WorldWideScience

Sample records for fluid power servos

  1. Application to the field of medical and welfare with fluid power; Fluid power servo no iryo fukushi bun`ya eno oyo

    Energy Technology Data Exchange (ETDEWEB)

    Hayakawa, Y. [Nara Technical Coll., Nara (Japan)

    1999-05-15

    Reported herein are medical and welfare apparatuses activated by fluid power servos. Reference is also made to equipment now undergoing research and development. Numerous fluid power-driven welfare and caring apparatuses have been developed, some of which are named below. In an externally powered prosthetic leg, a rocking type hydraulic servo actuator is attached on the knee section. In this device, switching is performed between an active operation in which much torque is required for instance going up and down a stairway and a passive operation in which less torque is required for instance walking on a flat place, this for increased energy efficiency. In an externally powered orthosisis, an exoskeleton is installed on the lower extremities of a patient suffering from the paralysis of both legs, and enables physical exercises for rehabilitation. Such devices are controlled by one of the two methods, the master-slave method or the manual method. Devices for the transfer of patients include an in-home bathing assist system, powered assist suit for caring, powered assist chair, movable lift for transfer, pneumatic Rubbertuator-driven rehabilitation equipment, walk training device, and wavy motion pneumatic vibrator. (NEDO)

  2. HYDRAULIC SERVO CONTROL MECHANISM

    Science.gov (United States)

    Hussey, R.B.; Gottsche, M.J. Jr.

    1963-09-17

    A hydraulic servo control mechanism of compact construction and low fluid requirements is described. The mechanism consists of a main hydraulic piston, comprising the drive output, which is connected mechanically for feedback purposes to a servo control piston. A control sleeve having control slots for the system encloses the servo piston, which acts to cover or uncover the slots as a means of controlling the operation of the system. This operation permits only a small amount of fluid to regulate the operation of the mechanism, which, as a result, is compact and relatively light. This mechanism is particuiarly adaptable to the drive and control of control rods in nuclear reactors. (auth)

  3. Automated servo controlled calorimetry

    International Nuclear Information System (INIS)

    Wetzel, J.R.

    1984-01-01

    A method of operating a calorimeter is called the servo controlled method. An internal heater is driven by a controlled voltage source to produce a constant internal temperature. The heater power is controlled by a digital computer program that uses as one of its inputs the bridge potential. The heater power can be calculated by multiplying the heater current by the heater voltage. A bridge potential can then be determined that will produce the desired internal power level. When a sample is placed in the calorimeter the servo system reduces the heater power to maintain the set point bridge potential. There will be four calorimeters in the system - two for large sizes and two for small sizes. They will be servo controlled using a DEC Micro-11 computer with a IEEE-488 interface buss

  4. Pressure Feedback in Fluid Power Systems--Active Damping Explained and Exemplified

    DEFF Research Database (Denmark)

    Pedersen, Henrik Clemmensen; Andersen, Torben O.

    2018-01-01

    Fluid power systems are inherently nonlinear and typically suffer from very poor damping. Despite these characteristics, it is not uncommon that traditional linear type controllers are applied. This typically results in conservative adjustment of the controllers, or when more advanced controllers...... a given system, and how to adjust the parameters of the pressure feedback to obtain the best results. This is done for both a traditional symmetric cylinder servo system and a system with a differential cylinder using both pressure and nonpressure compensated proportional valves. Based on the presented...

  5. Utilization of genetic algorithm in on-line tuning of fluid power servos

    Energy Technology Data Exchange (ETDEWEB)

    Halme, J.

    1997-12-31

    This study describes a robust and plausible method based on genetic algorithms suitable for tuning a regulator. The main advantages of the method presented is its robustness and easy-to-use feature. In this thesis the method is demonstrated by searching for appropriate control parameters of a state-feedback controller in a fluid power environment. To corroborate the robustness of the tuning method, two earlier studies are also presented in the appendix, where the presented tuning method is used in different kinds of regulator tuning situations. (orig.) 33 refs.

  6. Utilization of genetic algorithm in on-line tuning of fluid power servos

    Energy Technology Data Exchange (ETDEWEB)

    Halme, J

    1998-12-31

    This study describes a robust and plausible method based on genetic algorithms suitable for tuning a regulator. The main advantages of the method presented is its robustness and easy-to-use feature. In this thesis the method is demonstrated by searching for appropriate control parameters of a state-feedback controller in a fluid power environment. To corroborate the robustness of the tuning method, two earlier studies are also presented in the appendix, where the presented tuning method is used in different kinds of regulator tuning situations. (orig.) 33 refs.

  7. Servo-control of water and sodium homeostasis during renal clearance measurements in conscious rats

    DEFF Research Database (Denmark)

    Thomsen, Klaus; Shirley, David G

    2007-01-01

    Servo-controlled fluid and sodium replacement during clearance studies is used in order to prevent loss of body fluid and sodium following diuretic/natriuretic procedures. However, even under control conditions, the use of this technique is sometimes associated with increases in proximal tubular...... fluid output (assessed by lithium clearance) and excretion rates. The present study examined the reason for these increases. The first series of experiments showed that one cause is volume overloading. This can occur if the servo system is activated from the start, i.e., during the establishment...... not seen when blood samples are replaced with the animal's own red blood cells resuspended in isotonic saline. When these pitfalls are avoided, servo-controlled sodium and fluid replacement is a reliable technique that makes it possible to study the effects of natriuretic and/or diuretic stimuli without...

  8. A Study on the Air Vent Valve of the Hydraulic Servo Actuator for Steam Control of Power Plants

    International Nuclear Information System (INIS)

    Lee, Yong Bum; Lee, Jong Jik

    2016-01-01

    To produce adequate electricity in nuclear and thermal power plants, an optimal amount of steam should be supplied to a generator connected to high- and low-pressure steam turbines. A turbine output control device, which is a special steam valve employed to supply or interrupt the steam to the turbine, is operated using a hydraulic servo actuator. In power plants, the performance of servo actuators is degraded by the air generated from the hydraulic system, or causes frequent failures owing to an increase in the wear of the seal. This is due to the seal being burnt as generated heat using the produced compressed air. Some power plants have exhausted air using a fixed orifice, and thus they encounter power loss due to mass flow exhaust. Failures are generated in hydraulic pumps, electric motors, and valves, which are frequently operated. In this study, we perform modeling and analysis of the load-sensing air-exhaust valves, which can be passed through very fine flow under normal use conditions, and exhaust mass flow air at the beginning stage as with existing fixed orifices. Then, we propose a method to prevent failures due to the compressed air, and to ensure the control accuracy of hydraulic servo actuators.

  9. A Study on the Air Vent Valve of the Hydraulic Servo Actuator for Steam Control of Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Yong Bum; Lee, Jong Jik [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2016-06-15

    To produce adequate electricity in nuclear and thermal power plants, an optimal amount of steam should be supplied to a generator connected to high- and low-pressure steam turbines. A turbine output control device, which is a special steam valve employed to supply or interrupt the steam to the turbine, is operated using a hydraulic servo actuator. In power plants, the performance of servo actuators is degraded by the air generated from the hydraulic system, or causes frequent failures owing to an increase in the wear of the seal. This is due to the seal being burnt as generated heat using the produced compressed air. Some power plants have exhausted air using a fixed orifice, and thus they encounter power loss due to mass flow exhaust. Failures are generated in hydraulic pumps, electric motors, and valves, which are frequently operated. In this study, we perform modeling and analysis of the load-sensing air-exhaust valves, which can be passed through very fine flow under normal use conditions, and exhaust mass flow air at the beginning stage as with existing fixed orifices. Then, we propose a method to prevent failures due to the compressed air, and to ensure the control accuracy of hydraulic servo actuators.

  10. Synthesis of Servo Pneumatic/Hydraulic Drive

    Directory of Open Access Journals (Sweden)

    K D. Efremova

    2017-01-01

    Full Text Available Servo pneumatic and / or hydraulic drives are widely used in modern engineering and process control. The efficiency of using pneumatic / hydraulic drives depends on their parameters and characteristics. To select the optimal drive parameters, various methods are used, based on finding the minimum of the target (target or criteria function.The objective of this paper was to apply one crucial criterion (target function that provides determination of optimal parameters of the pneumatic / hydraulic drive with the translational motion of the end-effector as well as its use in the synthesis of the servo pneumatic cylinder. The article shows the form of the target function representing a set of drive parameters that do not have direct relationships with each other in a dimensionless form for the pneumatic / hydraulic drive with the translational motion of the end-effector. To calculate the parameters of the servo drive close to the optimal ones, a two-criteria LPτ search was used. As criteria, were used the decisive criterion - the proposed target function, and the power developed by the actuator of the pneumatic / hydraulic drive, which were presented in a dimensionless form. It is shown that the criterion for solution optimality is the minimum distance of the selected point in the space of the normalized criteria from the origin. This point was determined. In addition to the proposed criteria, non-formalised requirements were taken into account: actual and mass-produced components of drive, in terms of which its parameters close to the optimal ones were determined, and the maximum relative error of the obtained useful power value of the servo pneumatic drive was estimated. The paper presents design features of two types of the servo pneumatic drive created, taking into account the proposed target function, implemented according to the schemes "hidden" and "spaced apart". The experimental static characteristic of the servo pneumatic drive is

  11. Study of Servo Press with a Flywheel

    Science.gov (United States)

    Tso, Pei-Lum; Li, Cheng-Ho

    The servo press with a flywheel is able to provide flexible motions with energy-saving merit, but its true potential has not been thoroughly studied and verified. In this paper, such the “hybrid-driven” servo press is focused on, and the stamping capacity and the energy distribution between the flywheel and the servomotor are investigated. The capacity is derived based on the principle of energy conservation, and a method of using a capacity percentage plane for evaluation is proposed. A case study is included to illustrate and interpret that the stamping capacity is highly dependent on the programmed punch motions, thus the capacity prediction is always necessary while applying this kind of servo press. The energy distribution is validated by blanking experiments, and the results indicate that the servomotor needs only to provide 15% to the flywheel torque, 12% of the total stamping energy. This validates that the servomotor power is significantly saved in comparison with conventional servo presses.

  12. Servo-control of water and sodium homeostasis during renal clearance measurements in conscious rats.

    Science.gov (United States)

    Thomsen, Klaus; Shirley, David G

    2007-01-01

    Servo-controlled fluid and sodium replacement during clearance studies is used in order to prevent loss of body fluid and sodium following diuretic/natriuretic procedures. However, even under control conditions, the use of this technique is sometimes associated with increases in proximal tubular fluid output (assessed by lithium clearance) and excretion rates. The present study examined the reason for these increases. The first series of experiments showed that one cause is volume overloading. This can occur if the servo system is activated from the start, i.e., during the establishment of a suitably high urine flow rate by constant infusion of hypotonic glucose solution. The second series of experiments showed that replacement of blood samples with donor blood can also lead to increases in fractional lithium excretion and accompanying increases in water and sodium excretion, a problem not seen when blood samples are replaced with the animal's own red blood cells resuspended in isotonic saline. When these pitfalls are avoided, servo-controlled sodium and fluid replacement is a reliable technique that makes it possible to study the effects of natriuretic and/or diuretic stimuli without interference from unwanted changes in extracellular volume. 2007 S. Karger AG, Basel

  13. Dynamic Characteristics of DC Servo Motor Driven by Conventional Servo Driver: Estimation of Circuit Constants in Conventional Servo Driver

    OpenAIRE

    酒井, 史敏; 神谷, 好承; 関, 啓明; 疋津, 正利

    2000-01-01

    DC servo motors that are made as manufactured goods in the factory are widely used as actuators for driving many automatic machines. Then the manufactured driver (amplifier) that is matched to its servo motor is coveniently chosen to drive when aiming at high performance of the motion control. Motion of motor that is driven by the manufactured servo driver has very complicated dynamic characteristics. In this study, it is tried to make clear about inner composition of the servo driver through...

  14. Decommissioning of hot cells using a hydraulically powered servo manipulator

    International Nuclear Information System (INIS)

    Asquith, J.D.; Loughborough, D.

    1993-01-01

    This paper describes the preparations and initial trials involved in remotely dismantling the containment boxes within two concrete shielded hot cells at Harwell Laboratory using a hydraulically powered servo manipulator, ARTISAN. The manipulator deploys a variety of tools for cutting operations. The modular design has enabled it to be specifically configured for this application by adjusting the link lengths using spacers between the joints. In addition to the remote handling requirements, a new posting and ventilation system for the facility is outlined. Trials with ARTISAN in an in-active mock-up have now been successfully completed, and the manipulator is installed in the active facility. The considerations and approach adopted in this project are typical of many situations where remote techniques are required for decommissioning activities. (author)

  15. Magnetic particle clutch controls servo system

    Science.gov (United States)

    Fow, P. B.

    1973-01-01

    Magnetic clutches provide alternative means of driving low-power rate or positioning servo systems. They may be used over wide variety of input speed ranges and weigh comparatively little. Power drain is good with overall motor/clutch efficiency greater than 50 percent, and gain of clutch is close to linear, following hysteresis curve of core and rotor material.

  16. Study of Pneumatic Servo Loading System in Double-Sided Polishing

    International Nuclear Information System (INIS)

    Qian, N; Ruan, J; Li, W

    2006-01-01

    The precise double-sided polishing process is one of the main methods to get the ultra-smooth surface of workpiece. In double-sided polishing machine, a loading system is required to be able to precisely control the load superimposed on the workpiece, while the polishing is being carried out. A pneumatic servo loading system is proposed for this purpose. In the pneumatic servo system, the servo valve, which acts both the electrical to mechanical converter and the power amplifier, has a substantial influence on the performance of the loading system. Therefore a specially designed pneumatic digital servo valve is applied in the control system. In this paper, the construction of the pneumatic servo loading system in double-sided polishing machine and control strategy associated with the digital servo valve are first addressed. The mathematical model of the system established and the hardware of the pneumatic servo system is designed. Finally, the experiments are carried out by measuring the practical load on the workpiece and the quality of the surface finish. It is demonstrated that the error rate of load is less than 5% and a super-smooth surface of silicon wafer with roughness Ra 0.401 nm can be obtained

  17. Direct drive digital servo press with high parallel control

    Science.gov (United States)

    Murata, Chikara; Yabe, Jun; Endou, Junichi; Hasegawa, Kiyoshi

    2013-12-01

    Direct drive digital servo press has been developed as the university-industry joint research and development since 1998. On the basis of this result, 4-axes direct drive digital servo press has been developed and in the market on April of 2002. This servo press is composed of 1 slide supported by 4 ball screws and each axis has linearscale measuring the position of each axis with high accuracy less than μm order level. Each axis is controlled independently by servo motor and feedback system. This system can keep high level parallelism and high accuracy even with high eccentric load. Furthermore the 'full stroke full power' is obtained by using ball screws. Using these features, new various types of press forming and stamping have been obtained by development and production. The new stamping and forming methods are introduced and 'manufacturing' need strategy of press forming with high added value and also the future direction of press forming are also introduced.

  18. Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

    Science.gov (United States)

    Yao, Jianyong

    2018-06-01

    Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

  19. Characteristic analysis of servo valve

    International Nuclear Information System (INIS)

    Ko, J. H.; Ryu, D. R.; Lee, J. H.; Kim, Y. S.; Na, J. C.; Kim, D. S.

    2008-01-01

    Electro-pneumatic servo valve is an electro-mechanical device which converts electric signals into a proper pneumatic flow rate or pressure. In order to improve the overall performance of pneumatic servo systems, electro-pneumatic servo valves are required, which have fast dynamic characteristics, no air leakage at a null point, and can be fabricated at a low-cost. The first objective of this research is to design and to fabricate a new electro-pneumatic servo valve which satisfies the above-mentioned requirements. In order to design the mechanism of the servo valve optimally, the flow inside the valve depending upon the position of spool was analyzed variously, and on the basis of such analysis results, the valve mechanism, which was formed by combination of the spool and the sleeve, was designed and manufactured. And a tester for conducting an overall performance test was designed and manufactured, and as a result of conducting the flow rate test, the pressure test and the frequency test on the developed pneumatic servo valve

  20. Evaluation and compensation of steady gas flow force on the high-pressure electro-pneumatic servo valve direct-driven by voice coil motor

    International Nuclear Information System (INIS)

    Li, Baoren; Gao, Longlong; Yang, Gang

    2013-01-01

    Highlights: ► A novel energy saving high-pressure electro-pneumatic servo valve is presented. ► An evaluated method for steady gas flow forces on pneumatic valves is proposed. ► Gas jet angles at the orifices for the valve are larger than 69° commonly used. ► The steady gas flow force is strongly nonlinear with valve opening. ► The steady gas flow force is compensated and the aim at energy saving is realized. - Abstract: A novel voice coil motor (VCM) direct drive single stage high-pressure pneumatic servo valve is designed, and then the steady gas flow force acting on the spool of the servo valve is investigated by numerical simulation and experimental methods in this paper. At present, many studies about flow force are concentrated mainly on hydraulic valves, but rarely on pneumatic valves. However, the velocity of gas is up to sonic when high-pressure gas flows through the servo valve orifice. And therefore, the steady gas flow force, generated by high pressure and high speed gas flow, cannot be neglected and is an important disturbance for the VCM direct-drive single stage high-pressure pneumatic servo valve. Consequently, the numerical simulation with computational fluid dynamics (CFD) is adopted to analyze the flow filed, jet angles, and steady gas flow forces for the servo valve with different valve openings and inlet pressures. The experimental study is performed to evaluate and confirm the numerical analysis. Then the compensated approach is proposed to reduce the steady gas flow force for the servo valve, changing the angle of non-metering port designed in the valve sleeve to the spool axis. The results demonstrate that the presented numerical analysis method is validated, the gas jet angle for the servo valve orifice is more than 69° and varies with different spool openings, and the steady gas flow force is nonlinear with valve opening and linear with inlet pressure when the outlet boundary is atmospheric pressure. Moreover, the steady gas

  1. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    International Nuclear Information System (INIS)

    Kim, Hyo-gon; Han, Changsoo; Lee, Jong-won; Park, Sangdeok

    2015-01-01

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program

  2. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hyo-gon; Han, Changsoo [Hanyang University, Seoul (Korea, Republic of); Lee, Jong-won [Korea University of Science and Technology, Seoul (Korea, Republic of); Park, Sangdeok [Korea Institute of Industrial Technology, Seoul (Korea, Republic of)

    2015-02-15

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program.

  3. Inherent limitations of fixed-time, servo-controlled radiometric calorimetry

    International Nuclear Information System (INIS)

    Wetzel, J.R.; Lemming, J.F.; Duff, M.F.

    1987-01-01

    Interest has been shown in using fixed-time, servo-controlled calorimetry to shorten the measurement times for certain samples that require low precision values (3 to 5%). This type of calorimeter measurement could be particularly useful for screening scrap samples to determine whether there is a need for a more accurate measurement or for certain confirmatory measurements for which low precision numbers are sufficient. The equipment required for this type of measurement is a servo-controlled calorimeter and a preconditioning unit. Samples to be measured are placed in the preconditioning unit, which is maintained at the internal temperature of the calorimeter. The power value for the sample is determined at a fixed time after loading into the calorimeter, for example, 30 min. When a calorimeter is operated using a fixed cutoff time, there are additional sources of uncertainty that need to be considered. The major factors affecting the uncertainty of the calorimetry power values are discussed. 2 refs., 4 figs

  4. Actuation and Control of a Micro Electrohydraulic Digital Servo Valve

    Energy Technology Data Exchange (ETDEWEB)

    Yu, Z Q; Hu, M J; Pei, X; Ruan, J [MOE Key Laboratory of Mechanical Manufacture and Automation Zhejiang University of Technology, 310014 (China)

    2006-10-15

    Structure of the micro digital servo valve is given. A micro stepper motor is used as electrical-to-mechanical interface of the valve. A special mechanical device is designed to convert the rotation of the stepper motor into the linear motion of the spool. This moving conversion device functions through an eccentric ball head rigidly connected to the axis of the stepper motor and plugged into a slot at the central spool land. While the stepper motor rotates, the eccentric ball head will actuate the spool to make a linear motion. Unlike conventional servo or proportional valves, in which the spool is forced to central position by a spring force, when the current supply is switched off, the digital valve has a program to control the spool to its central position each time the electrical power supply is switched on or off. The two end screws are used to adjust the position of the sleeve to sustain a mechanical central position coincided with electrical central position given by the stepper motor after initialization. The adjustment has to be carried once before the first time the servo valve is put into service. This paper presents theoretical analysis and experimental study of dynamic characteristics of the proposed micro digital servo valve. Experimental results demonstrated that the valve takes the advantage of high accuracy and fast response.

  5. Actuation and Control of a Micro Electrohydraulic Digital Servo Valve

    International Nuclear Information System (INIS)

    Yu, Z Q; Hu, M J; Pei, X; Ruan, J

    2006-01-01

    Structure of the micro digital servo valve is given. A micro stepper motor is used as electrical-to-mechanical interface of the valve. A special mechanical device is designed to convert the rotation of the stepper motor into the linear motion of the spool. This moving conversion device functions through an eccentric ball head rigidly connected to the axis of the stepper motor and plugged into a slot at the central spool land. While the stepper motor rotates, the eccentric ball head will actuate the spool to make a linear motion. Unlike conventional servo or proportional valves, in which the spool is forced to central position by a spring force, when the current supply is switched off, the digital valve has a program to control the spool to its central position each time the electrical power supply is switched on or off. The two end screws are used to adjust the position of the sleeve to sustain a mechanical central position coincided with electrical central position given by the stepper motor after initialization. The adjustment has to be carried once before the first time the servo valve is put into service. This paper presents theoretical analysis and experimental study of dynamic characteristics of the proposed micro digital servo valve. Experimental results demonstrated that the valve takes the advantage of high accuracy and fast response

  6. Experimental research of flow servo-valve

    Science.gov (United States)

    Takosoglu, Jakub

    Positional control of pneumatic drives is particularly important in pneumatic systems. Some methods of positioning pneumatic cylinders for changeover and tracking control are known. Choking method is the most development-oriented and has the greatest potential. An optimal and effective method, particularly when applied to pneumatic drives, has been searched for a long time. Sophisticated control systems with algorithms utilizing artificial intelligence methods are designed therefor. In order to design the control algorithm, knowledge about real parameters of servo-valves used in control systems of electro-pneumatic servo-drives is required. The paper presents the experimental research of flow servo-valve.

  7. SAMSIN: the next-generation servo-manipulator

    International Nuclear Information System (INIS)

    Adams, R.H.; Jennrich, C.E.; Korpi, K.W.

    1985-01-01

    The Central Research Laboratories (CRL) Division of Sargent Industries is now developing SAMSIN, a next-generation servo-manipulator. SAMSIN is an acronym for Servo-Actuated Manipulator Systems with Intelligent Networks. This paper discusses the objectives of this development and describes the key features of the servo-manipulator system. There are three main objectives in the SAMSIN development: adaptability, reliability, and maintainability. SAMSIN utilizes standard Sargent/CRL sealed master and slave manipulator arms as well as newly developed compact versions. The mechanical arms have more than 20 yr of successful performance in industrial applications such as hot cells, high vacuums, fuel pools, and explosives handling. The servo-actuator package is in a protective enclosure, which may be sealed in various ways from the remote environment. The force limiting characteristics of the servo-actuators extend motion tendon life. Protective bootings increase the reliability of the arms in an environment that is high in airborne contamination. These bootings also simplify the decontamination of the system. The modularity in construction permits quick removal and replacement of slave arms, wrist joints, tong fingers, and actuator packages for maintenance. SAMSIN utilizes readily available off-the-shelf actuator and control system components. Each manipulator motion uses the same actuator and control system components

  8. 46 CFR 58.30-30 - Fluid power cylinders.

    Science.gov (United States)

    2010-10-01

    ... all pneumatic power transmission systems. (b) Fluid power cylinders consisting of a container and a... 46 Shipping 2 2010-10-01 2010-10-01 false Fluid power cylinders. 58.30-30 Section 58.30-30... MACHINERY AND RELATED SYSTEMS Fluid Power and Control Systems § 58.30-30 Fluid power cylinders. (a) The...

  9. Characteristic analysis and experiment of pneumatic servo valve

    International Nuclear Information System (INIS)

    Kim, Dong Soo; Lee, Won Hee; Choi, Byung Oh

    2004-01-01

    Electro-pneumatic servo valve is an electro-mechanical device which converts electric signals into a proper pneumatic flow rate or pressure. In order to improve the overall performance of pneumatic servo systems, electro-pneumatic servo valves are required, which have fast dynamic characteristics, no air leakage at a null point, and can be fabricated at a low-cost. The first objective of this research is to design and to fabricate a new electro-pneumatic servo valve which satisfies the above-mentioned requirements. In order to design the mechanism of the servo valve optimally, the flow inside the valve depending upon the position of spool was analyzed variously, and on the basis of such analysis results, the valve mechanism, which was formed by combination of the spool and the sleeve, was designed and manufactured. And a tester for conducting an overall performance test was designed and manufactured, and as a result of conducting the flow rate test, the pressure test and the frequency test on the developed pneumatic servo valve

  10. Experimental research of flow servo-valve

    Directory of Open Access Journals (Sweden)

    Takosoglu Jakub

    2017-01-01

    Full Text Available Positional control of pneumatic drives is particularly important in pneumatic systems. Some methods of positioning pneumatic cylinders for changeover and tracking control are known. Choking method is the most development-oriented and has the greatest potential. An optimal and effective method, particularly when applied to pneumatic drives, has been searched for a long time. Sophisticated control systems with algorithms utilizing artificial intelligence methods are designed therefor. In order to design the control algorithm, knowledge about real parameters of servo-valves used in control systems of electro-pneumatic servo-drives is required. The paper presents the experimental research of flow servo-valve.

  11. FOREWORD Fluid Mechanics and Fluid Power (FMFP)

    Indian Academy of Sciences (India)

    This section of the Special Issue carries selected articles from the Fluid Mechanics and Fluid. Power Conference held during 12–14 December 2013 at the National Institute of Technology,. Hamirpur (HP). The section includes three review articles and nine original research articles. These were selected on the basis of their ...

  12. A parameter estimation for DC servo motor by using optimization process

    International Nuclear Information System (INIS)

    Arjoni Amir

    2010-01-01

    Modeling and simulation parameters of DC servo motor using Matlab Simulink software have been done. The objective to define the DC servo motor parameter estimation is to get DC servo motor parameter values (B, La, Ra, Km, J) which are significant value that can be used for actuation process of control systems. In the analysis of control systems DC the servo motor expressed by transfer function equation to make faster to be analyzed as a component of the actuator. To obtain the data model parameters and initial conditions of the DC servo motors is then carried out the processor modeling and simulation in which the DC servo motor combined with other components. To obtain preliminary data of the DC servo motor parameters as estimated venue, it is obtained from the data factory of the DC servo motor. The initial data parameters of the DC servo motor are applied for the optimization process by using nonlinear least square algorithm and minimize the cost function value so that the DC servo motors parameter values are obtained significantly. The result of the optimization process of the DC servo motor parameter values are B = 0.039881, J= 1.2608e-007, Km = 0.069648, La = 2.3242e-006 and Ra = 1.8837. (author)

  13. 4-H NFPA Fluid Power Challenge

    OpenAIRE

    Bonnett, Erika D

    2016-01-01

    The 4-H NFPA Fluid Power Challenge partnered Purdue Polytechnic Institute and Indiana 4-H with the National Fluid Power Association and Center for Compact and Efficient Fluid Power to provide teams of Indiana youth in 6-8th grades with opportunity to learn about hydraulics, engineering design, and other STEM skills. This created an opportunity to give youth a learning experience with STEM through hands-on, experiential learning activities. Youth experienced a one day workshop in which they wo...

  14. Tribodynamic Modeling of Digital Fluid Power Motors

    DEFF Research Database (Denmark)

    Johansen, Per

    . In fluid power motoring and pumping units, a significant problem is that loss mechanisms do not scale down with diminishing power throughput. Although machines can reach peak efficiencies above 95%, the actual efficiency during operation, which includes part-load situations, is much lower. The invention...... of digital fluid power displacement units has been able to address this problem. The main idea of the digital fluid power displacement technology is to disable individual chambers, by use of electrical actuated valves. A displacement chamber is disabled by keeping the valve, between the chamber and the low...... design methods and tools are important to the development of digital fluid power machines. The work presented in this dissertation is part of a research program focusing on the development of digital fluid power MW-motors for use in hydraulic drive train in wind turbines. As part of this development...

  15. Spreading dynamics of power-law fluid droplets

    International Nuclear Information System (INIS)

    Liang Zhanpeng; Peng Xiaofeng; Wang Xiaodong; Lee, D-J; Su Ay

    2009-01-01

    This paper aims at providing a summary of the theoretical models available for non-Newtonian fluid spreading dynamics. Experimental findings and model predictions for a Newtonian fluid spreading test are briefly reviewed. Then how the complete wetting and partial wetting power-law fluids spread over a solid substrate is examined. The possible extension of Newtonian fluid models to power-law fluids is also discussed.

  16. Digitalni servo sistem za upravljanje infracrvenim lokatorom

    OpenAIRE

    Aleksandar Viličić; Mirko Jezdimirović

    2009-01-01

    U radu je predstavljen digitalni servo sistem sa pogonskim elektromotorom koji zamenjuje postojeći elektrohidraulički servo pogon na uređaju za upravljanje IC lokatorom, koji obezbeđuje zahtevanu tačnost pozicioniranja i praćenja sa minimalnim brzinama.

  17. Challenges with Tertiary-Level Mechatronic Fluid Power

    DEFF Research Database (Denmark)

    Dransfield, Peter; Conrad, Finn

    1996-01-01

    As authors we take the view that mechatronics, as it relates to fluid power, has three levels which we designate as primary, secondary and tertiary. A brief review of the current status of fluid power, hydraulic and pneumatic, and of electronic control of it is presented and discussed. The focus...... is then on tertiary-level mechatronic fluid power and the challenges to it being applied successfully....

  18. Control system for the Fermilab Master-Slave servo manipulator

    International Nuclear Information System (INIS)

    Ducar, R.J.

    1977-01-01

    A control system for the Fermilab Master-Slave servo manipulator was developed. This new system offers a significant improvement in operational performance over the extant servo design with additional emphasis on simplicity of operation and maintainability. The servo manipulator is force-reflecting in each of the seven independent bilateral motions. Master force multiplication is automatically increased as the slave force is increased to its fifty pound capacity. The design incorporates triac control of the low inertia two-phase servomotors and makes extensive use of digital circuits in the servo loops. The manipulator is utilized in servicing radioactive beam-line targeting equipment

  19. Inherent limitations of fixed time servo-controlled radiometric calorimetry

    International Nuclear Information System (INIS)

    Wetzel, J.R.; Duff, M.F.; Lemming, J.F.

    1987-01-01

    There has been some interest in low precision, short run time calorimetry measurements. This type of calorimetry measurement has been proposed for use when high precision measurements are not required, for example, to screen scrap containers to determine if there is enough material to be measured more accurately of for confirmatory measurements that only require low precision results. The equipment needed to make these measurements is a servo-controlled calorimeter with a sample preequilibration bath. The preequilibration bath temperature is set to the internal temperature of the calorimeter running at a fixed servo-controlled wattage level. The sample power value is determined at a fixed time form the sample loading into the calorimeter. There are some limitations and areas of uncertainties in the use of data obtained by this method. Data collected under controlled conditions demonstrate the limitations. Sample packaging, preequilibration time, and item wattage were chosen as the variables most likely to be encountered in a plant environment

  20. A low order adaptive control scheme for hydraulic servo systems

    DEFF Research Database (Denmark)

    Andersen, Torben Ole; Pedersen, Henrik Clemmensen; Bech, Michael Møller

    2015-01-01

    This paper deals with high-performance position control of hydraulics servo systems in general. The hydraulic servo system used is a two link robotic manipulator actuated by two hydraulic servo cylinders. A non-linear model of the hydraulic system and a Newton-Euler based model of the mechanical...

  1. Editorial Special Issue on Fluid Mechanics and Fluid Power (FMFP ...

    Indian Academy of Sciences (India)

    This special issue of Sadhana contains selected papers from two conferences related to fluid mechanics held in India recently, Fluid Mechanics and Fluid Power conference at NIT, Hamirpur, and an International Union of Theoretical ... A simple, well thought out, flow visualization experiment or a computation can sometimes ...

  2. Analysis of High Speed Jets Produced by a Servo Tube Driven Liquid Jet Injector

    Science.gov (United States)

    Portaro, Rocco; Ng, Hoi Dick

    2017-11-01

    In today's healthcare environment many types of medication must be administered through the use of hypodermic needles. Although this practice has been in use for many years, drawbacks such as accidental needle stick injuries, transmission of deadly viruses and bio-hazardous waste are still present. This study focuses on improving a needle free technology known as liquid jet injection, through the implementation of a linear servo tube actuator for the construction of a fully closed loop liquid jet injection system. This device has the ability to deliver both micro- and macro- molecules, high viscosity fluids whilst providing real time control of the jet pressure profile for accurate depth and dispersion control. The experiments are conducted using a prototype that consists of a 3 kW servo tube actuator, coupled to a specially designed injection head allowing nozzle size and injection volume to be varied. The device is controlled via a high speed servo amplifier and FPGA. The high speed jets emanating from the injector are assessed via high speed photography and through the use of a force transducer. Preliminary results indicate that the system allows for accurate shaping of the jet pressure profile, making it possible to target different tissue depths/types accurately.

  3. Phase-Division-Based Dynamic Optimization of Linkages for Drawing Servo Presses

    Science.gov (United States)

    Zhang, Zhi-Gang; Wang, Li-Ping; Cao, Yan-Ke

    2017-11-01

    Existing linkage-optimization methods are designed for mechanical presses; few can be directly used for servo presses, so development of the servo press is limited. Based on the complementarity of linkage optimization and motion planning, a phase-division-based linkage-optimization model for a drawing servo press is established. Considering the motion-planning principles of a drawing servo press, and taking account of work rating and efficiency, the constraints of the optimization model are constructed. Linkage is optimized in two modes: use of either constant eccentric speed or constant slide speed in the work segments. The performances of optimized linkages are compared with those of a mature linkage SL4-2000A, which is optimized by a traditional method. The results show that the work rating of a drawing servo press equipped with linkages optimized by this new method improved and the root-mean-square torque of the servo motors is reduced by more than 10%. This research provides a promising method for designing energy-saving drawing servo presses with high work ratings.

  4. IUSThrust Vector Control (TVC) servo system

    Science.gov (United States)

    Conner, G. E.

    1979-01-01

    The IUS TVC SERVO SYSTEM which consists of four electrically redundant electromechanical actuators, four potentiometer assemblies, and two controllers to provide movable nozzle control on both IUS solid rocket motors is developed. An overview of the more severe IUS TVC servo system design requirements, the system and component designs, and test data acquired on a preliminary development unit is presented. Attention is focused on the unique methods of sensing movable nozzle position and providing for redundant position locks.

  5. Position Control of Servo Systems Using Feed-Forward Friction Compensation

    International Nuclear Information System (INIS)

    Park, Min Gyu; Kim, Han Me; Shin, Jong Min; Kim, Jong Shik

    2009-01-01

    Friction is an important factor for precise position tracking control of servo systems. Servo systems with highly nonlinear friction are sensitive to the variation of operating condition. To overcome this problem, we use the LuGre friction model which can consider dynamic characteristics of friction. The LuGre friction model is used as a feed-forward compensator to improve tracking performance of servo systems. The parameters of the LuGre friction model are identified through experiments. The experimental result shows that the tracking performance of servo systems with higherly nonlinear friction can be improved by using feed-forward friction compensation

  6. Dual arm master controller for a bilateral servo-manipulator

    Science.gov (United States)

    Kuban, Daniel P.; Perkins, Gerald S.

    1989-01-01

    A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

  7. Dual arm master controller for a bilateral servo-manipulator

    International Nuclear Information System (INIS)

    Kuban, D.P.; Perkins, G.S.

    1989-01-01

    A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences there between. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed. 13 figs

  8. Motion control of servo cylinder using neural network

    International Nuclear Information System (INIS)

    Hwang, Un Kyoo; Cho, Seung Ho

    2004-01-01

    In this paper, a neural network controller that can be implemented in parallel with a PD controller is suggested for motion control of a hydraulic servo cylinder. By applying a self-excited oscillation method, the system design parameters of open loop transfer function of servo cylinder system are identified. Based on system design parameters, the PD gains are determined for the desired closed loop characteristics. The neural network is incorporated with PD control in order to compensate the inherent nonlinearities of hydraulic servo system. As an application example, a motion control using PD-NN has been performed and proved its superior performance by comparing with that of a PD control

  9. Numerical calculation of three-dimensional flow field of servo-piston hydraulic control rod driving mechanism

    International Nuclear Information System (INIS)

    Yu Mingrui; Han Weishi; Wang Ge

    2014-01-01

    Servo-piston hydraulic control rod driving mechanism is a new type built-in driving mechanism which is suitable for integrated reactor and it can be moved continuously. The numerical calculation and analysis of the internal three-dimensional flow field inside the driving mechanism were carried out by the computational fluid dynamics software FLUENT. The result shows that the unique pressure mutation area of flow field inside the driving mechanism is at the place of the servo variable throttle orifice. The differential pressure of the piston can be effectively controlled by changing the gap of variable throttle orifice. When the gap changes within 0.5 mm, the differential pressure can be greatly changed, and then the driving mechanism motion state would be changed too. When the working pressure is 0.1 MPa, the hoisting capacity of the driving mechanism can meet the design requirements, and the flow rate is small. (authors)

  10. Modeling of R/C Servo Motor and Application to Underactuated Mechanical Systems

    Science.gov (United States)

    Ishikawa, Masato; Kitayoshi, Ryohei; Wada, Takashi; Maruta, Ichiro; Sugie, Toshiharu

    An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

  11. Modeling and stability of electro-hydraulic servo of hydraulic excavator

    Science.gov (United States)

    Jia, Wenhua; Yin, Chenbo; Li, Guo; Sun, Menghui

    2017-11-01

    The condition of the hydraulic excavator is complicated and the working environment is bad. The safety and stability of the control system is influenced by the external factors. This paper selects hydraulic excavator electro-hydraulic servo system as the research object. A mathematical model and simulation model using AMESIM of servo system is established. Then the pressure and flow characteristics are analyzed. The design and optimization of electro-hydraulic servo system and its application in engineering machinery is provided.

  12. Aerial Object Following Using Visual Fuzzy Servoing

    OpenAIRE

    Olivares Méndez, Miguel Ángel; Mondragon Bernal, Ivan Fernando; Campoy Cervera, Pascual; Mejias Alvarez, Luis; Martínez Luna, Carol Viviana

    2011-01-01

    This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the color information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintai...

  13. Vision servo of industrial robot: A review

    Science.gov (United States)

    Zhang, Yujin

    2018-04-01

    Robot technology has been implemented to various areas of production and life. With the continuous development of robot applications, requirements of the robot are also getting higher and higher. In order to get better perception of the robots, vision sensors have been widely used in industrial robots. In this paper, application directions of industrial robots are reviewed. The development, classification and application of robot vision servo technology are discussed, and the development prospect of industrial robot vision servo technology is proposed.

  14. Digital simulation of FM-ZCS-quasi resonant converter fed DD servo drive using Matlab Simulink

    Directory of Open Access Journals (Sweden)

    Kattamuri Narasimha Rao

    2009-01-01

    Full Text Available This paper deals with digital simulation of FM-ZCS-quasi resonant converter fed DC servo drive using Matlab Simulink. Quasi Resonant Converter (QRC is fast replacing conventional PWM converters in high frequency operation. The salient feature of QRC is that the switching devices can be either switched on at zero voltage or switched off at zero current, so that switching losses are zero ideally. Switching stresses are low, volumes are low and power density is high. This property imparts high efficiency and high power density to the converters. The output of QRC is regulated by varying the switching frequency of the converter. Hence it is called Frequency modulated Zero current/zero voltage switching quasi resonant converter. The present work deals with simulation of DC Servo motor fed from ZCS-QRC using Matlab. Simulation results show that the ZCS-QRC's have low total harmonic distortion. The ZCS-QRC operating in half wave and full wave modes are simulated successfully. .

  15. CLFs-based optimization control for a class of constrained visual servoing systems.

    Science.gov (United States)

    Song, Xiulan; Miaomiao, Fu

    2017-03-01

    In this paper, we use the control Lyapunov function (CLF) technique to present an optimized visual servo control method for constrained eye-in-hand robot visual servoing systems. With the knowledge of camera intrinsic parameters and depth of target changes, visual servo control laws (i.e. translation speed) with adjustable parameters are derived by image point features and some known CLF of the visual servoing system. The Fibonacci method is employed to online compute the optimal value of those adjustable parameters, which yields an optimized control law to satisfy constraints of the visual servoing system. The Lyapunov's theorem and the properties of CLF are used to establish stability of the constrained visual servoing system in the closed-loop with the optimized control law. One merit of the presented method is that there is no requirement of online calculating the pseudo-inverse of the image Jacobian's matrix and the homography matrix. Simulation and experimental results illustrated the effectiveness of the method proposed here. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Dynamic modeling of fluid power transmissions for wind turbines

    NARCIS (Netherlands)

    Diepeveen, N.F.B.; Jarquin Laguna, A.

    2011-01-01

    Fluid power transmission for wind turbines is quietly gaining more ground/interest. The principle of the various concepts presented so far is to convert aerodynamic torque of the rotor blades into a pressurized fluid flow by means of a positive displacement pump. At the other end of the fluid power

  17. Dreams of pneumatic servo and rail way cars in 2010; 2010 nen noyume kukiatsu servo to tetsudo sharyo

    Energy Technology Data Exchange (ETDEWEB)

    Sasaki, K. [Tokyo Precision Instruments Co. Ltd., Kanagawa (Japan)

    2000-01-15

    This paper describes pneumatic servo and railway cars. The comfort of railway cars is improved by reducing excess transverse centrifugal force, and longitudinal, transverse and vertical vibration. Pneumatic system plays a large role in the comfort. Pneumatic system is used for doors because of certain open/shut operation and protecting a hand caught in a door from excess tightening pressure. Pneumatic system is also used for mechanical brakes. Pneumatic spring for car suspensions improves the comfort considerably. The orifice and auxiliary tank of a pneumatic spring reduce a spring constant, and give damping to the vibration system of car bodies and springs. To reduce an outward excess centrifugal force by tilting a car body inward at curve, a body tilting equipment is used which is adopted for a pendulum car with pneumatic servo control, and a tilting car with height control of both side pneumatic springs. For transverse damping, semi-active equipment using oil damper is in wide use, while that using pneumatic servo is also in rial use. (NEDO)

  18. Inducement of Design Parameters for Reliability Improvement of Servo Actuator for Hydraulic Valve Operation

    Energy Technology Data Exchange (ETDEWEB)

    Sung, Baek Ju; Kim, Do Sik [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2014-05-15

    The precision hydraulic valve is widely used in various industrial field like aircraft, automobile, and general machinery. Servo actuator is the most important device for driving the precise hydraulic valve. The reliable operation of servo actuator effects on the overall hydraulic system. The performance of servo actuator relies on frequency response and step response according to arbitrary input signal. In this paper, we performed the analysis for the components of servo actuator to satisfy the reliable operation and response characteristics through the reliability analysis, and also induced the design parameters to realize the reliable operation and fast response characteristics of servo actuator for hydraulic valve operation through the empirical knowledge of experts and electromagnetic theories. We suggested the design equations to determine the values of design parameters of servo actuator as like bobbin size, length of yoke and plunger and turn number of coil, and verified the achieved design values through FEM analysis and performance tests using some prototypes of servo actuators adapted in hydraulic valve.

  19. Servo Platform Circuit Design of Pendulous Gyroscope Based on DSP

    Science.gov (United States)

    Tan, Lilong; Wang, Pengcheng; Zhong, Qiyuan; Zhang, Cui; Liu, Yunfei

    2018-03-01

    In order to solve the problem when a certain type of pendulous gyroscope in the initial installation deviation more than 40 degrees, that the servo platform can not be up to the speed of the gyroscope in the rough north seeking phase. This paper takes the digital signal processor TMS320F28027 as the core, uses incremental digital PID algorithm, carries out the circuit design of the servo platform. Firstly, the hardware circuit is divided into three parts: DSP minimum system, motor driving circuit and signal processing circuit, then the mathematical model of incremental digital PID algorithm is established, based on the model, writes the PID control program in CCS3.3, finally, the servo motor tracking control experiment is carried out, it shows that the design can significantly improve the tracking ability of the servo platform, and the design has good engineering practice.

  20. Designing compensator of dual servo system for high precision positioning

    International Nuclear Information System (INIS)

    Choi, Hyeun Seok; Song, Chi Woo; Han, Chang Soo; Choi, Tae Hoon; Lee, Nak Kyu; Na, Kyung Hwan

    2003-01-01

    The high precision positioning mechanism is used in various industrial fields. It is used in semiconductor manufacturing line, test instrument, bioengineering, and MEMS and so on. This paper presents a positioning mechanism with dual servo system. Dual servo system consists of a coarse stage and a fine motion stage. The course stage is driven by VCM and the actuator of fine stage is the PZT. The purposes of dual servo system are stability, higher bandwidth, and robustness. Lead compensator is applied to this control system, and is designed by PQ method. Designed compensator can improve property of positioning mechanism

  1. Proceedings of the sixth international and forty third national conference on fluid mechanics and fluid power: book of abstracts

    International Nuclear Information System (INIS)

    Jain, Anuj; Paul, Akshoy Ranjan

    2016-01-01

    Fluid Mechanics and Fluid Power (FMFP) Conference is an important meeting to promote all activities in the field of Fluid Mechanics and Fluid Power in India. FMFP-2016 offers great opportunity to scientists, researchers, engineers and business executives from all parts of the world to share the recent advancements and future trends in all aspects of fluid mechanics and fluid power- be it theoretical, experimental, applied and computational, and build network. It covers theoretical and experimental fluid dynamics, flow instability, transition, turbulence and control, fluid machinery, turbomachinery and fluid power, IC engines and gas turbines, multiphase flows, fluid-structure interaction and flow-induced noise, micro and nano fluid mechanics, bio-inspired fluid mechanics, energy and environment, specialized topics (transport phenomena in materials processing and manufacturing, MHD and EHD flows, granular flows, nuclear reactor, thermal hydraulics, defence and space engineering, sustainable habitat. Papers relevant to INIS are indexed separately

  2. Electrical servo actuator bracket. [fuel control valves on jet engines

    Science.gov (United States)

    Sawyer, R. V. (Inventor)

    1981-01-01

    An electrical servo actuator is mounted on a support arm which is allowed to pivot on a bolt through a fixed mounting bracket. The actuator is pivotally connected to the end of the support arm by a bolt which has an extension allowed to pass through a slot in the fixed mounting bracket. An actuator rod extends from the servo actuator to a crank arm which turns a control shaft. A short linear thrust of the rod pivots the crank arm through about 90 for full-on control with the rod contracted into the servo actuator, and full-off control when the rod is extended from the actuator. A spring moves the servo actuator and actuator rod toward the control crank arm once the actuator rod is fully extended in the full-off position. This assures the turning of the control shaft to a full-off position. A stop bolt and slot are provided to limit pivot motion. Once fully extended, the spring pivots the motion.

  3. Experimental evaluation of control strategies for hydraulic servo robot

    DEFF Research Database (Denmark)

    Bech, Michael Møller; Andersen, Torben Ole; Pedersen, Henrik C.

    2013-01-01

    In this paper different linear and non-linear controllers applied to a hydraulically driven servo robot are evaluated and validated. The task is to make the actuators of the manipulator track a position reference with minimum error. Hydraulic systems are intrinsically non-linear and using linear...... in industrial servo drives. The different controllers are compared and evaluated from simulation and experimental results....

  4. Rancang Bangun Graphical User Interface Untuk Pergerakan Motor Servo menggunakan Microsoft Visual Basic 2010 Express

    Directory of Open Access Journals (Sweden)

    Anggoro S Pramudyo

    2016-03-01

    Full Text Available Zaman sekarang ini teknologi sedang berkembang pesat dan robot-robot dirancang untuk dapat membantu pekerjaan dan tugas-tugas manusia. Motor servo merupakan salah satu jenis dari motor DC dan banyak diaplikasikan pada dunia robotik maupun peralatan lain, contohnya motor servo yang digunakan untuk robot berkaki. Dalam penggunaannya motor servo dapat bergerak karena ada sinyal yang dibangkitkan melalui sinyal PWM. Sinyal yang dihasilkan akan membentuk sudut sesuai nilai yang diberikan. Penelitian ini bertujuan untuk membuat perangkat lunak GUI untuk membuat pergerakan motor servo menggunakan Microsoft Visual Basic dengan bantuan database menggunakan Microsoft Access. Pergerakan motor servo dapat bergerak secara sekuen dan real time menggunakan GUI yang dihubungkan dengan Arduino mega 2560. Parameter yang terdapat di dalam database juga bisa langsung di-export menjadi file Arduino. Hasil penelitian ini GUI yang telah dibuat dapat menggerakkan motor servo secara lancar melalui komunikasi serial ketika baudrate diatur pada kecepatan 9600 bps. GUI yang dibuat juga menghasilkan sudut untuk motor servo yaitu dari 00 sampai 1800 secara tepat dan akurat, sehingga mempercepat waktu dalam  menentukan sudut untuk pergerakan motor servo yang akan digunakan.

  5. Reducing pressure oscillations in discrete fluid power systems

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Pedersen, Henrik Clemmensen

    2016-01-01

    Discrete fluid power systems featuring transmission lines inherently include pressure oscillations. Experimental verification of a discrete fluid power power take off system for wave energy converters has shown the cylinder pressure to oscillate as force shifts are performed. This article investi...... investigates how cylinder pressure oscillations may be reduced by shaping the valve opening trajectory without the need for closed loop pressure feedback. Furthermore the energy costs of reducing pressure oscillations are investigated....

  6. Modelling and LPV control of an electro-hydraulic servo system

    NARCIS (Netherlands)

    Naus, G.J.L.; Wijnheijmer, F.P.; Post, W.J.A.E.M.; Steinbuch, M.; Teerhuis, A.P.

    2006-01-01

    This paper aims to show the modelling and control of an hydraulic servo system, targeting at frequency domain based controller design and the implementation of a LPV controller. The actual set-up consists of a mass, moved by a hydraulic cylinder and an electro-hydraulic servo valve. A nonlinear

  7. Estimating Energy Consumption of Mobile Fluid Power in the United States

    Energy Technology Data Exchange (ETDEWEB)

    Lynch, Lauren [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Zigler, Bradley T. [National Renewable Energy Laboratory (NREL), Golden, CO (United States)

    2017-11-02

    This report estimates the market size and energy consumption of mobile off-road applications utilizing hydraulic fluid power, and summarizes technology gaps and implementation barriers. Mobile fluid power is the use of hydraulic fluids under pressure to transmit power in mobile equipment applications. The mobile off-road fluid power sector includes various uses of hydraulic fluid power equipment with fundamentally diverse end-use application and operational requirements, such as a skid steer loader, a wheel loader or an agriculture tractor. The agriculture and construction segments dominate the mobile off-road fluid power market in component unit sales volume. An estimated range of energy consumed by the mobile off-road fluid power sector is 0.36 - 1.8 quads per year, which was 1.3 percent - 6.5 percent of the total energy consumed in 2016 by the transportation sector. Opportunities for efficiency improvements within the fluid power system result from needs to level and reduce the peak system load requirements and develop new technologies to reduce fluid power system level losses, both of which may be facilitated by characterizing duty cycles to define standardized performance test methods. There are currently no commonly accepted standardized test methods for evaluating equipment level efficiency over a duty cycle. The off-road transportation sector currently meets criteria emissions requirements, and there are no efficiency regulations requiring original equipment manufacturers (OEM) to invest in new architecture development to improve the fuel economy of mobile off-road fluid power systems. In addition, the end-user efficiency interests are outweighed by low equipment purchase or lease price concerns, required payback periods, and reliability and durability requirements of new architecture. Current economics, low market volumes with high product diversity, and regulation compliance challenge OEM investment in commercialization of new architecture development.

  8. Analogical study of the servo-control of a reactivity modulator

    International Nuclear Information System (INIS)

    Le Bot, Michel

    1969-03-01

    In the context of the study of the transfer functions related to the Cabri reactor, this paper presents: the objective of the servo-control (reactivity modulator, reasons for the analogical study), the principles of the servo-control (description of the servo-controlled system, elaboration of the error signal, principles of the phase meter, critical analysis of different types of phase meters), the analogical formulation (transfer diagram of the process, analogical simulation of the process, analogical realization of the phase meter, simulation of the Low Frequency generator), study of the controlled system and results (system responses to echelon and ramp signals, responses of the controlled system with the phase meter in feedback)

  9. Fluid Instabilities of Magnetar-Powered Supernovae

    Science.gov (United States)

    Chen, Ke-Jung

    2017-05-01

    Magnetar-powered supernova explosions are competitive models for explaining very luminous optical transits. Until recently, these explosion models were mainly calculated in 1D. Radiation emitted from the magnetar snowplows into the previous supernovae ejecta and causes a nonphysical dense shell (spike) found in previous 1D studies. This suggests that strong fluid instabilities may have developed within the magnetar-powered supernovae. Such fluid instabilities emerge at the region where luminous transits later occur, so they can affect the consequent observational signatures. We examine the magnetar-powered supernovae with 2D hydrodynamics simulations and find that the 1D dense shell transforms into the development of Rayleigh-Taylor and thin shell instabilities in 2D. The resulting mixing is able to fragment the entire shell and break the spherical symmetry of supernovae ejecta.

  10. Development of a Control System for PRIDE Remote Servo-manipulator

    International Nuclear Information System (INIS)

    Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

    2009-12-01

    KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment

  11. Development of a Control System for PRIDE Remote Servo-manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

    2009-12-15

    KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment.

  12. The performance and limitations of FPGA-based digital servos for atomic, molecular, and optical physics experiments.

    Science.gov (United States)

    Yu, Shi Jing; Fajeau, Emma; Liu, Lin Qiao; Jones, David J; Madison, Kirk W

    2018-02-01

    In this work, we address the advantages, limitations, and technical subtleties of employing field programmable gate array (FPGA)-based digital servos for high-bandwidth feedback control of lasers in atomic, molecular, and optical physics experiments. Specifically, we provide the results of benchmark performance tests in experimental setups including noise, bandwidth, and dynamic range for two digital servos built with low and mid-range priced FPGA development platforms. The digital servo results are compared to results obtained from a commercially available state-of-the-art analog servo using the same plant for control (intensity stabilization). The digital servos have feedback bandwidths of 2.5 MHz, limited by the total signal latency, and we demonstrate improvements beyond the transfer function offered by the analog servo including a three-pole filter and a two-pole filter with phase compensation to suppress resonances. We also discuss limitations of our FPGA-servo implementation and general considerations when designing and using digital servos.

  13. The performance and limitations of FPGA-based digital servos for atomic, molecular, and optical physics experiments

    Science.gov (United States)

    Yu, Shi Jing; Fajeau, Emma; Liu, Lin Qiao; Jones, David J.; Madison, Kirk W.

    2018-02-01

    In this work, we address the advantages, limitations, and technical subtleties of employing field programmable gate array (FPGA)-based digital servos for high-bandwidth feedback control of lasers in atomic, molecular, and optical physics experiments. Specifically, we provide the results of benchmark performance tests in experimental setups including noise, bandwidth, and dynamic range for two digital servos built with low and mid-range priced FPGA development platforms. The digital servo results are compared to results obtained from a commercially available state-of-the-art analog servo using the same plant for control (intensity stabilization). The digital servos have feedback bandwidths of 2.5 MHz, limited by the total signal latency, and we demonstrate improvements beyond the transfer function offered by the analog servo including a three-pole filter and a two-pole filter with phase compensation to suppress resonances. We also discuss limitations of our FPGA-servo implementation and general considerations when designing and using digital servos.

  14. Optimum back-pressure forging using servo die cushion

    OpenAIRE

    Kawamoto, Kiichiro; Yoneyama, Takeshi; Okada, Masato; Kitayama, Satoshi; Chikahisa, Junpei

    2014-01-01

    This study focused on utilizing a servo die cushion (in conjunction with a servo press) as a "back-pressure load generator," to determine its effect on shape accuracy of the formed part and total forming load in forward extrusion during cold forging. The effect of back-pressure load application was confirmed in experiments, and the optimum setting pattern of back-pressure load was considered to minimize both shape accuracy of the formed part and back-pressure energy, which was representative ...

  15. Precision position control of servo systems using adaptive back-stepping and recurrent fuzzy neural networks

    International Nuclear Information System (INIS)

    Kim, Han Me; Kim, Jong Shik; Han, Seong Ik

    2009-01-01

    To improve position tracking performance of servo systems, a position tracking control using adaptive back-stepping control(ABSC) scheme and recurrent fuzzy neural networks(RFNN) is proposed. An adaptive rule of the ABSC based on system dynamics and dynamic friction model is also suggested to compensate nonlinear dynamic friction characteristics. However, it is difficult to reduce the position tracking error of servo systems by using only the ABSC scheme because of the system uncertainties which cannot be exactly identified during the modeling of servo systems. Therefore, in order to overcome system uncertainties and then to improve position tracking performance of servo systems, the RFNN technique is additionally applied to the servo system. The feasibility of the proposed control scheme for a servo system is validated through experiments. Experimental results show that the servo system with ABS controller based on the dual friction observer and RFNN including the reconstruction error estimator can achieve desired tracking performance and robustness

  16. Photoelectric radar servo control system based on ARM+FPGA

    Science.gov (United States)

    Wu, Kaixuan; Zhang, Yue; Li, Yeqiu; Dai, Qin; Yao, Jun

    2016-01-01

    In order to get smaller, faster, and more responsive requirements of the photoelectric radar servo control system. We propose a set of core ARM + FPGA architecture servo controller. Parallel processing capability of FPGA to be used for the encoder feedback data, PWM carrier modulation, A, B code decoding processing and so on; Utilizing the advantage of imaging design in ARM Embedded systems achieves high-speed implementation of the PID algorithm. After the actual experiment, the closed-loop speed of response of the system cycles up to 2000 times/s, in the case of excellent precision turntable shaft, using a PID algorithm to achieve the servo position control with the accuracy of + -1 encoder input code. Firstly, This article carry on in-depth study of the embedded servo control system hardware to determine the ARM and FPGA chip as the main chip with systems based on a pre-measured target required to achieve performance requirements, this article based on ARM chip used Samsung S3C2440 chip of ARM7 architecture , the FPGA chip is chosen xilinx's XC3S400 . ARM and FPGA communicate by using SPI bus, the advantage of using SPI bus is saving a lot of pins for easy system upgrades required thereafter. The system gets the speed datas through the photoelectric-encoder that transports the datas to the FPGA, Then the system transmits the datas through the FPGA to ARM, transforms speed datas into the corresponding position and velocity data in a timely manner, prepares the corresponding PWM wave to control motor rotation by making comparison between the position data and the velocity data setted in advance . According to the system requirements to draw the schematics of the photoelectric radar servo control system and PCB board to produce specially. Secondly, using PID algorithm to control the servo system, the datas of speed obtained from photoelectric-encoder is calculated position data and speed data via high-speed digital PID algorithm and coordinate models. Finally, a

  17. Servo control booster system for minimizing following error

    Science.gov (United States)

    Wise, W.L.

    1979-07-26

    A closed-loop feedback-controlled servo system is disclosed which reduces command-to-response error to the system's position feedback resolution least increment, ..delta..S/sub R/, on a continuous real-time basis, for all operational times of consequence and for all operating speeds. The servo system employs a second position feedback control loop on a by exception basis, when the command-to-response error greater than or equal to ..delta..S/sub R/, to produce precise position correction signals. When the command-to-response error is less than ..delta..S/sub R/, control automatically reverts to conventional control means as the second position feedback control loop is disconnected, becoming transparent to conventional servo control means. By operating the second unique position feedback control loop used herein at the appropriate clocking rate, command-to-response error may be reduced to the position feedback resolution least increment. The present system may be utilized in combination with a tachometer loop for increased stability.

  18. Provision of servo-controlled cooling during neonatal transport.

    Science.gov (United States)

    Johnston, Ewen D; Becher, Julie-Clare; Mitchell, Anne P; Stenson, Benjamin J

    2012-09-01

    Therapeutic hypothermia is a time critical intervention for infants who have experienced a hypoxic-ischaemic event. Previously reported methods of cooling during transport do not demonstrate the same stability achieved in the neonatal unit. The authors developed a system which allowed provision of servo-controlled cooling throughout transport, and present their first year's experience. Retrospective review of routinely collected patient data. 14 out-born infants were referred for cooling during a 12-month period. Nine infants were managed with the servo-controlled system during transport. Cooling was commenced in all infants before 6 h of life. Median time from team arrival to the infant having a temperature in the target range (33-34°C) was 45 min. Median temperature during transfer was 33.5°C (range 33-34°C). Temperature on arrival at the cooling centre ranged from 33.4°C to 33.8°C. Servo-controlled cooling during transport is feasible and provides an optimal level of thermal control.

  19. A new converter for improving efficiency of multi-actuators fluid power system

    Energy Technology Data Exchange (ETDEWEB)

    Xue, Yong; Shang, JianZhong; Yang, JunHong; Wang Zhuo [National University of Defense Technology, Changsha (China)

    2016-05-15

    This paper is concerned with the application of energy efficient fluid power in mobile robots system and proposes a new fluid power converter system which is analogous to a boost converter in power electronics. The fluid power converter system is based on the principle of pulse-width modulation. The fluid power converter has an effect akin to an electrical switched inductance transformer, wherein the output pressure or flow rate can be stepped up or down. Using an inductive reactance device (an inertia mass-block), the output flow and pressure can be varied to meet the load by a means that does not rely on dissipation of power (the resistance control). The simulation model based on the mathematics models of the components is built to analyse the performance of the fluid power converter. It is clearly shown that the fluid power converter has higher energy efficiency than conventional resistance control manners.

  20. Permanent magnet synchronous motor servo system control based on μC/OS

    Science.gov (United States)

    Shi, Chongyang; Chen, Kele; Chen, Xinglong

    2015-10-01

    When Opto-Electronic Tracking system operates in complex environments, every subsystem must operate efficiently and stably. As a important part of Opto-Electronic Tracking system, the performance of PMSM(Permanent Magnet Synchronous Motor) servo system affects the Opto-Electronic Tracking system's accuracy and speed greatly[1][2]. This paper applied embedded real-time operating system μC/OS to the control of PMSM servo system, implemented SVPWM(Space Vector Pulse Width Modulation) algorithm in PMSM servo system, optimized the stability of PMSM servo system. Pointing on the characteristics of the Opto-Electronic Tracking system, this paper expanded μC/OS with software redundancy processes, remote debugging and upgrading. As a result, the Opto- Electronic Tracking system performs efficiently and stably.

  1. Research Based on AMESim of Electro-hydraulic Servo Loading System

    Science.gov (United States)

    Li, Jinlong; Hu, Zhiyong

    2017-09-01

    Electro-hydraulic servo loading system is a subject studied by many scholars in the field of simulation and control at home and abroad. The electro-hydraulic servo loading system is a loading device simulation of stress objects by aerodynamic moment and other force in the process of movement, its function is all kinds of gas in the lab condition to analyze stress under dynamic load of objects. The purpose of this paper is the design of AMESim electro-hydraulic servo system, PID control technology is used to configure the parameters of the control system, complete the loading process under different conditions, the optimal design parameters, optimization of dynamic performance of the loading system.

  2. Stepping Motor - Hydraulic Motor Servo Drives for an NC Milling ...

    African Journals Online (AJOL)

    In this paper the retrofit design of the control system of an NC milling machine with a stepping motor and stepping motor - actuated hydraulic motor servo mechanism on the machines X-axis is described. The servo designed in the course of this study was tested practically and shown to be linear - the velocity following errors ...

  3. Analysis of the servo-spill control for slow beam extraction

    International Nuclear Information System (INIS)

    Sato, Hikaru; Toyama, Takeshi; Marutsuka, Katsumi; Shirakata, Masashi.

    1994-01-01

    This report describes an analysis of servo-spill control system for the slow beam extraction from the KEK PS. Transfer function of extraction process is derived from measurement of the closed-loop characteristic using measured frequency response of each equipment. Result indicates the restriction of the present servo-spill control and give a guide line for the improvement. (author)

  4. Nonlinear friction model for servo press simulation

    Science.gov (United States)

    Ma, Ninshu; Sugitomo, Nobuhiko; Kyuno, Takunori; Tamura, Shintaro; Naka, Tetsuo

    2013-12-01

    The friction coefficient was measured under an idealized condition for a pulse servo motion. The measured friction coefficient and its changing with both sliding distance and a pulse motion showed that the friction resistance can be reduced due to the re-lubrication during unloading process of the pulse servo motion. Based on the measured friction coefficient and its changes with sliding distance and re-lubrication of oil, a nonlinear friction model was developed. Using the newly developed the nonlinear friction model, a deep draw simulation was performed and the formability was evaluated. The results were compared with experimental ones and the effectiveness was verified.

  5. Imaged-Based Visual Servo Control for a VTOL Aircraft

    Directory of Open Access Journals (Sweden)

    Liying Zou

    2017-01-01

    Full Text Available This paper presents a novel control strategy to force a vertical take-off and landing (VTOL aircraft to accomplish the pinpoint landing task. The control development is based on the image-based visual servoing method and the back-stepping technique; its design differs from the existing methods because the controller maps the image errors onto the actuator space via a visual model which does not contain the depth information of the feature point. The novelty of the proposed method is to extend the image-based visual servoing technique to the VTOL aircraft control. In addition, the Lyapunov theory is used to prove the asymptotic stability of the VTOL aircraft visual servoing system, while the image error can converge to zero. Furthermore, simulations have been also conducted to demonstrate the performances of the proposed method.

  6. Gas powered fluid gun with recoil mitigation

    Science.gov (United States)

    Grubelich, Mark C; Yonas, Gerold

    2013-11-12

    A gas powered fluid gun for propelling a stream or slug of a fluid at high velocity toward a target. Recoil mitigation is provided that reduces or eliminates the associated recoil forces, with minimal or no backwash. By launching a quantity of water in the opposite direction, net momentum forces are reduced or eliminated. Examples of recoil mitigation devices include a cone for making a conical fluid sheet, a device forming multiple impinging streams of fluid, a cavitating venturi, one or more spinning vanes, or an annular tangential entry/exit.

  7. Mathematical-model study of servo system with pulse-duration control of micromovements

    International Nuclear Information System (INIS)

    Dement'eva, M.A.; Leonov, A.P.; Popov, V.V.; Skugarevskii, A.I.; Ustinov, E.A.; Chernyavskii, N.N.

    1988-01-01

    A number of digital servo systems with pulse-duration control have been developed at the Institute of High Energy Physics for the instruments of the scanning and measurement system and various experimental setups. They are based on stock transistor bridge stages, whose loads are high-speed servomotors with printed-circuit armature windings. Study of these servo systems by traditional methods, which are based on Laplace transforms, or by mean values with expansion of the current pulse into a Fourier transform yields approximate results and does not reflect the actual processes that take place in a pulse servo system. They attempt to develop a method and extend it to the study of high-speed servo systems in the area of micromovements and quasistationary velocity without position or velocity feedback

  8. An open source digital servo for atomic, molecular, and optical physics experiments

    Energy Technology Data Exchange (ETDEWEB)

    Leibrandt, D. R., E-mail: david.leibrandt@nist.gov; Heidecker, J. [National Institute of Standards and Technology, Boulder, Colorado 80305 (United States)

    2015-12-15

    We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of {sup 27}Al{sup +} in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.

  9. An open source digital servo for atomic, molecular, and optical physics experiments

    International Nuclear Information System (INIS)

    Leibrandt, D. R.; Heidecker, J.

    2015-01-01

    We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of 27 Al + in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser

  10. An open source digital servo for atomic, molecular, and optical physics experiments

    Science.gov (United States)

    Leibrandt, D. R.; Heidecker, J.

    2015-12-01

    We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of 27Al+ in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.

  11. Cine-servo lens technology for 4K broadcast and cinematography

    Science.gov (United States)

    Nurishi, Ryuji; Wakazono, Tsuyoshi; Usui, Fumiaki

    2015-09-01

    Central to the rapid evolution of 4K image capture technology in the past few years, deployment of large-format cameras with Super35mm Single Sensors is increasing in TV production for diverse shows such as dramas, documentaries, wildlife, and sports. While large format image capture has been the standard in the cinema world for quite some time, the recent experiences within the broadcast industry have revealed a variety of requirement differences for large format lenses compared to those of the cinema industry. A typical requirement for a broadcast lens is a considerably higher zoom ratio in order to avoid changing lenses in the middle of a live event, which is mostly not the case for traditional cinema productions. Another example is the need for compact size, light weight, and servo operability for a single camera operator shooting in a shoulder-mount ENG style. On the other hand, there are new requirements that are common to both worlds, such as smooth and seamless change in angle of view throughout the long zoom range, which potentially offers new image expression that never existed in the past. This paper will discuss the requirements from the two industries of cinema and broadcast, while at the same time introducing the new technologies and new optical design concepts applied to our latest "CINE-SERVO" lens series which presently consists of two models, CN7x17KAS-S and CN20x50IAS-H. It will further explain how Canon has realized 4K optical performance and fast servo control while simultaneously achieving compact size, light weight and high zoom ratio, by referring to patent-pending technologies such as the optical power layout, lens construction, and glass material combinations.

  12. Application of AC servo motor on the in-core neutron flux instrumentation system

    International Nuclear Information System (INIS)

    Du Xiaoguang; Wang Mingtao

    2010-01-01

    The application of ac servo motor in the In-Core Neutron Flux Instrumentation System is described. The hardware component of ac servo motor control system is different from the dc motor control system. The effect of two control system on the instrumentation system is compared. The ac servo motor control system can improve the accuracy of the motion control, optimize the speed control and increase the reliability. (authors)

  13. A Design Method of Robust Servo Internal Model Control with Control Input Saturation

    OpenAIRE

    山田, 功; 舩見, 洋祐

    2001-01-01

    In the present paper, we examine a design method of robust servo Internal Model Control with control input saturation. First of all, we clarify the condition that Internal Model Control has robust servo characteristics for the system with control input saturation. From this consideration, we propose new design method of Internal Model Control with robust servo characteristics. A numerical example to illustrate the effectiveness of the proposed method is shown.

  14. Analysis of a biphase-based servo format for hard-disk drives

    NARCIS (Netherlands)

    Makinwa, K.A.A.; Bergmans, J.W.M.; Voorman, J.O.

    2000-01-01

    Biphase modulation in an embedded-servo format for hard-disk drives is investigated. It is shown that for biphase, at the low linear densities typical of servo information, near-maximum-likelihood performance can be attained by a simple bit detector consisting of a full-response linear equalizer and

  15. The position control of a capsule filled with magnetic fluid

    International Nuclear Information System (INIS)

    Rhee, E.J.; Park, M.K.; Yamane, R.; Oshima, S.

    2002-01-01

    In this paper, in order to establish the technique of a nozzle-flapper system of a servo valve using magnetic fluid in hydraulic system, a governing equation regarding the levitation of a capsule filled with magnetic fluid is formulated. Using PID control, an experiment for the position control of a capsule was performed. The experimental results were compared with the simulation results found by the governing equation

  16. Fuzzy model-based servo and model following control for nonlinear systems.

    Science.gov (United States)

    Ohtake, Hiroshi; Tanaka, Kazuo; Wang, Hua O

    2009-12-01

    This correspondence presents servo and nonlinear model following controls for a class of nonlinear systems using the Takagi-Sugeno fuzzy model-based control approach. First, the construction method of the augmented fuzzy system for continuous-time nonlinear systems is proposed by differentiating the original nonlinear system. Second, the dynamic fuzzy servo controller and the dynamic fuzzy model following controller, which can make outputs of the nonlinear system converge to target points and to outputs of the reference system, respectively, are introduced. Finally, the servo and model following controller design conditions are given in terms of linear matrix inequalities. Design examples illustrate the utility of this approach.

  17. Estimating the Impact (Energy, Emissions and Economics) of the US Fluid Power Industry

    Energy Technology Data Exchange (ETDEWEB)

    Love, Lonnie J [ORNL

    2012-12-01

    The objective of this report is to estimate the impact (energy, emissions and economics) of United Fluid power (hydraulic and pneumatic actuation) is the generation, control, and application of pumped or compressed fluids when this power is used to provide force and motion to mechanisms. This form of mechanical power is an integral part of United States (U.S.) manufacturing and transportation. In 2008, according to the U.S. Census Bureau, sales of fluid power components exceeded $17.7B, sales of systems using fluid power exceeded $226B. As large as the industry is, it has had little fundamental research that could lead to improved efficiency since the late 1960s (prior to the 1970 energy crisis). While there have been some attempts to replace fluid powered components with electric systems, its performance and rugged operating condition limit the impact of simple part replacement. Oak Ridge National Laboratory and the National Fluid Power Association (NFPA) collaborated with 31 industrial partners to collect and consolidate energy specific measurements (consumption, emissions, efficiency) of deployed fluid power systems. The objective of this study was to establish a rudimentary order of magnitude estimate of the energy consumed by fluid powered systems. The analysis conducted in this study shows that fluid powered systems consumed between 2.0 and 2.9 Quadrillion (1015) Btus (Quads) of energy per year; producing between 310 and 380 million metric tons (MMT) of Carbon Dioxide (CO2). In terms of efficiency, the study indicates that, across all industries, fluid power system efficiencies range from less than 9% to as high as 60% (depending upon the application), with an average efficiency of 22%. A review of case studies shows that there are many opportunities to impact energy savings in both the manufacturing and transportation sectors by the development and deployment of energy efficient fluid power components and systems.

  18. Control of xenon spatial oscillations during load follow of nuclear reactor via robust servo systems

    International Nuclear Information System (INIS)

    Ukai, Hiroyuki; Yada, Yukihiro; Iwazumi, Tetsuo; Morita, Yoshifumi.

    1990-01-01

    This paper investigates the control problem of xenon spatial oscillations in the axial direction during load following operations of a nuclear reactor. The system model is described by a one-group diffusion equation with xenon and power feedbacks and iodine-xenon dynamic equations and controlled by full-length and part-length control rods. In order to achieve the control purpose we formulate the control model as the design problem of robust servo systems for distributed parameter reactor systems. Hence the total thermal power and the axial offset are chosen as outputs to be controlled. The control law is designed based upon finite-dimensional systems which are constructed by linearizing around steady states, approximating by the Galerkin approximate method and reducing dimensions via the singular perturbation method. From a computational point of view a simple computational algorithm to obtain an approximate solution of the steady state neutron balance is developed via the perturbation method. Some results of numerical simulations are represented to show effectiveness of the theory developed in this paper. Particularly it is shown that the designed servo systems are robust against model errors with the linearization and the model truncation. (author)

  19. Design of Servo Scheme and Drive Electronics for the Integrated Electrohydraulic Actuation System of RLV-TD

    Science.gov (United States)

    Kurian, Priya C.; Gopinath, Anish; Shinoy, K. S.; Santhi, P.; Sundaramoorthy, K.; Sebastian, Baby; Jaya, B.; Namboodiripad, M. N.; Mookiah, T.

    2017-12-01

    Reusable Launch Vehicle-Technology Demonstrator (RLV-TD) is a system which has the ability to carry a payload from the earth's surface to the outer space more than once. The control actuation forms the major component of the control system and it actuates the control surfaces of the RLV-TD based on the control commands. Eight electro hydraulic actuators were used in RLV-TD for vectoring the control surfaces about their axes. A centralised Hydraulic Power Generating Unit (HPU) was used for powering the eight actuators located in two stages. The actuation system had to work for the longest ever duration of about 850 s for an Indian launch vehicle. High bandwidth requirement from autopilot was met by the servo design using the nonlinear mathematical model. Single Control Electronics which drive four electrohydraulic actuators was developed for each stage. High power electronics with soft start scheme was realized for driving the BLDC motor which is the prime mover for hydraulic pump. Many challenges arose due to single HPU for two stages, uncertainty of aero load, higher bandwidth requirements etc. and provisions were incorporated in the design to successfully overcome them. This paper describes the servo design and control electronics architecture of control actuation system.

  20. Active-passive hybrid piezoelectric actuators for high-precision hard disk drive servo systems

    Science.gov (United States)

    Chan, Kwong Wah; Liao, Wei-Hsin

    2006-03-01

    Positioning precision is crucial to today's increasingly high-speed, high-capacity, high data density, and miniaturized hard disk drives (HDDs). The demand for higher bandwidth servo systems that can quickly and precisely position the read/write head on a high track density becomes more pressing. Recently, the idea of applying dual-stage actuators to track servo systems has been studied. The push-pull piezoelectric actuated devices have been developed as micro actuators for fine and fast positioning, while the voice coil motor functions as a large but coarse seeking. However, the current dual-stage actuator design uses piezoelectric patches only without passive damping. In this paper, we propose a dual-stage servo system using enhanced active-passive hybrid piezoelectric actuators. The proposed actuators will improve the existing dual-stage actuators for higher precision and shock resistance, due to the incorporation of passive damping in the design. We aim to develop this hybrid servo system not only to increase speed of track seeking but also to improve precision of track following servos in HDDs. New piezoelectrically actuated suspensions with passive damping have been designed and fabricated. In order to evaluate positioning and track following performances for the dual-stage track servo systems, experimental efforts are carried out to implement the synthesized active-passive suspension structure with enhanced piezoelectric actuators using a composite nonlinear feedback controller.

  1. Suppression of mechanical resonance in digital servo system considering oscillation frequency deviation

    DEFF Research Database (Denmark)

    Chen, Yangyang; Yang, Ming; Hu, Kun

    2017-01-01

    High-stiffness servo system is easy to cause mechanical resonance in elastic coupling servo system. Although on-line adaptive notch filter is effective in most cases, it will lead to a severer resonance when resonance frequency deviated from the natural torsional frequency. To explain...

  2. Conceptual design of stepper motor replacing servo motor for control rod controller

    International Nuclear Information System (INIS)

    Mohd Dzul Aiman Aslan; Mohd Idris Taib; Izhar Abu Hussin; Mohd Khairulezwan Abdul Manan; Mohd Sabri Minhat

    2010-01-01

    In PUSPATI TRIGA Reactor, current control rod controller are using servo motor to control the movement. Control rod is a very important safety element and measure in every nuclear reactor. So, precision is very important in measurement of security in the nuclear reactor. In this case, there are a few disadvantages when using the servo motor is measurement of the motor is not precise. One solution to overcome this is by shifting servo motor with stepper motor. A stepper motor (or step motor) is a brush less, synchronous electric motor that can divide a full rotation into a large number of steps. (author)

  3. Measuring the photodetector frequency response for ultrasonic applications by a heterodyne system with difference- frequency servo control.

    Science.gov (United States)

    Koch, Christian

    2010-05-01

    A technique for the calibration of photodiodes in ultrasonic measurement systems using standard and cost-effective optical and electronic components is presented. A heterodyne system was realized using two commercially available distributed feedback lasers, and the required frequency stability and resolution were ensured by a difference-frequency servo control scheme. The frequency-sensitive element generating the error signal for the servo loop comprised a delay-line discriminator constructed from electronic elements. Measurements were carried out at up to 450 MHz, and the uncertainties of about 5% (k = 2) can be further reduced by improved radio frequency power measurement without losing the feature of using only simple elements. The technique initially dedicated to the determination of the frequency response of photodetectors applied in ultrasonic applications can be transferred to other application fields of optical measurements.

  4. Performance verification and system parameter identification of spacecraft tape recorder control servo

    Science.gov (United States)

    Mukhopadhyay, A. K.

    1979-01-01

    Design adequacy of the lead-lag compensator of the frequency loop, accuracy checking of the analytical expression for the electrical motor transfer function, and performance evaluation of the speed control servo of the digital tape recorder used on-board the 1976 Viking Mars Orbiters and Voyager 1977 Jupiter-Saturn flyby spacecraft are analyzed. The transfer functions of the most important parts of a simplified frequency loop used for test simulation are described and ten simulation cases are reported. The first four of these cases illustrate the method of selecting the most suitable transfer function for the hysteresis synchronous motor, while the rest verify and determine the servo performance parameters and alternative servo compensation schemes. It is concluded that the linear methods provide a starting point for the final verification/refinement of servo design by nonlinear time response simulation and that the variation of the parameters of the static/dynamic Coulomb friction is as expected in a long-life space mission environment.

  5. Compact, Lightweight Servo-Controllable Brakes

    Science.gov (United States)

    Lovchik, Christopher S.; Townsend, William; Guertin, Jeffrey; Matsuoka, Yoky

    2010-01-01

    Compact, lightweight servo-controllable brakes capable of high torques are being developed for incorporation into robot joints. A brake of this type is based partly on the capstan effect of tension elements. In a brake of the type under development, a controllable intermediate state of torque is reached through on/off switching at a high frequency.

  6. Hydraulic servo control spool valve

    Science.gov (United States)

    Miller, Donald M.

    1983-01-01

    A servo operated spool valve having a fixed sleeve and axially movable spool. The sleeve is machined in two halves to form a long, narrow tapered orifice slot across which a transverse wall of the spool is positioned. The axial position of the spool wall along the slot regulates the open orifice area with extreme precision.

  7. Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities--techniques and applications.

    Science.gov (United States)

    Azizian, Mahdi; Najmaei, Nima; Khoshnam, Mahta; Patel, Rajni

    2015-03-01

    Intraoperative application of tomographic imaging techniques provides a means of visual servoing for objects beneath the surface of organs. The focus of this survey is on therapeutic and diagnostic medical applications where tomographic imaging is used in visual servoing. To this end, a comprehensive search of the electronic databases was completed for the period 2000-2013. Existing techniques and products are categorized and studied, based on the imaging modality and their medical applications. This part complements Part I of the survey, which covers visual servoing techniques using endoscopic imaging and direct vision. The main challenges in using visual servoing based on tomographic images have been identified. 'Supervised automation of medical robotics' is found to be a major trend in this field and ultrasound is the most commonly used tomographic modality for visual servoing. Copyright © 2014 John Wiley & Sons, Ltd.

  8. Robust Hinfinity position control synthesis of an electro-hydraulic servo system.

    Science.gov (United States)

    Milić, Vladimir; Situm, Zeljko; Essert, Mario

    2010-10-01

    This paper focuses on the use of the techniques based on linear matrix inequalities for robust H(infinity) position control synthesis of an electro-hydraulic servo system. A nonlinear dynamic model of the hydraulic cylindrical actuator with a proportional valve has been developed. For the purpose of the feedback control an uncertain linearized mathematical model of the system has been derived. The structured (parametric) perturbations in the electro-hydraulic coefficients are taken into account. H(infinity) controller extended with an integral action is proposed. To estimate internal states of the electro-hydraulic servo system an observer is designed. Developed control algorithms have been tested experimentally in the laboratory model of an electro-hydraulic servo system. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

  9. A new approach to control of xenon spatial oscillation during load follow operation via robust servo systems

    International Nuclear Information System (INIS)

    Ukai, Hiroyuki; Iwazumi, Tetsuo

    1994-01-01

    The control problem of xenon-induced spatial oscillations of PWR in the axial direction during a load following operation is investigated. The system models are described by a one-group diffusion equation with xenon and temperature feed-backs, iodine and xenon dynamic equations, and heat conductions processes. Control is implemented by the full-length and the part-length control rods and the boron concentration. In order to achieve the control purpose, control models are formulated as the design problem of robust servo systems for distributed parameter reactor systems. The total thermal power and the axial offset are chosen as outputs to be controlled. The control systems consist of servo compensators and stabilizing compensators. They are designed based on the finite-dimensional systems which are constructed by linearizing around steady states, approximately by the Galerkin method, and reducing dimensions via the singular perturbation method. A new and simple computational algorithm to obtain an approximate solution of a steady-state neutron balance is developed via the perturbation method. Some results of numerical simulations are shown in order to discuss the effectiveness of the theory developed in this paper. In particular, it is shown that the designed servo systems are robust against model errors with linearization and modal truncation

  10. Adaptive servo ventilation for central sleep apnoea in heart failure: SERVE-HF on-treatment analysis.

    Science.gov (United States)

    Woehrle, Holger; Cowie, Martin R; Eulenburg, Christine; Suling, Anna; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita K; Somers, Virend K; Zannad, Faiez; Teschler, Helmut; Wegscheider, Karl

    2017-08-01

    This on-treatment analysis was conducted to facilitate understanding of mechanisms underlying the increased risk of all-cause and cardiovascular mortality in heart failure patients with reduced ejection fraction and predominant central sleep apnoea randomised to adaptive servo ventilation versus the control group in the SERVE-HF trial.Time-dependent on-treatment analyses were conducted (unadjusted and adjusted for predictive covariates). A comprehensive, time-dependent model was developed to correct for asymmetric selection effects (to minimise bias).The comprehensive model showed increased cardiovascular death hazard ratios during adaptive servo ventilation usage periods, slightly lower than those in the SERVE-HF intention-to-treat analysis. Self-selection bias was evident. Patients randomised to adaptive servo ventilation who crossed over to the control group were at higher risk of cardiovascular death than controls, while control patients with crossover to adaptive servo ventilation showed a trend towards lower risk of cardiovascular death than patients randomised to adaptive servo ventilation. Cardiovascular risk did not increase as nightly adaptive servo ventilation usage increased.On-treatment analysis showed similar results to the SERVE-HF intention-to-treat analysis, with an increased risk of cardiovascular death in heart failure with reduced ejection fraction patients with predominant central sleep apnoea treated with adaptive servo ventilation. Bias is inevitable and needs to be taken into account in any kind of on-treatment analysis in positive airway pressure studies. Copyright ©ERS 2017.

  11. Robust Control for High-Speed Visual Servoing Applications

    DEFF Research Database (Denmark)

    Ellekilde, Lars-Peter; Favrholdt, Peter; Paulin, Mads

    2007-01-01

    This paper presents a new control scheme for visual servoing applications. The approach employs quadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary to existing techniques, our method does not rely on large safety margins and slow task...... execution to avoid joint limits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees a well-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal and external singularities robustly. We demonstrate...... the correctness and efficiency of our approach in a number of visual servoing applications, and compare it to a range of previously proposed techniques....

  12. Seepage Characteristics Study on Power-Law Fluid in Fractal Porous Media

    Directory of Open Access Journals (Sweden)

    Meijuan Yun

    2014-01-01

    Full Text Available We present fractal models for the flow rate, velocity, effective viscosity, apparent viscosity, and effective permeability for power-law fluid based on the fractal properties of porous media. The proposed expressions realize the quantitative description to the relation between the properties of the power-law fluid and the parameters of the microstructure of the porous media. The model predictions are compared with related data and good agreement between them is found. The analytical expressions will contribute to the revealing of physical principles for the power-law fluid flow in porous media.

  13. Feasibility of Influencing the Dynamic Fluid Film Coefficients of a Multirecess Journal Bearing by means of Active Hybrid Lubrication

    DEFF Research Database (Denmark)

    Santos, Ilmar; Watanabe, F. Y.

    2003-01-01

    and control techniques. The feasibility of influencing the dynamic fluid film coefficients (stiffness and damping) by means of a controllable fluid injection into opposed bearing recesses is investigated. By controlling the pressure and flow injection using servo control systems, it is possible to obtain...

  14. New method to improve dynamic stiffness of electro-hydraulic servo systems

    Science.gov (United States)

    Bai, Yanhong; Quan, Long

    2013-09-01

    Most current researches working on improving stiffness focus on the application of control theories. But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated, so the control action is lagged. Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms. In this paper, the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed. On this basis, the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward. And a scheme using double servo valves to realize flow feedforward compensation is presented, in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time. The two valves are arranged in parallel to control the cylinder jointly. Furthermore, the model of flow compensation is derived, by which the product of the amplitude and width of the valve’s pulse command signal can be calculated. And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations. Using the proposed scheme, simulations and experiments at different positions with different force changes are conducted. The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time. That is, system dynamic load stiffness is evidently raised. This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

  15. Mathematical modeling for laminar flow of power law fluid in porous media

    Energy Technology Data Exchange (ETDEWEB)

    Silva, Renato A.; Mesquita, Maximilian S. [Universidade Federal do Espirito Santo (UFES), Sao Mateus, ES (Brazil). Centro Universitario Norte do Espirito Santo. Dept. de Engenharias e Computacao

    2010-07-01

    In this paper, the macroscopic equations for laminar power-law fluid flow is obtained for a porous medium starting from traditional equations (Navier-Stokes). Then, the volume averaging is applied in traditional transport equations with the power-law fluid model. This procedure leads to macroscopic transport equations set for non-Newtonian fluid. (author)

  16. Project calculation of the steering mechanism hydraulic servo control in motor vehicles

    Directory of Open Access Journals (Sweden)

    Zoran Đukan Majkić

    2013-10-01

    Full Text Available Hydraulic servo controls are designed to facilitate rotation in place without providing increased ppower to steering wheels. In the initial design phase, the dimensions required for control systems are usually obtained through the calculation of their load when wheels rotate in place, where the torque is calculated empirically. The starting point in the project calculation is thus to determine the hydraulic power steering torque torsional resistance which is then used to determine the maximum value of force i.e. the torque on the stering wheel. The calculation of the control system servo control consists of determining the basic parameters, the required pump capacity, the main dimensions of the hub and the  pipeline and the conditions for the stability of the system control mechanism. Introduction The aim of the calculation of the steering control system is to determine the basic parameters of its components which ensure the fulfilment of requirements of the control system. Calculations are performed in several stages with a simultaneous  detailed constructive analysis of the control system leading to the best variant. At each stage, design and control calculations of the hydraulic servo of the steering mechanism are performed. The design allows the computation to complete the selection of basic dimensions of the amplifer elements, starting from the approved scheme and the basic building loads of approximate values. Calculations control is carried out to clarify the structural solution and to obtain the output characteristics of the control amplifier which are applied in the  estimation of  potential properties of the structure. Project calculation Baseline data must be sufficiently reliable, ie. must correspond to the construction characteristics of the vehicle design and the control system as well as to service conditions..A proper deterimination of the torque calculation of torsional resistance in wheels is of utmost importance. Moment of

  17. Researching on YH100 Numerical Control Servo Press Hydraulic Control System and Control Algorithm

    Directory of Open Access Journals (Sweden)

    Kai LI

    2014-09-01

    Full Text Available In order to study the numerical control (NC servo press hydraulic control system and its control algorithm. The numerical control servo press performance and control principle of hydraulic control system are analyzed. According to the flow equation of the hydraulic control valve, hydraulic cylinder flow continuity equation and the force balance equation of the hydraulic cylinder with load press, the mathematical model of hydraulic control system is established. And the servo press hydraulic system transfer function is deduced. Introducing the suitable immune particle swarm control algorithm for servo press hydraulic system, and the control system block diagram is established. Immune algorithm is used to optimize new control parameters of the system and adopt the new optimization results to optimize the system simulation. The simulation result shows that the hydraulic system’s transition time controlled by the immune particle swarm algorithm is shorter than traditional ones, and the control performance is obviously improved. Finally it can be concluded that immune particle swarm PID control have these characteristics such as quickness, stability and accuracy. Applying this principle into application, the obtained YH100 numerical control servo press hydraulic control system meets the requirement.

  18. A deterministic - approach controller design for electrohydraulic position servo control system

    International Nuclear Information System (INIS)

    Johari Osman

    2000-01-01

    This paper is concerned with the design of a tracking controller for controlling electrohydraulic position servo system based on a deterministic approach. The system is treated as an uncertain system with bounded uncertainties where the bounds are assumed known. It will be shown that the electrohydraulic position servo systems with the proposed controller is practically stable and tracks the desired position in spite of the uncertainties and nonlinearities present in the system (author)

  19. Visual Servoing of Mobile Microrobot with Centralized Camera

    Directory of Open Access Journals (Sweden)

    Kiswanto Gandjar

    2018-01-01

    Full Text Available In this paper, a mechanism of visual servoing for mobile microrobot with a centralized camera is developed. Especially for the development of swarm AI applications. In the fields of microrobots the size of robots is minimal and the amount of movement is also small. By replacing various sensors that is needed with a single centralized vision sensor we can eliminate a lot of components and the need for calibration on every robot. A study and design for a visual servoing mobile microrobot has been developed. This system can use multi object tracking and hough transform to identify the positions of the robots. And can control multiple robots at once with an accuracy of 5-6 pixel from the desired target.

  20. Active Vibration Isolation Devices with Inertial Servo Actuators

    Science.gov (United States)

    Melik-Shakhnazarov, V. A.; Strelov, V. I.; Sofiyanchuk, D. V.; Tregubenko, A. A.

    2018-03-01

    The use of active vibration isolation devices (AVIDs) in aerospace engineering is subject to the following restrictions. First, the volume for installing additional devices is always limited in instrument racks and compartments. Secondly, in many cases, it is impossible to add supports for servo actuators for fundamental or design considerations. In the paper, it has been shown that this problem can be solved if the inertial servo actuators are used in AVIDs instead of reference actuators. A transfer function has been theoretically calculated for an AVID controlled by inertial actuators. It has been shown that the volume of a six-mode single-housing AVID with inertial actuators can be 2-2.5 times smaller than that of devices with support actuators.

  1. A computer-based servo system for controlling isotonic contractions of muscle.

    Science.gov (United States)

    Smith, J P; Barsotti, R J

    1993-11-01

    We have developed a computer-based servo system for controlling isotonic releases in muscle. This system is a composite of commercially available devices: an IBM personal computer, an analog-to-digital (A/D) board, an Akers AE801 force transducer, and a Cambridge Technology motor. The servo loop controlling the force clamp is generated by computer via the A/D board, using a program written in QuickBASIC 4.5. Results are shown that illustrate the ability of the system to clamp the force generated by either skinned cardiac trabeculae or single rabbit psoas fibers down to the resolution of the force transducer within 4 ms. This rate is independent of the level of activation of the tissue and the size of the load imposed during the release. The key to the effectiveness of the system consists of two algorithms that are described in detail. The first is used to calculate the error signal to hold force to the desired level. The second algorithm is used to calculate the appropriate gain of the servo for a particular fiber and the size of the desired load to be imposed. The results show that the described computer-based method for controlling isotonic releases in muscle represents a good compromise between simplicity and performance and is an alternative to the custom-built digital/analog servo devices currently being used in studies of muscle mechanics.

  2. Fluid intensifier having a double acting power chamber with interconnected signal rods

    Science.gov (United States)

    Whitehead, John C.

    2001-01-01

    A fluid driven reciprocating apparatus having a double acting power chamber with signal rods serving as high pressure pistons, or to transmit mechanical power. The signal rods are connected to a double acting piston in the power chamber thereby eliminating the need for pilot valves, with the piston being controlled by a pair of intake-exhaust valves. The signal rod includes two spaced seals along its length with a vented space therebetween so that the driving fluid and driven fluid can't mix, and performs a switching function to eliminate separate pilot valves. The intake-exhaust valves can be integrated into a single housing with the power chamber, or these valves can be built into the cylinder head only of the power chamber, or they can be separate from the power chamber.

  3. An electro-hydraulic servo control system research for CFETR blanket RH

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Changqi [Hefei University of Technology, Hefei 230009, Anhui (China); Tang, Hongjun, E-mail: taurustang@126.com [Hefei University of Technology, Hefei 230009, Anhui (China); Qi, Songsong [Hefei University of Technology, Hefei 230009, Anhui (China); Cheng, Yong; Feng, Hansheng; Peng, Xuebing; Song, Yuntao [Institute of Plasma Physics Chinese Academy of Sciences, Hefei 230031, Anhui (China)

    2014-11-15

    Highlights: • We discussed the conceptual design of CFETR blanket RH maintenance system. • The mathematical model of electro-hydraulic servo system was calculated. • A fuzzy adaptive PD controller was designed based on control theory and experience. • The co-simulation models of the system were established with AMESim/Simulink. • The fuzzy adaptive PD algorithm was designed as the core strategy of the system. - Abstract: Based on the technical design requirements of China Fusion Engineering Test Reactor (CFETR) blanket remote handling (RH) maintenance, this paper focus on the control method of achieving high synchronization accuracy of electro-hydraulic servo system. Based on fuzzy control theory and practical experience, a fuzzy adaptive proportional-derivative (PD) controller was designed. Then a more precise co-simulation model was established with AMESim/Simulink. Through the analysis of simulation results, a fuzzy adaptive PD control algorithm was designed as the core strategy of electro-hydraulic servo control system.

  4. An electro-hydraulic servo control system research for CFETR blanket RH

    International Nuclear Information System (INIS)

    Chen, Changqi; Tang, Hongjun; Qi, Songsong; Cheng, Yong; Feng, Hansheng; Peng, Xuebing; Song, Yuntao

    2014-01-01

    Highlights: • We discussed the conceptual design of CFETR blanket RH maintenance system. • The mathematical model of electro-hydraulic servo system was calculated. • A fuzzy adaptive PD controller was designed based on control theory and experience. • The co-simulation models of the system were established with AMESim/Simulink. • The fuzzy adaptive PD algorithm was designed as the core strategy of the system. - Abstract: Based on the technical design requirements of China Fusion Engineering Test Reactor (CFETR) blanket remote handling (RH) maintenance, this paper focus on the control method of achieving high synchronization accuracy of electro-hydraulic servo system. Based on fuzzy control theory and practical experience, a fuzzy adaptive proportional-derivative (PD) controller was designed. Then a more precise co-simulation model was established with AMESim/Simulink. Through the analysis of simulation results, a fuzzy adaptive PD control algorithm was designed as the core strategy of electro-hydraulic servo control system

  5. On modelling, simulation and measurement of fluid power pumps and pipelines

    International Nuclear Information System (INIS)

    Weddfelt, K.

    1992-01-01

    Pressure ripple in fluid power systems is often considered to be a nuisance. It is a major reason for vibrations and noise emission but can also cause functional problems, in extreme causes even fatigue and breakdown of pipes and connections. In order to examine this problem both the sources of pressure ripple and its transmission properties must be considered. A major source of pressure ripple in fluid power systems is positive displacement pumps, a component which is actually a source of flow ripple. A positive displacement pump can be characterized and modelled as a flow source with an internal source impedance. Special measurement techniques must be developed in order to determine these source properties experimentally. Pressure and flow ripple propagate through the pipeline of a fluid power system as waves. When the impedance of the system changes, part of the energy in the wave is being transmitted while the remaining part is reflected. Therefore, the mechanism for standing waves to occur is present, causing resonances and possibly very large pressure pulsations at certain frequencies. Destructive interference between these waves can be used to design so-called reactive attenuators, similar to an automobile muffler, which can be used to acoustically separate the source of flow ripple from the rest of the fluid power system. A mathematical model of wave transmission in pipelines is of fundamental importance to the design of acoustical sound systems. It is of equal importance when modelling and measuring the source characteristics of fluid power pumps. Such a mathematical model must include the transmission and reflection of waves as well as the frequency-dependent losses from viscous friction in the fluid. (au)

  6. Model Predictive Control of a Wave Energy Converter with Discrete Fluid Power Power Take-Off System

    Directory of Open Access Journals (Sweden)

    Anders Hedegaard Hansen

    2018-03-01

    Full Text Available Wave power extraction algorithms for wave energy converters are normally designed without taking system losses into account leading to suboptimal power extraction. In the current work, a model predictive power extraction algorithm is designed for a discretized power take of system. It is shown how the quantized nature of a discrete fluid power system may be included in a new model predictive control algorithm leading to a significant increase in the harvested power. A detailed investigation of the influence of the prediction horizon and the time step is reported. Furthermore, it is shown how the inclusion of a loss model may increase the energy output. Based on the presented results it is concluded that power extraction algorithms based on model predictive control principles are both feasible and favorable for use in a discrete fluid power power take-off system for point absorber wave energy converters.

  7. Preterm infant thermal care: differing thermal environments produced by air versus skin servo-control incubators.

    Science.gov (United States)

    Thomas, K A; Burr, R

    1999-06-01

    Incubator thermal environments produced by skin versus air servo-control were compared. Infant abdominal skin and incubator air temperatures were recorded from 18 infants in skin servo-control and 14 infants in air servo-control (26- to 29-week gestational age, 14 +/- 2 days postnatal age) for 24 hours. Differences in incubator and infant temperature, neutral thermal environment (NTE) maintenance, and infant and incubator circadian rhythm were examined using analysis of variance and scatterplots. Skin servo-control resulted in more variable air temperature, yet more stable infant temperature, and more time within the NTE. Circadian rhythm of both infant and incubator temperature differed by control mode and the relationship between incubator and infant temperature rhythms was a function of control mode. The differences between incubator control modes extend beyond temperature stability and maintenance of NTE. Circadian rhythm of incubator and infant temperatures is influenced by incubator control.

  8. DC motors and servo-motors controlled by Raspberry Pi 2B

    Directory of Open Access Journals (Sweden)

    Šustek Michal

    2017-01-01

    Full Text Available The expanding capabilities of today’s microcontrollers and other devices lead to an increased utilization of these technologies in diverse fields. The automation and issue of remote control of moving objects belong to these fields. In this project, a microcontroller Raspberry Pi 2B was chosen for controlling DC motors and servo-motors. This paper provides basic insight into issue of controlling DC motors and servo-motors, connection between Raspberry and other components on breadboard and programming syntaxes for controlling motors in Python programming language.

  9. Reducing Fatigue Loading Due to Pressure Shift in Discrete Fluid Power Force Systems

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Pedersen, Henrik Clemmensen

    2016-01-01

    power force system. The current paper investigates the correlation between pressure oscillations in the cylinder chambers and valve flow in the manifold. Furthermore, the correlation between the pressure shifting time and the pressure overshoot is investigated. The study therefore focus on how to shape......Discrete Fluid Power Force Systems is one of the topologies gaining focus in the pursuit of lowering energy losses in fluid power transmission systems. The cylinder based Fluid Power Force System considered in this article is constructed with a multi-chamber cylinder, a number of constant pressure...... oscillations in the cylinder chamber, especially for systems with long connections between the cylinder and the valve manifold. Hose pressure oscillations will induce oscillations in the produced piston force. Hence, pressure oscillations may increase the fatigue loading on systems employing a discrete fluid...

  10. Application of prediction of equilibrium to servo-controlled calorimetry measurements

    International Nuclear Information System (INIS)

    Mayer, R.L. II

    1987-01-01

    Research was performed to develop an endpoint prediction algorithm for use with calorimeters operating in the digital servo-controlled mode. The purpose of this work was to reduce calorimetry measurement times while maintaining the high degree of precision and low bias expected from calorimetry measurements. Data from routine operation of two calorimeters were used to test predictive models at each stage of development against time savings, precision, and robustness criteria. The results of the study indicated that calorimetry measurement times can be significantly reduced using this technique. The time savings is, however, dependent on parameters in the digital servo-control algorithm and on packaging characteristics of measured items

  11. Development of BLDC Electric Motor Control System In Hydraulic Servo Drive Based on Variable Hydrostatic Transmission

    Directory of Open Access Journals (Sweden)

    O. I. Tarasov

    2014-01-01

    Full Text Available Modern robotic systems require the use of servo drives. Owing to encoder and negative feedback these drives ensure highly accurate motion parameters. In case of autonomous systems drives must also have high power characteristics. Moreover, in most cases, it was impossible to select the motor so that the speed and torque on its shaft were in compliance with those of required by the actuator. To match these parameters different types of reducers are used. The article justifies and considers a selection criterion of the gear ratios for such transmission. For clarity, there is an example of selecting a motor and a gear for above transmission, taking into account the proposed criterion. In addition, the article discusses the advantages of using hydrostatic transmission in the drive, which monitors the angular position of the output level, in comparison with a mechanical gearbox. Due to the fact that, at the moment, BLDC motors have the best power characteristics, such a servo drive requires a special control system that will take into account the features of variable hydrostatic transmission and electric BLDC motor. Therefore, the paper proposes a structure of such a system and set out the principles of its construction. Various embodiments of sensor types that may be used in this system and their installation scheme explained.

  12. Fault Diagnosis of Hydraulic Servo Valve Based on Genetic Optimization RBF-BP Neural Network

    Directory of Open Access Journals (Sweden)

    Li-Ping FAN

    2014-04-01

    Full Text Available Electro-hydraulic servo valves are core components of the hydraulic servo system of rolling mills. It is necessary to adopt an effective fault diagnosis method to keep the hydraulic servo valve in a good work state. In this paper, RBF and BP neural network are integrated effectively to build a double hidden layers RBF-BP neural network for fault diagnosis. In the process of training the neural network, genetic algorithm (GA is used to initialize and optimize the connection weights and thresholds of the network. Several typical fault states are detected by the constructed GA-optimized fault diagnosis scheme. Simulation results shown that the proposed fault diagnosis scheme can give satisfactory effect.

  13. A Modelling Approach to Multibody Dynamics of Fluid Power Machinery with Hydrodynamic Lubrication

    DEFF Research Database (Denmark)

    Johansen, Per; Rømer, Daniel; Andersen, Torben Ole

    2013-01-01

    The efficiency potential of the digital displacement technology and the increasing interest in hydraulic transmissions in wind and wave energy applications has created an incentive for development of high efficiency fluid power machinery. Modelling and analysis of fluid power machinery loss...... mechanisms is necessary in order to accommodate this demand. At present fully coupled thermo-elastic models for various tribological interfaces has been presented. However, in order to analyse the interaction between tribological interfaces in fluid power pumps and motors, these interface models needs...

  14. Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

    International Nuclear Information System (INIS)

    Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

    2015-01-01

    A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

  15. Power cycles with ammonia-water mixtures as working fluid

    Energy Technology Data Exchange (ETDEWEB)

    Thorin, Eva

    2000-05-01

    It is of great interest to improve the efficiency of power generating processes, i.e. to convert more of the energy in the heat source to power. This is favorable from an environmental point of view and can also be an economic advantage. To use an ammonia-water mixture instead of water as working fluid is a possible way to improve the efficiency of steam turbine processes. This thesis includes studies of power cycles with ammonia-water mixtures as working fluid utilizing different kinds of heat sources for power and heat generation. The thermophysical properties of the mixture are also studied. They play an important role in the calculations of the process performance and for the design of its components, such as heat exchangers. The studies concern thermodynamic simulations of processes in applications suitable for Swedish conditions. Available correlations for the thermophysical properties are compared and their influence on simulations and heat exchanger area predictions is investigated. Measurements of ammonia-water mixture viscosities using a vibrating wire viscometer are also described. The studies performed show that power cycles with ammonia-water mixtures as the working fluid are well suited for utilization of waste heat from industry and from gas engines. The ammonia-water power cycles can give up to 32 % more power in the industrial waste heat application and up to 54 % more power in the gas engine bottoming cycle application compared to a conventional Rankine steam cycle. However, ammonia-water power cycles in small direct-fired biomass-fueled cogeneration plants do not show better performance than a conventional Rankine steam cycle. When different correlations for the thermodynamic properties are used in simulations of a simple ammonia-water power cycle the difference in efficiency is not larger than 4 %, corresponding to about 1.3 percentage points. The differences in saturation properties between the correlations are, however, considerable at high

  16. High-potential Working Fluids for Next Generation Binary Cycle Geothermal Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Zia, Jalal [GE Global Research; Sevincer, Edip; Chen, Huijuan; Hardy, Ajilli; Wickersham, Paul; Kalra, Chiranjeev; Laursen, Anna Lis; Vandeputte, Thomas

    2013-06-29

    A thermo-economic model has been built and validated for prediction of project economics of Enhanced Geothermal Projects. The thermo-economic model calculates and iteratively optimizes the LCOE (levelized cost of electricity) for a prospective EGS (Enhanced Geothermal) site. It takes into account the local subsurface temperature gradient, the cost of drilling and reservoir creation, stimulation and power plant configuration. It calculates and optimizes the power plant configuration vs. well depth. Thus outputs from the model include optimal well depth and power plant configuration for the lowest LCOE. The main focus of this final report was to experimentally validate the thermodynamic properties that formed the basis of the thermo-economic model built in Phase 2, and thus build confidence that the predictions of the model could be used reliably for process downselection and preliminary design at a given set of geothermal (and/or waste heat) boundary conditions. The fluid and cycle downselected was based on a new proprietary fluid from a vendor in a supercritical ORC cycle at a resource condition of 200°C inlet temperature. The team devised and executed a series of experiments to prove the suitability of the new fluid in realistic ORC cycle conditions. Furthermore, the team performed a preliminary design study for a MW-scale turbo expander that would be used for a supercritical ORC cycle with this new fluid. The following summarizes the main findings in the investigative campaign that was undertaken: 1. Chemical compatibility of the new fluid with common seal/gasket/Oring materials was found to be problematic. Neoprene, Viton, and silicone materials were found to be incompatible, suffering chemical decomposition, swelling and/or compression set issues. Of the materials tested, only TEFLON was found to be compatible under actual ORC temperature and pressure conditions. 2. Thermal stability of the new fluid at 200°C and 40 bar was found to be acceptable after 399

  17. Fusing Simulation Results From Multifidelity Aero-servo-elastic Simulators - Application To Extreme Loads On Wind Turbine

    DEFF Research Database (Denmark)

    Abdallah, Imad; Sudret, Bruno; Lataniotis, Christos

    2015-01-01

    Fusing predictions from multiple simulators in the early stages of the conceptual design of a wind turbine results in reduction in model uncertainty and risk mitigation. Aero-servo-elastic is a term that refers to the coupling of wind inflow, aerodynamics, structural dynamics and controls. Fusing...... the response data from multiple aero-servo-elastic simulators could provide better predictive ability than using any single simulator. The co-Kriging approach to fuse information from multifidelity aero-servo-elastic simulators is presented. We illustrate the co-Kriging approach to fuse the extreme flapwise...... bending moment at the blade root of a large wind turbine as a function of wind speed, turbulence and shear exponent in the presence of model uncertainty and non-stationary noise in the output. The extreme responses are obtained by two widely accepted numerical aero-servo-elastic simulators, FAST...

  18. Analysis and Design of Double-sided Air core Linear Servo Motor with Trapezoidal Permanent Magnets

    DEFF Research Database (Denmark)

    Zhang, Yuqiu; Yang, Zilong; Yu, Minghu

    2011-01-01

    In order to reduce the thrust ripple of linear servo system, a double-sided air core permanent magnet linear servo motor with trapezoidal shape permanent magnets (TDAPMLSM) is proposed in this paper. An analytical model of the motor for predicting the magnetic field in the air-gap at no...

  19. Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    Huangsheng Xie

    2014-01-01

    Full Text Available This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

  20. Visual servo control for a human-following robot

    CSIR Research Space (South Africa)

    Burke, Michael G

    2011-03-01

    Full Text Available This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control...

  1. Present State and Future Developments in Mechatronics and it's Influence on Fluid Power Systems

    DEFF Research Database (Denmark)

    Christensen, Georg Kronborg; Zhou, Jianjun; Conrad, Finn

    1998-01-01

    with electronics, software and mechanics. This synergetic integration is often called Mechatronics.The topic which is rather widespread will be treated in three sections: I) General overview of mechatronics and fluid power. In this section the general trends of mechatronics in fluid power is considered by relating...... trends in the neighbouring fields of software and electronic hardware to fluid power developments. II) Mechatronic case stories from IKS In this section the results of a conceptual design study : "Design of a frequency converter based hydraulic power supply" is presented together with a more detailed...

  2. Application of IFT and SPSA to servo system control.

    Science.gov (United States)

    Rădac, Mircea-Bogdan; Precup, Radu-Emil; Petriu, Emil M; Preitl, Stefan

    2011-12-01

    This paper treats the application of two data-based model-free gradient-based stochastic optimization techniques, i.e., iterative feedback tuning (IFT) and simultaneous perturbation stochastic approximation (SPSA), to servo system control. The representative case of controlled processes modeled by second-order systems with an integral component is discussed. New IFT and SPSA algorithms are suggested to tune the parameters of the state feedback controllers with an integrator in the linear-quadratic-Gaussian (LQG) problem formulation. An implementation case study concerning the LQG-based design of an angular position controller for a direct current servo system laboratory equipment is included to highlight the pros and cons of IFT and SPSA from an application's point of view. The comparison of IFT and SPSA algorithms is focused on an insight into their implementation.

  3. The thermodynamic cycle models for geothermal power plants by considering the working fluid characteristic

    Science.gov (United States)

    Mulyana, Cukup; Adiprana, Reza; Saad, Aswad H.; M. Ridwan, H.; Muhammad, Fajar

    2016-02-01

    The scarcity of fossil energy accelerates the development of geothermal power plant in Indonesia. The main issue is how to minimize the energy loss from the geothermal working fluid so that the power generated can be increased. In some of geothermal power plant, the hot water which is resulted from flashing is flown to injection well, and steam out from turbine is condensed in condenser, while the temperature and pressure of the working fluid is still high. The aim of this research is how the waste energy can be re-used as energy source to generate electric power. The step of the research is started by studying the characteristics of geothermal fluid out from the well head. The temperature of fluid varies from 140°C - 250°C, the pressure is more than 7 bar and the fluid phase are liquid, gas, or mixing phase. Dry steam power plant is selected for vapor dominated source, single or multiple flash power plant is used for dominated water with temperature > 225°C, while the binary power plant is used for low temperature of fluid enthalpy, the calculated power of these double and triple flash power plant are 50% of W1+W2. At the last step, the steam out from the turbine of unit 3 with the temperature 150°C is used as a heat source for binary cycle power plant named unit 4, while the hot water from the flasher is used as a heat source for the other binary cycle named unit 5 resulted power W5+W6 or 15% of W1+W2. Using this integrated model the power increased 75% from the original one.

  4. Application of prediction of equilibrium to servo-controlled calorimetry measurements

    International Nuclear Information System (INIS)

    Mayer, R.L. II.

    1987-01-01

    Research was performed to develop an endpoint prediction algorithm for use with calorimeters operating in the digital servo-controlled mode. The purpose of this work was to reduce calorimetry measurement times while maintaining the high degree of precision and low bias expected from calorimetry measurements. Data from routine operation of two calorimeters were used to test predictive models at each stage of development against time savings, precision, and robustness criteria. The results of the study indicated that calorimetry measurement times can be significantly reduced using this technique. The time savings is, however, dependent on parameters in the digital servo-control algorithm and on packaging characteristics of measured items. 7 refs., 4 figs., 1 tab

  5. A New Servo Control Drive for Electro Discharge Texturing System Industrial Applications Using Ultrasonic Technology

    Directory of Open Access Journals (Sweden)

    M. Shafik

    2013-07-01

    Full Text Available This paper presents a new ultrasonic servo control drive for electro discharge texturing system industrial applications. The new drive is aiming to overcome the current teething issues of the existing electro discharge texturing system, servo control drive level of precision, processing stability, dynamic response and surface profile of the machined products. The new ultrasonic servo control drive consists of three main apparatuses, an ultrasonic motor, electronic driver and control unit. The ultrasonic motor consists of three main parts, the stator, rotor and sliding element. The motor design process, basic configuration, principles of motion, finite element analysis and experimental examination of the main characteristics is discussed in this paper. The electronic driver of the motor consists of two main stages which are the booster and piezoelectric amplifier. The experimental test and validation of the developed servo control drive in electro discharge texturing platform is also discussed and presented in this paper. The initial results showed that the ultrasonic servo control drive is able to provide: a bidirectional of motion, a resolution of <50μm and a dynamic response of <10msec. The electron microscopic micro examination into the textured samples showed that: a clear improvement in machining stability, products surface profile, a notable reduction in the processing time, arcing and short-circuiting teething phenomena.

  6. Visual-servoing optical microscopy

    Science.gov (United States)

    Callahan, Daniel E.; Parvin, Bahram

    2009-06-09

    The present invention provides methods and devices for the knowledge-based discovery and optimization of differences between cell types. In particular, the present invention provides visual servoing optical microscopy, as well as analysis methods. The present invention provides means for the close monitoring of hundreds of individual, living cells over time: quantification of dynamic physiological responses in multiple channels; real-time digital image segmentation and analysis; intelligent, repetitive computer-applied cell stress and cell stimulation; and the ability to return to the same field of cells for long-term studies and observation. The present invention further provides means to optimize culture conditions for specific subpopulations of cells.

  7. Forming of AHSS using Servo-Presses

    Science.gov (United States)

    Groseclose, Adam Richard

    Stamping of Advanced High Strength Steel (AHSS) alloys poses several challenges due to the material's higher strength and low formability compared to conventional steels and other problems such as (a) inconsistency of incoming material properties, (b) ductile fracture during forming, (c) higher contact pressure and temperature rise during forming, (d) higher die wear leading to reduced tool life, (e) higher forming load/press capacity, and (f) large springback leading to dimensional inaccuracy in the formed part. [Palaniswamy et. al., 2007]. The use of AHSS has been increasing steadily in automotive stamping. New AHSS alloys (TRIP, TWIP) may replace some of the Hot Stamping applications. Stamping of AHSS alloys, especially higher strength materials, 780 MPa and higher, present new challenges in obtaining good part definition (corner and fillet radii), formability (fracture and resulting scrap) and in reducing springback. Servo-drive presses, having the capability to have infinitely variable and adjustable ram speed and dwell at BDC, offer a potential improvement in quality, part definition, and springback reduction especially when the infinitely adjustable slide motion is used in combination with a CNC hydraulic cushion. Thus, it is desirable to establish a scientific/engineering basis for improving the stamping conditions in forming AHSS using a servo-drive press.

  8. Viscous-elastic dynamics of power-law fluids within an elastic cylinder

    Science.gov (United States)

    Boyko, Evgeniy; Bercovici, Moran; Gat, Amir D.

    2017-07-01

    In a wide range of applications, microfluidic channels are implemented in soft substrates. In such configurations, where fluidic inertia and compressibility are negligible, the propagation of fluids in channels is governed by a balance between fluid viscosity and elasticity of the surrounding solid. The viscous-elastic interactions between elastic substrates and non-Newtonian fluids are particularly of interest due to the dependence of viscosity on the state of the system. In this work, we study the fluid-structure interaction dynamics between an incompressible non-Newtonian fluid and a slender linearly elastic cylinder under the creeping flow regime. Considering power-law fluids and applying the thin shell approximation for the elastic cylinder, we obtain a nonhomogeneous p-Laplacian equation governing the viscous-elastic dynamics. We present exact solutions for the pressure and deformation fields for various initial and boundary conditions for both shear-thinning and shear-thickening fluids. We show that in contrast to Stokes' problem where a compactly supported front is obtained for shear-thickening fluids, here the role of viscosity is inversed and such fronts are obtained for shear-thinning fluids. Furthermore, we demonstrate that for the case of a step in inlet pressure, the propagation rate of the front has a tn/n +1 dependence on time (t ), suggesting the ability to indirectly measure the power-law index (n ) of shear-thinning liquids through measurements of elastic deformation.

  9. Avoidance of Pressure Oscillations in Discrete Fluid Power Systems with Transmission Lines - An Analytical Approach

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Pedersen, Henrik C.

    2014-01-01

    Discrete fluid power technology attracts great attention because it enables energy efficiency and robust system architectures. However, the discrete nature of this technology naturally brings shifting phenomenons into the picture. For fluid power system the relative high inductance of fluid...

  10. Controller Development for a Separate Meter-In Separate Meter-Out Fluid Power Valve for Mobile Applications

    OpenAIRE

    Nielsen, Brian

    2005-01-01

    In most mobile vehicles which are used within construction, agriculture, material handling, forestry, garbage handling etc. a fluid power system is used for power transport and power distribution. The transported/distributed power is usually generated by a diesel engine or from an electrical battery. The largest advantages of the fluid power system are its high energy density and its robustness. Currently there is no cost effective and robust alternative to using a fluid power system for the ...

  11. Towards an Aero-Propulso-Servo-Elasticity Analysis of a Commercial Supersonic Transport

    Science.gov (United States)

    Connolly, Joseph W.; Kopasakis, George; Chwalowski, Pawel; Sanetrik, Mark D.; Carlson, Jan-Renee; Silva, Walt A.; McNamara, Jack

    2016-01-01

    This paper covers the development of an aero-propulso-servo-elastic (APSE) model using computational fluid dynamics (CFD) and linear structural deformations. The APSE model provides the integration of the following two previously developed nonlinear dynamic simulations: a variable cycle turbofan engine and an elastic supersonic commercial transport vehicle. The primary focus of this study is to provide a means to include relevant dynamics of a turbomachinery propulsion system into the aeroelastic studies conducted during a vehicle design, which have historically neglected propulsion effects. A high fidelity CFD tool is used here for the integration platform. The elastic vehicle neglecting the propulsion system serves as a comparison of traditional approaches to the APSE results. An overview of the methodology is presented for integrating the propulsion system and elastic vehicle. Static aeroelastic analysis comparisons between the traditional and developed APSE models for a wing tip detection indicate that the propulsion system impact on the vehicle elastic response could increase the detection by approximately ten percent.

  12. Research on intelligent algorithm of electro - hydraulic servo control system

    Science.gov (United States)

    Wang, Yannian; Zhao, Yuhui; Liu, Chengtao

    2017-09-01

    In order to adapt the nonlinear characteristics of the electro-hydraulic servo control system and the influence of complex interference in the industrial field, using a fuzzy PID switching learning algorithm is proposed and a fuzzy PID switching learning controller is designed and applied in the electro-hydraulic servo controller. The designed controller not only combines the advantages of the fuzzy control and PID control, but also introduces the learning algorithm into the switching function, which makes the learning of the three parameters in the switching function can avoid the instability of the system during the switching between the fuzzy control and PID control algorithms. It also makes the switch between these two control algorithm more smoother than that of the conventional fuzzy PID.

  13. State of the Art Review on Theoretical Tribology of Fluid Power Displacement Machines

    DEFF Research Database (Denmark)

    Cerimagic, Remzija; Johansen, Per; Andersen, Torben O.

    2016-01-01

    machines, and also the work done to validate the theoretical models. This review is not a complete historical account, but aim to describe current trends in fluid power displacement machine tribology. The review considers the rheological models used in the theoretical approaches, the modeling...... and wear mechanisms in the lubricating gaps in fluid power machines is confined to simulation models, as experimental treatments of these mechanisms are very difficult. The aim of this paper is a state of the art review on the theoretical work for the design and optimization of fluid power displacement...... of elastohydrodynamic effects, the modeling of thermal effects, and finally the experimental validation of the theoretical models....

  14. Analysis of thermal cycles and working fluids for power generation in space

    International Nuclear Information System (INIS)

    Tarlecki, Jason; Lior, Noam; Zhang Na

    2007-01-01

    Production of power in space for terrestrial use is of great interest in view of the rapidly rising power demand and its environmental impacts. Space also offers a very low temperature, making it a perfect heat sink for power plants, thus offering much higher efficiencies. This paper focuses on the evaluation and analysis of thermal Brayton, Ericsson and Rankine power cycles operating at space conditions on several appropriate working fluids. Under the examined conditions, the thermal efficiency of Brayton cycles reaches 63%, Ericsson 74%, and Rankine 85%. These efficiencies are significantly higher than those for the computed or real terrestrial cycles: by up to 45% for the Brayton, and 17% for the Ericsson; remarkably 44% for the Rankine cycle even when compared with the best terrestrial combined cycles. From the considered working fluids, the diatomic gases (N 2 and H 2 ) produce somewhat better efficiencies than the monatomic ones in the Brayton and Rankine cycles. The Rankine cycles require radiator areas that are larger by up to two orders of magnitude than those required for the Brayton and Ericsson cycles. The results of the analysis of the sensitivity of the cycle performance parameters to major parameters such as turbine inlet temperature and pressure ratio are presented, equations or examining the effects of fluid properties on the radiator area and pressure drop were developed, and the effects of the working fluid properties on cycle efficiency and on the power production per unit radiator area were explored to allow decisions on the optimal choice of working fluids

  15. MA-23-6000: underwater bilateral servo master slave manipulator

    International Nuclear Information System (INIS)

    Vertut, Jean

    The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr

  16. Cloud-based Networked Visual Servo Control

    OpenAIRE

    Wu, Haiyan; Lu, Lei; Chen, Chih-Chung; Hirche, Sandra; Kühnlenz, Kolja

    2013-01-01

    The performance of vision-based control systems, in particular of highly dynamic vision-based motion control systems, is often limited by the low sampling rate of the visual feedback caused by the long image processing time. In order to overcome this problem, the networked visual servo control, which integrates networked computational resources for cloud image processing, is considered in this article. The main contributions of this article are i) a real-time transport protocol for transmitti...

  17. Analysis of the jet pipe electro-hydraulic servo valve with finite element methods

    Directory of Open Access Journals (Sweden)

    Kaiyu Zhao

    2018-01-01

    Full Text Available The dynamic characteristics analysis about the jet pipe electro-hydraulic servo valve based on experience and mathematical derivation was difficult and not so precise. So we have analysed the armature feedback components, torque motor and jet pipe receiver in electrohydraulic servo valve by sophisticated finite element analysis tools respectively and have got physical meaning data on these parts. Then the data were fitted by Matlab and the mathematical relationships among them were calculated. We have done the dynamic multi-physical fields’ Simulink co-simulation using above mathematical relationship, and have got the input-output relationship of the overall valve, the frequency response and step response. This work can show the actual working condition accurately. At the same time, we have considered the materials and the impact of the critical design dimensions in the finite element analysis process. It provides some new ideas to the overall design of jet pipe electro-hydraulic servo valve.

  18. Evaluating transient performance of servo mechanisms by analysing stator current of PMSM

    Science.gov (United States)

    Zhang, Qing; Tan, Luyao; Xu, Guanghua

    2018-02-01

    Smooth running and rapid response are the desired performance goals for the transient motions of servo mechanisms. Because of the uncertain and unobservable transient behaviour of servo mechanisms, it is difficult to evaluate their transient performance. Under the effects of electromechanical coupling, the stator current signals of a permanent-magnet synchronous motor (PMSM) potentially contain the performance information regarding servo mechanisms in use. In this paper, a novel method based on analysing the stator current of the PMSM is proposed for quantifying the transient performance. First, a vector control model is constructed to simulate the stator current behaviour in the transient processes of consecutive speed changes, consecutive load changes, and intermittent start-stops. It is discovered that the amplitude and frequency of the stator current are modulated by the transient load torque and motor speed, respectively. The stator currents under different performance conditions are also simulated and compared. Then, the stator current is processed using a local means decomposition (LMD) algorithm to extract the instantaneous amplitude and instantaneous frequency. The sample entropy of the instantaneous amplitude, which reflects the complexity of the load torque variation, is calculated as a performance indicator of smooth running. The peak-to-peak value of the instantaneous frequency, which defines the range of the motor speed variation, is set as a performance indicator of rapid response. The proposed method is applied to both simulated data in an intermittent start-stops process and experimental data measured for a batch of servo turrets for turning lathes. The results show that the performance evaluations agree with the actual performance.

  19. Active control of residual tool marks for freeform optics functionalization by novel biaxial servo assisted fly cutting.

    Science.gov (United States)

    Zhu, Zhiwei; To, Suet; Zhang, Shaojian

    2015-09-01

    The inherent residual tool marks (RTM) with particular patterns highly affect optical functions of the generated freeform optics in fast tool servo or slow tool servo (FTS/STS) diamond turning. In the present study, a novel biaxial servo assisted fly cutting (BSFC) method is developed for flexible control of the RTM to be a functional micro/nanotexture in freeform optics generation, which is generally hard to achieve in FTS/STS diamond turning. In the BSFC system, biaxial servo motions along the z-axis and side-feeding directions are mainly adopted for primary surface generation and RTM control, respectively. Active control of the RTM from the two aspects, namely, undesired effect elimination or effective functionalization, are experimentally demonstrated by fabricating a typical F-theta freeform surface with scattering homogenization and two functional microstructures with imposition of secondary phase gratings integrating both reflective and diffractive functions.

  20. Robustness-tracking control based on sliding mode and H∞ theory for linear servo system

    Institute of Scientific and Technical Information of China (English)

    TIAN Yan-feng; GUO Qing-ding

    2005-01-01

    A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.

  1. Development of friction welding method by electric servo motors; Dendo servo shiki masatsu assetsuho no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Suzuki, H; Onuma, M; Hasegawa, T; Sakamoto, T [Toyota Motor Corp., Aichi (Japan)

    1997-10-01

    The standard friction welding has two methods; the brake method and the inertia method. We have developed a new friction welding method with the electric servo motor system. The forming of plastic fluidity layers of interface is evaluated quantitatively with the feedback control characteristics. The new method has enabled to reduce the heat effect and the burr of friction welding. In the method, we could reduce the getting heat energy, from one-third to half less than the previous methods. 6 refs., 16 figs.

  2. Fuzzy control of small servo motors

    Science.gov (United States)

    Maor, Ron; Jani, Yashvant

    1993-01-01

    To explore the benefits of fuzzy logic and understand the differences between the classical control methods and fuzzy control methods, the Togai InfraLogic applications engineering staff developed and implemented a motor control system for small servo motors. The motor assembly for testing the fuzzy and conventional controllers consist of servo motor RA13M and an encoder with a range of 4096 counts. An interface card was designed and fabricated to interface the motor assembly and encoder to an IBM PC. The fuzzy logic based motor controller was developed using the TILShell and Fuzzy C Development System on an IBM PC. A Proportional-Derivative (PD) type conventional controller was also developed and implemented in the IBM PC to compare the performance with the fuzzy controller. Test cases were defined to include step inputs of 90 and 180 degrees rotation, sine and square wave profiles in 5 to 20 hertz frequency range, as well as ramp inputs. In this paper we describe our approach to develop a fuzzy as well as PH controller, provide details of hardware set-up and test cases, and discuss the performance results. In comparison, the fuzzy logic based controller handles the non-linearities of the motor assembly very well and provides excellent control over a broad range of parameters. Fuzzy technology, as indicated by our results, possesses inherent adaptive features.

  3. Power-law Decay and the Ergodic-Nonergodic Transition in Simple Fluids

    OpenAIRE

    Spyridis, Paul; Mazenko, Gene F.

    2013-01-01

    It is well known that mode coupling theory (MCT) leads to a two step power-law time decay in dense simple fluids. We show that much of the mathematical machinery used in the MCT analysis can be taken over to the analysis of the systematic theory developed in the Fundamental Theory of Statistical Particle Dynamics (arXiv:0905.4904). We show how the power-law exponents can be computed in the second-order approximation where we treat hard-sphere fluids with statics described by the Percus-Yevick...

  4. Robust and Stable Disturbance Observer of Servo System for Low-Speed Operation

    DEFF Research Database (Denmark)

    Lee, Kyo Beum; Blaabjerg, Frede

    2007-01-01

    A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The speed estimation scheme in most servo drive systems for low-speed operation is sensitive to the variation of machine parameter, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Network (RBFN) is applied. A control law for stabilizing the system and adaptive laws for updating both of the weights in the RBFN and a bounding constant are established so that the whole closed-loop system is stable...

  5. Performance Improvement of Servo Machine Low Speed Operation Using RBFN Disturbance Observer

    DEFF Research Database (Denmark)

    Lee, Kyo-Beum; Blaabjerg, Frede

    2004-01-01

    A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The typical speed estimation scheme in most servo system for low speed operation is sensitive to the variation of machine parameters, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Networks (RBFN) is applied. The effectiveness of the proposed inertia estimation method is verified by experiments. It is concluded that the speed control performance in the low speed region is improved with the proposed...

  6. The research on algorithms for optoelectronic tracking servo control systems

    Science.gov (United States)

    Zhu, Qi-Hai; Zhao, Chang-Ming; Zhu, Zheng; Li, Kun

    2016-10-01

    The photoelectric servo control system based on PC controllers is mainly used to control the speed and position of the load. This paper analyzed the mathematical modeling and the system identification of the servo system. In the aspect of the control algorithm, the IP regulator, the fuzzy PID, the Active Disturbance Rejection Control (ADRC) and the adaptive algorithms were compared and analyzed. The PI-P control algorithm was proposed in this paper, which not only has the advantages of the PI regulator that can be quickly saturated, but also overcomes the shortcomings of the IP regulator. The control system has a good starting performance and the anti-load ability in a wide range. Experimental results show that the system has good performance under the guarantee of the PI-P control algorithm.

  7. Modeling, simulation, and identification of the servo pumps

    Energy Technology Data Exchange (ETDEWEB)

    Negoita, C G; Vasiliu, D; Vasiliu, Ne; Calinoiu, C, E-mail: claudia.negoita@gmail.co [Faculty of Power Engineering, University POLITEHNICA of Bucharest 313, Splaiul Independentei, Bucharest, 060042 (Romania)

    2010-08-15

    This paper contains the results of a systematic research on the steady-state behavior, and the transients occurring in a basic hydrostatic system containing a servo pump. The optimum structure of such a device working in given condition is found step by step, the synthesis stages are alternating with the analysis ones, in order to establish some general synthesis criteria, as well as for creating some images of the design parameters influence on the real system dynamic behavior. The dynamic computation of the servo pumps is based on the experimental researches carried out by the authors on the control force of the variable displacement axial piston pumps. The analysis takes into account the pressure feedback, the rigid or spring mechanical feedback or the electrical position feedback. The theoretical models are developed by AMESim (Advanced Modeling and Simulation Environment for Systems Engineering). The experimental tests were performed by the aid of LabVIEW software from National Instruments Corporation in the frame of a national certified laboratory set up by the aid of Parker Hannifin Corporation.

  8. Control-structure interaction in precision pointing servo loops

    Science.gov (United States)

    Spanos, John T.

    1989-01-01

    The control-structure interaction problem is addressed via stability analysis of a generic linear servo loop model. With the plant described by the rigid body mode and a single elastic mode, structural flexibility is categorized into one of three types: (1) appendage, (2) in-the-loop minimum phase, and (3) in-the-loop nonminimum phase. Closing the loop with proportional-derivative (PD) control action and introducing sensor roll-off dynamics in the feedback path, stability conditions are obtained. Trade studies are conducted with modal frequency, modal participation, modal damping, loop bandwidth, and sensor bandwidth treated as free parameters. Results indicate that appendage modes are most likely to produce instability if they are near the sensor rolloff, whereas in-the-loop modes are most dangerous near the loop bandwidth. The main goal of this paper is to provide a fundamental understanding of the control-structure interaction problem so that it may benefit the design of complex spacecraft and pointing system servo loops. In this framework, the JPL Pathfinder gimbal pointer is considered as an example.

  9. Visual servoing in medical robotics: a survey. Part I: endoscopic and direct vision imaging - techniques and applications.

    Science.gov (United States)

    Azizian, Mahdi; Khoshnam, Mahta; Najmaei, Nima; Patel, Rajni V

    2014-09-01

    Intra-operative imaging is widely used to provide visual feedback to a clinician when he/she performs a procedure. In visual servoing, surgical instruments and parts of tissue/body are tracked by processing the acquired images. This information is then used within a control loop to manoeuvre a robotic manipulator during a procedure. A comprehensive search of electronic databases was completed for the period 2000-2013 to provide a survey of the visual servoing applications in medical robotics. The focus is on medical applications where image-based tracking is used for closed-loop control of a robotic system. Detailed classification and comparative study of various contributions in visual servoing using endoscopic or direct visual images are presented and summarized in tables and diagrams. The main challenges in using visual servoing for medical robotic applications are identified and potential future directions are suggested. 'Supervised automation of medical robotics' is found to be a major trend in this field. Copyright © 2013 John Wiley & Sons, Ltd.

  10. Adaptive fuzzy PID control of hydraulic servo control system for large axial flow compressor

    Science.gov (United States)

    Wang, Yannian; Wu, Peizhi; Liu, Chengtao

    2017-09-01

    To improve the stability of the large axial compressor, an efficient and special intelligent hydraulic servo control system is designed and implemented. The adaptive fuzzy PID control algorithm is used to control the position of the hydraulic servo cylinder steadily, which overcomes the drawback that the PID parameters should be adjusted based on the different applications. The simulation and the test results show that the system has a better dynamic property and a stable state performance.

  11. Methods and models for accelerating dynamic simulation of fluid power circuits

    Energy Technology Data Exchange (ETDEWEB)

    Aaman, R.

    2011-07-01

    The objective of this dissertation is to improve the dynamic simulation of fluid power circuits. A fluid power circuit is a typical way to implement power transmission in mobile working machines, e.g. cranes, excavators etc. Dynamic simulation is an essential tool in developing controllability and energy-efficient solutions for mobile machines. Efficient dynamic simulation is the basic requirement for the real-time simulation. In the real-time simulation of fluid power circuits there exist numerical problems due to the software and methods used for modelling and integration. A simulation model of a fluid power circuit is typically created using differential and algebraic equations. Efficient numerical methods are required since differential equations must be solved in real time. Unfortunately, simulation software packages offer only a limited selection of numerical solvers. Numerical problems cause noise to the results, which in many cases leads the simulation run to fail. Mathematically the fluid power circuit models are stiff systems of ordinary differential equations. Numerical solution of the stiff systems can be improved by two alternative approaches. The first is to develop numerical solvers suitable for solving stiff systems. The second is to decrease the model stiffness itself by introducing models and algorithms that either decrease the highest eigenvalues or neglect them by introducing steady-state solutions of the stiff parts of the models. The thesis proposes novel methods using the latter approach. The study aims to develop practical methods usable in dynamic simulation of fluid power circuits using explicit fixed-step integration algorithms. In this thesis, two mechanisms which make the system stiff are studied. These are the pressure drop approaching zero in the turbulent orifice model and the volume approaching zero in the equation of pressure build-up. These are the critical areas to which alternative methods for modelling and numerical simulation

  12. Prospects of the use of nanofluids as working fluids for organic Rankine cycle power systems

    DEFF Research Database (Denmark)

    Mondejar, Maria E.; Andreasen, Jesper G.; Regidor, Maria

    2017-01-01

    The search of novel working fluids for organic Rankine cycle power systems is driven by the recent regulations imposing additional phase-out schedules for substances with adverse environmental characteristics. Recently, nanofluids (i.e. colloidal suspensions of nanoparticles in fluids) have been...... suggested as potential working fluids for organic Rankine cycle power systems due to their enhanced thermal properties, potentially giving advantages with respect to the design of the components and the cycle performance. Nevertheless, a number of challenges concerning the use of nanofluids must...... the prospects of using nanofluids as working fluids for organic Rankine cycle power systems. As a preliminary study, nanofluids consisting of a homogenous and stable mixture of different nanoparticles types and a selected organic fluid are simulated on a case study organic Rankine cycle unit for waste heat...

  13. Servo-Drive Amplifier for Micro-Satellite Superconductor-Levitated Flywheels, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — A new servo-drive technology is available to support energy storage and navigation for micro-satellites. Exploiting the ?pinning? effect of high-temperature...

  14. Adaptive Neural Network Control for Nonlinear Hydraulic Servo-System with Time-Varying State Constraints

    Directory of Open Access Journals (Sweden)

    Shu-Min Lu

    2017-01-01

    Full Text Available An adaptive neural network control problem is addressed for a class of nonlinear hydraulic servo-systems with time-varying state constraints. In view of the low precision problem of the traditional hydraulic servo-system which is caused by the tracking errors surpassing appropriate bound, the previous works have shown that the constraint for the system is a good way to solve the low precision problem. Meanwhile, compared with constant constraints, the time-varying state constraints are more general in the actual systems. Therefore, when the states of the system are forced to obey bounded time-varying constraint conditions, the high precision tracking performance of the system can be easily realized. In order to achieve this goal, the time-varying barrier Lyapunov function (TVBLF is used to prevent the states from violating time-varying constraints. By the backstepping design, the adaptive controller will be obtained. A radial basis function neural network (RBFNN is used to estimate the uncertainties. Based on analyzing the stability of the hydraulic servo-system, we show that the error signals are bounded in the compacts sets; the time-varying state constrains are never violated and all singles of the hydraulic servo-system are bounded. The simulation and experimental results show that the tracking accuracy of system is improved and the controller has fast tracking ability and strong robustness.

  15. Analytical Solution of Unsteady Gravity Flows of A Power-Law Fluid ...

    African Journals Online (AJOL)

    We present an analytical study of unsteady non-linear rheological effects of a power-law fluid under gravity. The fluid flows through a porous medium. The governing equations are derived and similarity solutions are determined. The results show the existence of traveling waves. It is assumed that the viscosity is temperature ...

  16. Application of simple adaptive control to water hydraulic servo cylinder system

    Science.gov (United States)

    Ito, Kazuhisa; Yamada, Tsuyoshi; Ikeo, Shigeru; Takahashi, Koji

    2012-09-01

    Although conventional model reference adaptive control (MRAC) achieves good tracking performance for cylinder control, the controller structure is much more complicated and has less robustness to disturbance in real applications. This paper discusses the use of simple adaptive control (SAC) for positioning a water hydraulic servo cylinder system. Compared with MRAC, SAC has a simpler and lower order structure, i.e., higher feasibility. The control performance of SAC is examined and evaluated on a water hydraulic servo cylinder system. With the recent increased concerns over global environmental problems, the water hydraulic technique using pure tap water as a pressure medium has become a new drive source comparable to electric, oil hydraulic, and pneumatic drive systems. This technique is also preferred because of its high power density, high safety against fire hazards in production plants, and easy availability. However, the main problems for precise control in a water hydraulic system are steady state errors and overshoot due to its large friction torque and considerable leakage flow. MRAC has been already applied to compensate for these effects, and better control performances have been obtained. However, there have been no reports on the application of SAC for water hydraulics. To make clear the merits of SAC, the tracking control performance and robustness are discussed based on experimental results. SAC is confirmed to give better tracking performance compared with PI control, and a control precision comparable to MRAC (within 10 μm of the reference position) and higher robustness to parameter change, despite the simple controller. The research results ensure a wider application of simple adaptive control in real mechanical systems.

  17. Data-Driven Based Asynchronous Motor Control for Printing Servo Systems

    Science.gov (United States)

    Bian, Min; Guo, Qingyun

    Modern digital printing equipment aims to the environmental-friendly industry with high dynamic performances and control precision and low vibration and abrasion. High performance motion control system of printing servo systems was required. Control system of asynchronous motor based on data acquisition was proposed. Iterative learning control (ILC) algorithm was studied. PID control was widely used in the motion control. However, it was sensitive to the disturbances and model parameters variation. The ILC applied the history error data and present control signals to approximate the control signal directly in order to fully track the expect trajectory without the system models and structures. The motor control algorithm based on the ILC and PID was constructed and simulation results were given. The results show that data-driven control method is effective dealing with bounded disturbances for the motion control of printing servo systems.

  18. Pressure control of hydraulic servo system using proportional control valve

    International Nuclear Information System (INIS)

    Yang, Kyong Uk; Oh, In Ho; Lee, Ill Yeong

    1999-01-01

    The purpose of this study is to develop a control scheme for the hydraulic servo system which can rapidly control the pressure in a hydraulic cylinder with very short stroke. Compared with the negligible stroke of the cylinder in the system, the flow gain of the proportional pressure control valve constituting the hydraulic servo system is relatively large and the time delay on the response of the valve is quite long. Therefore, the pressure control system, in this study tends to get unstable during operations. Considering the above mentioned characteristics of the system, a two-degree-of-freedom control scheme, composed of the I-PDD 2 ... feedback compensator and the feedforward controller, is proposed. The reference model scheme is used in deciding the parameters of the controllers. The validity of the proposed control scheme is confirmed through the experiments

  19. Fluid selection for the Organic Rankine Cycle (ORC) in biomass power and heat plants

    International Nuclear Information System (INIS)

    Drescher, Ulli; Brueggemann, Dieter

    2007-01-01

    In small solid biomass power and heat plants, the ORC is used for cogeneration. This application shows constraints different from other ORC. These constraints are described and an adapted power plant design is presented. The new design influences the selection criteria of working fluids. A software has been developed to find thermodynamic suitable fluids for ORC in biomass power and heat plants. Highest efficiencies are found within the family of alkylbenzenes

  20. Servo-hydraulic actuator in controllable canonical form: Identification and experimental validation

    Science.gov (United States)

    Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

    2018-02-01

    Hydraulic actuators have been widely used to experimentally examine structural behavior at multiple scales. Real-time hybrid simulation (RTHS) is one innovative testing method that largely relies on such servo-hydraulic actuators. In RTHS, interface conditions must be enforced in real time, and controllers are often used to achieve tracking of the desired displacements. Thus, neglecting the dynamics of hydraulic transfer system may result either in system instability or sub-optimal performance. Herein, we propose a nonlinear dynamical model for a servo-hydraulic actuator (a.k.a. hydraulic transfer system) coupled with a nonlinear physical specimen. The nonlinear dynamical model is transformed into controllable canonical form for further tracking control design purposes. Through a number of experiments, the controllable canonical model is validated.

  1. The design of a servo system for a Moessbauer spectrometer

    International Nuclear Information System (INIS)

    Cranshaw, T.E.

    1981-06-01

    This report describes the design of a transducer system and servo drive amplifier suitable for Moessbauer spectrometers. Particular attention is paid to low and zero frequency drift. Measurements of the loop gain of a practical system are presented. (author)

  2. Asymptotic expansion of unsteady gravity flow of a power-law fluid ...

    African Journals Online (AJOL)

    We present a paper on the asymptotic expansion of unsteady non-linear rheological effects of a power-law fluid under gravity. The fluid flows through a porous medium. The asymptotic expansion is employed to obtain solution of the nonlinear problem. The results show the existence of traveling waves. It is assumed that the ...

  3. Disturbance observer that uses radial basis function networks for the low speed control of a servo motor

    DEFF Research Database (Denmark)

    Lee, Kyo-Beum; Bae, C.H.; Blaabjerg, Frede

    2005-01-01

    A scheme to estimate the moment of inertia in a servo motor drive system at very low speed is proposed. The typical speed estimation scheme used in most servo systems operated at low speed is highly sensitive to variations in the moment of inertia. An observer that uses a radial basis function...

  4. Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit.

    Science.gov (United States)

    Taghizadeh, Mostafa; Ghaffari, Ali; Najafi, Farid

    2009-10-01

    In this paper, the effect of pneumatic circuit design on the input-output behavior of PWM-driven servo-pneumatic systems is investigated and their control performances are improved using linear controllers instead of complex and costly nonlinear ones. Generally, servo-pneumatic systems are well known for their nonlinear behavior. However, PWM-driven servo-pneumatic systems have the advantage of flexibility in the design of pneumatic circuits which affects the input-output linearity of the whole system. A simple pneumatic circuit with only one fast switching valve is designed which leads to a quasi-linear input-output relation. The quasi-linear behavior of the proposed circuit is verified both experimentally and by simulations. Closed loop position control experiments are then carried out using linear P- and PD-controllers. Since the output position is noisy and cannot be directly differentiated, a Kalman filter is designed to estimate the velocity of the cylinder. Highly improved tracking performances are obtained using these linear controllers, compared to previous works with nonlinear controllers.

  5. Analysis of Valve Requirements for High-Efficiency Digital Displacement Fluid Power Motors

    DEFF Research Database (Denmark)

    Rømer, Daniel; Johansen, Per; Pedersen, Henrik C.

    2013-01-01

    Digital displacement fluid power motors have been shown to enable high-efficiency operation in a wide operation range, including the part load range where conventional fluid power motors suffers from poor efficiencies. The use of these digital displacement motors set new requirements for the valve...... transition time and flow-pressure coefficient are normalized, leading to a presentation of the general efficiency map of the digital displacement motor. Finally the performance of existing commercial valves with respect to digital motors is commented....

  6. Model Predictive Control of a Wave Energy Converter with Discrete Fluid Power Power Take-Off System

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Asmussen, Magnus Færing; Bech, Michael Møller

    2018-01-01

    Wave power extraction algorithms for wave energy converters are normally designed without taking system losses into account leading to suboptimal power extraction. In the current work, a model predictive power extraction algorithm is designed for a discretized power take of system. It is shown how...... the quantized nature of a discrete fluid power system may be included in a new model predictive control algorithm leading to a significant increase in the harvested power. A detailed investigation of the influence of the prediction horizon and the time step is reported. Furthermore, it is shown how...

  7. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    International Nuclear Information System (INIS)

    Dixon, Warren

    2003-01-01

    The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controllers. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position, and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques in conjunction with results from projective geometry are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D and D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators

  8. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    International Nuclear Information System (INIS)

    Dixon, Warren

    2002-01-01

    The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controlled robots. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D and D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators

  9. Stability and servo-control of the crystal pulling process

    International Nuclear Information System (INIS)

    Johansen, T.H.

    1990-11-01

    The paper analyzes why the crystal pulling process needs servo-control, and how it can be implemented. Special emphasis is put on the fundamental question of inherent stability, and how to interpret the signal from a balance when the weighing method is used for cystal diameter detection. 15 refs., 13 figs

  10. Identification and real-time position control of a servo-hydraulic rotary actuator by means of a neurobiologically motivated algorithm.

    Science.gov (United States)

    Sadeghieh, Ali; Sazgar, Hadi; Goodarzi, Kamyar; Lucas, Caro

    2012-01-01

    This paper presents a new intelligent approach for adaptive control of a nonlinear dynamic system. A modified version of the brain emotional learning based intelligent controller (BELBIC), a bio-inspired algorithm based upon a computational model of emotional learning which occurs in the amygdala, is utilized for position controlling a real laboratorial rotary electro-hydraulic servo (EHS) system. EHS systems are known to be nonlinear and non-smooth due to many factors such as leakage, friction, hysteresis, null shift, saturation, dead zone, and especially fluid flow expression through the servo valve. The large value of these factors can easily influence the control performance in the presence of a poor design. In this paper, a mathematical model of the EHS system is derived, and then the parameters of the model are identified using the recursive least squares method. In the next step, a BELBIC is designed based on this dynamic model and utilized to control the real laboratorial EHS system. To prove the effectiveness of the modified BELBIC's online learning ability in reducing the overall tracking error, results have been compared to those obtained from an optimal PID controller, an auto-tuned fuzzy PI controller (ATFPIC), and a neural network predictive controller (NNPC) under similar circumstances. The results demonstrate not only excellent improvement in control action, but also less energy consumption. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  11. A low-cost, FPGA-based servo controller with lock-in amplifier

    International Nuclear Information System (INIS)

    Yang, G; Barry, J F; Shuman, E S; Steinecker, M H; DeMille, D

    2012-01-01

    We describe the design and implementation of a low-cost, FPGA-based servo controller with an integrated waveform synthesizer and lock-in amplifier. This system has been designed with the specific application of laser frequency locking in mind but should be adaptable to a variety of other purposes as well. The system incorporates an onboard waveform synthesizer, a lock-in amplifier, two channels of proportional-integral (PI) servo control, and a ramp generator on a single FPGA chip. The system is based on an inexpensive, off-the-shelf FPGA evaluation board with a wide variety of available accessories, allowing the system to interface with standard laser controllers and detectors while minimizing the use of custom hardware and electronics. Gains, filter constants, and other relevant parameters are adjustable via onboard knobs and switches. These parameters and other information are displayed to the user via an integrated LCD, allowing full operation of the device without an accompanying computer. We demonstrate the performance of the system in a test setup, in which the frequency of a tunable external-cavity diode laser (ECDL) is locked to a resonant optical transmission peak of a Fabry-Perot cavity. In this setup, we achieve a total servo-loop bandwidth of ∼ 7 kHz and achieve locking of the ECDL to the cavity with a full-width-at-half-maximum (FWHM) linewidth of ∼ 200 kHz.

  12. Parametric model of servo-hydraulic actuator coupled with a nonlinear system: Experimental validation

    Science.gov (United States)

    Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

    2018-05-01

    Hydraulic actuators play a key role in experimental structural dynamics. In a previous study, a physics-based model for a servo-hydraulic actuator coupled with a nonlinear physical system was developed. Later, this dynamical model was transformed into controllable canonical form for position tracking control purposes. For this study, a nonlinear device is designed and fabricated to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons. Using this nonlinear system, the controllable canonical dynamical model is experimentally validated for a servo-hydraulic actuator coupled with a nonlinear physical system.

  13. Multi-Objective Optimization of Organic Rankine Cycle Power Plants Using Pure and Mixed Working Fluids

    Directory of Open Access Journals (Sweden)

    Jesper G. Andreasen

    2016-04-01

    Full Text Available For zeotropic mixtures, the temperature varies during phase change, which is opposed to the isothermal phase change of pure fluids. The use of such mixtures as working fluids in organic Rankine cycle power plants enables a minimization of the mean temperature difference of the heat exchangers, which is beneficial for cycle performance. On the other hand, larger heat transfer surface areas are typically required for evaporation and condensation when zeotropic mixtures are used as working fluids. In order to assess the feasibility of using zeotropic mixtures, it is, therefore, important to consider the additional costs of the heat exchangers. In this study, we aim at evaluating the economic feasibility of zeotropic mixtures compared to pure fluids. We carry out a multi-objective optimization of the net power output and the component costs for organic Rankine cycle power plants using low-temperature heat at 90 ∘ C to produce electrical power at around 500 kW. The primary outcomes of the study are Pareto fronts, illustrating the power/cost relations for R32, R134a and R32/R134a (0.65/0.35 mole . The results indicate that R32/R134a is the best of these fluids, with 3.4 % higher net power than R32 at the same total cost of 1200 k$.

  14. Control issues for a hydraulically powered dissimilar teleoperated system

    International Nuclear Information System (INIS)

    Jansen, J.F.; Kress, R.L.

    1995-01-01

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schilling's Titan II hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator.)

  15. Characteristic Modeling and Control of Servo Systems with Backlash and Friction

    Directory of Open Access Journals (Sweden)

    Yifei Wu

    2014-01-01

    Full Text Available A novel approach for modeling and control of servo systems with backlash and friction is proposed based on the characteristic model. Firstly, to deal with friction-induced nonlinearities, a smooth Stribeck friction model is introduced. The backlash is modeled by a continuous and derivable mathematical function. Secondly, a characteristic model in the form of a second-order slowly time-varying difference equation is established and verified by simulations. Thirdly, a composite controller including the golden-section adaptive control law and the integral control law is designed and the stability of the closed-loop system is analyzed. The simulation and experimental results show that the proposed control scheme is effective and can improve the steady-state precision and the dynamic performance of the servo system with backlash and friction.

  16. Control Servo-Visual de un Robot Manipulador Planar Basado en Pasividad

    Directory of Open Access Journals (Sweden)

    Carlos Soria

    2008-10-01

    Full Text Available Resumen: En este trabajo se diseña un controlador servo visual basado en la propiedad de pasividad del sistema visual. Se propone un regulador con ganancias de control variables, de tal manera que se evita la saturación de los actuadores y al mismo tiempo presenta la capacidad de corregir errores de pequeña magnitud. Asimismo el diseno se hace tenieñdo en cuenta el desempeño L2, a fin de darle capacidad de seguimiento de objetos en movimiento, con un error de control pequeño. Se muestran resultados experimentales realizados en un robot manipulador industrial tipo planar para verificar el cumplimiento de los objetivos del controlador propuesto. Palabras Clave: robot manipulador industrial, control servo visual, control no lineal, pasividad

  17. Dynamic Characteristics of Rotors on Passive and Active Thrust Fluid-film Bearings with Fixed Pads

    Directory of Open Access Journals (Sweden)

    Babin Alexander

    2018-01-01

    Full Text Available Application of fluid-film bearings in rotor machines in many cases could have no alternative due to obvious advantages when compared to roller element bearings. Integration of information technology in mechanical engineering resulting in emergence of a new field of research – mechatronic bearings which allowed tracking condition of the most important parts of a machine and adjusting operational parameters of the system. Application of servo valves to control the flow rate through a fluid-film bearing is the most universal and simple way of rotor’s position control due to relative simplicity of modelling and absence of need to radically change the design of conventional hydrodynamic bearings. In the present paper numerical simulations of passive (conventional as opposed to mechatronic and active hybrid thrust fluid-film bearings with a central feeding chamber are presented, that are parts of a mechatronic rotor-bearing node. Numerical model of an active thrust bearing is based on solution of equations of hydrodynamics, rotor dynamics and an additional model of a servo valve. Various types of control have been investigated: P, PI and PID control, and the dynamic behaviour of a system has been estimated under various loads, namely static, periodic and impulse. A design of a test rig has been proposed to study passive and active thrust fluid-film bearings aimed at, among other, validation of numerical results of active bearings simulation.

  18. Active stabilization of a rapidly chirped laser by an optoelectronic digital servo-loop control.

    Science.gov (United States)

    Gorju, G; Jucha, A; Jain, A; Crozatier, V; Lorgeré, I; Le Gouët, J-L; Bretenaker, F; Colice, M

    2007-03-01

    We propose and demonstrate a novel active stabilization scheme for wide and fast frequency chirps. The system measures the laser instantaneous frequency deviation from a perfectly linear chirp, thanks to a digital phase detection process, and provides an error signal that is used to servo-loop control the chirped laser. This way, the frequency errors affecting a laser scan over 10 GHz on the millisecond timescale are drastically reduced below 100 kHz. This active optoelectronic digital servo-loop control opens new and interesting perspectives in fields where rapidly chirped lasers are crucial.

  19. Power distribution transformers using natural ester fluids as dielectric and coolant

    Directory of Open Access Journals (Sweden)

    Jorge Iván Silva-Ortega

    2016-12-01

    Full Text Available Researches related to the use of Natural Ester Fluids as a refrigerant of power transformers have been developed in other countries with successful results. In Colombia there is no a procedure to control the use of these esters in electrical apparatus, so the current implementations are regulated by NTC 1465 standards for mineral esters. This new proposal involves the composition and the most relevant properties (the ignition resistance, impact on the lifetime of the insulating papers and the impact on the environment, which makes the application of natural esters fluids advantageous not only to preserve the environment but also to get a better performance of power transformers.

  20. Predicting the Noise of High Power Fluid Targets Using Computational Fluid Dynamics

    Science.gov (United States)

    Moore, Michael; Covrig Dusa, Silviu

    The 2.5 kW liquid hydrogen (LH2) target used in the Qweak parity violation experiment is the highest power LH2 target in the world and the first to be designed with Computational Fluid Dynamics (CFD) at Jefferson Lab. The Qweak experiment determined the weak charge of the proton by measuring the parity-violating elastic scattering asymmetry of longitudinally polarized electrons from unpolarized liquid hydrogen at small momentum transfer (Q2 = 0 . 025 GeV2). This target satisfied the design goals of bench-marked with the Qweak target data. This work is an essential component in future designs of very high power low noise targets like MOLLER (5 kW, target noise asymmetry contribution < 25 ppm) and MESA (4.5 kW).

  1. Dynamic Analysis of Fluid Power Drive-trains for Variable Speed Wind Turbines : A Parameter Study

    NARCIS (Netherlands)

    Jarquin Laguna, A.; Diepeveen, N.F.B.

    2013-01-01

    In the pursuit of making wind energy technology more economically attractive, the application of fluid power technology for the transmission of wind energy is being developed by several parties all over the world. This paper presents a dynamic model of a fluid power transmission for variable speed

  2. Recent results in visual servoing

    Science.gov (United States)

    Chaumette, François

    2008-06-01

    Visual servoing techniques consist in using the data provided by a vision sensor in order to control the motions of a dynamic system. Such systems are usually robot arms, mobile robots, aerial robots,… but can also be virtual robots for applications in computer animation, or even a virtual camera for applications in computer vision and augmented reality. A large variety of positioning tasks, or mobile target tracking, can be implemented by controlling from one to all the degrees of freedom of the system. Whatever the sensor configuration, which can vary from one on-board camera on the robot end-effector to several free-standing cameras, a set of visual features has to be selected at best from the image measurements available, allowing to control the degrees of freedom desired. A control law has also to be designed so that these visual features reach a desired value, defining a correct realization of the task. With a vision sensor providing 2D measurements, potential visual features are numerous, since as well 2D data (coordinates of feature points in the image, moments, …) as 3D data provided by a localization algorithm exploiting the extracted 2D measurements can be considered. It is also possible to combine 2D and 3D visual features to take the advantages of each approach while avoiding their respective drawbacks. From the selected visual features, the behavior of the system will have particular properties as for stability, robustness with respect to noise or to calibration errors, robot 3D trajectory, etc. The talk will present the main basic aspects of visual servoing, as well as technical advances obtained recently in the field inside the Lagadic group at INRIA/INRISA Rennes. Several application results will be also described.

  3. Axial annular flow of power-law fluids - applicability of the limiting cases

    Czech Academy of Sciences Publication Activity Database

    Filip, Petr; David, Jiří

    2007-01-01

    Roč. 52, č. 4 (2007), s. 365-371 ISSN 0001-7043 R&D Projects: GA ČR GA103/06/1033 Institutional research plan: CEZ:AV0Z20600510 Keywords : Concentric annuli * Poiseuile flow * annular flow * power- law fluids * flow rate * pressure drop Subject RIV: BK - Fluid Dynamics

  4. Reduction of light oil usage as power fluid for jet pumping in deep heavy oil reservoirs

    Energy Technology Data Exchange (ETDEWEB)

    Chen, S.; Li, H.; Yang, D. [Society of Petroleum Engineers, Canadian Section, Calgary, AB (Canada)]|[Regina Univ., SK (Canada); Zhang, Q. [China Univ. of Petroleum, Dongying, Shandong (China); He, J. [China National Petroleum Corp., Haidan District, Beijing (China). PetroChina Tarim Oilfield Co.

    2008-10-15

    In deep heavy oil reservoirs, reservoir fluid can flow more easily in the formation as well as around the bottomhole. However, during its path along the production string, viscosity of the reservoir fluid increases dramatically due to heat loss and release of the dissolved gas, resulting in significant pressure drop along the wellbore. Artificial lifting methods need to be adopted to pump the reservoir fluids to the surface. This paper discussed the development of a new technique for reducing the amount of light oil used for jet pumping in deep heavy oil wells. Two approaches were discussed. Approach A uses the light oil as a power fluid first to obtain produced fluid with lower viscosity, and then the produced fluid is reinjected into the well as a power fluid. The process continues until the viscosity of the produced fluid is too high to be utilized. Approach B combines a portion of the produced fluid with the light oil at a reasonable ratio and then the produced fluid-light oil mixture is used as the power fluid for deep heavy oil well production. The viscosity of the blended power fluid continue to increase and eventually reach equilibrium. The paper presented the detailed processes of both approaches in order to indicate how to apply them in field applications. Theoretic models were also developed and presented to determine the key parameters in the field operations. A field case was also presented and a comparison and analysis between the two approaches were discussed. It was concluded from the field applications that, with a certain amount of light oil, the amount of reservoir fluid produced by using the new technique could be 3 times higher than that of the conventional jet pumping method. 17 refs., 3 tabs., 6 figs.

  5. Fault Diagnosis for Hydraulic Servo System Using Compressed Random Subspace Based ReliefF

    Directory of Open Access Journals (Sweden)

    Yu Ding

    2018-01-01

    Full Text Available Playing an important role in electromechanical systems, hydraulic servo system is crucial to mechanical systems like engineering machinery, metallurgical machinery, ships, and other equipment. Fault diagnosis based on monitoring and sensory signals plays an important role in avoiding catastrophic accidents and enormous economic losses. This study presents a fault diagnosis scheme for hydraulic servo system using compressed random subspace based ReliefF (CRSR method. From the point of view of feature selection, the scheme utilizes CRSR method to determine the most stable feature combination that contains the most adequate information simultaneously. Based on the feature selection structure of ReliefF, CRSR employs feature integration rules in the compressed domain. Meanwhile, CRSR substitutes information entropy and fuzzy membership for traditional distance measurement index. The proposed CRSR method is able to enhance the robustness of the feature information against interference while selecting the feature combination with balanced information expressing ability. To demonstrate the effectiveness of the proposed CRSR method, a hydraulic servo system joint simulation model is constructed by HyPneu and Simulink, and three fault modes are injected to generate the validation data.

  6. Energy Cost of Avoiding Pressure Oscillations in a Discrete Fluid Power Force System

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Pedersen, Henrik Clemmensen

    2015-01-01

    In secondary valve controlled discrete fluid power force systems the valve opening trajectory greatly influences the pressure dynamics in the actuator chambers. For discrete fluid power systems featuring hoses of significant length pressure oscillations due to fast valve switching is well......-known. This paper builds upon theoretical findings on how shaping of the valve opening may reduce the cylinder pressure oscillations. The current paper extents the work by implementing the valve opening characteristics reducing the pressure oscillations on a full scale power take-off test-bench for wave energy...... will present measurements comparing pressure dynamics for two valve opening algorithms. In addition the paper will give a theoretical investigation of the energy loss during valve shifting and finally measurements of average power output from the power take-off system in various sea states are compared...

  7. Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

    Science.gov (United States)

    Pomares, Jorge; Felicetti, Leonard; Pérez, Javier; Emami, M. Reza

    2018-02-01

    An image-based servo controller for the guidance of a spacecraft during non-cooperative rendezvous is presented in this paper. The controller directly utilizes the visual features from image frames of a target spacecraft for computing both attitude and orbital maneuvers concurrently. The utilization of adaptive optics, such as zooming cameras, is also addressed through developing an invariant-image servo controller. The controller allows for performing rendezvous maneuvers independently from the adjustments of the camera focal length, improving the performance and versatility of maneuvers. The stability of the proposed control scheme is proven analytically in the invariant space, and its viability is explored through numerical simulations.

  8. Image-based visual servo control using the port-Hamiltonian Approach

    NARCIS (Netherlands)

    Muñoz Arias, Mauricio; El Hawwary, Mohamed; Scherpen, Jacquelien M.A.

    2015-01-01

    This work is devoted to an image-based visual servo control strategy for standard mechanical systems in the port-Hamiltonian framework. We utilize a change of variables that transforms the port-Hamiltonian system into one with constant mass-inertia matrix, and we use an interaction matrix that

  9. Smart Rotor Modeling: Aero-Servo-Elastic Modeling of a Smart Rotor with Adaptive Trailing Edge Flaps

    DEFF Research Database (Denmark)

    Bergami, Leonardo

    the trailing edge flap deflection to actively reduce the fatigue loads on the structure. The performance of the smart rotor configuration and its control algorithms are finally quantified by aero-servo-elastic simulations of the smart rotor turbine operating in a standard turbulent wind field.......This book presents the formulation of an aero-servo-elastic model for a wind turbine rotor equipped with Adaptive Trailing Edge Flaps (ATEF), a smart rotor configuration. As the name suggests, an aero-servo-elastic model consists of three main components: an aerodynamic model, a structural model......, and a control model. The book first presents an engineering type of aerodynamic model that accounts for the dynamic effects of flap deflection. The aerodynamic model is implemented in a Blade Element Momentum framework, and coupled with a multi-body structural model in the aero-servoelastic simulation code HAWC...

  10. Performance analysis of an integrated gas-, steam- and organic fluid-cycle thermal power plant

    International Nuclear Information System (INIS)

    Oko, C.O.C.; Njoku, I.H.

    2017-01-01

    This paper presents the performance analysis of an existing combined cycle power plant augmented with a waste heat fired organic Rankine cycle power plant for extra power generation. This was achieved by performing energy and exergy analysis of the integrated gas-, steam- and organic fluid-cycle thermal power plant (IPP). Heat source for the subcritical organic Rankine cycle (ORC) was the exhaust flue gases from the heat recovery steam generators of a 650 MW natural gas fired combined cycle power plant. The results showed that extra 12.4 MW of electricity was generated from the attached ORC unit using HFE7100 as working fluid. To select ORC working fluid, ten isentropic fluids were screened and HFE7100 produced the highest net power output and cycle efficiency. Exergy and energy efficiencies of the IPP improved by 1.95% and 1.93%, respectively. The rate of exergy destruction in the existing combined cycle plant was highest in the combustion chamber, 59%, whereas in the ORC, the highest rate of exergy destruction occurred in the evaporator, 62%. Simulations showed exergy efficiency of the IPP decreased with increasing ambient temperature. Exit stack flue gas temperature reduced from 126 °C in the combined cycle power plant to 100 °C in the integrated power plant. - Highlights: • Combined cycle plant retrofitted with ORC produced extra 12.4 MW electric power. • ORC is powered with low temperature flue gas from an existing combined cycle plant. • Exergy destruction rate in integrated plant(IPP) is less than in combined plant. • Exit stack temperature of the IPP has less environmental thermal pollution. • Exergy and energy efficiencies of the IPP improved by 1.95% and 1.93%, respectively.

  11. Sensitivity analysis of molecular design problem for the development of novel working fluids for power cycles

    DEFF Research Database (Denmark)

    Frutiger, Jerome; Abildskov, Jens; Sin, Gürkan

    . Multi-criteria database search and Computer Aided Molecular Design (CAMD) can be applied to generate, test and evaluate promising pure component/mixture candidate as process fluids to help optimize cycle design and performance [1]. The problem formulation for the development of novel working fluids...... a certain working fluid property parameter on the performance of the power cycle, i.e. the net power output, can facilitate the identification key properties for working fluids. In that sense a sensitivity analysis of the different parameters is suggested in this work as a systematic method to efficiently...... technology to convert such waste heat sources into usable energy. So far the low-temperature heat is not utilized efficiently for electricity generation. To optimize the heat transfer process and the power generation, the influence of the working fluid, the cycle designs and the operating conditions is vital...

  12. Robust control system for belt continuously variable transmission; Robust seigyo wo tekiyoshita mudan hensokuki no hensokuhi servo kei no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Adachi, K; Wakahara, T; Shimanaka, S; Yamamoto, M; Oshidari, T [Nissan Motor Co. Ltd., Tokyo (Japan)

    1997-10-01

    The continuously variable transmission control system consists of generation of a desired gear ratio and a servo gear ratio system. The servo gear ratio system must provide the desired response at all times without being influenced by external disturbances. These include oil pressure as well as variation in performance due to operating conditions or changes occurring with us. We have developed the servo gear ratio system incorporating a robust model matching method, which enables the belt continuously variable transmission to satisfy this performance requirement. 2 refs., 9 figs.

  13. Flow of power-law fluids in fixed beds of cylinders or spheres

    KAUST Repository

    Singh, John P.; Padhy, Sourav; Shaqfeh, Eric S. G.; Koch, Donald L.

    2012-01-01

    is influenced by the Newtonian fluid stress and a body force representing the linear drag on the surrounding particles. We consider a similar analysis for a power-law fluid where the stress τ is related to the rate of strain e by τ = 2m en-1e, where m and n

  14. Ultrasound image based visual servoing for moving target ablation by high intensity focused ultrasound.

    Science.gov (United States)

    Seo, Joonho; Koizumi, Norihiro; Mitsuishi, Mamoru; Sugita, Naohiko

    2017-12-01

    Although high intensity focused ultrasound (HIFU) is a promising technology for tumor treatment, a moving abdominal target is still a challenge in current HIFU systems. In particular, respiratory-induced organ motion can reduce the treatment efficiency and negatively influence the treatment result. In this research, we present: (1) a methodology for integration of ultrasound (US) image based visual servoing in a HIFU system; and (2) the experimental results obtained using the developed system. In the visual servoing system, target motion is monitored by biplane US imaging and tracked in real time (40 Hz) by registration with a preoperative 3D model. The distance between the target and the current HIFU focal position is calculated in every US frame and a three-axis robot physically compensates for differences. Because simultaneous HIFU irradiation disturbs US target imaging, a sophisticated interlacing strategy was constructed. In the experiments, respiratory-induced organ motion was simulated in a water tank with a linear actuator and kidney-shaped phantom model. Motion compensation with HIFU irradiation was applied to the moving phantom model. Based on the experimental results, visual servoing exhibited a motion compensation accuracy of 1.7 mm (RMS) on average. Moreover, the integrated system could make a spherical HIFU-ablated lesion in the desired position of the respiratory-moving phantom model. We have demonstrated the feasibility of our US image based visual servoing technique in a HIFU system for moving target treatment. © 2016 The Authors The International Journal of Medical Robotics and Computer Assisted Surgery Published by John Wiley & Sons Ltd.

  15. Position Based Visual Servoing control of a Wheelchair Mounter Robotic Arm using Parallel Tracking and Mapping of task objects

    Directory of Open Access Journals (Sweden)

    Alessandro Palla

    2017-05-01

    Full Text Available In the last few years power wheelchairs have been becoming the only device able to provide autonomy and independence to people with motor skill impairments. In particular, many power wheelchairs feature robotic arms for gesture emulation, like the interaction with objects. However, complex robotic arms often require a joystic to be controlled; this feature make the arm hard to be controlled by impaired users. Paradoxically, if the user were able to proficiently control such devices, he would not need them. For that reason, this paper presents a highly autonomous robotic arm, designed in order to minimize the effort necessary for the control of the arm. In order to do that, the arm feature an easy to use human - machine interface and is controlled by Computer Vison algorithm, implementing a Position Based Visual Servoing (PBVS control. It was realized by extracting features by the camera and fusing them with the distance from the target, obtained by a proximity sensor. The Parallel Tracking and Mapping (PTAM algorithm was used to find the 3D position of the task object in the camera reference system. The visual servoing algorithm was implemented in an embedded platform, in real time. Each part of the control loop was developed in Robotic Operative System (ROS Environment, which allows to implement the previous algorithms as different nodes. Theoretical analysis, simulations and in system measurements proved the effectiveness of the proposed solution.

  16. Choice of optimal working fluid for binary power plants at extremely low temperature brine

    Science.gov (United States)

    Tomarov, G. V.; Shipkov, A. A.; Sorokina, E. V.

    2016-12-01

    The geothermal energy development problems based on using binary power plants utilizing lowpotential geothermal resources are considered. It is shown that one of the possible ways of increasing the efficiency of heat utilization of geothermal brine in a wide temperature range is the use of multistage power systems with series-connected binary power plants based on incremental primary energy conversion. Some practically significant results of design-analytical investigations of physicochemical properties of various organic substances and their influence on the main parameters of the flowsheet and the technical and operational characteristics of heat-mechanical and heat-exchange equipment for binary power plant operating on extremely-low temperature geothermal brine (70°C) are presented. The calculation results of geothermal brine specific flow rate, capacity (net), and other operation characteristics of binary power plants with the capacity of 2.5 MW at using various organic substances are a practical interest. It is shown that the working fluid selection significantly influences on the parameters of the flowsheet and the operational characteristics of the binary power plant, and the problem of selection of working fluid is in the search for compromise based on the priorities in the field of efficiency, safety, and ecology criteria of a binary power plant. It is proposed in the investigations on the working fluid selection of the binary plant to use the plotting method of multiaxis complex diagrams of relative parameters and characteristic of binary power plants. Some examples of plotting and analyzing these diagrams intended to choose the working fluid provided that the efficiency of geothermal brine is taken as main priority.

  17. Aero-servo-viscoelasticity theory: Lifting surfaces, plates, velocity transients, flutter, and instability

    Science.gov (United States)

    Merrett, Craig G.

    Modern flight vehicles are fabricated from composite materials resulting in flexible structures that behave differently from the more traditional elastic metal structures. Composite materials offer a number of advantages compared to metals, such as improved strength to mass ratio, and intentional material property anisotropy. Flexible aircraft structures date from the Wright brothers' first aircraft with fabric covered wooden frames. The flexibility of the structure was used to warp the lifting surface for flight control, a concept that has reappeared as aircraft morphing. These early structures occasionally exhibited undesirable characteristics during flight such as interactions between the empennage and the aft fuselage, or control problems with the elevators. The research to discover the cause and correction of these undesirable characteristics formed the first foray into the field of aeroelasticity. Aeroelasticity is the intersection and interaction between aerodynamics, elasticity, and inertia or dynamics. Aeroelasticity is well suited for metal aircraft, but requires expansion to improve its applicability to composite vehicles. The first is a change from elasticity to viscoelasticity to more accurately capture the solid mechanics of the composite material. The second change is to include control systems. While the inclusion of control systems in aeroelasticity lead to aero-servo-elasticity, more control possibilities exist for a viscoelastic composite material. As an example, during the lay-up of carbon-epoxy plies, piezoelectric control patches are inserted between different plies to give a variety of control options. The expanded field is called aero-servo-viscoelasticity. The phenomena of interest in aero-servo-viscoelasticity are best classified according to the type of structure considered, either a lifting surface or a panel, and the type of dynamic stability present. For both types of structures, the governing equations are integral

  18. Tailored Working Fluids for Enhanced Binary Geothermal Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Mahmoud, Ahmad [United Technologies Research Center, East Hartford, CT (United States)

    2013-01-29

    United Technologies Research Center (UTRC), in collaboration with the Georgia Institute of Technology and the National Institute of Standards and Technology will evaluate and develop fundamental and component level models, conduct experiments and generate data to support the use of mixed or enhanced working fluids for geothermal power generation applications.

  19. A servo controlled gradient loading triaxial model test system for deep-buried cavern

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Xu-guang [College of Engineering, Ocean University of China, Qingdao 266100 (China); Shandong Provincial Key Laboratory of Ocean Engineering, Qingdao 266100 (China); Research Center of Geotechnical and Structural Engineering, Shandong University, Jinan 250061 (China); Zhang, Qiang-yong; Li, Shu-cai [Research Center of Geotechnical and Structural Engineering, Shandong University, Jinan 250061 (China)

    2015-10-15

    A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the “real” geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures.

  20. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    International Nuclear Information System (INIS)

    Dixon, Warren

    2004-01-01

    There is significant motivation to provide robotic systems with improved autonomy as a means to significantly accelerate deactivation and decommissioning (DandD) operations while also reducing the associated costs, removing human operators from hazardous environments, and reducing the required burden and skill of human operators. To achieve improved autonomy, this project focused on the basic science challenges leading to the development of visual servo controllers. The challenge in developing these controllers is that a camera provides 2-dimensional image information about the 3-dimensional Euclidean-space through a perspective (range dependent) projection that can be corrupted by uncertainty in the camera calibration matrix and by disturbances such as nonlinear radial distortion. Disturbances in this relationship (i.e., corruption in the sensor information) propagate erroneous information to the feedback controller of the robot, leading to potentially unpredictable task execution. This research project focused on the development of a visual servo control methodology that targets compensating for disturbances in the camera model (i.e., camera calibration and the recovery of range information) as a means to achieve predictable response by the robotic system operating in unstructured environments. The fundamental idea is to use nonlinear Lyapunov-based techniques along with photogrammetry methods to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current robotic applications. The outcome of this control methodology is a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature recognition and extraction to enable robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). The developed methodology has been reported in numerous peer-reviewed publications and the

  1. A servo controlled gradient loading triaxial model test system for deep-buried cavern.

    Science.gov (United States)

    Chen, Xu-guang; Zhang, Qiang-yong; Li, Shu-cai

    2015-10-01

    A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the "real" geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures.

  2. A servo controlled gradient loading triaxial model test system for deep-buried cavern

    International Nuclear Information System (INIS)

    Chen, Xu-guang; Zhang, Qiang-yong; Li, Shu-cai

    2015-01-01

    A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the “real” geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures

  3. Optimization of geometry of annular seat valves suitable for Digital Displacement fluid power pumps/motors

    DEFF Research Database (Denmark)

    Rømer, Daniel; Johansen, Per; Pedersen, Henrik C.

    2013-01-01

    Digital Displacement Fluid Power is an upcoming technology setting new standards for the achievable efficiency of fluid power pumps and motors. The core element of the Digital Displacement technology is high performance electronically controlled seat valves, which must exhibit very low flow...... work an annular seat valve suitable for use in Digital Displacement units is considered, and the ring geometry is optimized using finite element analysis including non-linear material behaviour, contact elements and fluid pressure penetrating load, closely reflecting the actual load of the seat valve...

  4. A Matlab/Simulink-Based Interactive Module for Servo Systems Learning

    Science.gov (United States)

    Aliane, N.

    2010-01-01

    This paper presents an interactive module for learning both the fundamental and practical issues of servo systems. This module, developed using Simulink in conjunction with the Matlab graphical user interface (Matlab-GUI) tool, is used to supplement conventional lectures in control engineering and robotics subjects. First, the paper introduces the…

  5. Investigation on Superior Performance by Fractional Controller for Cart-Servo Laboratory Set-Up

    Directory of Open Access Journals (Sweden)

    Ameya Anil Kesarkar

    2014-01-01

    Full Text Available In this paper, an investigation is made on the superiority of fractional PID controller (PI^alpha D^beta over conventional PID for the cart-servo laboratory set-up. The designed controllers are optimum in the sense of Integral Absolute Error (IAE and Integral Square Error (ISE. The paper contributes in three aspects: 1 Acquiring nonlinear mathematical model for the cart-servo laboratory set-up, 2 Designing fractional and integer order PID for minimizing IAE, ISE, 3 Analyzing the performance of designed controllers for simulated plant model as well as real plant. The results show a significantly superior performance by PI^alpha D^beta as compared to the conventional PID controller.

  6. Enhancement of tracking performance in electro-optical system based on servo control algorithm

    Science.gov (United States)

    Choi, WooJin; Kim, SungSu; Jung, DaeYoon; Seo, HyoungKyu

    2017-10-01

    Modern electro-optical surveillance and reconnaissance systems require tracking capability to get exact images of target or to accurately direct the line of sight to target which is moving or still. This leads to the tracking system composed of image based tracking algorithm and servo control algorithm. In this study, we focus on the servo control function to minimize the overshoot in the tracking motion and do not miss the target. The scheme is to limit acceleration and velocity parameters in the tracking controller, depending on the target state information in the image. We implement the proposed techniques by creating a system model of DIRCM and simulate the same environment, validate the performance on the actual equipment.

  7. Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

    Directory of Open Access Journals (Sweden)

    Yan Ren

    2013-01-01

    Full Text Available A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mode robust control method based on the improved disturbance observer. The sliding mode technique helps this disturbance observer to deal with the uncompensated disturbance in high frequency by making use of the rapid switching control value, which is based on the subtle error of disturbance estimation. Besides, the high-frequency chattering is alleviated effectively in this proposal. The effectiveness of the proposal is confirmed by experiments on optoelectric tracking platform.

  8. Electric discharge machining device for laboratories and workshops

    International Nuclear Information System (INIS)

    Lanxner, M.; Berko, A.; Ron, N.

    1976-11-01

    A simple low power electric discharge machining (EDM) device for special uses in laboratories and workshops is presented. The device includes an RC generator, an electromechanical servo 3-axis work-tool alignment system and a closed dielectric fluid circulation loop

  9. Servo Reduces Friction In Flexure Bearing

    Science.gov (United States)

    Clingman, W. Dean

    1991-01-01

    Proposed servocontrol device reduces such resistive torques as stiction, friction, ripple, and cogging in flexure bearing described in LAR-14348, "Flexure Bearing Reduces Startup Friction". Reduces frictional "bump" torque encountered when bearing ball runs into buildup of grease on bearing race. Also used as cable follower to reduce torque caused by cable and hoses when they bend because of motion of bearing. New device includes torquer across ball race. Torquer controlled by servo striving to keep flexure at null, removing torque to outer ring. In effect, device is inner control loop reducing friction, but does not control platforms or any outer-control-loop functions.

  10. Servo Driven Corotation: Development of AN Inertial Clock.

    Science.gov (United States)

    Cheung, Wah-Kwan Stephen

    An inertial clock to test non-metricity of gravity is proposed here. A first, room-temperature, servo corotation -protected, double magnetically suspended precision rotor system is developed for this purpose. The specific goal was to exhibit the properties of such a clock in its entirety at whatever level of precision was achievable. A monolithic system has been completed for these preliminary studies. It includes particular development of individual experimental sub-systems (a hybrid double magnetic suspension; a diffusion pumping system; a microcomputer -controlled eddy-current drive system; and the angular period measuring schemes for the doubly suspended rotors). Double magnetic suspension had been investigated by Beams for other purposes. The upper transducer is optical but parametrized and the lower transducer employs the frequency modulation characteristic of a LC tank circuit. The doubly suspended rotors corotate so that the upper rotor is servoed to rotate at the same angular velocity as that of the lower rotor. This creates a "drag free" environment for the lower rotor and effectively eliminates the gas drag on the lower rotor. Consequently, the decay time constant of the lower rotor increases. With other means of protection, the lower rotor will then, with perfect system operation, suffer no drag and therefore become the inertial time keeper. A commercial microcomputer is introduced to execute the servo-corotation. The tests thus far are, with one exception, run at atmospheric pressure. An idealized analysis for open and closed loop corotation is shown. Such analysis includes only the viscous drag acting on the corotating rotors. The analysis suggests that angular position control be added to the present feedback drive which is of derivative nature only. Open and closed corotation runs show that a strong torsional coupling besides that of the gas drag exists between the rotors. When misalignment of the support pole pieces is deliberately made significant

  11. Model-based specification, analysis and synthesis of servo controllers for lithoscanners

    NARCIS (Netherlands)

    Schiffelers, R.; Alberts, W.; Voeten, J.P.M.

    2012-01-01

    ASML is the world's leading provider of complex lithography systems for the semiconductor industry. Such systems consist of numerous servo control systems. To design such control systems, a multi-disciplinary model-based development environment has been developed. It is based on a set of domain

  12. Static Analysis of High-Performance Fixed Fluid Power Drive with a Single Positive-Displacement Hydraulic Motor

    Directory of Open Access Journals (Sweden)

    O. F. Nikitin

    2015-01-01

    Full Text Available The article deals with the static calculations in designing a high-performance fixed fluid power drive with a single positive-displacement hydraulic motor. Designing is aimed at using a drive that is under development and yet unavailable to find and record the minimum of calculations and maximum of existing hydraulic units that enable clear and unambiguous performance, taking into consideration an available assortment of hydraulic units of hydraulic drives, to have the best efficiency.The specified power (power, moment and kinematics (linear velocity or angular velocity of rotation parameters of the output element of hydraulic motor determine the main output parameters of the hydraulic drive and the useful power of the hydraulic drive under development. The value of the overall efficiency of the hydraulic drive enables us to judge the efficiency of high-performance fixed fluid power drive.The energy analysis of a diagram of the high-performance fixed fluid power drive shows that its high efficiency is achieved when the flow rate of fluid flowing into each cylinder and the magnitude of the feed pump unit (pump are as nearly as possible.The paper considers the ways of determining the geometric parameters of working hydromotors (effective working area or working volume, which allow a selection of the pumping unit parameters. It discusses the ways to improve hydraulic drive efficiency. Using the principle of holding constant conductivity allows us to specify the values of the pressure losses in the hydraulic units used in noncatalog modes. In case of no exact matching between the parameters of existing hydraulic power modes and a proposed characteristics of the pump unit, the nearest to the expected characteristics is taken as a working version.All of the steps allow us to create the high-performance fixed fluid power drive capable of operating at the required power and kinematic parameters with high efficiency.

  13. Multibody Dynamics of a Fluid Power Radial Piston Motor Including Transient Hydrodynamic Pressure Models of Lubricating Gaps

    DEFF Research Database (Denmark)

    Johansen, Per; Rømer, Daniel; Andersen, Torben Ole

    2014-01-01

    The increasing interest in hydraulic transmissions in wind and wave energy applications has created an incentive for the development of high efficiency fluid power machinery. Modeling and analysis of fluid power machinery loss mechanisms are necessary in order to accommodate this demand. At present...... fully coupled thermo-elastic models has been used to simulate and study loss mechanisms in various tribological interfaces. Consequently, a reasonable focus of further development is to couple the interface models and the rigid body mechanics of fluid power machinery. The focus of the current paper...

  14. Frequency doubled dye laser with a servo-tuned crystal

    Energy Technology Data Exchange (ETDEWEB)

    Kuhl, J; Spitschan, H

    1975-01-01

    Spectral tuning of the uv output of a frequency doubled dye laser was successfully controlled by a servo motor system which tilts the nonlinear crystal appropriate for phase-matched second harmonic generation while the dye laser emission wavelength is tuned. The spatial direction of the generated uv beam was used as the regulating signal. The feasibility of this technique for spectroscopic applications was successfully tested.

  15. A real-time control system architecture for industrial power amplifiers

    NARCIS (Netherlands)

    Qureshi, F.; Spinu, V.; Wijnands, C.G.E.; Lazar, M.

    2013-01-01

    Power amplifiers are a highly important component in a range of industrial applications, such as, servo-drives, magnetic resonance imaging, energy systems, and audio. The control system for power amplifiers should satisfy a range of requirements, e.g., offset free tracking, stability margins, and

  16. Preheating of fluid in a supercritical Brayton cycle power generation system at cold startup

    Science.gov (United States)

    Wright, Steven A.; Fuller, Robert L.

    2016-07-12

    Various technologies pertaining to causing fluid in a supercritical Brayton cycle power generation system to flow in a desired direction at cold startup of the system are described herein. A sensor is positioned at an inlet of a turbine, wherein the sensor is configured to output sensed temperatures of fluid at the inlet of the turbine. If the sensed temperature surpasses a predefined threshold, at least one operating parameter of the power generation system is altered.

  17. Small Scale Electrical Power Generation from Heat Co-Produced in Geothermal Fluids: Mining Operation

    Energy Technology Data Exchange (ETDEWEB)

    Clark, Thomas M. [ElectraTherm Inc., Reno, NV (United States); Erlach, Celeste [ElectraTherm Inc., Reno, NV (United States)

    2014-12-30

    Demonstrate the technical and economic feasibility of small scale power generation from low temperature co-produced fluids. Phase I is to Develop, Design and Test an economically feasible low temperature ORC solution to generate power from lower temperature co-produced geothermal fluids. Phase II &III are to fabricate, test and site a fully operational demonstrator unit on a gold mine working site and operate, remotely monitor and collect data per the DOE recommended data package for one year.

  18. Dynamic modeling and experiment of a new type of parallel servo press considering gravity counterbalance

    Science.gov (United States)

    He, Jun; Gao, Feng; Bai, Yongjun; Wu, Shengfu

    2013-11-01

    The large capacity servo press is traditionally realized by means of redundant actuation, however there exist the over-constraint problem and interference among actuators, which increases the control difficulty and the product cost. A new type of press mechanism with parallel topology is presented to develop the mechanical servo press with high stamping capacity. The dynamic model considering gravity counterbalance is proposed based on the virtual work principle, and then the effect of counterbalance cylinder on the dynamic performance of the servo press is studied. It is found that the motor torque required to operate the press is a lot less than the others when the ratio of the counterbalance force to the gravity of ram is in the vicinity of 1.0. The stamping force of the real press prototype can reach up to 25 MN on the position of 13 mm away from the bottom dead center. The typical deep-drawing process with 1 200 mm stroke at 8 strokes per minute is proposed by means of five order polynomial. On this process condition, the driving torques are calculated based on the above dynamic model and the torque measuring test is also carried out on the prototype. It is shown that the curve trend of calculation torque is consistent to the measured result and that the average error is less than 15%. The parallel mechanism is introduced into the development of large capacity servo press to avoid the over-constraint and interference of traditional redundant actuation, and its dynamic characteristics with gravity counterbalance are presented.

  19. Efficient control of servo pneumatic actuator system utilizing by-pass ...

    Indian Academy of Sciences (India)

    The issue of energy saving nowadays is very crucial. Pneumatic systems, constituting an important segment of almost every industry, represent large energy consumers. Also, a significant problem with servo pneumatic actuators is achieving accuracy in positioning. The higher the positioning accuracy, the higher the ...

  20. Investigation of the low flux servo-controlled limit of a co-phased interferometer

    Science.gov (United States)

    Damé, Luc; Derrien, Marc; Kozlowski, Mathias; Merdjane, Mohamed

    2018-04-01

    This paper, "Investigation of the low flux servo-controlled limit of a co-phased interferometer," was presented as part of International Conference on Space Optics—ICSO 1997, held in Toulouse, France.

  1. Magnetic power piston fluid compressor

    Science.gov (United States)

    Gasser, Max G. (Inventor)

    1994-01-01

    A compressor with no moving parts in the traditional sense having a housing having an inlet end allowing a low pressure fluid to enter and an outlet end allowing a high pressure fluid to exit is described. Within the compressor housing is at least one compression stage to increase the pressure of the fluid within the housing. The compression stage has a quantity of magnetic powder within the housing, is supported by a screen that allows passage of the fluid, and a coil for selectively providing a magnetic field across the magnetic powder such that when the magnetic field is not present the individual particles of the powder are separated allowing the fluid to flow through the powder and when the magnetic field is present the individual particles of the powder pack together causing the powder mass to expand preventing the fluid from flowing through the powder and causing a pressure pulse to compress the fluid.

  2. Analysis of an controller design for an electro-hydraulic servo pressure regulator

    DEFF Research Database (Denmark)

    Pedersen, Henrik C.; Andersen, Torben Ole; Madsen, A. M.

    2009-01-01

    Mobile hydraulics is in a transition phase, where electronic sensors and digital signal processors are starting to become standard on a high number of machines, hereby replacing hydraulic pilot lines and oering new possibilities with regard to both control and feasibility. For controlling some...... of the existing hydraulic components there are, however, still a need for being able to generate a hydraulic pilot pressure, as e.g. almost all open-circuit pumps are hydraulically controlled. The focus of the current paper is therefore on the analysis and controller design an electro-hydraulic servo pressure...... regulator, which generates a hydraulic LS-pressure based on an electrical reference, hereby synergistically integrating knowledge from all parts of the mechatronics area. The servo pressure regulator is used to generate the LS-signal for a variable displacement pump, and the paper rst presents...

  3. High precision tracking control of a servo gantry with dynamic friction compensation.

    Science.gov (United States)

    Zhang, Yangming; Yan, Peng; Zhang, Zhen

    2016-05-01

    This paper is concerned with the tracking control problem of a voice coil motor (VCM) actuated servo gantry system. By utilizing an adaptive control technique combined with a sliding mode approach, an adaptive sliding mode control (ASMC) law with friction compensation scheme is proposed in presence of both frictions and external disturbances. Based on the LuGre dynamic friction model, a dual-observer structure is used to estimate the unmeasurable friction state, and an adaptive control law is synthesized to effectively handle the unknown friction model parameters as well as the bound of the disturbances. Moreover, the proposed control law is also implemented on a VCM servo gantry system for motion tracking. Simulations and experimental results demonstrate good tracking performance, which outperform traditional control approaches. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  4. Modeling and optimization of geothermal power plants using the binary fluid cycle

    Energy Technology Data Exchange (ETDEWEB)

    Walter, R.A.

    1976-09-01

    A computer simulation of a binary fluid cycle power plant for use with geothermal energy sources, and the subsequent optimization of this power plant type over a range of geothermal source conditions are described. The optimization technique employed for this analysis was based upon the principle of maximum use of geothermal energy.

  5. State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach.

    Science.gov (United States)

    Yu, Jue; Zhuang, Jian; Yu, Dehong

    2015-01-01

    This paper concerns a state feedback integral control using a Lyapunov function approach for a rotary direct drive servo valve (RDDV) while considering parameter uncertainties. Modeling of this RDDV servovalve reveals that its mechanical performance is deeply influenced by friction torques and flow torques; however, these torques are uncertain and mutable due to the nature of fluid flow. To eliminate load resistance and to achieve satisfactory position responses, this paper develops a state feedback control that integrates an integral action and a Lyapunov function. The integral action is introduced to address the nonzero steady-state error; in particular, the Lyapunov function is employed to improve control robustness by adjusting the varying parameters within their value ranges. This new controller also has the advantages of simple structure and ease of implementation. Simulation and experimental results demonstrate that the proposed controller can achieve higher control accuracy and stronger robustness. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Flows of Newtonian and Power-Law Fluids in Symmetrically Corrugated Cappilary Fissures and Tubes

    Science.gov (United States)

    Walicka, A.

    2018-02-01

    In this paper, an analytical method for deriving the relationships between the pressure drop and the volumetric flow rate in laminar flow regimes of Newtonian and power-law fluids through symmetrically corrugated capillary fissures and tubes is presented. This method, which is general with regard to fluid and capillary shape, can also be used as a foundation for different fluids, fissures and tubes. It can also be a good base for numerical integration when analytical expressions are hard to obtain due to mathematical complexities. Five converging-diverging or diverging-converging geometrics, viz. wedge and cone, parabolic, hyperbolic, hyperbolic cosine and cosine curve, are used as examples to illustrate the application of this method. For the wedge and cone geometry the present results for the power-law fluid were compared with the results obtained by another method; this comparison indicates a good compatibility between both the results.

  7. Flows of Newtonian and Power-Law Fluids in Symmetrically Corrugated Cappilary Fissures and Tubes

    Directory of Open Access Journals (Sweden)

    Walicka A.

    2018-02-01

    Full Text Available In this paper, an analytical method for deriving the relationships between the pressure drop and the volumetric flow rate in laminar flow regimes of Newtonian and power-law fluids through symmetrically corrugated capillary fissures and tubes is presented. This method, which is general with regard to fluid and capillary shape, can also be used as a foundation for different fluids, fissures and tubes. It can also be a good base for numerical integration when analytical expressions are hard to obtain due to mathematical complexities. Five converging-diverging or diverging-converging geometrics, viz. wedge and cone, parabolic, hyperbolic, hyperbolic cosine and cosine curve, are used as examples to illustrate the application of this method. For the wedge and cone geometry the present results for the power-law fluid were compared with the results obtained by another method; this comparison indicates a good compatibility between both the results.

  8. Lung function studied by servo-controlled ventilator and respiratory mass spectrometer

    International Nuclear Information System (INIS)

    Piiper, J.

    1987-01-01

    The gas exchange function of lungs is studied. The gas concentration, measured by mass spectrometry and the lung volume and rate of change of lung volume are discussed. A servo-controlled ventilator is presented. Several experimental projects performed on anesthetized paralyzed dogs are reported. (M.A.C.) [pt

  9. Inertia effects in the laminar radial flow of a power law fluid with an electromagnetic field

    International Nuclear Information System (INIS)

    Chen, C.-K.; Chen, K.-H.; Wu, C.-Y.

    1984-01-01

    An approximate study of the pressure distribution for the radial flow of a non-newtonian (power law) fluid between two parallel disks in the presence of an axial electrical field is obtained by using the momentum and energy integral methods. For a non-newtonian fluid it is shown that the inertia effect must be considered to be significant for the pressure distribution, especially for the power law fluids with n >= 1. Furthermore, it is seen that the inertia effect will also lower the load capacity of the disks. (Auth.)

  10. Strong stabilization servo controller with optimization of performance criteria.

    Science.gov (United States)

    Sarjaš, Andrej; Svečko, Rajko; Chowdhury, Amor

    2011-07-01

    Synthesis of a simple robust controller with a pole placement technique and a H(∞) metrics is the method used for control of a servo mechanism with BLDC and BDC electric motors. The method includes solving a polynomial equation on the basis of the chosen characteristic polynomial using the Manabe standard polynomial form and parametric solutions. Parametric solutions are introduced directly into the structure of the servo controller. On the basis of the chosen parametric solutions the robustness of a closed-loop system is assessed through uncertainty models and assessment of the norm ‖•‖(∞). The design procedure and the optimization are performed with a genetic algorithm differential evolution - DE. The DE optimization method determines a suboptimal solution throughout the optimization on the basis of a spectrally square polynomial and Šiljak's absolute stability test. The stability of the designed controller during the optimization is being checked with Lipatov's stability condition. Both utilized approaches: Šiljak's test and Lipatov's condition, check the robustness and stability characteristics on the basis of the polynomial's coefficients, and are very convenient for automated design of closed-loop control and for application in optimization algorithms such as DE. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Design and performance characteristic analysis of servo valve-type water hydraulic poppet valve

    International Nuclear Information System (INIS)

    Park, Sung Hwan

    2009-01-01

    For water hydraulic system control, the flow or pressure control using high-speed solenoid valve controlled by PWM control method could be a good solution for prevention of internal leakage. However, since the PWM control of on-off valves cause extensive flow and pressure fluctuation, it is difficult to control the water hydraulic actuators precisely. In this study, the servo valve-type water hydraulic valve using proportional poppet as the main valve is designed and the performance characteristics of the servo valve-type water hydraulic valve are analyzed. Furthermore, it is demonstrated through experiments that a decline in control chamber pressure that follows the change of pilot flow is caused by the occurrence of cavitation around the proportional poppet, and that fundamental characteristics of the developed valve remain unaffected by the occurrence of cavitation

  12. Feature tracking for visual servo based range regulation on a mobile robot

    CSIR Research Space (South Africa)

    Burke, Michael G

    2009-11-01

    Full Text Available This poster presents a visual servo approach to straight line range and velocity regulation. The difference in velocity between a lead mobile robot and a follower is regulated through velocity control of the follower, in order to maintain a constant...

  13. Education of MSc and PhD Students in Fluid Power and Mechatronics at DTU

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    The paper deals with education of MSc and PhD students in engineering areas fluid power and mechatronics at the Technical Univ of Denmark, DTU, Lyngby. The new education structure and programs for MSc and PhD students adapted to the change and development of technologies. Focus is on two of twenty...... engineering profilies:(1) Engineeing Design and Product Development and (2)Control Engineering which give possibilitie for specialisation in fluid power and mechatronics design and productdevelopment. Synthesis, design and self-learning competency have a high priority taking the importance of training...

  14. Numerical analysis of the transient conjugated heat transfer in a circular duct with a power-law fluid

    Energy Technology Data Exchange (ETDEWEB)

    Luna, N. [Secretaria de Energia, Direccion de Operacion Petrolera, Mexico DF (Mexico); Mendez, F. [UNAM, Facultad de Ingenieria, Mexico DF (Mexico); Bautista, O. [ITESM, Division de Ingenieria y Arquitectura, Mexico DF (Mexico)

    2005-05-01

    We treat numerically in this paper, the transient analysis of a conjugated heat transfer process in the thermal entrance region of a circular tube with a fully developed laminar power-law fluid flow. We apply the quasi-steady approximation for the power-law fluid, identifying the suitable time scales of the process. Thus, the energy equation in the fluids is solved analytically using the well-known integral boundary layer technique. This solution is coupled to the transient energy equation for the solid where the transverse and longitudinal heat conduction effects are taken into account. The numerical results for the temporal evolution of the average temperature of the tube wall, {theta}{sub av,} is plotted for different nondimensional parameters such as conduction parameter, {alpha}, the aspect ratios of the tube, {epsilon} and {epsilon}{sub 0} and the index of power-law fluid, n. (orig.)

  15. Determining Rheological Parameters of Generalized Yield-Power-Law Fluid Model

    Directory of Open Access Journals (Sweden)

    Stryczek Stanislaw

    2004-09-01

    Full Text Available The principles of determining rheological parameters of drilling muds described by a generalized yield-power-law are presented in the paper. Functions between tangent stresses and shear rate are given. The conditions of laboratory measurements of rheological parameters of generalized yield-power-law fluids are described and necessary mathematical relations for rheological model parameters given. With the block diagrams, the methodics of numerical solution of these relations has been presented. Rheological parameters of an exemplary drilling mud have been calculated with the use of this numerical program.

  16. Numerical simulation of nanofluids based on power-law fluids with flow and heat transfer

    Science.gov (United States)

    Li, Lin; Jiang, Yongyue; Chen, Aixin

    2017-04-01

    In this paper, we investigate the heat transfer of nanofluids based on power-law fluids and movement of nanoparticles with the effect of thermophoresis in a rotating circular groove. The velocity of circular groove rotating is a constant and the temperature on the wall is kept to be zero all the time which is different from the temperature of nanofluids in the initial time. The effects of thermophoresis and Brownian diffusion are considered in temperature and concentration equations, and it is assumed that the thermal conductivity of nanofluids is a function of concentration of nanoparticles. Based on numerical results, it can be found that nanofluids improve the process of heat transfer than base fluids in a rotating circular groove. The enhancement of heat transfer increases as the power law index of base fluids decreases.

  17. Non-Darcy Free Convection of Power-Law Fluids Over a Two-Dimensional Body Embedded in a Porous Medium

    KAUST Repository

    El-Amin, Mohamed

    2010-11-27

    A boundary layer analysis was presented to study the non-Darcy-free convection of a power-law fluid over a non-isothermal two-dimensional body embedded in a porous medium. The Ostwald-de Waele power-law model was used to characterize the non-Newtonian fluid behavior. Similarity solutions were obtained with variations in surface temperature or surface heat flux. In view of the fact that most of the non-Newtonian fluids have large Prandtl numbers, this study was directed toward such fluids. The effects of the porous medium parameters, k1 and k2, body shape parameter, m, and surface thermal variations parameter, p, as well as the power-law index, n, were examined. © 2010 Springer Science+Business Media B.V.

  18. Non-Darcy Free Convection of Power-Law Fluids Over a Two-Dimensional Body Embedded in a Porous Medium

    KAUST Repository

    El-Amin, Mohamed; Sun, Shuyu; El-Ameen, M. A.; Jaha, Y. A.; Gorla, Rama Subba Reddy

    2010-01-01

    A boundary layer analysis was presented to study the non-Darcy-free convection of a power-law fluid over a non-isothermal two-dimensional body embedded in a porous medium. The Ostwald-de Waele power-law model was used to characterize the non-Newtonian fluid behavior. Similarity solutions were obtained with variations in surface temperature or surface heat flux. In view of the fact that most of the non-Newtonian fluids have large Prandtl numbers, this study was directed toward such fluids. The effects of the porous medium parameters, k1 and k2, body shape parameter, m, and surface thermal variations parameter, p, as well as the power-law index, n, were examined. © 2010 Springer Science+Business Media B.V.

  19. Chiari malformation and central sleep apnea syndrome: efficacy of treatment with adaptive servo-ventilation

    Directory of Open Access Journals (Sweden)

    Jorge Marques do Vale

    2014-10-01

    Full Text Available The Chiari malformation type I (CM-I has been associated with sleep-disordered breathing, especially central sleep apnea syndrome. We report the case of a 44-year-old female with CM-I who was referred to our sleep laboratory for suspected sleep apnea. The patient had undergone decompressive surgery 3 years prior. An arterial blood gas analysis showed hypercapnia. Polysomnography showed a respiratory disturbance index of 108 events/h, and all were central apnea events. Treatment with adaptive servo-ventilation was initiated, and central apnea was resolved. This report demonstrates the efficacy of servo-ventilation in the treatment of central sleep apnea syndrome associated with alveolar hypoventilation in a CM-I patient with a history of decompressive surgery.

  20. Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems

    Directory of Open Access Journals (Sweden)

    Zhihong Wang

    2015-01-01

    Full Text Available Considering the varying inertia and load torque in high speed and high accuracy servo systems, a novel discrete second-order sliding mode adaptive controller (DSSMAC based on characteristic model is proposed, and a command observer is also designed. Firstly, the discrete characteristic model of servo systems is established. Secondly, the recursive least square algorithm is adopted to identify time-varying parameters in characteristic model, and the observer is applied to predict the command value of next sample time. Furthermore, the stability of the closed-loop system and the convergence of the observer are analyzed. The experimental results show that the proposed method not only can adapt to varying inertia and load torque, but also has good disturbance rejection ability and robustness to uncertainties.

  1. Pulsed power research at the institute of fluid physics

    International Nuclear Information System (INIS)

    Deng Jianjun; Shi Jinshui; Cao Kefeng; Xie Weiping; Zhang Linwen; Wang Meng

    2009-01-01

    The Institute of Fluid Physics was the earliest institution in China to engage in pulsed power research, covering areas such as the development of high power switches, linear induction accelerators, facilities for Z-pinch studies, pulsed X-ray machines, explosive magnetic compression technology, rep-rate pulsed power generation, time resolved diagnostic technology, and so on. The newly built Dragon-I facility (20 MeV, 2.5kA, 80 ns), currently the most advanced linear induction accelerator in the world, is described. The status of the Primary Test Stand (PTS, 8-10 MA, 130ns) for Z-pinch studies that is still under construction is also reported. The PTS consists of 24 modules based on the Marx generator-water PFL (pulse forming line) technology. The single module prototype has been tested successfully. Other progress on the rep-rate pulsed power generator, linear transfer driver, and time resolved diagnostic technology is also presented. (authors)

  2. Cochlear Outer-Hair-Cell Power Generation and Viscous Fluid Loss

    Science.gov (United States)

    Wang, Yanli; Steele, Charles R.; Puria, Sunil

    2016-01-01

    Since the discovery of otoacoustic emissions and outer hair cell (OHC) motility, the fundamental question of whether the cochlea produces mechanical power remains controversial. In the present work, direct calculations are performed on power loss due to fluid viscosity and power generated by the OHCs. A three-dimensional box model of the mouse cochlea is used with a feed-forward/feed-backward approximation representing the organ of Corti cytoarchitecture. The model is fit to in vivo basilar membrane motion with one free parameter for the OHCs. The calculations predict that the total power output from the three rows of OHCs can be over three orders of magnitude greater than the acoustic input power at 10 dB sound pressure level (SPL). While previous work shows that the power gain, or the negative damping, diminishes with intensity, we show explicitly based on our model that OHC power output increases and saturates with SPL. The total OHC power output is about 2 pW at 80 dB SPL, with a maximum of about 10 fW per OHC.

  3. Novel AC Servo Rotating and Linear Composite Driving Device for Plastic Forming Equipment

    Science.gov (United States)

    Liang, Jin-Tao; Zhao, Sheng-Dun; Li, Yong-Yi; Zhu, Mu-Zhi

    2017-07-01

    The existing plastic forming equipment are mostly driven by traditional AC motors with long transmission chains, low efficiency, large size, low precision and poor dynamic response are the common disadvantages. In order to realize high performance forming processes, the driving device should be improved, especially for complicated processing motions. Based on electric servo direct drive technology, a novel AC servo rotating and linear composite driving device is proposed, which features implementing both spindle rotation and feed motion without transmission, so that compact structure and precise control can be achieved. Flux switching topology is employed in the rotating drive component for strong robustness, and fractional slot is employed in the linear direct drive component for large force capability. Then the mechanical structure for compositing rotation and linear motion is designed. A device prototype is manufactured, machining of each component and the whole assembly are presented respectively. Commercial servo amplifiers are utilized to construct the control system of the proposed device. To validate the effectiveness of the proposed composite driving device, experimental study on the dynamic test benches are conducted. The results indicate that the output torque can attain to 420 N·m and the dynamic tracking errors are less than about 0.3 rad in the rotating drive. the dynamic tracking errors are less than about 1.6 mm in the linear feed. The proposed research provides a method to construct high efficiency and accuracy direct driving device in plastic forming equipment.

  4. Piloted Simulator Investigation of Techniques to Achieve Attitude Command Response with Limited Authority Servos

    National Research Council Canada - National Science Library

    Key, David

    2002-01-01

    The purpose of the study was to develop generic design principles for obtaining attitude command response in moderate to aggressive maneuvers without increasing SCAS series servo authority from the existing +/- 10...

  5. All Digital IQ Servo-System for CERN Linacs

    CERN Document Server

    Broere, J; Garoby, R; Rohlev, A; Serrano, J

    2004-01-01

    A VME based control system has been developed and built at CERN for the servo loops regulating the field in linac accelerating structures. It is an all-digital system built on a single VME card, providing digital detection, processing, and modulation. It is foreseen to be used, in different versions, for the needs of both present and future CERN hadron linacs. The first application will be in the energy ramping RF chain of the CERN Heavy Ion Linac (linac 3). Design principle and the experimental results are described.

  6. Dynamic parameter identification of robot arms with servo-controlled electrical motors

    Science.gov (United States)

    Jiang, Zhao-Hui; Senda, Hiroshi

    2005-12-01

    This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

  7. Adaptive control of the radial servo system of a compact disc player

    NARCIS (Netherlands)

    Draijer, W.; Steinbuch, M.; Bosgra, O.H.

    1992-01-01

    The radial servo system of a compact disc player has to cope with large gain variations which are due to disc dependent optical characteristics, tolerances in mechanical and electrical components and nonlinearity in the generation of the position index. In current players this problem has been

  8. Use of a novel drainage flow servo-controlled CPB for mitral valve replacement in a Jehovah's Witness.

    Science.gov (United States)

    Niimi, Yoshinari; Murata, Seiichiro; Mitou, Yumi; Ohno, Yusuke

    2018-03-01

    We developed a novel open cardiopulmonary bypass (CPB) system, a drainage flow servo-controlled CPB system (DS-CPB), in which rotational speed of the main roller pump is servo-controlled to generate the same amount of flow as the systemic venous drainage. It was designed to safely decrease the priming volume while maintaining a constant reservoir level, even during fluctuations of the drainage flow. We report a successful use of a novel DS-CPB system in an elderly Jehovah's Witness patient with dehydration who underwent mitral valve replacement.

  9. Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

    Science.gov (United States)

    Guo, Dejun; Bourne, Joseph R.; Wang, Hesheng; Yim, Woosoon; Leang, Kam K.

    2017-08-01

    This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.

  10. Fluid Mechanics and Fluid Power (FMFP)

    Indian Academy of Sciences (India)

    Amitabh Bhattacharya

    of renewable energy (e.g., via wind, hydrokinetic generators), creating low-cost healthcare ... multiphase flow, turbulence, bio-fluid dynamics, atmospheric flows, microfluidic flows, and ... study the challenging problem of entry of solids in water.

  11. The research and development of the automatic solar power tracker

    OpenAIRE

    Li Yan Ping; Yuan Zhong Ying

    2016-01-01

    The article describes a kind of automatic tracker using solar power. It depends on two important parts which are servo system and adjusting mechanism system to keep the tracker operating normally. The article focuses on describing the characteristics and functions of two systems and the operating details of the automatic solar power tracker.

  12. Induced hypothermia for infants with hypoxic- ischemic encephalopathy using a servo-controlled fan: an exploratory pilot study.

    Science.gov (United States)

    Horn, Alan; Thompson, Clare; Woods, David; Nel, Alida; Bekker, Adrie; Rhoda, Natasha; Pieper, Clarissa

    2009-06-01

    Several trials suggest that hypothermia is beneficial in selected infants with hypoxic-ischemic encephalopathy. However, the cooling methods used required repeated interventions and were either expensive or reported significant temperature variation. The objective of this pilot study was to describe the use, efficacy, and physiologic impact of an inexpensive servo-controlled cooling fan blowing room-temperature air. A servo-controlled fan was manufactured and used to cool 10 infants with hypoxic-ischemic encephalopathy to a rectal temperature of 33 degrees C to 34 degrees C. The infants were sedated with phenobarbital, but clonidine was administered to some infants if shivering or discomfort occurred. A servo-controlled radiant warmer was used simultaneously with the fan to prevent overcooling. The settings used on the fan and radiant warmer differed slightly between some infants as the technique evolved. A rectal temperature of 34 degrees C was achieved in a median time of 58 minutes. Overcooling did not occur, and the mean temperature during cooling was 33.6 degrees C +/- 0.2 degrees C. Inspired oxygen requirements increased in 6 infants, and 5 infants required inotropic support during cooling, but this was progressively reduced after 1 to 2 days. Dehydration did not occur. Five infants shivered when faster fan speeds were used, but 4 of the 5 infants had hypomagnesemia. Shivering was controlled with clonidine in 4 infants, but 1 infant required morphine. Servo-controlled fan cooling with room-temperature air, combined with servo-controlled radiant warming, was an effective, simple, and safe method of inducing and maintaining rectal temperatures of 33 degrees C to 34 degrees C in sedated infants with hypoxic-ischemic encephalopathy. After induction of hypothermia, a low fan speed facilitated accurate temperature control, and warmer-controlled rewarming at 0.2 degrees C increments every 30 minutes resulted in more appropriate rewarming than when 0.5 degrees C

  13. Turbine lubrication fluid varnish mitigation

    Energy Technology Data Exchange (ETDEWEB)

    Farooq, Khalid [Pall Corporation, Port Washington, NY (United States)

    2010-04-15

    Varnish deposits on internal surfaces in turbine lube systems result in a number of adverse operational issues, especially the restriction and sticking of the moving parts of servo- or directional control valves, resulting in their malfunction. The lubrication fluid has limited solvency for the varnish-forming material, hence a typical turbine will have the majority of this material as deposits and a relatively small portion as suspension in the fluid phase, in quasi-equilibrium with the deposits. The lube system needs to be cleaned by removing the suspended varnish-forming material from the fluid phase, which allows the deposits to re-entrain into the fluid phase, until the majority of the transferable deposits are removed and the fluid carries no significant amount of the material to have any adverse effect. The methods used for the removal of varnish from turbine lube systems include chemical cleaning/flushing, electrostatic charge induced agglomeration/retention, and the adsorption of the varnish suspended in the oil on an adsorbent medium. The paper discusses an absorption-based removal method that utilizes a fibrous medium that has pronounced affinity for the removal and retention of the varnish-forming material from the fluid as well as the deposits from surfaces that are in quasi-equilibrium with the varnish precursors in the fluid. The filtration medium is a composite, made with cellulose bonded by specially formulated, temperature-cured resins. The absorptive medium exhibits high structural and chemical integrity and has been thoroughly tested on operating turbines, showing reduction in varnish levels from the critical range to below normal range in a relatively short time. The experience with the utilization of the absorptive medium in laboratory tests and in two operating turbines is presented. (orig.)

  14. Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera

    National Research Council Canada - National Science Library

    Chen, J; Dixon, W. E; Dawson, D. M; Chitrakaran, V. K

    2004-01-01

    In this paper, a visual servo tracking controller for a wheeled mobile robot (WMR) is developed that utilizes feedback from a monocular camera system that is mounted with a fixed position and orientation...

  15. Design and Testing of a Breadboard Electrical Power Control Unit for the Fluid Combustion Facility Experiment

    Science.gov (United States)

    Kimnach, Greg L.; Lebron, Ramon C.

    1999-01-01

    The Fluid Combustion Facility (FCF) Project and the Power Technology Division at the NASA Glenn Research Center (GRC) at Lewis Field in Cleveland, OH along with the Sundstrand Corporation in Rockford, IL are jointly developing an Electrical Power Converter Unit (EPCU) for the Fluid Combustion Facility to be flown on the International Space Station (ISS). The FCF facility experiment contains three racks: A core rack, a combustion rack, and a fluids rack. The EPCU will be used as the power interface to the ISS 120V(sub dc) power distribution system by each FCF experiment rack which requires 28V(sub dc). The EPCU is a modular design which contains three 120V(sub dc)-to-28V(sub dc) full-bridge, power converters rated at 1 kW(sub e) each bus transferring input relays and solid-state, current-limiting input switches, 48 current-limiting, solid-state, output switches; and control and telemetry hardware. The EPCU has all controls required to autonomously share load demand between the power feeds and--if absolutely necessary--shed loads. The EPCU, which maximizes the usage of allocated ISS power and minimizes loss of power to loads, can be paralleled with other EPCUs. This paper overviews the electrical design and operating characteristics of the EPCU and presents test data from the breadboard design.

  16. Fault detection for discrete-time switched systems with sensor stuck faults and servo inputs.

    Science.gov (United States)

    Zhong, Guang-Xin; Yang, Guang-Hong

    2015-09-01

    This paper addresses the fault detection problem of switched systems with servo inputs and sensor stuck faults. The attention is focused on designing a switching law and its associated fault detection filters (FDFs). The proposed switching law uses only the current states of FDFs, which guarantees the residuals are sensitive to the servo inputs with known frequency ranges in faulty cases and robust against them in fault-free case. Thus, the arbitrarily small sensor stuck faults, including outage faults can be detected in finite-frequency domain. The levels of sensitivity and robustness are measured in terms of the finite-frequency H- index and l2-gain. Finally, the switching law and FDFs are obtained by the solution of a convex optimization problem. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Numerical calculation for flow field of servo-tube guided hydraulic control rod driving system

    International Nuclear Information System (INIS)

    He Keyu; Han Weishi

    2010-01-01

    A new-style hydraulic control rod driving mechanism was put forward by using servo-tube control elements for the design of control rod driving mechanism. The results of numerical simulation by CFD program Fluent for flow field of hydraulic driving cylinder indicate that the bigger the outer diameter of servo-tube, the smaller the resistance coefficient of variable throttle orifice. The zero position gap of variable throttle orifice could be determined on 0.2 mm in the design. The pressure difference between the upper and nether surfaces of piston was mainly created by the throttle function of fixed throttle orifice. It can be effectively controlled by changing the gap of variable throttle orifice. And the lift force of driving cylinder is able to meet the requirement on the design load. (authors)

  18. Unconfined Unsteady Laminar Flow of a Power-Law Fluid across a Square Cylinder

    Directory of Open Access Journals (Sweden)

    Asterios Pantokratoras

    2016-11-01

    Full Text Available The flow of a non-Newtonian, power-law fluid, directed normally to a horizontal cylinder with square cross-section (two-dimensional flow is considered in the present paper. The problem is investigated numerically with a very large calculation domain in order that the flow could be considered unconfined. The investigation covers the power-law index from 0.1 up to 2 and the Reynolds number ranges from 60 to 160. Over this range of Reynolds numbers the flow is unsteady. It is found that the drag coefficient and the Strouhal number are higher in a confined flow compared to those of an unconfined flow. In addition some flow characteristics are lost in a confined flow. Complete results for the drag coefficient and Strouhal number in the entire shear-thinning and shear-thickening region have been produced. In shear-thinning fluids chaotic structures exist which diminish at higher values of power-law index. This study represents the first investigation of unsteady, non-Newtonian power-law flow past a square cylinder in an unconfined field.

  19. Study on specifics of thermophysical properties of supercritical fluids in power engineering applications

    International Nuclear Information System (INIS)

    Mann, David; Pioro, Igor

    2015-01-01

    SuperCritical Pressures (SCPs) and SuperCritical Fluids (SFCs) are widely used in many industries worldwide. The largest application of SCPs is in the power industry in advanced coal-fired power plants. It is well-known that moving from subcritical-pressure power plants to SCP power plants increases gross thermal efficiency from 38-42% to about 50-55%. Despite all advances in thermal power-plants design and operation worldwide, they are still considered as not “environmentally friendly” due to significant carbon-dioxide emissions and air pollution as a result of the combustion process. In addition, coal-fired power-plants also produce virtual mountains of slag and ash, and other gas emissions that may contribute to acid rains. Therefore, the demand for clean, non-fossil-based electricity is growing. Due to this, nuclear power is considered as a basis for future electricity generation in the world. One of the major problems with current fleet of Nuclear Power Plants (NPPs) is their relatively low thermal efficiencies, especially, of water-cooled-reactor NPPs (the vast majority of NPPs) (30-36%), compared to those of advanced thermal power plants (55-62%). Based on that, next generation or Generation-IV reactors corresponding to those NPPs should definitely be more efficient. Higher level of thermal efficiencies can be reached only due to higher temperatures and, in some cases, higher pressures inside reactors and, especially, in power cycles of Generation-IV NPPs. Analysis of the six concepts of Generation-IV reactors and NPPs shows that three reactor concepts will use SCFs as reactor coolants (helium and water) and all concepts can be linked to SCFs as working fluids in power cycles (SC helium and /or carbon dioxide in the Brayton gas-turbine cycle, and SC water in the Rankine steam-turbine cycle). Therefore, the exact knowledge of specifics of thermophysical properties of SC helium, water and carbon dioxide is very important for any advances in these new

  20. Detection of Surface Defects and Servo Signal Restoration for a Compact Disc Player

    DEFF Research Database (Denmark)

    Odgaard, Peter Fogh; Stoustrup, Jakob; Andersen, Palle

    2006-01-01

    Compact disc (CD) players have been on the market for more than two decades, and the involved technologies, including control are very mature. Some problems, however, still remain with respect to playing CDs having to surface defects like scratches and fingerprints. Two servo control loops are used...... to keep the optical pick-up unit (OPU) focused and radially locked to the information track of the CD. The problem is to design servo controllers which are well suited for both handling surface defects and disturbances like mechanical shocks. The handling of surface defects requires a low-controller...... bandwidth which is in conflict with the requirement for the handling of disturbances. This control problem can be solved by the use of a fault tolerant control strategy, where the fault detection is very important. The OPU feeds the controllers with detector signals. Based on these, focus and radial...

  1. Servo-controlling structure of five-axis CNC system for real-time NURBS interpolating

    Science.gov (United States)

    Chen, Liangji; Guo, Guangsong; Li, Huiying

    2017-07-01

    NURBS (Non-Uniform Rational B-Spline) is widely used in CAD/CAM (Computer-Aided Design / Computer-Aided Manufacturing) to represent sculptured curves or surfaces. In this paper, we develop a 5-axis NURBS real-time interpolator and realize it in our developing CNC(Computer Numerical Control) system. At first, we use two NURBS curves to represent tool-tip and tool-axis path respectively. According to feedrate and Taylor series extension, servo-controlling signals of 5 axes are obtained for each interpolating cycle. Then, generation procedure of NC(Numerical Control) code with the presented method is introduced and the method how to integrate the interpolator into our developing CNC system is given. And also, the servo-controlling structure of the CNC system is introduced. Through the illustration, it has been indicated that the proposed method can enhance the machining accuracy and the spline interpolator is feasible for 5-axis CNC system.

  2. Fuzzy self-learning control for magnetic servo system

    Science.gov (United States)

    Tarn, J. H.; Kuo, L. T.; Juang, K. Y.; Lin, C. E.

    1994-01-01

    It is known that an effective control system is the key condition for successful implementation of high-performance magnetic servo systems. Major issues to design such control systems are nonlinearity; unmodeled dynamics, such as secondary effects for copper resistance, stray fields, and saturation; and that disturbance rejection for the load effect reacts directly on the servo system without transmission elements. One typical approach to design control systems under these conditions is a special type of nonlinear feedback called gain scheduling. It accommodates linear regulators whose parameters are changed as a function of operating conditions in a preprogrammed way. In this paper, an on-line learning fuzzy control strategy is proposed. To inherit the wealth of linear control design, the relations between linear feedback and fuzzy logic controllers have been established. The exercise of engineering axioms of linear control design is thus transformed into tuning of appropriate fuzzy parameters. Furthermore, fuzzy logic control brings the domain of candidate control laws from linear into nonlinear, and brings new prospects into design of the local controllers. On the other hand, a self-learning scheme is utilized to automatically tune the fuzzy rule base. It is based on network learning infrastructure; statistical approximation to assign credit; animal learning method to update the reinforcement map with a fast learning rate; and temporal difference predictive scheme to optimize the control laws. Different from supervised and statistical unsupervised learning schemes, the proposed method learns on-line from past experience and information from the process and forms a rule base of an FLC system from randomly assigned initial control rules.

  3. Experience with a servo-hydraulic mechanical testing machine installed in a new shielded active facility at Windscale Nuclear Power Development Laboratories

    International Nuclear Information System (INIS)

    Garlick, A.; Hindmarch, P.; Gravenor, J.G.; Rhodes, D.

    1982-03-01

    An Instron model 1273 servo-hydraulic machine has been installed within a lead-shielded cell at Windscale in order to provide a facility capable of performing a wide range of mechanical tests on nuclear reactor structural materials and fuel assembly components. This particular type of machine was chosen because it has design features associated with the load frame, location of the actuator and adjustment and clamping of the cross-head that are especially well suited to remote operation within a shielded cell. The design of the testing facility is described and the programmes of work that have been completed over the past 11/2 years of operation are reviewed. (author)

  4. A Novel Rotor and Stator Magnetic Fields Direct-Orthogonalized Vector Control Scheme for the PMSM Servo System

    Directory of Open Access Journals (Sweden)

    Shi-Xiong Zhang

    2014-02-01

    Full Text Available Permanent Magnet Synchronous motor (PMSM has received widespread acceptance in recent years. In this paper, a new rotor and stator Magnetic Fields Direct-Orthogonalized Vector Control (MFDOVC scheme is proposed for PMSM servo system. This method simplified the complex calculation of traditional vector control, a part of the system resource is economized. At the same time, through the simulation illustration validation, the performance of PMSM servo system with the proposed MFDOVC scheme can achieve the same with the complex traditional vector control method, but much simpler calculation is implemented using the proposed method.

  5. Simulation of proportional control of hydraulic actuator using digital hydraulic valves

    Science.gov (United States)

    Raghuraman, D. R. S.; Senthil Kumar, S.; Kalaiarasan, G.

    2017-11-01

    Fluid power systems using oil hydraulics in earth moving and construction equipment have been using proportional and servo control valves for a long time to achieve precise and accurate position control backed by system performance. Such valves are having feedback control in them and exhibit good response, sensitivity and fine control of the actuators. Servo valves and proportional valves are possessing less hysteresis when compared to on-off type valves, but when the servo valve spools get stuck in one position, a high frequency called as jitter is employed to bring the spool back, whereas in on-off type valves it requires lesser technology to retract the spool. Hence on-off type valves are used in a technology known as digital valve technology, which caters to precise control on slow moving loads with fast switching times and with good flow and pressure control mimicking the performance of an equivalent “proportional valve” or “servo valve”.

  6. Ionic fluids with r-6 pair interactions have power-law electrostatic screening

    International Nuclear Information System (INIS)

    Kjellander, Roland; Forsberg, Bjoern

    2005-01-01

    The decay behaviour of radial distribution functions for large distances r is investigated for classical Coulomb fluids where the ions interact with an r -6 potential (e.g. a dispersion interaction) in addition to the Coulombic and the short-range repulsive potentials (e.g. a hard core). The pair distributions and the density-density (NN), charge-density (QN) and charge-charge (QQ) correlation functions are investigated analytically and by Monte Carlo simulations. It is found that the NN correlation function ultimately decays like r -6 for large r, just as it does for fluids of electroneutral particles interacting with an r -6 potential. The prefactor is proportional to the squared compressibility in both cases. The QN correlations decay in general like r -8 and the QQ correlations like r -10 in the ionic fluid. The average charge density around an ion decays generally like r -8 and the average electrostatic potential like r -6 . This behaviour is in stark contrast to the decay behaviour for classical Coulomb fluids in the absence of the r -6 potential, where all these functions decay exponentially for large r. The power-law decays are, however, the same as for quantum Coulomb fluids. This indicates that the inclusion of the dispersion interaction as an effective r -6 interaction potential in classical systems yields the same decay behaviour for the pair correlations as in quantum ionic systems. An exceptional case is the completely symmetric binary electrolyte for which only the NN correlation has a power-law decay but not the QQ correlations. These features are shown by an analysis of the bridge function

  7. The research and development of the automatic solar power tracker

    Directory of Open Access Journals (Sweden)

    Li Yan Ping

    2016-01-01

    Full Text Available The article describes a kind of automatic tracker using solar power. It depends on two important parts which are servo system and adjusting mechanism system to keep the tracker operating normally. The article focuses on describing the characteristics and functions of two systems and the operating details of the automatic solar power tracker.

  8. Numerical simulation of heat transfer in power law fluid flow through a stenosed artery

    Science.gov (United States)

    Talib, Amira Husni; Abdullah, Ilyani

    2017-11-01

    A numerical study of heat transfer in a power law fluid is investigated in this paper. The blood flow is treated as power law fluid with a presence of cosine shaped stenosis. This study reveals the effect of stenosis on the heat transfer and velocity of blood flowing in the constricted artery. The governing and energy equations are formulated in a cylindrical coordinate system. Hence, the set of equations and boundary conditions are solved numerically by Marker and Cell (MAC) method. The graphical result shows the profile of blood temperature is increased while the blood velocity is decreased at the critical height of stenosis.

  9. Performance of MSRE Nuclear Power Control Systems (MSRE Test Report 5.2.1)

    International Nuclear Information System (INIS)

    Gabbard, C. H.

    1968-01-01

    The nuclear power control systems of the MSRE were evaluated by observing the steady-state operation of the reactor and by conducting a series of transient tests. The temperature servo was found capable of controlling all the transients that were introduced. However, because of the relatively slow response and inherent stability of the reactor system, the temperature servo was found to be relatively inactive during many of the load change transients. The automatic load control operated as expected except that the minimum power available to the automatic control was about 2 Mw instead of l Mw as had been planned. This has not caused a problem in the reactor operation because the load control has normally been operated in 'manual'.

  10. A port-Hamiltonian approach to image-based visual servo control for dynamic systems

    NARCIS (Netherlands)

    Mahony, R.; Stramigioli, Stefano

    2012-01-01

    This paper introduces a port-Hamiltonian framework for the design of image-based visual servo control for dynamic mechanical systems. The approach taken introduces the concept of an image effort and provides an interpretation of energy exchange between the dynamics of the physical system and virtual

  11. Optimization and performance characteristics of servo-piston hydraulic control rod drive mechanism

    International Nuclear Information System (INIS)

    Yu Mingrui; Han Weishi; Wang Ge

    2014-01-01

    This paper introduces the structure and working principles of the servo-piston hydraulic control rod drive mechanism (SHCM), which can be moved continuously and has self-lock capacity. The steady state characteristics of SHCM are simulated using FLUENT codes. Based on comparison with the experimental results, the simulation is proven to be credible as a tool to describe the steady state characteristics. Finally, the influence of structural parameters is analyzed to obtain an optimal design. The experimental results indicate that the traction of the servo-tube is larger in the starting and braking stages. The resistance coefficient of SHCM increases gradually in the starting and lifting stage, and then tends to be stable. This coefficient has a maximum value while the inlet pressure is low. Performance norms of SHCM, such as the anti-disturbance ability and positioning accuracy, are tested, the anti-disturbance ability of the actuator is strong while the inlet pressure is fluctuating. The positioning accuracy is high regardless of the action process (lifting or not). (author)

  12. Design of a Novel Servo-motorized Laser Device for Visual Pathways Diseases Therapy

    Directory of Open Access Journals (Sweden)

    Carlos Ignacio Sarmiento

    2015-12-01

    Full Text Available We discuss a novel servo-motorized laser device and a research protocol for visual pathways diseases therapies. The proposed servo-mechanized laser device can be used for potential rehabilitation of patients with hemianopia, quadrantanopia, scotoma, and some types of cortical damages. The device uses a semi spherical structure where the visual stimulus will be shown inside, according to a previous stimuli therapy designed by an ophthalmologist or neurologist. The device uses a pair of servomotors (with torque=1.5kg, which controls the laser stimuli position for the internal therapy and another pair for external therapy. Using electronic tools such as microcontrollers along with miscellaneous electronic materials, combined with LabVIEW based interface, a control mechanism is developed for the new device. The proposed device is well suited to run various visual stimuli therapies. We outline the major design principles including the physical dimensions, laser device’s kinematical analysis and the corresponding software development.

  13. Turbofan Volume Dynamics Model for Investigations of Aero-Propulso-Servo-Elastic Effects in a Supersonic Commercial Transport

    Science.gov (United States)

    Connolly, Joseph W.; Kopasakis, George; Lemon, Kimberly A.

    2010-01-01

    A turbofan simulation has been developed for use in aero-propulso-servo-elastic coupling studies, on supersonic vehicles. A one-dimensional lumped volume approach is used whereby each component (fan, high-pressure compressor, combustor, etc.) is represented as a single volume using characteristic performance maps and conservation equations for continuity, momentum and energy. The simulation is developed in the MATLAB/SIMULINK (The MathWorks, Inc.) environment in order to facilitate controls development, and ease of integration with a future aero-servo-elastic vehicle model being developed at NASA Langley. The complete simulation demonstrated steady state results that closely match a proposed engine suitable for a supersonic business jet at the cruise condition. Preliminary investigation of the transient simulation revealed expected trends for fuel flow disturbances as well as upstream pressure disturbances. A framework for system identification enables development of linear models for controller design. Utilizing this framework, a transfer function modeling an upstream pressure disturbance s impacts on the engine speed is developed as an illustrative case of the system identification. This work will eventually enable an overall vehicle aero-propulso-servo-elastic model

  14. Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design

    NARCIS (Netherlands)

    Oomen, T.A.E.; Wal, van de M.M.J.; Bosgra, O.H.

    2006-01-01

    Optimal design of digital controllers for industrial electromechanical servo systems using an Hinf-criterion is considered. Present industrial practice is to perform the control design in the continuous time domain and to discretize the controller a posteriori. This procedure involves unnecessary

  15. Servo-control for maintaining abdominal skin temperature at 36C in low birth weight infants.

    Science.gov (United States)

    Sinclair, J C

    2002-01-01

    Randomized trials have shown that the neonatal mortality rate of low birth-weight babies can be reduced by keeping them warm. For low birth-weight babies nursed in incubators, warm conditions may be achieved either by heating the air to a desired temperature, or by servo-controlling the baby's body temperature at a desired set-point. In low birth weight infants, to determine the effect on death and other important clinical outcomes of targeting body temperature rather than air temperature as the end-point of control of incubator heating. Standard search strategy of the Cochrane Neonatal Review Group. Searches were made of the Cochrane Controlled Trials Register (CCTR) (Cochrane Library, Issue 4, 2001) and MEDLINE, 1966 to November 2001. Randomized or quasi-randomized trials which test the effects of having the heat output of the incubator servo-controlled from body temperature compared with setting a constant incubator air temperature. Trial methodologic quality was systematically assessed. Outcome measures included death, timing of death, cause of death, and other clinical outcomes. Categorical outcomes were analyzed using relative risk and risk difference. Meta-analysis assumed a fixed effect model. Two eligible trials were found. In total, they included 283 babies and 112 deaths. Compared to setting a constant incubator air temperature of 31.8C, servo-control of abdominal skin temperature at 36C reduces the neonatal death rate among low birth weight infants: relative risk 0.72 (95% CI 0.54, 0.97); risk difference -12.7% (95% CI -1.6, -23.9). This effect is even greater among VLBW infants. During at least the first week after birth, low birth weight babies should be provided with a carefully regulated thermal environment that is near the thermoneutral point. For LBW babies in incubators, this can be achieved by adjusting incubator temperature to maintain an anterior abdominal skin temperature of at least 36C, using either servo-control or frequent manual

  16. Development of X-Y servo pneumatic-piezoelectric hybrid actuators for position control with high response, large stroke and nanometer accuracy.

    Science.gov (United States)

    Chiang, Mao-Hsiung

    2010-01-01

    This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm) and nanometer accuracy (20 nm). In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO) system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally.

  17. Development of X-Y Servo Pneumatic-Piezoelectric Hybrid Actuators for Position Control with High Response, Large Stroke and Nanometer Accuracy

    Directory of Open Access Journals (Sweden)

    Mao-Hsiung Chiang

    2010-03-01

    Full Text Available This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm and nanometer accuracy (20 nm. In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally.

  18. Analysis of and H∞ Controller Design For An Electro-Hydraulic Servo Pressure Regulator

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Andersen, Torben Ole

    2011-01-01

    -circuit pumps are still hydraulically controlled, there is however still a need for being able to generate a hydraulic pilot pressure. The focus of the current paper is on the analysis and controller design of an electrohydraulic servo pressure regulator, which generates a hydraulic LS-pressure for a variable...

  19. Image-Based Visual Servoing for Manipulation Via Predictive Control – A Survey of Some Results

    Directory of Open Access Journals (Sweden)

    Corneliu Lazăr

    2016-09-01

    Full Text Available In this paper, a review of predictive control algorithms developed by the authors for visual servoing of robots in manipulation applications is presented. Using these algorithms, a control predictive framework was created for image-based visual servoing (IBVS systems. Firstly, considering the point features, in the year 2008 we introduced an internal model predictor based on the interaction matrix. Secondly, distinctly from the set-point trajectory, we introduced in 2011 the reference trajectory using the concept from predictive control. Finally, minimizing a sum of squares of predicted errors, the optimal input trajectory was obtained. The new concept of predictive control for IBVS systems was employed to develop a cascade structure for motion control of robot arms. Simulation results obtained with a simulator for predictive IBVS systems are also presented.

  20. The computer-aided design of a servo system as a multiple-criteria decision problem

    NARCIS (Netherlands)

    Udink ten Cate, A.J.

    1986-01-01

    This paper treats the selection of controller gains of a servo system as a multiple-criteria decision problem. In contrast to the usual optimization-based approaches to computer-aided design, inequality constraints are included in the problem as unconstrained objectives. This considerably simplifies

  1. Evaluation of Linear and Non-Linear Control Schemes Applied to a Hydraulic Servo System

    DEFF Research Database (Denmark)

    Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik Clemmensen

    2005-01-01

    Due to the innovation of low-cost electronics such as sensors, microcontrollers etc., the focus on highperformance motion control is increasing. This work focuses on position control of single-input single-output hydraulic servo-systems in general. A hydraulically actuated robotic manipulator...

  2. On/off multi-poppet valve for switching manifold in discrete fluid power force system PTO in wave energy converters

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Pedersen, Henrik C.; Andersen, Torben Ole

    2014-01-01

    Fluid power systems are the leading technology for power take off systems in ocean wave energy converters. However, fluid power systems often suffer from poor efficiency, especially in part loads. This degrades the PTO system efficiency and therefore lowers the energy production. To overcome......, the choice of pilot valve, structural mechanical issues and modelling and simulation of various valve configurations. Hence, a mechatronic design process is utilised to choose the best valve configuration....

  3. Optimality based repetitive controller design for track-following servo system of optical disk drives.

    Science.gov (United States)

    Chen, Wentao; Zhang, Weidong

    2009-10-01

    In an optical disk drive servo system, to attenuate the external periodic disturbances induced by inevitable disk eccentricity, repetitive control has been used successfully. The performance of a repetitive controller greatly depends on the bandwidth of the low-pass filter included in the repetitive controller. However, owing to the plant uncertainty and system stability, it is difficult to maximize the bandwidth of the low-pass filter. In this paper, we propose an optimality based repetitive controller design method for the track-following servo system with norm-bounded uncertainties. By embedding a lead compensator in the repetitive controller, both the system gain at periodic signal's harmonics and the bandwidth of the low-pass filter are greatly increased. The optimal values of the repetitive controller's parameters are obtained by solving two optimization problems. Simulation and experimental results are provided to illustrate the effectiveness of the proposed method.

  4. Hydraulically powered dissimilar teleoperated system controller design

    International Nuclear Information System (INIS)

    Jansen, J.F.; Kress, R.L.

    1996-01-01

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented

  5. Experimental consideration for realizing image based visual servo control system

    International Nuclear Information System (INIS)

    Ishikawa, N.; Suzuki, K.; Fujii, Y.; Usui, H.

    1995-01-01

    In this study, we consider the experimental aspect of image based visual servo control system. The items considered are the following; 1) Inertial parameter estimation, 2) Focal point estimation, 3) Controller performance for the system with delay. From the experimental result of visual control, it is found that the system is very sensitive to the controller gain because of the computational delay of vision. In order to establish a satisfactory delay compensation, more investigations on controller design are required. (author)

  6. A Quasiphysics Intelligent Model for a Long Range Fast Tool Servo

    Science.gov (United States)

    Liu, Qiang; Zhou, Xiaoqin; Lin, Jieqiong; Xu, Pengzi; Zhu, Zhiwei

    2013-01-01

    Accurately modeling the dynamic behaviors of fast tool servo (FTS) is one of the key issues in the ultraprecision positioning of the cutting tool. Herein, a quasiphysics intelligent model (QPIM) integrating a linear physics model (LPM) and a radial basis function (RBF) based neural model (NM) is developed to accurately describe the dynamic behaviors of a voice coil motor (VCM) actuated long range fast tool servo (LFTS). To identify the parameters of the LPM, a novel Opposition-based Self-adaptive Replacement Differential Evolution (OSaRDE) algorithm is proposed which has been proved to have a faster convergence mechanism without compromising with the quality of solution and outperform than similar evolution algorithms taken for consideration. The modeling errors of the LPM and the QPIM are investigated by experiments. The modeling error of the LPM presents an obvious trend component which is about ±1.15% of the full span range verifying the efficiency of the proposed OSaRDE algorithm for system identification. As for the QPIM, the trend component in the residual error of LPM can be well suppressed, and the error of the QPIM maintains noise level. All the results verify the efficiency and superiority of the proposed modeling and identification approaches. PMID:24163627

  7. Dynamic Response of Control Servo System Installed in NAES-Equipped SB2C-5 Airplane (BuAer No. 83135)

    Science.gov (United States)

    Smaus, Louis H.; Stewart, Elwood C.

    1950-01-01

    Dynamic--response measurements for various conditions of displacement and rate signal input, sensitivity setting, and simulated hinge moment were made of the three control-surface servo systems of an NAES-equipped remote-controlled airplane while on the ground. The basic components of the servo systems are those of the General Electric Company type G-1 autopilot using electrical signal. sources, solenoid-operated valves, and hydraulic pistons. The test procedures and difficulties are discussed, Both frequency and transient-response data, are presented and comparisons are made. The constants describing the servo system, the undamped natural frequency, and the damping ratio, are determined by several methods. The response of the system with the addition of airframe rate signal is calculated. The transfer function of the elevator surface, linkage, and cable system is obtained. The agreement between various methods of measurement and calculation is considered very good. The data are complete enough and in such form that they may be used directly with the frequency-response data of an airplane to predict the stability of the autopilot-airplane combination.

  8. Multi-Objective Optimization of Organic Rankine Cycle Power Plants Using Pure and Mixed Working Fluids

    DEFF Research Database (Denmark)

    Andreasen, Jesper Graa; Kærn, Martin Ryhl; Pierobon, Leonardo

    2016-01-01

    , which is beneficial for cycle performance. On the other hand, larger heat transfer surface areas are typically required for evaporation and condensation when zeotropic mixtures are used as working fluids. In order to assess the feasibility of using zeotropic mixtures, it is, therefore, important......For zeotropic mixtures, the temperature varies during phase change, which is opposed to the isothermal phase change of pure fluids. The use of such mixtures as working fluids in organic Rankine cycle power plants enables a minimization of the mean temperature difference of the heat exchangers...

  9. Risk-based Comparative Study of Fluid Power Pitch Concepts

    DEFF Research Database (Denmark)

    Liniger, Jesper; Pedersen, Henrik Clemmensen; N. Soltani, Mohsen

    2017-01-01

    Proper functioning of the pitch system is essential to both normal operation and safety critical shut down of modern multi megawatt wind turbines. Several studies on field failure rates for such turbines show that pitch systems are a major contributor to failures which entails an increased risk....... Thus, more reliable and safe concepts are needed. A review of patents and patent applications covering fluid power pitch concepts, reveals that many propose closed-type hydraulic systems. This paper proposes a closed-type concept with a bootstrap reservoir. In contrary to a conventional system where...

  10. Circuit design and simulation of a HV-supply controlling the power of 140 GHz 1 MW gyrotrons for ECRH on W7-X

    International Nuclear Information System (INIS)

    Brand, P.; Mueller, G.A.

    2003-01-01

    For plasma heating by ECR in the Stellarator W7-X under construction, 140 GHz gyrotrons with 1 MW cw output power are under development. These tubes have a voltage depressed collector for electron energy recovery. Each gyrotron is fed by two high-voltage sources: a high-power supply for driving the electron beam and a precision low-power supply for beam acceleration. In addition, a protection system with a thyratron crowbar for fast power removal in case of gyrotron arcing is installed. The low-power high-voltage source for beam acceleration is realized by a high-voltage servo-amplifier driving the depression voltage such that the influence of the voltage noise of the main high-power supply on the acceleration voltage is suppressed by feed-back control of the amplifier. Design and simulation of the servo-amplifier by PSpice is presented

  11. A Port-Hamiltonian Approach to Visual Servo Control of a Pick and Place System

    NARCIS (Netherlands)

    Dirksz, Daniel A.; Scherpen, Jacquelien M. A.; Steinbuch, Maarten

    In this paper, we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. Through a coordinate transformation and a passive interconnection between mechanical system and camera dynamics we realize a closed-loop system that is

  12. Influence of Forming Conditions on Springback in V-bending Process Using Servo Press

    Science.gov (United States)

    Abe, Shinya; Takahashi, Susumu

    To improve fuel efficiency, aluminum alloys and high tensile steel sheets are increasingly being applied to automotive body parts. However, it is difficult to obtain accurate dimensions of formed parts. Therefore, technologies for reducing springback for the part formed by press are strongly demanded. It is said that the die holding time at the bottom dead center of a servo press slide can affect springback. To clarify the forming mechanisms of this phenomenon, a V bending test with a servo press was performed. Aluminum alloys sheets are applied as specimens. The location of press slide was measured by linear scales. It was found that the movement of the slide in a slide motion program differs from the actual movement of the slide. It is important to confirm if the slide is located in the position specified in the program. In addition, a springback angle measurement system is proposed that uses laser displacement measurement apparatus. Because it avoids human error, the proposed measurement system is more accurate than the image processing method.

  13. SYNTHESIS OF THE SERVO DRIVER WITH SPEED LOOP TUNED AT THE MODULAR OPTIMUM

    Directory of Open Access Journals (Sweden)

    Mr. Sergei V. Stelmashchuk

    2016-12-01

    Full Text Available The paper presents a method of synthesis of servo driver for controlling the speed of the object with the speed tuned at the modular optimum. An automatic electric motor drive is considered as the controlled element. This assumes the use of the speed sensor on the output shaft of the drive gear. This approach can be used for geared motors, which are more commonly used in a variety of compact drives. The technique is based on the method of synthesis by using logarithmic frequency response (LFR. The result is a synthesis of the two tracking angle controllers: proportional-integral and proportional-derivative (PIPD regulator. The criterion for the synthesis of tracking angle controller is the desired LFR, the characteristics of which are defined based on saturated capability transition function of controlled object with standard configuration for modular optimum. It is assumed that the maximum speed and acceleration of the transition functions are required for the synthesis of parameters of servo driver system by LFR. The article covers the accuracy and contains an example of a particular electric motor.

  14. Contracting bubbles in Hele-Shaw cells with a power-law fluid

    International Nuclear Information System (INIS)

    McCue, Scott W; King, John R

    2011-01-01

    The problem of bubble contraction in a Hele-Shaw cell is studied for the case in which the surrounding fluid is of power-law type. A small perturbation of the radially symmetric problem is first considered, focussing on the behaviour just before the bubble vanishes, it being found that for shear-thinning fluids the radially symmetric solution is stable, while for shear-thickening fluids the aspect ratio of the bubble boundary increases. The borderline (Newtonian) case considered previously is neutrally stable, the bubble boundary becoming elliptic in shape with the eccentricity of the ellipse depending on the initial data. Further light is shed on the bubble contraction problem by considering a long thin Hele-Shaw cell: for early times the leading-order behaviour is one-dimensional in this limit; however, as the bubble contracts its evolution is ultimately determined by the solution of a Wiener–Hopf problem, the transition between the long thin limit and the extinction limit in which the bubble vanishes being described by what is in effect a similarity solution of the second kind. This same solution describes the generic (slit-like) extinction behaviour for shear-thickening fluids, the interface profiles that generalize the ellipses that characterize the Newtonian case being constructed by the Wiener–Hopf calculation

  15. On the Influence of Piston and Cylinder Density in Tribodynamics of a Radial Piston Digital Fluid Power Displacement Motor

    DEFF Research Database (Denmark)

    Johansen, Per; Roemer, Daniel Beck; Andersen, Torben O.

    2015-01-01

    -stroke displacement simulations are used as basis for the parametric analysis. From the parametric analysis a change, in the minimum film thickness as function of piston and cylinder density, is shown for certain operating modes of the digital fluid power displacement motor. This indicate a need for careful....... In this paper the influence of the inertia term on the lubrication gaps of a radial piston motor are studied by a parametric analysis of the piston and cylinder density in a multibody tribodynamic simulation model. The motor is modeled as a digital fluid power displacement machine and a series of full...... assessment of the applicability, of the force balance condition, if it is used in multibody tribodynamic simulations of radial piston digital fluid power displacement motors....

  16. Adaptive servo ventilation for central sleep apnoea in heart failure : SERVE-HF on-treatment analysis

    NARCIS (Netherlands)

    Woehrle, Holger; Cowie, Martin R.; Eulenburg, Christine; Suling, Anna; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita K.; Somers, Virend K.; Zannad, Faiez; Teschler, Helmut; Wegscheider, Karl

    2017-01-01

    This on-treatment analysis was conducted to facilitate understanding of mechanisms underlying the increased risk of all-cause and cardiovascular mortality in heart failure patients with reduced ejection fraction and predominant central sleep apnoea randomised to adaptive servo ventilation versus the

  17. Selection of working fluids for a novel low-temperature geothermally-powered ORC based cogeneration system

    International Nuclear Information System (INIS)

    Guo, T.; Wang, H.X.; Zhang, S.J.

    2011-01-01

    Highlights: → Performances of a novel cogeneration system using low-temperature geothermal sources under disturbance conditions were investigated. → It aimed at identifying appropriate fluids yielding high PPR and QQR values. → Fluids group presenting higher normal boiling point values showed averagely 7.7% higher PPR with a larger variation than QQR values under disturbance conditions. → Smaller T P value, higher η t value, higher geothermal source parameters and lower heating supply parameters led to higher PPR values but lower QQR values. -- Abstract: A novel cogeneration system driven by low-temperature geothermal sources was investigated in this study. This system consists of a low-temperature geothermally-powered organic Rankine cycle (ORC) subsystem, an intermediate heat exchanger and a commercial R134a-based heat pump subsystem. The main purpose is to identify appropriate fluids which may yield high PPR (the ratio of power produced by the power generation subsystem to power consumed by the heat pump subsystem) value and QQR (the ratio of heat supplied to the user to heat produced by the geothermal source) value. Performances of the novel cogeneration system under disturbance conditions have also been studied. Results indicate that fluids group presenting higher normal boiling point values shows averagely 7.7% higher PPR values and R236ea and R245ca outstand among the group. ΔT P (pinch temperature difference in heat exchangers) and η t (turbine efficiency) values play more important roles on the variation of PPR values. QQR values change slightly with various ΔT P , η t and η rp (refrigerant pump efficiency) values while the variation range is larger under various geothermal source and heating supply parameters. Smaller ΔT P value, higher η t value, higher geothermal source parameters and lower heating supply parameters lead to higher PPR values but lower QQR values.

  18. CDIO-Concept for Enginering Education in Fluid Power, Motion Control and Mechatronic Design

    DEFF Research Database (Denmark)

    Conrad, Finn; Andersen, Torben O.; Hansen, Michael Rygaard

    2006-01-01

    of mechatronics solutions with fluid power actuators for motion control of machines and robots. The idea of CDIO-Concept is to take care of that the students are learning by doing and learning while doing when the students are active to generate new products and solutions by going through the phases from......The paper presents significant Danish experiment results of a developed CDIO-Concept and approach for active and integrated learning in today’s engineering education of MSc Degree students, and research results from using IT-Tools for CAE/CAD and dynamic modelling, simulation, analysis, and design...... to Conceive, Design, Implement and Operate related to en product design by them self in competition with others. The idea is based on the Danish implementation of a CDIO-Concept. A curriculum at Aalborg University, and Technical University of Denmark, offers courses for Motion Control, Fluid Power within...

  19. Steady flow torques in a servo motor operated rotary directional control valve

    International Nuclear Information System (INIS)

    Wang, He; Gong, Guofang; Zhou, Hongbin; Wang, Wei

    2016-01-01

    Highlights: • A novel servo motor operated rotary directional control valve is proposed. • Steady flow torque is a crucial issue that affects rotary valve performance. • Steady flow torque is analyzed on the aspects of theory, simulation and experiment. • Change law of the steady flow torque with spool rotation angle is explored. • Effect of pressure drop and flow rate on the steady flow torque is studied. - Abstract: In this paper, a servo motor operated rotary directional control valve is proposed, and a systematic analysis of steady flow torques in this valve is provided by theoretical calculation, CFD simulation and experimental test. In the analysis, spool rotation angle corresponding to the maximum orifice opening is tagged as 0°. Over a complete change cycle of the orifice, the range of spool rotation angle is symmetric about 0°. The results show that the direction of steady flow torques in this valve is always the direction of orifice closing. The steady flow torques serve as resistances to the spool rotation when the orifice opening increases, while impetuses to the spool rotation when the orifice opening decreases. At a certain pressure drop or flow rate, steady flow torques are approximately equal and opposite when at spool rotation angles which are symmetric about 0°. When the spool rotates from 0°, at a certain pressure drop, their values increase first then decrease with the spool rotation and reach their maximum values at an angle corresponding to about 1/2 of the maximum orifice opening, and at a certain flow rate, their values increase with the spool rotation. The steady flow torques in this valve are the sums of those in the meter-in and meter-out valve chambers. At a certain spool rotation angle, steady flow torques in the meter-in and meter-out valve chambers are approximately proportional to the pressure drop and the second power of the flow rate through the orifice. Theoretical calculation and CFD simulation can be validated by

  20. A port-Hamiltonian approach to visual servo control of a pick and place system

    NARCIS (Netherlands)

    Dirksz, Daniel A.; Scherpen, Jacquelien M.A.

    2012-01-01

    In this paper we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. We realize a closed-loop system, including the nonlinear camera dynamics, which is port-Hamiltonian. Although the closed-loop system is nonlinear, the resulting

  1. A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads

    Directory of Open Access Journals (Sweden)

    Hao-Ting Lin

    2017-06-01

    Full Text Available This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

  2. A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads.

    Science.gov (United States)

    Lin, Hao-Ting

    2017-06-04

    This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC) is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

  3. Experimental investigation on the spray characteristics of power-law fluid in a swirl injector

    Energy Technology Data Exchange (ETDEWEB)

    Bai, Fuqiang; Chen, Shixing; Guo, Jinpeng; Jiao, Kui; Du, Qing [State Key Laboratory of Engines, Tianjin University, Tianjin, 300072 (China); Chang, Qing, E-mail: duqing@tju.edu.cn [Wuxi Fuel Injection Equipment Research Institute, China FAW CO., Wuxi, 214063 (China)

    2017-06-15

    High-speed photography and 3D phase Doppler methods are used to obtain the swirl jet images, 3D velocities and size distribution of different droplets (including deionized water and two kinds of power-law fluid). For the power-law fluids, a short circular jet is formed after the nozzle exit at low pressure. Along the X direction, the distributions of axial velocity w and Sauter mean diameter (SMD) are symmetrical and increase from the center to both sides. The effect of injection pressure on the radial velocity u is not obvious. Along the Z axis, the absolute value of 3D velocities decreases to some extent with droplets moving downstream. The SMD decreases apparently with the increment of the distance along the Z axis at 1.0 MPa. (paper)

  4. Editorial Special Issue on Fluid Mechanics and Fluid Power (FMFP ...

    Indian Academy of Sciences (India)

    a shark is more efficient than a propeller; the notoriously complicated and nonlinear Navier–. Stokes equations governing fluid motion provide fertile ground for research to both applied and pure mathematicians. There is the phenomenon of turbulence in fluid flows. A statement in 1932, attributed to Horace Lamb, author of ...

  5. 1480 W Plts Solar Power Plant Architecture With Solar Tracker For Controlling Microcontroller-Based Solar Panel In Tigaraja Village Sub-District Of Tigadolok Regency Of Simalungun

    Directory of Open Access Journals (Sweden)

    Robert Samosir

    2017-12-01

    Full Text Available Electrical energy has become a basic need for human being. In some remote areas however electricity is unreachable and poses a taboo subject and cannot be enjoyed by local people such as in Tigaraja Village Sub-District of Tigadolok Regency of Simalungun. The sun is a renewable energy that it is beneficial for power plant use. With PLTS solar energy can be changed into the sun through the solar panel. Battery Charge Regulator BCR operates stabilizing voltage from solar panel to battery. The battery will save electrical power to be distributed for household consumption. Since battery power has direct current however Inverter operates changing its direct current into alternating current. To optimize absorption of solar energy a servo motor is used to make solar panel moving by following the suns path. Arduino Uno as direct control of solar panel using solar sensor gives current for servo motor. Then the servo motor can move in reverse and forward. Therefore Household goods like water pumps lamps and televisions have been worked when people come home from their work.

  6. The analysis and compensation of errors of precise simple harmonic motion control under high speed and large load conditions based on servo electric cylinder

    Science.gov (United States)

    Ma, Chen-xi; Ding, Guo-qing

    2017-10-01

    Simple harmonic waves and synthesized simple harmonic waves are widely used in the test of instruments. However, because of the errors caused by clearance of gear and time-delay error of FPGA, it is difficult to control servo electric cylinder in precise simple harmonic motion under high speed, high frequency and large load conditions. To solve the problem, a method of error compensation is proposed in this paper. In the method, a displacement sensor is fitted on the piston rod of the electric cylinder. By using the displacement sensor, the real-time displacement of the piston rod is obtained and fed back to the input of servo motor, then a closed loop control is realized. There is compensation of pulses in the next period of the synthetic waves. This paper uses FPGA as the processing core. The software mainly comprises a waveform generator, an Ethernet module, a memory module, a pulse generator, a pulse selector, a protection module, an error compensation module. A durability of shock absorbers is used as the testing platform. The durability mainly comprises a single electric cylinder, a servo motor for driving the electric cylinder, and the servo motor driver.

  7. Fault Detection and Severity Analysis of Servo Valves Using Recurrence Quantification Analysis

    Science.gov (United States)

    2014-10-02

    method of false nearest neighbors, we found that the minimum embedding dimension for the system is d=2. Figure 3 shows the recurrence plots of the...manufacturing process planning method for the components of a complex mechatronic system . Applied Mathematical Modelling, 37(24), 9829–9845. Samadani, M...diagnostics of nonlinear systems . A detailed nonlinear math- ematical model of a servo electro-hydraulic system has been used to demonstrate the procedure

  8. New mode switching algorithm for the JPL 70-meter antenna servo controller

    Science.gov (United States)

    Nickerson, J. A.

    1988-01-01

    The design of control mode switching algorithms and logic for JPL's 70 m antenna servo controller are described. The old control mode switching logic was reviewed and perturbation problems were identified. Design approaches for mode switching are presented and the final design is described. Simulations used to compare old and new mode switching algorithms and logic show that the new mode switching techniques will significantly reduce perturbation problems.

  9. Bi-level positive pressure ventilation and adaptive servo ventilation in patients with heart failure and Cheyne-Stokes respiration.

    Science.gov (United States)

    Fietze, Ingo; Blau, Alexander; Glos, Martin; Theres, Heinz; Baumann, Gert; Penzel, Thomas

    2008-08-01

    Nocturnal positive pressure ventilation (PPV) has been shown to be effective in patients with impaired left ventricular ejection fraction (LVEF) and Cheyne-Stokes respiration (CSR). We investigated the effect of a bi-level PPV and adaptive servo ventilation on LVEF, CSR, and quantitative sleep quality. Thirty-seven patients (New York heart association [NYHA] II-III) with LVEFCSR were investigated by electrocardiography (ECG), echocardiography and polysomnography. The CSR index (CSRI) was 32.3+/-16.2/h. Patients were randomly treated with bi-level PPV using the standard spontaneous/timed (S/T) mode or with adaptive servo ventilation mode (AutoSetCS). After 6 weeks, 30 patients underwent control investigations with ECG, echocardiography, and polysomnography. The CSRI decreased significantly to 13.6+/-13.4/h. LVEF increased significantly after 6 weeks of ventilation (from 25.1+/-8.5 to 28.8+/-9.8%, plevel PPV and adaptive servo ventilation: the CSRI decreased more in the AutoSetCS group while the LVEF increased more in the bi-level PPV group. Administration of PPV can successfully attenuate CSA. Reduced CSA may be associated with improved LVEF; however, this may depend on the mode of PPV. Changed LVEF is evident even in the absence of significant changes in blood pressure.

  10. Fluid dynamics of acoustic and hydrodynamic cavitation in hydraulic power systems

    Science.gov (United States)

    Ferrari, A.

    2017-03-01

    Cavitation is the transition from a liquid to a vapour phase, due to a drop in pressure to the level of the vapour tension of the fluid. Two kinds of cavitation have been reviewed here: acoustic cavitation and hydrodynamic cavitation. As acoustic cavitation in engineering systems is related to the propagation of waves through a region subjected to liquid vaporization, the available expressions of the sound speed are discussed. One of the main effects of hydrodynamic cavitation in the nozzles and orifices of hydraulic power systems is a reduction in flow permeability. Different discharge coefficient formulae are analysed in this paper: the Reynolds number and the cavitation number result to be the key fluid dynamical parameters for liquid and cavitating flows, respectively. The latest advances in the characterization of different cavitation regimes in a nozzle, as the cavitation number reduces, are presented. The physical cause of choked flows is explained, and an analogy between cavitation and supersonic aerodynamic flows is proposed. The main approaches to cavitation modelling in hydraulic power systems are also reviewed: these are divided into homogeneous-mixture and two-phase models. The homogeneous-mixture models are further subdivided into barotropic and baroclinic models. The advantages and disadvantages of an implementation of the complete Rayleigh-Plesset equation are examined.

  11. Robust control for a biaxial servo with time delay system based on adaptive tuning technique.

    Science.gov (United States)

    Chen, Tien-Chi; Yu, Chih-Hsien

    2009-07-01

    A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new network based cross-coupled control and adaptive tuning techniques are used together to cancel out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. A delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element, effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation and experimental results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.

  12. Modeling and Parameter Identification of the Vibration Characteristics of Armature Assembly in a Torque Motor of Hydraulic Servo Valves under Electromagnetic Excitations

    Directory of Open Access Journals (Sweden)

    Jinghui Peng

    2014-07-01

    Full Text Available The resonance of the armature assembly is the main problem leading to the fatigue of the spring pipe in a torque motor of hydraulic servo valves, which can cause the failure of servo valves. To predict the vibration characteristics of the armature assembly, this paper focuses on the mathematical modeling of the vibration characteristics of armature assembly in a hydraulic servo valve and the identification of parameters in the models. To build models more accurately, the effect of the magnetic spring is taken into account. Vibration modal analysis is performed to obtain the mode shapes and natural frequencies, which are necessary to implement the identification of damping ratios in the mathematical models. Based on the mathematical models for the vibration characteristics, the harmonic responses of the armature assembly are analyzed using the finite element method and measured under electromagnetic excitations. The simulation results agree well with the experimental studies.

  13. Flow of power-law fluids in fixed beds of cylinders or spheres

    KAUST Repository

    Singh, John P.

    2012-10-29

    An ensemble average of the equations of motion for a Newtonian fluid over particle configurations in a dilute fixed bed of spheres or cylinders yields Brinkman\\'s equations of motion, where the disturbance velocity produced by a test particle is influenced by the Newtonian fluid stress and a body force representing the linear drag on the surrounding particles. We consider a similar analysis for a power-law fluid where the stress τ is related to the rate of strain e by τ = 2m en-1e, where m and n are constants. In this case, the ensemble-averaged momentum equation includes a body force resulting from the nonlinear drag exerted on the surrounding particles, a power-law stress associated with the disturbance velocity of the test particle, and a stress term that is linear with respect to the test particle\\'s disturbance velocity. The latter term results from the interaction of the test particle\\'s velocity disturbance with the random straining motions produced by the neighbouring particles and is important only in shear-thickening fluids where the velocity disturbances of the particles are long-ranged. The solutions to these equations using scaling analyses for dilute beds and numerical simulations using the finite element method are presented. We show that the drag force acting on a particle in a fixed bed can be written as a function of a particle-concentration-dependent length scale at which the fluid velocity disturbance produced by a particle is modified by hydrodynamic interactions with its neighbours. This is also true of the drag on a particle in a periodic array where the length scale is the lattice spacing. The effects of particle interactions on the drag in dilute arrays (periodic or random) of cylinders and spheres in shear-thickening fluids is dramatic, where it arrests the algebraic growth of the disturbance velocity with radial position when n≥ 1 for cylinders and n≥ 2 for spheres. For concentrated random arrays of particles, we adopt an

  14. Experimental study on performance characteristics of servo-piston hydraulic control rod driving mechanism

    International Nuclear Information System (INIS)

    Yu Mingrui; Han Weishi; Zhou Jie; Liu Chunyu; Yang Zhida; Wang Ge

    2014-01-01

    An experimental study on the performance characteristics of the servo-piston hydraulic control rod driving mechanism is carried out, the dynamic processes of the driving mechanism are obtained through the experiments in different working conditions. Combined with the structure characteristics of the driving mechanism, the change rule between the characteristics parameters and the working condition is analyzed. The results indicate that the traction of the servo-tube decreases quickly at first, then slowly and finally trends to be a constant with the working pressure increasing, the tractions are the largest in the startup and deboost phases. The under pressure of the drive cylinder rises slowly and the upper pressure decreases rapidly at the beginning of the rise, the variation trend is opposite in the falling stage. There exists quick and clear flow change processes in the startup and deboost phases, the flow mutation value reduces and the mutation time changes a little with the working pressure increasing. The driving mechanism runs stable and has high sensitivity precision, the load does not vibrate at all when working conditions has small disturbance, a steady transform can be realized among every condition. (authors)

  15. Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

    Science.gov (United States)

    Ou, Meiying; Li, Shihua; Wang, Chaoli

    2013-12-01

    This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

  16. Antenna servo control system characterization: Rate loop analysis for 34-m antenna at DSS 15

    Science.gov (United States)

    Nickerson, J. A.; Cox, D. G.; Smith, H. K.; Engel, J. H.; Ahlstrom, H. G.

    1986-01-01

    The elevation and azimuth servo rate loops at the 34-m High Efficiency Deep Space Station 15 (DSS 15) are described. Time and frequency response performance criteria were measured. The results are compared to theoretically deduced performance criteria. Unexpected anomalies in the frequency response are observed and identified.

  17. Evaluation of a solar-powered organic Rankine cycle using dry organic working fluids

    Directory of Open Access Journals (Sweden)

    Emily Spayde

    2015-12-01

    Full Text Available This paper presents a model to evaluate the performance of a solar-powered organic Rankine cycle (ORC. The system was evaluated in Jackson, MS, using five dry organic working fluids, R218, R227ea, R236ea, R236fa, and RC318. The purpose of this study is to investigate how hourly temperature change affects the electricity production and exergy destruction rates of the solar ORC, and to determine the effect of the working fluid on the proposed system. The system was also evaluated in Tucson, AZ, to investigate the effect of average hourly outdoor temperatures on its performance. The potential of the system to reduce primary energy consumption and carbon dioxide emissions is also investigated. A parametric analysis to determine how temperature and pressure of the organic working fluid, the solar collector area, and the turbine efficiency affect the electricity production is performed. Results show that the ORC produces the most electricity during the middle of the day, when the temperatures are the highest and when the solar collectors have the highest efficiency. Also, R-236ea is the working fluid that shows the best performance of the evaluated fluids. An economic analysis was performed to determine the capital cost available for the proposed system.

  18. Phenylnaphthalene Derivatives as Heat Transfer Fluids for Concentrating Solar Power: Loop Experiments and Final Report

    Energy Technology Data Exchange (ETDEWEB)

    McFarlane, Joanna [ORNL; Bell, Jason R [ORNL; Felde, David K [ORNL; Joseph III, Robert Anthony [ORNL; Qualls, A L [ORNL; Weaver, Samuel P [ORNL

    2013-02-01

    ORNL and subcontractor Cool Energy completed an investigation of higher-temperature, organic thermal fluids for solar thermal applications. Although static thermal tests showed promising results for 1-phenylnaphthalene, loop testing at temperatures to 450 C showed that the material isomerized at a slow rate. In a loop with a temperature high enough to drive the isomerization, the higher melting point byproducts tended to condense onto cooler surfaces. So, as experienced in loop operation, eventually the internal channels of cooler components such as the waste heat rejection exchanger may become coated or clogged and loop performance will decrease. Thus, pure 1-phenylnaphthalene does not appear to be a fluid that would have a sufficiently long lifetime (years to decades) to be used in a loop at the increased temperatures of interest. Hence a decision was made not to test the ORNL fluid in the loop at Cool Energy Inc. Instead, Cool Energy tested and modeled power conversion from a moderate-temperature solar loop using coupled Stirling engines. Cool Energy analyzed data collected on third and fourth generation SolarHeart Stirling engines operating on a rooftop solar field with a lower temperature (Marlotherm) heat transfer fluid. The operating efficiencies of the Stirling engines were determined at multiple, typical solar conditions, based on data from actual cycle operation. Results highlighted the advantages of inherent thermal energy storage in the power conversion system.

  19. ANALYSIS OF MARANGONI CONVECTION OF NON-NEWTONIAN POWER LAW FLUIDS WITH LINEAR TEMPERATURE DISTRIBUTION

    Directory of Open Access Journals (Sweden)

    Yan Zhang

    2011-01-01

    Full Text Available The problem of steady, laminar, thermal Marangoni convection flow of non-Newtonian power law fluid along a horizontal surface with variable surface temperature is studied. The partial differential equations are transformed into ordinary differential equations by using a suitable similarity transformation and analytical approximate solutions are obtained by an efficient transformation, asymptotic expansion and Padé approximants technique. The effects of power law index and Marangoni number on velocity and temperature profiles are examined and discussed.

  20. Development of the maintenance process by the servo manipulator for the parts of the equipment outside the MSM's workspace in a hot cell

    International Nuclear Information System (INIS)

    Lee, J. Y.; Kim, S. H.; Song, D. K.; Park, B. S.; Yun, G. S.

    2003-01-01

    In this study, the maintenance process by the servo manipulator for the parts of the equipment that cannot be reached by MSM in the hot cell was developed. To do this, the virtual mock up is implemented using virtual prototyping technology. And, Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. And the path planning of the servo manipulator using the collision detection of the virtual mockup is established. Also, the maintenance process for the parts of the equipment that are located out area of the MSM's workspace by the servo manipulator is proposed and verified through the graphic simulation. The proposed remote maintenance process of the equipment can be effectively used in the real hot cell operation. Also, the implemented virtual mock-up of the hot cell can be effecively used in analyzing the various hot cell operation and in enhancing the reliability and safety of the spent fuel manaement

  1. Sinusoidal visuomotor tracking: intermittent servo-control or coupled oscillations?

    Science.gov (United States)

    Russell, D M; Sternad, D

    2001-12-01

    In visuomotor tasks that involve accuracy demands, small directional changes in the trajectories have been taken as evidence of feedback-based error corrections. In the present study variability, or intermittency, in visuomanual tracking of sinusoidal targets was investigated. Two lines of analyses were pursued: First, the hypothesis that humans fundamentally act as intermittent servo-controllers was re-examined, probing the question of whether discontinuities in the movement trajectory directly imply intermittent control. Second, an alternative hypothesis was evaluated: that rhythmic tracking movements are generated by entrainment between the oscillations of the target and the actor, such that intermittency expresses the degree of stability. In 2 experiments, participants (N = 6 in each experiment) swung 1 of 2 different hand-held pendulums, tracking a rhythmic target that oscillated at different frequencies with a constant amplitude. In 1 line of analyses, the authors tested the intermittency hypothesis by using the typical kinematic error measures and spectral analysis. In a 2nd line, they examined relative phase and its variability, following analyses of rhythmic interlimb coordination. The results showed that visually guided corrective processes play a role, especially for slow movements. Intermittency, assessed as frequency and power components of the movement trajectory, was found to change as a function of both target frequency and the manipulandum's inertia. Support for entrainment was found in conditions in which task frequency was identical to or higher than the effector's eigenfrequency. The results suggest that it is the symmetry between task and effector that determines which behavioral regime is dominant.

  2. Wireless transmission of power and information through one high frequency resonant AC link inverter for robot manipulator applications

    International Nuclear Information System (INIS)

    Kawamura, Atsuo; Ishioka, Kazuaki; Hirai, Junji.

    1995-01-01

    A contact-less decentralized power supply is proposed with communication capability through only one transformer. A prototype of wireless transmission system of power and information (WTPI system) was built, and the two axis position control for servo motors was achieved by transferring the power and signal through one rotatable high frequency transformer. The proposed concept can be applied for robotics and NC machines

  3. Working fluid selection for the Organic Rankine Cycle (ORC) exhaust heat recovery of an internal combustion engine power plant

    Science.gov (United States)

    Douvartzides, S.; Karmalis, I.

    2016-11-01

    Organic Rankine cycle technology is capable to efficiently convert low-grade heat into useful mechanical power. In the present investigation such a cycle is used for the recovery of heat from the exhaust gases of a four stroke V18 MAN 51/60DF internal combustion engine power plant operating with natural gas. Design is focused on the selection of the appropriate working fluid of the Rankine cycle in terms of thermodynamic, environmental and safety criteria. 37 candidate fluids have been considered and all Rankine cycles examined were subcritical. The thermodynamic analysis of all fluids has been comparatively undertaken and the effect of key operation conditions such as the evaporation pressure and the superheating temperature was taken into account. By appropriately selecting the working fluid and the Rankine cycle operation conditions the overall plant efficiency was improved by 5.52% and fuel consumption was reduced by 12.69%.

  4. Servo-driven piezo common rail diesel injection system; Servogetriebene Piezo-Common-Rail-Dieseleinspritzung

    Energy Technology Data Exchange (ETDEWEB)

    Schoeppe, Detlev; Stahl, Christian; Krueger, Grit; Dian, Vincent [Continental Automotive GmbH, Regensburg (Germany). Geschaeftsbereich Engine Systems

    2012-03-15

    The requirements to be met by future diesel engines represent major challenges for fuel injection technology: Fuel consumption, emissions and noise development are to be further reduced without impairing driving enjoyment. To address these challenges, Continental has developed a new fuel injection system that features a high level of precision and accuracy. The key component is a servo-driven injector that is operated in a closed control circuit. (orig.)

  5. Models and simulation of non-ideal fluid flows in unconventional turbomachinery : Toward highly efficient next-generation green power systems

    NARCIS (Netherlands)

    Rinaldi, E.

    2015-01-01

    The new generation of power plants based on innovative thermodynamic cycles operating with unconventional working fluids, such as CO2 close to its thermodynamic critical point or organic fluids close to their vapour saturation line, is an attractive option for high efficiency conversion of

  6. MHD axisymmetric flow of power-law fluid over an unsteady stretching sheet with convective boundary conditions

    Directory of Open Access Journals (Sweden)

    Jawad Ahmed

    Full Text Available This paper examines the boundary layer flow and heat transfer characteristic in power law fluid model over unsteady radially stretching sheet under the influence of convective boundary conditions. A uniform magnetic field is applied transversely to the direction of the flow. The governing time dependent nonlinear boundary layer equations are reduced into nonlinear ordinary differential equations with the help of similarity transformations. The transformed coupled ordinary differential equations are then solved analytically by homotopy analysis method (HAM and numerically by shooting procedure. Effects of various governing parameters like, power law index n, magnetic parameter M, unsteadiness A, suction/injection S, Biot number γ and generalized Prandtl number Pr on velocity, temperature, local skin friction and the local Nusselt number are studied and discussed. It is found from the analysis that the magnetic parameter diminishes the velocity profile and the corresponding thermal boundary layer thickness. Keywords: Axisymmetric flow, Power law fluid, Unsteady stretching, Convective boundary conditions

  7. Forward Models Applied in Visual Servoing for a Reaching Task in the iCub Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Daniel Fernando Tello Gamarra

    2009-01-01

    Full Text Available This paper details the application of a forward model to improve a reaching task. The reaching task must be accomplished by a humanoid robot with 53 degrees of freedom (d.o.f. and a stereo-vision system. We have explored via simulations a new way of constructing and utilizing a forward model that encodes eye–hand relationships. We constructed a forward model using the data obtained from only a single reaching attempt. ANFIS neural networks are used to construct the forward model, but the forward model is updated online with new information that comes from each reaching attempt. Using the obtained forward model, an initial image Jacobian is estimated and is used with a visual servoing controller. Simulation results demonstrate that errors are lower when the initial image Jacobian is derived from the forward model. This paper is one of the few attempts at applying visual servoing in a complete humanoid robot.

  8. iSERVO: Implementing the International Solid Earth Research Virtual Observatory by Integrating Computational Grid and Geographical Information Web Services

    Science.gov (United States)

    Aktas, Mehmet; Aydin, Galip; Donnellan, Andrea; Fox, Geoffrey; Granat, Robert; Grant, Lisa; Lyzenga, Greg; McLeod, Dennis; Pallickara, Shrideep; Parker, Jay; Pierce, Marlon; Rundle, John; Sayar, Ahmet; Tullis, Terry

    2006-12-01

    We describe the goals and initial implementation of the International Solid Earth Virtual Observatory (iSERVO). This system is built using a Web Services approach to Grid computing infrastructure and is accessed via a component-based Web portal user interface. We describe our implementations of services used by this system, including Geographical Information System (GIS)-based data grid services for accessing remote data repositories and job management services for controlling multiple execution steps. iSERVO is an example of a larger trend to build globally scalable scientific computing infrastructures using the Service Oriented Architecture approach. Adoption of this approach raises a number of research challenges in millisecond-latency message systems suitable for internet-enabled scientific applications. We review our research in these areas.

  9. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.

    Science.gov (United States)

    Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-08-12

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.

  10. High mechanical advantage design of six-bar Stephenson mechanism for servo mechanical presses

    Directory of Open Access Journals (Sweden)

    Jianguo Hu

    2016-06-01

    Full Text Available This article proposed a two-phase design scheme of Stephenson six-bar working mechanisms for servo mechanical presses with high mechanical advantage. In the qualitative design phase, first, a Stephenson six-bar mechanism with a slide was derived from Stephenson six-bar kinematic chains. Second, based on the instant center analysis method, the relationship between mechanical advantage and some special instant centers was founded, and accordingly a primary mechanism configuration with high mechanical advantage was designed qualitatively. Then, a parameterized prototype model was established, and the influences of design parameters toward slide kinematical characteristics were analyzed. In the quantitative design phase, a multi-objective optimization model, aiming at high mechanical advantage and dwelling characteristics, was built, and a case design was done to find optimal dimensions. Finally, simulations based on the software ADAMS were conducted to compare the transmission characteristics of the optimized working mechanism with that of slide-crank mechanism and symmetrical toggle mechanism, and an experimental press was made to validate the design scheme. The simulation and experiment results show that, compared with general working mechanisms, the Stephenson six-bar working mechanism has higher mechanical advantage and better dwelling characteristics, reducing capacities and costs of servo motors effectively.

  11. Heat transfer and fluid flow research relevant to India's nuclear power program

    International Nuclear Information System (INIS)

    Mehta, S.K.; Venkatraj, V.

    1988-01-01

    The Indian Nuclear Power Programme envisages three important stages viz., installation of thermal reactors, fast reactors and utilization of Thorium. By the year 2000 AD, it is proposed to have an installed total capacity of nuclear power of about 10,000 MWe. Starting from the present installed capacity of 1330 MWe, the additional contribution will be mainly made by thermal power reactors of the Pressurized Heavy Water type (PHWR). Apart from the reactors presently under construction about 12 numbers of 235 MWe units are planned to be constructed, which will be based on the standardized design of the reactors at Narora Atomic Power Project (NAPP). In addition, 10 units of 500 MWe capacity each, the design for which is currently under progress, will also be installed. The design, construction and operating agency is the Nuclear Power Board (NPB), while the Bhabha Atomic Research Centre (BARC) is responsible for the research and development work required. In addition to the programme on thermal power reactors, a thermal research reactor (DHRUVA) of 100 MWth capacity has been designed, constructed and has been commissioned. Some of the important heat transfer and fluid flow research problems relevant to the Indian nuclear power and research reactors are discussed in this paper

  12. Stand-alone excitation synchronous wind power generators with power flow management strategy

    Directory of Open Access Journals (Sweden)

    Tzuen-Lih Chern

    2014-09-01

    Full Text Available This study presents a stand-alone excitation synchronous wind power generator (SESWPG with power flow management strategy (PFMS. The rotor speed of the excitation synchronous generator tracks the utility grid frequency by using servo motor tracking technologies. The automatic voltage regulator governs the exciting current of generator to achieve the control goals of stable voltage. When wind power is less than the needs of the consumptive loading, the proposed PFMS increases motor torque to provide a positive power output for the loads, while keeping the generator speed constant. Conversely, during the periods of wind power greater than output loads, the redundant power of generator production is charged to the battery pack and the motor speed remains constant with very low power consumption. The advantage of the proposed SESWPG is that the generator can directly output stable alternating current (AC electricity without using additional DC–AC converters. The operation principles with software simulation for the system are described in detail. Experimental results of a laboratory prototype are shown to verify the feasibility of the system.

  13. All Digital IQ Servo-System for CERN Linacs

    CERN Document Server

    Rohlev, A; Garoby, R

    2003-01-01

    A new VME based system has been developed and built at CERN for the servo loops regulating the field in the linac accelerating structure. It makes use of high speed digital In-phase/Quadrature (IQ) detection, digital processing, and digital IQ modulation. The digital processing and IQ modulation is done in a single PLD. The system incorporates continually variable set points, iterative learning, feed forward as well as extensive diagnostics and other features well suited for digital implementations. Built on a single VME card, it will be first used in the energy ramping RF chain of the CERN Heavy Ion Linac (linac 3) and later for upgrading the present proton linac (linac 2). This system serves also as a prototype for the future Superconducting Proton Linac (SPL). The design principle and the experimental results are described.

  14. Analysis of Dead Time and Implementation of Smith Predictor Compensation in Tracking Servo Systems for Small Unmanned Aerial Vehicles

    National Research Council Canada - National Science Library

    Brashear , Jr, Thomas J

    2005-01-01

    .... Gimbaled video camera systems, designed at NPS, use two servo actuators to command line of sight orientation via serial controller while tracking a target and is termed Visual Based Target Tracking (VBTT...

  15. Nonlinear control for a class of hydraulic servo system.

    Science.gov (United States)

    Yu, Hong; Feng, Zheng-jin; Wang, Xu-yong

    2004-11-01

    The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation.

  16. Real Time Implementation of PID and Fuzzy PD Controllers for DC-Servo Motor Based on Lab View Environment

    Directory of Open Access Journals (Sweden)

    Safaa M. Z. Al-Ubaidi

    2012-06-01

    Full Text Available This paper presents an implementation of conventional PID (CPID controller using Ziegler-Nichols rules and fuzzy PD (FPD controller for position servo motor control based on Lab View (Laboratory Virtual Instrument Engineering Workbench Environment through Data Acquisition (DAQ Device PCI- 6521 of National Instrument's and Data Acquisition Accessory Board Model (CB-68LP.CPID controller is perhaps the most well-known and most widely used in industrial applications. However, it has been known that CPID controller generally don’t work well for non-linear systems, higher order and time-delayed linear system and particularly complex and vague system. To overcome these difficulties, this paper proposes to use the FPD controller for a servo motor system instead of CPID. The parameters of servo motor used are completely unknown. The FPD structure has two-input single-output and fairly similar characteristic to its conventional counterpart and provides good performance. Simple rules base are used for FPD (nine rules only. Performance evaluation was carried out via a comparison study for the proposed control scheme and other existing control scheme, such as CPID controller. The critical point for this experiment on position system is a steady state error and settling time.  The performance showing that the FPD has less settling time and zero steady state error over its CPID. The algorithms of FPD and CPID controllers are implemented using PID, Fuzzy Logic and simulation toolkits of the Lab View environment.

  17. Robust and Stable Disturbance Observer of Servo System for Low Speed Operation Using the Radial Basis Function Network

    DEFF Research Database (Denmark)

    Lee, Kyo-Beum; Blaabjerg, Frede

    2005-01-01

    A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The speed estimation scheme in most servo drive systems for low speed operation is sensitive to the variation of machine parameter, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Network (RBFN) is applied. A control law for stabilizing the system and adaptive laws for updating both of the weights in the RBFN and a bounding constant are established so that the whole closed-loop system is stable...... in the sense of Lyapunov. The effectiveness of the proposed inertia estimation is verified by simulations and experiments. It is concluded that the speed control performance in low speed region is improved with the proposed disturbance observer using RBFN....

  18. Influence of the type of working fluid in the lower cycle and superheated steam parameters in the upper cycle on effectiveness of operation of binary power plant

    Directory of Open Access Journals (Sweden)

    Stachel Aleksander A.

    2015-03-01

    Full Text Available In the paper presented have been the results of the analysis of effectiveness of operation of binary power plant consisting of combined two Clausius-Rankine cycles, namely the binary cycle with water as a working fluid in the upper cycle and organic substance as a working fluid in the lower cycle, as well as a single fluid component power plant operating also in line with the C-R cycle for superheated steam, with water as a working fluid. The influence of the parameters of superheated steam in the upper cycle has been assessed as well as the type of working fluid in the lower cycle. The results of calculations have been referred to the single-cycle classical steam power plant operating at the same parameters of superheated steam and the same mass flow rate of water circulating in both cycles. On the basis of accomplished analysis it has been shown that the binary power plant shows a greater power with respect to the reference power plant.

  19. Review of computational fluid dynamics (CFD) researches on nano fluid flow through micro channel

    Science.gov (United States)

    Dewangan, Satish Kumar

    2018-05-01

    Nanofluid is becoming a promising heat transfer fluids due to its improved thermo-physical properties and heat transfer performance. Micro channel heat transfer has potential application in the cooling high power density microchips in CPU system, micro power systems and many such miniature thermal systems which need advanced cooling capacity. Use of nanofluids enhances the effectiveness of t=scu systems. Computational Fluid Dynamics (CFD) is a very powerful tool in computational analysis of the various physical processes. It application to the situations of flow and heat transfer analysis of the nano fluids is catching up very fast. Present research paper gives a brief account of the methodology of the CFD and also summarizes its application on nano fluid and heat transfer for microchannel cases.

  20. Asymmetric Fuzzy Control of a Positive and Negative Pneumatic Pressure Servo System

    Science.gov (United States)

    Yang, Gang; Du, Jing-Min; Fu, Xiao-Yun; Li, Bao-Ren

    2017-11-01

    The pneumatic pressure control systems have been used in some fields. However, the researches on pneumatic pressure control mainly focus on constant pressure regulation. Poor dynamic characteristics and strong nonlinearity of such systems limit its application in the field of pressure tracking control. In order to meet the demand of generating dynamic pressure signal in the application of the hardware-in-the-loop simulation of aerospace engineering, a positive and negative pneumatic pressure servo system is provided to implement dynamic adjustment of sealed chamber pressure. A mathematical model is established with simulation and experiment being implemented afterwards to discuss the characteristics of the system, which shows serious asymmetry in the process of charging and discharging. Based on the analysis of the system dynamics, a fuzzy proportional integral derivative (PID) controller with asymmetric fuzzy compensator is proposed. Different from conventional adjusting mechanisms employing the error and change in error of the controlled variable as input parameters, the current chamber pressure and charging or discharging state are chosen as inputs of the compensator, which improves adaptability. To verify the effectiveness and performance of the proposed controller, the comparison experiments tracking sinusoidal and square wave commands are conducted. Experimental results show that the proposed controller can obtain better dynamic performance and relatively consistent control performance across the scope of work (2-140 kPa). The research proposes a fuzzy control method to overcome asymmetry and enhance adaptability for the positive and negative pneumatic pressure servo system.

  1. Myoelectric hand prosthesis force control through servo motor current feedback.

    Science.gov (United States)

    Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

    2009-10-01

    This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.

  2. What is the Optimal Strategy for Adaptive Servo-Ventilation Therapy?

    Science.gov (United States)

    Imamura, Teruhiko; Kinugawa, Koichiro

    2018-05-23

    Clinical advantages in the adaptive servo-ventilation (ASV) therapy have been reported in selected heart failure patients with/without sleep-disorder breathing, whereas multicenter randomized control trials could not demonstrate such advantages. Considering this discrepancy, optimal patient selection and device setting may be a key for the successful ASV therapy. Hemodynamic and echocardiographic parameters indicating pulmonary congestion such as elevated pulmonary capillary wedge pressure were reported as predictors of good response to ASV therapy. Recently, parameters indicating right ventricular dysfunction also have been reported as good predictors. Optimal device setting with appropriate pressure setting during appropriate time may also be a key. Large-scale prospective trial with optimal patient selection and optimal device setting is warranted.

  3. Nuclear power system

    International Nuclear Information System (INIS)

    Yampolsky, J.S.; Cavallaro, L.; Paulovich, K.F.; Schleicher, R.W.

    1989-01-01

    This patent describes an inherently safe modular nuclear power system for producing electrical power at acceptable efficiency levels using working fluids at relatively low temperatures and pressures. The system comprising: a reactor module for heating a first fluid; a heat exchanger module for transferring heat from the first fluid to a second fluid; a first piping system effecting flow of the first fluid in a first fluid circuit successively through the reactor module and the heat exchanger module; a power conversion module comprising a turbogenerator driven by the second fluid, and means for cooling the second fluid upon emergence thereof from the turbogenerator; a second piping system comprising means for effecting flow of the second fluid in a second fluid circuit successively through the heat exchanger module and the power conversion module; and a plurality of pits for receiving the modules

  4. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller

    Science.gov (United States)

    Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-01-01

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689

  5. Servo-controlled pneumatic pressure oscillator for respiratory impedance measurements and high-frequency ventilation.

    Science.gov (United States)

    Kaczka, David W; Lutchen, Kenneth R

    2004-04-01

    The ability to provide forced oscillatory excitation of the respiratory system can be useful in mechanical impedance measurements as well as high frequency ventilation (HFV). Experimental systems currently used for generating forced oscillations are limited in their ability to provide high amplitude flows or maintain the respiratory system at a constant mean pressure during excitation. This paper presents the design and implementation of a pneumatic pressure oscillator based on a proportional solenoid valve. The device is capable of providing forced oscillatory excitations to the respiratory system over a bandwidth suitable for mechanical impedance measurements and HVF. It delivers high amplitude flows (> 1.4 l/s) and utilizes a servo-control mechanism to maintain a load at a fixed mean pressure during simultaneous oscillation. Under open-loop conditions, the device exhibited a static hysteresis of approximately 7%, while its dynamic magnitude and phase responses were flat out to 10 Hz. Broad-band measurement of total harmonic distortion was approximately 19%. Under closed-loop conditions, the oscillator was able to maintain a mechanical test load at both positive and negative mean pressures during oscillatory excitations from 0.1 to 10.0 Hz. Impedance of the test load agreed closely with theoretical predictions. We conclude that this servo-controlled oscillator can be a useful tool for respiratory impedance measurements as well as HFV.

  6. A compound control strategy combining velocity compensation with ADRC of electro-hydraulic position servo control system.

    Science.gov (United States)

    Gao, Bingwei; Shao, Junpeng; Yang, Xiaodong

    2014-11-01

    In order to enhance the anti-jamming ability of electro-hydraulic position servo control system at the same time improve the control precision of the system, a compound control strategy that combines velocity compensation with Active Disturbance Rejection Controller (ADRC) is proposed, and the working principle of the compound control strategy is given. ADRC controller is designed, and the extended state observer is used for observing internal parameters uncertainties and external disturbances, so that the disturbances of the system are suppressed effectively. Velocity compensation controller is designed and the compensation model is derived to further improve the positioning accuracy of the system and to achieve the velocity compensation without disturbance. The compound control strategy is verified by the simulation and experiment respectively, and the simulation and experimental results show that the electro-hydraulic position servo control system with ADRC controller can effectively inhibit the external disturbances, the precise positioning control is realized after introducing the velocity compensation controller, and verify that the compound control strategy is effective. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  7. Test of a Novel Moving Magnet Actuated Seat Valve for Digital Displacement Fluid Power Machines

    DEFF Research Database (Denmark)

    Nørgård, Christian; Madsen, Esben Lundø; Christensen, Jeppe Haals

    2018-01-01

    The emerging digital displacement fluid power technology requires a new class of high-performance valves that can operate in harsh high-pressure conditions. To overcome the switching performance limitations of solenoids and to avoid the mechanical complexity of moving coil actuators, a novel elec......, and a simple mechanical design....

  8. Feasibility study for application of mixture working fluid cycle to nuclear reactor power plant

    International Nuclear Information System (INIS)

    Takeuchi, Yutaka; Ohshima, Iwao; Shiomi, Hirozo; Miyamae, Nobuhiko; Hiramatsu, Miki; Montani, Mitsuto

    1999-01-01

    There exists a large amount of unused energy in nuclear power plants. However, it consists of relatively low temperature energy, so it is difficult to generate electricity by the conventional water-steam cycle. In order to utilize such low temperature energy, we applied a mixture working fluid cycle called as the Kalina cycle to a light water nuclear reactor power plant. The Kalina cycle uses a working fluid composed of ammonia and water to create a variable temperature boiling process. We applied a saturation type Kalina cycle with single stage ammonia-water separation process as a bottoming cycle to a conventional water-steam cycle of a 1100MWe class BWR as an example case. The input heat source is the exhaust or the partial extraction of a low pressure turbine (LPT). A steady state chemical process modeling code ASPENPLUS was used for the sensitivity analyses. The maximum efficiency was calculated to be realized when using the lowest heat sink temperature, 8degC. The additional electrical output is about 95 MWe when using the exhaust of LPT and is about 127 MWe when using the partial extraction of LPT. Namely, about 4.3% of the exhaust heat for the former case and about 5.8% for the latter case can be utilized as electrical power, respectively. (author)

  9. Space nuclear-power reactor design based on combined neutronic and thermal-fluid analyses

    International Nuclear Information System (INIS)

    Koenig, D.R.; Gido, R.G.; Brandon, D.I.

    1985-01-01

    The design and performance analysis of a space nuclear-power system requires sophisticated analytical capabilities such as those developed during the nuclear rocket propulsion (Rover) program. In particular, optimizing the size of a space nuclear reactor for a given power level requires satisfying the conflicting requirements of nuclear criticality and heat removal. The optimization involves the determination of the coolant void (volume) fraction for which the reactor diameter is a minimum and temperature and structural limits are satisfied. A minimum exists because the critical diameter increases with increasing void fraction, whereas the reactor diameter needed to remove a specified power decreases with void fraction. The purpose of this presentation is to describe and demonstrate our analytical capability for the determination of minimum reactor size. The analysis is based on combining neutronic criticality calculations with OPTION-code thermal-fluid calculations

  10. A six-degree-of-freedom magnetic levitation fine stage for a high-precision and high-acceleration dual-servo stage

    International Nuclear Information System (INIS)

    Kim, MyeongHyeon; Jeong, Jae-heon; Gweon, DaeGab; Kim, HyoYoung

    2015-01-01

    This paper presents a novel six-degree-of-freedom magnetic levitation fine stage for a dual-servo stage. The proposed fine stage is levitated and actuated, using a voice coil motor actuator with a Halbach magnet array. For a dual-servo stage, fine stage performance is deeply intertwined with coarse stage performance. Because the fine stage is installed over the coarse stage, the overall size of the fine stage can be limited by the moving plate of the coarse stage. Therefore, magnetic flux modeling and optimization are performed to manufacture optimal fine stages. To control the fine stage, actuator kinetics and sensor kinematics are proposed. Homing control is implemented by using linear variable differential transformers, whereas fine control is implemented by capacitance sensors and laser interferometers. Finally, experimental results of in-position stability, moving range, and repeatability are presented. (paper)

  11. Reconfigurable Flight Control Design using a Robust Servo LQR and Radial Basis Function Neural Networks

    Science.gov (United States)

    Burken, John J.

    2005-01-01

    This viewgraph presentation reviews the use of a Robust Servo Linear Quadratic Regulator (LQR) and a Radial Basis Function (RBF) Neural Network in reconfigurable flight control designs in adaptation to a aircraft part failure. The method uses a robust LQR servomechanism design with model Reference adaptive control, and RBF neural networks. During the failure the LQR servomechanism behaved well, and using the neural networks improved the tracking.

  12. Thermodynamic analysis and optimization of an integrated Rankine power cycle and nano-fluid based parabolic trough solar collector

    International Nuclear Information System (INIS)

    Toghyani, Somayeh; Baniasadi, Ehsan; Afshari, Ebrahim

    2016-01-01

    Highlights: • The performance of an integrated nano-fluid based solar Rankine cycle is studied. • The effect of solar intensity, ambient temperature, and volume fraction is evaluated. • The concept of Finite Time Thermodynamics is applied. • It is shown that CuO/oil nano-fluid has the best performance from exergy perspective. - Abstract: In this paper, the performance of an integrated Rankine power cycle with parabolic trough solar system and a thermal storage system is simulated based on four different nano-fluids in the solar collector system, namely CuO, SiO_2, TiO_2 and Al_2O_3. The effects of solar intensity, dead state temperature, and volume fraction of different nano-particles on the performance of the integrated cycle are studied using second law of thermodynamics. Also, the genetic algorithm is applied to optimize the net output power of the solar Rankine cycle. The solar thermal energy is stored in a two-tank system to improve the overall performance of the system when sunlight is not available. The concept of Finite Time Thermodynamics is applied for analyzing the performance of the solar collector and thermal energy storage system. This study reveals that by increasing the volume fraction of nano-particles, the exergy efficiency of the system increases. At higher dead state temperatures, the overall exergy efficiency is increased, and higher solar irradiation leads to considerable increase of the output power of the system. It is shown that among the selected nano-fluids, CuO/oil has the best performance from exergy perspective.

  13. Development And Evaluation Of A Low Cost Servo-valve For Liquid Inputs Application [desenvolvimento E Avaliação De Uma Servoválvula De Baixo Custo Para A Aplicação De Insumos Líquidos

    OpenAIRE

    Johann A.L.; Russo E.; Cappelli N.L.; Umezu C.K.

    2006-01-01

    The present work aimed the development of a low cost servo-valve that answers to an electronic control signal, for variable rates liquid inputs application. A literature research to define which valve type should be used was made. A mechanically activated proportional valve with an electronically controlled servo-engine was designed and evaluated. Since developed the servo-valve, the system was submited to a number of tests .The evaluation of its behavior was obtained in terms of repeatabilit...

  14. Reliability Based Design of Fluid Power Pitch Systems for Wind Turbines

    DEFF Research Database (Denmark)

    Liniger, Jesper; N. Soltani, Mohsen; Pedersen, Henrik Clemmensen

    2017-01-01

    Priority Number. The Failure Mode and Effect Criticality Analysis is based on past research concerning failure analysis of wind turbine drive trains. Guidelines are given to select the severity, occurrence and detection score that make up the risk priority number. The usability of the method is shown...... in a case study of a fluid power pitch system applied to wind turbines. The results show a good agreement to recent field failure data for offshore turbines where the dominating failure modes are related to valves, accumulators and leakage. The results are further used for making design improvements...

  15. Nonlinear Dynamic Modeling of a Supersonic Commercial Transport Turbo-Machinery Propulsion System for Aero-Propulso-Servo-Elasticity Research

    Science.gov (United States)

    Connolly, Joe; Carlson, Jan-Renee; Kopasakis, George; Woolwine, Kyle

    2015-01-01

    This paper covers the development of an integrated nonlinear dynamic model for a variable cycle turbofan engine, supersonic inlet, and convergent-divergent nozzle that can be integrated with an aeroelastic vehicle model to create an overall Aero-Propulso-Servo-Elastic (APSE) modeling tool. The primary focus of this study is to provide a means to capture relevant thrust dynamics of a full supersonic propulsion system by using relatively simple quasi-one dimensional computational fluid dynamics (CFD) methods that will allow for accurate control algorithm development and capture the key aspects of the thrust to feed into an APSE model. Previously, propulsion system component models have been developed and are used for this study of the fully integrated propulsion system. An overview of the methodology is presented for the modeling of each propulsion component, with a focus on its associated coupling for the overall model. To conduct APSE studies the described dynamic propulsion system model is integrated into a high fidelity CFD model of the full vehicle capable of conducting aero-elastic studies. Dynamic thrust analysis for the quasi-one dimensional dynamic propulsion system model is presented along with an initial three dimensional flow field model of the engine integrated into a supersonic commercial transport.

  16. Using Feedback Error Learning for Control of Electro Hydraulic Servo System by Laguerre

    Directory of Open Access Journals (Sweden)

    Amir Reza Zare Bidaki

    2014-01-01

    Full Text Available In this paper, a new Laguerre controller is proposed to control the electro hydraulic servo system. The proposed controller uses feedback error learning method and leads to significantly improve performance in terms of settling time and amplitude of control signal rather than other controllers. All derived results are validated by simulation of nonlinear mathematical model of the system. The simulation results show the advantages of the proposed method for improved control in terms of both settling time and amplitude of control signal.

  17. A new state space model for the NASA/JPL 70-meter antenna servo controls

    Science.gov (United States)

    Hill, R. E.

    1987-01-01

    A control axis referenced model of the NASA/JPL 70-m antenna structure is combined with the dynamic equations of servo components to produce a comprehansive state variable (matrix) model of the coupled system. An interactive Fortran program for generating the linear system model and computing its salient parameters is described. Results are produced in a state variable, block diagram, and in factored transfer function forms to facilitate design and analysis by classical as well as modern control methods.

  18. AeroPropulsoServoElasticity: Dynamic Modeling of the Variable Cycle Propulsion System

    Science.gov (United States)

    Kopasakis, George

    2012-01-01

    This presentation was made at the 2012 Fundamental Aeronautics Program Technical Conference and it covers research work for the Dynamic Modeling of the Variable cycle Propulsion System that was done under the Supersonics Project, in the area of AeroPropulsoServoElasticity. The presentation covers the objective for the propulsion system dynamic modeling work, followed by the work that has been done so far to model the variable Cycle Engine, modeling of the inlet, the nozzle, the modeling that has been done to model the affects of flow distortion, and finally presenting some concluding remarks and future plans.

  19. Data-driven adaptive fractional order PI control for PMSM servo system with measurement noise and data dropouts.

    Science.gov (United States)

    Xie, Yuanlong; Tang, Xiaoqi; Song, Bao; Zhou, Xiangdong; Guo, Yixuan

    2018-04-01

    In this paper, data-driven adaptive fractional order proportional integral (AFOPI) control is presented for permanent magnet synchronous motor (PMSM) servo system perturbed by measurement noise and data dropouts. The proposed method directly exploits the closed-loop process data for the AFOPI controller design under unknown noise distribution and data missing probability. Firstly, the proposed method constructs the AFOPI controller tuning problem as a parameter identification problem using the modified l p norm virtual reference feedback tuning (VRFT). Then, iteratively reweighted least squares is integrated into the l p norm VRFT to give a consistent compensation solution for the AFOPI controller. The measurement noise and data dropouts are estimated and eliminated by feedback compensation periodically, so that the AFOPI controller is updated online to accommodate the time-varying operating conditions. Moreover, the convergence and stability are guaranteed by mathematical analysis. Finally, the effectiveness of the proposed method is demonstrated both on simulations and experiments implemented on a practical PMSM servo system. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  20. Feasibility Study of a Simulation Driven Approach for Estimating Reliability of Wind Turbine Fluid Power Pitch Systems

    DEFF Research Database (Denmark)

    Liniger, Jesper; Pedersen, Henrik Clemmensen; N. Soltani, Mohsen

    2018-01-01

    Recent field data indicates that pitch systems account for a substantial part of a wind turbines down time. Reducing downtime means increasing the total amount of energy produced during its lifetime. Both electrical and fluid power pitch systems are employed with a roughly 50/50 distribution. Fluid...... power pitch systems generally show higher reliability and have been favored on larger offshore wind turbines. Still general issues such as leakage, contamination and electrical faults make current systems work sub-optimal. Current field data for wind turbines present overall pitch system reliability...... and the reliability of component groups (valves, accumulators, pumps etc.). However, the failure modes of the components and more importantly the root causes are not evident. The root causes and failure mode probabilities are central for changing current pitch system designs and operational concepts to increase...

  1. Performance optimization of low-temperature power generation by supercritical ORCs (organic Rankine cycles) using low GWP (global warming potential) working fluids

    International Nuclear Information System (INIS)

    Le, Van Long; Feidt, Michel; Kheiri, Abdelhamid; Pelloux-Prayer, Sandrine

    2014-01-01

    This paper presents the system efficiency optimization scenarios of basic and regenerative supercritical ORCs (organic Rankine cycles) using low-GWP (global warming potential) organic compounds as working fluid. A more common refrigerant, i.e. R134a, was also employed to make the comparison. A 150-°C, 5-bar-pressurized hot water is used to simulate the heat source medium. Power optimization was equally performed for the basic configuration of supercritical ORC. Thermodynamic performance comparison of supercritical ORCs using different working fluids was achieved by ranking method and exergy analysis method. The highest optimal efficiency of the system (η sys ) is always obtained with R152a in both basic (11.6%) and regenerative (13.1%) configurations. The highest value of optimum electrical power output (4.1 kW) is found with R1234ze. By using ranking method and considering low-GWP criterion, the best working fluids for system efficiency optimization of basic and regenerative cycles are R32 and R152a, respectively. The best working fluid for net electrical power optimization of basic cycle is R1234ze. Although CO 2 has many desirable environmental and safety properties (e.g. zero ODP (Ozone Depletion Potential), ultra low-GWP, non toxicity, non flammability, etc.), the worst thermodynamic performance is always found with the cycle using this compound as working fluid. - Highlights: • Performance optimizations were carried out for the supercritical ORCs using low-GWP working fluids. • Heat regeneration was used to improve the system efficiency of the supercritical ORC. • Thermodynamic performances of supercritical ORCs at the optima were evaluated by ranking method and exergy analysis

  2. The Transient Elliptic Flow of Power-Law Fluid in Fractal Porous Media

    Institute of Scientific and Technical Information of China (English)

    宋付权; 刘慈群

    2002-01-01

    The steady oil production and pressure distribution formulae of vertically fractured well for power-law non-Newtonian fluid were derived on the basis of the elliptic flow model in fractal reservoirs. The corresponding transient flow in fractal reservoirs was studied by numerical differentiation method: the influence of fractal index to transient pressure of vertically fractured well was analyzed. Finally the approximate analytical solution of transient flow was given by average mass conservation law. The study shows that using elliptic flow method to analyze the flow of vertically fractured well is a simple method.

  3. Development of an EtherCAT enabled digital servo controller for the Green Bank Telescope

    Science.gov (United States)

    Whiteis, Peter G.; Mello, Melinda J.

    2012-09-01

    EtherCAT (Ethernet for Control Automation Technology) is gaining wide spread popularity in the automation industry as a real time field bus based on low cost, Ethernet hardware. EtherCAT maximizes use of 100Mbps Ethernet hardware by using a collision free ring topology, efficient Ethernet frame utilization (> 95%), and data exchange "on the fly". These characteristics enable EtherCAT to achieve Master to Slave node data exchange rates of > 1000 Hz. The Green Bank Telescope, commissioned in 2000, utilizes an analog control system for motion control of 8 elevation and 16 azimuth motors. This architecture, while sufficient for observations at frequencies up to 50GHz, has significant limitations for the current scientific goals of observing at 115GHz. Accordingly, the Green Bank staff has embarked on a servo upgrade project to develop a digital servo system which accommodates development and implementation of advanced control algorithms. This paper describes how the new control system requirements, use of existing infrastructure and budget constraints led us to define a distributed motion control architecture where EtherCAT real-time Ethernet was selected as the communication bus. Finally, design details are provided that describe how NRAO developed a custom EtherCAT-enabled motor controller interface for the GBT's legacy motor drives in order to provide technical benefits and flexibility not available in commercial products.

  4. Enhanced control of a flexure-jointed micromanipulation system using a vision-based servoing approach

    Science.gov (United States)

    Chuthai, T.; Cole, M. O. T.; Wongratanaphisan, T.; Puangmali, P.

    2018-01-01

    This paper describes a high-precision motion control implementation for a flexure-jointed micromanipulator. A desktop experimental motion platform has been created based on a 3RUU parallel kinematic mechanism, driven by rotary voice coil actuators. The three arms supporting the platform have rigid links with compact flexure joints as integrated parts and are made by single-process 3D printing. The mechanism overall size is approximately 250x250x100 mm. The workspace is relatively large for a flexure-jointed mechanism, being approximately 20x20x6 mm. A servo-control implementation based on pseudo-rigid-body models (PRBM) of kinematic behavior combined with nonlinear-PID control has been developed. This is shown to achieve fast response with good noise-rejection and platform stability. However, large errors in absolute positioning occur due to deficiencies in the PRBM kinematics, which cannot accurately capture flexure compliance behavior. To overcome this problem, visual servoing is employed, where a digital microscopy system is used to directly measure the platform position by image processing. By adopting nonlinear PID feedback of measured angles for the actuated joints as inner control loops, combined with auxiliary feedback of vision-based measurements, the absolute positioning error can be eliminated. With controller gain tuning, fast dynamic response and low residual vibration of the end platform can be achieved with absolute positioning accuracy within ±1 micron.

  5. Micro-vision servo control of a multi-axis alignment system for optical fiber assembly

    International Nuclear Information System (INIS)

    Chen, Weihai; Yu, Fei; Qu, Jianliang; Chen, Wenjie; Zhang, Jianbin

    2017-01-01

    This paper describes a novel optical fiber assembly system featuring a multi-axis alignment function based on micro-vision feedback control. It consists of an active parallel alignment mechanism, a passive compensation mechanism, a micro-gripper and a micro-vision servo control system. The active parallel alignment part is a parallelogram-based design with remote-center-of-motion (RCM) function to achieve precise rotation without fatal lateral motion. The passive mechanism, with five degrees of freedom (5-DOF), is used to implement passive compensation for multi-axis errors. A specially designed 1-DOF micro-gripper mounted onto the active parallel alignment platform is adopted to grasp and rotate the optical fiber. A micro-vision system equipped with two charge-coupled device (CCD) cameras is introduced to observe the small field of view and obtain multi-axis errors for servo feedback control. The two CCD cameras are installed in an orthogonal arrangement—thus the errors can be easily measured via the captured images. Meanwhile, a series of tracking and measurement algorithms based on specific features of the target objects are developed. Details of the force and displacement sensor information acquisition in the assembly experiment are also provided. An experiment demonstrates the validity of the proposed visual algorithm by achieving the task of eliminating errors and inserting an optical fiber to the U-groove accurately. (paper)

  6. Introduction to thermo-fluids systems design

    CERN Document Server

    Garcia McDonald, André

    2012-01-01

    A fully comprehensive guide to thermal systems design covering fluid dynamics, thermodynamics, heat transfer and thermodynamic power cycles Bridging the gap between the fundamental concepts of fluid mechanics, heat transfer and thermodynamics, and the practical design of thermo-fluids components and systems, this textbook focuses on the design of internal fluid flow systems, coiled heat exchangers and performance analysis of power plant systems. The topics are arranged so that each builds upon the previous chapter to convey to the reader that topics are not stand-alone i

  7. Fluid Power, Rate Training Manual.

    Science.gov (United States)

    Bureau of Naval Personnel, Washington, DC.

    Fundamentals of hydraulics and pneumatics are presented in this manual, prepared for regular navy and naval reserve personnel who are seeking advancement to Petty Officer Third Class. The history of applications of compressed fluids is described in connection with physical principles. Selection of types of liquids and gases is discussed with a…

  8. Velocity control of servo systems using an integral retarded algorithm.

    Science.gov (United States)

    Ramírez, Adrián; Garrido, Rubén; Mondié, Sabine

    2015-09-01

    This paper presents a design technique for the delay-based controller called Integral Retarded (IR), and its applications to velocity control of servo systems. Using spectral analysis, the technique yields a tuning strategy for the IR by assigning a triple real dominant root for the closed-loop system. This result ultimately guarantees a desired exponential decay rate σ(d) while achieving the IR tuning as explicit function of σ(d) and system parameters. The intentional introduction of delay allows using noisy velocity measurements without additional filtering. The structure of the controller is also able to avoid velocity measurements by using instead position information. The IR is compared to a classical PI, both tested in a laboratory prototype. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  9. Numerical Comparison of NASA's Dual Brayton Power Generation System Performance Using CO2 or N2 as the Working Fluid

    Science.gov (United States)

    Ownens, Albert K.; Lavelle, Thomas M.; Hervol, David S.

    2010-01-01

    A Dual Brayton Power Conversion System (DBPCS) has been tested at the NASA Glenn Research Center using Nitrogen (N2) as the working fluid. This system uses two closed Brayton cycle systems that share a common heat source and working fluid but are otherwise independent. This system has been modeled using the Numerical Propulsion System Simulation (NPSS) environment. This paper presents the results of a numerical study that investigated system performance changes resulting when the working fluid is changed from gaseous (N2) to gaseous carbon dioxide (CO2).

  10. Compensating Unknown Time-Varying Delay in Opto-Electronic Platform Tracking Servo System

    Directory of Open Access Journals (Sweden)

    Ruihong Xie

    2017-05-01

    Full Text Available This paper investigates the problem of compensating miss-distance delay in opto-electronic platform tracking servo system. According to the characteristic of LOS (light-of-sight motion, we setup the Markovian process model and compensate this unknown time-varying delay by feed-forward forecasting controller based on robust H∞ control. Finally, simulation based on double closed-loop PI (Proportion Integration control system indicates that the proposed method is effective for compensating unknown time-varying delay. Tracking experiments on the opto-electronic platform indicate that RMS (root-mean-square error is 1.253 mrad when tracking 10° 0.2 Hz signal.

  11. Effects of overlapping electric double layer on mass transport of a macro-solute across porous wall of a micro/nanochannel for power law fluid.

    Science.gov (United States)

    Bhattacharjee, Saikat; Mondal, Mrinmoy; De, Sirshendu

    2017-05-01

    Effects of overlapping electric double layer and high wall potential on transport of a macrosolute for flow of a power law fluid through a microchannel with porous walls are studied in this work. The electric potential distribution is obtained by coupling the Poisson's equation without considering the Debye-Huckel approximation. The numerical solution shows that the center line potential can be 16% of wall potential at pH 8.5, at wall potential -73 mV and scaled Debye length 0.5. Transport phenomena involving mass transport of a neutral macrosolute is formulated by species advective equation. An analytical solution of Sherwood number is obtained for power law fluid. Effects of fluid rheology are studied in detail. Average Sherwood number is more for a pseudoplastic fluid compared to dilatant upto the ratio of Poiseuille to electroosmotic velocity of 5. Beyond that, the Sherwood number is independent of fluid rheology. Effects of fluid rheology and solute size on permeation flux and concentration of neutral solute are also quantified. More solute permeation occurs as the fluid changes from pseudoplastic to dilatant. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  12. Application of a Self-recurrent Wavelet Neural Network in the Modeling and Control of an AC Servo System

    Directory of Open Access Journals (Sweden)

    Run Min HOU

    2014-05-01

    Full Text Available To control the nonlinearity, widespread variations in loads and time varying characteristic of the high power ac servo system, the modeling and control techniques are studied here. A self-recurrent wavelet neural network (SRWNN modeling scheme is proposed, which successfully addresses the issue of the traditional wavelet neural network easily falling into local optimum, and significantly improves the network approximation capability and convergence rate. The control scheme of a SRWNN based on fuzzy compensation is expected. Gradient information is provided in real time for the controller by using a SRWNN identifier, so as to ensure that the learning and adjusting function of the controller of the SRWNN operate well, and fuzzy compensation control is applied to improve rapidity and accuracy of the entire system. Then the Lyapunov function is utilized to judge the stability of the system. The experimental analysis and comparisons with other modeling and control methods, it is clearly shown that the validities of the proposed modeling scheme and control scheme are effective.

  13. Controller Development for a Separate Meter-In Separate Meter-Out Fluid Power Valve for Mobile Applications

    DEFF Research Database (Denmark)

    Nielsen, Brian

    machinery. For a rotary motion electrical motors controlled by using power electronics is a competing technology because of their high energy efficiency. Additionally, the energy density of electrical devices is still increasing. In fluid power systems where more consumers (cylinders or motors) are supplied...... relative stability due to design restrictions. Robust controllers for the valve using the remaining pilot control method are developed. The robustness is evaluated by simulations and afterwards the controllers are tested experimentally. A model of a hydraulic actuator system with a flexible load structure...

  14. Cylinder Position Servo Control Based on Fuzzy PID

    Directory of Open Access Journals (Sweden)

    Shibo Cai

    2013-01-01

    Full Text Available The arbitrary position control of cylinder has always been the hard challenge in pneumatic system. We try to develop a cylinder position servo control method by combining fuzzy PID with the theoretical model of the proportional valve-controlled cylinder system. The pressure differential equation of cylinder, pressure-flow equation of proportional valve, and moment equilibrium equation of cylinder are established. And the mathematical models of the cylinder driving system are linearized. Then fuzzy PID control algorithm is designed for the cylinder position control, including the detail analysis of fuzzy variables and domain, fuzzy logic rules, and defuzzification. The stability of the proposed fuzzy PID controller is theoretically proved according to the small gain theorem. Experiments for targets position of 250 mm, 300 mm, and 350 mm were done and the results showed that the absolute error of the position control is less than 0.25 mm. And comparative experiment between fuzzy PID and classical PID verified the advantage of the proposed algorithm.

  15. Compressible generalized Newtonian fluids

    Czech Academy of Sciences Publication Activity Database

    Málek, Josef; Rajagopal, K.R.

    2010-01-01

    Roč. 61, č. 6 (2010), s. 1097-1110 ISSN 0044-2275 Institutional research plan: CEZ:AV0Z20760514 Keywords : power law fluid * uniform temperature * compressible fluid Subject RIV: BJ - Thermodynamics Impact factor: 1.290, year: 2010

  16. Knowledge Is Power for Medical Assistants: Crystallized and Fluid Intelligence As Predictors of Vocational Knowledge

    Directory of Open Access Journals (Sweden)

    Anne Moehring

    2018-02-01

    Full Text Available Medical education research has focused almost entirely on the education of future physicians. In comparison, findings on other health-related occupations, such as medical assistants, are scarce. With the current study, we wanted to examine the knowledge-is-power hypothesis in a real life educational setting and add to the sparse literature on medical assistants. Acquisition of vocational knowledge in vocational education and training (VET was examined for medical assistant students (n = 448. Differences in domain-specific vocational knowledge were predicted by crystallized and fluid intelligence in the course of VET. A multiple matrix design with 3 year-specific booklets was used for the vocational knowledge tests of the medical assistants. The unique and joint contributions of the predictors were investigated with structural equation modeling. Crystallized intelligence emerged as the strongest predictor of vocational knowledge at every stage of VET, while fluid intelligence only showed weak effects. The present results support the knowledge-is-power hypothesis, even in a broad and more naturalistic setting. This emphasizes the relevance of general knowledge for occupations, such as medical assistants, which are more focused on learning hands-on skills than the acquisition of academic knowledge.

  17. Knowledge Is Power for Medical Assistants: Crystallized and Fluid Intelligence As Predictors of Vocational Knowledge.

    Science.gov (United States)

    Moehring, Anne; Schroeders, Ulrich; Wilhelm, Oliver

    2018-01-01

    Medical education research has focused almost entirely on the education of future physicians. In comparison, findings on other health-related occupations, such as medical assistants, are scarce. With the current study, we wanted to examine the knowledge-is-power hypothesis in a real life educational setting and add to the sparse literature on medical assistants. Acquisition of vocational knowledge in vocational education and training (VET) was examined for medical assistant students ( n = 448). Differences in domain-specific vocational knowledge were predicted by crystallized and fluid intelligence in the course of VET. A multiple matrix design with 3 year-specific booklets was used for the vocational knowledge tests of the medical assistants. The unique and joint contributions of the predictors were investigated with structural equation modeling. Crystallized intelligence emerged as the strongest predictor of vocational knowledge at every stage of VET, while fluid intelligence only showed weak effects. The present results support the knowledge-is-power hypothesis, even in a broad and more naturalistic setting. This emphasizes the relevance of general knowledge for occupations, such as medical assistants, which are more focused on learning hands-on skills than the acquisition of academic knowledge.

  18. Fluid mechanics fundamentals and applications

    CERN Document Server

    Cengel, Yunus

    2013-01-01

    Cengel and Cimbala's Fluid Mechanics Fundamentals and Applications, communicates directly with tomorrow's engineers in a simple yet precise manner. The text covers the basic principles and equations of fluid mechanics in the context of numerous and diverse real-world engineering examples. The text helps students develop an intuitive understanding of fluid mechanics by emphasizing the physics, using figures, numerous photographs and visual aids to reinforce the physics. The highly visual approach enhances the learning of Fluid mechanics by students. This text distinguishes itself from others by the way the material is presented - in a progressive order from simple to more difficult, building each chapter upon foundations laid down in previous chapters. In this way, even the traditionally challenging aspects of fluid mechanics can be learned effectively. McGraw-Hill is also proud to offer ConnectPlus powered by Maple with the third edition of Cengel/Cimbabla, Fluid Mechanics. This innovative and powerful new sy...

  19. Morphological topology generation of a digital fluid power displacement unit using Chebychev-Grübler-Kutzbach constraint

    DEFF Research Database (Denmark)

    Johansen, Per; Roemer, Daniel Beck; Andersen, Torben O.

    2015-01-01

    The task of designing a digital fluid power displacement unit entails a choice of topology. Consequently, this choice entails a need for knowledge of the various applicable topologies to choose from. In this paper a morphological topology generation approach is used to derive a series of radial...

  20. High power densities from high-temperature material interactions. [in thermionic energy conversion and metallic fluid heat pipes

    Science.gov (United States)

    Morris, J. F.

    1981-01-01

    Thermionic energy conversion (TEC) and metallic-fluid heat pipes (MFHPs), offering unique advantages in terrestrial and space energy processing by virtue of operating on working-fluid vaporization/condensation cycles that accept great thermal power densities at high temperatures, share complex materials problems. Simplified equations are presented that verify and solve such problems, suggesting the possibility of cost-effective applications in the near term for TEC and MFHP devices. Among the problems discussed are: the limitation of alkali-metal corrosion, protection against hot external gases, external and internal vaporization, interfacial reactions and diffusion, expansion coefficient matching, and creep deformation.

  1. Results of the Workshop on Two-Phase Flow, Fluid Stability and Dynamics: Issues in Power, Propulsion, and Advanced Life Support Systems

    Science.gov (United States)

    McQuillen, John; Rame, Enrique; Kassemi, Mohammad; Singh, Bhim; Motil, Brian

    2003-01-01

    The Two-phase Flow, Fluid Stability and Dynamics Workshop was held on May 15, 2003 in Cleveland, Ohio to define a coherent scientific research plan and roadmap that addresses the multiphase fluid problems associated with NASA s technology development program. The workshop participants, from academia, industry and government, prioritized various multiphase issues and generated a research plan and roadmap to resolve them. This report presents a prioritization of the various multiphase flow and fluid stability phenomena related primarily to power, propulsion, fluid and thermal management and advanced life support; and a plan to address these issues in a logical and timely fashion using analysis, ground-based and space-flight experiments.

  2. Servo-elastic dynamics of a hydraulic actuator pitching a blade with large deflections

    DEFF Research Database (Denmark)

    Hansen, Morten Hartvig; Kallesøe, Bjarne Skovmose

    2007-01-01

    This paper deals with the servo-elastic dynamics of a hydraulic pitch actuator acting on a largely bend wind turbine blade. The compressibility of the oil and flexibility of the hoses introduce a dynamic mode in the pitch bearing degree of freedom. This mode may obtain negative damping...... if the proportional gain on the actuator position error is defined too large relative to the viscous forces in the hydraulic system and the total rotational inertia of the pitch bearing degree of freedom. A simple expression for the stability limit of this proportional gain is derived for tuning the gain based...

  3. A new linearized equation for servo valve in hydraulic control systems

    International Nuclear Information System (INIS)

    Kim, Tae Hyung; Lee, Ill Yeong

    2002-01-01

    In the procedure of the hydraulic control system analysis, a linearized approximate equation described by the first order term of Taylor's series has been widely used. Such a linearized equation is effective just near the operating point. And, as of now, there are no general standards on how to determine the operating point of a servo valve in the process of applying the linearized equation. So, in this study, a new linearized equation for valve characteristics is proposed as a modified form of the existing linearized equation. And, a method for selecting an optimal operating point is proposed for the new linearized equation. The effectiveness of the new linearized equation is confirmed through numerical simulations and experiments for a model hydraulic control system

  4. Electric fluid pump

    Science.gov (United States)

    Van Dam, Jeremy Daniel; Turnquist, Norman Arnold; Raminosoa, Tsarafidy; Shah, Manoj Ramprasad; Shen, Xiaochun

    2015-09-29

    An electric machine is presented. The electric machine includes a hollow rotor; and a stator disposed within the hollow rotor, the stator defining a flow channel. The hollow rotor includes a first end portion defining a fluid inlet, a second end portion defining a fluid outlet; the fluid inlet, the fluid outlet, and the flow channel of the stator being configured to allow passage of a fluid from the fluid inlet to the fluid outlet via the flow channel; and wherein the hollow rotor is characterized by a largest cross-sectional area of hollow rotor, and wherein the flow channel is characterized by a smallest cross-sectional area of the flow channel, wherein the smallest cross-sectional area of the flow channel is at least about 25% of the largest cross-sectional area of the hollow rotor. An electric fluid pump and a power generation system are also presented.

  5. Visual servo simulation of EAST articulated maintenance arm robot

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

    2016-03-15

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  6. Visual servo simulation of EAST articulated maintenance arm robot

    International Nuclear Information System (INIS)

    Yang, Yang; Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng; Wu, Huapeng

    2016-01-01

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  7. Servo scanning 3D micro EDM for array micro cavities using on-machine fabricated tool electrodes

    Science.gov (United States)

    Tong, Hao; Li, Yong; Zhang, Long

    2018-02-01

    Array micro cavities are useful in many fields including in micro molds, optical devices, biochips and so on. Array servo scanning micro electro discharge machining (EDM), using array micro electrodes with simple cross-sectional shape, has the advantage of machining complex 3D micro cavities in batches. In this paper, the machining errors caused by offline-fabricated array micro electrodes are analyzed in particular, and then a machining process of array servo scanning micro EDM is proposed by using on-machine fabricated array micro electrodes. The array micro electrodes are fabricated on-machine by combined procedures including wire electro discharge grinding, array reverse copying and electrode end trimming. Nine-array tool electrodes with Φ80 µm diameter and 600 µm length are obtained. Furthermore, the proposed process is verified by several machining experiments for achieving nine-array hexagonal micro cavities with top side length of 300 µm, bottom side length of 150 µm, and depth of 112 µm or 120 µm. In the experiments, a chip hump accumulates on the electrode tips like the built-up edge in mechanical machining under the conditions of brass workpieces, copper electrodes and the dielectric of deionized water. The accumulated hump can be avoided by replacing the water dielectric by an oil dielectric.

  8. Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

    Science.gov (United States)

    Chen, Syuan-Yi; Gong, Sheng-Sian

    2017-09-01

    This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

  9. Extended state observer–based fractional order proportional–integral–derivative controller for a novel electro-hydraulic servo system with iso-actuation balancing and positioning

    Directory of Open Access Journals (Sweden)

    Qiang Gao

    2015-12-01

    Full Text Available Aiming at balancing and positioning of a new electro-hydraulic servo system with iso-actuation configuration, an extended state observer–based fractional order proportional–integral–derivative controller is proposed in this study. To meet the lightweight requirements of heavy barrel weapons with large diameters, an electro-hydraulic servo system with a three-chamber hydraulic cylinder is especially designed. In the electro-hydraulic servo system, the balance chamber of the hydraulic cylinder is used to realize active balancing of the unbalanced forces, while the driving chambers consisting of the upper and lower chambers are adopted for barrel positioning and dynamic compensation of external disturbances. Compared with conventional proportional–integral–derivative controllers, the fractional order proportional–integral–derivative possesses another two adjustable parameters by expanding integer order to arbitrary order calculus, resulting in more flexibility and stronger robustness of the control system. To better compensate for strong external disturbances and system nonlinearities, the extended state observer strategy is further introduced to the fractional order proportional–integral–derivative control system. Numerical simulation and bench test indicate that the extended state observer–based fractional order proportional–integral–derivative significantly outperforms proportional–integral–derivative and fractional order proportional–integral–derivative control systems with better control accuracy and higher system robustness, well demonstrating the feasibility and effectiveness of the proposed extended state observer–based fractional order proportional–integral–derivative control strategy.

  10. Development of Servo Motor Trainer for Basic Control System in Laboratory of Electrical Engineering Control System Faculty of Engineering Universitas Negeri Surabaya

    Science.gov (United States)

    Endryansyah; Wanarti Rusimamto, Puput; Ridianto, Adam; Sugiarto, Hariyadi

    2018-04-01

    In the Department of Electrical Engineering FT Unesa, there are 3 majors: S1 Electrical Engineering Education, S1 Electrical Engineering, and D3 Electrical Engineering. Courses the Basic System Settings go to in the curriculum of the three programs. Team lecturer college of basic system settings seek learning innovation, focused on the development of trainer to student practicum at the laboratory of systems control. Trainer developed is a servo motor along with the lab module that contains a wide variety of theories about the servo motor and guide the practicum. This research type is development research using methods Research & development (R & D). In which the steps are applied in this study is as follows: pay attention to the potential and existing problems, gather information and study the literature, design the product, validate the design, revise the design, a limited trial. The results of the validation of learning device in the form of modules and trainer obtained as follows: score validation of learning device is 3,64; score validation lab module Servo Motor is 3,47; and questionnaire responses of students is 3,73. The result of the whole validation value is located in the interval >of 3.25 s/d 4 with the category of “Very Valid”, so it can be concluded that all instruments have a level of validity “Very Valid” and worthy of use for further learning.

  11. An ultrasonic sensor controller for mapping and servo control in robotic systems

    International Nuclear Information System (INIS)

    Drotning, W.D.; Garcia, P. Jr.

    1993-03-01

    An ultrasonic sensor controller has been developed and applied in a variety of robotic systems for operation in hazardous environments. The controller consists of hardware and software that control multiple ultrasonic range sensors and provide workspace information to robot controllers for rapid, safe, and reliable operation in hazardous and remote environments. The hardware consists of a programmable multichannel controller that resides on a VMEbus for high speed communication to a multiprocessor architecture. The sensor controller has been used in a number of applications, which include providing high precision range information for proximity servo control of robots, and performing surface and obstacle mapping functions for safe path planning of robots in unstructured environments

  12. Computational fluid dynamics study on mixing mode and power consumption in anaerobic mono- and co-digestion.

    Science.gov (United States)

    Zhang, Yuan; Yu, Guangren; Yu, Liang; Siddhu, Muhammad Abdul Hanan; Gao, Mengjiao; Abdeltawab, Ahmed A; Al-Deyab, Salem S; Chen, Xiaochun

    2016-03-01

    Computational fluid dynamics (CFD) was applied to investigate mixing mode and power consumption in anaerobic mono- and co-digestion. Cattle manure (CM) and corn stover (CS) were used as feedstock and stirred tank reactor (STR) was used as digester. Power numbers obtained by the CFD simulation were compared with those from the experimental correlation. Results showed that the standard k-ε model was more appropriate than other turbulence models. A new index, net power production instead of gas production, was proposed to optimize feedstock ratio for anaerobic co-digestion. Results showed that flow field and power consumption were significantly changed in co-digestion of CM and CS compared with those in mono-digestion of either CM or CS. For different mixing modes, the optimum feedstock ratio for co-digestion changed with net power production. The best option of CM/CS ratio for continuous mixing, intermittent mixing I, and intermittent mixing II were 1:1, 1:1 and 1:3, respectively. Copyright © 2016. Published by Elsevier Ltd.

  13. Instrumentation, measurements, and experiments in fluids

    CERN Document Server

    Rathakrishnan, E

    2007-01-01

    NEED AND OBJECTIVE OF EXPERIMENTAL STUDY Some Fluid Mechanics MeasurementsMeasurement SystemsSome of the Important Quantities Associated with FluidFlow MeasurementsFUNDAMENTALS OF FLUID MECHANICSProperties of FluidsThermodynamic PropertiesSurface TensionAnalysis of Fluid FlowBasic and Subsidiary Laws for Continuous MediaKinematics of Fluid FlowStreamlinesPotential FlowViscous FlowsGas DynamicsWIND TUNNELSLow-Speed Wind TunnelsPower Losses in a Wind TunnelHigh-Speed Wind TunnelsHypersonic TunnelsInstrume

  14. Computer Software for Design, Analysis and Control of Fluid Power Systems

    DEFF Research Database (Denmark)

    Conrad, Finn; Sørensen, Torben; Grahl-Madsen, Mads

    1999-01-01

    This Deliverable presents contributions from SWING's Task 2.3 Analysis of available software solutions. The Deliverable has focus on the results from this analysis having in mind the task objectives·to carry out a thorough analysis of the state-of the-art solutions for fluid power systems modelling...... and simulation,·results should be suitable to draw conclusions in Task 2.4 Synthesis of analysis results and recommendations, · consideration of integrating results from EU-funded research projects (here: contributions to ISO 10303 Standard STEP),·the impact on recommendation of smart use of simulation...... and modelling IT tools in the implementation planning (WP3) and pilot implementation (WP4), in particular training programme for key people in the individual SME and/or cluster....

  15. A model reference and sensitivity model-based self-learning fuzzy logic controller as a solution for control of nonlinear servo systems

    NARCIS (Netherlands)

    Kovacic, Z.; Bogdan, S.; Balenovic, M.

    1999-01-01

    In this paper, the design, simulation and experimental verification of a self-learning fuzzy logic controller (SLFLC) suitable for the control of nonlinear servo systems are described. The SLFLC contains a learning algorithm that utilizes a second-order reference model and a sensitivity model

  16. Theoretical and Experimental Study of Light Shift in a CPT-Based RB Vapor Cell Frequency Standard

    Science.gov (United States)

    2001-01-01

    Questions and Answers ROBERT LUTWAK (Datum): When you servo the microwave power to eliminate the light shift, what do you servo to? To what are you...leveling that signal? MIA0 ZHU: Do you mean what I servo to o r where did I do the servo? LUTWAK : What is the error signal that determines the TR

  17. Safety actuator of the Cabri reactor as a function of its power and cooling fluid flow rate

    International Nuclear Information System (INIS)

    Bertrand, Jean; Da Costa Vieira, David; Tattegrain, Alain

    1969-04-01

    This report present a device which is to provide a stop command to the Cabri reactor when the rate of its power to the cooling fluid rate reaches a value determined with respect to water temperature in the circuit. The stop command is delivered by an actuator which opens a relay contact when the power reaches a specific value. The authors present the device, its characteristics, and principle. They also present the different amplifier circuits, the input and output circuits (flow rate input, temperature input, and output circuit), the energy supply, and the various adjustments

  18. L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity.

    Science.gov (United States)

    Zuo, Zongyu; Li, Xiao; Shi, Zhiguang

    2015-09-01

    This paper deals with the adaptive control problem of Gear Transmission Servo (GTS) systems in the presence of unknown deadzone nonlinearity and viscous friction. A global differential homeomorphism based on a novel differentiable deadzone model is proposed first. Since there exist both matched and unmatched state-dependent unknown nonlinearities, a full-state feedback L1 adaptive controller is constructed to achieve uniformly bounded transient response in addition to steady-state performance. Finally, simulation results are included to show the elimination of limit cycles, in addition to demonstrating the main results in this paper. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  19. A novel folding blade of wind turbine rotor for effective power control

    International Nuclear Information System (INIS)

    Xie, Wei; Zeng, Pan; Lei, Liping

    2015-01-01

    Highlights: • A novel folding blade for wind turbine power control is proposed. • Wind tunnel experiments were conducted to analyze folding blade validity. • Folding blade is valid to control wind turbine power output. • Compared to pitch control, thrust was reduced by fold control in power regulation. • Optimum fold angles were found for wind turbine start up and aerodynamic brake. - Abstract: A concept of novel folding blade of horizontal axis wind turbine is proposed in current study. The folding blade comprises a stall regulated root blade section and a folding tip blade section with the fold axis inclined relative to blade span. By folding blade, lift force generated on the tip blade section changes and the moment arm also shortens, which leads to variations of power output. The blade folding actuation mechanism with servo motor and worm-gear reducer was designed. Wind turbine rotor control scheme and servo system with double feedback loops for blade fold angle control were proposed. In this study, a small folding blade model was tested in a wind tunnel to analyze its performance. The blade model performance was estimated in terms of rotation torque coefficient and thrust coefficient. Wind tunnel experiments were also conducted for pitch control using the same blade model in order to make a direct comparison. The power control, start up and aerodynamic brake performance of the folding blade were analyzed. According to the wind tunnel experiment results, fold angle magnitude significantly affected blade aerodynamic performance and the thrust characteristic together with the rotation torque characteristic of folding blade were revealed. The experiment results demonstrated that the folding blade was valid to control power output and had advantages in reducing thrust with maximum reduction of 51.1% compared to pitch control. Optimum fold angles of 55° and 90° were also found for start up and aerodynamic brake, respectively

  20. Degradation of phosphate ester hydraulic fluid in power station turbines investigated by a three-magnet unilateral magnet array.

    Science.gov (United States)

    Guo, Pan; He, Wei; García-Naranjo, Juan C

    2014-04-14

    A three-magnet array unilateral NMR sensor with a homogeneous sensitive spot was employed for assessing aging of the turbine oils used in two different power stations. The Carr-Purcell-Meiboom-Gill (CPMG) sequence and Inversion Recovery-prepared CPMG were employed for measuring the ¹H-NMR transverse and longitudinal relaxation times of turbine oils with different service status. Two signal components with different lifetimes were obtained by processing the transverse relaxation curves with a numeric program based on the Inverse Laplace Transformation. The long lifetime components of the transverse relaxation time T₂eff and longitudinal relaxation time T₁ were chosen to monitor the hydraulic fluid aging. The results demonstrate that an increase of the service time of the turbine oils clearly results in a decrease of T₂eff,long and T₁,long. This indicates that the T₂eff,long and T₁,long relaxation times, obtained from the unilateral magnetic resonance measurements, can be applied as indices for degradation of the hydraulic fluid in power station turbines.

  1. Transmission Characteristics on Wire-Driven Links of a Bridge Transported Servo Manipulator for the ACP Equipment Maintenance

    International Nuclear Information System (INIS)

    Park, Byung Suk; Jin, Jae Hyun; Song, Tae Gil; Kim, Sung Hyun; Yoon, Ji Sup

    2004-01-01

    A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tube sets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan and tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations

  2. Theoretical Design and First Test in Laboratory of a Composite Visual Servo-Based Target Spray Robotic System

    Directory of Open Access Journals (Sweden)

    Dongjie Zhao

    2016-01-01

    Full Text Available In order to spray onto the canopy of interval planting crop, an approach of using a target spray robot with a composite vision servo system based on monocular scene vision and monocular eye-in-hand vision was proposed. Scene camera was used to roughly locate target crop, and then the image-processing methods for background segmentation, crop canopy centroid extraction, and 3D positioning were studied. Eye-in-hand camera was used to precisely determine spray position of each crop. Based on the center and area of 2D minimum-enclosing-circle (MEC of crop canopy, a method to calculate spray position and spray time was determined. In addition, locating algorithm for the MEC center in nozzle reference frame and the hand-eye calibration matrix were studied. The processing of a mechanical arm guiding nozzle to spray was divided into three stages: reset, alignment, and hovering spray, and servo method of each stage was investigated. For preliminary verification of the theoretical studies on the approach, a simplified experimental prototype containing one spray mechanical arm was built and some performance tests were carried out under controlled environment in laboratory. The results showed that the prototype could achieve the effect of “spraying while moving and accurately spraying on target.”

  3. Design of an Image-Servo Mask Alignment System Using Dual CCDs with an XXY Stage

    Directory of Open Access Journals (Sweden)

    Chih-Jer Lin

    2016-02-01

    Full Text Available Mask alignment of photolithography technology is used in many applications, such as micro electro mechanical systems’ semiconductor process, printed circuits board, and flat panel display. As the dimensions of the product are getting smaller and smaller, the automatic mask alignment of photolithography is becoming more and more important. The traditional stacked XY-Θz stage is heavy and it has cumulative flatness errors due to its stacked assembly mechanism. The XXY stage has smaller cumulative error due to its coplanar design and it can move faster than the traditional XY-Θz stage. However, the relationship between the XXY stage’s movement and the commands of the three motors is difficult to compute, because the movements of the three motors on the same plane are coupling. Therefore, an artificial neural network is studied to establish a nonlinear mapping from the desired position and orientation of the stage to three motors’ commands. Further, this paper proposes an image-servo automatic mask alignment system, which consists of a coplanar XXY stage, dual GIGA-E CCDs with lens and a programmable automatic controller (PAC. Before preforming the compensation, a self-developed visual-servo provides the positioning information which is obtained from the image processing and pattern recognition according to the specified fiducial marks. To obtain better precision, two methods including the center of gravity method and the generalize Hough Transformation are studied to correct the shift positioning error.

  4. Vision Servo Motion Control and Error Analysis of a Coplanar XXY Stage for Image Alignment Motion

    Directory of Open Access Journals (Sweden)

    Hau-Wei Lee

    2013-01-01

    Full Text Available In recent years, as there is demand for smart mobile phones with touch panels, the alignment/compensation system of alignment stage with vision servo control has also increased. Due to the fact that the traditional stacked-type XYθ stage has cumulative errors of assembly and it is heavy, it has been gradually replaced by the coplanar stage characterized by three actuators on the same plane with three degrees of freedom. The simplest image alignment mode uses two cameras as the equipments for feedback control, and the work piece is placed on the working stage. The work piece is usually engraved/marked. After the cameras capture images and when the position of the mark in the camera is obtained by image processing, the mark can be moved to the designated position in the camera by moving the stage and using alignment algorithm. This study used a coplanar XXY stage with 1 μm positioning resolution. Due to the fact that the resolution of the camera is about 3.75 μm per pixel, thus a subpixel technology is used, and the linear and angular alignment repeatability of the alignment system can achieve 1 μm and 5 arcsec, respectively. The visual servo motion control for alignment motion is completed within 1 second using the coplanar XXY stage.

  5. Thin-Film Magnetic-Field-Response Fluid-Level Sensor for Non-Viscous Fluids

    Science.gov (United States)

    Woodard, Stanley E.; Shams, Qamar A.; Fox, Robert L.; Taylor, Bryant D.

    2008-01-01

    An innovative method has been developed for acquiring fluid-level measurements. This method eliminates the need for the fluid-level sensor to have a physical connection to a power source or to data acquisition equipment. The complete system consists of a lightweight, thin-film magnetic-field-response fluid-level sensor (see Figure 1) and a magnetic field response recorder that was described in Magnetic-Field-Response Measurement-Acquisition System (LAR-16908-1), NASA Tech Briefs, Vol. 30, No. 6 (June 2006), page 28. The sensor circuit is a capacitor connected to an inductor. The response recorder powers the sensor using a series of oscillating magnetic fields. Once electrically active, the sensor responds with its own harmonic magnetic field. The sensor will oscillate at its resonant electrical frequency, which is dependent upon the capacitance and inductance values of the circuit.

  6. Heat transfer fluids containing nanoparticles

    Science.gov (United States)

    Singh, Dileep; Routbort, Jules; Routbort, A.J.; Yu, Wenhua; Timofeeva, Elena; Smith, David S.; France, David M.

    2016-05-17

    A nanofluid of a base heat transfer fluid and a plurality of ceramic nanoparticles suspended throughout the base heat transfer fluid applicable to commercial and industrial heat transfer applications. The nanofluid is stable, non-reactive and exhibits enhanced heat transfer properties relative to the base heat transfer fluid, with only minimal increases in pumping power required relative to the base heat transfer fluid. In a particular embodiment, the plurality of ceramic nanoparticles comprise silicon carbide and the base heat transfer fluid comprises water and water and ethylene glycol mixtures.

  7. Evaluation of steady flow torques and pressure losses in a rotary flow control valve by means of computational fluid dynamics

    International Nuclear Information System (INIS)

    Okhotnikov, Ivan; Noroozi, Siamak; Sewell, Philip; Godfrey, Philip

    2017-01-01

    Highlights: • A novel design of a rotary flow control valve driven by a stepper motor is proposed. • The intended use of the valve in the high flow rate independent metering hydraulic system is suggested. • Pressure drops, steady flow torques of the valve for various flow rates and orifice openings are studied by means of computational fluid dynamics. • The discharge coefficient and flow jet angles dependencies on the orifice opening are obtained. • A design method to decrease the flow forces without reducing the flow rate in single-staged valves is demonstrated. - Abstract: In this paper, a novel design of a rotary hydraulic flow control valve has been presented for high flow rate fluid power systems. High flow rates in these systems account for substantial flow forces acting on the throttling elements of the valves and cause the application of mechanically sophisticated multi-staged servo valves for flow regulation. The suggested design enables utilisation of single-stage valves in power hydraulics operating at high flow rates regimes. A spool driver and auxiliary mechanisms of the proposed valve design were discussed and selection criteria were suggested. Analytical expressions for metering characteristics as well as steady flow torques have been derived. Computational fluid dynamics (CFD) analysis of steady state flow regimes was conducted to evaluate the hydraulic behaviour of the proposed valve. This study represents a special case of an independent metering concept applied to the design of power hydraulic systems with direct proportional valve control operating at flow rates above 150 litres per minute. The result gained using parametric CFD simulations predicted the induced torque and the pressure drops due to a steady flow. Magnitudes of these values prove that by minimising the number of spool's mobile metering surfaces it is possible to reduce the flow-generated forces in the new generation of hydraulic valves proposed in this study

  8. Self-lubricating fluid bearing assembly

    International Nuclear Information System (INIS)

    Kapich, D.D.

    1981-01-01

    A sealed self-lubricating fluid bearing assembly is described for circulating fluid in the form of a gas coolant in a nuclear reactor, the power for the circulator being provided by a shaft located within the primary containment vessel. In such a system the reactor coolant is isolated from the fluid region at the far end of the drive shaft. (U.K.)

  9. Quasi-two-dimensional turbulence in shallow fluid layers: the role of bottom friction and fluid layer depth.

    Science.gov (United States)

    Clercx, H J H; van Heijst, G J F; Zoeteweij, M L

    2003-06-01

    The role of bottom friction and the fluid layer depth in numerical simulations and experiments of freely decaying quasi-two-dimensional turbulence in shallow fluid layers has been investigated. In particular, the power-law behavior of the compensated kinetic energy E0(t)=E(t)e(2lambda t), with E(t) the total kinetic energy of the flow and lambda the bottom-drag coefficient, and the compensated enstrophy Omega(0)(t)=Omega(t)e(2lambda t), with Omega(t) the total enstrophy of the flow, have been studied. We also report on the scaling exponents of the ratio Omega(t)/E(t), which is considered as a measure of the characteristic length scale in the flow, for different values of lambda. The numerical simulations on square bounded domains with no-slip boundaries revealed bottom-friction independent power-law exponents for E0(t), Omega(0)(t), and Omega(t)/E(t). By applying a discrete wavelet packet transform technique to the numerical data, we have been able to compute the power-law exponents of the average number density of vortices rho(t), the average vortex radius a(t), the mean vortex separation r(t), and the averaged normalized vorticity extremum omega(ext)(t)/square root E(t). These decay exponents proved to be independent of the bottom friction as well. In the experiments we have varied the fluid layer depth, and it was found that the decay exponents of E0(t), Omega(0)(t), Omega(t)/E(t), and omega(ext)(t)/square root E(t) are virtually independent of the fluid layer depth. The experimental data for rho(t) and a(t) are less conclusive; power-law exponents obtained for small fluid layer depths agree with those from previously reported experiments, but significantly larger power-law exponents are found for experiments with larger fluid layer depths.

  10. Design and simulation of a new bidirectional actuator for haptic systems featuring MR fluid

    Science.gov (United States)

    Hung, Nguyen Quoc; Tri, Diep Bao; Cuong, Vo Van; Choi, Seung-Bok

    2017-04-01

    In this research, a new configuration of bidirectional actuator featuring MR fluid (BMRA) is proposed for haptic application. The proposed BMRA consists of a driving disc, a driving housing and a driven disc. The driving disc is placed inside the driving housing and rotates counter to each other by a servo DC motor and a bevel gear system. The driven shaft is also placed inside the housing and next to the driving disc. The gap between the two disc and the gap between the discs and the housing are filled with MR fluid. On the driven disc, two mutual magnetic coils are placed. By applying currents to the two coils mutually, the torque at the output shaft, which is fixed to the driven disc, can be controlled with positive, zero or negative value. This make the actuator be suitable for haptic application. After a review of MR fluid and its application, configuration of the proposed BMRA is presented. The modeling of the actuator is then derived based on Bingham rheological model of MRF and magnetic finite element analysis (FEA). The optimal design of the actuator is then performed to minimize the mass of the BMRA. From the optimal design result, performance characteristics of the actuator is simulated and detailed design of a prototype actuator is conducted.

  11. Improved servo-controlled inertial clock for laboratory tests of general relativity

    International Nuclear Information System (INIS)

    Leyh, C.H.

    1984-01-01

    An inertial clock, consisting of a protected macroscopic rotor as the time base, was developed and tested preliminarily and partially by Cheung. This research offers considerable refinement of the equipment and the operating software, and includes serious testing of the experimental behavior. The inertial clock uses magnetic suspension to levitate a capped hollow cylindrical rotor (called the shroud rotor) within a vacuum chamber. A second rotor (called the proof rotor) is magnetically suspended within the shroud rotor. The shroud rotor is caused to corotate precisely with the rotating proof rotor by a microcomputer-controlled eddy current drive feedback servo loop. This produces a drag-free environment for the proof rotor which becomes the inertial timekeeper. In this way corotation effectively eliminates the residual gas drag on the proof rotor and the magnetic suspension bearing reduces bearing drag

  12. Predictive IP controller for robust position control of linear servo system.

    Science.gov (United States)

    Lu, Shaowu; Zhou, Fengxing; Ma, Yajie; Tang, Xiaoqi

    2016-07-01

    Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Adaptive integral robust control and application to electromechanical servo systems.

    Science.gov (United States)

    Deng, Wenxiang; Yao, Jianyong

    2017-03-01

    This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  14. All-Coefficient Adaptive Control of Dual-Motor Driving Servo System

    Directory of Open Access Journals (Sweden)

    Zhao Haibo

    2017-01-01

    Full Text Available Backlash nonlinearity and friction nonlinearity exist in dual-motor driving servo system, which reducing system response speed, steady accuracy and anti-interference ability. In order to diminish the adverse effects of backlash and friction nonlinearity to system, we proposed a new all-coefficient adaptive control method. Firstly, we introduced the dynamic model of backlash and friction nonlinearity respectively. Then on this basis, we established the characteristic model when backlash and friction nonlinearity coexist. We used recursive least square method for parameter estimation. Finally we designed the all-coefficient adaptive controller. On the basis of simplex all-coefficient adaptive controller, we designed a feedforward all-coefficient adaptive controller. The simulations of feedforward all-coefficient adaptive control and simplex all-coefficient adaptive control were compared. The results show that the former has quicker response speed, higher steady accuracy, stronger anti-interference performance and better robustness, which validating the efficacy of the proposed control strategy.

  15. Free convection heat and mass transfer in a power law fluid past an inclined surface with thermophoresis

    Directory of Open Access Journals (Sweden)

    Medhat M. Helal

    2013-10-01

    Full Text Available The problem of heat and mass transfer in a power law, two-dimensional, laminar, boundary layer flow of a viscous incompressible fluid over an inclined plate with heat generation and thermophoresis is investigated by the characteristic function method. The governing non-linear partial differential equations describing the flow and heat transfer problem are transformed into a set of coupled non-linear ordinary differential equation which was solved using Runge–Kutta shooting method. Exact solutions for the dimensionless temperature and concentration profiles, are presented graphically for different physical parameters and for the different power law exponents 0  0.5.

  16. INVESTIGATION OF ELECTRO-PHYSICAL CHARACTERISTICS OF ECO-FRIENDLY FLUIDS FOR PROMISING REPLACEMENT OF PETROLEUM OIL IN POWER TRANSFORMER APPLICATIONS

    OpenAIRE

    K. Sindhuja; A. Nagarajan; C. Paramasivan@Vignesh

    2017-01-01

    Transformer is generally considered to be the heart of the power system. For the continuous flow of power, the key element in the transmission and distribution network to be monitored is transformer. The insulating fluid plays a vital role in the proper functioning of transformer which serves as an effective coolant and insulation and it determines the lifetime of transformers. Thus, the reliability of a transformer is largely determined by its insulation condition.The globally used insulatin...

  17. Working fluid selection for organic Rankine cycles - Impact of uncertainty of fluid properties

    DEFF Research Database (Denmark)

    Frutiger, Jerome; Andreasen, Jesper Graa; Liu, Wei

    2016-01-01

    of processmodels and constraints 2) selection of property models, i.e. Penge Robinson equation of state 3)screening of 1965 possible working fluid candidates including identification of optimal process parametersbased on Monte Carlo sampling 4) propagating uncertainty of fluid parameters to the ORC netpower output......This study presents a generic methodology to select working fluids for ORC (Organic Rankine Cycles)taking into account property uncertainties of the working fluids. A Monte Carlo procedure is described as a tool to propagate the influence of the input uncertainty of the fluid parameters on the ORC....... The net power outputs of all the feasible working fluids were ranked including their uncertainties. The method could propagate and quantify the input property uncertainty of the fluidproperty parameters to the ORC model, giving an additional dimension to the fluid selection process. In the given analysis...

  18. Transient forced convection with viscous dissipation to power-law fluids in thermal entrance region of circular ducts with constant wall heat flux

    International Nuclear Information System (INIS)

    Dehkordi, Asghar Molaei; Mohammadi, Ali Asghar

    2009-01-01

    A numerical investigation was conducted on the transient behavior of a hydrodynamically, fully developed, laminar flow of power-law fluids in the thermally developing entrance region of circular ducts taking into account the effect of viscous dissipation but neglecting the effect of axial conduction. In this regard, the unsteady state thermal energy equation was solved by using a finite difference method, whereas the steady state thermal energy equation without wall heat flux was solved analytically as the initial condition of the former. The effects of the power-law index and wall heat flux on the local Nusselt number and thermal entrance length were investigated. Moreover, the local Nusselt number of steady state conditions was correlated in terms of the power-law index and wall heat flux and compared with literature data, which were obtained by an analytic solution for Newtonian fluids. Furthermore, a relationship was proposed for the thermal entrance length

  19. Fluid Temperature of Aero Hydraulic Systems

    Directory of Open Access Journals (Sweden)

    I. S. Shumilov

    2016-01-01

    Full Text Available In modern supersonic aircrafts due to aerodynamic skin heating a temperature of hydraulics environment significantly exceeds that of permissible for fluids used. The same problem exists for subsonic passenger aircrafts, especially for Airbuses, which have hydraulics of high power where convective heat transfer with the environment is insufficient and there is no required temperature control of fluid. The most significant in terms of heat flow is the flow caused by the loss of power to the pump and when designing the hydraulic system (HS it is necessary to pay very serious attention to it. To use a constant capacity pump is absolutely unacceptable, since HS efficiency in this case is extremely low, and the most appropriate are variable-capacity pumps, cut-off pumps, dual-mode pumps. The HS fluid cooling system should provide high reliability, lightweight, simple design, and a specified heat transfer in all flight modes.A system cooling the fluid by the fuel of feeding lines of the aircraft engines is the most effective, and it is widely used in supersonic aircrafts, where power of cooling system is essential. Subsonic aircrafts widely use convective heat exchangers. In thermal design of the aircraft hydraulics, the focus is generally given to the maximum and minimum temperatures of the HS fluid, the choice of the type of heat exchanger (convective or flow-through, the place of its installation. In calculating the operating temperature of a hydraulic system and its cooling systems it is necessary to determine an increase of the working fluid temperature when throttling it. There are three possible formulas to calculate the fluid temperature in throttling, with the error of a calculated temperature drop from 30% to 4%.The article considers the HS stationary and noon-stationary operating conditions and their calculation, defines temperatures of fluid and methods to control its specified temperature. It also discusses various heat exchanger schemes

  20. Reduced viscosity interpreted for fluid/gas mixtures

    Science.gov (United States)

    Lewis, D. H.

    1981-01-01

    Analysis predicts decrease in fluid viscosity by comparing pressure profile of fluid/gas mixture with that of power-law fluid. Fluid is taken to be viscous, non-Newtonian, and incompressible; the gas to be ideal; the flow to be inertia-free, isothermal, and one dimensional. Analysis assists in design of flow systems for petroleum, coal, polymers, and other materials.

  1. Self-powered implantable electronic-skin for in situ analysis of urea/uric-acid in body fluids and the potential applications in real-time kidney-disease diagnosis.

    Science.gov (United States)

    Yang, Wenyan; Han, Wuxiao; Gao, Huiling; Zhang, Linlin; Wang, Shuai; Xing, Lili; Zhang, Yan; Xue, Xinyu

    2018-01-25

    As the concentration of different biomarkers in human body fluids are an important parameter of chronic disease, wearable biosensors for in situ analysis of body fluids with high sensitivity, real-time detection, flexibility and biocompatibility have significant potential therapeutic applications. In this paper, a flexible self-powered implantable electronic-skin (e-skin) for in situ body fluids analysis (urea/uric-acid) as a real-time kidney-disease diagnoser has been proposed based on the piezo-enzymatic-reaction coupling process of ZnO nanowire arrays. It can convert the mechanical energy of body movements into a piezoelectric impulse, and the outputting piezoelectric signal contains the urea/uric-acid concentration information in body fluids. This piezoelectric-biosensing process does not need an external electricity supply or battery. The e-skin was implanted under the abdominal skin of a mouse and provided in situ analysis of the kidney-disease parameters. These results provide a new approach for developing a self-powered in situ body fluids-analysis technique for chronic-disease diagnosis.

  2. Hankel Matrix Correlation Function-Based Subspace Identification Method for UAV Servo System

    Directory of Open Access Journals (Sweden)

    Minghong She

    2018-01-01

    Full Text Available For the identification problem of closed-loop subspace model, we propose a zero space projection method based on the estimation of correlation function to fill the block Hankel matrix of identification model by combining the linear algebra with geometry. By using the same projection of related data in time offset set and LQ decomposition, the multiplication operation of projection is achieved and dynamics estimation of the unknown equipment system model is obtained. Consequently, we have solved the problem of biased estimation caused when the open-loop subspace identification algorithm is applied to the closed-loop identification. A simulation example is given to show the effectiveness of the proposed approach. In final, the practicability of the identification algorithm is verified by hardware test of UAV servo system in real environment.

  3. Autonomous Cargo Transport System for an Unmanned Aerial Vehicle, using Visual Servoing

    Directory of Open Access Journals (Sweden)

    Noah Kuntz

    2009-12-01

    Full Text Available This paper presents the design and testing of a system for autonomous tracking, pickup, and delivery of cargo via an unmanned helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a six degree of freedom gantry system with a camera mounted via a pan-tilt unit on the end effecter. The pickup system uses vision to direct the camera pan tilt unit to track the target, and uses a hook attached to a second pan tilt unit to pick up the cargo. The ability of the pickup system to hook a target is tested by mounting it on the Systems Integrated Sensor Test Rig gantry system while recorded helicopter velocities are played back by the test rig.

  4. Optimization of Smart Structure for Improving Servo Performance of Hard Disk Drive

    Science.gov (United States)

    Kajiwara, Itsuro; Takahashi, Masafumi; Arisaka, Toshihiro

    Head positioning accuracy of the hard disk drive should be improved to meet today's increasing performance demands. Vibration suppression of the arm in the hard disk drive is very important to enhance the servo bandwidth of the head positioning system. In this study, smart structure technology is introduced into the hard disk drive to suppress the vibration of the head actuator. It has been expected that the smart structure technology will contribute to the development of small and light-weight mechatronics devices with the required performance. First, modeling of the system is conducted with finite element method and modal analysis. Next, the actuator location and the control system are simultaneously optimized using genetic algorithm. Vibration control effect with the proposed vibration control mechanisms has been evaluated by some simulations.

  5. Panoramic optical-servoing for industrial inspection and repair

    Science.gov (United States)

    Sallinger, Christian; O'Leary, Paul; Retschnig, Alexander; Kammerhofer, Martin

    2004-05-01

    Recently specialized robots were introduced to perform the task of inspection and repair in large cylindrical structures such as ladles, melting furnaces and converters. This paper reports on the image processing system and optical servoing for one such a robot. A panoramic image of the vessels inner surface is produced by performing a coordinated robot motion and image acquisition. The level of projective distortion is minimized by acquiring a high density of images. Normalized phase correlation calculated via the 2D Fourier transform is used to calculate the shift between the single images. The narrow strips from the dense image map are then stitched together to build the panorama. The mapping between the panoramic image and the positioning of the robot is established during the stitching of the images. This enables optical feedback. The robots operator can locate a defect on the surface by selecting the area of the image. Calculation of the forward and inverse kinematics enable the robot to automatically move to the location on the surface requiring repair. Experimental results using a standard 6R industrial robot have shown the full functionality of the system concept. Finally, were test measurements carried out successfully, in a ladle at a temperature of 1100° C.

  6. Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

    Directory of Open Access Journals (Sweden)

    Yeming Zhang

    2018-03-01

    Full Text Available In order to accurately control the rotation position of a pneumatic rotary actuator, the flow state of the gas and the motion state of the pneumatic rotary actuator in the pneumatic rotary actuator position servo system are analyzed in this paper. The mathematical model of the system and the experiment platform are established after that. An Adaptive Differential Evolution (ADE algorithm which adaptively ameliorates the scaling factor and crossover probability in the process of individual evolution is proposed and applied to the parameter optimization of PD controller. The experimental platform is used to compare the controller with Differential Evolution (DE algorithm and NCD-PID controller. Finally, the characteristics of the system are tested by increasing the inertial load. The experimental results illustrate that system using ADE-PD control strategy has greater position precision and faster response than using DE-PD and NCD-PID strategies, and shows great robustness.

  7. Smart rotor modeling aero-servo-elastic modeling of a smart rotor with adaptive trailing edge flaps

    CERN Document Server

    Bergami, Leonardo

    2014-01-01

    A smart rotor is a wind turbine rotor that, through a combination of sensors, control units and actuators actively reduces the variation of the aerodynamic loads it has to withstand. Smart rotors feature?promising load alleviation potential and might provide the technological breakthrough required by the next generation of large wind turbine rotors.The book presents the aero-servo-elastic model of a smart rotor with Adaptive Trailing Edge Flaps for active load alleviation and provides an insight on the rotor aerodynamic, structural and control modeling. A novel model for the unsteady aerodynam

  8. Application of Modelling and Simulation in Mechatronics and Fluid Power System Design - Education and Research

    DEFF Research Database (Denmark)

    Andersen, T. O.; Hansen, M. R.; Conrad, Finn

    2003-01-01

    The development within the engineering industry is ever more in the direction of an integration of electronics both on the component level and system level. This implies improved and more intelligentcomponents with increased funtionality at the same time as the variant creation is made in the ele...... and control can be useful in analysis, synthesis, design and application of mechatronic systems with fluid power actuation. The focus is on system aspects and describes several projects from education and research that utilises the mentioned methods and techniques....

  9. Working fluid selection for organic Rankine cycles - Impact of uncertainty of fluid properties

    DEFF Research Database (Denmark)

    Frutiger, Jerome; Andreasen, Jesper Graa; Liu, Wei

    2016-01-01

    This study presents a generic methodology to select working fluids for ORC (Organic Rankine Cycles)taking into account property uncertainties of the working fluids. A Monte Carlo procedure is described as a tool to propagate the influence of the input uncertainty of the fluid parameters on the ORC...... modeloutput, and provides the 95%-confidence interval of the net power output with respect to the fluid property uncertainties. The methodology has been applied to a molecular design problem for an ORCusing a low-temperature heat source and consisted of the following four parts: 1) formulation...... of processmodels and constraints 2) selection of property models, i.e. Penge Robinson equation of state 3)screening of 1965 possible working fluid candidates including identification of optimal process parametersbased on Monte Carlo sampling 4) propagating uncertainty of fluid parameters to the ORC netpower output...

  10. A numerical simulation package for analysis of neutronics and thermal fluids of space nuclear power and propulsion systems

    International Nuclear Information System (INIS)

    Anghaie, S.; Feller, G.J.; Peery, S.D.; Parsley, R.C.

    1993-01-01

    A system of computer codes for engineering simulation and in-depth analysis of nuclear and thermal fluid design of nuclear thermal rockets is developed. The computational system includes a neutronic solver package, a thermal fluid solver package and a propellant and materials property package. The Rocket Engine Transient Simulation (ROCETS) system code is incorporated with computational modules specific to nuclear powered engines. ROCETS features a component based performance architecture that interfaces component modules into the user designed configuration, interprets user commands, creates an executable FORTRAN computer program, and executes the program to provide output to the user. Basic design features of the Pratt ampersand Whitney XNR2000 nuclear rocket concept and its operational performance are analyzed and simulated

  11. Design of a powered elevator control system. [powered elevator system for modified C-8A aircraft for STOL operation

    Science.gov (United States)

    Glende, W. L. B.

    1974-01-01

    The design, fabrication and flight testing of a powered elevator system for the Augmentor Wing Jet STOL Research Aircraft (AWJSRA or Mod C-8A) are discussed. The system replaces a manual spring tab elevator control system that was unsatisfactory in the STOL flight regime. Pitch control in the AWJSRA is by means of a single elevator control surface. The elevator is used for both maneuver and trim control as the stabilizer is fixed. A fully powered, irreversible flight control system powered by dual hydraulic sources was designed. The existing control columns and single mechanical cable system of the AWJSRA have been retained as has been the basic elevator surface, except that the elevator spring tab is modified into a geared balance tab. The control surface is directly actuated by a dual tandem moving body actuator. Control signals are transmitted from the elevator aft quadrant to the actuator by a linkage system that includes a limited authority series servo actuator.

  12. Computer Assisted Fluid Power Instruction: A Comparison of Hands-On and Computer-Simulated Laboratory Experiences for Post-Secondary Students

    Science.gov (United States)

    Wilson, Scott B.

    2005-01-01

    The primary purpose of this study was to examine the effectiveness of utilizing a combination of lecture and computer resources to train personnel to assume roles as hydraulic system technicians and specialists in the fluid power industry. This study compared computer simulated laboratory instruction to traditional hands-on laboratory instruction,…

  13. Electromagnetic servoing-a new tracking paradigm.

    Science.gov (United States)

    Reichl, Tobias; Gardiazabal, José; Navab, Nassir

    2013-08-01

    Electromagnetic (EM) tracking is highly relevant for many computer assisted interventions. This is in particular due to the fact that the scientific community has not yet developed a general solution for tracking of flexible instruments within the human body. Electromagnetic tracking solutions are highly attractive for minimally invasive procedures, since they do not require line of sight. However, a major problem with EM tracking solutions is that they do not provide uniform accuracy throughout the tracking volume and the desired, highest accuracy is often only achieved close to the center of tracking volume. In this paper, we present a solution to the tracking problem, by mounting an EM field generator onto a robot arm. Proposing a new tracking paradigm, we take advantage of the electromagnetic tracking to detect the sensor within a specific sub-volume, with known and optimal accuracy. We then use the more accurate and robust robot positioning for obtaining uniform accuracy throughout the tracking volume. Such an EM servoing methodology guarantees optimal and uniform accuracy, by allowing us to always keep the tracked sensor close to the center of the tracking volume. In this paper, both dynamic accuracy and accuracy distribution within the tracking volume are evaluated using optical tracking as ground truth. In repeated evaluations, the proposed method was able to reduce the overall error from 6.64±7.86 mm to a significantly improved accuracy of 3.83±6.43 mm. In addition, the combined system provides a larger tracking volume, which is only limited by the reach of the robot and not the much smaller tracking volume defined by the magnetic field generator.

  14. Post-processing of polymer foam tissue scaffolds with high power ultrasound: A route to increased pore interconnectivity, pore size and fluid transport

    International Nuclear Information System (INIS)

    Watson, N.J.; Johal, R.K.; Glover, Z.; Reinwald, Y.; White, L.J.; Ghaemmaghami, A.M.; Morgan, S.P.; Rose, F.R.A.J.; Povey, M.J.W.; Parker, N.G.

    2013-01-01

    The aim of this work is to demonstrate that the structural and fluidic properties of polymer foam tissue scaffolds, post-fabrication but prior to the introduction of cells, can be engineered via exposure to high power ultrasound. Our analysis is supported by measurements of fluid uptake during insonification and imaging of the scaffold microstructure via X-ray computed tomography, scanning electron microscopy and acoustic microscopy. The ultrasonic treatment is performed with a frequency of 30 kHz, average intensities up to 80,000 Wm −2 and exposure times up to 20 h. The treatment is found to increase the mean pore size by over 10%. More striking is the improvement in fluid uptake: for scaffolds with only 40% water uptake via standard immersion techniques, we can routinely achieve full saturation of the scaffold over approximately one hour of exposure. These desirable modifications occur with negligible loss of scaffold integrity and mass, and are optimized when the ultrasound treatment is coupled to a pre-wetting stage with ethanol. Our findings suggest that high power ultrasound is highly targeted towards flow obstructions in the scaffold architecture, thereby providing an efficient means to promote pore interconnectivity and fluid transport in thick foam tissue scaffolds. - Highlights: • We expose thick PLA foam tissue scaffolds to high power ultrasound. • This treatment both accelerates and enhances the uptake of fluid into the scaffold. • It leads to significant increases in the mean pore size, pore interconnectivity and porosity. • The ultrasonic treatment is most effective when the scaffold is pre-wet with ethanol. • We demonstrate the use of acoustic microscopy to characterize the scaffold microstructure

  15. Enhancing power cycle efficiency for a supercritical Brayton cycle power system using tunable supercritical gas mixtures

    Science.gov (United States)

    Wright, Steven A.; Pickard, Paul S.; Vernon, Milton E.; Radel, Ross F.

    2017-08-29

    Various technologies pertaining to tuning composition of a fluid mixture in a supercritical Brayton cycle power generation system are described herein. Compounds, such as Alkanes, are selectively added or removed from an operating fluid of the supercritical Brayton cycle power generation system to cause the critical temperature of the fluid to move up or down, depending upon environmental conditions. As efficiency of the supercritical Brayton cycle power generation system is substantially optimized when heat is rejected near the critical temperature of the fluid, dynamically modifying the critical temperature of the fluid based upon sensed environmental conditions improves efficiency of such a system.

  16. Time-dependent rheoforging of A6061 aluminum alloy on a mechanical servo press and the effects of forming conditions on homogeneity of rheoforged samples

    Directory of Open Access Journals (Sweden)

    Meng Yi

    2015-01-01

    Full Text Available The solid and liquid phases in semisolid metal slurry exhibited different forming behaviours during deformation result in products with inhomogeneous quality. A6061 aluminum alloy was forged in the semisolid state on a mechanical servo press with the capability of multistage compression. To improve the homogeneity of rheoforged samples a time-dependent rheoforging strategy was designed. The distributions of the microstructure and mechanical properties the samples manufactured under various experimental conditions were investigated. The A6061 samples forged in the temperature range from 625 to 628 ∘C with a short holding time of 4 s and the upper die preheated to 300 ∘C exhibited a homogeneous microstructure and mechanical properties. The homogeneity of rheoforged samples resulted from the controllable free motion capability of the mechanical servo press and the adjustable fluidity and viscosity of the semisolid slurry.

  17. The effect of fluids on the frictional behavior of calcite gouge

    Science.gov (United States)

    Rempe, M.; Di Toro, G.; Mitchell, T. M.; Hirose, T.; Smith, S. A. F.; Renner, J.

    2016-12-01

    The presence of fluids in fault zones affects the faults' strength and the nucleation and propagation of earthquakes due to mechanical or physico-chemical weakening effects. To better understand the effect of pore fluids on the frictional behavior of gouge-bearing faults, a series of intermediate- to high-velocity experiments was conducted using the Phv rotary-shear apparatus (Kochi Core Center, Japan) equipped with a servo-controlled pore-fluid pressure system. Calcite gouge was sheared up to several meters displacement at room-humidity (dry) and water-saturated conditions. The pore-fluid factor, λ=pf/σn, ranged from 0.15 to 0.7 and the effective normal stress, σn,eff=σn-pf, from 1 to 12 MPa. Sheared samples were analyzed using scanning electron microscopy and Raman spectroscopy. The steady-state shear stress is lower for saturated than for dry gouges sliding at V=1 mm/s, possibly due to higher intergranular lubrication and/or accelerated subcritical crack growth, as evidenced also by the observed higher degree of compaction. At V=1 m/s, dry gouges show a pronounced strengthening phase preceding the onset of dynamic weakening; saturated gouges weaken abruptly. The higher λ, the lower the peak and steady-state shear stress, but -counterintuitively- the less localized deformation. Degree of weakening and localization might be influenced by insufficient drainage at high λ. In undrained experiments, the shear stress is slightly decreased likely due to thermal pressurization of the pore fluid, but the onset of dynamic weakening is not accelerated, indicating that dynamic weakening is due to more efficient mechanisms. For example, amorphous carbon may lubricate the slip surfaces of dry and saturated calcite gouges and cause dynamic weakening, yet Raman spectra only show the presence of disordered carbon on the principal slip surface. Furthermore, the presence of small recrystallized grains suggests that strain accommodation during steady-state slip might occur by

  18. Active Lubrication for Reducing Wear and Vibration: A combination of Fluid Power Control and Tribology

    DEFF Research Database (Denmark)

    Nicoletti, Rodrigo; Santos, Ilmar

    2002-01-01

    The use of fluid power to reduce and control rotor vibration in rotating machines is investigated. An active hybrid bearing is studied, whose main objective is to reduce wear and vibration between rotating and stationary machinery parts. By injecting pressurised oil into the oil film, through...... orifices machined in the bearing pads, one can alter the machine dynamic characteristics, thus enhancing its operational range. A mathematical model of the rotor-bearing system, as well as of the hydraulic system, is presented. Numerical results of the system frequency response show good agreement...

  19. An in-pipe mobile micromachine using fluid power. A mechanism adaptable to pipe diameters

    International Nuclear Information System (INIS)

    Yoshida, Kazuhiro; Yokota, Shinichi; Takahashi, Ken

    2000-01-01

    To realize micro maintenance robots for small diameter pipes of nuclear reactors and so on, high power in-pipe mobile micromachines have been required. The authors have proposed the bellows microactuator using fluid power and have tried to apply the actuators to in-pipe mobile micromachines. In the previous papers, some inchworm mobile machine prototypes with 25 mm in diameter are fabricated and the traveling performances are experimentally investigated. In this paper, to miniaturize the in-pipe mobile machine and to make it adaptable to pipe diameters, firstly, a simple rubber-tube actuator constrained with a coil-spring is proposed and the static characteristics are investigated. Secondly, a supporting mechanism which utilizes a toggle mechanism and is adaptable to pipe diameters is proposed and the supporting forces are investigated. Finally, an in-pipe mobile micromachine for pipe with 4 - 5 mm in diameter is fabricated and the maximum traveling velocity of 7 mm/s in both ahead and astern movements is experimentally verified. (author)

  20. Four-quadrant speed control circuit of DC servo motor using integrated voltage control method; Den`atsu sekibunchi seigyo wo mochoiita chokuryu dendoki no shishogen sokudo seigyo

    Energy Technology Data Exchange (ETDEWEB)

    Okui, H. [Osaka polytechnic College, Osaka (Japan); Irie, H. [Osaka Electro-Communication Univ., Osaka (Japan)

    1996-08-20

    The Two-Quadrant chopper is constructed by using smoothing reactor in common of the step-down chopper and step-up chopper of the DC chopper. Furthermore, since the circuit connected in bridge type by using these two groups has both of positive and negative voltage from DC source and can supplies the current from positive and negative directions for load, it is called in general as the Four-Quadrant chopper. As the Four-Quadrant chopper may supply and regenerate power, it works as power amplifier with high efficiency. In this paper, the speed control circuit of DC servo motor using Four-Quadrant integrated voltage control circuit is described. The speed control circuit is composed of simple circuits of one adder integrator and four hysteresis comparators. The Four-Quadrant speed control circuit has a DC motor speed feedback loop and a voltage feedback loop which connects with AC, it plays the Four-Quadrant speed control without current inspection. The speed control characteristics with no steady state error over four quadrants may be obtained, changing of the quadrant is smooth and transition response is rapid. 9 refs., 11 figs.

  1. What trend for mechatronics ? - R&D teams mechatronics design engineering approach for research and self-learning competence in mechatronics and fluid power

    DEFF Research Database (Denmark)

    Conrad, Finn; Andersen, T. O.; Hansen, M. R.

    2003-01-01

    -learning within the area of design of mechatronic products and systems, in particular intelligent control, mechanical and fluid power components and systems. Experiences with interactive methods for improving of MSc- and PhD-students¿ research and self-learning competence at the Technical University of Denmark...... and the Aalborg University are presented and discussed. The didactic approach has two legs: (1) Analysis and IT-modelling of products and systems from day one at the university, and (2) Synthesis and hardware implementation with increasing project activities focusing on product development and design engineering......, including testing, evaluation and validation. The objective is to educate candidates with high-level professional engineering skills for research and integrated product development teams working within mechatronics and fluid power in order to make successful business in companies as well as at universities...

  2. Enhancing roll stability of heavy vehicle by LQR active anti-roll bar control using electronic servo-valve hydraulic actuators

    Science.gov (United States)

    Vu, Van Tan; Sename, Olivier; Dugard, Luc; Gaspar, Peter

    2017-09-01

    Rollover of heavy vehicle is an important road safety problem world-wide. Although rollovers are relatively rare events, they are usually deadly accidents when they occur. The roll stability loss is the main cause of rollover accidents in which heavy vehicles are involved. In order to improve the roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. However these may be not sufficient to overcome critical situations. This paper introduces the active anti-roll bars made of four electronic servo-valve hydraulic actuators, which are modelled and integrated in a yaw-roll model of a single unit heavy vehicle. The control signal is the current entering the electronic servo-valve and the output is the force generated by the hydraulic actuator. The active control design is achieved solving a linear optimal control problem based on the linear quadratic regulator (LQR) approach. A comparison of several LQR controllers is provided to allow for tackling the considered multi-objective problems. Simulation results in frequency and time domains show that the use of two active anti-roll bars (front and rear axles) drastically improves the roll stability of the single unit heavy vehicle compared with the passive anti-roll bar.

  3. A Visual Servoing-Based Method for ProCam Systems Calibration

    Directory of Open Access Journals (Sweden)

    Jeremie Mosnier

    2013-10-01

    Full Text Available Projector-camera systems are currently used in a wide field of applications, such as 3D reconstruction and augmented reality, and can provide accurate measurements, depending on the configuration and calibration. Frequently, the calibration task is divided into two steps: camera calibration followed by projector calibration. The latter still poses certain problems that are not easy to solve, such as the difficulty in obtaining a set of 2D–3D points to compute the projection matrix between the projector and the world. Existing methods are either not sufficiently accurate or not flexible. We propose an easy and automatic method to calibrate such systems that consists in projecting a calibration pattern and superimposing it automatically on a known printed pattern. The projected pattern is provided by a virtual camera observing a virtual pattern in an OpenGL model. The projector displays what the virtual camera visualizes. Thus, the projected pattern can be controlled and superimposed on the printed one with the aid of visual servoing. Our experimental results compare favorably with those of other methods considering both usability and accuracy.

  4. The Improved SVM Multi Objects' Identification For the Uncalibrated Visual Servoing

    Directory of Open Access Journals (Sweden)

    Min Wang

    2009-03-01

    Full Text Available For the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction algorithm based on rough set's discernibility matrix to obtain attribute reduction, with using support vector machine to identify and classify the targets. The visual servoing is the second task. For avoiding the complicated calibration of intrinsic parameter of camera, We apply an improved broyden's method to estimate the image jacobian matrix online, which employs chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. Last, a two DOF visual controller based fuzzy adaptive PD control law for micro-manipulation is presented. The experiments of micro-assembly of micro parts in microscopes confirm that the proposed methods are effective and feasible.

  5. The Improved SVM Multi Objects's Identification for the Uncalibrated Visual Servoing

    Directory of Open Access Journals (Sweden)

    Xiangjin Zeng

    2009-03-01

    Full Text Available For the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction algorithm based on rough set's discernibility matrix to obtain attribute reduction, with using support vector machine to identify and classify the targets. The visual servoing is the second task. For avoiding the complicated calibration of intrinsic parameter of camera, We apply an improved broyden's method to estimate the image jacobian matrix online, which employs chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. Last, a two DOF visual controller based fuzzy adaptive PD control law for micro-manipulation is presented. The experiments of micro-assembly of micro parts in microscopes confirm that the proposed methods are effective and feasible.

  6. Voltage control of a power-frequency E-beam irradiator

    International Nuclear Information System (INIS)

    Zhou Zhizhong; Hu Shouming; Wang Jun; Guo Honglei; Su Haijun

    2012-01-01

    Voltage stability and precision are key specifications of an electron beam irradiator. A voltage control system was developed for smooth high voltage regulating on a power frequency electron accelerator. Pillar variac driven by servo motor was used as the regulating device, with a programmable logic controller as the control unit. An industrial PC was employed to realize human-machine interaction. Open-loop and closed-loop modes were employed to regulate the high voltage. Experimental results show that the speed, stability and precision for high voltage regulating were improved greatly, hence a much better performance of the electron accelerator. (authors)

  7. The Effect of Surface Tension on the Gravity-driven Thin Film Flow of Newtonian and Power-law Fluids

    Science.gov (United States)

    Hu, Bin; Kieweg, Sarah L.

    2012-01-01

    Gravity-driven thin film flow is of importance in many fields, as well as for the design of polymeric drug delivery vehicles, such as anti-HIV topical microbicides. There have been many prior works on gravity-driven thin films. However, the incorporation of surface tension effect has not been well studied for non-Newtonian fluids. After surface tension effect was incorporated into our 2D (i.e. 1D spreading) power-law model, we found that surface tension effect not only impacted the spreading speed of the microbicide gel, but also had an influence on the shape of the 2D spreading profile. We observed a capillary ridge at the front of the fluid bolus. Previous literature shows that the emergence of a capillary ridge is strongly related to the contact line fingering instability. Fingering instabilities during epithelial coating may change the microbicide gel distribution and therefore impact how well it can protect the epithelium. In this study, we focused on the capillary ridge in 2D flow and performed a series of simulations and showed how the capillary ridge height varies with other parameters, such as surface tension coefficient, inclination angle, initial thickness, and power-law parameters. As shown in our results, we found that capillary ridge height increased with higher surface tension, steeper inclination angle, bigger initial thickness, and more Newtonian fluids. This study provides the initial insights of how to optimize the flow and prevent the appearance of a capillary ridge and fingering instability. PMID:23687391

  8. Phenylnaphthalene as a Heat Transfer Fluid for Concentrating Solar Power: High-Temperature Static Experiments

    Energy Technology Data Exchange (ETDEWEB)

    Bell, Jason R [ORNL; Joseph III, Robert Anthony [ORNL; McFarlane, Joanna [ORNL; Qualls, A L [ORNL

    2012-05-01

    Concentrating solar power (CSP) may be an alternative to generating electricity from fossil fuels; however, greater thermodynamic efficiency is needed to improve the economics of CSP operation. One way of achieving improved efficiency is to operate the CSP loop at higher temperatures than the current maximum of about 400 C. ORNL has been investigating a synthetic polyaromatic oil for use in a trough type CSP collector, to temperatures up to 500 C. The oil was chosen because of its thermal stability and calculated low vapor and critical pressures. The oil has been synthesized using a Suzuki coupling mechanism and has been tested in static heating experiments. Analysis has been conducted on the oil after heating and suggests that there may be some isomerization taking place at 450 C, but the fluid appears to remain stable above that temperature. Tests were conducted over one week and further tests are planned to investigate stabilities after heating for months and in flow configurations. Thermochemical data and thermophysical predictions indicate that substituted polyaromatic hydrocarbons may be useful for applications that run at higher temperatures than possible with commercial fluids such as Therminol-VP1.

  9. Study of data transmission over drive motor power cables of a remotely operated robot using power line communication technology

    International Nuclear Information System (INIS)

    Balaji, Kanchi; Singh, Ashutosh Pratap; Rakesh, V.; Rajagopalan, C.; Murugan, S.

    2016-01-01

    In nuclear power plants (NPPs), robotic devices are widely used for carrying out in-service inspection (lSI) and repair tasks at elevated temperatures and radiation environments. These devices comprises servo motors that are powered and controlled by the motion control unit/electric drives. The control and inspection data are to be transmitted back from the inspection device to the control unit using separate industrial graded data transmission cables compatible for high temperature applications. This increases complexity of robot trailing cables and cost. Hence, it is proposed to use power cables that are used for powering the motor for sending information signals using power line communication (PLC) technology. The domestically used PLC modems adds noise to the information signal when coupled on to the motor feed cables during IGBT switching. Therefore, passive low pass filters are used at the motor drive end to reduce the impulsive noise. The aim of this study is to compare noise characteristics for different type of filter structures over pulse width modulation (PWM) network. We will highlight the choice of cut off frequency of filter based on frequency of information signal

  10. A Simulation Model of Focus and Radial Servos in Compact Disc Players with Disc Surface Defects

    DEFF Research Database (Denmark)

    Odgaard, Peter Fogh; Stoustrup, Jakob; Andersen, Palle

    2004-01-01

    Compact Disc players have been on the market in more than two decades.As a consequence most of the control servo problems have been solved. A large remaining problem to solve is the handling of Compact Discs with severe surface defects like scratches and fingerprints. This paper introduces a method...... for making the design of controllers handling surface defects easier. A simulation model of Compact Disc players playing discs with surface defects is presented. The main novel element in the model is a model of the surface defects. That model is based on data from discs with surface defects. This model...

  11. Entropy Generation Analysis of Power-Law Non-Newtonian Fluid Flow Caused by Micropatterned Moving Surface

    Directory of Open Access Journals (Sweden)

    M. H. Yazdi

    2014-01-01

    Full Text Available In the present study, the first and second law analyses of power-law non-Newtonian flow over embedded open parallel microchannels within micropatterned permeable continuous moving surface are examined at prescribed surface temperature. A similarity transformation is used to reduce the governing equations to a set of nonlinear ordinary differential equations. The dimensionless entropy generation number is formulated by an integral of the local rate of entropy generation along the width of the surface based on an equal number of microchannels and no-slip gaps interspersed between those microchannels. The velocity, the temperature, the velocity gradient, and the temperature gradient adjacent to the wall are substituted into this equation resulting from the momentum and energy equations obtained numerically by Dormand-Prince pair and shooting method. Finally, the entropy generation numbers, as well as the Bejan number, are evaluated. It is noted that the presence of the shear thinning (pseudoplastic fluids creates entropy along the surface, with an opposite effect resulting from shear thickening (dilatant fluids.

  12. Successful experience with limestone and other sorbents for combustion of biomass in fluid bed power boilers

    Energy Technology Data Exchange (ETDEWEB)

    Coe, D.R. [LG& E Power Systems, Inc., Irvine, CA (United States)

    1993-12-31

    This paper presents the theoretical and practical advantages of utilizing limestone and other sorbents during the combustion of various biomass fuels for the reduction of corrosion and erosion of boiler fireside tubing and refractory. Successful experiences using a small amount of limestone, dolomite, kaolin, or custom blends of aluminum and magnesium compounds in fluid bed boilers fired with biomass fuels will be discussed. Electric power boiler firing experience includes bubbling bed boilers as well as circulating fluid bed boilers in commercial service on biomass fuels. Forest sources of biomass fuels fired include wood chips, brush chips, sawmill waste wood, bark, and hog fuel. Agricultural sources of biomass fuels fired include grape vine prunings, bean straw, almond tree chips, walnut tree chips, and a variety of other agricultural waste fuels. Additionally, some urban sources of wood fuels have been commercially burned with the addition of limestone. Data presented includes qualitative and quantitative analyses of fuel, sorbent, and ash.

  13. Actively lubricated bearings applied as calibrated shakers to aid parameter identification in rotordynamics

    DEFF Research Database (Denmark)

    Santos, Ilmar; Cerda Varela, Alejandro Javier

    2013-01-01

    The servo valve input signal and the radial injection pressure are the two main parameters responsible for dynamically modifying the journal oil film pressure and generating active fluid film forces in controllable fluid film bearings. Such fluid film forces, resulting from a strong coupling...... domain and the application of such a controllable bearing as a calibrated shaker aiming at determining the frequency response function (FRF) of rotordynamic systems; b) experimental quantification of the influence of the supply pressure and servo valve input signal on the FRF of rotor-journal bearing...... between hydrodynamic, hydrostatic and controllable lubrication regimes, can be used either to control or to excite rotor lateral vibrations. An accurate characterization of the active oil film forces is of fundamental importance to elucidate the feasibility of applying the active lubrication as non...

  14. Miniaturization of a Quasi-Servo Valve and Its Application to Positon Control of a Rubber Artificial Muscle with Built-in Sensor

    Directory of Open Access Journals (Sweden)

    Moriwake Yoshinori

    2016-01-01

    Full Text Available Nowadays, the care and welfare pneumatic devices to support a nursing care and a self-reliance of the elderly and the disabled are actively researched and developed by many researchers. These wearable devices require many actuators and control valves for multi degrees of freedom. The total weight and volume of the wearable devices increases according to the degree of freedom. Our final goal is to develop a compact wearable actuator with built-in sensor, controller and control valve and to apply it to a wearable assisted device. In our previous study, a small-sized quasi-servo valve which consists of two on/off control valves and an embedded controller was developed. In this study, the quasi-servo valve composing of much smaller-sized (40% in mass, 42% in volume on/off valves is proposed and tested. In addition, the rubber artificial muscle with an ultrasonic sensor as a built-in displacement sensor is proposed and a position control of the muscle is carried out using the tested tiny valve and built-in sensor. As a result, it was confirmed that the position control of the muscle can be realized using the tested ultrasonic sensor.

  15. Thermo-economic analysis and selection of working fluid for solar organic Rankine cycle

    International Nuclear Information System (INIS)

    Desai, Nishith B.; Bandyopadhyay, Santanu

    2016-01-01

    Highlights: • Concentrating solar power plant with organic Rankine cycle. • Thermo-economic analysis of solar organic Rankine cycle. • Performance evaluation for different working fluids. • Comparison diagram to select appropriate working fluid. - Graphical Abstract: Display Omitted - Abstract: Organic Rankine cycle (ORC), powered by line-focusing concentrating solar collectors (parabolic trough collector and linear Fresnel reflector), is a promising option for modular scale. ORC based power block, with dry working fluids, offers higher design and part-load efficiencies compared to steam Rankine cycle (SRC) in small-medium scale, with temperature sources up to 400 °C. However, the cost of ORC power block is higher compared to the SRC power block. Similarly, parabolic trough collector (PTC) system has higher optical efficiency and higher cost compared to linear Fresnel reflector (LFR) system. The thermodynamic efficiencies and power block costs also vary with working fluids of the Rankine cycle. In this paper, thermo-economic comparisons of organic Rankine and steam Rankine cycles powered by line-focusing concentrating solar collectors are reported. A simple selection methodology, based on thermo-economic analysis, and a comparison diagram for working fluids of power generating cycles are also proposed. Concentrating solar power plants with any collector technology and any power generating cycle can be compared using the proposed methodology.

  16. Solar-powered turbocompressor heat pump system

    Science.gov (United States)

    Landerman, A.M.; Biancardi, F.R.; Melikian, G.; Meader, M.D.; Kepler, C.E.; Anderson, T.J.; Sitler, J.W.

    1982-08-12

    The turbocompressor comprises a power turbine and a compressor turbine having respective rotors and on a common shaft, rotatably supported by bearings. A first working fluid is supplied by a power loop and is expanded in the turbine. A second working fluid is compressed in the turbine and is circulated in a heat pump loop. A lubricant is mixed with the second working fluid but is excluded from the first working fluid. The bearings are cooled and lubricated by a system which circulates the second working fluid and the intermixed lubricant through the bearings. Such system includes a pump, a thermostatic expansion valve for expanding the working fluid into the space between the bearings, and a return conduit system for withdrawing the expanded working fluid after it passes through the bearings and for returning the working fluid to the evaporator. A shaft seal excludes the lubricant from the power turbine. The power loop includes a float operable by liquid working fluid in the condenser for controlling a recirculation valve so as to maintain a minimum liquid level in the condenser, while causing a feed pump to pump most of the working fluid into the vapor generator. The heat pump compressor loop includes a float in the condenser for operating and expansion valve to maintain a minimum liquid working fluid level in the condenser while causing most of the working fluid to be expanded into the evaporator.

  17. MINET, Transient Fluid Flow and Heat Transfer Power Plant Network Analysis

    International Nuclear Information System (INIS)

    Van Tuyle, G.J.

    2002-01-01

    1 - Description of program or function: MINET (Momentum Integral Network) was developed for the transient analysis of intricate fluid flow and heat transfer networks, such as those found in the balance of plant in power generating facilities. It can be utilized as a stand-alone program or interfaced to another computer program for concurrent analysis. Through such coupling, a computer code limited by either the lack of required component models or large computational needs can be extended to more fully represent the thermal hydraulic system thereby reducing the need for estimating essential transient boundary conditions. The MINET representation of a system is one or more networks of volumes, segments, and boundaries linked together via heat exchangers only, i.e., heat can transfer between networks, but fluids cannot. Volumes are used to represent tanks or other volume components, as well as locations in the system where significant flow divisions or combinations occur. Segments are composed of one or more pipes, pumps, heat exchangers, turbines, and/or valves each represented by one or more nodes. Boundaries are simply points where the network interfaces with the user or another computer code. Several fluids can be simulated, including water, sodium, NaK, and air. 2 - Method of solution: MINET is based on a momentum integral network method. Calculations are performed at two levels, the network level (volumes) and the segment level. Equations conserving mass and energy are used to calculate pressure and enthalpy within volumes. An integral momentum equation is used to calculate the segment average flow rate. In-segment distributions of mass flow rate and enthalpy are calculated using local equations of mass and energy. The segment pressure is taken to be the linear average of the pressure at both ends. This method uses a two-plus equation representation of the thermal hydraulic behavior of a system of heat exchangers, pumps, pipes, valves, tanks, etc. With the

  18. A Design Method for Fault Reconfiguration and Fault-Tolerant Control of a Servo Motor

    Directory of Open Access Journals (Sweden)

    Jing He

    2013-01-01

    Full Text Available A design scheme that integrates fault reconfiguration and fault-tolerant position control is proposed for a nonlinear servo system with friction. Analysis of the non-linear friction torque and fault in the system is used to guide design of a sliding mode position controller. A sliding mode observer is designed to achieve fault reconfiguration based on the equivalence principle. Thus, active fault-tolerant position control of the system can be realized. A real-time simulation experiment is performed on a hardware-in-loop simulation platform. The results show that the system reconfigures well for both incipient and abrupt faults. Under the fault-tolerant control mechanism, the output signal for the system position can rapidly track given values without being influenced by faults.

  19. Introducing Non-Newtonian Fluid Mechanics Computations with Mathematica in the Undergraduate Curriculum

    Science.gov (United States)

    Binous, Housam

    2007-01-01

    We study four non-Newtonian fluid mechanics problems using Mathematica[R]. Constitutive equations describing the behavior of power-law, Bingham and Carreau models are recalled. The velocity profile is obtained for the horizontal flow of power-law fluids in pipes and annuli. For the vertical laminar film flow of a Bingham fluid we determine the…

  20. Natural convection heat transfer in shallow horizontal rectangular enclosures uniformly heated from the side and filled with non-Newtonian power law fluids

    International Nuclear Information System (INIS)

    Lamsaadi, M.; Naimi, M.; Hasnaoui, M.

    2006-01-01

    A combined analytical and numerical study is conducted for two dimensional, steady state, buoyancy driven flows of non-Newtonian power law fluids confined in a shallow rectangular cavity submitted to uniform fluxes of heat along both its short vertical sides, while its long horizontal walls are considered adiabatic. The effect of the non-Newtonian behavior on the fluid flow and heat transfer characteristics is examined. An approximate theoretical solution is developed on the basis of the parallel flow assumption and validated numerically by solving the full governing equations

  1. Fluid distribution network and steam generators and method for nuclear power plant training simulator

    International Nuclear Information System (INIS)

    Alliston, W.H.; Johnson, S.J.; Mutafelija, B.A.

    1975-01-01

    A description is given of a training simulator for the real-time dynamic operation of a nuclear power plant which utilizes apparatus that includes control consoles having manual and automatic devices corresponding to simulated plant components and indicating devices for monitoring physical values in the simulated plant. A digital computer configuration is connected to the control consoles to calculate the dynamic real-time simulated operation of the plant in accordance with the simulated plant components to provide output data including data for operating the control console indicating devices. In the method and system for simulating a fluid distribution network of the power plant, such as that which includes, for example, a main steam system which distributes steam from steam generators to high pressure turbine steam reheaters, steam dump valves, and feedwater heaters, the simultaneous solution of linearized non-linear algebraic equations is used to calculate all the flows throughout the simulated system. A plurality of parallel connected steam generators that supply steam to the system are simulated individually, and include the simulation of shrink-swell characteristics

  2. Fast flux fluid fuel reactor: A concept for the next generation of nuclear power production

    International Nuclear Information System (INIS)

    Palmiotti, G.; Feldman, E.E.

    1999-01-01

    Nuclear energy has not become the preferred method of electrical energy production largely because of economic, safety, and proliferation concerns and challenges posed by nuclear waste disposal. Economies is the most important factor. To reduce the capital costs, the authors propose a compact configuration with a very high power density and correspondingly reduced reactor component sizes. Enhanced efficiency made possible by higher operating temperatures will also improve the economics of the design, and design simplicity will keep capital, operational, and maintenance costs down. The most direct solution to the nuclear waste problem is to eliminate waste production or, at least, minimize its amount and long-term radiotoxicity. This can be achieved by very high burnups, ideally 100%, and by the eventual transmutation of the long-lived fission products in situ. Very high burnups also improve the economics by optimal exploitation of the fuel. Safety concerns can be addressed by an inherently safe reactor design. Because of the intrinsic nature of nuclear materials, there probably is no definitive answer to proliferation concerns for systems that generate neutrons; however, it is important to minimize proliferation risks. The thorium cycle is a promising option because (a) plutonium is produced only in very small quantities, (b) the presence of 232 U makes handling the fuel very difficult and therefore proliferation resistant, and (c) 233 U is a fissile isotope that is less suitable than 239 Pu for making weapons and can be diluted with other uranium isotopes. An additional benefit of the thorium cycle is that it increases nuclear fuel resources by one order of magnitude. A fast flux fluid fuel reactor is a concept that can satisfy all the foregoing requirements. The fluid fuel systems have a very simple structure. Because integrity of the fuel is not an issue, these systems can operate at very high temperatures, can have high power densities, and can achieve very

  3. Testing of the Engineering Model Electrical Power Control Unit for the Fluids and Combustion Facility

    Science.gov (United States)

    Kimnach, Greg L.; Lebron, Ramon C.; Fox, David A.

    1999-01-01

    The John H. Glenn Research Center at Lewis Field (GRC) in Cleveland, OH and the Sundstrand Corporation in Rockford, IL have designed and developed an Engineering Model (EM) Electrical Power Control Unit (EPCU) for the Fluids Combustion Facility, (FCF) experiments to be flown on the International Space Station (ISS). The EPCU will be used as the power interface to the ISS power distribution system for the FCF's space experiments'test and telemetry hardware. Furthermore. it is proposed to be the common power interface for all experiments. The EPCU is a three kilowatt 12OVdc-to-28Vdc converter utilizing three independent Power Converter Units (PCUs), each rated at 1kWe (36Adc @ 28Vdc) which are paralleled and synchronized. Each converter may be fed from one of two ISS power channels. The 28Vdc loads are connected to the EPCU output via 48 solid-state and current-limiting switches, rated at 4Adc each. These switches may be paralleled to supply any given load up to the 108Adc normal operational limit of the paralleled converters. The EPCU was designed in this manner to maximize allocated-power utilization. to shed loads autonomously, to provide fault tolerance. and to provide a flexible power converter and control module to meet various ISS load demands. Tests of the EPCU in the Power Systems Facility testbed at GRC reveal that the overall converted-power efficiency, is approximately 89% with a nominal-input voltage of 12OVdc and a total load in the range of 4O% to 110% rated 28Vdc load. (The PCUs alone have an efficiency of approximately 94.5%). Furthermore, the EM unit passed all flight-qualification level (and beyond) vibration tests, passed ISS EMI (conducted, radiated. and susceptibility) requirements. successfully operated for extended periods in a thermal/vacuum chamber, was integrated with a proto-flight experiment and passed all stability and functional requirements.

  4. Improved design features of KSNP+ BOP Fluid System

    International Nuclear Information System (INIS)

    Park, Heung Gyu; Yoon, Kyung Sup

    2002-01-01

    KOPEC (Korea Power Engineering Co.) in conjunction with the client KHNP (Korea Hydro and Nuclear Power Co.) has been developing the KSNP + (Improved Korean Standard Nuclear Power Plants) design concept since 1998. The main objective of the KSNP + is to enhance safety and economy of KSNP. The design concepts of the KSNP + will be implemented in Shin-Kori Units 1 and 2 Shin-Wolsung Units 1 and 2. This paper provides on an introduction to the improved design features of the KSNP + BOP fluid system consisting of 45 design improvement items. The design improvement concepts of the BOP fluid system have been developed as follows: optimization of system configuration and capacity, simplification of system, and adoption of advanced design features. Improved design features of the BOP fluid system allow additional benefits due to making a contribution to the optimization of plant arrangement and the reduction of operating costs during the plant life time. In conclusion, design improvement to the BOP fluid system have contributed to the KSNP + design concept being more reliable, safe and economically competitive

  5. A switched energy saving position controller for variable-pressure electro-hydraulic servo systems.

    Science.gov (United States)

    Tivay, Ali; Zareinejad, Mohammad; Rezaei, S Mehdi; Baghestan, Keivan

    2014-07-01

    The electro-hydraulic servo system (EHSS) demonstrates a relatively low level of efficiency compared to other available actuation methods. The objective of this paper is to increase this efficiency by introducing a variable supply pressure into the system and controlling this pressure during the task of position tracking. For this purpose, an EHSS structure with controllable supply pressure is proposed and its dynamic model is derived from the basic laws of physics. A switching control structure is then proposed to control both the supply pressure and the cylinder position at the same time, in a way that reduces the overall energy consumption of the system. The stability of the proposed switching control system is guaranteed by proof, and its performance is verified by experimental testing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Techno-Economic Assessment of Heat Transfer Fluid Buffering for Thermal Energy Storage in the Solar Field of Parabolic Trough Solar Thermal Power Plants

    Directory of Open Access Journals (Sweden)

    Jorge M. Llamas

    2017-08-01

    Full Text Available Currently, operating parabolic trough (PT solar thermal power plants, either solar-only or with thermal storage block, use the solar field as a heat transfer fluid (HTF thermal storage system to provide extra thermal capacity when it is needed. This is done by circulating heat transfer fluid into the solar field piping in order to create a heat fluid buffer. In the same way, by oversizing the solar field, it can work as an alternative thermal energy storage (TES system to the traditionally applied methods. This paper presents a solar field TES model for a standard solar field from a 50-MWe solar power plant. An oversized solar model is analyzed to increase the capacity storage system (HTF buffering. A mathematical model has been developed and different simulations have been carried out over a cycle of one year with six different solar multiples considered to represent the different oversized solar field configurations. Annual electricity generation and levelized cost of energy (LCOE are calculated to find the solar multiple (SM which makes the highest solar field thermal storage capacity possible within the minimum LCOE.

  7. Study of toluene rotary fluid management device and shear flow condenser performance for a space-based organic Rankine power system

    Science.gov (United States)

    Havens, Vance; Ragaller, Dana

    1988-01-01

    Management of two-phase fluid and control of the heat transfer process in microgravity is a technical challenge that must be addressed for an orbital Organic Rankine Cycle (ORC) application. A test program was performed in 1-g that satisfactorily demonstrated the two-phase management capability of the rotating fluid management device (RFMD) and shear-flow condenser. Operational tests of the RFMD and shear flow condenser in adverse gravity orientations, confirmed that the centrifugal forces in the RFMD and the shear forces in the condenser were capable of overcoming gravity forces. In a microgravity environment, these same forces would not have to compete against gravity and would therefore be dominant. The specific test program covered the required operating range of the Space Station Solar Dynamic Rankine Cycle power system. Review of the test data verified that: fluid was pumped from the RFMD in all attitudes; subcooled states in the condenser were achieved; condensate was pushed uphill against gravity; and noncondensible gases were swept through the condenser.

  8. Water Hydraulic Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    2005-01-01

    The paper presents research results using IT-Tools for CAD and dynamic modelling, simulation, analysis, and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. Matlab/Simulink and CATIA are used as IT-Tools. The contributions include results from on......-going research projects on fluid power and mechatronics based on tap water hydraulic servovalves and linear servo actuators and rotary vane actuators for motion control and power transmission. Development and design a novel water hydraulic rotary vane actuator for robot manipulators. Proposed mathematical...... modelling, control and simulation of a water hydraulic rotary vane actuator applied to power and control a two-links manipulator and evaluate performance. The results include engineering design and test of the proposed simulation models compared with IHA Tampere University’s presentation of research...

  9. Study of specific loss power of magnetic fluids with various viscosities

    Energy Technology Data Exchange (ETDEWEB)

    Phong, P.T., E-mail: phamthanhphong@tdt.edu.vn [Department for Management of Science and Technology Development, Ton Duc Thang University, Ho Chi Minh City (Viet Nam); Faculty of Applied Sciences, Ton Duc Thang University, Ho Chi Minh City (Viet Nam); Nguyen, L.H., E-mail: luuhuunguyen@ukh.edu.vn [Institute of Materials Science, Vietnam Academy of Science and Technology,18- Hoang Quoc Viet Street, Cau Giay District, Ha Noi City (Viet Nam); Khanh Hoa University, 1- Nguyen Chanh Street, Nha Trang City, Khanh Hoa Province (Viet Nam); Phong, L.T.H., E-mail: lthp52a@gmail.com [Institute of Materials Science, Vietnam Academy of Science and Technology,18- Hoang Quoc Viet Street, Cau Giay District, Ha Noi City (Viet Nam); Nam, P.H., E-mail: namph.ims@gmail.com [Institute of Materials Science, Vietnam Academy of Science and Technology,18- Hoang Quoc Viet Street, Cau Giay District, Ha Noi City (Viet Nam); Manh, D.H., E-mail: manhdh.ims@gmail.com [Institute of Materials Science, Vietnam Academy of Science and Technology,18- Hoang Quoc Viet Street, Cau Giay District, Ha Noi City (Viet Nam); Lee, I.J., E-mail: lij@dongguk.ac.kr [Department of Advanced Materials Chemistry, Dongguk University-Gyeongju, Dongdae-roDongdae-ro 123, Gyeongju-Si, Gyeongbuk 38066 (Korea, Republic of); Phuc, N.X., E-mail: phucnx1949@gmail.com [Institute of Materials Science, Vietnam Academy of Science and Technology,18- Hoang Quoc Viet Street, Cau Giay District, Ha Noi City (Viet Nam)

    2017-04-15

    Abstracts: Using hydrothermal method, CoFe{sub 2}O{sub 4} (hard ferrite) and MnFe{sub 2}O{sub 4} (soft ferrite) nanoparticles of size up to 20 nm were synthesized and the viscosities were controlled using various concentrations of agar. The hydrodynamic diameter of these particles was measured and fitted to a lognormal distribution and the results showed their polydispersity is very narrow. From the calorimetric measurements of the particles stabilized in agar solutions, we have demonstrated that at a given frequency, the dependence of the specific loss power of magnetic fluids on the viscosity is in good agreement with the theoretical predictions made in the earlier studies. - Highlights: • CoFe{sub 2}O{sub 4} (hard ferrite) and MnFe{sub 2}O{sub 4} (soft ferrite) nanoparticles size up to 20 nm were synthesized. • The relaxation loss depends on both the particle's intrinsic properties and the viscosity of the environment. • The SLP of hard nanoparticles strongly decreases with increasing the viscosity whereas that of soft nanoparticles remains almost unchanged.

  10. Geothermal energy production with supercritical fluids

    Science.gov (United States)

    Brown, Donald W.

    2003-12-30

    There has been invented a method for producing geothermal energy using supercritical fluids for creation of the underground reservoir, production of the geothermal energy, and for heat transport. Underground reservoirs are created by pumping a supercritical fluid such as carbon dioxide into a formation to fracture the rock. Once the reservoir is formed, the same supercritical fluid is allowed to heat up and expand, then is pumped out of the reservoir to transfer the heat to a surface power generating plant or other application.

  11. Performance analysis of organic Rankine cycles using different working fluids

    Directory of Open Access Journals (Sweden)

    Zhu Qidi

    2015-01-01

    Full Text Available Low-grade heat from renewable or waste energy sources can be effectively recovered to generate power by an organic Rankine cycle (ORC in which the working fluid has an important impact on its performance. The thermodynamic processes of ORCs using different types of organic fluids were analyzed in this paper. The relationships between the ORC’s performance parameters (including evaporation pressure, condensing pressure, outlet temperature of hot fluid, net power, thermal efficiency, exergy efficiency, total cycle irreversible loss, and total heat-recovery efficiency and the critical temperatures of organic fluids were established based on the property of the hot fluid through the evaporator in a specific working condition, and then were verified at varied evaporation temperatures and inlet temperatures of the hot fluid. Here we find that the performance parameters vary monotonically with the critical temperatures of organic fluids. The values of the performance parameters of the ORC using wet fluids are distributed more dispersedly with the critical temperatures, compared with those of using dry/isentropic fluids. The inlet temperature of the hot fluid affects the relative distribution of the exergy efficiency, whereas the evaporation temperature only has an impact on the performance parameters using wet fluid.

  12. Improving geothermal power plants with a binary cycle

    Science.gov (United States)

    Tomarov, G. V.; Shipkov, A. A.; Sorokina, E. V.

    2015-12-01

    The recent development of binary geothermal technology is analyzed. General trends in the introduction of low-temperature geothermal sources are summarized. The use of single-phase low-temperature geothermal fluids in binary power plants proves possible and expedient. The benefits of power plants with a binary cycle in comparison with traditional systems are shown. The selection of the working fluid is considered, and the influence of the fluid's physicochemical properties on the design of the binary power plant is discussed. The design of binary power plants is based on the chemical composition and energy potential of the geothermal fluids and on the landscape and climatic conditions at the intended location. Experience in developing a prototype 2.5 MW Russian binary power unit at Pauzhetka geothermal power plant (Kamchatka) is outlined. Most binary systems are designed individually for a specific location. Means of improving the technology and equipment at binary geothermal power plants are identified. One option is the development of modular systems based on several binary systems that employ the heat from the working fluid at different temperatures.

  13. Stirling engine with air working fluid

    Science.gov (United States)

    Corey, John A.

    1985-01-01

    A Stirling engine capable of utilizing air as a working fluid which includes a compact heat exchange module which includes heating tube units, regenerator and cooler positioned about the combustion chamber. This arrangement has the purpose and effect of allowing the construction of an efficient, high-speed, high power-density engine without the use of difficult to seal light gases as working fluids.

  14. Development and performance tests of the bridge-transported servo manipulator system for remote maintenance jobs in a hot cell

    International Nuclear Information System (INIS)

    Jin, Jae Hyun; Park, Byung Suk; Ko, Byung Seung; Yoon, Ji Sup; Jung, Ki Jung

    2005-01-01

    In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.

  15. Development of models of the magnetorheological fluid damper

    Energy Technology Data Exchange (ETDEWEB)

    Kazakov, Yu.B., E-mail: elmash@em.ispu.ru; Morozov, N.A.; Nesterov, S.A., E-mail: sergeinesterov37@gmail.com

    2017-06-01

    The algorithm for analytical calculation of a power characteristic of magnetorheological (MR) dampers taking into account the rheological properties of MR fluid is considered. The nonlinear magnetorheological characteristics are represented by piecewise linear approximation to MR fluid areas with different viscosities. The extended calculated power characteristics of a MR damper are received and they coincide with actual results. The finite element model of a MR damper is developed; it allows carrying out the analysis of a MR damper taking into account the mutual influence of electromagnetic, hydrodynamic and thermal fields. The results of finite element simulation coincide with analytical solutions that allows using them for design development of a MR damper. - Highlights: • Division of a MR fluid rheological curve into two sections with different viscosities. • Algorithm for calculation of a power characteristic of MR dampers is proposed. • Finite element model of a MR damper is developed. • Results of finite element simulation coincide with analytical solutions.

  16. A future for computational fluid dynamics at CERN

    CERN Document Server

    Battistin, M

    2005-01-01

    Computational Fluid Dynamics (CFD) is an analysis of fluid flow, heat transfer and associated phenomena in physical systems using computers. CFD has been used at CERN since 1993 by the TS-CV group, to solve thermo-fluid related problems, particularly during the development, design and construction phases of the LHC experiments. Computer models based on CFD techniques can be employed to reduce the effort required for prototype testing, saving not only time and money but offering possibilities of additional investigations and design optimisation. The development of a more efficient support team at CERN depends on to two important factors: available computing power and experienced engineers. Available computer power IS the limiting resource of CFD. Only the recent increase of computer power had allowed important high tech and industrial applications. Computer Grid is already now (OpenLab at CERN) and will be more so in the future natural environment for CFD science. At CERN, CFD activities have been developed by...

  17. Cryogenic Fluid Management Facility

    Science.gov (United States)

    Eberhardt, R. N.; Bailey, W. J.

    1985-01-01

    The Cryogenic Fluid Management Facility is a reusable test bed which is designed to be carried within the Shuttle cargo bay to investigate the systems and technologies associated with the efficient management of cryogens in space. Cryogenic fluid management consists of the systems and technologies for: (1) liquid storage and supply, including capillary acquisition/expulsion systems which provide single-phase liquid to the user system, (2) both passive and active thermal control systems, and (3) fluid transfer/resupply systems, including transfer lines and receiver tanks. The facility contains a storage and supply tank, a transfer line and a receiver tank, configured to provide low-g verification of fluid and thermal models of cryogenic storage and transfer processes. The facility will provide design data and criteria for future subcritical cryogenic storage and transfer system applications, such as Space Station life support, attitude control, power and fuel depot supply, resupply tankers, external tank (ET) propellant scavenging, and ground-based and space-based orbit transfer vehicles (OTV).

  18. Numerical Study of the Magnetic Field Effects on the Heat Transfer and Entropy Generation Aspects of a Power Law Fluid over an Axisymmetric Stretching Plate Structure

    Directory of Open Access Journals (Sweden)

    Payam Hooshmand

    2017-03-01

    Full Text Available Numerical investigation of the effects of magnetic field strength, thermal radiation, Joule heating, and viscous heating on a forced convective flow of a non-Newtonian, incompressible power law fluid in an axisymmetric stretching sheet with variable temperature wall is accomplished. The power law shear thinning viscosity-shear rate model for the anisotropic solutions and the Rosseland approximation for the thermal radiation through a highly absorbing medium are considered. The temperature dependent heat sources, Joule heating, and viscous heating are considered as the source terms in the energy balance. The non-dimensional boundary layer equations are solved numerically in terms of similarity variable. A parameter study on the Nusselt number, viscous components of entropy generation, and thermal components of entropy generation in fluid is performed as a function of thermal radiation parameter (0 to 2, Brinkman number (0 to 10, Prandtl number (0 to 10, Hartmann number (0 to 1, power law index (0 to 1, and heat source coefficient (0 to 0.1.

  19. NdFeB magnets for high-power motors

    International Nuclear Information System (INIS)

    Oswald, B.; Soell, M.; Berberich, A.

    1998-01-01

    The use of REM in electric motors especially in the case of servo drives is state of the art today. Whether permanent magnet types SmCo or NdFeB are also suitable for high power main drives has to be decided regarding criteria which apply to high power machines. In this paper operation characteristics of common electric motors and especially those of drives with controlled speed are presented. In the case of electric motors with REM, increased output power and high efficiency at the same time are to be expected in comparison to classical drives. This makes them attractive for a number of applications. However their speed range is restricted for fundamental reasons as normally weakening of field is not possible. It is to be expected that due to their advantages the use of permanent magnet motors for elevated output power also will increase. Besides other forms they can be used also as special design such as e.g. round or flat linear motors. Their power density (force density) makes them attractive for numerous applications in this form. A comparison between permanent magnet motors with superconducting motors made of bulk HTS material gives insight into the wide area of future design of electrical machines. (orig.)

  20. Oil Stiction in Fast Switching Annular Seat Valves for Digital Displacement Fluid Power Machines

    DEFF Research Database (Denmark)

    Roemer, Daniel Beck; Johansen, Per; Pedersen, Henrik C.

    2014-01-01

    Digital Displacement (DD) fluid power machines utilizes electronically controlled seat valves connected to pressure chambers to obtain variable displacement with high operational efficiency and high bandwidth. To achieve high efficiency, fast valve switching is essential and all aspects related...... to the dynamic behaviour of the seat valves must be considered to optimize the machine efficiency. A significant effect influencing the valves switching performance is the presence of oil stiction when separating the contact surfaces in valve opening movement. This oil stiction force is limited by cavitation...... for low pressure levels, e.g. valves connected to the low pressure manifold, however for valves operated at higher pressure levels, the oil stiction force is dominating when the separating surfaces are close to contact. This paper presents an analytic solution to the oil stiction force for annular seat...