Volume 4: Dynamics, Vibration, and Control最新文献

Control Design of a Mobile Robot in the Environment of Obstacles Based on a Rounded V-Shape Lyapunov Function 基于圆v型Lyapunov函数的障碍物环境下移动机器人控制设计

Volume 4: Dynamics, Vibration, and Control Pub Date : 2019-11-11 DOI: 10.1115/imece2019-10989

Ho-Hoon Lee

{"title":"Control Design of a Mobile Robot in the Environment of Obstacles Based on a Rounded V-Shape Lyapunov Function","authors":"Ho-Hoon Lee","doi":"10.1115/imece2019-10989","DOIUrl":"https://doi.org/10.1115/imece2019-10989","url":null,"abstract":"\u0000 This paper proposes a V-shape Lyapunov function method with application to the design of a control scheme for a mobile robot navigating through multiple obstacles. The proposed design method solves the serious problem of input saturation due to big position errors in the beginning of the control associated with the conventional parabolic Lyapunov function method. The resulting control consists of a trajectory generation scheme and a motion control scheme. The trajectory generation scheme computes the translational and rotational reference velocities in real time that drive the robot to a given goal position while avoiding multiple obstacles. The motion control scheme computes the driving force and rotational torque to track the reference velocities. The nonholonomic constraints of the mobile robot are used in the design of the kinematic trajectory generation scheme, where a repulsive potential function is used for obstacle avoidance. The dynamic model of the robot is used in the design of the motion control scheme. Under certain conditions, the proposed control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control method has been shown with realistic computer simulations.","PeriodicalId":152209,"journal":{"name":"Volume 4: Dynamics, Vibration, and Control","volume":"2000 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116680453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Vibration of Beam-Type Resonant Biosensors With Time-Varying Mass Density 具有时变质量密度的光束型共振生物传感器的振动

Volume 4: Dynamics, Vibration, and Control Pub Date : 2019-11-11 DOI: 10.1115/imece2019-11924

P. Hassanpour

{"title":"Vibration of Beam-Type Resonant Biosensors With Time-Varying Mass Density","authors":"P. Hassanpour","doi":"10.1115/imece2019-11924","DOIUrl":"https://doi.org/10.1115/imece2019-11924","url":null,"abstract":"\u0000 This paper investigates the dynamic response of a uniform beam with varying density. The governing equation of motion is derived using the Euler-Bernoulli model of the beam considering the dynamic effect of the change of the beam’s density. The dynamics of a beam-type resonant biosensor is investigated to demonstrate the effect of time-varying beam’s density. In this type of sensors, the density of the resonant beam changes with time due to the nature of absorption process. The absorption is modeled as an asymptotic exponential function of time. It is shown that the adsorption leads to a viscous damping force with a time-varying coefficient. The approximate solution of the governing equation of motion is derived for comparing with the exact solution. The response of the system is presented for several combinations of the system parameters. It is shown that two factors govern the viscous damping effect of the absorption process, namely the time constant of the process and the total change of the mass density over time. In general, a faster absorption process and greater change in mass density lead to more damping in the system. This is significant because a fast absorption rate and greater mass change are desirable design goals while damping is generally considered undesirable.","PeriodicalId":152209,"journal":{"name":"Volume 4: Dynamics, Vibration, and Control","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128509747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Investigation of Sub Synchronous Vibration of Very High Speed Turbocharger Semi-Floating Bearing System: Prediction vs Test 超高速涡轮增压器半浮动轴承系统次同步振动研究:预测与试验

Volume 4: Dynamics, Vibration, and Control Pub Date : 2019-11-11 DOI: 10.1115/imece2019-11986

Prasanth R. Vengala, Lokesh Chandrasekaran, P. Selvaraj, Subramani D. Arthanarisamy

{"title":"Investigation of Sub Synchronous Vibration of Very High Speed Turbocharger Semi-Floating Bearing System: Prediction vs Test","authors":"Prasanth R. Vengala, Lokesh Chandrasekaran, P. Selvaraj, Subramani D. Arthanarisamy","doi":"10.1115/imece2019-11986","DOIUrl":"https://doi.org/10.1115/imece2019-11986","url":null,"abstract":"\u0000 Automotive engines are facing increased design focus towards downsizing, higher performance and lower emissions, in the process, challenging turbocharger (TC) technology to their limits. Downsizing of the engine needs smaller compressor and turbine wheels to achieve the critical flow requirements that leads to very high TC operating speeds of more 300k rpm. In general, TC rotor is most commonly supported by hydrodynamic fully floating (RFRB) or semi-floating bearing (SFRB) systems. For such high-speed applications, SFRB could be preferred bearing system where inner and outer bearing clearances act as a plain journal bearing and a squeeze film damper. These hydrodynamic bearings, exhibit non-linear oil whirl/whip phenomena in the inner bearing that leads to higher sub-synchronous vibration and overall deflection of the shaft. Sub-synchronous behavior of the SFRB is evaluated both numerically and experimentally (hot gas stand) for two design variants and results are published in this paper.\u0000 TCs were run up in hot gas stand and were recorded using NVH Data Acquisition System (DAQ) with frequency analyzers and eddy current displacement sensors. In numerical simulations, multi-body dynamics (MBD) of flexible rotor and housing structures are coupled with elasto-hydrodynamics (EHD) of the inner and outer oil films. The energy equation is considered for calculation of oil film temperature in EHD using thermal boundary condition obtained from 3D FE simulation. Detailed numerical investigation was conducted using EHD joint definitions in the above bearing system. Good agreement was obtained between test and prediction, and finer source characterization was achieved using simulation.","PeriodicalId":152209,"journal":{"name":"Volume 4: Dynamics, Vibration, and Control","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129901311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic Modelling of an Elephant Trunk Like Flexible Bionic Manipulator 象鼻柔性仿生机械臂的动力学建模

Volume 4: Dynamics, Vibration, and Control Pub Date : 2019-11-11 DOI: 10.1115/imece2019-11113

M. K. Mishra, A. Samantaray, G. Chakraborty, A. Jain, P. Pathak, R. Merzouki

{"title":"Dynamic Modelling of an Elephant Trunk Like Flexible Bionic Manipulator","authors":"M. K. Mishra, A. Samantaray, G. Chakraborty, A. Jain, P. Pathak, R. Merzouki","doi":"10.1115/imece2019-11113","DOIUrl":"https://doi.org/10.1115/imece2019-11113","url":null,"abstract":"\u0000 In this paper, an attempt is made to model and study the planar and spatial dynamics of flexible elephant trunk-like manipulator by using multi-body dynamics software MSC-ADAMS. The flexible manipulator is modelled for bending with variable curvature. The entire manipulator length is divided into two sub-sections with associated lumped mass, damping and stiffness for the dynamic analysis. In this model, each section has three pressure actuated bellow tubes, which are modelled as simple spring-damper with the net mass distributed at the ends. Besides, a torsional spring-damper system is also incorporated in each section model to resist the bending about the transverse axes when the pressures in the bellow tubes are unequal. The manipulator is so designed that due to different actuation forces (corresponding to different bellows), the resultant action is finally a bending moment at the tip of each section. The effect of the gravitational force is also included. The change in behaviour of the end-effector position and orientation with respect to time is studied along with the elongation of bellow tubes. The nature of the velocity profile of the end-effector is also determined to study the behaviour of the manipulator.","PeriodicalId":152209,"journal":{"name":"Volume 4: Dynamics, Vibration, and Control","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114530870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Elimination of Sommerfeld Effect in Non-Ideal Systems Using Dry Friction 利用干摩擦消除非理想系统中的索默菲尔德效应

Volume 4: Dynamics, Vibration, and Control Pub Date : 2019-11-11 DOI: 10.1115/imece2019-11172

P. Chakraborty, G. Chakraborty, R. Bhattacharyya

引用次数: 3

Vibration Performance of Axially Graded Polymeric Viscoelastic Beams 轴向梯度聚合物粘弹性梁的振动性能

Volume 4: Dynamics, Vibration, and Control Pub Date : 2019-11-11 DOI: 10.1115/imece2019-12214

M. Segura, K. Singh, Fazeel Khan

{"title":"Vibration Performance of Axially Graded Polymeric Viscoelastic Beams","authors":"M. Segura, K. Singh, Fazeel Khan","doi":"10.1115/imece2019-12214","DOIUrl":"https://doi.org/10.1115/imece2019-12214","url":null,"abstract":"\u0000 Structures having a non-homogenous axial distribution of geometrical and material parameters have shown marked improvements in their load carrying capacity, bucking and vibration characteristics. Viscoelastic polymeric materials inherently offer a combination of stiffness and damping which are dependent on frequency and temperature. Therefore, the vibration and dynamic behavior of such engineering structures can be manipulated by grading polymeric viscoelastic materials in a structure. In this research, the transverse vibration performance of an axially graded polymeric beam is considered through systematic modeling and optimization study. A piecewise continuous model has been developed for axially graded beams and their free vibration and frequency response characteristics were analyzed for different combination and grading schemes of polymeric materials. By spatially distributing the range of polymeric materials along the span, spectral characteristics (natural frequencies, modal damping) of graded beams are obtained. Numerical simulations are carried out with axially graded beams made of materials (PLA, ABS, Nylon and TPU) which are easily available for 3D printing. Their spectral characteristics were analyzed and it is demonstrated that frequency and damping characteristics can be manipulated with a prescribed axial distribution of viscoelastic materials. Hence they can be the basis for optimal structural design to achieve a desired dynamic performance.","PeriodicalId":152209,"journal":{"name":"Volume 4: Dynamics, Vibration, and Control","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127971307","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Simultaneous and Iterative Estimation of Vehicle Ride Model States and Parameters 车辆行驶模型状态和参数的同步迭代估计

Volume 4: Dynamics, Vibration, and Control Pub Date : 2019-11-11 DOI: 10.1115/imece2019-11260

Lakshmi Sampathraghavan, K. Ramarathnam

引用次数: 0

A Novel Design of a Large-Stroke Shape Memory Alloy Linear Actuator 一种大行程形状记忆合金直线驱动器的新设计

Volume 4: Dynamics, Vibration, and Control Pub Date : 2019-11-11 DOI: 10.1115/imece2019-10831

Fei Yang, Jian Wang, Miaoling Han, Yifan Lu, H. Yue, Miao Wu

{"title":"A Novel Design of a Large-Stroke Shape Memory Alloy Linear Actuator","authors":"Fei Yang, Jian Wang, Miaoling Han, Yifan Lu, H. Yue, Miao Wu","doi":"10.1115/imece2019-10831","DOIUrl":"https://doi.org/10.1115/imece2019-10831","url":null,"abstract":"\u0000 The traditional actuation systems such as combustion engines, electro motors, hydraulic and pneumatic machines, have several drawbacks: large volume and weight, huge energy consumption and high cost. To overcome these problems, this paper presents a novel large-stroke linear actuator actuated by shape memory alloy (SMA) wires. Multiple SMA wires are distributed in the space three-dimensionally and connected in series to achieve a larger stroke of the actuator. The tandem structure makes the SMA actuator easy to integrate into a narrow available space with dimension constraints. A theoretical model for bias element selection is developed through analysis of the driving paths. A prototype of the proposed SMA actuator is fabricated and corresponding experiments are conducted to verify the functions and performances. The critical working performances of the SMA actuator such as the output displacement, heating electric current, actuation time and reset time are obtained and investigated. The results prove that the proposed SMA actuator can output an ideal driving stroke and enough actuation force in confined space. This research provides design ideas for the large-stroke SMA actuator in more application fields.","PeriodicalId":152209,"journal":{"name":"Volume 4: Dynamics, Vibration, and Control","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133544569","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Synthesis of Flexure Based Translational Springs 柔性平移弹簧的合成

Volume 4: Dynamics, Vibration, and Control Pub Date : 2019-11-11 DOI: 10.1115/imece2019-10763

Abhijit Ashish Chattopadhyay, Hong Zhou

{"title":"Synthesis of Flexure Based Translational Springs","authors":"Abhijit Ashish Chattopadhyay, Hong Zhou","doi":"10.1115/imece2019-10763","DOIUrl":"https://doi.org/10.1115/imece2019-10763","url":null,"abstract":"\u0000 Translational springs are employed to generate desired force-displacement relationships. Conventional translational springs utilize elastic deformations of coiled spring strips to fulfill their functions. The one-dimensional motion of a conventional translational spring is produced by the three-dimensional deformation of its coiled spring strip, which is bending plus twisting of the coiled spring strip. Different from conventional translational springs, flexure based translational springs usually have simple planar monolithic structures, and are convenient to manufacture and maintain. The translation of a flexure based translational spring is from the two-dimensional elastic or recoverable deformations of its planar flexible members. The flexure based translational springs synthesized in this research are required to endure large input translations. Because of large deformation and geometric nonlinearity, flexure based translational springs face difficulties that include parasitic drift, spring stiffness deviation, and high stress in the deformed springs. The research of this paper is motivated by surmounting these difficulties. Flexure based translational springs with different arrangements are synthesized to eliminate parasitic drifts and have desired spring rates and reasonable maximum stress.","PeriodicalId":152209,"journal":{"name":"Volume 4: Dynamics, Vibration, and Control","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115343496","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Data-Driven Feedforward Tuning Approach for LPV Motion Systems LPV运动系统的数据驱动前馈调谐方法

Volume 4: Dynamics, Vibration, and Control Pub Date : 2019-11-11 DOI: 10.1115/imece2019-11203

Huang Weicai, Kaiming Yang, Yu Zhu, Sen Lu

引用次数: 0