Abstract: A numerical approach of the effectiveness of numerous
parameters on magnetohydrodynamic (MHD) natural convection
heat and mass transfer problem of a dusty micropolar fluid in
a non-Darcy porous regime is prepared in the current paper.
In addition, a convective boundary condition is scrutinized into
the micropolar dusty fluid model. The governing boundary layer
equations are converted utilizing similarity transformations to a
system of dimensionless equations to be convenient for numerical
treatment. The resulting equations for fluid phase and dust phases
of momentum, angular momentum, energy, and concentration with
the appropriate boundary conditions are solved numerically applying
the Runge-Kutta method of fourth-order. In accordance with the
numerical study, it is obtained that the magnitude of the velocity
of both fluid phase and particle phase reduces with an increasing
magnetic parameter, the mass concentration of the dust particles, and
Forchheimer number. While rises due to an increment in convective
parameter and Darcy number. Also, the results refer that high values
of the magnetic parameter, convective parameter, and Forchheimer
number support the temperature distributions. However, deterioration
occurs as the mass concentration of the dust particles and Darcy
number increases. The angular velocity behavior is described by
progress when studying the effect of the magnetic parameter and
microrotation parameter.
Abstract: Two-wheel inverted pendulum robot (TWIPR) is designed with two-hub DC motors for human riding and motion control evaluation. In order to measure the tilt angle and angular velocity of the inverted pendulum robot, accelerometer and gyroscope sensors are chosen. The mobile robot’s moving position and velocity were estimated based on DC motor built in hall sensors. The control kernel of this electric mobile robot is designed with embedded Arduino Nano microprocessor. A handle bar was designed to work as steering mechanism. The intelligent model-free fuzzy sliding mode control (FSMC) was employed as the main control algorithm for this mobile robot motion monitoring with different control purpose adjustment. The intelligent controllers were designed for balance control, and moving speed control purposes of this robot under different operation conditions and the control performance were evaluated based on experimental results.
Abstract: Automation technologies for agriculture field are needed to promote labor-saving. One of the most relevant problems in automated agriculture is represented by controlling the robot along a predetermined path in presence of rough terrain or incline ground. Unfortunately, disturbances originating from interaction with the ground, such as slipping, make it quite difficult to achieve the required accuracy. In general, it is required to move within 5-10 cm accuracy with respect to the predetermined path. Moreover, lateral velocity caused by gravity on the incline field also affects slipping. In this paper, a path-tracking controller for tracked mobile robots moving on rough terrains of incline field such as vineyard is presented. The controller is composed of a disturbance observer and an adaptive controller based on the kinematic model of the robot. The disturbance observer measures the difference between the measured and the reference yaw rate and linear velocity in order to estimate slip. Then, the adaptive controller adapts “virtual” parameter of the kinematics model: Instantaneous Centers of Rotation (ICRs). Finally, target angular velocity reference is computed according to the adapted parameter. This solution allows estimating the effects of slip without making the model too complex. Finally, the effectiveness of the proposed solution is tested in a simulation environment.
Abstract: This paper presents a nonlinear differential model,
for a three-bladed horizontal axis wind turbine (HAWT) suited
for control applications. It is based on a 8-dofs, lumped
parameters structural dynamics coupled with a quasi-steady sectional
aerodynamics. In particular, using the Euler-Lagrange Equation
(Energetic Variation approach), the authors derive, and successively
validate, such model. For the derivation of the aerodynamic model,
the Greenbergs theory, an extension of the theory proposed by
Theodorsen to the case of thin airfoils undergoing pulsating flows,
is used. Specifically, in this work, the authors restricted that theory
under the hypothesis of low perturbation reduced frequency k,
which causes the lift deficiency function C(k) to be real and equal
to 1. Furthermore, the expressions of the aerodynamic loads are
obtained using the quasi-steady strip theory (Hodges and Ormiston),
as a function of the chordwise and normal components of relative
velocity between flow and airfoil Ut, Up, their derivatives, and
section angular velocity ε˙. For the validation of the proposed model,
the authors carried out open and closed-loop simulations of a 5
MW HAWT, characterized by radius R =61.5 m and by mean chord
c = 3 m, with a nominal angular velocity Ωn = 1.266rad/sec.
The first analysis performed is the steady state solution, where
a uniform wind Vw = 11.4 m/s is considered and a collective
pitch angle θ = 0.88◦ is imposed. During this step, the authors
noticed that the proposed model is intrinsically periodic due to
the effect of the wind and of the gravitational force. In order
to reject this periodic trend in the model dynamics, the authors
propose a collective repetitive control algorithm coupled with a PD
controller. In particular, when the reference command to be tracked
and/or the disturbance to be rejected are periodic signals with a
fixed period, the repetitive control strategies can be applied due to
their high precision, simple implementation and little performance
dependency on system parameters. The functional scheme of a
repetitive controller is quite simple and, given a periodic reference
command, is composed of a control block Crc(s) usually added
to an existing feedback control system. The control block contains
and a free time-delay system eτs in a positive feedback loop, and a
low-pass filter q(s). It should be noticed that, while the time delay
term reduces the stability margin, on the other hand the low pass
filter is added to ensure stability. It is worth noting that, in this
work, the authors propose a phase shifting for the controller and
the delay system has been modified as e^(−(T−γk)), where T is the
period of the signal and γk is a phase shifting of k samples of the
same periodic signal. It should be noticed that, the phase shifting
technique is particularly useful in non-minimum phase systems, such
as flexible structures. In fact, using the phase shifting, the iterative
algorithm could reach the convergence also at high frequencies.
Notice that, in our case study, the shifting of k samples depends
both on the rotor angular velocity Ω and on the rotor azimuth
angle Ψ: we refer to this controller as a spatial repetitive controller.
The collective repetitive controller has also been coupled with a C(s) = PD(s), in order to dampen oscillations of the blades.
The performance of the spatial repetitive controller is compared
with an industrial PI controller. In particular, starting from wind
speed velocity Vw = 11.4 m/s the controller is asked to maintain the
nominal angular velocity Ωn = 1.266rad/s after an instantaneous
increase of wind speed (Vw = 15 m/s). Then, a purely periodic
external disturbance is introduced in order to stress the capabilities
of the repetitive controller. The results of the simulations show that,
contrary to a simple PI controller, the spatial repetitive-PD controller
has the capability to reject both external disturbances and periodic
trend in the model dynamics. Finally, the nominal value of the
angular velocity is reached, in accordance with results obtained with
commercial software for a turbine of the same type.
Abstract: A two wheel inverted pendulum (TWIP) vehicle is built with two hub DC motors for motion control evaluation. Arduino Nano micro-processor is chosen as the control kernel for this electric test plant. Accelerometer and gyroscope sensors are built in to measure the tilt angle and angular velocity of the inverted pendulum vehicle. Since the TWIP has significantly hub motor dead zone and nonlinear system dynamics characteristics, the vehicle system is difficult to control by traditional model based controller. The intelligent model-free fuzzy sliding mode controller (FSMC) was employed as the main control algorithm. Then, intelligent controllers are designed for TWIP balance control, and two wheels synchronization control purposes.
Abstract: In recent years, increasing the usage of railway transportations especially in developing countries caused more attention to control systems railway vehicles. Consequently, designing and implementing the modern control systems to improve the operating performance of trains and locomotives become one of the main concerns of researches. Dynamic braking systems is an important safety system which controls the amount of braking torque generated by traction motors, to keep the adhesion coefficient between the wheel-sets and rail road in optimum bound. Adhesion force has an important role to control the braking distance and prevent the wheels from slipping during the braking process. Cascade control structure is one of the best control methods for the wide range of industrial plants in the presence of disturbances and errors. This paper presents cascade control structure based on two forward simple controllers with two feedback loops to control the slip ratio and braking torque. In this structure, the inner loop controls the angular velocity and the outer loop control the longitudinal velocity of the locomotive that its dynamic is slower than the dynamic of angular velocity. This control structure by controlling the torque of DC traction motors, tries to track the desired velocity profile to access the predefined braking distance and to control the slip ratio. Simulation results are employed to show the effectiveness of the introduced methodology in dynamic braking system.
Abstract: The sea waves carry thousands of GWs of power
globally. Although there are a number of different approaches to
harness offshore energy, they are likely to be expensive, practically
challenging, and vulnerable to storms. Therefore, this paper considers
using the near shore waves for generating mechanical and electrical
power. It introduces two new approaches, the wave manipulation and
using a variable duct turbine, for intercepting very wide wave fronts
and coping with the fluctuations of the wave height and the sea level,
respectively. The first approach effectively allows capturing much
more energy yet with a much narrower turbine rotor. The second
approach allows using a rotor with a smaller radius but captures
energy of higher wave fronts at higher sea levels yet preventing it
from totally submerging. To illustrate the effectiveness of the first
approach, the paper contains a description and the simulation results
of a scale model of a wave manipulator. Then, it includes the results
of testing a physical model of the manipulator and a single duct, axial
flow turbine in a wave flume in the laboratory. The paper also
includes comparisons of theoretical predictions, simulation results,
and wave flume tests with respect to the incident energy, loss in wave
manipulation, minimal loss, brake torque, and the angular velocity.
Abstract: Fluid viscous damping systems are well suited for
many air vehicles subjected to shock and vibration. These damping
system work with the principle of viscous fluid throttling through the
orifice to create huge pressure difference between compression and
rebound chamber and obtain the required damping force. One
application of such systems is its use in aircraft door system to
counteract the door’s velocity and safely stop it. In exigency
situations like crash or emergency landing where the door doesn’t
open easily, possibly due to unusually tilting of fuselage or some
obstacles or intrusion of debris obstruction to move the parts of the
door, such system can be combined with other systems to provide
needed force to forcefully open the door and also securely stop it
simultaneously within the required time i.e. less than 8 seconds. In
the present study, a hydraulic system called snubber along with other
systems like actuator, gas bottle assembly which together known as
emergency power assist system (EPAS) is designed, built and
experimentally studied to check the magnitude of angular velocity,
damping force and time required to effectively open the door.
Whenever needed, the gas pressure from the bottle is released to
actuate the actuator and at the same time pull the snubber’s piston to
operate the emergency opening of the door. Such EPAS installed in
the suspension arm of the aircraft door is studied explicitly changing
parameters like orifice size, oil level, oil viscosity and bypass valve
gap and its spring of the snubber at varying temperature to generate
the optimum design case. Comparative analysis of the EPAS at
several cases is done and conclusions are made. It is found that
during emergency condition, the system opening time and angular
velocity, when snubber with 0.3mm piston and shaft orifice and
bypass valve gap of 0.5 mm with its original spring is used, shows
significant improvement over the old ones.
Abstract: We used high-precision Global Positioning System
(GPS) to geodetically constrain the motion of stations in the
Darjiling-Sikkim Himalayan (DSH) wedge and examine the
deformation at the Indian-Tibetan plate boundary using IGS
(International GPS Service) fiducial stations. High-precision GPS
based displacement and velocity field was measured in the DSH
between 1997 and 2009. To obtain additional insight north of the
Indo-Tibetan border and in the Darjiling-Sikkim-Tibet (DaSiT)
wedge, published velocities from four stations J037, XIGA, J029 and
YADO were also included in the analysis. India-fixed velocities or
the back-slip was computed relative to the pole of rotation of the
Indian Plate (Latitude 52.97 ± 0.22º, Longitude - 0.30 ± 3.76º, and
Angular Velocity 0.500 ± 0.008º/ Myr) in the DaSiT wedge.
Dislocation modelling was carried out with the back-slip to model the
best possible solution of a finite rectangular dislocation or the
causative fault based on dislocation theory that produced the
observed back-slip using a forward modelling approach. To find the
best possible solution, three different models were attempted. First,
slip along a single thrust fault, then two thrust faults and in finally,
three thrust faults were modelled to simulate the back-slip in the
DaSiT wedge. The three-fault case bests the measured displacements
and is taken as the best possible solution.
Abstract: This article discusses the problem of estimating the
orientation of inclined ground on which a human subject stands based
on information provided by the vestibular system consisting of the
otolith and semicircular canals. It is assumed that body segments are
not necessarily aligned and thus forming an open kinematic chain.
The semicircular canals analogues to a technical gyrometer provide a
measure of the angular velocity whereas the otolith analogues to a
technical accelerometer provide a measure of the translational
acceleration. Two solutions are proposed and discussed. The first is
based on a stand-alone Kalman filter that optimally fuses the two
measurements based on their dynamic characteristics and their noise
properties. In this case, no body dynamic model is needed. In the
second solution, a central extended disturbance observer that
incorporates a body dynamic model (internal model) is employed.
The merits of both solutions are discussed and demonstrated by
experimental and simulation results.
Abstract: We investigate properties of convective solutions of the
Boussinesq thermal convection in a moderately rotating spherical
shell allowing the inner and outer sphere rotation due to the viscous
torque of the fluid. The ratio of the inner and outer radii of the
spheres, the Prandtl number and the Taylor number are fixed to 0.4,
1 and 5002, respectively. The inertial moments of the inner and outer
spheres are fixed to about 0.22 and 100, respectively. The Rayleigh
number is varied from 2.6 × 104 to 3.4 × 104. In this parameter
range, convective solutions transit from equatorially symmetric quasiperiodic
ones to equatorially asymmetric chaotic ones as the Rayleigh
number is increased. The transition route in the system allowing
rotation of both the spheres is different from that in the co-rotating
system, which means the inner and outer spheres rotate with the
same constant angular velocity: the convective solutions transit as
equatorially symmetric quasi-periodic solution → equatorially symmetric
chaotic solution → equatorially asymmetric chaotic solution
in the system allowing both the spheres rotation, while equatorially
symmetric quasi-periodic solution → equatorially asymmetric quasiperiodic
solution → equatorially asymmetric chaotic solution in the
co-rotating system.
Abstract: The motion of a sphere moving along the axis of a
rotating viscous fluid is studied at high Reynolds numbers and
moderate values of Taylor number. The Higher Order Compact
Scheme is used to solve the governing Navier-Stokes equations. The
equations are written in the form of Stream function, Vorticity
function and angular velocity which are highly non-linear, coupled
and elliptic partial differential equations. The flow is governed by
two parameters Reynolds number (Re) and Taylor number (T). For
very low values of Re and T, the results agree with the available
experimental and theoretical results in the literature. The results are
obtained at higher values of Re and moderate values of T and
compared with the experimental results. The results are fourth order
accurate.
Abstract: A Cable-Driven Locomotion Interface provides a low
inertia haptic interface and is used as a way of enabling the user
to walk and interact with virtual surfaces. These surfaces generate
Cartesian wrenches which must be optimized for each motorized
reel in order to reproduce a haptic sensation in both feet. However,
the use of wrench control requires a measure of the cable tensions
applied to the moving platform. The latter measure may be inaccurate
if it is based on sensors located near the reel. Moreover, friction
hysteresis from the reel moving parts needs to be compensated
for with an evaluation of low angular velocity of the motor shaft.
Also, the pose of the platform is not known precisely due to cable
sagging and mechanical deformation. This paper presents a non-ideal
motorized reel design with its corresponding control strategy that
aims at overcoming the aforementioned issues. A transfert function
of the reel based on frequency responses in function of cable tension
and cable length is presented with an optimal adaptative PIDF
controller. Finally, an hybrid position/tension control is discussed with
an analysis of the stability for achieving a complete functionnality of
the haptic platform.
Abstract: A method based on the power series solution is proposed to solve the natural frequency of flapping vibration for the rotating inclined Euler beam with constant angular velocity. The vibration of the rotating beam is measured from the position of the corresponding steady state axial deformation. In this paper the governing equations for linear vibration of a rotating Euler beam are derived by the d'Alembert principle, the virtual work principle and the consistent linearization of the fully geometrically nonlinear beam theory in a rotating coordinate system. The governing equation for flapping vibration of the rotating inclined Euler beam is linear ordinary differential equation with variable coefficients and is solved by a power series with four independent coefficients. Substituting the power series solution into the corresponding boundary conditions at two end nodes of the rotating beam, a set of homogeneous equations can be obtained. The natural frequencies may be determined by solving the homogeneous equations using the bisection method. Numerical examples are studied to investigate the effect of inclination angle on the natural frequency of flapping vibration for rotating inclined Euler beams with different angular velocity and slenderness ratio.
Abstract: The present study aims to evaluating the effect of
rotor solidity - in terms of chord length for a given rotor diameter - on
the performances of a small vertical axis Darrieus wind turbine. The
proposed work focuses on both power production and rotor power
coefficient, considering also the structural constraints deriving from
the centrifugal forces due to rotor angular velocity. Also the
smoothness of the resulting power curves have been investigated, in
order to evaluate the controllability of the corresponding rotor
architectures.
Abstract: This paper presents a numerical investigation of the
unsteady flow around an American 19th century vertical-axis
windmill: the Stevens & Jolly rotor, patented on April 16, 1895. The
computational approach used is based on solving the complete
transient Reynolds-Averaged Navier-Stokes (t-RANS) equations: a
full campaign of numerical simulation has been performed using the
k-ω SST turbulence model. Flow field characteristics have been
investigated for several values of tip speed ratio and for a constant
unperturbed free-stream wind velocity of 6 m/s, enabling the study of
some unsteady flow phenomena in the rotor wake. Finally, the global
power generated from the windmill has been determined for each
simulated angular velocity, allowing the calculation of the rotor
power-curve.
Abstract: In this paper stress and strain for two rotating thin
wall cylinder fitted together with initial interference and overlap are
computed. Also stress value for variation of initial interference is
calculated.
At first problem is considered without rotation and next angular
velocity increased from 0 to 50000 rev/min and stress in each stage
is calculated. The important point is that when stress become very
small in magnitude the angular velocity is critical and two cylinders
will separate. The critical speed i.e. speed of separation is calculated
in each step.
Abstract: In this paper, we propose a novel adaptive voltage control strategy for boost converter via Inverse LQ Servo-Control. Our presented strategy is based on an analytical formula of Inverse Linear Quadratic (ILQ) design method, which is not necessary to solve Riccati’s equation directly. The optimal and adaptive controller of the voltage control system is designed. The stability and the robust control are analyzed. Whereas, we can get the analytical solution for the optimal and robust voltage control is achieved through the natural angular velocity within a single parameter and we can change the responses easily via the ILQ control theory. Our method provides effective results as the stable responses and the response times are not drifted even if the condition is changed widely.
Abstract: The velocity of a moving point in a general path is the vector quantity, which has both magnitude and direction. The magnitude or the direction of the velocity vector can change over time as a result of acceleration that the time rate of velocity changes. Acceleration analysis is important because inertial forces and inertial torques are proportional to rectilinear and angular accelerations accordingly. The loads must be determined in advance to ensure that a machine is adequately designed to handle these dynamic loads. For planar motion, the vector direction of acceleration is commonly separated into two elements: tangential and centripetal or radial components of a point on a rotating body. All textbooks in physics, kinematics and dynamics of machinery consider the magnitude of a radial acceleration at condition when a point rotates with a constant angular velocity and it means without acceleration. The magnitude of the tangential acceleration considered on a basis of acceleration for a rotating point. Such condition of presentation of magnitudes for two components of acceleration logically and mathematically is not correct and may cause further confusion in calculation. This paper presents new analytical expressions of the radial and absolute accelerations of a rotating point with acceleration and covers the gap in theoretical study of acceleration analysis.
Abstract: The aim of this paper is to determine the stress levels
at the end of a long slender shaft such as a drilling assembly used in
the oil or gas industry using a mathematical model in real-time. The
torsional deflection experienced by this type of drilling shaft (about 4
KM length and 20 cm diameter hollow shaft with a thickness of 1
cm) can only be determined using a distributed modeling technique.
The main objective of this project is to calculate angular velocity and
torque at the end of the shaft by TLM method and also analyzing of
the behavior of the system by transient response. The obtained result
is compared with lumped modeling technique the importance of these
results will be evident only after the mentioned comparison. Two
systems have different transient responses and in this project because
of the length of the shaft transient response is very important.