Vibration Control of Smart Structure Using Sliding Mode Control with Observer
|
|
- Richard Greene
- 6 years ago
- Views:
Transcription
1 JOURNAL OF COMPUERS, VOL. 7, NO., FEBRUARY Vibration Control of Smart Struture Using Sliding Mode Control with Observer Junfeng Hu Shool of Mehanial & Eletrial Engineering, Jiangxi University of Siene and ehnology, Ganzhou, 3, China Dahang Zhu Shool of Mehanial & Eletrial Engineering, Jiangxi University of Siene and ehnology, Ganzhou, 3, China Abstrat his paper studies the appliation of the sliding mode ontrol method to redue the vibration of flexible struture with piezoeletri atuators and strain gage transduer in pratial omplex environment. he statespae dynami model of the system was derived by using finite element method and experimental modal test. he struture is subjeted to arbitrary, unmeasurable disturbane fores. aking into aount the unertain random disturbane and measurement noise, Kalman filter is hosen as the state estimator to obtain the modal oordinates and modal veloities for the modal spae ontrol. A sliding mode ontroller is adopted due to its distinguished robustness property of insensitiveness to parameter unertainties and external disturbanes. he sliding surfae is determined by using optimization method, and the sliding ontroller is designed by applying Lyapunov diret method. hat is, along the swithing surfae, the ost funtion of the states is minimized. A real-time ontrol system was built using dspace DS3 platform, and vibration ontrol tests were performed to experimentally verify the performanes of the proposed ontroller. he results of experiment show the ontroller an effetively attenuate elasti vibration of the struture. Index erms ative vibration ontrol, smart struture, sliding mode ontrol, experimental modal test, Lyapunov diret method I. INRODUCION In preision and aerospae industry, many researhes on lightweight and miniaturized strutures have been arried out to improve strutural performanes. Among the researhes, passive strutures using omposite material are typially known as one of the effetive methods. However, the traditional passive strutures are very sensitive to hange of internal load ondition and external environment ondition whih an even ause sudden destrution of strutures. herefore, in order to satisfy stringent requirements for preision ontrol and Manusript reeived Nov., ; revised Jan. 5, ; aepted Jan.,. lightweight miniaturization, smart materials suh as shape memory alloys, piezoeramis, eletroorheologial fluids and magnetorheologial fluids are frequently adopted for smart strutures. he performane requirements of future spae strutures, jet fighters and onept automobiles have brought muh interest to the area of smart strutures. A smart struture an be defined as a struture with bonded or embedded sensors and atuators as well as an assoiated ontrol system, whih enable the struture to respond simultaneously to external stimuli exerted on it and then suppresses undesired effets or enhane desired effets. Among various smart strutures, those with piezoeletri pathes have reeived muh attention in reent years, due to the fat that piezoeletri materials have simple mehanial properties, small volume, light weight, large useful bandwidth, effiient onversion between eletrial and mehanial energy, good ability to perform vibration ontrol and ease of integration into metalli and omposite strutures [-3]. Different ontrol tehniques have been investigated in the ontrol of smart struture. Abreu onduted experimental work for the vibration ontrol of flexible beam by using piezoeletri sensors and atuators with Linear Quadrati Gaussian (LQG) ontroller []. here are many lassial strategies that an be used when the mathematial model is available, for instane pole alloation and optimal ontrol. However, if the model has unertainties these methods are not indiated. here are many robust tehniques in strutural ontrol literature. Li investigated two ontrol strategies for robust vibration ontrol of parameter unertain systems [5]. Mayhan ombined intelligent ontrol and smart materials to produed an adaptive and robust ontroller to dampen the fundamental vibration mode of the system in the presene of modeling unertainties [6]. Zhang et al. studied the ative vibration ontrol problem for the high-speed flexible mehanisms all of whose members were onsidered as flexible by using omplex mode method and robust H ontrol sheme [7-8]. Kawabe utilized neural networks (NN) theory for ative ontrol in a longitudinal antilevered-beam system by simulation and experiment. It is found that fairly satisfatory ative ACADEMY PUBLISHER doi:.3/jp.7..-8
2 JOURNAL OF COMPUERS, VOL. 7, NO., FEBRUARY damping effet using the NN ontroller is obtained [9]. But the random disturbane and measurement noise of the atual system were not onsidered by these urrently proposed vibration ontrol strategies. he issue of robustness against external disturbanes was not addressed, and therefore the proposed vibration ontrollers annot be effetively applied to the smart struture under the random unertain disturbanes. Beause sliding mode ontrol has inherent robustness to system parameter variation and external disturbanes, it is meaningful to investigate its appliation in vibration ontrol of smart struture. We aim here to deal with the ative vibration redution problem in flexible struture with unertainties through designing reasonable sliding mode ontroller. he developed ontrol strategy integrates the sliding mode ontrol strategy and Kalman filter tehnique. In this paper, the vibration ontrol of a flexible beam is investigated by using sliding mode ontrol with observer and experimental modal test method, and taking into aount the random disturbane unertainty, modal parameter unertainty and measurement noise. he paper is organized as follows. In setion, a dynami model of a flexible beam with piezoeletri atuators and strain gauge sensors is onstruted by using finite element method. In setion 3, the sliding mode ontroller with observer is proposed, and sliding surfae is determined by using optimization method, and the sliding ontroller is designed by applying Lyapunov diret method. In setion, experimental identifiation of the flexible antilever beam is performed to obtain its modal parameters. And the experimental validation test is performed based on the dspace DS3 platform. he onlusions are given in setion 6. II. DYNAMIC MODELING OF SMAR SRUCUE he modeling of smart struture with piezoeletri atuators and sensors has been a subjet of intense researh for a long time and is only briefly desribed here. y u 3 u A u u L e u 6 B u 7 u 5 Figure. Planar beam element showing nodal degrees of freedom and oordinate systems he flexible struture is modeled by using a two-node beam element. he beam element is shown in Fig., whih has two nodes with four degrees of freedom at eah node; namely u, u 5, the longitudinal displaement, and u, u 6,the transverse displaement, and u 3, u 7, the slope, and u, u 8, the urvature. L e is the length of element. he nodal displaement vetor u with respet to referene frame A xy is expressed as u = [ u ] u u3 u u5 u6 u7 u8 u 8 x he transverse and longitudinal displaement fields of two-node beam element are onstruted using the quinti hermite and linear interpolation polynomials, respetively. V, W denotes longitudinal and transverse elasti displaement of arbitrary point, respetively. Subsript denotes matrix transpose. hey an be written by the following form V ( x, t) N ( x) = u W ( x, t) N ( x) where N ( x ) = ( ) ( ) N x N x is shape funtion, u is the nodal displaement vetor. he system dynami equations an be obtained by using finite element method MU + CU + KU = P () where M, C, K are the systemati mass, damping, stiffness, respetively. U, U, U are the generalized displaement, veloity, and aeleration vetors of the system, respetively. P is the systemati generalized disturbane fore vetor orresponding to vetor U. he piezoeletri pathes work as atuators are perfetly bonded on the upper and lower surfaes of the beam at the same loation. For the modeling of PZ atuators, literature [, ] provides a detailed derivation of oupling of PZ atuators and a host beam. hese bending moments indued by the atuators is given by A = B = d3epbp ( tp + ta ) V in () where d 3, E p, b p, tp is piezoeletri onstant, elasti module, width, and thikness of PZ path, respetively. t a is the thikness of the beam element, V in is the vetor of input voltage to the piezoeletri atuators. he moments are assembled as a part of the external moments exerted on node. Strain is the amount of deformation of a struture due to an applied fore. Strain gauge is the most ommon sensor for measuring strain. A strain gauge s eletrial resistane varies in proportion to the amount of strain plaed on it. he deformations mainly inlude ompression or tension and bending deformation for the flexible beam. he strainε in x diretion is given by ε = ε + ε (3) where ε L is ompression or tension strain and ε B are longitudinal strain due to bending deformation, respetively. hey an be given by ε L = N u= N BU, () ε = hn u= hn BU B where h is the distane between the neutral axis of the beam and the outer surfae of the beam, N, N are the first-order and the seond-order differential of the shape funtion N and N, respetively, B denotes the transformation matrix. hus, the exogenous perturbation and the ontrol inputs have no diret effet on the measured outputs. L B ACADEMY PUBLISHER
3 JOURNAL OF COMPUERS, VOL. 7, NO., FEBRUARY 3 here are a piezoeletri atuators and s strain gage sensors on the flexible struture. Combining Eq. () ~ Eq. (), the dynami equations of the struture equipped with piezoeletri atuators and strain gauge transduer an be expressed as MU + CU + KU = P + DaVin (5) y = DU s where D a is the systemati ontrol matrix related to onfiguration of atuators, D s is the systemati output matries determined by onfiguration of sensors, a a -by- vetor, and y is the strain from the sensors, a s -by- vetor. It was shown that the dynami response of the flexible struture is omposed mainly of the lower modes. In order to ontrol the lower modes, the physial-oordinate equations must be first transformed into modal oordinates. Here, we hoose the first order modes as ontrol modes. Applying the modal theory, the normalized modal transformation is introdued by U = ψη (6) where ψ is the ontrolled normalized modal matrix, η is ontrolled modal oordinate vetors. Substituting Eq. (6) into Eq. (5), the system dynami equations are rewritten as η + Cη + Kη = N + DaVin (7) y = Dsη where N = ψ P, Da = ψ Da, Ds = ψ D C s, K is diagram matrix, whih is determined by system natural frequeny and damping ratio. For ontrol synthesis, the system must be written as a system of first-order ordinary differential equations (ODEs). We an define the ontrolled state variables by the following form X [ ] = η η η η Due to the ontrolled mode number, the number of ontrolled state variables is. aking into aount measurement noise ν, the state-spae model for the system an be written as X = AX + BV in + N (8) y = CX + ν I a where A = K C, B = Da, C = [ Ds s], I is unit matrix, a, s are a, s zero matrix, respetively. III. CONROL SYSEM DESIGN Sliding mode ontroller (SMC) is a funtion of more than two strutures and gives some desirable losed-loop properties. he desirable features inlude invariane, order redution, and robustness against parameter variations and disturbanes. he stability and robustness of SMC is guaranteed using the onept of swithing funtion and Lyapunov stability theory. Sliding mode ontrol is to design a ontroller suh that the motion of the system tends to sliding mode surfae. herefore, the design of SMC inludes the determination of sliding surfae and ontroller design. he blok diagram of the ontrol system is shown in Fig.. In the figure, X ˆ is the estimated value of state vetor X by using Kalman filter. And the measurement noise ν is onsidered during the ontroller design. ˆX Kalman Estimator Sliding Mode Controller y N Vin Flexible Struture Figure. Blok diagram of the ontrol system A. Sliding Mode Surfae Design he problem now is to determine a sliding surfae whih guarantees stable sliding mode motion on the surfae itself. he sliding surfae S an be expressed as S = HX = (9) where S = [ S S S a ], Si is the sliding variable, H is a a matrix. In order to determine the matrix H, the state of the system is to make the following linear transformation. Z = ΓX () where Γ is the transformation matrix, it an be given by I BB B Γ =, B = I B where I and I are ( a) a and a a unit matrix, B and B are ( a) a and a a matrix, respetively, and B is nonsingular matrix. Substituting Eq. () into Eq. (8), the state equation and sliding surfae an be rewritten as the following form expressed by Z. Z = ΓAΓ Z + ΓBVin = AZ + BV in () S = HZ = where A = ΓA Γ, B, B = H = HΓ ν + y. he Eq. () an be partitioned to yield Z A A Z =, A =, H = H H () Z A A where Z and Z are a and a dimensional vetor, respetively, the dimension of other matrix are deided by the dimension of Z and Z. hus, ombining Eq. () and Eq. (), the following equations an be obtained ACADEMY PUBLISHER
4 JOURNAL OF COMPUERS, VOL. 7, NO., FEBRUARY Z = A Z + A Z (3) S = H Z + H Z = In order to simplify the design of sliding surfae, we an assume H = I () where I is unit matrix. herefore, ombining Eq. (3) and Eq. (), the following equations an be obtained where Z is onsidered as state variables, Z is output variables. Z = ( A A H ) Z (5) Z = H Z Using the optimal method, the matrix H is determined by minimizing the following performane index J. J = X t RX dt (6) where R is positive define weighting matrix. Considering the physial meaning of state variable X, the weighting matrix an be seleted by the following expression. K M R = M M where M, K is the mass matrix and stiffness matrix orresponding to the first ontrol modes, respetively. Substituting Eq. () into Eq. (6), the performane index funtion an be written by the form of state variable Z J Z = t Z Z dt (7) Z where = ( Γ ) RΓ = Combing Eq. (5) and Eq. (7), the solution of the performane funtion is a linear quadrati optimization problem. Using the Linear Quadrati (LQ) algorithm, the optimization problem an be solved and the following expression an be obtained Z = KoZ (8) Comparing Eq. (8) and Eq. (5), we an obtain H = K,H = [ Ko I] Γ (9) Substituting Eq. (9) into Eq. (9), the sliding surfae an be obtained. B. Sliding Mode Controller Lyapunov diret method is applied to design the sliding mode ontroller suh that the response of the system an tend to the sliding surfae expressed in Eq. (9) by determining the ontrol input. Suppose the Lyapunov funtion is defined as v = S S = X H HX () Aording to Lyapunov asymptoti stability ondition and Eq. (), we an obtain v = S S () where S = HX. Substituting Eq. (8) into Eq. (), the above equation an be rewritten as v = S HX = S H ( AX + BVin + N ) = χ ( Vin G) where χ = S HB, G = ( HB) ( HAX + HN ). In order to satisfy the Lyapunov stable ondition v, the ontrol voltages an be seleted as V = in G δχ () where δ is diagonal matrix whose diagonal elements δi. hus, the expression v = χδχ an be satisfied. Meanwhile, taking aount into the bound of ontrol voltage, thus, the ontrol inputs are set as Vi Vi Vm Vi = (3) Vmsgn( Vi ) Vi > Vm where subsript i denotes the i th ontrol input voltage, V i is the i th voltage omputed by the ontroller, Vi is the atual voltage applied to the atuator, V m is the bound of the ontrol voltage, sgn( ) represents sign funtion. C. Kalman state estimator Sine the modal positions and veloities of the system are not diretly measurable, a state observer may be employed to obtain the estimated states. he Kalman filter an provide an effiient way to estimate the state of a system, in a way that minimizes the mean of the squared error. Considering external disturbane and measurement noise, we an design a state estimator given the state-spae model of the system shown in Eq. (8) by using Kalman tehnology. Here, suppose the exogenous disturbane and measurement noise satisfy the following onditions E( N ) = E( ν) = () E( NN ) = Qd, E( νν ) = Rn where E() denotes the expeted value of a variable, Q d, R n are ovariane of the external disturbane and measurement noise, respetively. We an onstrut a state estimate X ˆ that minimizes the steady-state error ovariane P = E X Xˆ X X ˆ ({ }{ } ) lim t he optimal solution is the Kalman filter with the following state equations ˆ X = AXˆ + BV in + L( y CXˆ ) yˆ = C ˆ X where the filter gain matrix L is determined by solving orresponding algebrai Riati equation, ŷ are estimated value of y. he estimator uses the known inputs V in and the measurements y to generate the output and state estimates as shown in Fig.. ACADEMY PUBLISHER
5 JOURNAL OF COMPUERS, VOL. 7, NO., FEBRUARY 5 VI. EXPERIMENAL INVESIGAEION In this setion, we shall experimentally evaluate the effetiveness of the proposed ontrol method in the vibration ontrol of a flexible beam. A. Experimental setup N N S S N N 3 N5 N N N E E3 E5 E7 A E A E A E 3 6 Figure 3. Configuration of the elements and nodes, atuator and sensor, N, E, A, S denote node, atuator, sensor, respetively (h) (i) (j) (l) (k) (e) (f) (d) Figure. Experimental setup (a) signal generator (b) antilever beam () aelerometer (d) dynami signal aquisition (e) hammer (f) dynami strain gauge (g) strain gauge (h) piezoeletri path (i) DS3 onnetor panel (j) eletri bridge box (k) voltage amplifier (l) industrial omputer he length of the antilever beam is 3 mm, its width and thikness are mm,.5 mm, respetively. Its material is steel with elasti module, density and Poisson s ratio GPa, 78 kg/m3,.3, respetively. he beam is divided into 7 beam elements and 8 generalized oordinates shown as in the Fig. 3. he lengths of the elements are 5 mm, mm, mm, mm, mm, mm, 5 mm, respetively. he symbols N, E, A, S denote node, atuator, sensor, respetively, in the Fig. 3. he atuators are made of PZ-5H piezoeletri erami, whih its thikness is.5 mm, length is mm and width is mm, piezoeletri onstant d 3, elasti module and density is m/v, GPa, 765 kg/m 3, respetively. he sensors are resistane strain gage. he onfiguration of the atuators and sensors are shown in Fig.3. he three pairs atuator bonded on the link are loated at elements E, E and E 6. wo sensors S, S are loated at the midpoint of (a) () (b) (g) elements E3 and E 5. hree atuators A, A, A 3 are loated at elements E, E and E 6, respetively. Fig. illustrates the experimental setup that onsists of a flexible beam bonded on PZ and strain gauge. By the way, the experimental devie is also used to study the vibration ontrol of high-speed 5-bar mehanism. As the bolt is tighten, the rotational pair beomes a fixed pair, that is, the flexible link an be onsidered as a antilever beam. he high-speed analog input and output ports are provided with dspace DS3. he eletri amplifier made in Harbin ore tomorrow siene and tehnology Co., Ltd is used to drive piezoeletri path. Resistane strain gauges are made in ZEMIC Co., Ltd, its type is BE-3AA (), the resistane is Ω, and the sensitivity oeffiient is.7. he strain gauge is onneted to dynami strain gauge through / eletri bridge whih is used to transform the strain signal to voltage. B. Experimental modal test Experimental modal analysis is a ase of system identifiation where a priori model form onsisting of modal parameters is assumed. Beause it is hard to obtain damping ratio of struture by finite element method (FEM), the experimental modal test is a good method to get aurate natural frequeny and damping ratio, whih provide a basis for adjustment of the ontrol model of the flexible struture. he setup of the experimental modal test is shown as Fig.. Kistler 869C5-type piezoeletri aelerometer is used as aeleration sensor. he ZoniBook/68E is the dynami signal aquisition system. he ez-analyst software is real-time vibration analysis software equipped with a dynami signal aquisition system whih provides a real-time analysis apability in the frequeny domain and time domain. ME sopeves software is used to be a post-proessing test whih is apable of analyzing mehanial and strutural stati and dynami harateristis to obtain modal parameters. Impulse hammer method is applied to perform experimental modal test. o exite the bending vibration, the antilever beam was hit with a hammer at the speified exitation points. Using a hammer to produe a wide band of exitation, it an exite eah mode in a wider frequeny range. he loations of hammer and aelerometers are loated at midpoints of element E 3 and elements E ~ E 7, respetively. A miniaturized aelerometer PCB is sequentially plaed at different loations. he tap position of the hammer is fixed, and the measurement points are 7 different positions. In order to eliminate measurement noise, the multiple measurements value of measurement point is averaged, the times of measurement is set to 5. he ez-analyst software is used to ollet data of exitation point and all measurement points, to obtain the frequeny response funtion of the measuring point, and then export the data format whih ME sopeves an support. he ME sopeves software is used to identify the modal parameters of the flexible beam. he synthesis of the ACADEMY PUBLISHER
6 6 JOURNAL OF COMPUERS, VOL. 7, NO., FEBRUARY ontroller is based on a nominal model onstruted by low-frequeny modes. In the present ase, the first fourorder mode of the link is identified. he first four-order nature frequenies by using experimental identifiation and FEM are shown in able, respetively, and the orresponding damping ratios are identified and tabulated in able. As an be seen from the table, relative error of alulated and experimental values of natural frequeny is lose to -6 %, whih indiates that the finite element model is not fully onsistent in the atual system. hat is to say, the model used to design ontroller is unertain. ontroller. As the ontrol voltage from D/A port is relatively low, the voltage exerted on the piezoeletri path must be amplified by the voltage amplifier to implement the vibration ontrol. he ontrol signal alulated by the dspace is onverted into an analog signal by a D/A onverter, and then is magnified 5 times by a voltage amplifier. Signals are then amplified and fed to a digital ontrol system. he ontrol algorithms are implemented using dspace DS3 system with neessary Matlab/Simulink software installed in an industrial omputer. he ontrol algorithm is implemented using Simulink software and Real ime Workshop (RW) is used to generate C ode from the developed Simulink model. he C ode is then onverted to target speifi ode by real time interfae (RI) and target language ompiler (LC) supported by DS3 ontroller board. hen we an design a vibration ontrol experiment in real time by using ControlDestk software provided by dspace. he ontrol objetive is to minimize the output strain of two sensor outputs within the ontrol bandwidth under the exitation of the disturbane fore indued by external fore. DS3 platform Exitation Voltage amplifier Dynami strain gauge Exitation ABLE I. Mode order 3 Figure 5. Fitting urve of frequeny response data HE FIRS FOUR-ORDER NAURAL FREQUENCY AND DAMPING RAIO Natural frequeny (Hz) Calulation Experimental value value Relative error Damping ratio (%) C. Experimental results Shemati diagram of vibration ontrol experiment is shown as Fig. 6. he prinipal of the vibration ontrol is desribed as follows. When the exogenous disturbanes are exerted on the beam, the vibration response will be generated. he output of the strain gage is given as input to the dynami strain gauge whih filters out the noise ontents. he onditioned sensor signal is given as analog input ard through the eletri bridge onnetor box. he vibration signal measured by a sensor is transformed into a voltage signal by a dynami strain transduer, and through a low-pass filter and an A/D onverter, the analog voltage signal is onverted into a digital signal to the dspace ontroller board. And the ontrol voltage applied to atuator an be obtained through the designed S A A A 3 Figure 6. Shemati diagram of vibration ontrol experiment he objetive in the experimental studies is to ontrol the first three vibration modes. In order to generate the disturbane fore exerted on the beam, we use the atuator A 3 as exitation soure. he atuators A, A are applied to vibration ontrol. he gain of the dynami strain gauge is set to, the bridge voltage 6 V, utoff frequeny of filter is set to Hz. he sampling frequeny of analog input and output port is set to Hz. he ovariane of measurement noise is estimated as. he sampling period of the ontroller is ms. he real-time ontrol time is set to s. he diagonal matrix δ in Eq. () is δ = diag(,, ). he shemati diagram of the feedbak ontrol system is depited in Fig. 6. In order to experimentally investigate the ontrol performane, the two exitation soures are exerted to the antilever beam, respetively. he first exitation soure alled exitation is the free-vibration one by taping instantly the free end of the beam. he seond exitation soure named as exitation is the fored one by applying a voltage to the piezoeletri erami path A 3. he exitation voltage is generated by the signal generator whih generates a white S ACADEMY PUBLISHER
7 JOURNAL OF COMPUERS, VOL. 7, NO., FEBRUARY 7 noise signal, amplified by voltage amplifier. And the ovariane of the exitation signal is set to V. As we design the Kalman state estimator, the parameters are set as Q d =, R e = 3. In order to validate that the proposed estimator an effetively estimate the state values, we will arry out the following test. As the atuator A 3 is applied to a sinusoidal signal, we ompared the measured values and estimated values of output strain from sensor S and sensor S. he sinusoidal signal is generated by the signal generator, and is amplified by voltage amplifier, its amplitude V, frequeny 75 Hz, whih the frequeny is lose to the seond order natural one of the system to make the beam vibrate signifiantly. Figure 7 and Fig. 8 denote the measured values and estimated values of output strain from sensor S and sensor S. From the two figures, we an observe the measurement values are oinide with estimated values of output strain to illustrate the effetiveness of the estimator. Strain Strain.. -. measurement value estimated value ime (s) Figure 7. Measuremetn and estimated values of output strain from sensor S measurement value estimated value ime (s) Strain 3 x w ith ontroller w ithout ontroller ime (s) Figure 9. Strain from sensor S in two ases of without ontroller and with ontroller under the exitation Strain 6 x w ith ontroller w ithout ontroller ime (s) Figure. Strain from sensor S in two ases of without ontroller and with ontroller under the exitation Strain w ith ontroller w ithout ontroller ime (s) Figure. Strain from sensor S in two ases of without ontroller and with ontroller under the exitation Figure 8. Measuremetn and estimated values of output strain from sensor S ACADEMY PUBLISHER
8 8 JOURNAL OF COMPUERS, VOL. 7, NO., FEBRUARY Strain.5 w ith ontroller w ithout ontroller ime (s) Figure. Strain from sensor S in two ases of without ontroller and with ontroller under the exitation Figure 9 and Fig. show the strains of the flexible link from sensor S and S in two ases of without ontroller and with ontroller under the exitation, respetively. Figure and Fig. show the strains of the flexible link from sensor S and S in two ases of without ontroller and with ontroller under the exitation, respetively. In these figures, solid line represents the strains in ase of with ontroller, and dotted line denotes the strains in ase of without ontroller. By the ontrast to the results of Fig. 9 and, it an be observed that the strains generated by the first exitation soure from sensor S and S are remarkably redued under the ase where sliding mode ontroller is adopted. Comparing the experimental results of Fig. and Fig., it an be seen that the strains aused by the seond exitation soure from sensor S and S an also be inhibited greatly in the ase of with ontroller. hus, it is onluded that the proposed ontroller is effetive to suppress the vibration response of the flexible beam. V. CONCLUSION he vibration ontrol of a smart flexible beam has been investigated by applying sliding mode ontrol. he sliding surfae is determined by onstruting a linear quadrati optimization problem, and Lyapunov diret method is used to design the sliding ontroller based on the Lyapunov asymptoti stability ondition. he Kalman filter is applied onsidering unertain disturbane and measurement noise. And the effetiveness of the proposed estimator was proved by omparing the measured and estimated values of the output strains. he experimental results have been showed that the proposed ontroller is valid to suppress the vibration response of the flexible beam. And it has been shown that the proposed ontroller guaranties robust performane. ACKNOWLEDGMEN his work was supported by National Natural Siene Foundation of China (Grant No ). REFERENCES [] S.B. Choi, Ative strutural aousti ontrol of a smart plate featuring piezoeletri atuators, Journal of Sound and Vibration, vol. 9(-), pp. -9, 6. [] K. Ma, Adaptive nonlinear ontrol of a lamped retangular plate with PZ pathes, Journal of Sound and Vibration, vol. 6(), pp , 3. [3] K. Ma, M. N. Ghasemi-Nejhad, Frequeny-weighted adaptive ontrol for simultaneous preision positioning and vibration suppression of smart strutures, Smart Materials and Strutures, vol. 3(5), pp. 3 5,. [] G. L. C. M. Abreu, J. F. Ribeiro, and V. Steffen, Experiments on optimal vibration ontrol of a flexible beam ontaining piezoeletri sensors and atuators, Shok and vibration, vol., pp. 83 3, 3. [5] Y. Y. Li, L. H. L. Yam, Roubust vibration ontrol unertain systems using variable parameter feedbak and model-based fuzzy strategies, Computers and Strutures, vol. 79, pp. 9 9,. [6] P. Mayhan, G. Washington, Fuzzy model referene learning ontrol: a new ontrol paradigm for smart strutures, Smart Mater. Strut., vol. 7, pp , 998. [7] X. M. Zhang, C. J. Shao, and A. G. Erdman, Ative vibration ontroller design and omparison study of flexible linkage mehanism systems, Mehanism & Mahine heory, vol. 37, pp ,. [8] X. M. Zhang, C. J. Shao, and S. Li, et al., Robust H vibration ontrol for flexible linkage mehanism systems with piezoeletri sensors and atuators, Journal of Sound and Vibration, vol. 3(), pp. 5-55,. [9] H. Kawabe, N. sukiyama, and K. Yoshida, Ative vibration damping based on neural network theory, Materials Siene and Engineering A, vol., pp , 6. [] C. Y. Liao, C. K. Sung, An elastodynami analysis and ontrol of flexible linkages using piezoerami sensors and atuators, ransations of the ASME, vol. 5, pp , 993. [] L. Iorga, H. Baruh, and I. Ursu, A Review of H robust ontrol of piezoeletri smart strutures, Appl. Meh. Rev., vol. 6(), pp. -6, 8. Junfeng Hu Jiangxi Provine, China. born in 978. He is Engineering Ph.D., graduated from South China University of ehnology. His researh interests inlude mehanial dynamis, smart struture and ative vibration ontrol. He is urrently a leturer in Shool of Mehanial & Eletrial Engineering, Jiangxi University of Siene and ehnology, China. Dahang Zhu, Jiangxi Provine, China, born in 973. He is Engineering Ph.D., graduated from Beijing Jiaotong University. His researh interests inlude parallel mehanism and ompliant parallel mehanism. He is urrently a assoiate professor in Shool of Mehanial & Eletrial Engineering, Jiangxi University of Siene and ehnology, China. ACADEMY PUBLISHER
Stabilization of the Precision Positioning Stage Working in the Vacuum Environment by Using the Disturbance Observer
Proeedings of the 4th IIAE International Conferene on Industrial Appliation Engineering 216 Stabilization of the Preision Positioning Stage Working in the Vauum Environment by Using the Disturbane Observer
More informationControl Theory association of mathematics and engineering
Control Theory assoiation of mathematis and engineering Wojieh Mitkowski Krzysztof Oprzedkiewiz Department of Automatis AGH Univ. of Siene & Tehnology, Craow, Poland, Abstrat In this paper a methodology
More informationRobust Flight Control Design for a Turn Coordination System with Parameter Uncertainties
Amerian Journal of Applied Sienes 4 (7): 496-501, 007 ISSN 1546-939 007 Siene Publiations Robust Flight ontrol Design for a urn oordination System with Parameter Unertainties 1 Ari Legowo and Hiroshi Okubo
More informationStructural Integrity of Composite Laminates with Embedded Microsensors
Strutural Integrity of Composite Laminates with Embedded Mirosensors Yi Huang, Sia Nemat-Nasser Department of Mehanial and Aerospae Engineering, Center of Exellene for Advaned Materials, University of
More informationA NONLILEAR CONTROLLER FOR SHIP AUTOPILOTS
Vietnam Journal of Mehanis, VAST, Vol. 4, No. (), pp. A NONLILEAR CONTROLLER FOR SHIP AUTOPILOTS Le Thanh Tung Hanoi University of Siene and Tehnology, Vietnam Abstrat. Conventional ship autopilots are
More informationDIGITAL DISTANCE RELAYING SCHEME FOR PARALLEL TRANSMISSION LINES DURING INTER-CIRCUIT FAULTS
CHAPTER 4 DIGITAL DISTANCE RELAYING SCHEME FOR PARALLEL TRANSMISSION LINES DURING INTER-CIRCUIT FAULTS 4.1 INTRODUCTION Around the world, environmental and ost onsiousness are foring utilities to install
More informationRemark 4.1 Unlike Lyapunov theorems, LaSalle s theorem does not require the function V ( x ) to be positive definite.
Leture Remark 4.1 Unlike Lyapunov theorems, LaSalle s theorem does not require the funtion V ( x ) to be positive definite. ost often, our interest will be to show that x( t) as t. For that we will need
More informationInternational Journal of Advanced Engineering Research and Studies E-ISSN
Researh Paper FINIE ELEMEN ANALYSIS OF A CRACKED CANILEVER BEAM Mihir Kumar Sutar Address for Correspondene Researh Sholar, Department of Mehanial & Industrial Engineering Indian Institute of ehnology
More informationMillennium Relativity Acceleration Composition. The Relativistic Relationship between Acceleration and Uniform Motion
Millennium Relativity Aeleration Composition he Relativisti Relationship between Aeleration and niform Motion Copyright 003 Joseph A. Rybzyk Abstrat he relativisti priniples developed throughout the six
More informationImproved Extended Kalman Filter for Parameters Identification
Improved Extended Kalman Filter for Parameters Identifiation Peipei Zhao. Zhenyu Wang. ao Lu. Yulin Lu Institute of Disaster Prevention, Langfang,Hebei Provine, China SUMMARY: he extended Kalman filter
More informationPart G-4: Sample Exams
Part G-4: Sample Exams 1 Cairo University M.S.: Eletronis Cooling Faulty of Engineering Final Exam (Sample 1) Mehanial Power Engineering Dept. Time allowed 2 Hours Solve as muh as you an. 1. A heat sink
More informationEvaluation of effect of blade internal modes on sensitivity of Advanced LIGO
Evaluation of effet of blade internal modes on sensitivity of Advaned LIGO T0074-00-R Norna A Robertson 5 th Otober 00. Introdution The urrent model used to estimate the isolation ahieved by the quadruple
More informationThe simulation analysis of the bridge rectifier continuous operation in AC circuit
Computer Appliations in Eletrial Engineering Vol. 4 6 DOI 8/j.8-448.6. The simulation analysis of the bridge retifier ontinuous operation in AC iruit Mirosław Wiślik, Paweł Strząbała Kiele University of
More informationHankel Optimal Model Order Reduction 1
Massahusetts Institute of Tehnology Department of Eletrial Engineering and Computer Siene 6.245: MULTIVARIABLE CONTROL SYSTEMS by A. Megretski Hankel Optimal Model Order Redution 1 This leture overs both
More informationIN-PLANE VIBRATIONS OF CURVED BEAMS WITH VARIABLE CROSS-SECTIONS CARRYING ADDITIONAL MASS
11 th International Conferene on Vibration Problems Z. Dimitrovová et al. (eds.) Lisbon, Portugal, 9-1 September 013 IN-PLANE VIBRATIONS OF CURVED BEAMS WITH VARIABLE CROSS-SECTIONS CARRYING ADDITIONAL
More informationAircraft CAS Design with Input Saturation Using Dynamic Model Inversion
International Journal of Control, Automation, and Systems Vol., No. 3, September 003 35 Airraft CAS Design with Input Saturation sing Dynami Model Inversion Sangsoo Lim and Byoung Soo Kim Abstrat: This
More informationAdvances in Radio Science
Advanes in adio Siene 2003) 1: 99 104 Copernius GmbH 2003 Advanes in adio Siene A hybrid method ombining the FDTD and a time domain boundary-integral equation marhing-on-in-time algorithm A Beker and V
More informationFinite Element Modelling of Vibro-Acoustic Systems for Active Noise Reduction
ECHNISCHE MECHANIK, Band 25, Heft 3-4, (25), 241-247 Manuskripteingang: 11. Dezember 25 Finite Element Modelling of Vibro-Aousti Systems for Ative Noise Redution J. Lefèvre, U. Gabbert Over the past years
More informationThe gravitational phenomena without the curved spacetime
The gravitational phenomena without the urved spaetime Mirosław J. Kubiak Abstrat: In this paper was presented a desription of the gravitational phenomena in the new medium, different than the urved spaetime,
More informationA model for measurement of the states in a coupled-dot qubit
A model for measurement of the states in a oupled-dot qubit H B Sun and H M Wiseman Centre for Quantum Computer Tehnology Centre for Quantum Dynamis Griffith University Brisbane 4 QLD Australia E-mail:
More informationAharonov-Bohm effect. Dan Solomon.
Aharonov-Bohm effet. Dan Solomon. In the figure the magneti field is onfined to a solenoid of radius r 0 and is direted in the z- diretion, out of the paper. The solenoid is surrounded by a barrier that
More informationAn Adaptive Optimization Approach to Active Cancellation of Repeated Transient Vibration Disturbances
An aptive Optimization Approah to Ative Canellation of Repeated Transient Vibration Disturbanes David L. Bowen RH Lyon Corp / Aenteh, 33 Moulton St., Cambridge, MA 138, U.S.A., owen@lyonorp.om J. Gregory
More informationMeasuring & Inducing Neural Activity Using Extracellular Fields I: Inverse systems approach
Measuring & Induing Neural Ativity Using Extraellular Fields I: Inverse systems approah Keith Dillon Department of Eletrial and Computer Engineering University of California San Diego 9500 Gilman Dr. La
More informationA simple expression for radial distribution functions of pure fluids and mixtures
A simple expression for radial distribution funtions of pure fluids and mixtures Enrio Matteoli a) Istituto di Chimia Quantistia ed Energetia Moleolare, CNR, Via Risorgimento, 35, 56126 Pisa, Italy G.
More informationFrequency Domain Analysis of Concrete Gravity Dam-Reservoir Systems by Wavenumber Approach
Frequeny Domain Analysis of Conrete Gravity Dam-Reservoir Systems by Wavenumber Approah V. Lotfi & A. Samii Department of Civil and Environmental Engineering, Amirkabir University of Tehnology, Tehran,
More informationSURFACE WAVES OF NON-RAYLEIGH TYPE
SURFACE WAVES OF NON-RAYLEIGH TYPE by SERGEY V. KUZNETSOV Institute for Problems in Mehanis Prosp. Vernadskogo, 0, Mosow, 75 Russia e-mail: sv@kuznetsov.msk.ru Abstrat. Existene of surfae waves of non-rayleigh
More informationf 2 f n where m is the total mass of the object. Expression (6a) is plotted in Figure 8 for several values of damping ( ).
F o F o / k A = = 6 k 1 + 1 + n r n n n RESONANCE It is seen in Figure 7 that displaement and stress levels tend to build up greatly when the oring requeny oinides with the natural requeny, the buildup
More informationSEISMIC ANALYSIS OF SPHERICAL TANKS INCLUDING FLUID-STRUCTURE-SOIL INTERACTION
3 th World Conferene on Earthquake Engineering Vanouver, B.C., Canada August -6, 2004 aper o. 84 SEISMIC AALYSIS OF SHERICAL TAKS ICLUDIG FLUID-STRUCTURE-SOIL ITERACTIO T.L. Karavasilis, D.C. Rizos 2,
More informationSpeed Regulation of a Small BLDC Motor using Genetic-Based Proportional Control
World Aademy of Siene, Engineering and Tehnology 47 8 Speed Regulation of a Small BLDC Motor using Geneti-Based Proportional Control S. Poonsawat, and T. Kulworawanihpong Abstrat This paper presents the
More informationSpeed-feedback Direct-drive Control of a Low-speed Transverse Flux-type Motor with Large Number of Poles for Ship Propulsion
Speed-feedbak Diret-drive Control of a Low-speed Transverse Flux-type Motor with Large Number of Poles for Ship Propulsion Y. Yamamoto, T. Nakamura 2, Y. Takada, T. Koseki, Y. Aoyama 3, and Y. Iwaji 3
More informationThe experimental plan of displacement- and frequency-noise free laser interferometer
7th Edoardo Amaldi Conferene on Gravitational Waves (Amaldi7) Journal of Physis: Conferene Series 122 (2008) 012022 The experimental plan of displaement- and frequeny-noise free laser interferometer K
More informationAdaptive neuro-fuzzy inference system-based controllers for smart material actuator modelling
Adaptive neuro-fuzzy inferene system-based ontrollers for smart material atuator modelling T L Grigorie and R M Botez Éole de Tehnologie Supérieure, Montréal, Quebe, Canada The manusript was reeived on
More informationWave Propagation through Random Media
Chapter 3. Wave Propagation through Random Media 3. Charateristis of Wave Behavior Sound propagation through random media is the entral part of this investigation. This hapter presents a frame of referene
More informationAnalysis of Leakage Paths Induced by Longitudinal Differential Settlement of the Shield-driven Tunneling
2016 rd International Conferene on Engineering Tehnology and Appliation (ICETA 2016) ISBN: 978-1-60595-8-0 Analysis of Leakage Paths Indued by Longitudinal Differential Settlement of the Shield-driven
More informationTHE SPANN VIBROACOUSTIC METHOD Revision A
THE SPNN VIBROCOUSTIC METHOD Revision By Tom Irvine Deember 15, 01 Email: tom@vibrationdata.om Figure 1. vionis Installation and Testing Introdution vionis omponents in airraft and launh vehiles may be
More informationA Spatiotemporal Approach to Passive Sound Source Localization
A Spatiotemporal Approah Passive Sound Soure Loalization Pasi Pertilä, Mikko Parviainen, Teemu Korhonen and Ari Visa Institute of Signal Proessing Tampere University of Tehnology, P.O.Box 553, FIN-330,
More informationBEAMS: SHEARING STRESS
LECTURE Third Edition BEAMS: SHEARNG STRESS A. J. Clark Shool of Engineering Department of Civil and Environmental Engineering 14 Chapter 6.1 6.4 b Dr. brahim A. Assakkaf SPRNG 200 ENES 220 Mehanis of
More informationSTUDY OF INHERENT FREQUENCY OF HELMHOLTZ RESONATOR
005 WJTA Amerian Waterjet Conferene August -3, 005! Houston, Texas Paper 6B-4 STUDY OF INHERENT FREQUENCY OF HELMHOLT RESONATOR Gong Weili An Liqian Cui Longlian Xie Guixin Shool of Mehanis, Arhiteture
More informationULTRASOUND PIEZOCERAMIC TRANSDUCER FOR UNDERWATER ACOUSTICS IN SONOCHEMISTRY
ICSV14 Cairns Australia 9-1 July, 007 ULTRASOUND PIEZOCERAMIC TRANSDUCER FOR UNDERWATER ACOUSTICS IN SONOCHEMISTRY Irinela Chilibon 1, Mihaela Moioi and CarmenitaMateesu 3 1 National Institute of Researh
More informationFour-dimensional equation of motion for viscous compressible substance with regard to the acceleration field, pressure field and dissipation field
Four-dimensional equation of motion for visous ompressible substane with regard to the aeleration field, pressure field and dissipation field Sergey G. Fedosin PO box 6488, Sviazeva str. -79, Perm, Russia
More informationHeat propagation and stability in a small high T superconductor. coil
Ž. Physia C 310 1998 372 376 Heat propagation and stability in a small high T superondutor oil T. Kiss a,), V.S. Vysotsky a, H. Yuge a, H. Saho a, Yu.A. Ilyin a, M. Takeo a, K. Watanabe b, F. Irie a Graduate
More informationModel-based mixture discriminant analysis an experimental study
Model-based mixture disriminant analysis an experimental study Zohar Halbe and Mayer Aladjem Department of Eletrial and Computer Engineering, Ben-Gurion University of the Negev P.O.Box 653, Beer-Sheva,
More information9 Geophysics and Radio-Astronomy: VLBI VeryLongBaseInterferometry
9 Geophysis and Radio-Astronomy: VLBI VeryLongBaseInterferometry VLBI is an interferometry tehnique used in radio astronomy, in whih two or more signals, oming from the same astronomial objet, are reeived
More informationAdvanced Computational Fluid Dynamics AA215A Lecture 4
Advaned Computational Fluid Dynamis AA5A Leture 4 Antony Jameson Winter Quarter,, Stanford, CA Abstrat Leture 4 overs analysis of the equations of gas dynamis Contents Analysis of the equations of gas
More informationSimplified Buckling Analysis of Skeletal Structures
Simplified Bukling Analysis of Skeletal Strutures B.A. Izzuddin 1 ABSRAC A simplified approah is proposed for bukling analysis of skeletal strutures, whih employs a rotational spring analogy for the formulation
More informationBeams on Elastic Foundation
Professor Terje Haukaas University of British Columbia, Vanouver www.inrisk.ub.a Beams on Elasti Foundation Beams on elasti foundation, suh as that in Figure 1, appear in building foundations, floating
More informationMODELLING THE POSTPEAK STRESS DISPLACEMENT RELATIONSHIP OF CONCRETE IN UNIAXIAL COMPRESSION
VIII International Conferene on Frature Mehanis of Conrete and Conrete Strutures FraMCoS-8 J.G.M. Van Mier, G. Ruiz, C. Andrade, R.C. Yu and X.X. Zhang Eds) MODELLING THE POSTPEAK STRESS DISPLACEMENT RELATIONSHIP
More informationWhere as discussed previously we interpret solutions to this partial differential equation in the weak sense: b
Consider the pure initial value problem for a homogeneous system of onservation laws with no soure terms in one spae dimension: Where as disussed previously we interpret solutions to this partial differential
More informationNON-LINEAR BENDING CHARACTERISTICS OF PHC PILES UNDER VARYING AXIAL LOAD
13 th World Conferene on Earthquake Engineering Vanouver, B.C., Canada August 1-6, 24 aper No. 356 NON-LINEAR BENDING CHARACTERISTICS OF HC ILES UNDER VARYING AXIAL LOAD Toshihiko ASO 1 Fusanori MIURA
More informationSingular Event Detection
Singular Event Detetion Rafael S. Garía Eletrial Engineering University of Puerto Rio at Mayagüez Rafael.Garia@ee.uprm.edu Faulty Mentor: S. Shankar Sastry Researh Supervisor: Jonathan Sprinkle Graduate
More informationOrthogonal Complement Based Divide-and-Conquer Algorithm (O-DCA) for Constrained Multibody Systems
Orthogonal Complement Based Divide-and-Conquer Algorithm (O-DCA) for Constrained Multibody Systems Rudranarayan M. Mukherjee, Kurt S. Anderson Computational Dynamis Laboratory Department of Mehanial Aerospae
More informationComplexity of Regularization RBF Networks
Complexity of Regularization RBF Networks Mark A Kon Department of Mathematis and Statistis Boston University Boston, MA 02215 mkon@buedu Leszek Plaskota Institute of Applied Mathematis University of Warsaw
More informationFinite-time stabilization of chaotic gyros based on a homogeneous supertwisting-like algorithm
OP Conferene Series: Materials Siene Engineering PAPER OPEN ACCESS Finite-time stabilization of haoti gyros based on a homogeneous supertwisting-like algorithm To ite this artile: Pitha Khamsuwan et al
More informationModes are solutions, of Maxwell s equation applied to a specific device.
Mirowave Integrated Ciruits Prof. Jayanta Mukherjee Department of Eletrial Engineering Indian Institute of Tehnology, Bombay Mod 01, Le 06 Mirowave omponents Welome to another module of this NPTEL mok
More informationDirectional Coupler. 4-port Network
Diretional Coupler 4-port Network 3 4 A diretional oupler is a 4-port network exhibiting: All ports mathed on the referene load (i.e. S =S =S 33 =S 44 =0) Two pair of ports unoupled (i.e. the orresponding
More informationActive Magnetic Bearings for Frictionless Rotating Machineries
Ative Magneti Bearings for Fritionless Rotating Mahineries Joga Dharma Setiawan Abstrat Ative magneti bearing (AMB systems an support a rotor without physial ontat and enable users to preisely ontrol rotor
More informationMultiPhysics Analysis of Trapped Field in Multi-Layer YBCO Plates
Exerpt from the Proeedings of the COMSOL Conferene 9 Boston MultiPhysis Analysis of Trapped Field in Multi-Layer YBCO Plates Philippe. Masson Advaned Magnet Lab *7 Main Street, Bldg. #4, Palm Bay, Fl-95,
More informationIDENTIFICATION AND CONTROL OF ACOUSTIC RADIATION MODES
IDENTIFICATION AND CONTROL OF ACOUSTIC RADIATION MODES Arthur P. Berkhoff University of Twente, Faulty of Eletrial Engineering, P.O. Box 217, 7 AE Enshede, The Netherlands email: a.p.berkhoff@el.utwente.nl
More informationTesting of the External Turning Tool Holder Equipped With Alternate Bars in Its Construction
ISSN 1392 1320 MATERIALS SCIENCE (MEDŽIAGOTYRA). Vol. 21, No. 3. 2015 Testing of the External Turning Tool Holder Equipped With Alternate Bars in Its Constrution Marten MADISSOO 1, Argo ROSSNER 1, Jüri
More informationGreen s function for the wave equation
Green s funtion for the wave equation Non-relativisti ase January 2019 1 The wave equations In the Lorentz Gauge, the wave equations for the potentials are (Notes 1 eqns 43 and 44): 1 2 A 2 2 2 A = µ 0
More informationThree-dimensional Meso-scopic Analyses of Mortar and Concrete Model by Rigid Body Spring Model
Three-dimensional Meso-sopi Analyses of Mortar and Conrete Model by Rigid Body Spring Model K. Nagai, Y. Sato & T. Ueda Hokkaido University, Sapporo, Hokkaido, JAPAN ABSTRACT: Conrete is a heterogeneity
More informationDevelopment of an efficient finite element model for the dynamic analysis of the train-bridge interaction
Development of an effiient finite element model for the dynami analysis of the train-bridge interation S. Neves, A. Azevedo & R. Calçada Faulty of Engineering, University of Porto, Porto, Portugal ABSTRACT:
More informationDocument Version Publisher s PDF, also known as Version of Record (includes final page, issue and volume numbers)
A omparison between ylindrial and ross-shaped magneti vibration isolators : ideal and pratial van Casteren, D.T.E.H.; Paulides, J.J.H.; Lomonova, E. Published in: Arhives of Eletrial Engineering DOI: 10.1515/aee-2015-0044
More informationCOMBINED PROBE FOR MACH NUMBER, TEMPERATURE AND INCIDENCE INDICATION
4 TH INTERNATIONAL CONGRESS OF THE AERONAUTICAL SCIENCES COMBINED PROBE FOR MACH NUMBER, TEMPERATURE AND INCIDENCE INDICATION Jiri Nozika*, Josef Adame*, Daniel Hanus** *Department of Fluid Dynamis and
More informationTheoretical and Experimental Research on the Yoke of the Axial Piston Pumps
Theoretial and Experimental Researh on the Yoke of the Axial Piston Pumps Vasiliu Niolae, P.E., Ph.D., Professor University "Politehnia" of Buharest, Fluid Power Department Rosu Cristian Adrian, M.E.,
More informationEffect of magnetization process on levitation force between a superconducting. disk and a permanent magnet
Effet of magnetization proess on levitation fore between a superonduting disk and a permanent magnet L. Liu, Y. Hou, C.Y. He, Z.X. Gao Department of Physis, State Key Laboratory for Artifiial Mirostruture
More informationRelativity in Classical Physics
Relativity in Classial Physis Main Points Introdution Galilean (Newtonian) Relativity Relativity & Eletromagnetism Mihelson-Morley Experiment Introdution The theory of relativity deals with the study of
More informationExperimental Investigation and FE Analysis of Fiber Woven Layered Composites under Dynamic Loading
2th International LS-DYNA Users Conferene Constitutive Modeling(2) xperimental Investigation and F Analysis of Fiber Woven Layered Composites under Dynami Loading Pavel A. Mossakovsky, Fedor K. Antonov,
More informationCombined Electric and Magnetic Dipoles for Mesoband Radiation, Part 2
Sensor and Simulation Notes Note 53 3 May 8 Combined Eletri and Magneti Dipoles for Mesoband Radiation, Part Carl E. Baum University of New Mexio Department of Eletrial and Computer Engineering Albuquerque
More informationStudy on the leak test technology of spacecraft using ultrasonic
SINCE2013 Singapore International NDT Conferene & Exhibition 2013, 19-20 July 2013 Study on the test tehnology of spaeraft using ultrasoni Yan Rongxin, Li Weidan Beijing Institute of Spaeraft Environment
More informationBäcklund Transformations: Some Old and New Perspectives
Bäklund Transformations: Some Old and New Perspetives C. J. Papahristou *, A. N. Magoulas ** * Department of Physial Sienes, Helleni Naval Aademy, Piraeus 18539, Greee E-mail: papahristou@snd.edu.gr **
More informationBUCKLING OF LONG COMPRESSION-LOADED ANISOTROPIC PLATES RESTRAINED AGAINST INPLANE LATERAL AND SHEAR DEFORMATIONS
AIAA-3-789 BUCKLING OF LONG COMPRESSION-LOADED ANISOTROPIC PLATES RESTRAINED AGAINST INPLANE LATERAL AND SHEAR DEFORMATIONS Mihael P. Nemeth * Mehanis and Durability Branh, NASA Langley Researh Center
More informationEE 321 Project Spring 2018
EE 21 Projet Spring 2018 This ourse projet is intended to be an individual effort projet. The student is required to omplete the work individually, without help from anyone else. (The student may, however,
More informationEvaluation of a Dual-Load Nondestructive Testing System To Better Discriminate Near-Surface Layer Moduli
52 TRANSPORTATION RESEARCH RECORD 1355 Evaluation of a Dual-Load Nondestrutive Testing System To Better Disriminate Near-Surfae Layer Moduli REYNALDO ROQUE, PEDRO ROMERO, AND BYRON E. RUTH Theoretial analyses
More informationA study on control of accumulators in web processing lines 1
A study on ontrol of aumulators in web proessing lines Prabhakar R. Pagilla, Inderpal Singh, and Ramamurthy V. Dwivedula Abstrat: Design of a ontrol algorithm for web tension regulation in an aumulator,
More informationThe Effectiveness of the Linear Hull Effect
The Effetiveness of the Linear Hull Effet S. Murphy Tehnial Report RHUL MA 009 9 6 Otober 009 Department of Mathematis Royal Holloway, University of London Egham, Surrey TW0 0EX, England http://www.rhul.a.uk/mathematis/tehreports
More informationTHE REFRACTION OF LIGHT IN STATIONARY AND MOVING REFRACTIVE MEDIA
HDRONIC JOURNL 24, 113-129 (2001) THE REFRCTION OF LIGHT IN STTIONRY ND MOVING REFRCTIVE MEDI C. K. Thornhill 39 Crofton Road Orpington, Kent, BR6 8E United Kingdom Reeived Deember 10, 2000 Revised: Marh
More informationPanel Session on Data for Modeling System Transients Insulated Cables
Panel Session on Data for Modeling System Transients Insulated Cables Bjørn Gustavsen SINTEF Energy Researh N-7465 Trondheim, Norway bjorn.gustavsen@energy.sintef.no Abstrat: The available EMTP-type programs
More informationSTABLE DESIGN OF H OUTPUT FEEDBACK CONTROL SYSTEMS WITH TIME DELAY
3 th World Conferene on Earthquake Engineering Vanouver, B.C., Canada August -6, 4 Paper No. 44 SABLE DESIGN OF H OUPU FEEDBACK CONROL SYSEMS WIH IME DELAY Chi-Chang LIN, Chang-Ching CHANG, Huang-Lin CHEN
More informationINFLUENCE OF OPERATING AND CONSTRUCTION PARAMETERS ON THE BEHAVIOR OF HYDRAULIC CYLINDER SUBJECTED TO JERKY MOTION
Proeedings of ICFDP 8: 8 th International Congress of Fluid Dynamis & Propulsion Deember 14-17, 006, Sharm El-Shiekh, Sinai, Egypt ICFDP8-EG-154 INFLUENCE OF OPERATING AND CONSTRUCTION PARAMETERS ON THE
More informationSlenderness Effects for Concrete Columns in Sway Frame - Moment Magnification Method
Slenderness Effets for Conrete Columns in Sway Frame - Moment Magnifiation Method Slender Conrete Column Design in Sway Frame Buildings Evaluate slenderness effet for olumns in a sway frame multistory
More information23.1 Tuning controllers, in the large view Quoting from Section 16.7:
Lesson 23. Tuning a real ontroller - modeling, proess identifiation, fine tuning 23.0 Context We have learned to view proesses as dynami systems, taking are to identify their input, intermediate, and output
More informationA NETWORK SIMPLEX ALGORITHM FOR THE MINIMUM COST-BENEFIT NETWORK FLOW PROBLEM
NETWORK SIMPLEX LGORITHM FOR THE MINIMUM COST-BENEFIT NETWORK FLOW PROBLEM Cen Çalışan, Utah Valley University, 800 W. University Parway, Orem, UT 84058, 801-863-6487, en.alisan@uvu.edu BSTRCT The minimum
More informationRelativistic Dynamics
Chapter 7 Relativisti Dynamis 7.1 General Priniples of Dynamis 7.2 Relativisti Ation As stated in Setion A.2, all of dynamis is derived from the priniple of least ation. Thus it is our hore to find a suitable
More informationA Rayleigh-Ritz method based on improved Fourier series for vibration analysis of cylindrical shell coupled with elastic beams
A Raleigh-Rit method based on improved Fourier series for vibration analsis of lindrial shell oupled with elasti beams Zhang Rune ; Cao Yipeng ; Li liaouan College of Power and Energ Engineering, Harbin
More informationQCLAS Sensor for Purity Monitoring in Medical Gas Supply Lines
DOI.56/sensoren6/P3. QLAS Sensor for Purity Monitoring in Medial Gas Supply Lines Henrik Zimmermann, Mathias Wiese, Alessandro Ragnoni neoplas ontrol GmbH, Walther-Rathenau-Str. 49a, 7489 Greifswald, Germany
More informationIdentification of a Nonlinear Aeroelastic Aircraft Wing Model
Identifiation of a Nonlinear Aeroelasti Airraft Wing Model Christopher M. Rihards * University of Louisville, Louisville, Kentuky 9 Martin J. Brenner NASA Dryden Flight Researh Center, Edwards, California
More informationAnalysis of discretization in the direct simulation Monte Carlo
PHYSICS OF FLUIDS VOLUME 1, UMBER 1 OCTOBER Analysis of disretization in the diret simulation Monte Carlo iolas G. Hadjionstantinou a) Department of Mehanial Engineering, Massahusetts Institute of Tehnology,
More informationComparison of PD and LQR Methods for Spacecraft Attitude Control Using Star Trackers
Comparison of PD and LQ Methods for Spaeraft Attitude Control Using Star raers Sott Beatt, Universit of New Meio, United States, sott.beatt@pangeateh.om ABSAC he wor ontained herein is a omparison of spaeraft
More informationTHE EFFECT OF CONSOLIDATION RATIOS ON DYNAMIC SHEAR MODULUS OF SOIL
Otober 12-17, 28, Beijing, China THE EFFECT OF CONSOLIDATION RATIOS ON DYNAMIC SHEAR MODULUS OF SOIL J. Sun 1 and X.M. Yuan 2 1 Assoiate Professor, Institute of Civil Engineering, Heilongjiang University,
More informationConformal Mapping among Orthogonal, Symmetric, and Skew-Symmetric Matrices
AAS 03-190 Conformal Mapping among Orthogonal, Symmetri, and Skew-Symmetri Matries Daniele Mortari Department of Aerospae Engineering, Texas A&M University, College Station, TX 77843-3141 Abstrat This
More informationEFFECTIVE STRESS LAW FOR THE PERMEABILITY OF CLAY-RICH SANDSTONES
SCA22-5 1/6 EFFECTIVE STRESS LAW FOR THE PERMEABILITY OF CLAY-RICH SANDSTONES Widad Al-Wardy and Robert W. Zimmerman Department of Earth Siene and Engineering Imperial College of Siene, Tehnology and Mediine
More informationFracture analysis of a functionally graded interfacial zone between two dissimilar homogeneous materials
540 Siene in China Series G: Physis, Mehanis & Astronomy 006 Vol.49 No.5 540 55 DOI: 0.007/s433-006-004-0 Frature analysis of a funtionally graded interfaial zone between two dissimilar homogeneous materials
More informationNonlinear constitutive law for ferroelectric/ ferroelastic material and its finite element realization
Siene in China Series G: Physis, Mehanis & Astronomy 2007 Siene in China Press Springer-Verlag Nonlinear onstitutive law for ferroeletri/ ferroelasti material and its finite element realization LI YaoChen
More informationDeveloping Excel Macros for Solving Heat Diffusion Problems
Session 50 Developing Exel Maros for Solving Heat Diffusion Problems N. N. Sarker and M. A. Ketkar Department of Engineering Tehnology Prairie View A&M University Prairie View, TX 77446 Abstrat This paper
More informationEFFECTS OF COUPLE STRESSES ON PURE SQUEEZE EHL MOTION OF CIRCULAR CONTACTS
-Tehnial Note- EFFECTS OF COUPLE STRESSES ON PURE SQUEEZE EHL MOTION OF CIRCULAR CONTACTS H.-M. Chu * W.-L. Li ** Department of Mehanial Engineering Yung-Ta Institute of Tehnology & Commere Ping-Tung,
More informationComparison of Alternative Equivalent Circuits of Induction Motor with Real Machine Data
Comparison of Alternative Equivalent Ciruits of Indution Motor with Real Mahine Data J. radna, J. auer, S. Fligl and V. Hlinovsky Abstrat The algorithms based on separated ontrol of the motor flux and
More informationSupplementary Materials
Supplementary Materials Neural population partitioning and a onurrent brain-mahine interfae for sequential motor funtion Maryam M. Shanehi, Rollin C. Hu, Marissa Powers, Gregory W. Wornell, Emery N. Brown
More informationA NEW FLEXIBLE BODY DYNAMIC FORMULATION FOR BEAM STRUCTURES UNDERGOING LARGE OVERALL MOTION IIE THREE-DIMENSIONAL CASE. W. J.
A NEW FLEXIBLE BODY DYNAMIC FORMULATION FOR BEAM STRUCTURES UNDERGOING LARGE OVERALL MOTION IIE THREE-DIMENSIONAL CASE W. J. Haering* Senior Projet Engineer General Motors Corporation Warren, Mihigan R.
More informationPlanning with Uncertainty in Position: an Optimal Planner
Planning with Unertainty in Position: an Optimal Planner Juan Pablo Gonzalez Anthony (Tony) Stentz CMU-RI -TR-04-63 The Robotis Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213 Otober
More information