet actuator sizes were investigated to determine the influence of actuator size on the active flow control system efficiency. Sweeping jet actuators with orifice sizes of 1 mm x 2 mm and 2 mm x 4 mm were selected because of the differences in actuator jet sweep angle. The parameters that were varied include actuator momentum, freestream velocity, and trailing edge flap deflection angle. Steady and unsteady pressure data, Particle Image Velocimetry data, and force and moment data were acquired to assess the performance of the two actuators. In addition to the wind tunnel experiments, benchtop studies of the actuators were performed to characterize the jets produced by each actuator. Benchtop investigations of the smaller actuator reveal that the jet exiting the actuator has a reduced sweep angle compared to published data for larger versions of this type of actuator. The larger actuator produces an oscillating jet that attaches to the external di?user walls at low supply pressures and produces the expected sweep angles. The AFC results using the smaller actuators show that while the actuators can control flow separation, the selected spacing of 3.3 cm may be too large due to the reduced sweep angle. In comparison, the spacing for the larger actuators, 6.6 cm, appears to be optimal for the Mach numbers investigated. Particle Image Velocimetry results are presented and show how the wall jets produced by the actuators cause the flow to attach to the flap surface.
Hysteresis model of magnetostrictive actuators and its numerical realization
TANG Zhi-feng; LV Fu-zai; XIANG Zhan-qin
2007-01-01
This paper presents two numerical realization of Preisach model by Density Function Method (DFM) and F Function Method (FFM) for a giant magnetostrictive actuator (GMA). Experiment and simulation showed that FFM is better than DFM for predicting precision of hysteresis loops. Lagrange bilinear interpolation algorithm is used in Preisach numerical realization to enhance prediction performance. A set of hysteresis loops and higher order reversal curves are predicted and experimentally verified. The good agreement between the measured and predicted curves shows that the classical Preisach model is effective for modelling the quasi-static hysteresis of the GMA.
Modelling of a nanosecond surface discharge actuator
Unfer, T; Boeuf, J P [Universite de Toulouse, UPS, INPT, LAPLACE (Laboratoire Plasma et Conversion d' Energie), 118 route de Narbonne, F-31062 Toulouse cedex 9 (France); CNRS, LAPLACE, F-31062 Toulouse (France)
2009-10-07
Surface dielectric barrier discharges (SDBDs) can modify the boundary layer of a flow and are studied as a possible means to control the flow over an airfoil. In SDBDs driven by sinusoidal voltages in the 1-10 kHz range, momentum is transferred from ions to the neutral gas, as in a corona discharge (ion wind), and the resulting electrohydrodynamic force can generate a flow of several m s{sup -1} in the boundary layer along the surface. In this paper we are interested in a different regime of SDBDs where nanosecond voltage pulses are applied between the electrodes. Recent experiments by the group of Starikovskii have demonstrated that such discharges are able to modify a flow although no significant ion wind can be detected. A two-dimensional self-consistent numerical model of the discharge and gas dynamics in conditions similar to those of these experiments has been developed. The model couples fluid discharge equations with compressible Navier-Stokes equations including momentum and thermal transfer from the plasma to the neutral gas. This is a difficult multi-scale problem and special care has been taken to accurately solve the equations over a large simulation domain and at a relatively low computational cost. The results show that under the conditions of the simulated experiments, fast gas heating takes place in the boundary layer, leading to the generation of a 'micro' shock wave, in agreement with the experiments.
Long, Yongjun; Wei, Xiaohui; Wang, Chunlei; Dai, Xin; Wang, Shigang
2014-05-01
A new rotary normal stress electromagnetic actuator for fast steering mirror (FSM) is presented. The study includes concept design, actuating torque modeling, actuator design, and validation with numerical simulation. To achieve an FSM with compact structure and high bandwidth, the actuator is designed with a cross armature magnetic topology. By introducing bias flux generated by four permanent magnets (PMs), the actuator has high-force density similar to a solenoid but also has essentially linear characteristics similar to a voice coil actuator, leading to a simply control algorithm. The actuating torque output is a linear function of both driving current and rotation angle and is formulated with equivalent magnetic circuit method. To improve modeling accuracy, both the PM flux and coil flux leakages are taken into consideration through finite element simulation. Based on the established actuator model, optimal design of the actuator is presented to meet the requirement of our FSM. Numerical simulation is then presented to validate the concept design, established actuator model, and designed actuator. It is shown that the calculated results are in a good agreement with the simulation results.
Hysteresis Modeling of Magnetic Shape Memory Alloy Actuator Based on Krasnosel'skii-Pokrovskii Model
Miaolei Zhou
2013-01-01
Full Text Available As a new type of intelligent material, magnetically shape memory alloy (MSMA has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.
A top-down multi-scale modeling for actuation response of polymeric artificial muscles
Yang, Qianxi; Li, Guoqiang
2016-07-01
A class of innovative artificial muscles made of high-strength polymeric fibers such as fishing lines or sewing threads have been discovered recently. These muscles are fabricated by a simple "twist-insertion" procedure, which have attracted increasing attention due to their low cost and readily availability, giant tensile stroke, record energy density, and easy controllability. In the present paper, we established a multi-scale modeling framework for the thermomechanical actuation responses by a top-down strategy, spanning from macro-scale helical spring analysis down to molecular level chain interaction study. Comparison between modeling results and experimental results exhibited excellent agreement. The effect of the micro-, meso- and macro-scale parameters on the actuation responses of the artificial muscle was further discussed through a parametric study per the validated model. This work helps understand the physical origin behind the remarkable tensile actuation behavior of the twisted-then-coiled polymeric artificial muscles and also provides inspirations for optimal design of advanced artificial muscles made by twist-insertion procedure.
Electrochemical fabrication and modelling of mechanical behavior of a tri-layer polymer actuator
Stability and performance of electrochemically synthesized tri-layer polypyrrole based actuators were reported. Concentrations were optimized as 0.05 M pyrrole and 0.05 M tetrabutylammonium hexaflurophosphate in propylene carbonate (PC). The force output of the actuators ranged from 0.2 to 0.4 mN. Cyclic deflection tests on PC based actuators for a duration of 3 h indicated that the displacement decreased by 60%. However, actuation could be regenerated by immersing the actuator into the electrolyte solution. Surface resistivity measurements on the actuators prior to and after 3 h continuous deflection did not show any significant change in the resistivity of the PPy layer. A triple-layer model of the polymer actuator was developed based on the classic bending beam theory by considering strain continuity between PPy and PVDF. Results predicted by the model were in good agreement with the experimental data.
Fabrication, modeling and optimization of an ionic polymer gel actuator
The modeling of the electro-active behavior of ionic polymer gel is studied and the optimum conditions that maximize the deflection of the gel are investigated. The bending deformation of polymer gel under an electric field is formulated by using chemo-electro-mechanical parameters. In the modeling, swelling and shrinking phenomena due to the differences in ion concentration at the boundary between the gel and solution are considered prior to the application of an electric field, and then bending actuation is applied. As the driving force of swelling, shrinking and bending deformation, differential osmotic pressure at the boundary of the gel and solution is considered. From this behavior, the strain or deflection of the gel is calculated. To find the optimum design parameter settings (electric voltage, thickness of gel, concentration of polyion in the gel, ion concentration in the solution, and degree of cross-linking in the gel) for bending deformation, a nonlinear constrained optimization model is formulated. In the optimization model, a bending deflection equation of the gel is used as an objective function, and a range of decision variables and their relationships are used as constraint equations. Also, actuation experiments are conducted using poly(2-acrylamido-2-methylpropane sulfonic acid) (PAMPS) gel and the optimum conditions predicted by the proposed model have been verified by the experiments
Analytic model and frequency characteristics of plasma synthetic jet actuator
Zong, Hao-hua; Wu, Yun; Li, Ying-hong; Song, Hui-min; Zhang, Zhi-bo; Jia, Min
2015-02-01
This paper reports a novel analytic model of a plasma synthetic jet actuator (PSJA), considering both the heat transfer effect and the inertia of the throat gas. Both the whole cycle characteristics and the repetitive working process of PSJA can be predicted with this model. The frequency characteristics of a PSJA with 87 mm3 volume and different orifice diameters are investigated based on the analytic model combined with experiments. In the repetitive working mode, the actuator works initially in the transitional stage with 20 cycles and then in the dynamic balanced stage. During the transitional stage, major performance parameters of PSJA experience stepped growth, while during the dynamic balanced stage, these parameters are characterized by periodic variation. With a constant discharge energy of 6.9 mJ, there exists a saturated frequency of 4 kHz/6 kHz for an orifice diameter of 1 mm/1.5 mm, at which the time-averaged total pressure of the pulsed jet reaches a maximum. Between 0.5 mm and 1.5 mm, a larger orifice diameter leads to a higher saturated frequency due to the reduced jet duration time. As the actuation frequency increases, both the time-averaged cavity temperature and the peak jet velocity initially increase and then remain almost unchanged at 1600 K and 280 m/s, respectively. Besides, with increasing frequency, the mechanical energy incorporated in single pulsed jet, the expelled mass per pulse, and the time-averaged density in the cavity, decline in a stair stepping way, which is caused by the intermittent decrease of refresh stage duration in one period.
Computational Actuator Disc Models for Wind and Tidal Applications
B. Johnson
2014-01-01
Full Text Available This paper details a computational fluid dynamic (CFD study of a constantly loaded actuator disc model featuring different boundary conditions; these boundary conditions were defined to represent a channel and a duct flow. The simulations were carried out using the commercially available CFD software ANSYS-CFX. The data produced were compared to the one-dimensional (1D momentum equation as well as previous numerical and experimental studies featuring porous discs in a channel flow. The actuator disc was modelled as a momentum loss using a resistance coefficient related to the thrust coefficient (CT. The model showed good agreement with the 1D momentum theory in terms of the velocity and pressure profiles. Less agreement was demonstrated when compared to previous numerical and empirical data in terms of velocity and turbulence characteristics in the far field. These models predicted a far larger velocity deficit and a turbulence peak further downstream. This study therefore demonstrates the usefulness of the duct boundary condition (for computational ease for representing open channel flow when simulating far field effects as well as the importance of turbulence definition at the inlet.
Dynamic Actuator for Centrifuge Modeling of Soil-Structure Interaction
CABRERA, Miguel Angel; Caicedo, Bernardo; THOREL, Luc
2012-01-01
This paper presents a new dynamic actuator useful to study soil-structure interactions in a centrifuge. This new dynamic apparatus is based on an amplified piezoelectric actuator. Using this device it is possible to create vibrations in the soil sample of different frequencies and amplitudes. The dynamic actuator consists of a set of weights in a single degree of freedom system plus a piezoelectric actuator and a piezoelectric load cell, which measures the dynamic load. A description of the d...
Preisach model of hysteresis for the Piezoelectric Actuator Drive
Zsurzsan, Tiberiu-Gabriel; Andersen, Michael A. E.; Zhang, Zhe;
2015-01-01
The Piezoelectric Actuator Drive (PAD) is a precise piezoelectric motor generating high-torque rotary motion, which employs piezoelectric stack actuators in a wobblestyle actuation to generate rotation. The piezoelectric stacked ceramics used as the basis for motion in the motor suffer from...
Analysis of Power Enhancement for a Row of Wind Turbines Using the Actuator Line Technique
The effect of wake interaction for a row of three wind turbines in a wind farm is analysed using the actuator line technique. Both full wake and half wake situations are considered with the aim of deriving the optimal pitch setting of the foremost turbine, with respect to the total power from the row. The mutual distance between the turbines is 5 diameters and the turbines are considered to operate in a wind shear with an exponent of 0.15, with the rotor centre located at 1.4 radii from the ground. The main findings reveal clear effects of reducing the loading on the foremost turbine towards increased production of turbine 2 and 3 in a row
Analysis of power enhancement for a row of wind turbines using the actuator line technique
Mikkelsen, Robert Flemming; Sørensen, Jens Nørkær; Øye, Stig;
2007-01-01
The effect of wake interaction for a row of three wind turbines in a wind farm is analysed using the actuator line technique. Both full wake and half wake situations are considered with the aim of deriving the optimal pitch setting of the foremost turbine, with respect to the total power from the...... row. The mutual distance between the turbines is 5 diameters and the turbines are considered to operate in a wind shear with an exponent of 0.15, with the rotor centre located at 1.4 radii from the ground. The main findings reveal clear effects of reducing the loading on the foremost turbine towards...... increased production of turbine 2 and 3 in a row....
Validation of high displacement piezoelectric actuator finite element models
Taleghani, Barmac K.
2000-08-01
The paper presents the results obtained by using NASTRAN and ANSYS finite element codes to predict doming of the THUNDER piezoelectric actuators during the manufacturing process and subsequent straining due to an applied input voltage. To effectively use such devices in engineering applications, modeling and characterization are essential. Length, width, dome height, and thickness and important parameters for users of such devices. Therefore, finite element models were used to assess the effects of these parameters. NASTRAN and ANSYS used different methods for modeling piezoelectric effects. In NASTRAN, a thermal analogy was used to represent voltage at nodes as equivalent temperatures, while ANSYS processed the voltage directly using piezoelectric finite elements. The results of finite element models were validated by using the experimental results.
Validation of thermal models for a prototypical MEMS thermal actuator.
Gallis, Michail A.; Torczynski, John Robert; Piekos, Edward Stanley; Serrano, Justin Raymond; Gorby, Allen D.; Phinney, Leslie Mary
2008-09-01
This report documents technical work performed to complete the ASC Level 2 Milestone 2841: validation of thermal models for a prototypical MEMS thermal actuator. This effort requires completion of the following task: the comparison between calculated and measured temperature profiles of a heated stationary microbeam in air. Such heated microbeams are prototypical structures in virtually all electrically driven microscale thermal actuators. This task is divided into four major subtasks. (1) Perform validation experiments on prototypical heated stationary microbeams in which material properties such as thermal conductivity and electrical resistivity are measured if not known and temperature profiles along the beams are measured as a function of electrical power and gas pressure. (2) Develop a noncontinuum gas-phase heat-transfer model for typical MEMS situations including effects such as temperature discontinuities at gas-solid interfaces across which heat is flowing, and incorporate this model into the ASC FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (3) Develop a noncontinuum solid-phase heat transfer model for typical MEMS situations including an effective thermal conductivity that depends on device geometry and grain size, and incorporate this model into the FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (4) Perform combined gas-solid heat-transfer simulations using Calore with these models for the experimentally investigated devices, and compare simulation and experimental temperature profiles to assess model accuracy. These subtasks have been completed successfully, thereby completing the milestone task. Model and experimental temperature profiles are found to be in reasonable agreement for all cases examined. Modest systematic differences appear to be related to uncertainties in the geometric dimensions of the test structures and in the thermal conductivity of the
Analytical model for an electrostatically actuated miniature diaphragm compressor
This paper presents a new analytical approach for quasi-static modeling of an electrostatically actuated diaphragm compressor that could be employed in a miniature scale refrigeration system. The compressor consists of a flexible circular diaphragm clamped at its circumference. A conformal chamber encloses the diaphragm completely. The membrane and the chamber surfaces are coated with metallic electrodes. A potential difference applied between the diaphragm and the chamber pulls the diaphragm toward the chamber surface progressively from the outer circumference toward the center. This zipping actuation reduces the volume available to the refrigerant gas, thereby increasing its pressure. A segmentation technique is proposed for analysis of the compressor by which the domain is divided into multiple segments for each of which the forces acting on the diaphragm are estimated. The pull-down voltage to completely zip each individual segment is thus obtained. The required voltage for obtaining a specific pressure rise in the chamber can thus be determined. Predictions from the model compare well with other simulation results from the literature, as well as to experimental measurements of the diaphragm displacement and chamber pressure rise in a custom-built setup
Thananchai Leephakpreeda
2012-01-01
Quantitative understanding of mechanical actuation of intricate Pneumatic Artificial Muscle (PAM) actuators is technically required in control system design for effective real-time implementation.This paper presents mathematical modeling of the PAM driven by hydrogen-gas pressure due to absorption and desorption of metal hydride.Empirical models of both mechanical actuation of industrial PAM and chemical reaction of the metal hydride-LaNi5 are derived systematically where their interactions comply with the continuity principle and energy balance in describing actual dynamic behaviors of the PAM actuator (PAM and hydriding/dehydriding-reaction bed).Simulation studies of mechanical actuation under various loads are conducted so as to present dynamic responses of the PAM actuators.From the promising results,it is intriguing that the heat input for the PAM actuator can be supplied to,or pumped from the reaction bed,in such a way that absorption and desorption of hydrogen gas take place,respectively,in controlling the pressure of hydrogen gas within the PAM actuator.Accordingly,this manipulation results in desired mechanical actuation of the PAM actuator in practical uses.
Vortex ring state by full-field actuator disc model
Soerensen, J.N.; Shen, W.Z.; Munduate, X. [DTU, Dept. of Energy Engineering, Lyngby (Denmark)
1997-08-01
One-dimensional momentum theory provides a simple analytical tool for analysing the gross flow behavior of lifting propellers and rotors. Combined with a blade-element strip-theory approach, it has for many years been the most popular model for load and performance predictions of wind turbines. The model works well at moderate and high wind velocities, but is not reliable at small wind velocities, where the expansion of the wake is large and the flow field behind the rotor dominated by turbulent mixing. This is normally referred to as the turbulent wake state or the vortex ring state. In the vortex ring state, momentum theory predicts a decrease of thrust whereas the opposite is found from experiments. The reason for the disagreement is that recirculation takes place behind the rotor with the consequence that the stream tubes past the rotor becomes effectively chocked. This represents a condition at which streamlines no longer carry fluid elements from far upstream to far downstream, hence one-dimensional momentum theory is invalid and empirical corrections have to be introduced. More sophisticated analytical or semi-analytical rotor models have been used to describe stationary flow fields for heavily loaded propellers. In recent years generalized actuator disc models have been developed, but up to now no detailed computations of the turbulent wake state or the vortex ring state have been performed. In the present work the phenomenon is simulated by direct simulation of the Navier-Stokes equations, where the influence of the rotor on the flow field is modelled simply by replacing the blades by an actuator disc with a constant normal load. (EG) 13 refs.
Modeling of thermo-mechanical fatigue and damage in shape memory alloy axial actuators
Wheeler, Robert W.; Hartl, Darren J.; Chemisky, Yves; Lagoudas, Dimitris C.
2015-04-01
The aerospace, automotive, and energy industries have seen the potential benefits of using shape memory alloys (SMAs) as solid state actuators. Thus far, however, these actuators are generally limited to non-critical components or over-designed due to a lack of understanding regarding how SMAs undergo thermomechanical or actuation fatigue and the inability to accurately predict failure in an actuator during use. The purpose of this study was to characterize the actuation fatigue response of Nickel-Titanium-Hafnium (NiTiHf) axial actuators and, in turn, use this characterization to predict failure and monitor damage in dogbone actuators undergoing various thermomechanical loading paths. Calibration data was collected from constant load, full cycle tests ranging from 200-600MPa. Subsequently, actuator lifetimes were predicted for four additional loading paths. These loading paths consisted of linearly varying load with full transformation (300-500MPa) and step loads which transition from zero stress to 300-400MPa at various martensitic volume fractions. Thermal cycling was achieved via resistive heating and convective cooling and was controlled via a state machine developed in LabVIEW. A previously developed fatigue damage model, which is formulated such that the damage accumulation rate is general in terms of its dependence on current and local stress and actuation strain states, was utilized. This form allows the model to be utilized for specimens undergoing complex loading paths. Agreement between experiments and simulations is discussed.
Modeling and development of a twisting wing using inductively heated shape memory alloy actuators
Saunders, Robert N.; Hartl, Darren J.; Boyd, James G.; Lagoudas, Dimitris C.
2015-04-01
Wing twisting has been shown to improve aircraft flight performance. The potential benefits of a twisting wing are often outweighed by the mass of the system required to twist the wing. Shape memory alloy (SMA) actuators repeatedly demonstrate abilities and properties that are ideal for aerospace actuation systems. Recent advances have shown an SMA torsional actuator that can be manufactured and trained with the ability to generate large twisting deformations under substantial loading. The primary disadvantage of implementing large SMA actuators has been their slow actuation time compared to conventional actuators. However, inductive heating of an SMA actuator allows it to generate a full actuation cycle in just seconds rather than minutes while still . The aim of this work is to demonstrate an experimental wing being twisted to approximately 10 degrees by using an inductively heated SMA torsional actuator. This study also considers a 3-D electromagnetic thermo-mechanical model of the SMA-wing system and compare these results to experiments to demonstrate modeling capabilities.
Tian, Pengfei; Jones, Richard W.; Yu, Fei
2016-07-01
A dielectric elastomer (DE) tubular actuator, based on compliant metal electrode technology, exhibits hysteresis-like characteristics when driven with a low power rated high voltage power supply (HVPS). This behavior occurs mainly because the DE actuator acts as a capacitive load compromising the ‘slew rate’ of the HVPS during the actuator’s operation. The motivation of this contribution is to investigate the use of elliptical modelling approaches for capturing the hysteresis characteristics exhibited by the DE tubular actuator when it is driven by a low cost low power rated HVPS. The DE tubular actuator considered in this work demonstrates asymmetric hysteresis behaviour due to the nonlinear voltage–strain behaviour of the actuator. A linearization filter placed in series with the actuator (during its operation) ensures a symmetric hysteresis characteristic that can then be modelled using an ellipse-based approach. Elliptical models come in many forms with the two most popular being the constrained general conic form and the general parametric form. Elliptical-based hysteresis model fits are carried out on experimental data obtained from the application of periodic input voltages, at a number of different low-frequencies, to the tubular actuator. The range of frequencies used is related to the possible use of the tubular actuator for attenuating low frequency vibration during DE actuator-based load positioning applications. Constrained conic and general parametric forms of elliptical model are used for modelling the hysteresis characteristics of the DE actuator and rate dependent models developed based on both approaches. The sensitivity of both of these rate dependent models to small inaccuracies in model parameters was then investigated. The general parametric form was found to be more robust in this respect.
A modeling framework for deteriorating control system and predictive maintenance of actuators
Actuators play a central role in industrial automation systems. They are costly, and therefore studying their dependability needs all attention. Usually, an actuator is inserted in a feedback control system, and its mission is to implement a control action delivered by a controller. In this paper, a monotonic actuator deterioration is considered and it is assumed that a relationship exists between the control action and the physical actuator's deterioration. A modeling framework is proposed including a non-decreasing stochastic degradation process driving the inability for an actuator to fully implement its role. The prognosis of the actuator's residual useful lifetime is derived and used to update the controller's setting. The controller reconfiguration completes the maintenance corrective and preventive actions. This new action is suggested as an alternative for maintenance strategy. - Highlights: • A degrading control system model is proposed focusing on actuator deterioration. • It is assumed a relationship between this degradation and its loss of efficiency. • The actuator RUL is quantified as a quantile of its conditional survival function. • RUL prognosis is used to reconfigure the control input law. • This new action is suggested as an alternative for maintenance strategy
Modeling posture-dependent leg actuation in sagittal plane locomotion
Schmitt, J [Department of Mechanical Engineering, Oregon State University, Corvallis, OR 97331 (United States); Clark, J, E-mail: schmitjo@engr.orst.ed [Department of Mechanical Engineering, Florida State University, Tallahassee, FL 32310 (United States)
2009-12-15
The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.
Modeling posture-dependent leg actuation in sagittal plane locomotion
The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.
Dynamic actuator for Soil-Structure Interaction physical modelling in centrifuge
CABRERA, Miguel; Caicedo, Bernardo; THOREL, Luc
2014-01-01
Dynamic interactions in centrifuge modelling are often induced with external or not controlled sources. This paper presents a method to study Soil-Structure Interaction in centrifuge, with the use of a dynamic actuator developed for centrifuge testing. The dynamic actuator is employed into the model giving the possibility to test the dynamic response of a wind turbine structure, without any additional supporting accessory. The centrifuge soil model was instrumented in order to measure the wav...
Modelling of Moving Coil Actuators in Fast Switching Valves Suitable for Digital Hydraulic Machines
Nørgård, Christian; Roemer, Daniel Beck; Bech, Michael Møller
2015-01-01
The efficiency of digital hydraulic machines is strongly dependent on the valve switching time. Recently, fast switching have been achieved by using a direct electromagnetic moving coil actuator as the force producing element in fast switching hydraulic valves suitable for digital hydraulic...... machines. Mathematical models of the valve switching, targeted for design optimisation of the moving coil actuator, are developed. A detailed analytical model is derived and presented and its accuracy is evaluated against transient electromagnetic finite element simulations. The model includes an...
As a powerful method to reduce actuation voltage in an electrostatic micro-actuator, we propose and investigate an electrostatic micro-actuator with a pre-charged series capacitor. In contrast to a conventional electrostatic actuator, the injected pre-charges into the series capacitor can freely modulate the pull-in voltage of the proposed actuator even after the completion of fabrication. The static characteristics of the proposed actuator were investigated by first developing analytical models based on a parallel-plate capacitor model. We then successfully designed and demonstrated a micro-switch with a pre-charged series capacitor. The pull-in voltage of the fabricated micro-switch was reduced from 65.4 to 0.6 V when pre-charged with 46.3 V. The on-resistance of the fabricated micro-switch was almost the same as the initial one, even when the device was pre-charged, which was demonstrated for the first time. All results from the analytical models, finite element method simulations, and measurements were in good agreement with deviations of less than 10%. This work can be favorably adapted to electrostatic micro-switches which need a low actuation voltage without noticeable degradation of performance. (paper)
Stuebner, Michael; Smith, Ralph C.
2010-04-01
Macro Fiber Composite (MFC) actuators utilize PZT fibers embedded in an epoxy matrix for structural actuation. Due to their construction, they are lightweight and provide broadband inputs. Significant advantages of MFC actuators are their high performance, durability, and flexibility when compared to traditional piezoceramic actuators. They are presently being considered for a range of applications including positioning of membrane mirrors and structural control in the aerospace and automotive industry. However, they exhibit varying degrees of hysteresis and constitutive nonlinearities throughout their operating range that must be incorporated in models to achieve the full capabilities of the materials. In this paper, hysteresis is modeled using the homogenized energy model. The inverse model is then used to construct an inverse compensator framework suitable for subsequent control design. The performance of the inverse compensator is illustrated through a numerical example.
The effect of plasma actuator on the depreciation of the aerodynamic drag on box model
Harinaldi, Budiarso, Julian, James; Rabbani M., N.
2016-06-01
Recent active control research advances have provided many benefits some of which in the field of transportation by land, sea as well as by air. Flow engineering by using active control has proven advantages in energy saving significantly. One of the active control equipment that is being developed, especially in the 21st century, is a plasma actuator, with the ability to modify the flow of fluid by the approach of ion particles makes these actuators a very powerful and promising tool. This actuator can be said to be better to the previously active control such as suction, blowing and synthetic jets because it is easier to control, more flexible because it has no moving parts, easy to be manufactured and installed, and consumes a small amount of energy with maximum capability. Plasma actuator itself is the composition of a material composed of copper and a dielectric sheet, where the copper sheets act as an electricity conductor and the dielectric sheet as electricity insulator. Products from the plasma actuators are ion wind which is the result of the suction of free air around the actuator to the plasma zone. This study investigates the ability of plasma actuators in lowering aerodynamic drag which is commonly formed in the models of vehicles by varying the shape of geometry models and the flow speed.
Modeling and control of a hydraulically actuated flexible-prismatic link robot
Love, L.; Kress, R.; Jansen, J.
1996-12-01
Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.
Modeling and control of a hydraulically actuated flexible-prismatic link robot
Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies
Computer Modeling of Selected Fault Regimes of DC Actuators
Doležel, Ivo; Dvořák, P.; Mach, M.; Ulrych, B.
Sydney: The University of Newcastle, 2004, s. 529-534. [IFAC Symposium on Mechatronic Systems /3./. Sydney (AU), 06.09.2004-08.09.2004] R&D Projects: GA MŠk(CZ) LN00B084 Institutional research plan: CEZ:AV0Z2057903 Keywords : actuators * electromagnetic fields * temperature calculations Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering
Piezoelectric Composite Actuators: Modelling of the Static and Dynamic Behaviour
Wiwattananon, P.
2013-01-01
Smart actuators, made of smart materials, are becoming more attractive in many applications because smart materials are not subjected to wear and does not require lubrication during services. Piezoelectric materials are a group of the many attractive smart materials that are being investigated for m
Design Optimization Tool for Synthetic Jet Actuators Using Lumped Element Modeling
Gallas, Quentin; Sheplak, Mark; Cattafesta, Louis N., III; Gorton, Susan A. (Technical Monitor)
2005-01-01
The performance specifications of any actuator are quantified in terms of an exhaustive list of parameters such as bandwidth, output control authority, etc. Flow-control applications benefit from a known actuator frequency response function that relates the input voltage to the output property of interest (e.g., maximum velocity, volumetric flow rate, momentum flux, etc.). Clearly, the required performance metrics are application specific, and methods are needed to achieve the optimal design of these devices. Design and optimization studies have been conducted for piezoelectric cantilever-type flow control actuators, but the modeling issues are simpler compared to synthetic jets. Here, lumped element modeling (LEM) is combined with equivalent circuit representations to estimate the nonlinear dynamic response of a synthetic jet as a function of device dimensions, material properties, and external flow conditions. These models provide reasonable agreement between predicted and measured frequency response functions and thus are suitable for use as design tools. In this work, we have developed a Matlab-based design optimization tool for piezoelectric synthetic jet actuators based on the lumped element models mentioned above. Significant improvements were achieved by optimizing the piezoceramic diaphragm dimensions. Synthetic-jet actuators were fabricated and benchtop tested to fully document their behavior and validate a companion optimization effort. It is hoped that the tool developed from this investigation will assist in the design and deployment of these actuators.
Rossi, C.; Esteve, D.; Temple-Boyer, P. [Centre National d`Etudes Spatiales (CNES), 31 - Toulouse (France). Laboratoire d`Analyse et d`Architecture des Systemes; Delannoy, G. [SNPE-CRB, 91 - Vert-le-Petit (France)
1997-09-01
In this paper, we present a new way to perform actuation through the use of forces produced by pyrotechnic combustion. After describing the functioning, of this so-called pyrotechnic actuator, we present the modelling of the combustion ignition in order to find an optimal ignition system enabling to minimize energy. Good agreement between experience and simulation is obtained and characterizations of the pyrotechnic actuator give an idea of its performances in terms of gas yield and forces developed. The low cost and the use of a classic micro-technology process as well as the excellent ratio between the energy produced over the power consumption give good perspectives for these actuators. (authors) 11 refs.
Verification of Beam Models for Ionic Polymer-Metal Composite Actuator
Ai-hong Ji; Hoon Cheol Park; Quoc Viet Nguyen; Jang Woo Lee; Young Tai Yoo
2009-01-01
Ionic Polymer-Metal Composite (IPMC) can work as an actuator by applying a few voltages. A thick IPMC actuator, where Nation-117 membrane was synthesized with polypyrrole/alumina composite tiller, was analyzed to verify the equivalent beam and equivalent bimorph beam models. The blocking force and tip displacement of the IPMC actuator were measured with a DC power supply and Young's modulus of the IPMC strip was measured by bending and tensile tests respectively. The calculated maximum tip displacement and the Young's modulus by the equivalent beam model were almost identical to the corresponding measured data. Finite element analysis with thermal analogy technique was utilized in the equivalent bimorph beam model to numerically reproduce the force-displacement relationship of the IPMC actuator. The results by the equivalent bimorph beam model agreed well with the force-displacement relationship acquired by the measured data. It is confirmed that the equivalent beam and equivalent bimorph beam models are practically and effectively suitable for predicting the tip displacement, blocking force and Young's modulus of IPMC actuators with different thickness and different composite of ionic polymer membrane.
Inverse grey-box model-based control of a dielectric elastomer actuator
Jones, Richard William; Sarban, Rahimullah
2012-01-01
An accurate physical-based electromechanical model of a commercially available tubular dielectric elastomer (DE) actuator has been developed and validated. In this contribution, the use of the physical-based electromechanical model to formulate a model-based controller is examined. The choice of...
A mathematical model for smart functionally graded beam integrated with shape memory alloy actuators
This paper presents a theoretical study of the thermally driven behavior of a shape memory alloy (SMA)/FGM actuator under arbitrary loading and boundary conditions by developing an integrated mathematical model. The model studied is established on the geometric parameters of the three-dimensional laminated composite box beam as an actuator that consists of a functionally graded core integrated with SMA actuator layers with a uniform rectangular cross section. The constitutive equation and linear phase transformation kinetics relations of SMA layers based on Tanaka and Nagaki model are coupled with the governing equation of the actuator to predict the stress history and to model the thermo-mechanical behavior of the smart shape memory alloy/FGM beam. Based on the classical laminated beam theory, the explicit solution to the structural response of the structure, including axial and lateral deflections of the structure, is investigated. As an example, a cantilever box beam subjected to a transverse concentrated load is solved numerically. It is found that the changes in the actuator's responses during the phase transformation due to the strain recovery are significant
We present the modeling, fabrication and measurement results of a novel electrostatic actuator with a coplanar pre-charged electrode. Different from the conventional electrostatic actuator, the pull-in voltage of the proposed actuator can be freely controlled even after fabrication by inducing charges prior to use in the auxiliary electrode right next to the actuation electrode. To investigate the static and dynamic characteristics of the proposed actuator, analytical models were first developed on the basis of a parallel-plate capacitor model. We then successfully designed, fabricated, and evaluated a micro-switch with a fixed–fixed beam and a coplanar pre-charged electrode. By properly introducing a dimple structure, the pull-in voltage of the fabricated micro-switch was reduced from 71.2 V to 6.8 V when pre-charged by 58.8 V. The resonant frequency of the fabricated micro-switch was 84.8% of the initial resonant frequency when the reduced pull-in voltage of the device was half of the original pull-in voltage. These measurement results were compared with those from the analytical models and FEM simulation, showing deviations of less than 12%. This work can favorably be adapted and used in designing an electrostatic micro-switch since the proposed switch can remarkably reduce the pull-in voltage as desired without notable performance degradation
A mathematical model for smart functionally graded beam integrated with shape memory alloy actuators
Sepiani, H.; Ebrahimi, F. [University of Tehran, Tehran (Iran, Islamic Republic of); Karimipour, H. [Iran University of Science and Technology, Tehran (Iran, Islamic Republic of)
2009-12-15
This paper presents a theoretical study of the thermally driven behavior of a shape memory alloy (SMA)/FGM actuator under arbitrary loading and boundary conditions by developing an integrated mathematical model. The model studied is established on the geometric parameters of the three-dimensional laminated composite box beam as an actuator that consists of a functionally graded core integrated with SMA actuator layers with a uniform rectangular cross section. The constitutive equation and linear phase transformation kinetics relations of SMA layers based on Tanaka and Nagaki model are coupled with the governing equation of the actuator to predict the stress history and to model the thermo-mechanical behavior of the smart shape memory alloy/FGM beam. Based on the classical laminated beam theory, the explicit solution to the structural response of the structure, including axial and lateral deflections of the structure, is investigated. As an example, a cantilever box beam subjected to a transverse concentrated load is solved numerically. It is found that the changes in the actuator's responses during the phase transformation due to the strain recovery are significant
Study of a pseudo-empirical model approach to characterize plasma actuators
The use of plasma actuators is a recent technology that imposes a localized electric force that is used to control air flows. A suitable representation of actuation enables to undertake plasma actuators optimization, to design flow-control strategies, or to analyse the flow stabilization that can be attained by plasma forcing. The problem description may be clearly separated in two regions. An outer region, where the fluid is electrically neutral, in which the flow is described by the Navier-Stokes equation without any forcing term. An inner region, that forms a thin boundary layer, where the fluid is ionized and electric forces are predominant. The outer limit of the inner solution becomes the boundary condition for the outer problem. The outer problem can then be solved with a slip velocity that is issued from the inner solution. Although the solution for the inner problem is quite complex it can be contoured proposing pseudo-empirical models where the slip velocity of the outer problem is determined indirectly from experiments. This pseudo-empirical model approach has been recently tested in different cylinder flows and revealed quite adapted to describe actuated flow behaviour. In this work we determine experimentally the influence of the duty cycle on the slip velocity distribution. The velocity was measured by means of a pitot tube and flow visualizations of the starting vortex (i.e. the induced flow when actuation is activated in a quiescent air) have been done by means of the Schlieren technique. We also performed numerical experiments to simulate the outer region problem when actuation is activated in a quiescent air using a slip velocity distribution as a boundary condition. The experimental and numerical results are in good agreement showing the potential of this pseudo-empirical model approach to characterize the plasma actuation.
Development of a dc Motor Model and an Actuator Efficiency Model
Watkins, John Clifford; Mc Kellar, Michael George; DeWall, Kevin George
2001-07-01
For the past several years, researchers at the Idaho National Engineering and Environmental Laboratory, under the sponsorship of the U.S. Nuclear Regulatory Commission, have been investigating the ability of motor-operated valves (MOVs) used in Nuclear Power Plants to close or open when subjected to design basis flow and pressure loads. Part of this research addresses the response of a dcpowered motor-operated gate valve to assess whether it will achieve flow isolation and to evaluate whether it will slow down excessively under design-basis conditions and thus fail to achieve the required stroke time. As part of this research, we have developed a model of a dc motor operating under load and a model of actuator efficiency under load based on a first principle evaluation of the equipment. These models include the effect that reduced voltage at the Motor Control Center and elevated containment temperatures have on the performance of a dc powered MOV. The model also accounts for motor torque and speed changes that result from the heatup of the motor during the stroke. These models are part of the Motor- Operated Valve In Site Test Assessment (MISTA) software which is capable of independently evaluating the ability of dc-powered motoroperated gate valves to achieve flow isolation and to meet required stroke times under design-basis conditions. This paper presents an overview of the dc motor model and the actuator efficiency under load model. The paper then compares the analytical results from the models with the results of actual dc motor and actuator testing, including comparisons of the effect reduced voltage, elevated containment temperature, and motor heating during the stroke have on an MOV.
Murali Muniraj; Ramaswamy Arulmozhiyal
2015-01-01
A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage m...
Development of the computer-actuator on-line testing system
The pseudo-dynamic testing is an epoch-making experimental method, which can grasp the dynamic properties of structures during static loading experiment by linking a computer with an oscillator on-line, because the method compensates the shortcomings of both conventional static loading experiment using hydraulic jacks and dynamic vibration experiment at the same time. This method has already been implemented at a few places, and noticeable results have been obtained. The authors also have developed a system of this kind, completed the arrangements and applied the pseudo- dynamic testing to understand the seismic response properties of a steel frame of one story, one span gate form and the aseismic properties of a reinforced concrete reactor containment vessel model under thermal stress. In this report, first the outline of the on-line testing system is described, and the principle of pseudo-dynamic testing, its software programs and the above two examples are reported. In the gate form steel frame experiment, the results of the experimental and theoretical response analysis well agreed, thus it was confirmed that the system has sufficient performance to satisfy the fundamental system of pseudo-dynamic testing. In the containment vessel experiment, it was found that the damage was little even against the seismic force at maximum acceleration of 400 gal, and the maximum force in the subsequent static breaking experiment was seven times as large as the maximum horizontal load at 400 gal response, therefore the vessel had sufficient aseismic capability. (Wakatsuki, Y.)
Continuum damage model for ferroelectric materials and its application to multilayer actuators
Gellmann, Roman; Ricoeur, Andreas
2016-05-01
In this paper a micromechanical continuum damage model for ferroelectric materials is presented. As a constitutive law it is implemented into a finite element (FE) code. The model is based on micromechanical considerations of domain switching and its interaction with microcrack growth and coalescence. A FE analysis of a multilayer actuator is performed, showing the initiation of damage zones at the electrode tips during the poling process. Further, the influence of mechanical pre-stressing on damage evolution and actuating properties is investigated. The results provided in this work give useful information on the damage of advanced piezoelectric devices and their optimization.
Fault Tolerance for Industrial Actuators in Absence of Accurate Models and Hardware Redundancy
Papageorgiou, Dimitrios; Blanke, Mogens; Niemann, Hans Henrik;
2015-01-01
This paper investigates Fault-Tolerant Control for closed-loop systems where only coarse models are available and there is lack of actuator and sensor redundancies. The problem is approached in the form of a typical servomotor in closed-loop. A linear model is extracted from input/output data...
Modeling and control of a self-sensing polymer metal composite actuator
An ion polymer metal composite (IPMC) is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. One drawback in the use of an IPMC is the sensing problem for such a small size actuator. The aim of this paper is to develop a physical model for a self-sensing IPMC actuator and to verify its applicability for practical position control. Firstly, ion dynamics inside a polymer membrane is investigated with an asymmetric solution in the presence of distributed surface resistance. Based on this analysis, a modified equivalent circuit and a simple configuration to realize the self-sensing IPMC actuator are proposed. Mathematical modelling and experimental evaluation indicate that the bending curvature can be obtained accurately using several feedback voltage signals along with the IPMC length. Finally, the controllability of the developed self-sensing IPMC actuator is investigated using a robust position control. Experimental results prove that the self-sensing characteristics can be applied in engineering control problems to provide a more convenient sensing method for IPMC actuating systems. (paper)
So, Hongyun
2013-10-31
© 2013, Springer-Verlag Berlin Heidelberg. This paper reports on a novel thermal actuator with sub-micron metallic structures and a buckling arm to operate with low voltages and to generate very large deflections, respectively. A lumped electrothermal model and analysis were also developed to validate the mechanical design and easily predict the temperature distribution along arms of the sub-micron actuator. The actuator was fabricated via the combination of electron beam lithography to form actuator arms with a minimum feature size of 200 nm and lift-off process to deposit a high aspect ratio nickel structure. Reproducible displacements of up to 1.9 μm at the tip were observed up to 250 mV under confocal microscope. The experimentally measured deflection values and theoretically calculated temperature distribution by the developed model were compared with finite element analysis results and they were in good agreement. This study shows a promising approach to develop more sophisticated nano actuators required larger deflections for manipulation of sub-micron scale objects with low-power consumption.
Transmission line model for nanoelectronics
Nelin E. A.
2009-01-01
Analytical expressions for resonant parametres and characteristics of typical barrier nanoelectronic structures have been received on the basis of the transmission line model. Characteristics illustrating the efficiency of such approach are presented in the article.
Transmission line model for nanoelectronics
Nelin E. A.
2009-08-01
Full Text Available Analytical expressions for resonant parametres and characteristics of typical barrier nanoelectronic structures have been received on the basis of the transmission line model. Characteristics illustrating the efficiency of such approach are presented in the article.
Couple Control Model Implementation on Antagonistic Mono- and Bi-Articular Actuators
Prattico, Flavio; Yamamoto, Shin-ichiroh
2014-01-01
Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, a couple control model for lower-limb orthosis of a body weight support gait training system is proposed. The developed leg orthosis implements the use of pneumatic artificial muscle as an actuation system. The pneumatic muscle was arranged antagonistically to form two pair of mono-articular muscles (i.e., hip and knee joints), and a pair of bi-articular actuators (i.e., rectus femoris and hamstring). The results of the proposed couple control model showed that, it was able to simultaneously control the antagonistic mono- and bi-articular actuators and sufficiently performed walking motion of the leg orthosis.
Minami Takato; Masaki Tatani; Hirozumi Oku; Yuki Okane; Junichi Tanida; Shinpei Yamasaki; Ken Saito; Fumio Uchikoba
2014-01-01
Micro-robotic systems are increasingly used in medicine and other fields requiring precision engineering. This paper proposes a piezoelectric impact- type rotary actuator and applies it to a millimetre-size robot controlled by a hardware neuron model. The rotary actuator and robot are fabricated by micro-electro- mechanical systems (MEMS) technology. The actuator is composed of multilayer piezoelectric elements. The rotational motion of the rotor is generated by the impact head attached to th...
Soft Pneumatic Actuators for Rehabilitation
Guido Belforte
2014-05-01
Full Text Available Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these Pressure Soft Actuators are useful for upper/lower limbs treatments
Modelling and Fuzzy Control of an Efficient Swimming Ionic Polymer-metal Composite Actuated Robot
Qi Shen
2013-10-01
Full Text Available In this study, analytical techniques and fuzzy logic methods are applied to the dynamic modelling and efficient swimming control of a biomimetic robotic fish, which is actuated by an ionic polymer-metal composite (IPMC. A physical-based model for the biomimetic robotic fish is proposed. The model incorporates both the hydrodynamics of the IPMC tail and the actuation dynamics of the IPMC. The comparison of the results of the simulations and experiments shows the feasibility of the dynamic model. By using this model, we found that the harmonic control of the actuation frequency and voltage amplitude of the IPMC is a principal mechanism through which the robotic fish can obtain high thrust efficiency while swimming. The fuzzy control method, which is based on the knowledge of the IPMC fish’s dynamic behaviour, successfully utilized this principal mechanism. By comparing the thrust performance of the robotic fish with other control methods via simulation, we established that the fuzzy controller was able to achieve faster acceleration compared with what could be achieved with a conventional PID controller. The thrust efficiency during a steady state was superior to that with conventional control methods. We also found that when using the fuzzy control method the robotic fish can always swim near a higher actuation frequency, which could obtain both the desired speed and high thrust efficiency.
Port-based modeling and optimal control for a new very versatile energy efficient actuator
Gerelli, Oscar; Carloni, Raffaella; STRAMIGIOLI, Stefano
2009-01-01
In this paper, we analyze in depth the innovative very versatile and energy efficient (V2E2) actuator proposed in Stramigioli et al. (2008). The V2E2 actuator is intended to be used in all kind of robotics and powered prosthetic applications in which energy consumption is a critical issue. In particular, this work focuses on the development of a port-based Hamiltonian model of the V2E2 and presents an optimal control architecture which exploits the intrinsic hybrid characteristics of the actu...
Design, modelling and control of a micro-positioning actuator based on magnetic shape memory alloys
Minorowicz, Bartosz; Leonetti, Giuseppe; Stefanski, Frederik; Binetti, Giulio; Naso, David
2016-07-01
This paper presents an actuator based on magnetic shape memory alloys (MSMAs) suitable for precise positioning in a wide range (up to 1 mm). The actuator is based on the spring returned operating mode and uses a Smalley wave spring to maintain the same operating parameters of a classical coil spring, while being characterized by a smaller dimension. The MSMA element inside the actuator provides a deformation when excited by an external magnetic field, but its behavior is characterized by an asymmetric and saturated hysteresis. Thus, two models are exploited in this work to represent such a non-linear behavior, i.e., the modified and generalized Prandtl–Ishlinskii models. These models are particularly suitable for control purposes due to the existence of their analytical inversion that can be easily exploited in real time control systems. To this aim, this paper investigates three closed-loop control strategies, namely a classical PID regulator, a PID regulator with direct hysteresis compensation, and a combined PID and feedforward compensation strategy. The effectiveness of both modelling and control strategies applied to the designed MSMA-based actuator is illustrated by means of experimental results.
A validated model for induction heating of shape memory alloy actuators
Saunders, Robert N.; Boyd, James G.; Hartl, Darren J.; Brown, Jonathan K.; Calkins, Frederick T.; Lagoudas, Dimitris C.
2016-04-01
Shape memory alloy (SMA) actuators deliver high forces while being compact and reliable, making them ideal for consideration in aerospace applications. One disadvantage of these thermally driven actuators is their slow cyclic time response compared to conventional actuators. Induction heating has recently been proposed to quickly heat SMA components. However efforts to date have been purely empirical. The present work approachs this problem in a computational manner by developing a finite element model of induction heating in which the time-harmonic electromagnetic equations are solved for the Joule heat power field, the energy equation is solved for the temperature field, and the linear momentum equations are solved to find the stress, displacement, and internal state variable fields. The combined model was implemented in Abaqus using a Python script approach and applied to SMA torque tube and beam actuators. The model has also been used to examine magnetic flux concentrators to improve the induction systems performance. Induction heating experiments were performed using the SMA torque tube, and the model agreed well with the experiments.
49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.
2010-10-01
... drums/rotors. 393.47 Section 393.47 Transportation Other Regulations Relating to Transportation..., slack adjusters, linings/pads and drums/rotors. (a) General requirements. Brake components must be... on the lining shall not exceed 1.6 mm (1/16 inch). (g) Drums and rotors. The thickness of the...
The well-known power line transmission method often implemented on consumer applications has also proven its capacity for data exchange in severe environments and wire number limitation. An other application is for the remote control of the maintenance engines of the ITER reactor. A mock-up was initially designed and experimented to transfer digital data from slow timing access sensors to a distant control room. Data was transferred using a FSK (Frequency Shift Keying) protocol with frequencies chosen in order to minimize distortion due to severe environment (250 kHz for logical high state and 125 kHz for low state). As the modulated signal was too weak to be mixed with the supply voltage for power line transmission, a power stage using push-pull and OPA was added to deliver enough current to modulate the supply voltage and limit the switching distortion. To increase the effect of wires limitation and simplified the signal, the clock signal was integrated to the data signal. Many protocols can be found in the literature. But the one used here, and yet present on other nuclear developments, converts digital signals as PWM (Pulse Wave Modulation) signals. The full mock-up was then submitted to various long term tests at high temperature (80 oC to 150 oC). A great stability was observed for all the signals (clock, FSK and PWM signals, power line signal). Neither supply nor modulated signals did present any failure state while line was differently loaded. To complete the data link, a demodulation module was finally realised with modules similar to those described here, the underlying goal being to export these developments to embedded actuators. To validate the principle, a prototype was realised and irradiated to 60Co high dose rate environment (5 to 8 kGy/h). Results were valid for a data transmission below a dose of 3 MGy. From this threshold, failures occurred into some electronic components. The functionality of the data transmission can be recovered by changing
An Asymmetric Hysteresis Model and Parameter Identification Method for Piezoelectric Actuator
Haichen Qin
2014-01-01
Full Text Available Hysteresis behaviour degrades the positioning accuracy of PZT actuator for ultrahigh-precision positioning applications. In this paper, a corrected hysteresis model based on Bouc-Wen model for modelling the asymmetric hysteresis behaviour of PZT actuator is established by introducing an input bias φ and an asymmetric factor ΔΦ into the standard Bouc-Wen hysteresis model. A modified particle swarm optimization (MPSO algorithm is established and realized to identify and optimize the model parameters. Feasibility and effectiveness of MPSO are proved by experiment and numerical simulation. The research results show that the corrected hysteresis model can represent the asymmetric hysteresis behaviour of the PZT actuator more accurately than the noncorrected hysteresis model based on the Bouc-Wen model. The MPSO parameter identification method can effectively identify the parameters of the corrected and noncorrected hysteresis models. Some cases demonstrate the corrected hysteresis model and the MPSO parameter identification method can be used to model smart materials and structure systems with the asymmetric hysteresis behaviour.
Yan, Su
2007-12-01
To improve the fuel consumption of a satellite, maintain the position and orientation and eliminate the unwanted thruster vibration, intelligent composite structure technology was proposed in the ADPICAS (Adaptive Damping and Positioning using Intelligent Composite Active Structures) project funded by the ONR (Office of Naval Research) in collaboration with the NRL (Naval Research Laboratory) in 2000. This dissertation introduces the author's research achievements in developing smart composite panels for the ADPICAS project, including modeling, actuator optimization, and vibration control. The method of separation of variables is presented to derive the analytical shape functions for complex composite structures with asymmetric constraints, i.e., the 2-D Adaptive Composite Circular Plate (ACCP) in cylindrical coordinates and the 3-D Adaptive Composite Satellite Dish (ACSD) in spherical coordinates. Following these solutions, two modeling approaches are developed to obtain the models of adaptive composite panels including an adaptive composite beam, the ACCP, and the ACSD. One model approach is to employ the Lagrange-Rayleigh-Ritz method based on the developed analytical shape functions. Meanwhile, the transfer function estimation technique, combining the finite element analyses, is applied to obtain the numerical model of the composite panels. Aiming at improving the actuation efficiency, a Genetic Algorithm is presented to optimize the piezoelectric actuator placement on the composite panels. Taking the inertia and stiffness characteristics of the piezoelectric actuators into account, this algorithm defines the performance index as a weighted summation of control error and control energy consumption, and obtained the optimal solution that minimizes the performance index. Furthermore, an adaptive disturbance observer/feed-forward (ADOB/FF) controller is proposed to achieve simultaneous precision positioning and vibration suppression of the adaptive composite panels
A Strategy Tackling Local Minimum of Direct Search Method in Modeling a Hydraulic Actuator
刘云山; 陈晓辉
2013-01-01
A strategy for attacking the local minimum problem of direct search method is developed for modeling a hydraulic actuator. The Nelder-Mead direct search method is combined with Ordinary Least Squares which can used to optimize the parameters which the model function is in linear with. The model fitting results show that this strategy can reach a solution more close to the global minimum than the Nelder-Mead direct search method used alone.
Hodgins, M.; Rizzello, G.; Naso, D.; York, A.; Seelecke, S.
2014-10-01
Dielectric electro-active polymer (DEAP) technology holds promise for enabling lightweight, energy efficient, and scalable actuators. The circular DEAP actuator configuration (also known as cone or diaphragm actuator) in particular shows potential in applications such as pumps, valves, micro-positioners and loudspeakers. For a quantitative prediction of the actuator behavior as well as for design optimization tasks, material models which can reproduce the coupled electromechanical behavior inherent to these actuators are necessary. This paper presents a non-linear viscoelastic model based on an electro-mechanical Ogden free energy expression for the DEAP. The DEAP model is coupled with a spring/mass system to study the dynamic performance of such a representative system from static behavior to 50 Hz. The system is identified and validated by several different experiments.
Dielectric electro-active polymer (DEAP) technology holds promise for enabling lightweight, energy efficient, and scalable actuators. The circular DEAP actuator configuration (also known as cone or diaphragm actuator) in particular shows potential in applications such as pumps, valves, micro-positioners and loudspeakers. For a quantitative prediction of the actuator behavior as well as for design optimization tasks, material models which can reproduce the coupled electromechanical behavior inherent to these actuators are necessary. This paper presents a non-linear viscoelastic model based on an electro-mechanical Ogden free energy expression for the DEAP. The DEAP model is coupled with a spring/mass system to study the dynamic performance of such a representative system from static behavior to 50 Hz. The system is identified and validated by several different experiments. (paper)
Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters
Greigarn, Tipakorn; Çavuşoğlu, M. Cenk
2015-01-01
This paper presents a kinematic study of a pseudorigid-body model (PRBM) of MRI-compatible, magnetically actuated, steerable catheters. It includes a derivation of a mathematical model of the PRBM of the catheter, singularity studies of the model, and a new manipulability measure. While the forward kinematics of the model presented here is applicable to PRBMs for other applications, actuation method is unique to the particular design. Hence, a careful study of singularities and manipulability of the model is required. The singularities are studied from the underlying equations of motion with intuitive interpretations. The proposed manipulability measure is a generalization of the inverse condition number manipulability measure of robotic manipulators. While the PRBM is an approximation of the flexible catheter, kinematic studies of the PRBM still provide some insight into feasibility and limitations of the catheter, which is beneficial to the design and motion planning of the catheter. PMID:26413380
Hunt, A.; Chen, Z.; Tan, X.; Kruusmaa, M.
2016-03-01
Ionic electroactive polymers (IEAPs), particularly ionic polymer-metal composites (IPMCs) and carbon-polymer composites (CPCs), bend when a voltage is applied on their electrodes, and conversely, they generate an electrical signal when subjected to a mechanical bending. In this work we study and compare the capabilities of IPMC and CPC actuators and sensors in closed-loop control applications. We propose and realize an integrated IEAP sensor-actuator design, characterize its performance using three different materials, and compare the results. The design consists of two short IEAP actuators and one sensor mechanically coupled together in a parallel configuration, and an attached rigid extension significantly longer than the IEAPs. This allows the device to be compliant, simple to construct, lightweight, easy to miniaturize, and functionally similar to a one-degree-of-freedom rotational joint. For control design and accurate position sensing in feedback experiments, we adapt physics-based and control-oriented models of actuation and sensing dynamics, and perform experiments to identify their parameters. In performance characterization, both model-based {H}∞ control and proportional-integral control are explored. System responses to step inputs, sinusoids, and random references are measured, and long-duration sinusoidal tracking experiments are performed. The results show that, while IEAP position sensing is stable for only a limited time-span, H ∞ control significantly improves the performance of the device.
Suzuki, Y.
2016-05-01
This article demonstrates the practical applicability of a method of modelling shape memory alloys (SMAs) as actuators. For this study, a pair of SMA wires was installed in an antagonistic manner to form an actuator, and a linear differential equation that describes the behaviour of the actuator’s generated force relative to its input voltage was derived for the limited range below the austenite onset temperature. In this range, hysteresis need not be considered, and the proposed SMA actuator can therefore be practically applied in linear control systems, which is significant because large deformations accompanied by hysteresis do not necessarily occur in most vibration control cases. When specific values of the parameters used in the differential equation were identified experimentally, it became clear that one of the parameters was dependent on ambient airflow velocity. The values of this dependent parameter were obtained using an additional SMA wire as a sensor. In these experiments, while the airflow distribution around the SMA wires was varied by changing the rotational speed of the fans in the wind tunnels, an input voltage was conveyed to the SMA actuator circuit, and the generated force was measured. In this way, the parameter dependent on airflow velocity was estimated in real time, and it was validated that the calculated force was consistent with the measured one.
A study on modelling of a butterfly-type control valve by a pneumatic actuator
This paper studies on the modelling of a butterfly-type control valve actuating by an on-off pneumatic solenoid valve. The mathematical model is composed of nonlinear differential equations three parts: (i) a solenoid valve, (ii) a pneumatic cylinder, (iii) a rotary-type butterfly valve. The flow characteristics of the butterfly control valve is analysed by a computer simulator, then its simple transfer function is identified from the step responses.
Modeling of a micro-cantilevered piezo-actuator considering the buffer layer and electrodes
Considering the buffer layer and electrodes, we set up a piezoelectric multilayered cantilever model to evaluate the dynamic performance of the micro-cantilevered piezo-actuator (MCPA) based on Euler–Bernoulli beam theory without considering the residual stresses on the MCPA. Adopting the material and geometric parameters of the previous MCPAs with the different lengths, the first-mode resonance frequency–beam length, the tip deflection–voltage and harmonic response curves are simulated by using the traditional and proposed models, and the results based on the proposed model are much closer to the experimental and finite element simulation results than those based on the traditional model, indicating that the proposed model is valid for evaluating the actuation performances of the MCPA. The effect of the mechanical damping and bending stiffness on the actuation performance of the MCPA is also discussed. Using the proposed model, the dependences of the first-mode resonance frequency and tip deflection of the MCPA on non-piezoelectric layer thicknesses are analyzed at the certain driving voltage. The above-mentioned methods and conclusions can be used for the structure optimized design and performance improvement of MCPAs. (paper)
Approaches for Reduced Order Modeling of Electrically Actuated von Karman Microplates
Saghir, Shahid
2016-07-25
This article presents and compares different approaches to develop reduced order models for the nonlinear von Karman rectangular microplates actuated by nonlinear electrostatic forces. The reduced-order models aim to investigate the static and dynamic behavior of the plate under small and large actuation forces. A fully clamped microplate is considered. Different types of basis functions are used in conjunction with the Galerkin method to discretize the governing equations. First we investigate the convergence with the number of modes retained in the model. Then for validation purpose, a comparison of the static results is made with the results calculated by a nonlinear finite element model. The linear eigenvalue problem for the plate under the electrostatic force is solved for a wide range of voltages up to pull-in. Results among the various reduced-order modes are compared and are also validated by comparing to results of the finite-element model. Further, the reduced order models are employed to capture the forced dynamic response of the microplate under small and large vibration amplitudes. Comparison of the different approaches are made for this case. Keywords: electrically actuated microplates, static analysis, dynamics of microplates, diaphragm vibration, large amplitude vibrations, nonlinear dynamics
Demerdash, N. A.; Nehl, T. W.
1979-01-01
A comprehensive digital model for the analysis of the dynamic-instantaneous performance of a power conditioner fed samarium-cobalt permanent magnet brushless DC motor is presented. The particular power conditioner-machine system at hand, for which this model was developed, is a component of an actual prototype electromechanical actuator built for NASA-JSC as a possible alternative to hydraulic actuators as part of feasibility studies for the shuttle orbiter applications. Excellent correlation between digital simulated and experimentally obtained performance data was achieved for this specific prototype. This is reported on in this paper. Details of one component of the model, its applications and the corresponding results are given in this paper.
Kuang, Y; Hilgers, A; Sadiq, M; Cochran, S; Corner, G; Huang, Z
2016-07-01
Clear needle visualisation is recognised as an unmet need for ultrasound guided percutaneous needle procedures including regional anaesthesia and tissue biopsy. With inadequate needle visibility, these procedures may result in serious complications or a failed operation. This paper reports analysis of the modal behaviour of a previously proposed ultrasound-actuated needle configuration, which may overcome this problem by improving needle visibility in colour Doppler imaging. It uses a piezoelectric transducer to actuate longitudinal resonant modes in needles (outer diameter 0.8-1.2mm, length>65mm). The factors that affect the needle's vibration mode are identified, including the needle length, the transducer's resonance frequency and the gripping position. Their effects are investigated using finite element modelling, with the conclusions validated experimentally. The actuated needle was inserted into porcine tissue up to 30mm depth and its visibility was observed under colour Doppler imaging. The piezoelectric transducer is able to generate longitudinal vibration with peak-to-peak amplitude up to 4μm at the needle tip with an actuating voltage of 20Vpp. Actuated in longitudinal vibration modes (distal mode at 27.6kHz and transducer mode at 42.2kHz) with a drive amplitude of 12-14Vpp, a 120mm needle is delineated as a coloured line in colour Doppler images, with both needle tip and shaft visualised. The improved needle visibility is maintained while the needle is advanced into the tissue, thus allowing tracking of the needle position in real time. Moreover, the needle tip is highlighted by strong coloured artefacts around the actuated needle generated by its flexural vibration. A limitation of the technique is that the transducer mode requires needles of specific lengths so that the needle's resonance frequency matches the transducer. This may restrict the choice of needle lengths in clinical applications. PMID:27022669
A dynamic model for generating actuator specifications for small arms barrel active stabilization
Pathak, Anupam; Brei, Diann; Luntz, Jonathan; Lavigna, Chris
2006-03-01
Due to stresses encountered in combat, it is known that soldier marksmanship noticeably decreases regardless of prior training. Active stabilization systems in small arms have potential to address this problem to increase soldier survivability and mission effectiveness. The key to success is proper actuator design, but this is highly dependent on proper specification which is challenging due to the human/weapon interaction. This paper presents a generic analytical dynamic model which is capable of defining the necessary actuation specifications for a wide range of small arms platforms. The model is unique because it captures the human interface--shoulder and arm--that introduces the jitter disturbance in addition to the geometry, inertial properties and active stabilization stiffness of the small arms platform. Because no data to date is available for actual shooter-induced disturbance in field conditions, a method is given using the model to back-solve from measured shooting range variability data the disturbance amplitude information relative to the input source (arm or shoulder). As examples of the applicability of the model to various small arms systems, two different weapon systems were investigated: the M24 sniper weapon and the M16 assault rifle. In both cases, model based simulations provided valuable insight into impact on the actuation specifications (force, displacement, phase, frequency) due to the interplay of the human-weapon-active stabilization interface including the effect of shooter-disturbance frequency, disturbance location (shoulder vs. arm), and system parameters (stiffness, barrel rotation).
Theoretical modelling and experimental results of electromechanical actuation of an elastomer
Electromechanical actuation is a growing field of research today both for applications or theoretical modelling. The interaction between electric and mechanical constraints has been used for electromechanic actuators or generators based on elastomers. From a theoretical point of view, many recent works have been focused on uniaxial or biaxial stretching of elastomer plates with compliant electrodes. Free stretching or pre-strained samples have been theoretically modelled, mainly by neo-Hookean equations. In this work, we present theoretical and experimental results of electromechanic actuation of an elastomer (the widely used 3M VHB4910, an acrylic foam) in a pre-strained case and a free case. Experimental characterization of the material shows that the Ogden model gives the best accurate fitting of mechanical properties. Thus, a theoretical development based on this model is carried out in order to obtain the curves describing the electromechanical behaviour of the material. The mechanical instability related to wrinkling of the material is theoretically calculated and experimentally verified. (paper)
Modeling and optimal vibration control of conical shell with piezoelectric actuators
Wang Weiyuan; Wei Yingjie; Wang Cong; Zou Zhenzhu
2008-01-01
In this paper numerical simulations of active vibration control for conical shell structure with distributed piezoelectric actuators is presented. The dynamic equations of conical shell structure are derived using the finite element model (FEM) based on Mindlin's plate theory. The results of modal calculations with FEM model are accurate enough for engineering applications in comparison with experiment results. The Electromechanical influence of distributed piezoelectric actuators is treated as a boundary condition for estimating the control force. The independent modal space control (IMSC) method is adopted and the optimal linear quadratic state feedback control is implemented so that the best control performance with the least control cost can be achieved. Optimal control effects are compared with controlled responses with other non-optimal control parameters. Numerical simulation results are given to demonstrate the effectiveness of the control scheme.
Agapov, I; Kruk, G; Lamont, M; Schmidt, F
2007-01-01
The LHC machine will be a very demanding accelerator from a beam control perspective. There are tight constraints on the key beam parameters in the presence of large non-linearities and dynamic persistent current effects. Particle loss in the LHC must be actively minimized to avoid damage to the machine. Therefore any adjustment to the machine parameters would ideally be checked beforehand with a proper modeling tool. The LHC On-Line Model is an attempt to provide such an analysis tool based mainly on the MAD-X code. The goal is not to provide a real-time interactive system to control the LHC, but rather a way to speed up interaction with the power of MAD-X and to facilitate off-line analysis to give results within appropriate time constraints. There will be a rich spectrum of potential applications such as closed orbit correction, beta-beating analysis, optimization of non-linear correction and knob settings. We report the status of the on-line model software which is at present being developed for the begin...
Complete modelling of a piezo actuator last-generation injector for diesel injection systems
Salvador Rubio, Francisco Javier; PLAZAS TORRES, ALEJANDRO HERNÁN; Gimeno García, Jaime; Carreres Talens, Marcos
2014-01-01
An experimental and computational study of an increasingly used third-generation common-rail injection system with a piezo actuator has been carried out. A complete characterization of the different elements of the system, both geometrically and hydraulically, has been performed in order to describe its behaviour. The information obtained through the characterization has been used to create a one-dimensional model that has been implemented in the commercial software AMESim and ext...
Actuator disk modeling of the Mexico rotor with OpenFOAM⋆
Jeromin A.; Bentamy A.; Schaffarczyk A.P.
2014-01-01
The implementation of an actuator disk with prescribed constant load for OpenFOAM was first presented by Svenning. In our presentation it was enhanced to compute local loads from local velocities by given aerodynamic lift and drag coefficients. The new model was then verified using the so called MEXICO rotor. Extensive comparisons to the experiments and other simulations were performed. The results for the thrust force was comparable to BEm and measurement wereas torque for the separated case...
Aeroacoustic Calculations of Wind Turbine Noise with the Actuator Line/ Navier-Stokes Technique
Debertshäuser, Harald; Shen, Wen Zhong; Zhu, Wei Jun
2016-01-01
to the local conditions and airfoil data. In the acoustic solver, the aeroacoustics is simulated by: (1) calculating the noise source using the improved engineering model (IBPM) based on the model developed by Brook, Pope and Marcolini (BPM); (2) introducing the noise source with an expected range...
Modeling fluid structure interaction with shape memory alloy actuated morphing aerostructures
Oehler, Stephen D.; Hartl, Darren J.; Turner, Travis L.; Lagoudas, Dimitris C.
2012-04-01
The development of efficient and accurate analysis techniques for morphing aerostructures incorporating shape memory alloys (SMAs) continues to garner attention. These active materials have a high actuation energy density, making them an ideal replacement for conventional actuation mechanisms in morphing structures. However, SMA components are often exposed to the same highly variable environments experienced by the aeroelastic assemblies into which they are incorporated. This is motivating design engineers to consider modeling fluidstructure interaction for prescribing dynamic, solution-dependent boundary conditions. This work presents a computational study of a particular morphing aerostructure with embedded, thermally actuating SMA ribbons and demonstrates the effective use of fluid-structure interaction modeling. A cosimulation analysis is utilized to determine the surface deflections and stress distributions of an example aerostructure with embedded SMA ribbons using the Abaqus Finite Element Analysis (FEA) software suite, combined with an Abaqus Computational Fluid Dynamics (CFD) processor. The global FEA solver utilizes a robust user-defined material subroutine which contains an accurate three-dimensional SMA constitutive model. Variations in the ambient fluid environment are computed using the CFD solver, and fluid pressure is mapped into surface distributed loads. Results from the analysis are qualitatively validated with independently obtained data from representative flow tests previously conducted on a physical prototype of the same aerostructure.
An electromechanical model for sensing and actuation of ionic polymer metal composites
Ionic polymer metal composites (IPMCs) are active materials that exhibit a bidirectional electromechanical coupling. An IPMC is an electrolytic polymer membrane that is plated by two metallic electrodes. A voltage difference across the electrodes generates structural deformations; and, conversely, a mechanical deformation yields a voltage difference across the electrodes. In this paper, we develop a physics-based model for the sensing and actuation of IPMCs undergoing small deformations. The model describes a variety of phenomena taking place in an IPMC, including counterions, solvent, and polymer motions; electric dipole generation; osmotic effects; boundary layer formation; polymer swelling; and local charge imbalances. We specialize the model to the analysis of linear static deformations of a thin and flat IPMC, for which we derive a plate-like model. The reduced-order linear plate-like model is derived by using the principle of virtual work and a parallel-plate approximation for the electrostatic field inside the IPMC. The proposed plate-like model is equivalent to traditional plate models for moderately thin piezoelectric bimorph plates. The constitutive parameters of the plate-like model are expressed in terms of fundamental IPMC physical quantities, such as polymer hydration level, IPMC dielectric constant, polymer and electrode dimensions and elastic properties, and solute concentration. We validate the reduced-order model by comparing its predictions with available experimental data on mechanical stiffness, electric capacitance, and sensing and actuation capacity of water-hydrated Nafion in Na+ form. The model predictions are in close agreement with experimental findings. The model provides new insights into the design and optimization of IPMCs and into the role of the IPMC electric capacitance on electromechanical performance. More specifically, we show that the IPMC capacitance is largely independent of the IPMC thickness and highly correlated to the
An analytical model for electrode-ceramic interaction in multilayer piezoelectric actuators
B. L. Wang; J. C. Han
2007-01-01
The present paper develops an analytical model for multi-electrodes in multi-layered piezoelectric actuators, in which the electrodes are vertical to and terminated at the edges of the medium and electroelastic field concentrations ahead of the electrodes in the multilayer piezoelectric actuators are examined. By considering a representative unit in realistic multilayers, the problem is formulated in terms of electric potential between the electrode tips and results in a system of singular integral equations in which the electric potential is taken as unknown function. Effects are investigated of electrode spacing and piezoelectric coupling on the singular electroelastic fields at the electrode tips, and closed-form expressions are given for the electromechanical field near the electrode tips. Exact solution for un-coupled dielectrics is provided, where no piezoelectric coupling is present.
Modelling of piezoelectric actuator dynamics for active structural control
Hagood, Nesbitt W.; Chung, Walter H.; Von Flotow, Andreas
1990-01-01
The paper models the effects of dynamic coupling between a structure and an electrical network through the piezoelectric effect. The coupled equations of motion of an arbitrary elastic structure with piezoelectric elements and passive electronics are derived. State space models are developed for three important cases: direct voltage driven electrodes, direct charge driven electrodes, and an indirect drive case where the piezoelectric electrodes are connected to an arbitrary electrical circuit with embedded voltage and current sources. The equations are applied to the case of a cantilevered beam with surface mounted piezoceramics and indirect voltage and current drive. The theoretical derivations are validated experimentally on an actively controlled cantilevered beam test article with indirect voltage drive.
Patre, Parag; Joshi, Suresh M.
2011-01-01
Decentralized adaptive control is considered for systems consisting of multiple interconnected subsystems. It is assumed that each subsystem s parameters are uncertain and the interconnection parameters are not known. In addition, mismatch can exist between each subsystem and its reference model. A strictly decentralized adaptive control scheme is developed, wherein each subsystem has access only to its own state but has the knowledge of all reference model states. The mismatch is estimated online for each subsystem and the mismatch estimates are used to adaptively modify the corresponding reference models. The adaptive control scheme is extended to the case with actuator failures in addition to mismatch.
Walton, John P.; Coutu, Ronald A.; Starman, LaVern
2015-02-01
There are numerous applications for micromirror arrays seen in our everyday lives. From flat screen televisions and computer monitors, found in nearly every home and office, to advanced military weapon systems and space vehicles, each application bringing with it a unique set of requirements. The microelectromechanical systems (MEMS) industry has researched many ways micromirror actuation can be accomplished and the different constraints on performance each design brings with it. This paper investigates a new "zipper" approach to electrostatically driven micromirrors with the intent of improving duel plane beam steering by coupling large deflection angles, over 30°, and a fast switching speed. To accomplish this, an extreme initial deflection is needed which can be reached using high stress bimorph beams. Currently this requires long beams and high voltage for the electrostatic pull in or slower electrothermal switching. The idea for this "zipper" approach is to stack multiple beams of a much shorter length and allow for the deflection of each beam to be added together in order to reach the required initial deflection height. This design requires much less pull-in voltage because the pull-in of one short beam will in turn reduce the height of the all subsequent beams, making it much easier to actuate. Using modeling and simulation software to characterize operations characteristics, different bimorph cantilever beam configurations are explored in order to optimize the design. These simulations show that this new "zipper" approach increases initial deflection as additional beams are added to the assembly without increasing the actuation voltage.
Schwartz, Robert W.; Ballato, J.; Northwang, W. D.; Laoratanakul, P.
2000-01-01
Dome formation in Rainbow and Thunder actuators occurs to relieve thermal expansion mismatch stress between the metallic and piezoelectric layers during cooling from device fabrication temperatures. Accompanying this process is the generation of an internal stress profile within the devices and the development of significant tensile stresses within the surface region of the piezoelectric. These tensile stresses affect the domain configuration (ratio of c-to-a domains), and improve the 90 deg. domain wall movement response of the device in this region of the piezoelectric. This results in improved electromechanical performance compared to standard direct extensional and flextensional devices, presumably because of the contributions of stress to the non-linearity of the piezoelectric d-coefficients. 1 Interestingly, this improvement in response seems counterintuitive; a stress perpendicular to the direction of the applied electric field should impede, not contribute to 90' domain switching. Further consideration of the lower region of the piezoelectric that is under compressive stress thus appears warranted. The specified objectives of the research were to: 1. Conduct finite element and equivalent circuit simulation-based investigations to understand the effects of actuator geometry on internal stress distribution and actuator performance (displacement and load-bearing capabilities). 2. Use the results of the modeling studies to predict the processing conditions (geometry and thickness ratio) required for the fabrication of Rainbow ceramics with optimized performance.
Zhu, Zicai; Wang, Yanjie; Liu, Yanfa; Asaka, Kinji; Sun, Xiaofei; Chang, Longfei; Lu, Pin
2016-07-01
Water containing ionic polymer-metal composites (IPMCs) show complex deformation properties with water content. In order to develop a simple application-oriented model for engineering application, actuation mechanisms and model equations should be simplified as necessary. Beginning from our previous comprehensive multi-physical model of IPMC actuator, numerical analysis was performed to obtain the main factors influencing the bending deformation and the corresponding simplified model. In this paper, three aspects are mainly concerned. (1) Regarding mass transport process, the diffusion caused by concentration gradient mainly influences the concentrations of cation and water at the two electrode boundaries. (2) By specifying the transport components as hydrated cation and free water in the model, at the cathode, the hydrated cation concentration profile is more flat, whereas the concentrations of both free water and the total water show drastic changes. In general, the two influence the redistribution of cation and water but have little impact on deformation prediction. Thus, they can be ignored in the simplification. (3) An extended osmotic pressure is proposed to cover all eigen stresses simply with an effective osmotic coefficient. Combining with a few other linearized methods, a simplified model has been obtained by sacrificing the prediction precision on the transport process. Furthermore, the improved model has been verified by fitting with IPMC deformation evolved with water content. It shows that the simplified model has the ability to predict the complex deformations of IPMCs.
Muniraj, Murali; Arulmozhiyal, Ramaswamy
2015-01-01
A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system. PMID:26613102
Electromagnetic (EM) solenoid actuators are widely used in many applications such as the automobile, aerospace, printing and food industries where repetitive, often high-speed linear or rotating motions are required. In some of these applications they are used as highspeed 'switching' valves for switching pneumatic channels. This paper describes the finite element (FE) modelling and design of high-speed solenoid actuators. Operating at frequencies between 150-300 Hz, these actuators are unique in terms of the large force they produce (8-15 N) and the requirement for very long lifetime (2-5 billion cycles). The complex nature of electromagnetic, motional and thermal problems is discussed. The methodologies for FE modelling of such high-performance actuators are developed and discussed. These are used for modelling, design, performance evaluation and prediction of the above high-speed actuators. Modelling results showing some of the key design features of the actuators are presented in terms of force produced as a function of various design parameters
Rossini, L.; Chetelat, O.; Onillon, E.; Perriard, Y.
2013-01-01
This paper presents an analytical model for the force and torque developed by a reaction sphere actuator for satellite attitude control. The reaction sphere is an innovative momentum exchange device consisting of a magnetic bearings spherical rotor that can be electronically accelerated in any direction making all the three axes of stabilized spacecrafts controllable by a unique device. The spherical actuator is composed of an 8-pole permanent magnet spherical rotor and of a 20-coil stator. F...
Active knits are a unique architectural approach to meeting emerging smart structure needs for distributed high strain actuation with simultaneous force generation. This paper presents an analytical state-based model for predicting the actuation response of a shape memory alloy (SMA) garter knit textile. Garter knits generate significant contraction against moderate to large loads when heated, due to the continuous interlocked network of loops of SMA wire. For this knit architecture, the states of operation are defined on the basis of the thermal and mechanical loading of the textile, the resulting phase change of the SMA, and the load path followed to that state. Transitions between these operational states induce either stick or slip frictional forces depending upon the state and path, which affect the actuation response. A load–extension model of the textile is derived for each operational state using elastica theory and Euler–Bernoulli beam bending for the large deformations within a loop of wire based on the stress–strain behavior of the SMA material. This provides kinematic and kinetic relations which scale to form analytical transcendental expressions for the net actuation motion against an external load. This model was validated experimentally for an SMA garter knit textile over a range of applied forces with good correlation for both the load–extension behavior in each state as well as the net motion produced during the actuation cycle (250% recoverable strain and over 50% actuation). The two-dimensional analytical model of the garter stitch active knit provides the ability to predict the kinetic actuation performance, providing the basis for the design and synthesis of large stroke, large force distributed actuators that employ this novel architecture. (paper)
Reduced-order modeling of high-speed jets controlled by arc filament plasma actuators
Sinha, Aniruddha; Serrani, Andrea; Samimy, Mo
2013-02-01
Arc filament plasma actuators applied to high-speed and high Reynolds number jets have demonstrated significant mixing enhancement when operated near the jet column mode (JCM) frequency. A feedback-oriented reduced-order model is developed for this flow from experimental data. The existent toolkit of stochastic estimation, proper orthogonal decomposition, and Galerkin projection is adapted to yield a 35-dimensional model for the unforced jet. Explicit inclusion of a "shift mode" stabilizes the model. The short-term predictive capability of instantaneous flow fields is found to degrade beyond a single flow time step, but this horizon may be adequate for feedback control. Statistical results from long-term simulations agree well with experimental observations. The model of the unforced jet is augmented to incorporate the effects of plasma actuation. Periodic forcing is modeled as a deterministic pressure wave specified on the inflow boundary of the modeling domain. Simulations of the forced model capture the nonlinear response that leads to optimal mixing enhancement in a small range of frequencies near the JCM.
Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves
Kalsi Engineering, Inc. has recently developed a computer program to predict the torsional fatigue life of Limitorque Type SMB/SB/SBD actuators for motor-operated valves under given loading levels, including those that exceed the ratings. The development effort was an outgrowth of the open-quote Thrust Rating Increase close-quote test program. The fatigue model computes all pertinent stress components and their variations as a function of the loading ramp. The cumulative damage and fatigue life due to stress cycling is computed by use of a modification of Miner's rule. Model predictions were validated against actual cyclic loading test results
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
Aagaard Madsen, Helge; Schmidt Paulsen, Uwe; Vita, Luca
2012-01-01
The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined. The describing equations for the two-dimensional AC model are presented and a solution method splitting the final solution in a linear and non-linear part is briefly described. A family of loadforms ...
Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves
Somogyi, D.; Alvarez, P.D.; Kalsi, M.S. [Kalsi Engineering, Inc., Sugar Land, TX (United States)
1996-12-01
Kalsi Engineering, Inc. has recently developed a computer program to predict the torsional fatigue life of Limitorque Type SMB/SB/SBD actuators for motor-operated valves under given loading levels, including those that exceed the ratings. The development effort was an outgrowth of the {open_quote}Thrust Rating Increase{close_quote} test program. The fatigue model computes all pertinent stress components and their variations as a function of the loading ramp. The cumulative damage and fatigue life due to stress cycling is computed by use of a modification of Miner`s rule. Model predictions were validated against actual cyclic loading test results.
Tracking control of piezoelectric actuators using a polynomial-based hysteresis model
Gan, Jinqiang; Zhang, Xianmin; Wu, Heng
2016-06-01
A polynomial-based hysteresis model that describes hysteresis behavior in piezoelectric actuators is presented. The polynomial-based model is validated by comparing with the classic Prandtl-Ishlinskii model. Taking the advantages of the proposed model into consideration, inverse control using the polynomial-based model is proposed. To achieve better tracking performance, a hybrid control combining the developed inverse control and a proportional-integral-differential feedback loop is then proposed. To demonstrate the effectiveness of the proposed tracking controls, several comparative experiments of the polynomial-based model and Prandtl-Ishlinskii model are conducted. The experimental results show that inverse control and hybrid control using the polynomial-based model in trajectory-tracking applications are effective and meaningful.
Integrated modeling for determining launch survival and limitations of actuated lightweight mirrors
Cohan, Lucy E.; Miller, David W.
2008-07-01
The future of space telescopes lies in large, lightweight, segmented aperture systems. Segmented apertures eliminate manufacturability and launch vehicle fairing diameter as apertures size constraints. Low areal density, actuated segments allow the systems to meet both launch mass restrictions and on-orbit wavefront error requirements. These systems, with silicon carbide as a leading material, have great potential for increasing the productivity, affordability, and manufacturability of future space-based optical systems. Thus far, progress has been made on the manufacturing, sensing, actuation, and on-orbit control of such systems. However, relatively little attention has been paid to the harsh environment of launch. The launch environment may dominate aspects of the design of the mirror segments, with survivability requirements eliminating many potentially good designs. Integrated modeling of a mirror segment can help identify trends in mirror geometries that maximize launch performance, ensuring survivability without drastically over designing the mirror. A finite element model of a single, ribbed, actuated, silicon carbide mirror segment is created, and is used to develop a dynamic, state-space model, with launch load spectra as disturbance inputs, and mirror stresses as performance outputs. The parametric nature of this model allows analysis of many geometrically different mirror segments, helping to identify key parameters for launch survival. The modeling method described herein will enable identification of the design decisions that are dominated by launch, and will allow for development of launch-load alleviation techniques to further push the areal density boundaries in support of the creation of larger and lighter mirrors than previously possible.
Modeling, fabrication and testing of MEMS tunable inductors varied with piezoelectric actuators
Modeling, fabrication and measurements of tunable inductors are presented where inductance tuning is achieved through mechanical displacement, by piezoelectric actuation, of mutually-coupled coils. The modified Greenhouse method is utilized as a modeling tool to predict the inductance variations as a function of both translation and angular displacement, where coils and traces which are arbitrarily oriented with respect to one another are considered. The use of this modeling approach is verified through experimental results where electrical measurements of inductances are compared with the modeled inductances. The inductance model compares well with the measurements and within 10% of the measured inductance with a 3% mean error. In addition, the impact of the interconnect widths on tunable inductor performances is assessed for both negatively and positively coupled tunable inductor cases, where devices with interconnect widths ranging between 10 and 40 µm are considered. Tuning ratios as high as ∼3.9:1 were measured for the negatively-coupled coil designs with 18 V actuation; this corresponds to minimum and maximum quality factors of 5.72 (at 4.05 GHz with a 2.80 nH inductance) and 14.91 (at 2.25 GHz with 10.86 nH inductance), respectively. For the positively coupled inductors, tuning ratios of ∼1.2:1 resulted with inductance and peak quality factors of 7.70 nH and ∼18 (3.69 GHz), respectively. With 18 V actuation, these values tune to 6.57 nH with a Q ∼18 (4.46 GHz). Residual poling stress was found to limit the practical tuning ratio to ∼1.8:1 for the negatively coupled coils. (paper)
Modeling, Validation, and Control of Electronically Actuated Pitman Arm Steering for Armored Vehicle
Vimal Rau Aparow
2016-01-01
Full Text Available In this study, 2 DOF mathematical models of Pitman arm steering system are derived using Newton’s law of motion and modeled in MATLAB/SIMULINK software. The developed steering model is included with a DC motor model which is directly attached to the steering column. The Pitman arm steering model is then validated with actual Pitman arm steering test rig using various lateral inputs such as double lane change, step steer, and slalom test. Meanwhile, a position tracking control method has been used in order to evaluate the effectiveness of the validated model to be implemented in active safety system of a heavy vehicle. The similar method has been used to test the actual Pitman arm steering mechanism using hardware-in-the-loop simulation (HILS technique. Additional friction compensation is added in the HILS technique in order to minimize the frictional effects that occur in the mechanical configuration of the DC motor and Pitman arm steering. The performance of the electronically actuated Pitman arm steering system can be used to develop a firing-on-the-move actuator (FOMA for an armored vehicle. The FOMA can be used as an active safety system to reject unwanted yaw motion due to the firing force.
Modeling and control of actuators for high performance structural dynamic testing
Most research in the structural engineering field uses either a simplified data-based model or a physics-based model to describe the dynamic behavior of servo-hydraulic actuators. In either way, the nominal model is typically used for modeling, analysis and control design. However, little effort has been directed to model uncertainties that are inherently associated with any physical system. A robust modeling approach is proposed in this study that can characterize both parametric and non-parametric uncertainties. The combination of this uncertainty with the nominal model provides a powerful tool to analyze the system performance and stability properties. Several control techniques are evaluated experimentally, and an H∞ robust control design is demonstrated to achieve the best performance as well as good robustness. (paper)
Carbon nanotubes can be assembled into macroscopic thin film materials called buckypapers. To incorporate buckypaper actuators into engineering systems, it is of high importance to understand their material property-actuation performance relationships in order to model and predict the behavior of these actuators. The electromechanical actuation of macroscopic buckypaper structures and their actuators, including single and multi-walled carbon nanotube buckypapers and aligned single-walled nanotube buckypapers, were analyzed and compared. From the experimental evidence, this Letter discusses the effects of the fundamental material properties, including Young modulus and electrical double layer properties, on actuation performance of the resultant actuators. -- Highlights: ► In this study we identified the figure of merit of the electromechanical conversion. ► Different type of buckypaper was realized and characterized for actuation properties. ► The results demonstrated the potential of Buckypapers/Nafion for actuation
A mixture theory framework for modeling the mechanical actuation of ionic polymer metal composites
An ionic polymer metal composite (IPMC) is a porous charged polymer saturated with an electrolytic solvent and plated by two metallic electrodes. A voltage difference across the electrodes generates structural deformations; similarly, a mechanical deformation yields a voltage difference across the electrodes. The electrolytic solvent comprises a mobile ionic species and an uncharged solvent. Interactions between mobile ions and the solvent and between the solvent and the backbone polymer are responsible for sensing and actuation. We present a mixture theory framework for mechanical modeling of IPMCs and of species interactions occurring therein. The model consists of three coupled linear partial differential equations, and it is applicable to a large variety of IPMC geometries and microstructures. The framework allows for a thorough description of actuation mechanisms, including osmotic pressure, hydraulic pressure, and electrostatic forces. The model describes the presence of boundary layers of mobile ions and solvent concentrations in the vicinity of the electrodes. We particularize the general three-dimensional model to a slender IPMC, and we derive a one-dimensional distributed model using the Euler–Bernoulli beam theory and a parallel-plate approximation. We validate our theoretical findings through a set of experiments conducted on Nafion-based IPMCs
Stroke maximizing and high efficient hysteresis hybrid modeling for a rhombic piezoelectric actuator
Shao, Shubao; Xu, Minglong; Zhang, Shuwen; Xie, Shilin
2016-06-01
Rhombic piezoelectric actuator (RPA), which employs a rhombic mechanism to amplify the small stroke of PZT stack, has been widely used in many micro-positioning machineries due to its remarkable properties such as high displacement resolution and compact structure. In order to achieve large actuation range along with high accuracy, the stroke maximizing and compensation for the hysteresis are two concerns in the use of RPA. However, existing maximization methods based on theoretical model can hardly accurately predict the maximum stroke of RPA because of approximation errors that are caused by the simplifications that must be made in the analysis. Moreover, despite the high hysteresis modeling accuracy of Preisach model, its modeling procedure is trivial and time-consuming since a large set of experimental data is required to determine the model parameters. In our research, to improve the accuracy of theoretical model of RPA, the approximation theory is employed in which the approximation errors can be compensated by two dimensionless coefficients. To simplify the hysteresis modeling procedure, a hybrid modeling method is proposed in which the parameters of Preisach model can be identified from only a small set of experimental data by using the combination of discrete Preisach model (DPM) with particle swarm optimization (PSO) algorithm. The proposed novel hybrid modeling method can not only model the hysteresis with considerable accuracy but also significantly simplified the modeling procedure. Finally, the inversion of hysteresis is introduced to compensate for the hysteresis non-linearity of RPA, and consequently a pseudo-linear system can be obtained.
National Aeronautics and Space Administration — Being relatively new to the field, electromechanical actuators in aerospace applications lack the knowledge base compared to ones accumulated for the other actuator...
Actuator disk modeling of the Mexico rotor with OpenFOAM⋆
Jeromin A.
2014-01-01
Full Text Available The implementation of an actuator disk with prescribed constant load for OpenFOAM was first presented by Svenning. In our presentation it was enhanced to compute local loads from local velocities by given aerodynamic lift and drag coefficients. The new model was then verified using the so called MEXICO rotor. Extensive comparisons to the experiments and other simulations were performed. The results for the thrust force was comparable to BEm and measurement wereas torque for the separated case (25 m/s inflow velocity gave rather wide-spreading results.
Real-time hybrid model testing of floating wind turbines: sensitivity to limited actuation
Bachynski, Erin Elizabeth; Chabaud, Valentin Bruno; Sauder, Thomas Michel
2015-01-01
Real-time hybrid model testing (ReaTHM) is a new approach for conducting small-scale experimental campaign [1], [2] and [3]. In the case of a floating wind turbine in a wave basin, the aerodynamic loads on the wind turbine may be applied based on simultaneous simulations (coupled to the experiments), while the wave loads and floater response are physically tested. The objective of this paper is to demonstrate the effects of actuation limitation on the ReaTHM testing setup for a particular pla...
Shu, Liang; Wu, Guichu; Chen, Dingfang; Dapino, Marcelo J.
2016-03-01
On active bending structures, the actuation direction and the excitation field direction are not the same. Simple lumped parameter models are inadequate to describe the relationship between output displacement and input field. In this paper, a dynamic distributed parameter model is presented to describe the system dynamics of a galfenol bending actuator. To consider nonlinearities and hysteresis in bending, a nonlinear magnetomechanical model is developed to characterize the hysteretic magnetostriction generated by the galfenol layer. A dynamic real-time control strategy is proposed to compensate for hysteresis. A nonlinear inverse filter is constructed to linearize the hysteresis based on the proposed distributed parameter model. In order to increase the calculation efficiency, a new iteration method is proposed to calculate the filter. The iteration stepsize of the input field can be adaptively updated according to the inverting error. Simulation results show that significant enhancement of convergence efficiency can be achieved by using the proposed method compared with the existing fixed step size method. Experiments have been conducted to verify the real-time control strategy.
Pusey, Jason L.; Yoo, Jin-Hyeong
2014-06-01
We document the design and preliminary numerical simulation study of a high fidelity model of Canid, a recently introduced bounding robot. Canid is a free-standing, power-autonomous quadrupedal machine constructed from standard commercially available electromechanical and structural elements, incorporating compliant C-shaped legs like those of the decade old RHex design, but departing from that standard (and, to the best of our knowledge, from any prior) robot platform in its parallel actuated elastic spine. We have used a commercial modeling package to develop a finite-element model of the actuated, cable-driven, rigid-plate-reinforced harness for the carbon-fiber spring that joins the robot's fore- and hind-quarters. We compare a numerical model of this parallel actuated elastic spine with empirical data from preliminary physical experiments with the most important component of the spine assembly: the composite leaf spring. Specifically, we report our progress in tuning the mechanical properties of a standard modal approximation to a conventional compliant beam model whose boundary conditions represent constraints imposed by the actuated cable driven vertebral plates that comprise the active control affordance over the spine. We conclude with a brief look ahead at near-term future experiments that will compare predictions of this fitted composite spring model with data taken from the physical spine flexed in isolation from the actuated harness.
Analysis of Foot Slippage Effects on an Actuated Spring-mass Model of Dynamic Legged Locomotion
Yizhar Or
2016-04-01
Full Text Available The classical model of spring-loaded inverted pendulum (SLIP and its extensions have been widely accepted as a simple description of dynamic legged locomotion at various scales in humans, legged robots and animals. Similar to the majority of models in the literature, the SLIP model assumes ideal sticking contact of the foot. However, there are practical scenarios of low ground friction that causes foot slippage, which can have a significant influence on dynamic behaviour. In this work, an extension of the SLIP model with two masses and torque actuation is considered, which accounts for possible slippage under Coulomb’s friction law. The hybrid dynamics of this model is formulated and numerical simulations under representative parameter values reveal several types of stable periodic solutions with stick slip transitions. Remarkably, it is found that slippage due to low friction can sometimes increase average speed and improve energetic efficiency by significantly reducing the mechanical cost of transport.
Towards a model-based development approach for wireless sensor-actuator network protocols
Kumar S., A. Ajith; Simonsen, Kent Inge
2014-01-01
Model-Driven Software Engineering (MDSE) is a promising approach for the development of applications, and has been well adopted in the embedded applications domain in recent years. Wireless Sensor Actuator Networks consisting of resource constrained hardware and platformspecific operating system...... induced due to manual translations. With the use of formal semantics in the modeling approach, we can further ensure the correctness of the source model by means of verification. Also, with the use of network simulators and formal modeling tools, we obtain a verified and validated model to be used...... as a basis for code-generation. The aim is to build protocols with shorter design to implementation time and efforts, along with higher confidence in the protocol designed....
An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets
Stuart Bradley
2015-11-01
Full Text Available Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an “actuator” interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator “firings” to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a “cost function” is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs.
Theoretical modeling of pulse discharge cycle in dielectric barrier discharge plasma actuator
Sato, Shintaro; Ohnishi, Naofumi
2016-07-01
Simple models based on two-dimensional simulations are proposed to estimate intervals of periodically observed current pulses with a positive-going voltage in a dielectric barrier discharge plasma actuator. There are two distinct peaks in one streamer discharge; one is related to the formation of an ion cloud and the other is related to a filamentary discharge that is identified as a streamer. Simulation results show that the intervals of the current pulses depend on the slope of the applied voltage. For the ion-cloud formation phase, we model the time evolution of electron number density at the exposed electrode with ionization frequency. For the ion-cloud expansion phase, a positive ion cylinder model is proposed to estimate the electric field generated by surface charge on the dielectric. These models well reproduce the discharge intervals obtained in the numerical simulations.
Vandehey, N. T.; O'Neil, J.P.
2015-01-01
Introduction We have developed a low-cost stopcock valve actuator for radiochemistry automation built using a stepper motor and an Arduino, an open-source single-board microcontroller. The con-troller hardware can be programmed to run by serial communication or via two 5–24 V digital lines for simple integration into any automation control system. This valve actuator allows for automated use of a single, disposable stopcock, providing a number of advantages over stopcock manifold systems ...
Numerical Simulation and Wake Modeling of Wind Turbine Rotor as AN Actuator Disk
Shen, Xiang; Wang, Tongguang; Zhong, Wei
Numerical simulations of flow fields around the wind turbine rotor simplified as an actuator disk (AD) with zero thickness have been made to investigate the flow structure and wake development in different operation states. A N-S solver has been used and the energy extracted by the rotor is represented by a discontinuous pressure jump through the actuator disk. Axial pressure and velocity development from far upstream to far downstream is fully described by the simulations, which could never be obtained by the momentum theory. It is showed that there are significant differences in wake development between inviscid and viscous conditions. In inviscid simulations, the axial velocity keeps decreasing along the oncoming flow direction, which is consistent with the momentum theory. In viscous simulations, however, the axial velocity first decreases but then gradually recovers approaching to the undisturbed velocity, due to momentum transport from outer flow to wake flow by viscous shear effect. Based on the numerical analysis, the work of this paper is also focused on wake modeling. A new two-dimensional models based on nonlinear wake development has been developed, which is capable to describe the far wake more accurately.
Samadi, B; Achiche, S; Parent, A; Ballaz, L; Chouinard, U; Raison, M
2016-11-01
The use of exoskeletons as an aid for people with musculoskeletal disorder is the subject to an increasing interest in the research community. These devices are expected to meet the specific needs of users, such as children with cerebral palsy (CP) who are considered a significant population in pediatric rehabilitation. Although these exoskeletons should be designed to ease the movement of people with physical shortcoming, their design is generally based on data obtained from healthy adults, which leads to oversized components that are inadequate to the targeted users. Consequently, the objective of this study is to custom-size the lower limb exoskeleton actuators based on dynamic modeling of the human body for children with CP on the basis of hip, knee, and ankle joint kinematics and dynamics of human body during gait. For this purpose, a multibody modeling of the human body of 3 typically developed children (TD) and 3 children with CP is used. The results show significant differences in gait patterns especially in knee and ankle with respectively 0.39 and -0.33 (Nm/kg) maximum torque differences between TD children and children with CP. This study provides the recommendations to support the design of actuators to normalize the movement of children with CP. PMID:26980164
Bouchaala, Adam M.
2015-01-01
We investigate the dynamics of electrically actuated Micro and Nano (Carbon nanotube (CNT)) cantilever beams implemented as resonant sensors for mass detection of biological elements. The beams are modeled using an Euler-Bernoulli beam theory including the nonlinear electrostatic forces and the added biological elements, which are modeled as a discrete point mass. A multi-mode Galerkin procedure is utilized to derive a reduced-order model, which is used for the dynamic simulations. The frequency shifts due to added mass of Escherichia coli (E. coli) and Prostate Specific Antigen (PSA) are calculated for the primary and higher order modes of vibrations. Also, analytical expressions of the natural frequency shift under dc voltage and added mass have been developed. We found that using higher-order modes of vibration of MEMS beams or miniaturizing the size of the beam to Nano scale leads to significant improved sensitivity. © Springer International Publishing Switzerland 2015.
Minami Takato
2014-07-01
Full Text Available Micro-robotic systems are increasingly used in medicine and other fields requiring precision engineering. This paper proposes a piezoelectric impact- type rotary actuator and applies it to a millimetre-size robot controlled by a hardware neuron model. The rotary actuator and robot are fabricated by micro-electro- mechanical systems (MEMS technology. The actuator is composed of multilayer piezoelectric elements. The rotational motion of the rotor is generated by the impact head attached to the piezoelectric element. The millimetre-size robot is fitted with six legs, three on either side of the developed actuator, and can walk on uneven surfaces like an insect. The three leg parts on each side are connected by a linking mechanism. The control system is a hardware neuron model constructed from analogue electronic circuits that mimic the behaviour of biological neurons. The output signal ports of the controller are connected to the multilayer piezoelectric element. This robot system requires no specialized software programs or A/D converters. The rotation speed of the rotary actuator reaches 60 rpm at an applied neuron frequency of 25 kHz during the walking motion. The width, length and height of the robot are 4.0, 4.6 and 3.6 mm, respectively. The motion speed is 180 mm/min.
Two-spring model for active compression textiles with integrated NiTi coil actuators
This paper describes the development and implementation of a two-spring model to predict the performance of hybrid compression textiles combining passive elastic fabrics and integrated NiTi shape memory alloy (SMA) coil actuators. An analytic model that treats passive fabric-SMA coil systems as conjoined linear springs is presented to predict garment passive and active counter-pressure as a function of 11 design variables. For a fixed SMA coil design (encompassing five design variables), the model predicts that passive fabric material modulus, initial length, width and thickness determine both passive counter-pressure magnitude and activation stroke length, and that passive and active pressures are highly dependent on the relative unstretched lengths of the conjoined SMA-fabric system compared to the total limb circumference. Several passive fabrics were tested to determine their moduli and to generally assess the fabric linearity model assumption: two fabrics (spandex and neoprene) were found to behave linearly up to 200% strain, while two other fabrics (flat polyester elastic and a tri-laminate Lycra) were found to be nonlinear in the same strain envelope. Five hypothetical compression tourniquet designs are presented using experimentally determined fabric characteristics and previously studied SMA actuators developed at MIT. The performance of each tourniquet design is discussed with a specific focus on mechanical counter-pressure (MCP) space suit design requirements, with designs presented that achieve the full MCP design specification (> 29.6 kPa) while minimizing (< 5 mm) garment thickness. The modeling framework developed in this effort enables compression garment designers to tailor counter-pressure and activation stroke properties of active compression garments based on a variety of design parameters to meet a wide range of performance specifications. (paper)
Two-spring model for active compression textiles with integrated NiTi coil actuators
Holschuh, B.; Newman, D.
2015-03-01
This paper describes the development and implementation of a two-spring model to predict the performance of hybrid compression textiles combining passive elastic fabrics and integrated NiTi shape memory alloy (SMA) coil actuators. An analytic model that treats passive fabric-SMA coil systems as conjoined linear springs is presented to predict garment passive and active counter-pressure as a function of 11 design variables. For a fixed SMA coil design (encompassing five design variables), the model predicts that passive fabric material modulus, initial length, width and thickness determine both passive counter-pressure magnitude and activation stroke length, and that passive and active pressures are highly dependent on the relative unstretched lengths of the conjoined SMA-fabric system compared to the total limb circumference. Several passive fabrics were tested to determine their moduli and to generally assess the fabric linearity model assumption: two fabrics (spandex and neoprene) were found to behave linearly up to 200% strain, while two other fabrics (flat polyester elastic and a tri-laminate Lycra) were found to be nonlinear in the same strain envelope. Five hypothetical compression tourniquet designs are presented using experimentally determined fabric characteristics and previously studied SMA actuators developed at MIT. The performance of each tourniquet design is discussed with a specific focus on mechanical counter-pressure (MCP) space suit design requirements, with designs presented that achieve the full MCP design specification (\\gt 29.6 kPa) while minimizing (\\lt 5 mm) garment thickness. The modeling framework developed in this effort enables compression garment designers to tailor counter-pressure and activation stroke properties of active compression garments based on a variety of design parameters to meet a wide range of performance specifications.
Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network
Alexander Hošovský
2015-01-01
Full Text Available To make effective use of model-based control system design techniques, one needs a good model which captures system’s dynamic properties in the range of interest. Here an analytical model of pneumatic muscle actuator with two pneumatic artificial muscles driving a rotational joint is developed. Use of analytical model makes it possible to retain the physical interpretation of the model and the model is validated using open-loop responses. Since it was considered important to design a robust controller based on this model, the effect of changed moment of inertia (as a representation of uncertain parameter was taken into account and compared with nominal case. To improve the accuracy of the model, these effects are treated as a disturbance modeled using the recurrent (Elman neural network. Recurrent neural network was preferred over feedforward type due to its better long-term prediction capabilities well suited for simulation use of the model. The results confirm that this method improves the model performance (tested for five of the measured variables: joint angle, muscle pressures, and muscle forces while retaining its physical interpretation.
Computational design and multiscale modeling of a nanoactuator using DNA actuation
Developments in the field of nano-biodevices coupling nanostructures and biological components are of great interest in medical nanorobotics. As the fundamentals of bio/non-bio interaction processes are still poorly understood in the design of these devices, design tools and multiscale dynamics modeling approaches are necessary at the fabrication pre-project stage. This paper proposes a new concept of optimized carbon nanotube based servomotor design for drug delivery and biomolecular transport applications. The design of an encapsulated DNA-multi-walled carbon nanotube actuator is prototyped using multiscale modeling. The system is parametrized by using a quantum level approach and characterized by using a molecular dynamics simulation. Based on the analysis of the simulation results, a servo nanoactuator using ionic current feedback is simulated and analyzed for application as a drug delivery carrier.
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
Aagaard Madsen, Helge; Schmidt Paulsen, Uwe; Vita, Luca
2014-01-01
The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined...... maximum power coefficient for the ideal energy conversion of a VAWT could exceed the Betz limit. The real energy conversion of the 5MW DeepWind rotor is simulated with the AC flow model in combination with the blade element analysis. Aerodynamic design aspects are discussed on this basis revealing that...... the maximum obtainable power coefficient for a fixed pitch VAWT is constrained by the fundamental cyclic variation of inflow angle and relative velocity leading to a loading that deviates considerably from the uniform loading....
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
Aagaard Madsen, Helge; Schmidt Paulsen, Uwe; Vita, Luca
2012-01-01
The actuator cylinder flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined. The...... coefficient for the ideal energy conversion of a VAWT could exceed the Betz limit. The real energy conversion of the 5MW DeepWind rotor is simulated with the AC flow model in combination with the blade element analysis. Aerodynamic design aspects are discussed on this basis revealing that the maximum...... obtainable power coefficient for a fixed pitch VAWT is constrained by the fundamental cyclic variation of inflow angle and relative velocity leading to a loading that deviates considerably from the uniform loading....
Habib, Tufail
In an electromechanical valve actuated engine, the valves are driven by solenoid-type actuators and cam-shaft is eliminated. Control of each valve provides flexibility in valve timings over all engine conditions and achieves the benefits of variable valve timing(VVT). This paper is about investig......In an electromechanical valve actuated engine, the valves are driven by solenoid-type actuators and cam-shaft is eliminated. Control of each valve provides flexibility in valve timings over all engine conditions and achieves the benefits of variable valve timing(VVT). This paper is about...... investigation of Electro-mechanical actuator at simulated pressure conditions for a single cylinder engine. For this purpose, a scaled down actuator with reduced armature lift and high stiffness springs are being used. Experiments are conducted to measure valve release timings, transition times and contact...
Singh, Yadvinder
2013-01-01
Piezoelectric actuators are increasingly used for the electronic control of fuel injector opening valves. Hydrogen is considered an attractive clean alternative fuel for automobile and power generation applications. Current understanding of the performance of piezoelectric actuators in a hydrogen environment is very limited. This work is aimed at experimentally investigating the performance of hydrogen-exposed piezoelectric actuators under conditions directly relevant to a hydrogen-based fuel...
The Actuator Surface Model: A New Navier-Stokes Based Model for Rotor Computations
Shen, Wen Zhong; Zhang, J.H.; Sørensen, Jens Nørkær
2009-01-01
the chord of the airfoils. The distribution of body force is determined from a set of predefined functions that depend on angle of attack and airfoil shape. The predefined functions are curve fitted using pressure distributions obtained either from viscous-inviscid interactive codes or from full...... Navier-Stokes simulations. The actuator surface technique is evaluated by computing the two-dimensional flow past a NACA 0015 airfoil at a Reynolds number of 10(6) and an angle of attack of 10 deg and by comparing the computed streamlines with the results from a traditional Reynolds-averaged Navier......-Stokes computation. In the last part, the actuator surface technique is applied to compute the flow past a two-bladed vertical axis wind turbine equipped with NACA 0012 airfoils. Comparisons with experimental data show an encouraging performance of the method....
Stellar model atmospheres with magnetic line blanketing
Kochukhov, O; Shulyak, D
2004-01-01
Model atmospheres of A and B stars are computed taking into account magnetic line blanketing. These calculations are based on the new stellar model atmosphere code LLModels which implements direct treatment of the opacities due to the bound-bound transitions and ensures an accurate and detailed description of the line absorption. The anomalous Zeeman effect was calculated for the field strengths between 1 and 40 kG and a field vector perpendicular to the line of sight. The model structure, high-resolution energy distribution, photometric colors, metallic line spectra and the hydrogen Balmer line profiles are computed for magnetic stars with different metallicities and are discussed with respect to those of non-magnetic reference models. The magnetically enhanced line blanketing changes the atmospheric structure and leads to a redistribution of energy in the stellar spectrum. The most noticeable feature in the optical region is the appearance of the 5200 A depression. However, this effect is prominent only in ...
In this paper, a complete nonlinear finite element model for coupled-domain MEMS devices with electrostatic actuation and squeeze film effect is developed. For this purpose, a corotational finite element formulation for the dynamic analysis of planer Euler beams is employed. In this method, the internal nodal forces due to deformation and intrinsic residual stresses, the inertial nodal forces, and the damping effect of squeezed air film are systematically derived by consistent linearization of the fully geometrically nonlinear beam theory using d'Alamber and virtual work principles. An incremental-iterative method based on the Newmark direct integration procedure and the Newton-Raphson algorithm is used to solve the nonlinear dynamic equilibrium equations. Numerical examples are presented and compared with experimental findings which indicate properly good agreement
Modeling of effects of matrix on actuation characteristics of embedded shape memory alloy wires
CUI Xiao-long; ZHENG Yan-jun; CUI Li-shan
2005-01-01
Effects of matrix properties on the actuation characteristics of embedded shape memory alloy wires were studied. The coefficient of thermal expansion and the modulus of matrix have significant effect on the maximum recovery stress. The thermal strain rate of the SMA wires upon heating is more sensitive to the matrix properties than the stress rate does. Additional fibers embedded in the matrix have significant effect on the stress distribution between the SMA wires and the matrix, and thus affect the interface quality significantly. Fibers with negative thermal expansion coefficient are beneficial to the interface between shape memory alloy wires and the epoxy matrix. All conclusions based on the numerical modeling can find experimental supports.
Biological tentacles, such as octopus arms, have entirely flexible structures and virtually infinite degrees of freedom (DOF) that allow for elongation, shortening and bending at any point along the arm length. The amazing dexterity of biological tentacles has driven the growing implementation of continuum manipulators in robotic systems. This paper presents a pneumatic manipulator inspired by biological continuum structures in some of their key features and functions, such as continuum morphology, intrinsic compliance and stereotyped motions with hyper redundant DOF. The kinematics and dynamics of the manipulator are formulated and identified, and a hierarchical controller taking inspiration from the structure of an octopus nervous system is used to relate desired stereotyped motions to individual actuator inputs. Simulations and experiments are carried out to validate the model and prototype where good agreement was found between the two. (paper)
Analysis of the giant magnetostrictive actuator with strong bias magnetic field
Giant magnetostrictive actuator with strong bias magnetic field is designed to control the injector bullet valve opening and closing. The relationship between actuator displacement amplitude and input signal direction is analyzed. And based on the approximate linearity of strain-magnetic field, second-order system model of the actuator displacement is established. Experimental system suitable for the actuator is designed. The experimental results show that, the square voltage amplitude being 12 V, the actuator displacement amplitude is about 17 μm with backward direction signal input while being 1.5 μm under forward direction signal. From the results, the suitable input direction is confirmed to be backward. With exciting frequncy lower than 200 Hz, the error between the model and experimental result is less than 1.7 μm. So the model is validated under the low-frequency signal input. The testing displacement-voltage curves are approximately straight lines. But due to the biased position, the line slope and the displacement-voltage linearity change as the input voltage changes. - Highlights: • Giant magnetostrictive actuator with strong bias magnetic field is designed. • The relationship between actuator displacement amplitude and input current direction is analyzed. • The model of the actuator displacement is established and its accuracy is verified by the test. • The actuator displacement-voltage curves are achieved by the test, and the curves’ characteristics are analyzed theoretically
Nishino, Takafumi
2012-01-01
Modelling of turbine blade-induced turbulence (BIT) is discussed within the framework of three-dimensional Reynolds-averaged Navier-Stokes (RANS) actuator disk computations. We first propose a generic (baseline) BIT model, which is applied only to the actuator disk surface, does not include any model coefficients (other than those used in the original RANS turbulence model) and is expected to be valid in the limiting case where BIT is fully isotropic and in energy equilibrium. The baseline model is then combined with correction functions applied to the region behind the disk to account for the effect of rotor tip vortices causing a mismatch of Reynolds shear stress between short- and long-time averaged flow fields. Results are compared with wake measurements of a two-bladed wind turbine model of Medici and Alfredsson [Wind Energy, Vol. 9, 2006, pp. 219-236] to demonstrate the capability of the new model.
A nonlinear, control-oriented model for ionic polymer–metal composite actuators
Ionic polymer–metal composites (IPMCs) form an important category of electroactive polymers and have many potential applications in biomedical, robotic and micro/nanomanipulation systems. In this paper, a nonlinear, control-oriented model is proposed for IPMC actuators. A key component in the proposed model is the nonlinear capacitance of the IPMC. A nonlinear partial differential equation (PDE), which can capture the fundamental physics in the IPMC, is fully considered in the derivation of nonlinear capacitance. A systems perspective is taken to get the nonlinear mapping from the voltage to the induced charge by analytically solving the nonlinear PDE at the steady state when a step voltage is applied. The nonlinear capacitance is incorporated into a circuit model, which includes additionally the pseudocapacitance due to the electrochemical adsorption process, the ion diffusion resistance, and the nonlinear DC resistance of the polymer, to capture electrical dynamics of the IPMC. With electromechanical coupling, the curvature output is derived based on the circuit model. The proposed model is formulated in the state space, which will be the starting point for nonlinear controller design. Experimental verification shows that the proposed model can capture the major nonlinearities in the electrical response of the IPMC
Modeling and Application of Series Elastic Actuators for Force Control Multi Legged Robots
S, Arumugom; V, Ponselvan
2009-01-01
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better". A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke's Law (F=Kx). A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance amplification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Ac...
Kandelman, A.; Nelson, D. J.
1977-01-01
Simplified mathematical model simulates large hydraulic systems on either analog or digital computers. Models of pumps, servoactuators, reservoirs, accumulators, and valves are connected generating systems containing six hundred elements.
Buoso, Stefano; Palacios, Rafael
2016-04-01
This work presents a numerical framework for the simulation and design of integrally actuated membrane wings with feedback control. The performance of the aeroelastic system are evaluated using a high-fidelity model. It consists in a fluid solver based on the direct numerical integration of the unsteady Navier-Stokes equations implicitly coupled with a geometrically non-linear dynamic structural model which has been calibrated using experimental data. The rate-dependent constitutive law for the dielectric elastomer considered for the integral wing actuation is based on a non-linear formulation. The framework also includes a methodology for the model reduction of the fully-coupled system. The resulting low-order description showed to retain the main system dynamics, and can therefore be used for the design of the control scheme for the wing. Results highlights the potential to achieve on-demand aerodynamics using the actuation concept proposed. In particular, it is shown that the wing aerodynamic performance is noticeably enhanced through the actuation and the disturbances on the lift in case of gusts can be reduced up to 60%.
Towards accurate modeling of moving contact lines
Holmgren, Hanna
2015-01-01
The present thesis treats the numerical simulation of immiscible incompressible two-phase flows with moving contact lines. The conventional Navier–Stokes equations combined with a no-slip boundary condition leads to a non-integrable stress singularity at the contact line. The singularity in the model can be avoided by allowing the contact line to slip. Implementing slip conditions in an accurate way is not straight-forward and different regularization techniques exist where ad-hoc procedures ...
Saggam Narendar
2011-07-01
Full Text Available In this study, a rotating single-walled carbon nanotube (SWCNT is modelled as an Euler-Bernoulli beam using the non-local/non-classical continuum mechanics. These rotating SWCNTs are used in nanoscale rotational actuators. The mathematical model has been used to study the wave behaviour in rotating SWCNTs. The governingpartial differential equation for a uniform rotating beam is derived incorporating the non-local scale effects. The spatial variation in centrifugal force has been modelled in an average sense. Even though this averaging seems to be a crude approximation, one can use this as a powerful model in analysing the wave dispersion characteristics ofthe rotating CNTs. Spectrum and dispersion curves as a function of rotating speed and non-local scaling parameter were obtained. It has been shown that the dispersive ﬂexural wave tends to behave non-dispersively at very high rotation speeds. The numerical results have been simulated for a rotating SWCNT as a waveguide.Defence Science Journal, 2011, 61(4, pp.317-324, DOI:http://dx.doi.org/10.14429/dsj.61.1091
Boz, Utku; Basdogan, Ipek
2015-12-01
Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.
Al-Taie, Fatimah; Werner, Herbert
2016-06-01
A technique for model reduction of exponentially stable spatially interconnected systems is presented, where the order of the reduced model is determined by the number of truncated small generalised singular values of the structured solutions to a pair of Lyapunov inequalities. For parameter-invariant spatially interconnected systems, the technique is based on solving a pair of Lyapunov inequalities in continuous-time and -space domain with a rank constraint. Using log-det and cone complementarity methods, an improved error bound can be obtained. The approach is extended to spatially parameter-varying systems, and a balanced truncation approach using parameter-dependent Gramians is proposed to reduce the conservatism caused by the use of constant Gramians. This is done by considering two important operators, which can be used to represent multidimensional systems (temporal- and spatial-linear parameter varying interconnected systems). The results are illustrated with their application to an experimentally identified spatially interconnected model of an actuated beam; the experimentally obtained response to an excitation signal is compared with the response predicted by a reduced model.
Zhang, Xingwu; Wang, Chenxi; Gao, Robert X; Yan, Ruqiang; Chen, Xuefeng; Wang, Shibin
2016-01-01
Milling vibration is one of the most serious factors affecting machining quality and precision. In this paper a novel hybrid error criterion-based frequency-domain LMS active control method is constructed and used for vibration suppression of milling processes by piezoelectric actuators and sensors, in which only one Fast Fourier Transform (FFT) is used and no Inverse Fast Fourier Transform (IFFT) is involved. The correction formulas are derived by a steepest descent procedure and the control parameters are analyzed and optimized. Then, a novel hybrid error criterion is constructed to improve the adaptability, reliability and anti-interference ability of the constructed control algorithm. Finally, based on piezoelectric actuators and acceleration sensors, a simulation of a spindle and a milling process experiment are presented to verify the proposed method. Besides, a protection program is added in the control flow to enhance the reliability of the control method in applications. The simulation and experiment results indicate that the proposed method is an effective and reliable way for on-line vibration suppression, and the machining quality can be obviously improved. PMID:26751448
Xingwu Zhang
2016-01-01
Full Text Available Milling vibration is one of the most serious factors affecting machining quality and precision. In this paper a novel hybrid error criterion-based frequency-domain LMS active control method is constructed and used for vibration suppression of milling processes by piezoelectric actuators and sensors, in which only one Fast Fourier Transform (FFT is used and no Inverse Fast Fourier Transform (IFFT is involved. The correction formulas are derived by a steepest descent procedure and the control parameters are analyzed and optimized. Then, a novel hybrid error criterion is constructed to improve the adaptability, reliability and anti-interference ability of the constructed control algorithm. Finally, based on piezoelectric actuators and acceleration sensors, a simulation of a spindle and a milling process experiment are presented to verify the proposed method. Besides, a protection program is added in the control flow to enhance the reliability of the control method in applications. The simulation and experiment results indicate that the proposed method is an effective and reliable way for on-line vibration suppression, and the machining quality can be obviously improved.
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined. The describing equations for the two-dimensional AC model are presented and a solution method splitting the final solution in a linear and non-linear part is briefly described. A family of loadforms approaching the uniform loading is used to study the ideal energy conversion indicating that the maximum power coefficient for the ideal energy conversion of a VAWT could exceed the Betz limit. The real energy conversion of the 5MW DeepWind rotor is simulated with the AC flow model in combination with the blade element analysis. Aerodynamic design aspects are discussed on this basis revealing that the maximum obtainable power coefficient for a fixed pitch VAWT is constrained by the fundamental cyclic variation of inflow angle and relative velocity leading to a loading that deviates considerably from the uniform loading
Liang, Binbin; Zhang, Long; Wang, Binglei; Zhou, Shenjie
2015-07-01
A size-dependent model for the electrostatically actuated Nano-Electro-Mechanical Systems (NEMS) incorporating nonlinearities and Casimir force is presented by using a variational method. The governing equation and boundary conditions are derived with the help of strain gradient elasticity theory and Hamilton principle. Generalized differential quadrature (GDQ) method is employed to solve the problem numerically. The pull-in instability with Casimir force included is then studied. The results reveal that Casimir force, which is a spontaneous force between the two electrodes, can reduce the external applied voltage. With Casimir force incorporated, the pull-in instability occurs without voltage applied when the beam size is in nanoscale. The minimum gap and detachment length can be calculated from the present model for different beam size, which is important for NEMS design. Finally, discussions of size effect induced by the strain gradient terms reveal that the present model is more accurate since size effect play an important role when beam in nanoscale.
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
Madsen, H. Aa; Paulsen, U. S.; Vitae, L.
2014-12-01
The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined. The describing equations for the two-dimensional AC model are presented and a solution method splitting the final solution in a linear and non-linear part is briefly described. A family of loadforms approaching the uniform loading is used to study the ideal energy conversion indicating that the maximum power coefficient for the ideal energy conversion of a VAWT could exceed the Betz limit. The real energy conversion of the 5MW DeepWind rotor is simulated with the AC flow model in combination with the blade element analysis. Aerodynamic design aspects are discussed on this basis revealing that the maximum obtainable power coefficient for a fixed pitch VAWT is constrained by the fundamental cyclic variation of inflow angle and relative velocity leading to a loading that deviates considerably from the uniform loading.
On reliable control system designs. Ph.D. Thesis; [actuators
Birdwell, J. D.
1978-01-01
A mathematical model for use in the design of reliable multivariable control systems is discussed with special emphasis on actuator failures and necessary actuator redundancy levels. The model consists of a linear time invariant discrete time dynamical system. Configuration changes in the system dynamics are governed by a Markov chain that includes transition probabilities from one configuration state to another. The performance index is a standard quadratic cost functional, over an infinite time interval. The actual system configuration can be deduced with a one step delay. The calculation of the optimal control law requires the solution of a set of highly coupled Riccati-like matrix difference equations. Results can be used for off-line studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.
A Roll Controlling Approach for a Simple Dual-Actuated Flapping Aerial Vehicle Model
Labib Omar El-Farouk E.
2016-01-01
Full Text Available Aerial vehicles have been investigated recently in different contexts, due to their high potential of utilization in multiple application areas. Different mechanisms can be used for aerial vehicles actuation, such as the rotating multi-blade systems (Multi-Copters and more recently flapping wings. Flapping wing robots have attracted much attention from researchers in recent years. In this study, a simple dual-actuated flapping mechanism is proposed for actuating a flapping wing robot. The mechanism is designed, simulated and validated in both simulation and experiments. A roll controlling approach is proposed to control the roll angle of the robot via controlling the speeds of both motors actuating each of the wings. The results achieved are validated experimentally, and are promising opening the door for further investigation using our proposed system
Mathematical and Computer Modelling of DC Actuator-Based Linear Drives
Doležel, Ivo; Škopek, M.; Ulrych, B.; Vostracký, Z.
2002-01-01
Roč. 1, - (2002), s. 29-33 Institutional research plan: CEZ:AV0Z2057903 Keywords : DC actuators * electromagnetic field * temperature field Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering
Jacobs, William R.; Wilson, Emma D.; Assaf, Tareq; Rossiter, Jonathan; Dodd, Tony J.; Porrill, John; Anderson, Sean R.
2015-05-01
Current models of dielectric elastomer actuators (DEAs) are mostly constrained to first principal descriptions that are not well suited to the application of control design due to their computational complexity. In this work we describe an integrated framework for the identification of control focused, data driven and time-varying DEA models that allow advanced analysis of nonlinear system dynamics in the frequency-domain. Experimentally generated input-output data (voltage-displacement) was used to identify control-focused, nonlinear and time-varying dynamic models of a set of film-type DEAs. The model description used was the nonlinear autoregressive with exogenous input structure. Frequency response analysis of the DEA dynamics was performed using generalized frequency response functions, providing insight and a comparison into the time-varying dynamics across a set of DEA actuators. The results demonstrated that models identified within the presented framework provide a compact and accurate description of the system dynamics. The frequency response analysis revealed variation in the time-varying dynamic behaviour of DEAs fabricated to the same specifications. These results suggest that the modelling and analysis framework presented here is a potentially useful tool for future work in guiding DEA actuator design and fabrication for application domains such as soft robotics.
Single actuator wave-like robot (SAW): design, modeling, and experiments.
Zarrouk, David; Mann, Moshe; Degani, Nir; Yehuda, Tal; Jarbi, Nissan; Hess, Amotz
2016-01-01
In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed. PMID:27367548
Rajappa, Sujit; Ryll, Markus; Heinrich H Bülthoff; Franchi, Antonio
2015-01-01
International audience Mobility of a hexarotor UAV in its standard configuration is limited, since all the propeller force vectors are parallel and they achieve only 4 DoF actuation, similar, e.g., to quadrotors. As a consequence, the hexarotor pose cannot track an arbitrary trajectory over time. In this paper, we consider a different hexarotor architecture where propellers are tilted, without the need of any additional hardware. In this way, the hexarotor possess a 6 DoF actuation which a...
Modeling and experiment of three-degree-of-freedom actuators using piezoelectric buzzers
This study presents innovative three-degree-of-freedom piezoelectric actuators. Under the piezoelectric force and dry friction, the piezoelectric actuators not only can move in the Z-axis direction, but also rotate around the Y-axis and Z-axis. The Z-axis displacement can reach 62 mm and the rotation angle around the Y-axis and Z-axis can reach 270° and 360°, respectively. Compared with the literature, this innovative actuator design achieves one-degree-of-freedom translation and two-degree-of-freedom rotation. Equations of motion are derived based on the piezoelectric properties and Newton’s law. Two types of actuators are created in this study. In the first type, the centers of four piezoelectric buzzers are attached to an arm while in the other type each rim of the four piezoelectric buzzers is attached to the arm. Experimental results are compared with theoretical results. According to the experimental results, the present actuator can accomplish a translational velocity of 11 mm s−1, a Y-axis angular velocity of 8.96 rad s−1, a Z-axis angular velocity of 2.63 rad s−1, and a force of 2.49 mN. By using four piezoelectric buzzers, this study creates piezoelectric actuators capable of both translational and rotational motions. (paper)
The CFD Investigation of Two Non-Aligned Turbines Using Actuator Disk Model and Overset Grids
In this study flow over two axially non-aligned wind turbines is investigated via 3-D CFD analysis by solving Navier-Stokes equations. This setting is the test case geometry for the NTNU's ''Blind-Test'' Workshop 3 (BT3) and it aims to predict the performance of the wind turbines and their wake development under asymmetrical flow conditions. The performance of the turbine in the wake of the other turbine is numerically studied for different tip speed ratios. The measurements of velocity profile which is severely disturbed by both turbines are also carried out at the several locations of the wind tunnel. The computational results for NTNU wind turbine test case were obtained by 3-D CFD simulations with two different approaches. The first approach is to employ the actuator disk model, which is used in order to approximate the pressure jump across the rotor disk to simulate the impact of the wind turbines. At the second approach, the actual geometry of the turbine rotor was used, and the rotor blades were rotated using an overset grid methodology over the background grids. The thrust coefficients and the velocity profiles are calculated with two different approaches and the results are compared to experimental data presented in BT3
Model identification of terfenol-D magnetostrictive actuator for precise positioning control
Saleem, Ashraf; Ghodsi, Mojtaba; Mesbah, Mostefa; Ozer, Abdullah
2016-04-01
Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.
Identification of a nonlinear black-box model for a self-sensing polymer metal composite actuator
An ion polymer metal composite (IPMC) is an electro-active polymer that bends in response to a small applied electrical field as a result of the mobility of cations in the polymer network and vice versa. The aim of this paper is the identification of a novel accurate nonlinear black-box model (NBBM) for IPMC actuators with self-sensing behavior based on a recurrent multi-layer perceptron neural network (RMLPNN) and a self-adjustable learning mechanism (SALM). Firstly, an IPMC actuator is investigated. Driving voltage signals are applied to the IPMC in order to identify the IPMC characteristics. Secondly, the advanced NBBM for the IPMC is built with suitable inputs and output to estimate the IPMC tip displacement. Finally, the model parameters are optimized by the collected input/output training data. Modeling results show that the proposed self-sensing methodology based on the optimized NBBM model can well describe the bending behavior of the IPMC actuator corresponding to its applied power without using any measuring sensor
Cascade model of power lines for PLC
Dziura, Michal
2012-01-01
This bachelor´s thesis deals with studies of power-line in terms of possibilities for using grid as a transmission medium for data transmission. Theoretical part is focused on PLC technology and the parameters of high-voltage lines. In very practical part the modeling of power-line by cascade parameters of two-port network is examined. Influence of va-rious changes in network topology are included in this thesis and also their influence on transfer function. The last part outlines the method ...
We present a study of the dynamic behavior of a microelectromechanical systems (MEMS) device consisting of an imperfect clamped–clamped microbeam subjected to electrostatic and electrodynamic actuation. Our objective is to develop a theoretical analysis, which is able to describe and predict all the main relevant aspects of the experimental response. Extensive experimental investigation is conducted, where the main imperfections coming from microfabrication are detected, the first four experimental natural frequencies are identified and the nonlinear dynamics are explored at increasing values of electrodynamic excitation, in a neighborhood of the first symmetric resonance. Several backward and forward frequency sweeps are acquired. The nonlinear behavior is highlighted, which includes ranges of multistability, where the nonresonant and the resonant branch coexist, and intervals where superharmonic resonances are clearly visible. Numerical simulations are performed. Initially, two single mode reduced-order models are considered. One is generated via the Galerkin technique, and the other one via the combined use of the Ritz method and the Padé approximation. Both of them are able to provide a satisfactory agreement with the experimental data. This occurs not only at low values of electrodynamic excitation, but also at higher ones. Their computational efficiency is discussed in detail, since this is an essential aspect for systematic local and global simulations. Finally, the theoretical analysis is further improved and a two-degree-of-freedom reduced-order model is developed, which is also capable of capturing the measured second symmetric superharmonic resonance. Despite the apparent simplicity, it is shown that all the proposed reduced-order models are able to describe the experimental complex nonlinear dynamics of the device accurately and properly, which validates the proposed theoretical approach. (paper)
Ruzziconi, Laura
2013-06-10
We present a study of the dynamic behavior of a microelectromechanical systems (MEMS) device consisting of an imperfect clamped-clamped microbeam subjected to electrostatic and electrodynamic actuation. Our objective is to develop a theoretical analysis, which is able to describe and predict all the main relevant aspects of the experimental response. Extensive experimental investigation is conducted, where the main imperfections coming from microfabrication are detected, the first four experimental natural frequencies are identified and the nonlinear dynamics are explored at increasing values of electrodynamic excitation, in a neighborhood of the first symmetric resonance. Several backward and forward frequency sweeps are acquired. The nonlinear behavior is highlighted, which includes ranges of multistability, where the nonresonant and the resonant branch coexist, and intervals where superharmonic resonances are clearly visible. Numerical simulations are performed. Initially, two single mode reduced-order models are considered. One is generated via the Galerkin technique, and the other one via the combined use of the Ritz method and the Padé approximation. Both of them are able to provide a satisfactory agreement with the experimental data. This occurs not only at low values of electrodynamic excitation, but also at higher ones. Their computational efficiency is discussed in detail, since this is an essential aspect for systematic local and global simulations. Finally, the theoretical analysis is further improved and a two-degree-of-freedom reduced-order model is developed, which is also capable of capturing the measured second symmetric superharmonic resonance. Despite the apparent simplicity, it is shown that all the proposed reduced-order models are able to describe the experimental complex nonlinear dynamics of the device accurately and properly, which validates the proposed theoretical approach. © 2013 IOP Publishing Ltd.
Modelling pulsed-power transmission lines
Transmission lines in modern pulsed-power machines such as PBFA-II operate at ten or more megavolts with multi-megampere currents. They often have series (voltage) or parallel (current) power addition. In these transmission lines the cathodes emit electrons freely. In addition, perturbations such as plasma opening switches cause additional electrons to be launched into the flow. The large magnetic field due to the transmission line current prevents these electrons from crossing the transmission line to the anode directly, but in most situations electron current flows to the anode after travelling a long distance down the transmission line. Usually these losses occur just before the load or at adder points. Reliable modelling of these lines is important both for design purposes and for use in analyzing data. This paper presents models that can be used for this purposes. The models are primarily based upon known symmetries plus measurable parameters. Comparisons to data, particularly data taken on PBFA-II, are made
Modeling and interpretation of line observations*
Kamp Inga
2015-01-01
Full Text Available Models for the interpretation of line observations from protoplanetary disks are summarized. The spectrum ranges from 1D LTE slab models to 2D thermo-chemical radiative transfer models and their use depends largely on the type/nature of observational data that is analyzed. I discuss the various types of observational data and their interpretation in the context of disk physical and chemical properties. The most simple spatially and spectral unresolved data are line fluxes, which can be interpreted using so-called Boltzmann diagrams. The interpretation is often tricky due to optical depth and non-LTE effects and requires care. Line profiles contain kinematic information and thus indirectly the spatial origin of the emission. Using series of line profiles, we can for example deduce radial temperature gradients in disks (CO pure rotational ladder. Spectro-astrometry of e.g. CO ro-vibrational line profiles probes the disk structure in the 1–30 AU region, where planet formation through core accretion should be most efficient. Spatially and spectrally resolved line images from (submm interferometers are the richest datasets we have to date and they enable us to unravel exciting details of the radial and vertical disk structure such as winds and asymmetries.
Highlights: • Estimation of aerodynamic force on variable turbine geometry vanes and actuator. • Method based on exhaust gas flow modeling. • Simulation tool for integration of aerodynamic force in automotive simulation software. - Abstract: This paper provides a reliable tool for simulating the effects of exhaust gas flow through the variable turbine geometry section of a variable geometry turbocharger (VGT), on flow control mechanism. The main objective is to estimate the resistive aerodynamic force exerted by the flow upon the variable geometry vanes and the controlling actuator, in order to improve the control of vane angles. To achieve this, a 1D model of the exhaust flow is developed using Navier–Stokes equations. As the flow characteristics depend upon the volute geometry, impeller blade force and the existing viscous friction, the related source terms (losses) are also included in the model. In order to guarantee stability, an implicit numerical solver has been developed for the resolution of the Navier–Stokes problem. The resulting simulation tool has been validated through comparison with experimentally obtained values of turbine inlet pressure and the aerodynamic force as measured at the actuator shaft. The simulator shows good compliance with experimental results
Zhu, Wei; Bian, Leixiang; An, Yi; Chen, Gangli; Rui, Xiaoting
2015-07-01
This paper outlines an optical beam steering system built using a two-axis fast steering mirror (FSM) with piezoelectric stack actuators to maintain precise pointing control. A novel mathematical model of the FSM is put forward by using a transfer matrix method of a multibody system to describe the dynamics characteristics and a hysteresis model to represent the hysteresis. Based on the proposed model, a model-based hybrid control is applied to force the output angle of the FSM to track the laser beam accurately thereafter. The experimental results are in accordance with the theoretical analysis. The results highlight significantly improved accuracy in the beam tracking control of the FSM.
Model to Design Drip Hose Lateral Line
Ludwig, Rafael; Cury Saad, João Carlos
2014-05-01
Introduction The design criterion for non-pressure compensating drip hose is normally to have 10% of flow variation (Δq) in the lateral line, corresponding to 20% of head pressure variation (ΔH). Longer lateral lines in drip irrigation systems using conventional drippers provide cost reduction, but it is necessary to obtain to the uniformity of irrigation [1]. The use of Δq higher levels can provide longer lateral lines. [4] proposes the use of a 30% Δq and he found that this value resulted in distribution uniformity over 80%. [1] considered it is possible to extend the lateral line length using two emitters spacing in different section. He assumed that the spacing changing point would be at 40% of the total length, because this is approximately the location of the average flow according with [2]. [3] found that, for practical purposes, the average pressure is located at 40% of the length of the lateral line and that until this point it has already consumed 75% of total pressure head loss (hf ). In this case, the challenge for designers is getting longer lateral lines with high values of uniformity. Objective The objective of this study was to develop a model to design longer lateral lines using non-pressure compensating drip hose. Using the developed model, the hypotheses to be evaluated were: a) the use of two different spacing between emitters in the same lateral line allows longer length; b) it is possible to get longer lateral lines using high values of pressure variation in the lateral lines since the distribution uniformity stays below allowable limits. Methodology A computer program was developed in Delphi® based on the model developed and it is able to design lateral lines in level using non-pressure compensating drip hose. The input data are: desired distribution uniformity (DU); initial and final pressure in the lateral line; coefficients of relationship between emitter discharge and pressure head; hose internal diameter; pipe cross-sectional area
Gan, Jinqiang; Zhang, Xianmin; Wu, Heng
2016-03-01
In this paper, a generalized hysteresis model is developed to describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. Based on the classical Prandtl-Ishlinskii (P-I) model, the developed model adds a quadratic polynomial and makes other small changes. When it is used to describe rate-independent hysteresis, the parameters of the model are constants, which can be identified by self-adaptive particle swarm optimization. The effectiveness of this rate-independent modified P-I model is demonstrated by comparing simulation results of the developed model and the classic Prandtl-Ishlinskii model. Simulation results suggest that the rate-independent modified P-I model can describe hysteresis more precisely. Compared with the classical P-I model, the rate-independent modified P-I model reduces modeling error by more than 50%. When it is used to describe rate-independent hysteresis, a one-side operator is adopted and the parameters are functions with input frequency. The results of the experiments and simulations have shown that the proposed models can accurately describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators.
Modelling the effect of actuator-like behavior in dielectric elastomer generators
Zanini, P.; Rossiter, J.; Homer, M.
2015-10-01
Dielectric Elastomer Generators (DEGs) have been claimed as one promising technology for renewable mechanical to electrical energy harvesting, due to their lightweight, low cost, and high energy density. Dielectric elastomers have a dual behavior, able to convert electrical energy into mechanical if charged electrostatically and to convert mechanical to electrical energy if stretched and relaxed in a cycle that exploits its capacitance change. During such energy harvesting cycles, the material needs an electrical energy bias to be able to convert mechanical work into electrical energy, which produces an actuator behavior on the DEG that results in losses and decreases its performance. In this paper, we investigate this actuation behavior and its effect on energy harvesting in the DEGs. We compare two different charging methods and show that a constant voltage method can increase the net energy harvested by 5 times, despite the unwanted actuation effect.
Song, Yan; Fang, Xiaosheng; Diao, Qingda
2016-03-01
In this paper, we discuss the mixed H2/H∞ distributed robust model predictive control problem for polytopic uncertain systems subject to randomly occurring actuator saturation and packet loss. The global system is decomposed into several subsystems, and all the subsystems are connected by a fixed topology network, which is the definition for the packet loss among the subsystems. To better use the successfully transmitted information via Internet, both the phenomena of actuator saturation and packet loss resulting from the limitation of the communication bandwidth are taken into consideration. A novel distributed controller model is established to account for the actuator saturation and packet loss in a unified representation by using two sets of Bernoulli distributed white sequences with known conditional probabilities. With the nonlinear feedback control law represented by the convex hull of a group of linear feedback laws, the distributed controllers for subsystems are obtained by solving an linear matrix inequality (LMI) optimisation problem. Finally, numerical studies demonstrate the effectiveness of the proposed techniques.
An ion polymer metal composite (IPMC) is an electroactive polymer that bends in response to a small applied electric field as a result of mobility of cations in the polymer network and vice versa. This paper presents an innovative and accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC actuators. The model is constructed via a general multilayer perceptron neural network (GMLPNN) integrated with a smart learning mechanism (SLM) that is based on an extended Kalman filter with self-decoupling ability (SDEKF). Here the GMLPNN is built with an ability to autoadjust its structure based on its characteristic vector. Furthermore, by using the SLM based on the SDEKF, the GMLPNN parameters are optimized with small computational effort, and the modeling accuracy is improved. An apparatus employing an IPMC actuator is first set up to investigate the IPMC characteristics and to generate the data for training and validating the model. The advanced NBBM model for the IPMC system is then created with the proper inputs to estimate IPMC tip displacement. Next, the model is optimized using the SLM mechanism with the training data. Finally, the optimized NBBM model is verified with the validating data. A comparison between this model and the previously developed model is also carried out to prove the effectiveness of the proposed modeling technique. (paper)
Quang Truong, Dinh; Ahn, Kyoung Kwan
2014-07-01
An ion polymer metal composite (IPMC) is an electroactive polymer that bends in response to a small applied electric field as a result of mobility of cations in the polymer network and vice versa. This paper presents an innovative and accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC actuators. The model is constructed via a general multilayer perceptron neural network (GMLPNN) integrated with a smart learning mechanism (SLM) that is based on an extended Kalman filter with self-decoupling ability (SDEKF). Here the GMLPNN is built with an ability to autoadjust its structure based on its characteristic vector. Furthermore, by using the SLM based on the SDEKF, the GMLPNN parameters are optimized with small computational effort, and the modeling accuracy is improved. An apparatus employing an IPMC actuator is first set up to investigate the IPMC characteristics and to generate the data for training and validating the model. The advanced NBBM model for the IPMC system is then created with the proper inputs to estimate IPMC tip displacement. Next, the model is optimized using the SLM mechanism with the training data. Finally, the optimized NBBM model is verified with the validating data. A comparison between this model and the previously developed model is also carried out to prove the effectiveness of the proposed modeling technique.
A novel spherical actuator: Design and control
Wang, J B; Jewell, G. W.; Howe, D
1997-01-01
The paper describes the design and control of a novel spherical permanent magnet actuator which is capable of two-degrees-freedom and a high specific torque. Based on an analytical actuator model, an optimal design procedure is developed to yield maximum output torque or maximum system acceleration for a given payload. The control of the actuator, whose dynamics are similar to those of robotic manipulators, is facilitated by the establishment of a complete actuation system model. A robust con...
Mirror-scanning mechanisms are a key component in optical systems for diverse applications. However, the applications of existing piezoelectric scanners are limited due to their small angular travels. To overcome this problem, a novel two-axis mirror-scanning mechanism, which consists of a two-axis tip-tilt flexure mechanism and a set of piezoelectric actuators, is proposed in this paper. The focus of this research is on the design, theoretical modeling, and optimization of the piezoelectric-driven mechanism, with the goal of achieving large angular travels in a compact size. The design of the two-axis tip-tilt flexure mechanism is based on two nonuniform beams, which translate the limited linear output displacements of the piezoelectric actuators into large output angles. To exactly predict the angular travels, we built a voltage-angle model that characterizes the relationship between the input voltages to the piezoelectric actuators and the output angles of the piezoelectric-driven mechanism. Using this analytical model, the optimization is performed to improve the angular travels. A prototype of the mirror-scanning mechanism is fabricated based on the optimization results, and experiments are implemented to test the two-axis output angles. The experimental result shows that the angular travels of the scanner achieve more than 50 mrad, and the error between the analytical model and the experiment is about 11%. This error is much smaller than the error for the model built using the previous method because the influence of the stiffness of the mechanical structure on the deformation of the piezoelectric stack is considered in the voltage-angle model. (paper)
Wu, Yongxian
IPMCs can also be tailored through the applied DC or AC functions. It is found that the Nafion-based IPMC's initial motion towards the anode can be controlled and ultimately eliminated by applying a potential ramp at a suitably slow rate. These results have significant bearing on verifying various IPMC actuation models.
Plasma Diagnostics and Modelling of Nanosecond Pulsed Surface Dielectric Barrier Discharge Actuators
Goekce, Sami
2014-01-01
During the past years, an increasing number of studies have been conducted on the use of electrical discharges for the stabilization of airflows (plasma flow control). Electrical gas discharges transfer energy and momentum to the gas through collisions of free electrons with atoms and molecules. Chemically active species such as ions, radicals and excited species are produced due to these collisions. The use of plasma actuators, notably surface dielectric barrier discharges (SDBD), for flow c...
Modeling and control of actuators and co-surge in turbocharged engines
Thomasson, Andreas
2014-01-01
The torque response of the engine is important for the driving experience of a vehicle. In spark ignited engines, torque is proportional to the air flow into the cylinders. Controlling torque therefore implies controlling air flow. In modern turbocharged engines, the driver commands are interpreted by an electronic control unit that controls the engine through electromechanical and pneumatic actuators. Air flow to the intake manifold is controlled by an electronic throttle, and a wastegate co...
Electrostatic actuators fabricated by surface micromachining techniques
Legtenberg, Rob
1996-01-01
This thesis deals with "electrostatic actuators fabricated by surface micromachining techniques". It presents fabrication techniques, design issues, modelling and performance characteristics of a number of electrostatic actuators. These actuators can be used in future micromechanical devices and systems which have applications such as micropositioning, microfluidics, microsurgery etc.
Distributed structural control using multilayered piezoelectric actuators
Cudney, Harley H.; Inman, Daniel J.; Oshman, Yaakov
1990-01-01
A method of segmenting piezoelectric sensors and actuators is proposed which can preclude the currently experienced cancelation of sensor signals, or the reduction of actuator effectiveness, due to the integration of the property undergoing measurement or control. The segmentation method is demonstrated by a model developed for beam structures, to which multiple layers of piezoelectric materials are attached. A numerical study is undertaken of increasing active and passive damping of a beam using the segmented sensors and actuators over unsegmented sensors and actuators.
Resonant Transmission Line Method for Econophysics models
Raptis, T E
2016-01-01
In a recent paper [1304.6846], Racorean introduced a formal similarity of the Black-Sholes stock pricing model with a Schr\\"odinger equation. We use a previously introduced method of a resonant transmission line for arbitrary 2nd order Sturm-Liouville problems to attack the same problem from a different perspective revealing some deep structures in the naturally associated eigenvalue problem.
This paper describes ORNL's development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratory's Flexible Beam Test Bed (PNL FBTB), which is a 1-Degree-of-Freedom, flexible arm with a hydraulic base actuator. ORNL transferred control algorithms developed for the PNL FBTB to controlling IGRIP models. A robust notch filter is running in IGRIP controlling a full dynamics model of the PNL test bed. Model results provide a reasonable match to the experimental results (quantitative results are being determined) and can run on ORNL's Onyx machine in approximately realtime. The flexible beam is modeled as six rigid sections with torsional springs between each segment. The spring constants were adjusted to match the physical response of the flexible beam model to the experimental results. The controller is able to improve performance on the model similar to the improvement seen on the experimental system. Some differences are apparent, most notably because the IGRIP model presently uses a different trajectory planner than the one used by ORNL on the PNL test bed. In the future, the trajectory planner will be modified so that the experiments and models are the same. The successful completion of this work provides the ability to link C code with IGRIP, thus allowing controllers to be developed, tested, and tuned in simulation and then ported directly to hardware systems using the C language
Model of line preserving field line motions using Euler potentials
We consider behavior of finite magnetic field lines during reconnection processes. We portray field line motions using Euler potentials representation. Here, we propose a new insight into plasma flow fields related with magnetic reconnection. In this approach reconnection is treated as a breakage of magnetic topology, which results in deviation from the line preserving flow regime. We derive constraints and the general equations for these flows. In our approach the flux preserving flows are treated as a special case of line preserving regime. We also derive a constraint on a non-ideal term in Ohm’s Law within diffusion regions, which relates plasma flow with resistivity, and which must hold for non-reconnective diffusion. We also propose a new method of detecting magnetic reconnection. -- Highlights: •We formulate a line preserving magnetic field flow equation using Euler potentials. •We find constraints on a non-reconnective general resistivity term in Ohm’s Law. •We propose a new method of detecting magnetic reconnection
Modelling of asymmetric nebulae. II. Line profiles
Morisset, C
2006-01-01
We present a tool, VELNEB_3D, which can be applied to the results of 3D photoionization codes to generate emission line profiles, position-velocity maps and 3D maps in any emission line by assuming an arbitrary velocity field. We give a few examples, based on our pseudo-3D photoionization code NEBU_3D (Morisset, Stasinska and Pena, 2005) which show the potentiality and usefulness of our tool. One example shows how complex line profiles can be obtained even with a simple expansion law if the nebula is bipolar and the slit slightly off-center. Another example shows different ways to produce line profiles that could be attributed to a turbulent velocity field while there is no turbulence in the model. A third example shows how, in certain circumstances, it is possible to discriminate between two very different geometrical structures -- here a face-on blister and its ``spherical impostor'' -- when using appropriate high resolution spectra. Finally, we show how our tool is able to generate 3D maps, similar to the ...
The k-ε-f_{P} model applied to double wind turbine wakes using different actuator disk force methods
Laan, van der, Paul Maarten; Sørensen, Niels N.; Réthoré, Pierre-Elouan; Mann, Jakob; Kelly, Mark C.; Troldborg, Niels
2015-01-01
The newly developed k-ε-fP eddy viscosity model is applied to double wind turbine wake configurations in a neutral atmospheric boundary layer, using a Reynolds-Averaged Navier–Stokes solver. The wind turbines are represented by actuator disks. A proposed variable actuator disk force method is...... two methods overpredict it. The results of the k-ε-fP eddy viscosity model are also compared with the original k-ε eddy viscosity model and large-eddy simulations. Compared to the large-eddy simulations-predicted velocity and power deficits, the k-ε-fP is superior to the original k-ε model...
In this paper computational fluid dynamics (CFD) simulations are performed using ANSYS CFX to compare wake interaction results obtained from two rotor modelling methodologies: the standard actuator disc and the blade element momentum model (BEM). The unsteady simulations embed Coriolis forces and neutral stability conditions in the surface layer and stable conditions in the free stream. The BEM method is implemented in the CFD code through a pre-processing set of files that employs look-up tables. The control system for the wind turbines is considered through look-up tables that are constructed based on operational wind farm data. Simulations using the actuator disc and BEM methodologies have been performed using a number of different turbulence models in order to compare the wind turbine wake structure results. The use of URANS and LES numerical methods, coupled with the two different methodologies of representing the turbine, enables an assessment to be made of the details required for varying degrees of accuracy in computing the wake structures. The findings stress the importance of including the rotation of the wake and the non-uniform load on the rotor in LES simulations to account for more accurate turbulence intensity levels in the near wake
Lavaroni, Luca; Watson, Simon J.; Cook, Malcolm J.; Dubal, Mark R.
2014-06-01
In this paper computational fluid dynamics (CFD) simulations are performed using ANSYS CFX to compare wake interaction results obtained from two rotor modelling methodologies: the standard actuator disc and the blade element momentum model (BEM). The unsteady simulations embed Coriolis forces and neutral stability conditions in the surface layer and stable conditions in the free stream. The BEM method is implemented in the CFD code through a pre-processing set of files that employs look-up tables. The control system for the wind turbines is considered through look-up tables that are constructed based on operational wind farm data. Simulations using the actuator disc and BEM methodologies have been performed using a number of different turbulence models in order to compare the wind turbine wake structure results. The use of URANS and LES numerical methods, coupled with the two different methodologies of representing the turbine, enables an assessment to be made of the details required for varying degrees of accuracy in computing the wake structures. The findings stress the importance of including the rotation of the wake and the non-uniform load on the rotor in LES simulations to account for more accurate turbulence intensity levels in the near wake.
Kumar, Parikshith K.; Desai, Uri; Chatzigeorgiou, George; Lagoudas, Dimitris C.; Monroe, James; Karaman, Ibrahim; Noebe, Ron; Bigelow, Glen
2010-01-01
The present work is focused on studying the cycling actuation behavior of HTSMAs undergoing simultaneous creep and transformation. For the thermomechanical testing, a high temperature test setup was assembled on a MTS frame with the capability to test up to temperatures of 600 C. Constant stress thermal cycling tests were conducted to establish the actuation characteristics and the phase diagram for the chosen HTSMA. Additionally, creep tests were conducted at constant stress levels at different test temperatures to characterize the creep behavior of the alloy over the operational range. A thermodynamic constitutive model is developed and extended to take into account a) the effect of multiple thermal cycling on the generation of plastic strains due to transformation (TRIP strains) and b) both primary and secondary creep effects. The model calibration is based on the test results. The creep tests and the uniaxial tests are used to identify the viscoplastic behavior of the material. The parameters for the SMA properties, regarding the transformation and transformation induced plastic strain evolutions, are obtained from the material phase diagram and the thermomechanical tests. The model is validated by predicting the material behavior at different thermomechanical test conditions.
FLUTTER SUPPRESSION USING DISTRIBUTEDPIEZOELECTRIC ACTUATORS
无
2000-01-01
A piezoelectric actuator has the benefits of flexibility of its position, without time lag and wide bandpass characteristics. The early results of the wind tunnel flutter suppression test using the piezoeletric actuator were presented in Ref.［1］. A rigid rectangular wing model is constrained by a plunge spring and a pitch spring, and a pair of piezoelectric actuators is bonded on both sides of the plunge spring so as to carry out the active control. Refs.［2,3］ reported two flutter suppression wind tunnel tests where the distributed piezoelectric actuators were used. In Ref.［2］ low speed wind tunnel tests were conducted with aluminum and composite plate-like rectangular models fully covered by piezoelectric actuators. Flutter speed is increased by 11%. In Ref.［3］ a composite plate-like swept back model with piezoceramic actuators bonded on the inboard surface was tested in a transonic wind tunnel and a 12% increment of flutter dynamic pressure was achieved. In the present investigation, an aluminum plate-like rectangular model with inboard bonded piezoceramic actuators is adopted. Active flutter suppression control law has been designed. A series of analyses and ground tests and, finally, low-speed wind tunnel tests with the active control system opened and closed are conducted. Reasonable results have been obtained.
Modular droplet actuator drive
Pollack, Michael G. (Inventor); Paik, Philip (Inventor)
2011-01-01
A droplet actuator drive including a detection apparatus for sensing a property of a droplet on a droplet actuator; circuitry for controlling the detection apparatus electronically coupled to the detection apparatus; a droplet actuator cartridge connector arranged so that when a droplet actuator cartridge electronically is coupled thereto: the droplet actuator cartridge is aligned with the detection apparatus; and the detection apparatus can sense the property of the droplet on a droplet actuator; circuitry for controlling a droplet actuator coupled to the droplet actuator connector; and the droplet actuator circuitry may be coupled to a processor.
Smart Tendon Actuated Flexible Actuator
Md. Masum Billah; Raisuddin Khan
2015-01-01
We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM) or to one particular type of the incompletely restrained positioning mechanism (IRPM) where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external...
Linear stability analysis for an optimum Glauert rotor modelled by an actuator disc
We approximate a wind turbine using the Actuator Disc methodology with loading for an optimum Glauert rotor, and vary blade length and tip speed ratio, to determine base flows for linear stability computations at a Reynolds number of 100. Results from such computations suggest that the least stable mode is axisymmetric and insensitive to changes in tip speed operation, suggesting that the stability properties in the farfield wake for an optimised rotor are independent of the chosen tip speed optimization point. Higher azimuthal modes promote greater variation in velocities and may be relevant to cases at higher Reynolds numbers
Computer Modeling and Optimization of DC Actuators with a System of Permanent Magnets
Ulrych, B.; Karban, P.; Doležel, Ivo
Madeira : APDEE, 2007, s. 1-6. ISBN 978-972-8822-09-5. [ Portuguese -Spanish Congress in Electrical Engineering - XCLEEE /10./. Madeira - Funchal (PT), 05.07.2007-08.07.2007] R&D Projects: GA ČR GA102/04/0095; GA AV ČR IAA100760702 Institutional research plan: CEZ:AV0Z20570509 Keywords : electromagnetic actuator * permanent magnet * magnetic field Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering http://www.apdee.org/index.php?pageid=1117
Accurate control systems are critical for safe and practical utilization of microrobots for in vivo operations. There exist uncertainties from the microrobot dynamics and nonlinearities from the magnetic driving force in the electromagnetic in vivo manipulation of microrobots, especially in low Reynolds number fluid flow. We describe the modeling and implementation of a closed-loop control system for a magnetically actuated microrobot based on time-delay estimation (TDE). The microrobot consisted of a cylindrical magnet, 0.5 mm in diameter and 1 mm in length, and the controller used optical sensing for position feedback. In addition, we describe an analytical model to determine the magnetic field components and the field gradients of a custom set of coils used to actuate the microrobot. Simulations were carried out to investigate the properties of the TDE control system, and it was subsequently tested experimentally, demonstrating that it provides robust control of the microrobot trajectory and does not exhibit chattering to follow step inputs. (paper)
Modeling Transmission Line Networks Using Quantum Graphs
Koch, Trystan; Antonsen, Thomas
Quantum graphs--one dimensional edges, connecting nodes, that support propagating Schrödinger wavefunctions--have been studied extensively as tractable models of wave chaotic behavior (Smilansky and Gnutzmann 2006, Berkolaiko and Kuchment 2013). Here we consider the electrical analog, in which the graph represents an electrical network where the edges are transmission lines (Hul et. al. 2004) and the nodes contain either discrete circuit elements or intricate circuit elements best represented by arbitrary scattering matrices. Including these extra degrees of freedom at the nodes leads to phenomena that do not arise in simpler graph models. We investigate the properties of eigenfrequencies and eigenfunctions on these graphs, and relate these to the statistical description of voltages on the transmission lines when driving the network externally. The study of electromagnetic compatibility, the effect of external radiation on complicated systems with numerous interconnected cables, motivates our research into this extension of the graph model. Work supported by the Office of Naval Research (N0014130474) and the Air Force Office of Scientific Research.
Line emission from H II blister models
Rubin, R. H.
1984-01-01
Numerical techniques to calculate the thermal and geometric properties of line emission from H II 'blister' regions are presented. It is assumed that the density distributions of the H II regions are a function of two dimensions, with rotational symmetry specifying the shape in three-dimensions. The thermal and ionization equilibrium equations of the problem are solved by spherical modeling, and a spherical sector approximation is used to simplify the three-dimensional treatment of diffuse ionizing radiation. The global properties of H II 'blister' regions near the edges of a molecular cloud are simulated by means of the geometry/density distribution, and the results are compared with observational data. It is shown that there is a monotonic increase of peak surface brightness from the i = 0 deg (pole-on) observational position to the i = 90 deg (edge-on) position. The enhancement of the line peak intensity from the edge-on to the pole-on positions is found to depend on the density, stratification, ionization, and electron temperature weighting. It is found that as i increases, the position of peak line brightness of the lower excitation species is displaced to the high-density side of the high excitation species.
Cotroneo, Vincenzo; Davis, William N.; Reid, Paul B.; Schwartz, Daniel A.; Trolier-McKinstry, Susan; Wilke, Rudeger H. T.
2011-09-01
The present generation of X-ray telescopes emphasizes either high image quality (e.g. Chandra with sub-arc second resolution) or large effective area (e.g. XMM-Newton), while future observatories under consideration (e.g. Athena, AXSIO) aim to greatly enhance the effective area, while maintaining moderate (~10 arc-seconds) image quality. To go beyond the limits of present and planned missions, the use of thin adjustable optics for the control of low-order figure error is needed to obtain the high image quality of precisely figured mirrors along with the large effective area of thin mirrors. The adjustable mirror prototypes under study at Smithsonian Astrophysical Observatory are based on two different principles and designs: 1) thin film lead-zirconate-titanate (PZT) piezoelectric actuators directly deposited on the mirror back surface, with the strain direction parallel to the glass surface (for sub-arc-second angular resolution and large effective area), and 2) conventional leadmagnesium- niobate (PMN) electrostrictive actuators with their strain direction perpendicular to the mirror surface (for 3-5 arc second resolution and moderate effective area). We have built and operated flat test mirrors of these adjustable optics. We present the comparison between theoretical influence functions as obtained by finite element analysis and the measured influence functions obtained from the two test configurations.
Flavor instabilities in the neutrino line model
Duan, Huaiyu, E-mail: duan@unm.edu; Shalgar, Shashank, E-mail: shashankshalgar@unm.edu
2015-07-30
A dense neutrino medium can experience collective flavor oscillations through nonlinear neutrino–neutrino refraction. To make this multi-dimensional flavor transport problem more tractable, all existing studies have assumed certain symmetries (e.g., the spatial homogeneity and directional isotropy in the early universe) to reduce the dimensionality of the problem. In this work we show that, if both the directional and spatial symmetries are not enforced in the neutrino line model, collective oscillations can develop in the physical regimes where the symmetry-preserving oscillation modes are stable. Our results suggest that collective neutrino oscillations in real astrophysical environments (such as core-collapse supernovae and black-hole accretion discs) can be qualitatively different from the predictions based on existing models in which spatial and directional symmetries are artificially imposed.
Mangina, R. S.; Enloe, C. L.; Font, G. I.
2015-11-01
We present an experimental case study of time-resolved force production by an aerodynamic plasma actuator immersed in various mixtures of electropositive (N2) and electronegative gases (O2 and SF6) at atmospheric pressure using a fixed AC high-voltage input of 16 kV peak amplitude at 200 Hz frequency. We have observed distinct changes in the discharge structures during both negative- and positive-going voltage half-cycles, with corresponding variations in the actuator's force production: a ratio of 4:1 in the impulse produced by the negative-going half-cycle of the discharge among the various gas mixtures we explored, 2:1 in the impulse produced by the positive-going half-cycle, and cases in which the negative-going half-cycle dominates force production (by a ratio of 1.5:1), where the half-cycles produce identical force levels, and where the positive-going half cycle dominates (by a ratio of 1:5). We also present time-resolved experimental evidence for the first time that shows electrons do play a significant role in the momentum coupling to surrounding neutrals during the negative going voltage half-cycle of the N2 discharge. We show that there is sufficient macroscopic variation in the plasma that the predictions of numerical models at the microscopic level can be validated even though the plasma itself cannot be measured directly on those spatial and temporal scales.
Comparing different CFD wind turbine modelling approaches with wind tunnel measurements
The performance of a model wind turbine is simulated with three different CFD methods: actuator disk, actuator line and a fully resolved rotor. The simulations are compared with each other and with measurements from a wind tunnel experiment. The actuator disk is the least accurate and most cost-efficient, and the fully resolved rotor is the most accurate and least cost-efficient. The actuator line method is believed to lie in between the two ends of the scale. The fully resolved rotor produces superior wake velocity results compared to the actuator models. On average it also produces better results for the force predictions, although the actuator line method had a slightly better match for the design tip speed. The open source CFD tool box, OpenFOAM, was used for the actuator disk and actuator line calculations, whereas the market leading commercial CFD code, ANSYS/FLUENT, was used for the fully resolved rotor approach
Comparing different CFD wind turbine modelling approaches with wind tunnel measurements
Kalvig, Siri; Manger, Eirik; Hjertager, Bjørn
2014-12-01
The performance of a model wind turbine is simulated with three different CFD methods: actuator disk, actuator line and a fully resolved rotor. The simulations are compared with each other and with measurements from a wind tunnel experiment. The actuator disk is the least accurate and most cost-efficient, and the fully resolved rotor is the most accurate and least cost-efficient. The actuator line method is believed to lie in between the two ends of the scale. The fully resolved rotor produces superior wake velocity results compared to the actuator models. On average it also produces better results for the force predictions, although the actuator line method had a slightly better match for the design tip speed. The open source CFD tool box, OpenFOAM, was used for the actuator disk and actuator line calculations, whereas the market leading commercial CFD code, ANSYS/FLUENT, was used for the fully resolved rotor approach.
Barton, J. E.; Boyer, M. D.; Shi, W.; Wehner, W. P.; Schuster, E.; Ferron, J. R.; Walker, M. L.; Humphreys, D. A.; Luce, T. C.; Turco, F.; Penaflor, B. G.; Johnson, R. D.
2015-09-01
DIII-D experimental results are reported to demonstrate the potential of physics-model-based safety factor profile control for robust and reproducible sustainment of advanced scenarios. In the absence of feedback control, variability in wall conditions and plasma impurities, as well as drifts due to external disturbances, can limit the reproducibility of discharges with simple pre-programmed scenario trajectories. The control architecture utilized is a feedforward + feedback scheme where the feedforward commands are computed off-line and the feedback commands are computed on-line. In this work, a first-principles-driven (FPD), physics-based model of the q profile and normalized beta ({β\\text{N}} ) dynamics is first embedded into a numerical optimization algorithm to design feedforward actuator trajectories that steer the plasma through the tokamak operating space to reach a desired stationary target state that is characterized by the achieved q profile and {β\\text{N}} . Good agreement between experimental results and simulations demonstrates the accuracy of the models employed for physics-model-based control design. Second, a feedback algorithm for q profile control is designed following an FPD approach, and the ability of the controller to achieve and maintain a target q profile evolution is tested in DIII-D high confinement (H-mode) experiments. The controller is shown to be able to effectively control the q profile when {β\\text{N}} is relatively close to the target, indicating the need for integrated q profile and {β\\text{N}} control to further enhance the ability to achieve robust scenario execution. The ability of an integrated q profile + {β\\text{N}} feedback controller to track a desired target is demonstrated through simulation.
Dielectric Actuation of Polymers
Niu, Xiaofan
in tactile display is investigated by the prototyping of a large scale refreshable Braille display device. Braille is a critical way for the vision impaired community to learn literacy and improve life quality. Current piezoelectrics-based refreshable Braille display technologies are limited to up to 1 line of Braille text, due to the bulky size of bimorph actuators. Based on the unique actuation feature of BSEP, refreshable Braille display devices up to smartphone-size have been demonstrated by polymer sheet laminates. Dots in the devices can be individually controlled via incorporated field-driven BSEP actuators and Joule heater units. A composite material consisting of silver nanowires (AgNW) embedded in a polymer substrate is brought up as a compliant electrode candidate for BSEP application. The AgNW composite is highly conductive (Rs: 10 Ω/sq) and remains conductive at strains as high as 140% (Rs: <10 3 Ω/sq). The baseline conductivity has only small changes up to 90% strain, which makes it low enough for both field driving and stretchable Joule heating. An out-of-plane bistable area strain up to 68% under Joule heating is achieved.
XU, F.
2013-05-01
Full Text Available Orbital Friction Vibration Actuator (OFVA is a core component of Orbital Friction Welding (OFW, which is a novel apertureless welding technology utilizing friction heat to implement solid-state joining. In this paper, topology and operational principle of OFVA are introduced, the analytical formulas of the electromagnetic force for the x and y directions, which can drive the mover to generate a circular motion trajectory, are derived, and the characteristic of static electromagnetic force is predicted by analytical method and 2-D (two-dimensional FEM (finite element method, 3-D and measurement. The coupled magnetic field-circuit-motion simulation models which are driven by current and voltage source are established, respectively, and some of its operational characteristics are analyzed. Simulation and experiment validate theoretical analysis and the feasibility of the fabricated prototype, demonstrate the good performance of the OFVA, and provide valuable reference for engineering applications.
Shunsuke Nansai
2015-01-01
Full Text Available The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanical system and a position control strategy based on energy is proposed. Numerical simulations validate the efficacy of the designed controller, thus setting a theoretical basis for further investigations on Theo Jansen based quadruped robots.
On line contribution functions and examining spectral line formation in 3D model stellar atmospheres
Amarsi, Anish Mayur
2015-01-01
Line contribution functions are useful diagnostics for studying spectral line formation in stellar atmospheres. I derive an expression for the contribution function to the abso- lute flux depression that emerges from three-dimensional box-in-a-star model stellar atmospheres. I illustrate the result by comparing the local thermodynamic equilibrium (LTE) spectral line formation of the high-excitation permitted OI777nm lines with the non-LTE case.
Dynamic-Model Assembly Line Scheduling
Aaima Najam
2013-07-01
Full Text Available The assembly line scheduling solution is restricted to two assembly lines that fulfill the requirement of small manufacturing industry by identifying the least cost path. Problem arises when large manufacturing industry comes under discussion where more than two assembly lines say three to fulfill the job, In this case two types of assembly line cost are involve: switching from one assembly line to another; switching from one station to the next. This study considers a solution for above mentioned scenario by least cost path identification, path cost calculation through back tracking, and a derived solution formula in order to reduce the computational complexity of scheduling at latter stages for n station. That provides the understanding for m number of assembly lines at the same time.
We present an experimental case study of time-resolved force production by an aerodynamic plasma actuator immersed in various mixtures of electropositive (N2) and electronegative gases (O2 and SF6) at atmospheric pressure using a fixed AC high-voltage input of 16 kV peak amplitude at 200 Hz frequency. We have observed distinct changes in the discharge structures during both negative- and positive-going voltage half-cycles, with corresponding variations in the actuator's force production: a ratio of 4:1 in the impulse produced by the negative-going half-cycle of the discharge among the various gas mixtures we explored, 2:1 in the impulse produced by the positive-going half-cycle, and cases in which the negative-going half-cycle dominates force production (by a ratio of 1.5:1), where the half-cycles produce identical force levels, and where the positive-going half cycle dominates (by a ratio of 1:5). We also present time-resolved experimental evidence for the first time that shows electrons do play a significant role in the momentum coupling to surrounding neutrals during the negative going voltage half-cycle of the N2 discharge. We show that there is sufficient macroscopic variation in the plasma that the predictions of numerical models at the microscopic level can be validated even though the plasma itself cannot be measured directly on those spatial and temporal scales
A Foldable Antagonistic Actuator
Shintake, Jun; Rosset, Samuel; Schubert, Bryan Edward; Floreano, Dario; Shea, Herbert
2015-01-01
We report on an actuator based on dielectric elastomers that is capable of antagonistic actuation and passive folding. This actuator enables foldability in robots with simple structures. Unlike other antagonistic dielectric elastomer devices, our concept uses elastic hinges to allow the folding of the structure, which also provides an additional design parameter. To validate the actuator concept through a specific application test, a foldable elevon actuator with outline size of 70 mm × 130 m...
Tang, Xiaoming; Qu, Hongchun; Wang, Ping; Zhao, Meng
2015-03-01
This paper investigates the off-line synthesis approach of model predictive control (MPC) for a class of networked control systems (NCSs) with network-induced delays. A new augmented model which can be readily applied to time-varying control law, is proposed to describe the NCS where bounded deterministic network-induced delays may occur in both sensor to controller (S-A) and controller to actuator (C-A) links. Based on this augmented model, a sufficient condition of the closed-loop stability is derived by applying the Lyapunov method. The off-line synthesis approach of model predictive control is addressed using the stability results of the system, which explicitly considers the satisfaction of input and state constraints. Numerical example is given to illustrate the effectiveness of the proposed method. PMID:25538025
Properties of 3-dimensional line location models
Brimberg, Jack; Juel, Henrik; Schöbel, Anita
2002-01-01
We consider the problem of locating a line with respect to some existing facilities in 3-dimensional space, such that the sum of weighted distances between the line and the facilities is minimized. Measuring distance using the l\\_p norm is discussed, along with the special cases of Euclidean and...