COMPARISON OF TWO METHODS TO SOLVE PRESSURES IN SMALL VOLUMES IN REAL-TIME SIMULATION OF A MOBILE DIRECTIONAL CONTROL VALVE
|
|
- Gavin Stevenson
- 6 years ago
- Views:
Transcription
1 COMPARISON OF TWO METHODS TO SOLVE PRESSURES IN SMALL VOLUMES IN REAL-TIME SIMULATION OF A MOBILE DIRECTIONAL CONTROL VALVE Rafael ÅMAN*, Heikki HANDROOS*, Pasi KORKEALAAKSO** and Asko ROUVINEN** * Laboratory of Intelligent Machines Lappeenranta University of Technology PL 20, Lappeenranta, Finland ( rafael.aman@lut.fi) ** MeVEA Ltd. Laserkatu 6, Lappeenranta, Finland ( info@mevea.com ABSTRACT In fluid power systems, especially in many types of valves, there exists very small volumes which are particularly problematic in the case of dynamic analysis. Small volume with respect to the so-called normal sized orifice, formulate the system of equations which become mathematically stiff. This is a common source of numerical problems. To solve the stiffness problem, the present paper employs two alternative methods for conventional integration. Both implementations have in common that direct integration of pressures in small volumes is avoided and they are freely applicable regardless of used integration routine. Conventional numerical simulation with sufficiently small time increment is used as reference response. The valve studied is commonly available, proportional, load-sensing directional valve designed for mobile hydraulic systems, containing main spool and load-holding poppet with pilot spool. The present paper describes the methods in general level using a real-time simulation application of a relatively complex valve as a case study. Results are compared to those computed using conventional method. KEY WORDS Real-time, simulation, small volume, pseudo-dynamic, singular perturbation NOMENCLATURE Oil bulk modulus [Pa] Cv : Volume flow coefficient of the main spool [m 3 / s Pa] K: Volume flow coefficient of the load-holding poppet valve [m 3 / s Pa] k: Volume flow coefficient of the main spool depending on the input signal [m 3 / s Pa] L: Cylinder stroke [m] m: Mass connected to the cylinder [kg] p : Pressure [Pa] V: Volume [m 3 ] x : Cylinder position [m] x 0, x 1 : Threshold value in step function [Pa] y 0, y 1 : Threshold value in step function [m 3 / s Pa] : Variable in step function [-] p : Pressure drop [Pa] t : Time step length [s] Q : Compressional flow [m 3 / s] Q : Volume flow [m 3 / s] : Scaling factor : Typical relative volume or density change : Pressure in small volume [Pa] Subscripts A / B: Transmission lines A and B cyl : Cylinder inner : Inner loop of pseudo-dynamic model Leak : Leakage
2 Lock : Lock load-holding poppet min : Minimum value Ref : Reference model SPT/Pseu: SPT model and the outer loop of pseudo-dynamic model Pseudo : Variable in pseudo-dynamic solving method Tol : Pseudo-loop convergence criteria 1 : Refers to A1 2 : Refers to B1 A1 / B1: Variable related to the load-holding poppet A11 / B11: Variable related to the main spool : Variable related to the small volume between the load-holding poppet and the main spool INTRODUCTION In fluid power systems, especially in many types of valves, there exists very small volumes which are particularly problematic in the case of dynamic analysis. This is due the fact that from mathematical point of view small volumes in connection with larger, so-called normal volumes, formulate the system of equations which become mathematically stiff. Consequently, the system stiffness approaches infinity as the fluid volume approaches zero since it is related to fluid compressibility. For this reason, during dynamic analysis of the fluid power system the time integration of pressures in small fluid volumes is a common source of numerical problems. The presence of relatively small time constants makes numerical integration of the ordinary differential equation (ODE) system difficult. Conventional explicit integration methods become numerically unstable unless a very small time increment is used. This leads into excessively long computational times. For stiff systems implicit, especially L-stable, ODE algorithms are recommended. Their drawback is that they have to solve a set of nonlinear equations at each time step, which reduces the computational efficiency of the method. To solve the problem caused by small fluid volumes, the present paper employs two alternative methods for conventional integration. Both implementations have in common that direct integration of pressures in small volumes is avoided. Singular Perturbation Theory (SPT) is used in model reduction where the dynamics equations are pre-processed such that they can be integrated using routines for non-stiff systems. The Singular Perturbation Theory is originally introduced by Fenichel [2] and applied into fluid power simulation by Scheidl et al. [7] The other implementation is the pseudo-dynamic solving method that solves the pressure as a steady-state pressure at each time step. The solution is obtained by numerical integration and iterative solution of the steady-states of the pressures after transient state. To reach the steady-state, artificial volume for the stiff part of the system is used in a cascade integration loop. Pseudo-dynamic solving method is proposed by Åman [8]. The rule of thumb for using both above-mentioned solving methods is that the nominal frequency (time constant), created by the small volume, is not significant in comparison with the dynamics of the whole system. The hydraulic capacitance V/ of the parts of the circuit of which stiffness is reduced should be at least ten times smaller than that of those parts whose pressures are integrated conventionally. Both methods have the advantage of easy programming implementation and they are freely applicable regardless of used integration routine. Conventional numerical simulation with sufficiently small time increment is used as reference response when evaluating the accuracy of these two implementations. The valve studied is commonly available, proportional, load-sensing directional valve designed for mobile hydraulic systems, containing main spool and load-holding poppet with pilot spool. Between the load-holding poppet and the main spool there exists a very small volume compared to the other volumes in the valve structure. In order to simulate the dynamic behaviour of the valve in real-time, both the pseudo-dynamic solving method and singular perturbation technique are applied. The present paper describes the methods in general level using a real-time simulation application of a relatively complex valve as a case study. Results are compared to those computed using conventional method with a small time increment. MODELLING OF THE COMPLEX MOBILE DIRECTIONAL CONTROL VALVE The valve studied is commonly available, proportional, load-sensing directional valve designed for mobile hydraulic systems, containing main spool and load-holding poppet with pilot spool [5]. Between the load-holding poppet (Item no. 7 in Fig. 1) and the main spool (Item no. 2 in Fig. 1) there exists a very small volume (V A1 / V B1 ) compared to the other volumes in the valve structure. In order to simulate the dynamic behaviour of the valve in real-time, both the pseudo-dynamic solving method and singular perturbation technique are applied. Items no. 1 and 12 in Fig. 1 are not modelled. Modelling of the fluid power circuit shown in Fig. 1 is started by implementing the required differential-algebraic equations for all the volumes, respectively. As an example, only equations related to one fluid power transmission line (line A) are presented. The other is then derived similarly but naturally oppose direction.
3 , where = p Lock x 0 x 1 x 0 p Lock = A1 + p 1 - p A1 - p ref p A1 =0 ; U 1 < -1 x 10-4, p A1 = p 1 ; U 1-1 x 10-4 And the volume flow through the load-holding poppet is solved from Eq. (4) Q A1 =K A1 A1 p A1 (4) The opening of the main spool of the directional control valve is solved using Eq. (5). Figure 1 Modelled fluid power circuit [5] The volume through the main spool (Item no. 2) is described using Eq. (1a 1c) Q A11 =-U 1 Cv p 5 ; U 1 < - 1 x10-4 (1a) Q A11 = Cv Leak p 5 ; -1x10-4 < U 1 <1 x10-4 (1b) Q A11 =U 1 Cv p 0 ; U 1 > 1 x10-4 (1c) It is assumed that the steady-state opening of the lock valve orifice is a third order polynomial of the pressure drop and the valve dynamics can be described by a first order differential equation. Thus, the volume flow coefficient of the load-holding poppet is solved from the Eq. (2) K A1 = K A1, where y according to Eq. (3a 3c) y= y 0 ;p Lock x 1 (2) (3a) y= y 0 + (y 1 - y 0 ) 2 (3-2 ) ; 0 p Lock x 1 (3b) y= y 1 ; p Lock > x 1 (3c) U 1 = U 1ref U 1 (5) The pressure build up in each volume can be described by the continuity equation of Merritt, Eq. (6) [4]. p = V Q (6) The compressional flow is described by using Eq. (7). Q = Q in Q out + V (7), where is externally supplied volume flow into and out of the volume (e.g. pump or actuator flow). The flows in and out of the volume can be described by using Eq. (8). Q=fp) (8) SOLUTION OF PRESSURES IN SMALL VOLUMES IN DYNAMIC SIMULATION To solve the problem caused by small fluid volumes, the present paper employs two alternative methods for conventional integration. Both implementations have in common that direct integration of pressures in small volumes is avoided. Instead the degrees of simulation models are reduced using two different methods. These methods are the pseudo-dynamic solving method [8] and the Singular Perturbation Theory [7].
4 Degree Reduction by Pseudo-dynamic Solving Method The pseudo-dynamic solver is based on the basic assumption that if the volume in the system to be described is small enough, the pressure can be expressed by a steady-state pressure, as explained in [1]. The method has two key ideas. Firstly, the nominal frequency (time constant), which is created by the small volume, is not significant in comparison with the dynamics of the whole system. Secondly, instead of integrating the equations for pressure gradients in such volumes, their pressures are solved as steady-state pressures by using a pseudo-dynamic solver. The solver integrates the pressures in a separate integration loop while the volumes have pseudo-values providing a smooth and fast solution. The key idea in the proposed method is to find steady-state solutions for the pressures in small volumes at each integration step, while the pressures in larger volumes as well as the other differential equations are integrated normally [8]. In other words, the pseudo-dynamic solver consists of two cascade integration loops, the outer and the inner loop. The outer loop consists of the ODE solvers integrating all other variables except those which are related to small volumes. Inside the outer loop, there is a separate ODE solver (inner loop) encoded to produce steady-state solutions for pressures in small volumes. The inner loop is executed by iterative means, i.e. it is controlled using the criterion for convergence, it has its own time space, the outer loop is paused during the inner loop run and only the last value of the integrated variable is returned to the outer loop. As the convergence criterion, the first derivative of pressure is used. With this predetermined condition, can be ensured that the attained solution has reached the steady-state. The influence of convergence criterion into the simulation results is studied in reference [9]. Simulation is started by defining that the pressures A1 and B1 are solver in their own inner loops of the pseudo-dynamic solver. Initial parameters are substituted into differential and algebraic equations and pseudo-loop is started. Integration in inner loop is carried out until the defined stopping criterion is reached. Note that the outer loop is paused during the inner loop run and these loops have their own independent time spaces. After inner loops are executed the pressures A1 and B1 are directed to outer loop as initial parameters. Integration in outer loop at first time step is carried out according to initial parameters. Integrated values are updated into differential and algebraic equations as new initial parameters. Results are stored and handled in post-processing after outer loop integration time has run out. Pseudo-dynamic Solution of Steady-States of Fluid Power Circuits The idea behind this algorithm is to consider each pressure node as finite volume. By doing so, each node represents a volume in which pressure builds up or decreases dependent on the compressional flow of the node, i.e. the sum of total flow to and from the node. The three equations, Eq. (6), (7) and (8), make up the system formulation, which requires integration routine to update the pressures. For this a standard fixed step 4 th order Runge-Kutta implementation is used, where the time steps in the solver are set sufficiently low to the account for the pseudo-dynamics in the system. This, however, also means, as oppose to the static solver, that no update algorithm is used, as the pressures are directly updated by the integration routine. For the static solver the update law also had a filtering effect. For the pseudo-dynamic solver this effect is instead replaced with pressure build up in the nodes, but to make the routine numerically more robust it may be also beneficial to add some pseudo-dynamics to the components with discrete states [6]. Degree Reduction by Singular Perturbation Theory A system is described by a relation: F(u, ) = 0, where u is its state from a vector or function space, a small non-dimensional parameter (0 < 0 ; 0 1), and F some map. The system is called regularly perturbed in if [7]: lim u( ) =u 0, 0 F(u 0 ) = 0. Otherwise it is called singularly perturbed. u 0 is the solution of the so called reduced problem which is derived from the full or perturbed problem when the " is set to zero prior to solving the equation. u( ) is the solution of the full equation for different values of. In case of more than one solution regularity means that all solutions of the perturbed problem converge to a solution of the reduced problem [7] Singular Perturbation Theory in Modelling Complex Mobile Directional Valve The basic idea is to use the steady-state solution of two orifices in series connection. It is called as singularly perturbed i.e. its degree has been reduced so that the integration of the pressures A1 and B1 in small volumes can be avoided [3]. The drawback of this method is that
5 the pressures of the small volumes are needed in dynamic equation for the ambient volumes. It must then be reproduced by a steady-state equation from the surrounding pressures, orifice flow and cross-section area of orifice which leads into a term in which square of flow is divided by square of cross-section area of the orifice. This again leads into numerical problems. As an example, only equations related to one fluid power transmission line (line A) are presented. The other is then derived similarly but naturally oppose direction. Let us examine the transmission line A. The pressure build-up in small volume can be expressed as follows: A1 = V A1 ( k A11 p 0 A1 K A1 A1 -p 1 ) p 1 = V A1 ( K A1 A1 -p 1 Q cyla1 ) Let us use the following expressions: and A1 = p 1, = p 1 = A1, (9) (10) (11) (12) where is the scaling factor, the effective bulk modulus of the system and a typical relative volume or density change. For typical hydraulic fluids and pressures its magnitude is O(10-2 ) [7]. So, the set of equations can be written as follows: and V A1 A1 = k A11 p 0 K A1 A1 (13) V A1 = K A1 A1 Q cyla1 (14) V A1 = k A11 p 0 K A1 A1 V A1 = K A1 A1 Q cyla1 (16) When the relation between the pressure and modulus of compressibility approaches zero, the latter term in Equation (16) takes the form: lim 0 => k A11 p 0 K A1 A1 = 0 k A11 2 ( p 0 ) K A1 2 ( A1 ) = 0. Then by taking the square of the both sides and solving for A1, we finally bring Eq. (16) into the form: A1 = k A11 2 p 0 + K 2 A1 p 1 k 2 2 A11 + K A1 V A1 = K A1 A1 Q cyla1 (17) The volume flows Q A11 and Q A1 can be expressed in following form, Eq. (18) k A 11 K A1 Q A11 = Q A1 = k 2 2 A11 + K A1 p (18) The minimum value, k min, for volume flow coefficients is defined to avoid the situation that during calculation the denominator in Eq. (18) would become zero. This would lead into immediate crash of the simulation run. K A1 = max( k min,, K A1 ) Because the volume changes direction depending on the pressure drop, the following conditional statement of the directional spool position, Eq. (19) is needed. To avoid numerical problems caused by the pressure drop approaching zero, the absolute value of the pressure drop and the step function must be used. From Equations (2.3) and (2.4) we get A1 = (15) Now, by keeping Eq. (14) as it is and substituting Eq. (15) into Eq. (13), the model can be written as: if U 1 < -1 x 10-4 k A11 = max( k min, ( -U 1 Cv )); p = p 5 - p 1 elseif U 1 > 1 x 10-4 k A11 = max( k min, ( U 1 Cv )); p = p 0 - p 1 else k A11 = Cv Leak ; p = p 5 - p 1 (19)
6 Finally, the steady-state equation, Eq. (20) for the pressure in small volume can be written in simpler form: A1 = Q 2 A1 2 K +p 1 A1 (20) NUMERICAL EXAMPLE This study was started by modeling the fluid power circuit using three different approaches. The conventional 4 th order Runge-Kutta method was used as reference response and it was implemented in Simulink. The pseudo-dynamic and SPT methods were implemented in MATLAB M-Files. To simplify the implementations of the alternative solving methods, the Euler method is selected to be used for integration of the accessory calculations and the 4 th order Runge-Kutta method is only employed in the inner loop of the pseudo-dynamic solver. In all simulation runs step function is involved in calculations of the volume flows to ensure the smooth approaches and crossings of the zero pressure drop. Its influence on results has been minimized by setting threshold pressure as low as model still stand stable (threshold pressure 1 x 10 5 Pa). Without use of step-function simulation runs failed. To the hydraulic cylinder is connected the payload of kg. Due to the external dynamics of the system it is difficult to adjust the initial values such that the inner pressure in small volumes remains stable during simulation run. That is why in the pressure responses of A1 and B1 of the SPT model there appears vibrations while the directional valve is closed (U 1 =0). To ease this phenomena the boundary values of the step function has been increased to 5x10 5 Pa. This makes the calculation of volume flows smoother near zero pressure surroundings without any degradation of model accuracy or extension in calculation time. different models. Naturally, the goodness criterion for employing different solving methods was at least reasonable computational time. The simulated work cycle of the fluid power circuit is the following. First the cylinder is driven to (+) direction (out), then the movement is stopped and eventually the cylinder is driven to (-) direction. In Fig. 2 this is presented in the form of directional valve control reference signal. Also the realized valve spool opening is illustrated. Figure 2 Control reference signal and the feedback from valve spool Results The following results are achieved using three alternative solving methods for the pressures in small volumes. First, the response of the pressures in the small volumes A1 and B1 are studied. The responses are illustrated in Fig. 3 and 4. Reference response As a reference model the fluid power circuit is modelled as explained in Section 2. This carried out in Simulink which enables easy employment of different integrators. The 4 th order Runge-Kutta method is selected to be used for solving the equations. Time step length of t = 5 x 10-6 s was the longest possible for the use without notable changes in responses i.e. model stability. Used initial values are represented in Table 1. This method for finding the reference response is commonly acknowledged and can be stated as the most accurate one when time step length is set sufficiently short. The drawback for use of this conventional method is the computational speed. Computational times are not investigated within this study but the accuracy of Figure 3 Internal pressures A1 and B1 of directional control valve.
7 It can be stated that both proposed solving methods realize the piston position and piston velocity in acceptable accuracy. The responses of pseudo-dynamic solver show identical behaviour with the reference responses. In the response of piston position of SPT model there exist deviation within 1 mm tolerance. The volume flow coefficients of the load-holding poppet K A1 and K B1 are illustrated in Fig. 7 and 8. Figure 4 More focused view of Figure 3. From Fig. 3 and 4 can be seen that responses achieved using different solving methods correspond to the reference response mainly well. Only in switching points of the control reference there exist deviations. Pseudo-dynamic solving seems to be more accurate even there exist more oscillations in switching point. The cylinder piston position x and piston velocity is illustrated in Fig. 5 and 6. Figure 7 Volume flow coefficients of the load-holding poppet. Figure 5 Cylinder piston position and velocity. Figure 8 More focused view of Figure 7. Figure 6 More focused view of Figure 5. It can be seen from Fig. 7 and 8 that the differences between different solving methods come up in responses of the volume flow coefficients. This due to the fact that the load-holding poppet with the pilot-operated lock-up function represents the fastest dynamics in the system after the small volume in which the transients are very fast. The responses of pseudo-dynamic method follow the reference responses with small oscillations and deviation. But the SPT model suffers from numerical noise when the value of volume flow coefficient is
8 lower than 3 x 10-7 m 3 / s Pa. The steady-state deviation while the valve is closed is due the limitation of the minimum value of the volume flow coefficient to avoid numerical problems in SPT model. CONCLUSIONS Two alternative solving methods for pressures in small volumes were applied to fluid power circuit composing of mobile directional control valve and actuator. The pseudo-dynamic solving method was stated to meet the reference response more accurate. The reference response was achieved using explicit 4 th order Runge-Kutta integration routine and sufficiently short time increment. The reduced model by Singular Perturbation Theory provide less oscillation but more deviation from the reference responses than appear the pseudo-dynamic model. The pseudo-dynamic model provides better integrator stability since longer integration time steps compared to the conventional method can be used. It was then shown that using both of the proposed solving methods numerical problems apparent in calculations by conventional methods can be avoided. And both are suitable for the real-time simulation of complex mobile directional valve. Table 1 Initial values used in system simulation t Ref = 5 x 10-6 s t SPT/Pseudo = 1 x 10-5 t inner = 5 x 10-5 s s V A1 = 5 x 10-6 m 3 V B1 = 5 x 10-6 m 3 V pseudo = 1 x 10-3 m 3 V A1 = 4.4 x 10-3 m 3 V B1 = 16.2 x 10-3 m 3 L = 0.78 m D 1 = 0.2 m D 2 = 0.11 m x = 0.1 m p 0 = 290 x 10 5 Pa p 1 = 0 Pa p 2 = 0 Pa p ref = 5 x 10 5 Pa p Tol = 1 x 10 3 Pa p 5 = 0 Pa Cv = x 10-7 m 3 k min =1 x 10-7 m 3 Cv Leak = 1 x 10-7 m3 s Pa s Pa s Pa m = kg x 0 = 0 y 0 = 0 b=500 Ns x 1 = 1 x 10 5 Pa y 1 =10 x Cv m simtime = 0.75 s = 1.5 x 10 9 Pa REFERENCES 1. Ellman, A. Proposals for Utilizing Theoretical and Experimental Methods in Modelling Two-Way Cartridge Valve Circuits. PhD thesis, Tampere University of Technology, Fenichel, N. Geometric Singular Perturbation Theory for Ordinary Differential Equations. Journal of Differential Equations, Vol. 31, pp.53-98, Handroos, H. and Vilenius, M. Flexible Semi-Empirical Models for Hydraulic Flow Control Valves. Journal of Mechanical Design, Vol. 113, pp , Merritt, H. Hydraulic Control Systems. John Wiley & Sons, Parker Hannifin. Catalogueue HY /UK. PDF 07/05, Pedersen, H. Automated Hydraulic System Design and Power Management in Mobile Hydraulic Applications. PhD thesis, Aalborg University, Scheidl, R., Manhartsgruber, B., and Kogler, H. Model Reduction in Hydraulics by Singular Perturbation Techniques. In 2 nd Int. Conf. on Computational Methods in Fluid Power. Fluid Power Net Publication, pp.1-6, Åman, R. Methods and Models for Accelerating Dynamic Simulation Fluid Power Circuits. PhD thesis, Lappeenranta University of Technology, Åman, R. and Handroos, H. Optimization of Parameters of Pseudo-Dynamic Solver for the Real-Time Simulation of Fluid Power Circuits. In 7 th International Fluid Power Conference Aachen, (Aachen, Germany, March 2010), Vol. 1, pp , 2010.
Simulation Study on Pressure Control using Nonlinear Input/Output Linearization Method and Classical PID Approach
Simulation Study on Pressure Control using Nonlinear Input/Output Linearization Method and Classical PID Approach Ufuk Bakirdogen*, Matthias Liermann** *Institute for Fluid Power Drives and Controls (IFAS),
More informationModeling, Control and Experimental Validation of a Device for Seismic Events Simulation
Modeling, Control and Experimental Validation of a Device for Seismic Events Simulation Paolo Righettini, Roberto Strada, Vittorio Lorenzi, Alberto Oldani, Mattia Rossetti Abstract Single and multi-axis
More informationPUMP MODE PREDICTION FOR FOUR-QUADRANT VELOCITY CONTROL OF VALUELESS HYDRAULIC ACTUATORS
Proceedings of the 7th JFPS International Symposium on Fluid Power, TOYAMA 2008 September 15-18, 2008 P1-13 PUMP MODE PREDICTION FOR FOUR-QUADRANT VELOCITY CONTROL OF VALUELESS HYDRAULIC ACTUATORS Christopher
More informationIndex. Index. More information. in this web service Cambridge University Press
A-type elements, 4 7, 18, 31, 168, 198, 202, 219, 220, 222, 225 A-type variables. See Across variable ac current, 172, 251 ac induction motor, 251 Acceleration rotational, 30 translational, 16 Accumulator,
More informationDYNAMICS OF PNEUMATIC CYLINDER SYSTEMS
DYNAMICS OF PNEUMATIC CYLINDER SYSTEMS Toshinori FUJITA*, Jiseong JANG*, Toshiharu KAGAWA* and Masaaki TAKEUCHI** *Department of Control & Systems Engineering, Faculty of Engineering Tokyo Institute of
More informationHARDWARE-IN-THE-LOOP SIMULATION EXPERIMENTS WITH A HYDRAULIC MANIPULATOR MODEL
HARDWARE-IN-THE-LOOP SIMULATION EXPERIMENTS WITH A HYDRAULIC MANIPULATOR MODEL Jorge A. Ferreira, André F. Quintã, Carlos M. Cabral Departament of Mechanical Engineering University of Aveiro, Portugal
More informationRESEARCH ON AIRBORNE INTELLIGENT HYDRAULIC PUMP SYSTEM
8 TH INTERNATIONAL CONGRESS OF THE AERONAUTICAL SCIENCES RESEARCH ON AIRBORNE INTELLIGENT HYDRAULIC PUMP SYSTEM Jungong Ma, Xiaoye Qi, Juan Chen BeiHang University,Beijing,China jgma@buaa.edu.cn;qixiaoye@buaa.edu.cn;sunchenjuan@hotmail.com
More informationEmbedded Implementation of Active Damping in Hydraulic Valves
u ref n n Nf RLS u ctrl K fb H p B p A Embedded Implementation of Active Damping in Hydraulic Valves An Adaptive Control Solution Master s thesis in Systems, Control and Mechatronics MARCUS MÅRLIND Department
More informationPiezoelectric Actuation in a High Bandwidth Valve
Ferroelectrics, 408:32 40, 2010 Copyright Taylor & Francis Group, LLC ISSN: 0015-0193 print / 1563-5112 online DOI: 10.1080/00150193.2010.484994 Piezoelectric Actuation in a High Bandwidth Valve D. T.
More informationFUZZY CONTROLLER DESIGN WITH STABILITY EQUATIONS FOR HYDRAULIC SERVO SYSTEM
D Maneetham / Journal of Materials Science and Applied Energy 5() (2016) 66 72 FUZZY CONTROER DESIGN WITH STABIITY EQUATIONS FOR HYDRAUIC SERVO SYSTEM Dechrit Maneetham * Department of Mechatronics Engineering,
More informationChapter 5 MATHEMATICAL MODELING OF THE EVACATED SOLAR COLLECTOR. 5.1 Thermal Model of Solar Collector System
Chapter 5 MATHEMATICAL MODELING OF THE EVACATED SOLAR COLLECTOR This chapter deals with analytical method of finding out the collector outlet working fluid temperature. A dynamic model of the solar collector
More informationInvestigation of a nonlinear dynamic hydraulic system model through the energy analysis approach
Journal of Mechanical Science and Technology 3 (009) 973~979 Journal of Mechanical Science and Technology www.springerlink.com/content/1738-9x DOI.07/s6-009-081- Investigation of a nonlinear dynamic hydraulic
More informationHYDRAULIC CONTROL SYSTEMS
HYDRAULIC CONTROL SYSTEMS Noah D. Manring Mechanical and Aerospace Engineering Department University of Missouri-Columbia WILEY John Wiley & Sons, Inc. vii Preface Introduction xiii XV FUNDAMENTALS 1 Fluid
More informationChapter 9b: Numerical Methods for Calculus and Differential Equations. Initial-Value Problems Euler Method Time-Step Independence MATLAB ODE Solvers
Chapter 9b: Numerical Methods for Calculus and Differential Equations Initial-Value Problems Euler Method Time-Step Independence MATLAB ODE Solvers Acceleration Initial-Value Problems Consider a skydiver
More informationLecture 5. Labs this week: Please review ME3281 Systems materials! Viscosity and pressure drop analysis Fluid Bulk modulus Fluid Inertance
Labs this week: Lab 10: Sequencing circuit Lecture 5 Lab 11/12: Asynchronous/Synchronous and Parallel/Tandem Operations Please review ME3281 Systems materials! 132 Viscosity and pressure drop analysis
More informationFault Detection and Diagnosis of an Electrohydrostatic Actuator Using a Novel Interacting Multiple Model Approach
2011 American Control Conference on O'Farrell Street, San Francisco, CA, USA June 29 - July 01, 2011 Fault Detection and Diagnosis of an Electrohydrostatic Actuator Using a Novel Interacting Multiple Model
More informationNONLINEAR CONTROLLER DESIGN FOR ACTIVE SUSPENSION SYSTEMS USING THE IMMERSION AND INVARIANCE METHOD
NONLINEAR CONTROLLER DESIGN FOR ACTIVE SUSPENSION SYSTEMS USING THE IMMERSION AND INVARIANCE METHOD Ponesit Santhanapipatkul Watcharapong Khovidhungij Abstract: We present a controller design based on
More informationTwo-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality
IOP Conference Series: Materials Science and Engineering PAPER OPEN ACCESS Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality To cite this article: Zulfatman
More informationTampere University of Technology. Laamanen, Arto; Linjama, Matti; Vilenius, Matti. On the pressure peak minimization in digital hydraulics
Tampere University of Technology Author(s) Title Citation Laamanen, Arto; Linjama, Matti; Vilenius, Matti On the pressure peak minimization in digital hydraulics Laamanen, Arto; Linjama, Matto; Vilenius,
More informationSome tools and methods for determination of dynamics of hydraulic systems
Some tools and methods for determination of dynamics of hydraulic systems A warm welcome to the course in Hydraulic servo-techniques! The purpose of the exercises given in this material is to make you
More informationStudy of the influence of the resonance changer on the longitudinal vibration of marine propulsion shafting system
Study of the influence of the resonance changer on the longitudinal vibration of marine propulsion shafting system Zhengmin Li 1, Lin He 2, Hanguo Cui 3, Jiangyang He 4, Wei Xu 5 1, 2, 4, 5 Institute of
More informationAnalysis of Offshore Knuckle Boom Crane Part Two: Motion Control
Modeling, Identification and Control, Vol. 34, No. 4, 23, pp. 75 8, ISSN 89 328 Analysis of Offshore Knuckle Boom Crane Part Two: Motion Control Morten K. Bak Michael R. Hansen Department of Engineering
More informationModelling the Dynamics of Flight Control Surfaces Under Actuation Compliances and Losses
Modelling the Dynamics of Flight Control Surfaces Under Actuation Compliances and Losses Ashok Joshi Department of Aerospace Engineering Indian Institute of Technology, Bombay Powai, Mumbai, 4 76, India
More informationCascade Controller Including Backstepping for Hydraulic-Mechanical Systems
Proceedings of the 22 IFAC Workshop on Automatic Control in Offshore Oil and Gas Production, Norwegian University of Science and Technology, Trondheim, Norway, ay 3 - June, 22 FrBT2.3 Cascade Controller
More informationLab 1: Dynamic Simulation Using Simulink and Matlab
Lab 1: Dynamic Simulation Using Simulink and Matlab Objectives In this lab you will learn how to use a program called Simulink to simulate dynamic systems. Simulink runs under Matlab and uses block diagrams
More informationA Study on Linear and Nonlinear Stiff Problems. Using Single-Term Haar Wavelet Series Technique
Int. Journal of Math. Analysis, Vol. 7, 3, no. 53, 65-636 HIKARI Ltd, www.m-hikari.com http://dx.doi.org/.988/ijma.3.3894 A Study on Linear and Nonlinear Stiff Problems Using Single-Term Haar Wavelet Series
More informationENGI9496 Lecture Notes State-Space Equation Generation
ENGI9496 Lecture Notes State-Space Equation Generation. State Equations and Variables - Definitions The end goal of model formulation is to simulate a system s behaviour on a computer. A set of coherent
More informationModelling and State Dependent Riccati Equation Control of an Active Hydro-Pneumatic Suspension System
Proceedings of the International Conference of Control, Dynamic Systems, and Robotics Ottawa, Ontario, Canada, May 15-16 214 Paper No. 31 Modelling and State Dependent Riccati Equation Control of an Hydro-Pneumatic
More informationPUMP MODE PREDICTION FOR FOUR-QUADRANT VELOCITY CONTROL OF VALVELESS HYDRAULIC ACTUATORS
P1-13 Proceedings of the 7th JFPS International Symposium on Fluid Power, TOYM 28 September 15-18, 28 PUMP MODE PREDICTION FOR FOUR-QUDRNT VELOCITY CONTROL OF VLVELESS HYDRULIC CTUTORS Christopher WILLIMSON,
More information4 Stability analysis of finite-difference methods for ODEs
MATH 337, by T. Lakoba, University of Vermont 36 4 Stability analysis of finite-difference methods for ODEs 4.1 Consistency, stability, and convergence of a numerical method; Main Theorem In this Lecture
More informationCHAPTER 10: Numerical Methods for DAEs
CHAPTER 10: Numerical Methods for DAEs Numerical approaches for the solution of DAEs divide roughly into two classes: 1. direct discretization 2. reformulation (index reduction) plus discretization Direct
More informationAll-or-None Principle and Weakness of Hodgkin-Huxley Mathematical Model
All-or-None Principle and Weakness of Hodgkin-Huxley Mathematical Model S. A. Sadegh Zadeh, C. Kambhampati International Science Index, Mathematical and Computational Sciences waset.org/publication/10008281
More informationCHAPTER 3 QUARTER AIRCRAFT MODELING
30 CHAPTER 3 QUARTER AIRCRAFT MODELING 3.1 GENERAL In this chapter, the quarter aircraft model is developed and the dynamic equations are derived. The quarter aircraft model is two degrees of freedom model
More informationAvailable online at ScienceDirect. Procedia Engineering 106 (2015 ) Dynamics and Vibroacoustics of Machines (DVM2014)
Available online at www.sciencedirect.com ScienceDirect Procedia Engineering (5 ) 49 57 Dynamics and Vibroacoustics of Machines (DVM4) Process simulation of energy behaviour of pneumatic drives Elvira
More informationLecture 5. Labs this week:
Labs this week: Lab 10: Bleed-off Circuit Lecture 5 Lab 11/12: Asynchronous/Synchronous and Parallel/Tandem Operations Systems Review Homework (due 10/11) Participation is research lab Hydraulic Hybrid
More informationMODELING AND SIMULATION OF HYDRAULIC ACTUATOR WITH VISCOUS FRICTION
MODELING AND SIMULATION OF HYDRAULIC ACTUATOR WITH VISCOUS FRICTION Jitendra Yadav 1, Dr. Geeta Agnihotri 1 Assistant professor, Mechanical Engineering Department, University of petroleum and energy studies,
More informationThis chapter focuses on the study of the numerical approximation of threedimensional
6 CHAPTER 6: NUMERICAL OPTIMISATION OF CONJUGATE HEAT TRANSFER IN COOLING CHANNELS WITH DIFFERENT CROSS-SECTIONAL SHAPES 3, 4 6.1. INTRODUCTION This chapter focuses on the study of the numerical approximation
More informationReceived 21 April 2008; accepted 6 January 2009
Indian Journal of Engineering & Materials Sciences Vol. 16, February 2009, pp. 7-13 Inestigation on the characteristics of a new high frequency three-way proportional pressure reducing ale in ariable ale
More informationChapter 6. Finite Element Method. Literature: (tiny selection from an enormous number of publications)
Chapter 6 Finite Element Method Literature: (tiny selection from an enormous number of publications) K.J. Bathe, Finite Element procedures, 2nd edition, Pearson 2014 (1043 pages, comprehensive). Available
More informationME 4232: FLUID POWER CONTROLS LAB. Class #5 Valve Modeling
ME 4232: FLUID POWER CONTROLS LAB Class #5 Valve Modeling Notes No Office Hours Today Upcoming Labs: Lab 9: Flow Divider Lab 10: Sequencing Circuits 2 Agenda Wrap-up: Leakage Calculations Fluid Compressibility
More informationGeometric nonlinear sensitivity analysis for nonparametric shape optimization with non-zero prescribed displacements
0 th World Congress on Structural and Multidisciplinary Optimization May 9-24, 203, Orlando, Florida, USA Geometric nonlinear sensitivity analysis for nonparametric shape optimization with non-zero prescribed
More informationLecture Note 8-1 Hydraulic Systems. System Analysis Spring
Lecture Note 8-1 Hydraulic Systems 1 Vehicle Model - Brake Model Brake Model Font Wheel Brake Pedal Vacuum Booster Master Cylinder Proportionnig Valve Vacuum Booster Rear Wheel Master Cylinder Proportioning
More informationDesign of Close loop Control for Hydraulic System
Design of Close loop Control for Hydraulic System GRM RAO 1, S.A. NAVEED 2 1 Student, Electronics and Telecommunication Department, MGM JNEC, Maharashtra India 2 Professor, Electronics and Telecommunication
More informationA novel fluid-structure interaction model for lubricating gaps of piston machines
Fluid Structure Interaction V 13 A novel fluid-structure interaction model for lubricating gaps of piston machines M. Pelosi & M. Ivantysynova Department of Agricultural and Biological Engineering and
More informationModel-Based Design, Analysis, & Control: Valve-Controlled Hydraulic System K. Craig 1
Model-Based Design, Analysis, & Control: K. Craig 1 K. Craig K. Craig 3 K. Craig 4 K. Craig 5 Mission: It s All About Process Dynamic System Investigation K. Craig 6 K. Craig 7 K. Craig 8 K. Craig 9 K.
More informationSensitivity of Wavelet-Based Internal Leakage Detection to Fluid Bulk Modulus in Hydraulic Actuators
Proceedings of the nd International Conference of Control, Dynamic Systems, and Robotics Ottawa, Ontario, Canada, May 7 8, 15 Paper No. 181 Sensitivity of Wavelet-Based Internal Leakage Detection to Fluid
More informationPhysical Modelling with Simscape Rick Hyde
Physical Modelling with Simscape Rick Hyde 1 2013 The MathWorks, Inc. Outline Part 1: Introduction to Simscape Review approaches to modelling Overview of Simscape-based libraries Introduction to physical
More informationHYDRAULIC EFFICIENCY OF A HYDROSTATIC TRANSMISSION WITH A VARIABLE DISPLACEMENT PUMP AND MOTOR. A Thesis presented to the Faculty
HYDRAULIC EFFICIENCY OF A HYDROSTATIC TRANSMISSION WITH A VARIABLE DISPLACEMENT PUMP AND MOTOR A Thesis presented to the Faculty of the Graduate School at the University of Missouri-Columbia In Partial
More informationNumerical Simulation of Impacts involving a Collapsible Nonlinear Multilayer Structure
Numerical Simulation of Impacts involving a Collapsible Nonlinear Multilayer Structure Michael A. Sek Abstract A numerical model for the simulation of dynamic compression of a nonlinear multilayer structure
More informationREPETITIVE LEARNING OF BACKSTEPPING CONTROLLED NONLINEAR ELECTROHYDRAULIC MATERIAL TESTING SYSTEM 1. Seunghyeokk James Lee 2, Tsu-Chin Tsao
REPETITIVE LEARNING OF BACKSTEPPING CONTROLLED NONLINEAR ELECTROHYDRAULIC MATERIAL TESTING SYSTEM Seunghyeokk James Lee, Tsu-Chin Tsao Mechanical and Aerospace Engineering Department University of California
More informationCheck-Q-meter. Table of contents. Features. Functions. RE 27551/ /10 Replaces: Type FD
Check-Q-meter RE /0.0 /0 Replaces: 09.9 Type FD Nominal size... Series ax. Operating pressure 0 bar ax. Flow 0 l/min K9/ Table of contents Contents Page Features Functions Ordering details Symbols Functional
More informationMultibody System Dynamics: MBDyn Hydraulics Modeling
Multibody System Dynamics: MBDyn Hydraulics Modeling Pierangelo Masarati Politecnico di Milano Dipartimento di Scienze e Tecnologie Aerospaziali Outline 2 Introduction Modeling
More informationRemark on the Sensitivity of Simulated Solutions of the Nonlinear Dynamical System to the Used Numerical Method
International Journal of Mathematical Analysis Vol. 9, 2015, no. 55, 2749-2754 HIKARI Ltd, www.m-hikari.com http://dx.doi.org/10.12988/ijma.2015.59236 Remark on the Sensitivity of Simulated Solutions of
More informationECE 422/522 Power System Operations & Planning/Power Systems Analysis II : 7 - Transient Stability
ECE 4/5 Power System Operations & Planning/Power Systems Analysis II : 7 - Transient Stability Spring 014 Instructor: Kai Sun 1 Transient Stability The ability of the power system to maintain synchronism
More informationA Numerical Study on Static and Dynamic Characteristics of Electromagnetic Air Compressor used in Household Refrigerators
Journal of Experimental & Applied Mechanics ISSN: 2230-9845 (online), ISSN: 2321-516X (print) Volume 5, Issue 3 www.stmjournals.com A Numerical Study on Static and Dynamic Characteristics of Electromagnetic
More informationCHAPTER INTRODUCTION
CHAPTER 3 DYNAMIC RESPONSE OF 2 DOF QUARTER CAR PASSIVE SUSPENSION SYSTEM (QC-PSS) AND 2 DOF QUARTER CAR ELECTROHYDRAULIC ACTIVE SUSPENSION SYSTEM (QC-EH-ASS) 3.1 INTRODUCTION In this chapter, the dynamic
More informationRobust Loop Shaping Force Feedback Controller
Robust Loop Shaping Force Feedback Controller Dynamic For Effective Force Force Control Testing Using Loop Shaping Paper Title N. Nakata & E. Krug Johns Hopkins University, USA SUMMARY: Effective force
More informationDynamic Redesign of a Flow Control Servo-valve using a Pressure Control Pilot
Dynamic Redesign of a Flow Control Servo-valve using a Pressure Control Pilot Perry Y. Li Department of Mechanical Engineering University of Minnesota Church St. SE, Minneapolis, Minnesota 55455 Email:
More informationA First Course on Kinetics and Reaction Engineering Supplemental Unit S5. Solving Initial Value Differential Equations
Supplemental Unit S5. Solving Initial Value Differential Equations Defining the Problem This supplemental unit describes how to solve a set of initial value ordinary differential equations (ODEs) numerically.
More informationChapter 5. Formulation of FEM for Unsteady Problems
Chapter 5 Formulation of FEM for Unsteady Problems Two alternatives for formulating time dependent problems are called coupled space-time formulation and semi-discrete formulation. The first one treats
More informationLecture Notes to Accompany. Scientific Computing An Introductory Survey. by Michael T. Heath. Chapter 9
Lecture Notes to Accompany Scientific Computing An Introductory Survey Second Edition by Michael T. Heath Chapter 9 Initial Value Problems for Ordinary Differential Equations Copyright c 2001. Reproduction
More informationSTABILITY OF PNEUMATIC and HYDRAULIC VALVES
STABILITY OF PNEUMATIC and HYDRAULIC VALVES These three tutorials will not be found in any examination syllabus. They have been added to the web site for engineers seeking knowledge on why valve elements
More informationLoad Prediction-based Energy-efficient Hydraulic Actuation. of a Robotic Arm. 1 Introduction
oad rediction-based Energy-efficient Hydraulic ctuation of a Robotic rm Miss Can Du, rof ndrew lummer and Dr Nigel Johnston fixed displacement pump. This can reduce the weight of plant compared with the
More informationThermodynamic Systems
Thermodynamic Systems For purposes of analysis we consider two types of Thermodynamic Systems: Closed System - usually referred to as a System or a Control Mass. This type of system is separated from its
More informationNumerical Algorithms for ODEs/DAEs (Transient Analysis)
Numerical Algorithms for ODEs/DAEs (Transient Analysis) Slide 1 Solving Differential Equation Systems d q ( x(t)) + f (x(t)) + b(t) = 0 dt DAEs: many types of solutions useful DC steady state: state no
More informationLaboratory Exercise 1 DC servo
Laboratory Exercise DC servo Per-Olof Källén ø 0,8 POWER SAT. OVL.RESET POS.RESET Moment Reference ø 0,5 ø 0,5 ø 0,5 ø 0,65 ø 0,65 Int ø 0,8 ø 0,8 Σ k Js + d ø 0,8 s ø 0 8 Off Off ø 0,8 Ext. Int. + x0,
More informationBasic Aspects of Discretization
Basic Aspects of Discretization Solution Methods Singularity Methods Panel method and VLM Simple, very powerful, can be used on PC Nonlinear flow effects were excluded Direct numerical Methods (Field Methods)
More information666. Controllable vibro-protective system for the driver seat of a multi-axis vehicle
666. Controllable vibro-protective system for the driver seat of a multi-axis vehicle A. Bubulis 1, G. Reizina, E. Korobko 3, V. Bilyk 3, V. Efremov 4 1 Kaunas University of Technology, Kęstučio 7, LT-4431,
More informationA Design Method of A Robust Controller for Hydraulic Actuation with Disturbance Observers
A Design Method of A Robust Controller for Hydraulic Actuation with Disturbance Observers Hiroaki Kuwahara, Fujio Terai Corporate Manufacturing Engineering Center, TOSHIBA Corporation, Yokohama, Japan
More informationScientific Computing: An Introductory Survey
Scientific Computing: An Introductory Survey Chapter 9 Initial Value Problems for Ordinary Differential Equations Prof. Michael T. Heath Department of Computer Science University of Illinois at Urbana-Champaign
More informationRobotics 1 Inverse kinematics
Robotics 1 Inverse kinematics Prof. Alessandro De Luca Robotics 1 1 Inverse kinematics what are we looking for? direct kinematics is always unique; how about inverse kinematics for this 6R robot? Robotics
More informationPROGRAMMING THE TRANSIENT EXPLICIT FINITE ELEMENT ANALYSIS WITH MATLAB
U.P.B. Sci. Bull., Series D, Vol. 75, Iss. 2, 2013 ISSN 1454-2358 PROGRAMMING THE TRANSIENT EXPLICIT FINITE ELEMENT ANALYSIS WITH MATLAB Andrei Dragoş Mircea SÎRBU 1, László FARKAS 2 Modern research in
More informationThermal Simulation for Design Validation of Electrical Components in Vibration Monitoring Equipment
International Journal of Thermal Technologies E-ISSN 2277 4114 2017 INPRESSCO, All Rights Reserved Available at http://inpressco.com/category/ijtt/ Research Article Thermal Simulation for Design Validation
More informationHydraulic (Fluid) Systems
Hydraulic (Fluid) Systems Basic Modeling Elements Resistance apacitance Inertance Pressure and Flow Sources Interconnection Relationships ompatibility Law ontinuity Law Derive Input/Output Models ME375
More informationCylinder Pressures in a Position Controlled System With Separate Meter-in and Meter-out
The 3th Scandinavian International Conference on Fluid Power, SICFP23, June 3-5, 23, Linköping, Sweden Cylinder Pressures in a Position Controlled System With Separate Meter-in and Meter-out G. Rath and
More informationOrdinary Differential Equations. Monday, October 10, 11
Ordinary Differential Equations Monday, October 10, 11 Problems involving ODEs can always be reduced to a set of first order differential equations. For example, By introducing a new variable z, this can
More informationAutomation in Complex Systems MIE090
Automation in Complex Systems MIE090 Exam Monday May 29, 2017 You may bring the course book and the reprints (defined in the course requirements), but not the solution to problems or your own solutions
More informationRobust Control Design for a Wheel Loader Using Mixed Sensitivity H-infinity and Feedback Linearization Based Methods
25 American Control Conference June 8-, 25. Portland, OR, USA FrB2.5 Robust Control Design for a Wheel Loader Using Mixed Sensitivity H-infinity and Feedback Linearization Based Methods Roger Fales and
More informationDynamic Modeling of Fluid Power Transmissions for Wind Turbines
Dynamic Modeling of Fluid Power Transmissions for Wind Turbines EWEA OFFSHORE 211 N.F.B. Diepeveen, A. Jarquin Laguna n.f.b.diepeveen@tudelft.nl, a.jarquinlaguna@tudelft.nl Offshore Wind Group, TU Delft,
More informationProcess Control, 3P4 Assignment 6
Process Control, 3P4 Assignment 6 Kevin Dunn, kevin.dunn@mcmaster.ca Due date: 28 March 204 This assignment gives you practice with cascade control and feedforward control. Question [0 = 6 + 4] The outlet
More informationApplication of Dual Time Stepping to Fully Implicit Runge Kutta Schemes for Unsteady Flow Calculations
Application of Dual Time Stepping to Fully Implicit Runge Kutta Schemes for Unsteady Flow Calculations Antony Jameson Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, 94305
More informationAppendix A: Exercise Problems on Classical Feedback Control Theory (Chaps. 1 and 2)
Appendix A: Exercise Problems on Classical Feedback Control Theory (Chaps. 1 and 2) For all calculations in this book, you can use the MathCad software or any other mathematical software that you are familiar
More informationCS 450 Numerical Analysis. Chapter 9: Initial Value Problems for Ordinary Differential Equations
Lecture slides based on the textbook Scientific Computing: An Introductory Survey by Michael T. Heath, copyright c 2018 by the Society for Industrial and Applied Mathematics. http://www.siam.org/books/cl80
More informationRobotics 1 Inverse kinematics
Robotics 1 Inverse kinematics Prof. Alessandro De Luca Robotics 1 1 Inverse kinematics what are we looking for? direct kinematics is always unique; how about inverse kinematics for this 6R robot? Robotics
More informationEE141Microelettronica. CMOS Logic
Microelettronica CMOS Logic CMOS logic Power consumption in CMOS logic gates Where Does Power Go in CMOS? Dynamic Power Consumption Charging and Discharging Capacitors Short Circuit Currents Short Circuit
More informationA dynamic model of a vertical direct expansion ground heat exchanger
A dynamic model of a vertical direct expansion ground heat exchanger B. Beauchamp 1, L. Lamarche 1 and S. Kajl 1 1 Department of mechanical engineering École de technologie supérieure 1100 Notre-Dame Ouest,
More informationMBS/FEM Co-Simulation Approach for Analyzing Fluid/Structure- Interaction Phenomena in Turbine Systems
Multibody Systems Martin Busch University of Kassel Mechanical Engineering MBS/FEM Co-Simulation Approach for Analyzing Fluid/Structure- Interaction Phenomena in Turbine Systems Martin Busch and Bernhard
More informationDigital linear control theory for automatic stepsize control
Digital linear control theory for automatic stepsize control A. Verhoeven 1, T.G.J. Beelen 2, M.L.J. Hautus 1, and E.J.W. ter Maten 3 1 Technische Universiteit Eindhoven averhoev@win.tue.nl 2 Philips Research
More informationMODELING AND EXPERIMENTAL STUDY ON DRILLING RIG ANTI-JAMMING VALVE WITH BP NEURAL NETWORK
Engineering Review, Vol. 3, Issue 2, 99-0, 20. 99 MODELING AND EXPERIMENTAL STUDY ON DRILLING RIG ANTI-JAMMING VALVE WITH BP NEURAL NETWORK Wei Ma * Fei Ma School of Mechanical Engineering, University
More informationME451 Kinematics and Dynamics of Machine Systems
ME451 Kinematics and Dynamics of Machine Systems Introduction to Dynamics Newmark Integration Formula [not in the textbook] December 9, 2014 Dan Negrut ME451, Fall 2014 University of Wisconsin-Madison
More informationMECHANICAL CHARACTERISTICS OF STARCH BASED ELECTRORHEOLOGICAL FLUIDS
8 th International Machine Design and Production Conference 427 September 9-11, 1998 Ankara TURKEY ABSTRACT MECHANICAL CHARACTERISTICS OF STARCH BASED ELECTRORHEOLOGICAL FLUIDS E. R. TOPCU * and S. KAPUCU
More informationAPPLICATION OF ADAPTIVE CONTROLLER TO WATER HYDRAULIC SERVO CYLINDER
APPLICAION OF ADAPIVE CONROLLER O WAER HYDRAULIC SERVO CYLINDER Hidekazu AKAHASHI*, Kazuhisa IO** and Shigeru IKEO** * Division of Science and echnology, Graduate school of SOPHIA University 7- Kioicho,
More informationEEE 184: Introduction to feedback systems
EEE 84: Introduction to feedback systems Summary 6 8 8 x 7 7 6 Level() 6 5 4 4 5 5 time(s) 4 6 8 Time (seconds) Fig.. Illustration of BIBO stability: stable system (the input is a unit step) Fig.. step)
More informationSWITCHING FROM VELOCITY TO FORCE CONTROL FOR THE ELECTRO-HYDRAULIC SERVOSYSTEM BASED ON LPV SYSTEM MODELING
Copyright 2002 IFAC 5th Triennial World Congress, Barcelona, Spain SWITCHING FROM VELOCITY TO FORCE CONTROL FOR THE ELECTRO-HYDRAULIC SERVOSYSTEM BASED ON LPV SYSTEM MODELING Takahiro Sugiyama, Kenko Uchida
More informationInverse Heat Flux Evaluation using Conjugate Gradient Methods from Infrared Imaging
11 th International Conference on Quantitative InfraRed Thermography Inverse Heat Flux Evaluation using Conjugate Gradient Methods from Infrared Imaging by J. Sousa*, L. Villafane*, S. Lavagnoli*, and
More informationDynamic Systems. Simulation of. with MATLAB and Simulink. Harold Klee. Randal Allen SECOND EDITION. CRC Press. Taylor & Francis Group
SECOND EDITION Simulation of Dynamic Systems with MATLAB and Simulink Harold Klee Randal Allen CRC Press Taylor & Francis Group Boca Raton London New York CRC Press is an imprint of the Taylor & Francis
More informationThe output voltage is given by,
71 The output voltage is given by, = (3.1) The inductor and capacitor values of the Boost converter are derived by having the same assumption as that of the Buck converter. Now the critical value of the
More informationComputation of Unsteady Flows With Moving Grids
Computation of Unsteady Flows With Moving Grids Milovan Perić CoMeT Continuum Mechanics Technologies GmbH milovan@continuummechanicstechnologies.de Unsteady Flows With Moving Boundaries, I Unsteady flows
More informationParameter Derivation of Type-2 Discrete-Time Phase-Locked Loops Containing Feedback Delays
Parameter Derivation of Type- Discrete-Time Phase-Locked Loops Containing Feedback Delays Joey Wilson, Andrew Nelson, and Behrouz Farhang-Boroujeny joey.wilson@utah.edu, nelson@math.utah.edu, farhang@ece.utah.edu
More informationCHAPTER 5 ROBUSTNESS ANALYSIS OF THE CONTROLLER
114 CHAPTER 5 ROBUSTNESS ANALYSIS OF THE CONTROLLER 5.1 INTRODUCTION Robust control is a branch of control theory that explicitly deals with uncertainty in its approach to controller design. It also refers
More information