INFLUENZA SUL COMPORTAMENTO DINAMICO DI UN ROTORE SOSPESO ATTRAVERSO CUSCINETTI MAGNETICI ATTIVI MEDIANTE μ-SYNTHESIS E LOOP-SHAPING DESIGN

In questo lavoro viene effettuato un confronto sul comportamento dinamico di un albero rotante quando è sospeso attraverso un sistema di due cuscinetti magnetici ciascuno costituito da due assi. Le sospensione magnetica attiva è ottenuta elaborando due diversi sistemi di controllo che realizzano la stabilità del rotore conferendo a quest’ultimo delle prestazioni robuste nel mantenimento degli spostamenti entro certi margini prestabiliti. Ognuno di questi sistemi di controllo è caratterizzato da otto ingressi e quattro uscite con la presenza di incertezze sul guadagno spostamento e guadagno di corrente; ciò è giustificato dal semplice fatto che gli apparati elettronici possono usurarsi con i…

INFLUENCE OF UNCERTAINTIES ON PD TUNING

The aim of this work is to present a method for tuning the parameters of PD controller under the influences of the uncertainties, in order to stabilize the position of a rotor supported by active magnetic bearings (AMBs). The uncertainties are relative to mass, transverse and polar moment of inertia of the rotor. The introduction of the uncertainties is due to an incomplete modeled dynamic of the system or in the case the system being subjected to a parametric variation. The presence of the uncertainties produces a set of differences among the values of the output. Poles displacement method is used to reach the asymptotically stability condition characterized by a periodic oscillation durin…

The Recovery of the Optimal Damping Constant by the MRF Damper

In this paper was studied a method to analyze the recovering of optimal damping constant because of temperature increasing in a shock absorber. The increasing on temperature leads to decreasing that constant by mean dynamic viscosity such to modify the dynamic behavior of a 2DOF system built-up by sprung and unsprung mass. A MagnetoRheological damper was designed according with the desired optimal damping constant once fixed temperature design. It was seen that the increasing of temperature this constant is lost. As MagnetoRheological-Fluids allows us to increase the viscosity, we use a control signal by a state feedback of reduced order to create a such magnetic induction field to recover …

Sub-Optimal Control Law for Active Magnetic Bearings Suspension

This paper deals with the comparison of three types of sub-optimal control law for the stable levitation of a turbojet shaft, sustained by two radial active magnetic bearings (AMBs). Shaft is considered rigid for the procedure simplification. The utilized approach leads to development of different sub-optimal control laws to use in speed-varying simulations in the angular speed of the shaft. The first control matrix is obtained by explicit relationships of the parameters of the control law vs. speed, obtained using a curve-fitting procedure neglecting the speed-varying elements out of the main diagonal of each single block constituting the entire control matrix. The second control law is ob…

ANALISI DEGLI EFFETTI DEL CAMPO MAGNETICO SULLO STATO TENSIONALE INDOTTO IN PIASTRE DI ACCIAIO FORATE

Si è considerata una piastra forata di materiale ferromagnetico opportunamente accoppiata da bobine di filo di rame smaltato alimentato da un alimentatore DC a 30V. Essa è stata analizzata agli Elementi Finiti e successivamente sono state eseguite sperimentazioni per la validazione dei risultati ottenuti. Dopo aver levigato la piastra sono stati installati due estensimetri per misurare la deformazione lungo l’asse x e lungo l’asse z. Si sono ottenuti i valori di deformazione di 5µm in direzione z e -2µm in direzione x. Il confronto numerico-sperimentale mostra che i risultati di laboratorio sono più bassi di quelli numerici, mentre segni e ordini di grandezza sono gli stessi. Si conclude ch…

Influence on the Dynamic Behavior of Full Car Equipped by Magnetorheological Damper via Switch on/off and h∞ Controller

This paper shows the influence on dynamic behavior of the car when it is equipped with magneto-rheological dampers controlled by a feedback. The feedback is built up in two ways; the first is implemented by a switch on/off control that is characterized by the injection of magnetic field with a constant value. It happens when a certain value of relative speed between the sprung and unsprung mass is exceeded. The second feedback is characterized by the H-infinity control which is based on the relative displacement in order to vary the magnetic field signal in a continuous manner. At the same time the H-infinity control of vehicle is maintained by taking into account the exceeding of speed sig…

INFLUENCE OF UNCERTAINTIES ON ROTATING FLEXIBLE SHAFT SUSPENDED BY 4-AXIS RADIAL ACTIVE MAGNETIC BEARINGS µ-SYNTHESIS AND LOOP-SHAPING-DESIGN

This paper shows a comparison about dynamic behavior of a rotating shaft when it is suspended by 4-axis radial active magnetic bearing system. The active magnetic suspension is obtained by two different controllers which realize the robust stability and robust performance. The control systems used are µ-synthesis and loop shaping design procedure. Each of these controllers is characterized by fourinput and four output signals and the introduction of uncertainties on displacement gain and current gain is justified by the simple fact that during the time the component which constitutes these gains can be subjected to torn and worn which can lead the entire system to instability phenomena. The…

STUDY OF NEW AUTOMOTIVE REAR SUSPENSION MECHANISM

The paper presents firstly an introduction discussing: the problem’s statement emphasizing the actual problem of research of passenger car suspension to improve driving comfort and dynamic of the vehicle movement; aspects regarding the studies of car suspension mechanisms; the paper’s aims and objectives showing that a new configuration of suspension mechanism having in structure mobile frame and an actuator offering some important operational advantages is proposed. After this, the innovative concept is presented. The motions of mechanism elements and actuator and kinematic displacements are largely presented. The simulation using modern software (MSC Patran 2007, MD R2 Nastran and MSC ADA…

Optimal Damping Constant Investigation on a Quarter-Car

This paper shows an investigation on optimal damping constant performed in the frequency domain. The optimal damping constant is meant as that value that minimizes the acceleration of all connected bodies characterizing a two degree of freedom system sketching a quarter car. The connected bodies are sprung and unsprung mass respectively for quarter of chassis and tire, this last keeps the contact with the ground and it is connected with the sprung mass through a shock absorber characterized by spring and fluid damper. Optimal damping constant was determined by imposing analytical conditions on the expression of acceleration of two masses. Afterwards, the variation of acceleration and positi…

CONTROLLO SUB-OTTIMO PER UN ALBERO ROTANTE IN LEVITAZIONE MAGNETICA ATTIVA

Il presente lavoro ha come scopo quello di mettere in mostra le sostanziali differenze rilevate nel comportamento dinamico di un rotore supportato da cuscinetti radiali in levitazione magnetica attiva. Sono stati rilevati sia gli spostamenti radiali che la risposta in frequenza controllando il rotore dapprima con una legge di ottimo tempo variante e successivamente con una di tipo sub-ottimo, ricavata dalla precedente rendendola stazionaria rispetto alla velocità angolare. È mostrato come la presenza del controllo sub-ottimo annulla la dipendenza del segnale di controllo dalle componenti di spostamento non interessate dal sensore e riduce sensibilmente l’entità degli spostamenti radiali.

EXPERIMENTAL INVESTIGATIONS OF MINIMUM POWER CONSUMPTION OPTIMAL CONTROL FOR VARIABLE SPEED AMB ROTOR

The purpose of this paper is to present a method for development of the optimal speed-dependent control matrix for a rotor supported on active magnetic bearings (AMBs) with the provision of minimum control power consumption over the operating speed range. The speed dependency of the optimal control matrix is the result of the dynamics of rotating machines. Most of published works on optimal control use a stationary optimal control matrix derived for the non-rotating system and thus neglecting the effect of gyroscopic phenomena. This paper employs the minimum energy consumption condition to derive the speed varying optimal control for rotating AMB rotor system. In the presented approach the …

STUDIO DEL COMPORTAMENTO DINAMICO DI UN MODELLO HALF CAR E CONFRONTO FRA AMMORTIZZAZIONE PASSIVA E SEMIATTIVA A FLUIDO MAGNETO-REOLOGICO

Questo lavoro inizia con la progettazione di massima del pistone di un ammortizzatore a fluido magnetoreologico, effettuata con l’ausilio di Solid Works e del software di simulazione magnetica FEMM. Le dimensioni preliminari sono state assegnate facendo uso delle relazioni teoriche, mentre il software FEMM ha confermato il risultato. Sono state poi ricavate le equazioni della dinamica di un modello half car, sia in forma di sistema di equazioni differenziali che in forma di spazio di stato. Tramite l’interfaccia SimuLink di MatLab, è eseguito un confronto fra i risultati ottenuti dal sistema in condizioni di funzionamento passivo con quelli in funzionamento semi-attivo. Scelta la geometria …

DYNAMIC BEHAVIOUR COMPARISON OF ROTATING SHAFT SUSPENDED BY TWO RADIAL ACTIVE MAGNETIC BEARINGS.

Portaconoide SG

Dispositivo industriale in lavorazioni meccaniche nel settore dell'alimentazione

Performances Comparison for a Rotating Shaft Suspended by 4-Axis Radial Active Magnetic Bearings via 𝜇 -Synthesis, Loop-Shaping Design, and Sub ( 𝐻 ) ∞ with Uncertainties

The control systems applied on active magnetic bearing are several. A perfect levitation is characterized by maintaining the operating point condition that is characterized by the center of stator coincident with the geometric center of shaft. The first controller implemented for this purpose is PID controller that is characterized by an algorithm that leads the amplifier to produce control current until the operating point condition is not reached, this is obtained by an integration operator. The effect of an integrator is essential but not necessary for a centered levitation for example in the robust control characterized by a dynamic model depended on plant of system so that it depends o…

Portacono SG per alimentazione industriale

Analysis of the effects of magnetic field on the induced stress in drilled plates

Abstract A drilled plate of ferromagnetic material suitably coupled by coils of enameled copper wire fed by a DC power supply to 30 V is considered in this paper. It is analyzed with finite element and later experiments are performed to validate the obtained results. After polishing the plate, two strain gauges for measuring the deformation along the x axis and along the z axis are installed. The values of strain are 5 μm/m in z direction and −2 μm/m in x direction. The experimental–numerical comparison shows that the laboratory results are lower than numerical, while signs and orders of magnitude are the same. It is concluded that the results of the FEM analysis can be considered acceptabl…

OPTIMAL DAMPING CONSTANT OF THE QUARTER CAR SHOCK ABSORBER

The paper aim is the investigation of optimal damping constant of a quarter car shock absorber that is performed in the frequency domain. The optimal damping constant refers to the value that minimizes the acceleration of all connected bodies characterizing a two degree of freedom system sketching a quarter car. The connected bodies are sprung and unsprung mass respectively for quarter of chassis and tire, the last one maintain the contact with the ground and it is connected with the sprung mass through a shock absorber characterized by spring and fluid damper. Optimal damping constant was determined by imposing analytical conditions on the expression of acceleration of two masses. Afterwar…

Active magnetic bearing design study

The purpose of this paper is to propose a useful method to implement active magnetic bearings (AMBs) on an existing rotating shaft which rotates on conventional bearings. This is feasible if AMBs can produce the same reaction loads of conventional ones and if the size of vane is large enough to host an AMB. As this substitution could offer some difficulties due to the different size between magnetic bearings and conventional ones, a set of equations are performed to show that a variation of some parameters can solve this problem. The journal ratio is the geometrical parameter introduced to develop the present analysis. The variation of journal ratio does not produce a variation of the pole…

Control flow strategy in a receiver coil for nuclear magnetic resonance for imaging

A mathematical discussion is introduced to describe the receiver coil characterizing a nuclear magnetic resonance for imaging, starting from a general shape of the conductor. A set of different inductance calculations have been introduced, varying the shape of the conductor. The inductance calculation led to a general expression of the magnetic field of a single coil characterized by a rectangular shape. A dynamic model of the receiver coil has been developed to represent the natural frequencies that characterize the operational bandwidth. A nonstationary control strategy is implemented to make a real time changing of the operational bandwidth. The frequency response of the coil generates …

STUDIO DI UNA FRIZIONE MAGNETOREOLOGICA PER AUTOVEICOLI

Dopo un’accurata ricerca bibliografica sui fluidi magnetoreologici, il loro comportamento ed impiego, si è passati alla progettazione di una frizione magnetoreologica per autoveicoli. Considerando le caratteristiche di coppia trasmessa e potenza, il dispositivo è stato dimensionato tenendo presente i vincoli di ingombro del veicolo preso in esame. Sottoponendo il dispositivo ad analisi magnetostatica agli elementi finiti, si è determinato l’andamento delle linee di flusso del campo magnetico nel meato di fluido e nelle zone di maggior interesse, calcolando la coppia teoricamente trasmessa dall’innesto.È stato anche eseguito il confronto delle prestazionifra una frizione MR ed una frizione t…

An estimator algorithm for the rotation time of magnetization vector in nuclear magnetic resonance for imaging (NMRI)

The purpose of this paper is to propose a useful method to investigate the rotation time of the magnetization vector in the nuclear magnetic resonance for imaging (NMRI) system. The ninety degrees rotation of the magnetization vector is the first step in order to establish the free induction decay that radiates electromagnetic energy inside the NMRI chamber. The estimator involved in this research is called Luenberger's observer which is a state estimator of a dynamical system. The Bloch's equation is a dynamical system characterized by a radio frequency (RF) impulse located inside the dynamic matrix, which means the system is not linear. The observer algorithm involved in this paper estim…

ROBUST CONTROL FOR A SUSPENDED ROTATING SHAFT BY RADIAL ACTIVE MAGNETIC BEARINGS

This paper shows a comparison based on dynamic behaviour of a rotating shaft when it is suspended by 4-axis active magnetic bearings under several control systems. The control systems used are μ-synthesis, loop shaping design procedure and Sub(H∞) robust control with the introduction of uncertainties on position and current gains of the actuators. Each of these controllers is characterized by four input signals and four output signals and the introduction of uncertainties on displacement gain and current gain is due to torn and worn of the components during the time, which can lead the entire system to instability phenomena. The comparison of the performances is obtained through the introdu…

STUDIO DI UN AMMORTIZZATORE ELETTROMAGNETICO A RECUPERO DI ENERGIA

Questo lavoro ha come obiettivo principale lo studio teorico e con supporto di software F.E.M. di un dispositivo che consenta recupero energetico da una sospensione automobilistica. In sostituzione allo smorzatore viscoso, che dissipa l’energia cinetica del veicolo a seguito dell’attraversamento di strade sconnesse o ostacoli più marcati, si è usato uno smorzatore elettromagnetico che svolga le funzioni dello smorzatore viscoso consentendo un recupero di energia elettrica. Lo smorzatore elettromagnetico è di tipo a magneti permanenti e il suo funzionamento si basa sul fenomeno dell’induzione elettromagnetica. Il modello matematico descrive il funzionamento dello smorzatore, restituendo i va…

SAFETY CONSIDERATIONS ON TEENAGE PEDESTRIAN-BUS IMPACT

This work studies the impact conditions between the adolescent pedestrian and the bus focusing on head and chest injury. The injury to the head is analyzed using both the Head Injury Criterion (HIC) 36 and the HIC15 parameters as established by the most advanced legislation and comparing the risk probability Abbreviated Injury Scale (AIS3+) and AIS4+. The parameter HIC15 gives a higher probability of risk with lower values, and therefore it can be considered more conservative. Moreover, the study of chest injury is performed with two different biomechanical parameters: the Thoracic Trauma Index (TTI) and the TTI(d); the last neglects the pedestrian mass. The results indicate that the param…