CHAPTER 3 QUARTER AIRCRAFT MODELING

Size: px
Start display at page:

Download "CHAPTER 3 QUARTER AIRCRAFT MODELING"

Transcription

1 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 to deal with a single landing gear. The most commonly and widely used model for representing any vehicle suspension system is a quarter model. A quarter model is a simple model with two translational degree of freedom, which can depict the basic principle involved in a ride problem. This model essentially consists of a proper representation of controlling the aircraft-body and landing gear variations during landing impact and taxing on the surfaces with undulations. The advantage of using this model is that it allows in controlling or modifying the landing gear parameters in a simple manner, since it does not take into account any complex dynamics. However, this model contains no representation of the geometric effects of an aircraft and hence the effects of longitudinal and lateral interconnections cannot be studied. Initially in this chapter, two system models representing the passive and active landing gear system were modeled with the runway bump input for parametric analysis of landing gear and for numerical simulations to compare the dynamic response of passive and active landing gear. Passive control of vibration is relatively simple, reliable, robust and economical but it has its limitations. The control force generated in the passive device, depends entirely on the natural dynamics. Once the device is designed, after choosing the values of mass, stiffness coefficient, damping coefficient, location, it is not possible to adjust the control forces that are

2 31 naturally generated in real time. Further, there is no supply of power from an external source. Hence even the magnitude of the control forces cannot be changed from their natural values. Then PID controller was designed and implemented in the system model individually and, series of the simulation runs were carried out for the system for different runway excitations. The results which were obtained were then analyzed and a comparative study was done to compare the system responses of the passive system with the active system using PID controller. During a series of simulations, the effectiveness of the controllers were validated and the controllers optimum tuning values are obtained. 3.2 MODEL FORMULATION OF PASSIVE LANDING GEAR Passive landing gear system consists of upper and lower chambers. These two chambers are connected by an orifice. The upper chamber is filled with pressurized nitrogen or air and the remaining upper and lower volume is filled with hydraulic oil. The oil flow is regulated in the orifice area by metering pin. This absorber produces spring and damping characteristics. During the aircraft landing, the shock strut experiences compression and extension. This motion forces the oil to pass through the orifice which dissipates the large amount of energy created by landing impact. The oil flows from the lower to upper chamber, compressing the nitrogen that stores the remaining impact energy. This stored energy extends the shock strut and the oil flows from the upper chamber thus dissipating the residual impact energy. This compression and extension oscillation continues until all landing impact energy dissipates. The schematic diagram of passive landing gear is as shown in Figure 3.1.

3

4 33 Figure 3.2 Mathematical model of passive landing gear Linear Model Assumptions 1. All motions are in the vertical direction. 2. Vehicle seat cushioning is neglected. 3. Small motions. 4. Gravity ignored (measurement from equilibrium position). 5. Ground contact is maintained. 6. Rigid suspension linkages and vehicle body. 7. Damping in the tire. 8. Linear tire behavior. 9. No friction in suspension members. 10. Linear springs and dampers.

5 Dynamic Equation of Motion By Newton s second law of force equilibrium method the dynamic equations of motion are derived by using the free body diagram concept of sprung mass and unsprung mass.the second order differential equation describing dynamics of the passive landing gear is written by using free body diagram. Figure 3.3 Free body diagram of sprung mass From the Figure 3.3, the equation of motion of sprung mass representing the aircraft body is written as Equation (3.1) + ( ) + ( ) = 0 (3.1) Figure 3.4 Freebody diagram of unsprungmass

6 35 From the Figure 3.4, the equation of motion of un sprung representing the wheel components is written as Equation (3.2) + ( ) + + ( ) + = 0 (3.2) The equations of motion for the two degree of freedom system can be written in matrix form as Equation (3.3) y = 0 (3.3) Quarter Aircraft Model Parameters The model parameters taken from the Fokker aircraft for numerical simulation are given in Table 3.1 to analyze the vertical vibration levels such as acceleration, displacement and shock strut travel of the passive landing gear. Table 3.1 Quarter aircraft model parameters Description Value sprung mass ( ) 8800 kg unsprung mass ( ) 260 kg sprung mass stiffness rate ( ) N/m sprung mass damper rate ( ) N.s/m unsprung mass tire stiffness rate ( ) N/m unsprung mass tire damper rate ( ) N.s/m

7 36 Assuming sprung mass damping ratio = 0.35, The landing gear damping coefficient is = 2 = / The unsprung mass damping ratio and the tire damping coefficient as c = 2 (k + k )m c k 2 m= 37411Ns m the wheel mode. These parameters will yield the frequency for the body mode and 2 1 = = = Bump Model A widely used method to construct fortified runways is the casting of large plates using liquid concrete. These plates are separated from each other by gaps filled with rubber. Aging of concrete runways causes the plates to settle unevenly, leading to long wavelength bumps, ramps and steps at the gaps. Figure 3.5 illustrates an assumed half sine type runway bump of height 0.06 m and wave length 44 m (0.8*55 m/s) over which the airplane travels. Figure 3.5 shows the runway profile, generated as a function of time for simulations based on the relation Time=Distance/velocity. The ride dynamic behavior of the aircraft

8 37 due to a sinusoidal excitation is investigated. The excitation frequency based on the vehicle speed and the wavelength is computed as approximately 1.25 Hz (7.85 rad/sec) (frequency=velocity/wave length). The generated bump input is used for the analysis of model parameters Runway bump input time(s) Figure 3.5 Bump input for simulation 3.3 SIMULINK MODELING OF PASSIVE LANDING GEAR As MATLAB is a high level technical computing language and interactive environment for algorithm development, data visualization, data analysis, numerical computation and control system. Tool box software provides tools for systematically analyzing, designing, and tuning linear control systems. Simulink software is closely integrated with the MATLAB environment. It requires MATLAB to run, to define and evaluate model and block parameters. Simulink can also utilize many MATLAB features. There are six steps to modeling any system in the Simulink: 1. Defining the System 2. Identifying System Components

9 38 3. Modeling the System with Equations 4. Building the Simulink Block Diagram 5. Running the Simulation 6. Validating the Simulation Results The first three steps of this process is performed outside of the Simulink software before building the model. Appendix 1.5 represents the Simulink model in the block diagram form of the sprung mass equations of motion given in Equation (3.1) and unsprung mass equations of motion given in Equation (3.2). The model assumes that the sprung mass is free to move through vertically and the unsprung masses have contact with the runway surface. Thus, the vertical acceleration, velocity and displacement of the aircraft center of gravity are functions of the vertical displacement of the quarter aircraft model. The vertical acceleration, velocity, and vertical displacement from the sprung mass dynamics and un sprung masses dynamics are calculated by simulations.the developed simulink model of the passive landing gear is validated with the active suspension using PID controller (Mouleeswaran Senthil kumar 2008).The simulation of simlink model for parametric analysis of passive landing gear system is done through the matlab programme in Appendix 1.1. The simulink block diagram of the passive landing gear system for the simulation is shown in Appendix PARAMETRIC ANALYSIS OF PASSIVE LANDING GEAR Unsprung to Sprung Mass Ratio Effect The analysis has been performed by maintaining the aircraft parameters constant, as specified in the Table 3.1 and changing the unsprung mass. The quarter model un sprung mass changes from 50% of its nominal value and through its nominal value and to a final 200% of the nominal mass. These changes correspond to an unsprung mass to sprung mass change of 400%.The changing of un sprung mass is given in the Table 3.2.

10 39 Mass Table 3.2 Unsprung mass range for analysis Value(kg) Un sprung to sprung mass ratio 50% of unsprung mass Base line % of sprung mass The response to an excitation of a bump input with amplitude of 0.06 m is used to simulate the sprung mass and unsprung mass system. Figures 3.6 and 3.7 show that the body response is marginally changed by the variation in the unsprung to sprung mass ratio and the results are tabulated in Table Fuselage acceleration for different unsprung mass 50% of unsprungmaas Base line 200% of unsprung mass time(s) Figure 3.6 Acceleration response for different unsprung mass

11 Fuselage displacement for different unsprung mass 50% of unsprung mass Base line 200% of unsprung mass time(s) Figure 3.7 Displacement response for different unsprung mass Table 3.3 Dynamic response for change in unsprung mass Characteristic outcome Body mode frequency(rad/s) 50% of unsprung mass Base line 200 % of unsprung mass Body response is slightly affected Body settling time(s) Body peak displacement(m) Body peak acceleration(m/s²)

12 Landing Gear Spring Stiffness Effect The analysis was done by varying the spring stiffness while maintaining all other parameters constant, as shown in Table 3.1. The quarter model spring stiffness changes from 50% of its value through the original value and to a final 200% of the stiffness value. These changes correspond to a stiffness change range of 400%.The sprung mass response to a bump input shows that as the stiffness increases, the body mode is less damped and the natural frequency value increases. Figure 3.8 shows the higher amplitude of vibration when the stiffness value increases and Figure 3.9 shows the increases in displacement. The results are tabulated in the Table Fuselage acceleration of different landing gear stiffness 50% of stiffness Base line 200% of stiffness time(s) Figure 3.8 Acceleration response for different landing gear stiffness

13 Fuselage displacement for different landing gear stiffness 50% of stiffness Base line 200% of stiffness time(s) Figure 3.9 Displacement response for different landing gear stiffness Table 3.4 Dynamic response for change in landing gear stiffness Characteristic Outcome Body mode frequency(rad/s) 50% of spring stiffness Base line 200 % of spring stiffness Body response is less damped.higher natural frequency and higher acceleration Body settling time(s) Body peak displacement(m) Body peak acceleration(m/s²)

14 Landing Gear Damping Coefficient Effect The analysis was performed by maintaining all the aircraft parameters constant, as specified in Table 3.1, and changing damping coefficient. The quarter model damping coefficient was changed from 50% of its nominal value through the nominal value to a final 200% of the nominal damping coefficient. The sprung mass response to a bump input shows that as the landing gear damping increases, the body mode is more damped, with no change in natural frequency, and lower amplitude. From the Figure 3.10 and Figure 3.11 base line is suitable, there is too much overshoot for lower values of damping coefficient and the system gets too fast for higher values of damping coefficient and tabulated in Table Fuselage acceleration for different landing gear damping coefficient 50% of damping coefficient Base line 200% of damping coefficient time(s) Figure 3.10 Acceleration response for different landing gear damping coefficient

15 Fuselage displacement for different landing gear damping coefficient 50% of damping coefficient Base line 200% of damping coefficient time(s) Figure 3.11 Displacement response for a change in landing gear damping coefficient Table 3.5 Dynamic response for change in damping coefficient Characteristic Outcome Body mode frequency (rad/s) 50% of sprung mass damping coefficient Base line 200 % of sprung mass damping coefficient Less damping time with the damping increases, no change in body frequency Body settling time (s) Body peak displacement(m) Body peak acceleration(m/s²)

16 MODELING OF ACTIVE LANDING GEAR SYSTEM Figure 3.12 shows the active landing gear system consisting of low pressure reservoir, hydraulic pump, high pressure accumulator, servo actuator and electronic controller (Howell et al 1991). The passive system does not include servo actuator, transducers and electronic controllers. When an aircraft lands, the shock absorber stroke is influenced by the aircraft s payload and varies depending on runway excitations. The generation of active control energy is to attenuate the vibrations to improve the ride comfort. Figure 3.12 Schematic diagram of active landing gear system Active landing gear is mathematically modeled (Irwin Ross & Edson 1983, Horta et al 1999) and the active force is controlled by electronic controller which is activated by the sensors fitted in the landing gear. Energy is supplied through the hydraulic fluid to the landing gear system and also withdrawn from the system depends on load requirements by the servo system. In the active landing gear system, the stroke is measured by the

17 46 transducers and their signal input into the PID controller. This controller directs the servo valve to regulate the oil flow into or out of the shock absorber, hence producing the active control force to reduce the vibration level and also the force transferred to the airplane (Freymann & Johnson 1985, Freymann 1987, 1991). The mathematical modeling of the active landing gear system is as shown in Figure By Newton s second law, the dynamic equation of motion is derived, is the active control force. The equations of motion are written by using free body diagrams. Figure 3.13 Mathematical model of active landing gear system Figure 3.14 Free body diagram of sprung mass

18 47 From the Figure 3.14, the equation of motion for sprung mass is written as Equation (3.4) + ( ) + ( ) = 0 (3.4) Figure 3.15 Free body diagram of un sprung mass From the Figure 3.15, the equation of motion for unsprung mass is written as Equation (3.5) + ( ) + + ( ) + + = 0 (3.5) Dynamic equations can be written in matrix form as Equation (3.6) y = 0 (3.6) The general equation is written as Equation (3.7) [ ]{ } + [ ]{ } + [ ]{ } = { } (3.7)

19 48 where, [ ] is the mass matrix given by [ ] = 0 0 [ ] is the damping matrix given by [ ] = + [ ] is the stiffness matrix given by [ ] = + { } is the displacement vector given by { }= { } is the velocity vector given by { }= y { } is the acceleration vector given by { }= and { } is the force vector given by

20 49 { } = + The governing equation can be simplified as Equation (3.8) { } = [ ] { } [ ] [ ]{ } [ ] [ ]{ } (3.8) 3.6 SHOCK STRUT FORCES During operation of oleo pneumatic shock strut, damping effect is created by compressing the oil through metering orifice whose area is varied by the metering piston on various loading conditions. The air/nitrogen in the pneumatic chamber area is compressed by the hydraulic oil which provides air cushion spring effect throughout its operation. Sliding movement of parts in the system induces frictional forces adding to the shock strut forces. The gear forces are obtained as follows Air spring force is the force simulating the pressure of nitrogen gas in the upper chamber of the cylinder (Jayarami Reddy et al 1984). It is assumed that the pressure and volume of the gas satisfies the state of polytrophic equation of gas (3.9). = (3.9) where = pressure in the cylinder = area of the piston = Initial volume of the cylinder = stroke of the piston n = polytrophic constant

21 50 Damping force is provided by oil flow forced through an orifice by vertical strut position. The hydraulic oil flow is controlled by means of metering pin, The equation is written as Equation (3.10) = (3.10) where =Density of hydraulic fluid = area of the piston = velocity of the piston stroke = orifice coefficient =area of the orifice Friction force: The friction is proportional to the velocity and the air spring force developed in the system. This friction model is accurate in dynamic loading circumstances. The equation is written as Equation (3.11). y where = co-efficient of friction =air spring force = velocity of the piston stroke The total axial force in the shock absorber = + + (3.11)

22 CONTROLLER DESIGN PID Controller Proportional-Integral-Derivative controller (PID) is a generic control loop feedback mechanism widely used in industrial control system. It is commonly used feedback controller. The error value is calculated as the difference between a measured variable and reference point. The controller has got three control parameters called the proportional, the integral and derivative values. It is denoted as P, I and D.P depends on the present error, I is the accumulation of past errors and D is a prediction of future errors based on the current rate of change. The weighted sum of these three actions is used to adjust the active control force by controlling the servo valve PID Controller Theory The PID control is named by three terms viz, the proportional (P), integral (I) and derivative (D) (Shinners 1964) are summed to calculate the output of the PID controller. It is written as Equation (3.12) = ( ) + ( ) + ( ) (3.12) Proportional term The proportional term is used to change the output. The output is proportional to the current error value. The proportional value is calculated by multiplying the error by a constant.this is called proportional gain. The proportional term is given by the Equation (3.13) = ( ) (3.13)

23 52 If the proportional gain is too high, the controller system will become unstable. If the proportional gain is too low, the control will be very small and will not respond to the system disturbances Integral term The integral term is proportional to the magnitude of the error and the duration of the error. The integral is the sum of instantaneous error over time.which is known as accumulated error. The integral term is calculated by multiplying the accumulated error and the integral gain( ).It is given by the Equation (3.14) = ( ) (3.14) The integral term accelerates the movement of the process towards reference point and eliminates the residual steady state error that occurs with a pure proportional controller Derivative term It is calculated by determining the slope of the error over time and multiplying this rate of change by the derivative gain.the derivative term is given by the Equation (3.15). = ( ) (3.15) The derivative term slows the rate of change of the controller output. Derivative control is used to reduce the magnitude of the overshoot produced by the integral component and improve the controller stability.

24 Tuning Method Tuning a control loop is the adjustment of its control parameters to the optimum values for the desired control response. PID tuning is a difficult problem, because it must satisfy complex criteria within the limitations of PID control. Generally stability of response is required and the process must not oscillate for any combination of process conditions and set points, though sometimes marginal stability is accepted or desired. There are several methods (Datta et al 2000) of tuning of PID controller. The most effective methods generally involve the development of some form of process model, with appropriate P, I and D based on the dynamic model parameters. The different methods are manual method, Ziegler- Nichols method, Cohen coon method and software tools as given in the Table 3.6. Manual tuning methods can be relatively inefficient, particularly if the loops have response times on the order of minutes or longer. In this work, Ziegler Nichols method is simple and often used. Table 3.6 Various tuning methods Method Advantages Disadvantages Manual tuning Ziegler-Nichols Software tools Cohen-coon No mathematical knowledge required. Online method Proven method. Online method Consistent tuning, online or offline method. May include valve and sensor analysis. Allow simulation before downloading. Can support non steady state tuning. Good process models Requires experienced personnel Process upset some trial and error. Very aggressive tuning Some cost and training involved. Some math, offline method. Only good for first order process.

25 Ziegler-Nichols method This method is introduced by John Ziegler & Nathaniel Nichols (1940). First the and gains are set to zero. The gain is increased until it reaches the ultimate gain at which the output of the loop starts to oscillate. and the oscillation period are used to tune the gains as shown in Table 3.7. Table 3.7 Ziegler Nichols method Control type P 0.5 PI / PID / /8 Equation (3.16) The PID controller design Haitao Wang et al (2008) is defined by = ( ) + ( ) + ( ) (3.16) is the current input from the controller. is the proportional gain, and is the integral and derivative gain of the PID controller. ( ) represents a reference signal and is the feedback signal measured from the sensors fitted in the landing gear. The simulink modeling of PID controller is shown in Figure The error function is written as Equation (3.17) ( ) = ( ) ( ) (3.17)

26 55 Figure 3.16 Simulink model of PID controller The output signal of the controller gives the displacement of the servo valve as Equation (3.18) ( ) = { ( ) [ ( ) ( )]} + { ( ) ( ) ( )} + { ( ) [ ( ) ( )]} (3.18) The feedback coefficients viz,, are adjusted by Ziegler- Nichols tuning rules to obtain the best control over the servo valve. 3.8 HYDRAULIC POWER SUPPLY SYSTEM The following subsections comprise a brief description of the Principal Hydraulic Elements that make up a typical position controlled system. The block diagram of the hydraulic system is shown in Figure Low Pressure Reservoir A hydraulic reservoir is a tank or container designed to store sufficient hydraulic fluid for all conditions of operation. Reservoirs have additional storage place to have a reserve of fluid for the emergency operation of the landing gears, flaps, etc. The reservoir is pressurized to provide a

27 56 continuous supply of fluid to the pumps. The reservoir may be pressurized by spring pressure, air pressure or hydraulic pressure. The desired pressure to be maintained ranges from 10 psi to 90 psi approximately Hydraulic Gear Pump Gear pump is commonly used in the hydraulic system. It is a positive displacement pump. The gears of the pump are driven by the power source, which could be an engine drive or electric motor drive. The fluid trapped in the clearance between the gears and casing is forced through the out port High Pressure Accumulator An accumulator is basically a chamber for storing hydraulic fluid under pressure. It can serve one or more purposes. It dampens pressure surges caused by the operation of an actuator. It can aid or supplement the system pump when several units are operating at the same time and demand is beyond the pump capacity. An accumulator can also store power for limited operation of a component if the pump is not operating. Finally it can supply fluid under pressure for small system leaks that would cause the system to cycle continuously between high and low pressure. The accumulators are of the diaphragm, bladder, and piston types. The pressure in the accumulator is approximately 3000 psi Servo Actuator Servo actuator is designed to provide hydraulic power and it includes an actuating cylinder, a multiport flow control valve, check valves and relief valves together with connecting linkages. The movement of the

28 57 piston in the servo actuator depends on the control signal from the electronic controller. Figure 3.17 Block diagram of hydraulic servo system Active Control Force Active control force is a function of the flow output of the servo valve. The servo valve displacement ( ) is controlled by the PID controller. The controller actuates the servo valve by the velocity signal, measured by the transducers. There is no exact relationship between the active control force and the flow quantity from the servo valve (Sharp 1988).It is often determined through experiments or by empirical formula. It is assumed that the active control force (Haitao Wang et al 2008) is described by Equation (3.19) = (3.19) The flow quantity is calculated by Equation (3.20)

29 58 = (3.20) when the displacement of the servo valve ( ) > 0, the hydraulic oil would have positive flow from the accumulator in to the landing gear system and a positive control force > 0. When ( ) < 0, oil is drawn from the landing gear in to LP reservoir so that < 0, where ( ) is the displacement determined from the controller as in Equation (3.18). 3.9 SIMULINK MODELING OF THE ACTIVE LANDING GEAR SYSTEM Simulink model of the single active landing gear is the block diagram form of the equations of motion given in Equation (3.8).The model assumes that the sprung mass is free to move in the vertically and the un sprung masses have contact with the runway surface. Thus, the vertical acceleration, velocity and displacement of the aircraft center of gravity are functions of the vertical displacement of the quarter aircraft model. The simulation of this simulink model is done through the mat lab program in Appendix 1.2. The Simulink block diagram of the active landing gear system for the simulation is shown in Appendix BUMP MODEL An assumed half sine type runway bump of height 0.10 m and wave length 44 m (0.8*55 m/s) were generated over which the airplane travels. The runway profile is generated as a function of time for simulations based on the relation Time=Distance/velocity. 'The ride dynamic behavior of the aircraft due to a sinusoidal excitation is investigated (Catt et al 1992). The excitation frequency based on the vehicle speed and the wavelength is computed as

30 59 approximately 1.25 Hz (7.85 rad/sec) (frequency=velocity/wave length).the equation is written as Equation (3.21) = 100(1 cos ) otherwise (3.21) The half sine wave bump model with a height of 0.1m is designed in Matlab/Simulink. The model is generated based on the above equation. The product of step block and sine wave block is used in the bump model generator. The profile generator of bump input for simulation is shown in Figure Step1 Step Constant Product 1 Output Sine Wave Figure 3.18 Simulink model of bump input

Index. Index. More information. in this web service Cambridge University Press

Index. 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 information

Modelling and State Dependent Riccati Equation Control of an Active Hydro-Pneumatic Suspension System

Modelling 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 information

CHAPTER 5 RANDOM ROAD ANALYSIS

CHAPTER 5 RANDOM ROAD ANALYSIS 78 CHAPTER 5 RANDOM ROAD ANALYSIS 5.1 INTRODUCTION In this chapter, the random runway profiles are generated using Matlab/Simulink. The developed full aircraft with active landing gear model is simulated

More information

The basic principle to be used in mechanical systems to derive a mathematical model is Newton s law,

The basic principle to be used in mechanical systems to derive a mathematical model is Newton s law, Chapter. DYNAMIC MODELING Understanding the nature of the process to be controlled is a central issue for a control engineer. Thus the engineer must construct a model of the process with whatever information

More information

Contents. Dynamics and control of mechanical systems. Focus on

Contents. Dynamics and control of mechanical systems. Focus on Dynamics and control of mechanical systems Date Day 1 (01/08) Day 2 (03/08) Day 3 (05/08) Day 4 (07/08) Day 5 (09/08) Day 6 (11/08) Content Review of the basics of mechanics. Kinematics of rigid bodies

More information

Appendix 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) 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 information

Dynamics and control of mechanical systems

Dynamics and control of mechanical systems Dynamics and control of mechanical systems Date Day 1 (03/05) - 05/05 Day 2 (07/05) Day 3 (09/05) Day 4 (11/05) Day 5 (14/05) Day 6 (16/05) Content Review of the basics of mechanics. Kinematics of rigid

More information

EXAMPLE: MODELING THE PT326 PROCESS TRAINER

EXAMPLE: MODELING THE PT326 PROCESS TRAINER CHAPTER 1 By Radu Muresan University of Guelph Page 1 EXAMPLE: MODELING THE PT326 PROCESS TRAINER The PT326 apparatus models common industrial situations in which temperature control is required in the

More information

CHAPTER INTRODUCTION

CHAPTER 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 information

Lecture 5 Classical Control Overview III. Dr. Radhakant Padhi Asst. Professor Dept. of Aerospace Engineering Indian Institute of Science - Bangalore

Lecture 5 Classical Control Overview III. Dr. Radhakant Padhi Asst. Professor Dept. of Aerospace Engineering Indian Institute of Science - Bangalore Lecture 5 Classical Control Overview III Dr. Radhakant Padhi Asst. Professor Dept. of Aerospace Engineering Indian Institute of Science - Bangalore A Fundamental Problem in Control Systems Poles of open

More information

International Journal of Multidisciplinary and Current Research

International Journal of Multidisciplinary and Current Research International Journal of Multidisciplinary and Current Research Research Article ISSN: 2321-3124 Available at: http://ijmcr.com Theoretical and Numerical Analysis of Half Car Vehicle Dynamic Model Subjected

More information

Comparison of Quarter Car Model of Active Pneumatic Suspensions using Mass Flow Control for a Small Car

Comparison of Quarter Car Model of Active Pneumatic Suspensions using Mass Flow Control for a Small Car Research Article International Journal of Current Engineering and Technology E-ISSN 2277 4106, P-ISSN 2347-5161 2014 INPRESSCO, All Rights Reserved Available at http://inpressco.com/category/ijcet Comparison

More information

RESEARCH ON AIRBORNE INTELLIGENT HYDRAULIC PUMP SYSTEM

RESEARCH 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 information

Lectures Chapter 10 (Cutnell & Johnson, Physics 7 th edition)

Lectures Chapter 10 (Cutnell & Johnson, Physics 7 th edition) PH 201-4A spring 2007 Simple Harmonic Motion Lectures 24-25 Chapter 10 (Cutnell & Johnson, Physics 7 th edition) 1 The Ideal Spring Springs are objects that exhibit elastic behavior. It will return back

More information

Modelling the Dynamics of Flight Control Surfaces Under Actuation Compliances and Losses

Modelling 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 information

CALCULATION OF THE ACCUMULATORS 2.2 E 01-12

CALCULATION OF THE ACCUMULATORS 2.2 E 01-12 CALCULATION OF THE ACCUMULATORS 2.2 E 01-12 2.2.1 PRINCIPLE OF OPERATION Gas compression In hydropneumatic accumulators, oil or other liquids are maintained under pressure by a pre-compressed gas, usually

More information

Feedback Control of Linear SISO systems. Process Dynamics and Control

Feedback Control of Linear SISO systems. Process Dynamics and Control Feedback Control of Linear SISO systems Process Dynamics and Control 1 Open-Loop Process The study of dynamics was limited to open-loop systems Observe process behavior as a result of specific input signals

More information

Fundamental study on simple quantitative approach of damping performance for semi-active damper

Fundamental study on simple quantitative approach of damping performance for semi-active damper Fundamental study on simple quantitative approach of damping performance for semi-active damper T. Hiwatashi Toa Corporation, Yokohama, Japan H. Fujitani Kobe University, Kobe, Japan SUMMARY: Structural

More information

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 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 information

Car Dynamics using Quarter Model and Passive Suspension; Part V: Frequency Response Considering Driver-seat

Car Dynamics using Quarter Model and Passive Suspension; Part V: Frequency Response Considering Driver-seat 357 Car Dynamics using Quarter Model and Passive Suspension; Part V: Frequency Response Considering Driver-seat Galal Ali Hassaan Emeritus Professor, Department of Mechanical Design & Production, Faculty

More information

557. Radial correction controllers of gyroscopic stabilizer

557. Radial correction controllers of gyroscopic stabilizer 557. Radial correction controllers of gyroscopic stabilizer M. Sivčák 1, J. Škoda, Technical University in Liberec, Studentská, Liberec, Czech Republic e-mail: 1 michal.sivcak@tul.cz; jan.skoda@pevnosti.cz

More information

Lecture 5. Labs this week:

Lecture 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 information

Fuzzy Logic Control for Half Car Suspension System Using Matlab

Fuzzy Logic Control for Half Car Suspension System Using Matlab Fuzzy Logic Control for Half Car Suspension System Using Matlab Mirji Sairaj Gururaj 1, Arockia Selvakumar A 2 1,2 School of Mechanical and Building Sciences, VIT Chennai, Tamilnadu, India Abstract- To

More information

Lecture 6 mechanical system modeling equivalent mass gears

Lecture 6 mechanical system modeling equivalent mass gears M2794.25 Mechanical System Analysis 기계시스템해석 lecture 6,7,8 Dongjun Lee ( 이동준 ) Department of Mechanical & Aerospace Engineering Seoul National University Dongjun Lee Lecture 6 mechanical system modeling

More information

A system is defined as a combination of components (elements) that act together to perform a certain objective. System dynamics deal with:

A system is defined as a combination of components (elements) that act together to perform a certain objective. System dynamics deal with: Chapter 1 Introduction to System Dynamics A. Bazoune 1.1 INTRODUCTION A system is defined as a combination of components (elements) that act together to perform a certain objective. System dynamics deal

More information

Vibration Control Prof. Dr. S. P. Harsha Department of Mechanical & Industrial Engineering Indian Institute of Technology, Roorkee

Vibration Control Prof. Dr. S. P. Harsha Department of Mechanical & Industrial Engineering Indian Institute of Technology, Roorkee Vibration Control Prof. Dr. S. P. Harsha Department of Mechanical & Industrial Engineering Indian Institute of Technology, Roorkee Module - 1 Review of Basics of Mechanical Vibrations Lecture - 2 Introduction

More information

CHAPTER 5 QUASI-STATIC TESTING OF LARGE-SCALE MR DAMPERS. To investigate the fundamental behavior of the 20-ton large-scale MR damper, a

CHAPTER 5 QUASI-STATIC TESTING OF LARGE-SCALE MR DAMPERS. To investigate the fundamental behavior of the 20-ton large-scale MR damper, a CHAPTER 5 QUASI-STATIC TESTING OF LARGE-SCALE MR DAMPERS To investigate the fundamental behavior of the 2-ton large-scale MR damper, a series of quasi-static experiments were conducted at the Structural

More information

STUDY OF EFFECTS OF VIBRATIONS CAUSED BY RAILWAY TRAFFIC TO BUILDINGS

STUDY OF EFFECTS OF VIBRATIONS CAUSED BY RAILWAY TRAFFIC TO BUILDINGS Bulletin of the Transilvania University of Braşov CIBv 2014 Vol. 7 (56) Special Issue No. 1-2014 STUDY OF EFFECTS OF VIBRATIONS CAUSED BY RAILWAY TRAFFIC TO BUILDINGS R. NERIŞANU 1 D. DRĂGAN 1 M. SUCIU

More information

MOOC QP Set 2 Principles of Vibration Control

MOOC QP Set 2 Principles of Vibration Control Section I Section II Section III MOOC QP Set 2 Principles of Vibration Control (TOTAL = 100 marks) : 20 questions x 1 mark/question = 20 marks : 20 questions x 2 marks/question = 40 marks : 8 questions

More information

A FLUID INERTER WITH VARIABLE INERTANCE PROPERTIES

A FLUID INERTER WITH VARIABLE INERTANCE PROPERTIES A FLUID INERTER WITH VARIABLE INERTANCE PROPERTIES Smith, N. D. J. 1 & Wagg, D. J. 1 1 Department of Mechanical Engineering, University of Sheffield, Sheffield, S1 3JD, UK. David.Wagg@sheffield.ac.uk ABSTRACT.

More information

AdaptiveImpact Absorption. Smart Technology Centre

AdaptiveImpact Absorption. Smart Technology Centre AdaptiveImpact Absorption Jan Holnicki-Szulc Institute of Fundamental Technological Research Smart Technology Centre http://smart.ippt.gov.pl Smart Technology Centre: 25 researchers (Smart Technologies

More information

APPLICATIONS OF HERMETICALLY SEALED FLUID DAMPERS FOR LOW LEVEL, WIDE BANDWIDTH VIBRATION ISOLATION

APPLICATIONS OF HERMETICALLY SEALED FLUID DAMPERS FOR LOW LEVEL, WIDE BANDWIDTH VIBRATION ISOLATION APPLICATIONS OF HERMETICALLY SEALED FLUID DAMPERS FOR LOW LEVEL, WIDE BANDWIDTH VIBRATION ISOLATION by Alan R. Klembczyk, Chief Engineer Taylor Devices, Inc. 90 Taylor Drive North Tonawanda, NY 14120-0748

More information

Wheel and Axle. Author: Joseph Harrison. Research Ans Aerospace Engineering 1 Expert, Monash University

Wheel and Axle. Author: Joseph Harrison. Research Ans Aerospace Engineering 1 Expert, Monash University Wheel and Axle Author: Joseph Harrison British Middle-East Center for studies & Research info@bmcsr.com http:// bmcsr.com Research Ans Aerospace Engineering 1 Expert, Monash University Introduction A solid

More information

Comparison between the visco-elastic dampers And Magnetorheological dampers and study the Effect of temperature on the damping properties

Comparison between the visco-elastic dampers And Magnetorheological dampers and study the Effect of temperature on the damping properties Comparison between the visco-elastic dampers And Magnetorheological dampers and study the Effect of temperature on the damping properties A.Q. Bhatti National University of Sciences and Technology (NUST),

More information

Design and analysis of a pneumatic test system for shock response spectrum

Design and analysis of a pneumatic test system for shock response spectrum Design and analysis of a pneumatic test system for shock response spectrum Yan Tingfei 1, Xiang Shuhong 2, Shen Zhiqiang 3, Zhang Jungang 4, Liu Mo 5 1, 2, 3, 4, 5 Beijing Institute of Spacecraft Environment

More information

CALIFORNIA INSTITUTE OF TECHNOLOGY Control and Dynamical Systems

CALIFORNIA INSTITUTE OF TECHNOLOGY Control and Dynamical Systems R. M. Murray Fall 2004 CALIFORNIA INSTITUTE OF TECHNOLOGY Control and Dynamical Systems CDS 101/110 Homework Set #2 Issued: 4 Oct 04 Due: 11 Oct 04 Note: In the upper left hand corner of the first page

More information

666. 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 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 information

Iterative Controller Tuning Using Bode s Integrals

Iterative Controller Tuning Using Bode s Integrals Iterative Controller Tuning Using Bode s Integrals A. Karimi, D. Garcia and R. Longchamp Laboratoire d automatique, École Polytechnique Fédérale de Lausanne (EPFL), 05 Lausanne, Switzerland. email: alireza.karimi@epfl.ch

More information

AA 242B/ ME 242B: Mechanical Vibrations (Spring 2016)

AA 242B/ ME 242B: Mechanical Vibrations (Spring 2016) AA 242B/ ME 242B: Mechanical Vibrations (Spring 2016) Homework #2 Due April 17, 2016 This homework focuses on developing a simplified analytical model of the longitudinal dynamics of an aircraft during

More information

Car Dynamics using Quarter Model and Passive Suspension, Part VI: Sprung-mass Step Response

Car Dynamics using Quarter Model and Passive Suspension, Part VI: Sprung-mass Step Response IOSR Journal of Computer Engineering (IOSR-JCE) e-issn: 2278-0661,p-ISSN: 2278-8727, Volume 17, Issue 2, Ver. 1 (Mar Apr. 2015), PP 65-74 www.iosrjournals.org Car Dynamics using Quarter Model and Passive

More information

A 954 C HD. Technical Description Hydraulic Excavator. Machine for Industrial Applications

A 954 C HD. Technical Description Hydraulic Excavator. Machine for Industrial Applications Technical Description Hydraulic Excavator A 95 C HD litronic` Machine for Industrial Applications Operating Weight 165,800 170,0 lb Engine Output 36 hp (0 kw) Technical Data Engine Rating per ISO 99 0

More information

Modeling Mechanical Systems

Modeling Mechanical Systems Modeling Mechanical Systems Mechanical systems can be either translational or rotational. Although the fundamental relationships for both types are derived from Newton s law, they are different enough

More information

Mechanical System Elements

Mechanical System Elements Mechanical System Elements Three basic mechanical elements: Spring (elastic) element Damper (frictional) element Mass (inertia) element Translational and rotational versions These are passive (non-energy

More information

POE Concepts and Learning Objectives

POE Concepts and Learning Objectives POE Concepts and Learning Objectives Unit 1 Energy and Power Time Days: 49 days Lesson 1.1 Mechanisms (15 days): 1. Engineers and engineering technologists apply math, science, and disciplinespecific skills

More information

In this lecture you will learn the following

In this lecture you will learn the following Module 9 : Forced Vibration with Harmonic Excitation; Undamped Systems and resonance; Viscously Damped Systems; Frequency Response Characteristics and Phase Lag; Systems with Base Excitation; Transmissibility

More information

NATIONAL CERTIFICATE (VOCATIONAL) APPLIED ENGINEERING TECHNOLOGY NQF LEVEL 4 NOVEMBER 2009

NATIONAL CERTIFICATE (VOCATIONAL) APPLIED ENGINEERING TECHNOLOGY NQF LEVEL 4 NOVEMBER 2009 NATIONAL CERTIFICATE (VOCATIONAL) APPLIED ENGINEERING TECHNOLOGY NQF LEVEL 4 NOVEMBER 2009 (6021024) 30 October (Y-Paper) 13:00 16:00 A non-programmable scientific calculator may be used. This question

More information

DISTURBANCE ATTENUATION IN A MAGNETIC LEVITATION SYSTEM WITH ACCELERATION FEEDBACK

DISTURBANCE ATTENUATION IN A MAGNETIC LEVITATION SYSTEM WITH ACCELERATION FEEDBACK DISTURBANCE ATTENUATION IN A MAGNETIC LEVITATION SYSTEM WITH ACCELERATION FEEDBACK Feng Tian Department of Mechanical Engineering Marquette University Milwaukee, WI 53233 USA Email: feng.tian@mu.edu Kevin

More information

Subject: BT6008 Process Measurement and Control. The General Control System

Subject: BT6008 Process Measurement and Control. The General Control System WALJAT COLLEGES OF APPLIED SCIENCES In academic partnership with BIRLA INSTITUTE OF TECHNOLOGY Question Bank Course: Biotechnology Session: 005-006 Subject: BT6008 Process Measurement and Control Semester:

More information

Design of Close loop Control for Hydraulic System

Design 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 information

Foundation Engineering Dr. Priti Maheshwari Department Of Civil Engineering Indian Institute Of Technology, Roorkee

Foundation Engineering Dr. Priti Maheshwari Department Of Civil Engineering Indian Institute Of Technology, Roorkee Foundation Engineering Dr. Priti Maheshwari Department Of Civil Engineering Indian Institute Of Technology, Roorkee Module - 02 Lecture - 15 Machine Foundations - 3 Hello viewers, In the last class we

More information

CHBE320 LECTURE XI CONTROLLER DESIGN AND PID CONTOLLER TUNING. Professor Dae Ryook Yang

CHBE320 LECTURE XI CONTROLLER DESIGN AND PID CONTOLLER TUNING. Professor Dae Ryook Yang CHBE320 LECTURE XI CONTROLLER DESIGN AND PID CONTOLLER TUNING Professor Dae Ryook Yang Spring 2018 Dept. of Chemical and Biological Engineering 11-1 Road Map of the Lecture XI Controller Design and PID

More information

Improving the Control System for Pumped Storage Hydro Plant

Improving the Control System for Pumped Storage Hydro Plant 011 International Conference on Computer Communication and Management Proc.of CSIT vol.5 (011) (011) IACSIT Press, Singapore Improving the Control System for Pumped Storage Hydro Plant 1 Sa ad. P. Mansoor

More information

YTÜ Mechanical Engineering Department

YTÜ Mechanical Engineering Department YTÜ Mechanical Engineering Department Lecture of Special Laboratory of Machine Theory, System Dynamics and Control Division Coupled Tank 1 Level Control with using Feedforward PI Controller Lab Report

More information

Lecture Note 8-1 Hydraulic Systems. System Analysis Spring

Lecture 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 information

MODELING AND CONTROL OF A NEW 1/4T SERVO-HYDRAULIC VEHICLE ACTIVE SUSPENSION SYSTEM

MODELING AND CONTROL OF A NEW 1/4T SERVO-HYDRAULIC VEHICLE ACTIVE SUSPENSION SYSTEM Journal of Marine Science and Technology, Vol. 5, No. 3, pp. 65-7 (7) 65 MODELING AND CONTROL OF A NEW /T SERVO-HYDRAULIC VEHICLE ACTIVE SUSPENSION SYSTEM Jyh-Chyang Renn* and Tsung-Han Wu** Key word:

More information

Manufacturing Equipment Control

Manufacturing Equipment Control QUESTION 1 An electric drive spindle has the following parameters: J m = 2 1 3 kg m 2, R a = 8 Ω, K t =.5 N m/a, K v =.5 V/(rad/s), K a = 2, J s = 4 1 2 kg m 2, and K s =.3. Ignore electrical dynamics

More information

T1 T e c h n i c a l S e c t i o n

T1 T e c h n i c a l S e c t i o n 1.5 Principles of Noise Reduction A good vibration isolation system is reducing vibration transmission through structures and thus, radiation of these vibration into air, thereby reducing noise. There

More information

ACTIVE FORCE CONTROL WITH INPUT SHAPING TECHNIQUE FOR A SUSPENSION SYSTEM ABSTRACT

ACTIVE FORCE CONTROL WITH INPUT SHAPING TECHNIQUE FOR A SUSPENSION SYSTEM ABSTRACT Jurnal Mekanikal December 008, No. 7, 9-04 ACTIVE FORCE CONTROL WITH INPUT SHAPING TECHNIQUE FOR A SUSPENSION SYSTEM Mohd Zarhamdy Md Zain, Musa Mailah, G. Priyandoko Faculty of Mechanical Engineering,

More information

e jωt = cos(ωt) + jsin(ωt),

e jωt = cos(ωt) + jsin(ωt), This chapter introduces you to the most useful mechanical oscillator model, a mass-spring system with a single degree of freedom. Basic understanding of this system is the gateway to the understanding

More information

Load Prediction-based Energy-efficient Hydraulic Actuation. of a Robotic Arm. 1 Introduction

Load 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 information

THE subject of the analysis is system composed by

THE subject of the analysis is system composed by MECHANICAL VIBRATION ASSIGNEMENT 1 On 3 DOF system identification Diego Zenari, 182160, M.Sc Mechatronics engineering Abstract The present investigation carries out several analyses on a 3-DOF system.

More information

WORK SHEET FOR MEP311

WORK SHEET FOR MEP311 EXPERIMENT II-1A STUDY OF PRESSURE DISTRIBUTIONS IN LUBRICATING OIL FILMS USING MICHELL TILTING PAD APPARATUS OBJECTIVE To study generation of pressure profile along and across the thick fluid film (converging,

More information

VIBRATION ANALYSIS OF E-GLASS FIBRE RESIN MONO LEAF SPRING USED IN LMV

VIBRATION ANALYSIS OF E-GLASS FIBRE RESIN MONO LEAF SPRING USED IN LMV VIBRATION ANALYSIS OF E-GLASS FIBRE RESIN MONO LEAF SPRING USED IN LMV Mohansing R. Pardeshi 1, Dr. (Prof.) P. K. Sharma 2, Prof. Amit Singh 1 M.tech Research Scholar, 2 Guide & Head, 3 Co-guide & Assistant

More information

SIZING 2 E DEFINITIONS AND UNITS OF MEASUREMENT 2.1 CALCULATION OF THE ACCUMULATOR 2.2

SIZING 2 E DEFINITIONS AND UNITS OF MEASUREMENT 2.1 CALCULATION OF THE ACCUMULATOR 2.2 SIZING 2 E 01-12 DEFINITIONS AND UNITS OF MEASUREMENT 2.1 CALCULATION OF THE ACCUMULATOR 2.2 DEFINITIONS AND UNITS OF MEASUREMENT 2.1 E 01-12 2.1.1 DEFINITIONS Po = nitrogen pre-charge pressure (relative

More information

YTÜ Mechanical Engineering Department

YTÜ Mechanical Engineering Department YTÜ Mechanical Engineering Department Lecture of Special Laboratory of Machine Theory, System Dynamics and Control Division Coupled Tank 1 Level Control with using Feedforward PI Controller Lab Date: Lab

More information

Principles Of Engineering Detailed Outline

Principles Of Engineering Detailed Outline Principles Of Engineering Detailed Outline Unit 1 Energy and Power Time Days: 115 days Lesson 1.0 Introduction to POE (15 days) 1. Introduction to classroom expectations, Engineering notebook, Pretest

More information

Chapter 7 Control. Part Classical Control. Mobile Robotics - Prof Alonzo Kelly, CMU RI

Chapter 7 Control. Part Classical Control. Mobile Robotics - Prof Alonzo Kelly, CMU RI Chapter 7 Control 7.1 Classical Control Part 1 1 7.1 Classical Control Outline 7.1.1 Introduction 7.1.2 Virtual Spring Damper 7.1.3 Feedback Control 7.1.4 Model Referenced and Feedforward Control Summary

More information

FEEDBACK CONTROL SYSTEMS

FEEDBACK CONTROL SYSTEMS FEEDBAC CONTROL SYSTEMS. Control System Design. Open and Closed-Loop Control Systems 3. Why Closed-Loop Control? 4. Case Study --- Speed Control of a DC Motor 5. Steady-State Errors in Unity Feedback Control

More information

Skyhook Surface Sliding Mode Control on Semi-Active Vehicle Suspension System for Ride Comfort Enhancement

Skyhook Surface Sliding Mode Control on Semi-Active Vehicle Suspension System for Ride Comfort Enhancement Engineering, 2009, 1, 1-54 Published Online June 2009 in SciRes (http://www.scirp.org/journal/eng/). Skyhook Surface Sliding Mode Control on Semi-Active Vehicle Suspension System for Ride Comfort Enhancement

More information

Translational Mechanical Systems

Translational Mechanical Systems Translational Mechanical Systems Basic (Idealized) Modeling Elements Interconnection Relationships -Physical Laws Derive Equation of Motion (EOM) - SDOF Energy Transfer Series and Parallel Connections

More information

Fuzzy Skyhook Control for Active One-Half-Car Suspension Model

Fuzzy Skyhook Control for Active One-Half-Car Suspension Model Fuzzy Skyhook Control for Active One-Half-Car Suspension Model KATERINA HYNIOVA Faculty of Information Technology Czech Technical University in Prague Thakurova 9, 160 00 Prague 6 - Dejvice CZECH REPUBLIC

More information

Professional Portfolio Selection Techniques: From Markowitz to Innovative Engineering

Professional Portfolio Selection Techniques: From Markowitz to Innovative Engineering Massachusetts Institute of Technology Sponsor: Electrical Engineering and Computer Science Cosponsor: Science Engineering and Business Club Professional Portfolio Selection Techniques: From Markowitz to

More information

Module 4: Dynamic Vibration Absorbers and Vibration Isolator Lecture 19: Active DVA. The Lecture Contains: Development of an Active DVA

Module 4: Dynamic Vibration Absorbers and Vibration Isolator Lecture 19: Active DVA. The Lecture Contains: Development of an Active DVA The Lecture Contains: Development of an Active DVA Proof Mass Actutor Application of Active DVA file:///d /chitra/vibration_upload/lecture19/19_1.htm[6/25/2012 12:35:51 PM] In this section, we will consider

More information

CHAPTER 1 Basic Concepts of Control System. CHAPTER 6 Hydraulic Control System

CHAPTER 1 Basic Concepts of Control System. CHAPTER 6 Hydraulic Control System CHAPTER 1 Basic Concepts of Control System 1. What is open loop control systems and closed loop control systems? Compare open loop control system with closed loop control system. Write down major advantages

More information

Varuvan Vadivelan. Institute of Technology LAB MANUAL. : 2013 : B.E. MECHANICAL ENGINEERING : III Year / V Semester. Regulation Branch Year & Semester

Varuvan Vadivelan. Institute of Technology LAB MANUAL. : 2013 : B.E. MECHANICAL ENGINEERING : III Year / V Semester. Regulation Branch Year & Semester Varuvan Vadivelan Institute of Technology Dharmapuri 636 703 LAB MANUAL Regulation Branch Year & Semester : 2013 : B.E. MECHANICAL ENGINEERING : III Year / V Semester ME 6511 - DYNAMICS LABORATORY GENERAL

More information

Modeling and Experimentation: Mass-Spring-Damper System Dynamics

Modeling and Experimentation: Mass-Spring-Damper System Dynamics Modeling and Experimentation: Mass-Spring-Damper System Dynamics Prof. R.G. Longoria Department of Mechanical Engineering The University of Texas at Austin July 20, 2014 Overview 1 This lab is meant to

More information

EXPERIMENTAL INVESTIGATION OF AN AUTOMOTIVE MAGNETORHEOLOGICAL SHOCK ABSORBER

EXPERIMENTAL INVESTIGATION OF AN AUTOMOTIVE MAGNETORHEOLOGICAL SHOCK ABSORBER DOI 1.11/ama-17-9 acta mechanica et automatica, vol.11 no.4 (17) EXPERIMENTAL INVESTIGATION OF AN AUTOMOTIVE MAGNETORHEOLOGICAL SHOCK ABSORBER Łukasz JASTRZĘBSKI *, Bogdan SAPIŃSKI * * Mechanical Engineering

More information

Robust Loop Shaping Force Feedback Controller

Robust 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 information

Automated Estimation of an Aircraft s Center of Gravity Using Static and Dynamic Measurements

Automated Estimation of an Aircraft s Center of Gravity Using Static and Dynamic Measurements Proceedings of the IMAC-XXVII February 9-, 009 Orlando, Florida USA 009 Society for Experimental Mechanics Inc. Automated Estimation of an Aircraft s Center of Gravity Using Static and Dynamic Measurements

More information

A pneumatic semi-active control methodology for vibration control of air spring based suspension systems

A pneumatic semi-active control methodology for vibration control of air spring based suspension systems Graduate Theses and Dissertations Iowa State University Capstones, Theses and Dissertations 2012 A pneumatic semi-active control methodology for vibration control of air spring based suspension systems

More information

ACTIVE SUSPENSION SYSTEM OF QUARTER CAR

ACTIVE SUSPENSION SYSTEM OF QUARTER CAR ACTIVE SUSPENSION SYSTEM OF QUARTER CAR By JIE FANG A THESIS PRESENTED TO THE GRADUATE SCHOOL OF THE UNIVERSITY OF FLORIDA IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF SCIENCE

More information

A Novel Double-Notch Passive Hydraulic Mount Design

A Novel Double-Notch Passive Hydraulic Mount Design Proceedings of 20 th International Congress on Acoustics, ICA 2010 23-27 August 2010, Sydney, Australia A Novel Double-Notch Passive Hydraulic Mount Design Reza Tikani (1), Saeed Ziaei-Rad (1), Nader Vahdati

More information

ELEC4631 s Lecture 2: Dynamic Control Systems 7 March Overview of dynamic control systems

ELEC4631 s Lecture 2: Dynamic Control Systems 7 March Overview of dynamic control systems ELEC4631 s Lecture 2: Dynamic Control Systems 7 March 2011 Overview of dynamic control systems Goals of Controller design Autonomous dynamic systems Linear Multi-input multi-output (MIMO) systems Bat flight

More information

B1-1. Closed-loop control. Chapter 1. Fundamentals of closed-loop control technology. Festo Didactic Process Control System

B1-1. Closed-loop control. Chapter 1. Fundamentals of closed-loop control technology. Festo Didactic Process Control System B1-1 Chapter 1 Fundamentals of closed-loop control technology B1-2 This chapter outlines the differences between closed-loop and openloop control and gives an introduction to closed-loop control technology.

More information

Acceleration Feedback

Acceleration Feedback Acceleration Feedback Mechanical Engineer Modeling & Simulation Electro- Mechanics Electrical- Electronics Engineer Sensors Actuators Computer Systems Engineer Embedded Control Controls Engineer Mechatronic

More information

DEVELOPMENT OF SEISMIC ISOLATION TABLE COMPOSED OF AN X-Y TABLE AND WIRE ROPE ISOLATORS

DEVELOPMENT OF SEISMIC ISOLATION TABLE COMPOSED OF AN X-Y TABLE AND WIRE ROPE ISOLATORS DEVELOPMENT OF SEISMIC ISOLATION TABLE COMPOSED OF AN X-Y TABLE AND WIRE ROPE ISOLATORS 7 Hirokazu SHIMODA, Norio NAGAI, Haruo SHIMOSAKA And Kenichiro OHMATA 4 SUMMARY In this study, a new type of isolation

More information

Hydraulic (Fluid) Systems

Hydraulic (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 information

COMPARISON OF TWO METHODS TO SOLVE PRESSURES IN SMALL VOLUMES IN REAL-TIME SIMULATION OF A MOBILE DIRECTIONAL CONTROL VALVE

COMPARISON OF TWO METHODS TO SOLVE PRESSURES IN SMALL VOLUMES IN REAL-TIME SIMULATION OF A MOBILE DIRECTIONAL CONTROL VALVE 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

More information

Lecture 12. Upcoming labs: Final Exam on 12/21/2015 (Monday)10:30-12:30

Lecture 12. Upcoming labs: Final Exam on 12/21/2015 (Monday)10:30-12:30 289 Upcoming labs: Lecture 12 Lab 20: Internal model control (finish up) Lab 22: Force or Torque control experiments [Integrative] (2-3 sessions) Final Exam on 12/21/2015 (Monday)10:30-12:30 Today: Recap

More information

Simple Harmonic Motion Test Tuesday 11/7

Simple Harmonic Motion Test Tuesday 11/7 Simple Harmonic Motion Test Tuesday 11/7 Chapter 11 Vibrations and Waves 1 If an object vibrates or oscillates back and forth over the same path, each cycle taking the same amount of time, the motion is

More information

Video 5.1 Vijay Kumar and Ani Hsieh

Video 5.1 Vijay Kumar and Ani Hsieh Video 5.1 Vijay Kumar and Ani Hsieh Robo3x-1.1 1 The Purpose of Control Input/Stimulus/ Disturbance System or Plant Output/ Response Understand the Black Box Evaluate the Performance Change the Behavior

More information

Design and Comparative Analysis of Controller for Non Linear Tank System

Design and Comparative Analysis of Controller for Non Linear Tank System Design and Comparative Analysis of for Non Linear Tank System Janaki.M 1, Soniya.V 2, Arunkumar.E 3 12 Assistant professor, Department of EIE, Karpagam College of Engineering, Coimbatore, India 3 Associate

More information

Due Date 1 (for confirmation of final grade): Monday May 10 at 11:59pm Due Date 2 (absolute latest possible submission): Friday May 14 at 5pm

Due Date 1 (for  confirmation of final grade): Monday May 10 at 11:59pm Due Date 2 (absolute latest possible submission): Friday May 14 at 5pm ! ME345 Modeling and Simulation, Spring 2010 Case Study 3 Assigned: Friday April 16! Due Date 1 (for email confirmation of final grade): Monday May 10 at 11:59pm Due Date 2 (absolute latest possible submission):

More information

10 Measurement of Acceleration, Vibration and Shock Transducers

10 Measurement of Acceleration, Vibration and Shock Transducers Chapter 10: Acceleration, Vibration and Shock Measurement Dr. Lufti Al-Sharif (Revision 1.0, 25/5/2008) 1. Introduction This chapter examines the measurement of acceleration, vibration and shock. It starts

More information

Cascade Control of a Continuous Stirred Tank Reactor (CSTR)

Cascade Control of a Continuous Stirred Tank Reactor (CSTR) Journal of Applied and Industrial Sciences, 213, 1 (4): 16-23, ISSN: 2328-4595 (PRINT), ISSN: 2328-469 (ONLINE) Research Article Cascade Control of a Continuous Stirred Tank Reactor (CSTR) 16 A. O. Ahmed

More information

MOOC QP Set 1 Principles of Vibration Control

MOOC QP Set 1 Principles of Vibration Control Section I Section II Section III MOOC QP Set 1 Principles of Vibration Control (TOTAL = 100 marks : 0 questions x 1 mark/question = 0 marks : 0 questions x marks/question = 40 marks : 8 questions x 5 marks/question

More information

SRI VENKATESWARA COLLEGE OF ENGINEERING

SRI VENKATESWARA COLLEGE OF ENGINEERING COURSE DELIVERY PLAN - THEORY Page 1 of 7 Department of Chemical Engineering B.E/B.Tech/M.E/M.Tech : Chemical Engineering Regulation:2013 PG Specialisation : NA Sub. Code / Sub. Name : CH 6605 - Process

More information

Analysis and Experiments of the Linear Electrical Generator in Wave Energy Farm utilizing Resonance Power Buoy System

Analysis and Experiments of the Linear Electrical Generator in Wave Energy Farm utilizing Resonance Power Buoy System Journal of Magnetics 18(3), 250-254 (2013) ISSN (Print) 1226-1750 ISSN (Online) 2233-6656 http://dx.doi.org/10.4283/jmag.2013.18.3.250 Analysis and Experiments of the Linear Electrical Generator in Wave

More information

Design Procedures For Dynamically Loaded Foundations

Design Procedures For Dynamically Loaded Foundations Design Procedures For Dynamically Loaded Foundations 1/11 Choice of parameters for equivalent lumped systems Lumped mass : the mass of the foundation and supported machinery Damping : 1 Geometrical(or

More information

Dynamic characterization of engine mount at different orientation using sine swept frequency test

Dynamic characterization of engine mount at different orientation using sine swept frequency test Dynamic characterization of engine mount at different orientation using sine swept frequency test Zaidi Mohd Ripin and Ooi Lu Ean, School of Mechanical Engineering Universiti Sains Malaysia (USM), 14300

More information