Determining the optimal smoothing length scale for actuator line models of wind turbine blades
NASA Astrophysics Data System (ADS)
Martinez, Luis; Meneveau, Charles
2015-11-01
The actuator line model (ALM) is a widely used tool for simulating wind turbines when performing Large-Eddy Simulations. The ALM uses a smearing kernel ηɛ = 1 /ɛ3π 3 / 2 exp (-r2 /ɛ2) , where r is the distance to an actuator point, and ɛ is the smoothing length scale which establishes the kernel width, to project the lift and drag forces onto the grid. In this work, we develop formulations to establish the optimum value of the smoothing length scale ɛ, based on physical arguments, instead of purely numerical constraints. This parameter has a very important role in the ALM, to provide a length scale, which may, for example, be related to the chord of the airfoil being studied. In the proposed approach, we compare features (such as vertical pressure gradient) of a potential flow solution for flow over a lifting surface with features of the solution of the Euler equations with a body force term. The potential flow solution over a lifting surface is used as a general representation of an airfoil. The method presented aims to minimize the difference between these features of the flow fields as a function of the smearing length scale (ɛ), in order to obtain the optimum value. This work is supported by NSF (IGERT and IIA-1243482) and computations use XSEDE resources.
Simulation of wind turbine wakes using the actuator line technique.
Sørensen, Jens N; Mikkelsen, Robert F; Henningson, Dan S; Ivanell, Stefan; Sarmast, Sasan; Andersen, Søren J
2015-02-28
The actuator line technique was introduced as a numerical tool to be employed in combination with large eddy simulations to enable the study of wakes and wake interaction in wind farms. The technique is today largely used for studying basic features of wakes as well as for making performance predictions of wind farms. In this paper, we give a short introduction to the wake problem and the actuator line methodology and present a study in which the technique is employed to determine the near-wake properties of wind turbines. The presented results include a comparison of experimental results of the wake characteristics of the flow around a three-bladed model wind turbine, the development of a simple analytical formula for determining the near-wake length behind a wind turbine and a detailed investigation of wake structures based on proper orthogonal decomposition analysis of numerically generated snapshots of the wake. PMID:25583862
Simulation of wind turbine wakes using the actuator line technique
Sørensen, Jens N.; Mikkelsen, Robert F.; Henningson, Dan S.; Ivanell, Stefan; Sarmast, Sasan; Andersen, Søren J.
2015-01-01
The actuator line technique was introduced as a numerical tool to be employed in combination with large eddy simulations to enable the study of wakes and wake interaction in wind farms. The technique is today largely used for studying basic features of wakes as well as for making performance predictions of wind farms. In this paper, we give a short introduction to the wake problem and the actuator line methodology and present a study in which the technique is employed to determine the near-wake properties of wind turbines. The presented results include a comparison of experimental results of the wake characteristics of the flow around a three-bladed model wind turbine, the development of a simple analytical formula for determining the near-wake length behind a wind turbine and a detailed investigation of wake structures based on proper orthogonal decomposition analysis of numerically generated snapshots of the wake. PMID:25583862
An Actuator Curve Embedding Method to Model Wind Turbine Wakes
NASA Astrophysics Data System (ADS)
Jha, Pankaj; Schmitz, Sven
2013-11-01
The Actuator Line Method (ALM) is widely used in the wind energy community to model the complex interactions within large wind farms in large-eddy simulation (LES) of the atmospheric boundary layer (ABL) at various stability states. The state-of-the-art in ALM modeling is rooted in the work of Sorensen and Shen (2002). The major weakness of the ALM still remains in having the actuator line discretized as a superposition of individual spherically-spread body forces. The associated overlap of adjacent spherical force fields leads to a large sensitivity of computed blade loads to the way in which the spherical spreading radius is altered along the actuator line (Jha et al. 2013). An Actuator Curve Embedding (ACE) method is developed that considers a general actuator line in 3-D space where the force distribution along the actuator curve is embedded continuously onto the background mesh and without overlap. The ACE method thus is expected to show improved body-force discretization for wind turbine blades, in particular those subject to aeroelastic deformations. Some preliminary results contrasting the ALM and ACE methods are discussed. Support: DOE. Graduate Research Assistant, Aerospace Engineering.
Fabrication of Spiral Micro Coil Lines for Electromagnetic Actuators
NASA Astrophysics Data System (ADS)
Setomoto, Masaru; Matsumoto, Yoshifumi; Yamashita, Shuhei; Noda, Daiji; Hattori, Tadashi
With the recent progress in downsizing and the sophistication of various industrial products, the need for more compact actuators is increasing. Actuators account for the larger percentage of volume and weight of a product compared with other parts and devices. We have proposed fabrication process of spiral micro coils that employs X-ray lithography. This process will be effective for fabricating coils of a high aspect ratio lines. Reducing the size of coil lines and increasing their aspect ratio are expected to reduce the size and increase the output of actuators. Using this process, we formed spiral coil lines that can be used in electromagnetic actuators. X-ray lithography was used to form a high aspect ratio helical structure on the surface of an acrylic resin pipe. As a measure to suppress void generation, which is one of the shortcomings of electroplating processes, the sputtering apparatus and plating equipment were improved, a pretreatment process was additionally provided, and the actual electroplating method was improved. As a result, a void-free metallic deposit could be formed on a thin coil line. At the final step of this research study, we etched the coil line to determine optimal etching conditions.
A Model of the THUNDER Actuator
NASA Technical Reports Server (NTRS)
Curtis, Alan R. D.
1997-01-01
A THUNDER actuator is a composite of three thin layers, a metal base, a piezoelectric wafer and a metal top cover, bonded together under pressure and at high temperature with the LaRC SI polyimid adhesive. When a voltage is applied between the metal layers across the PZT the actuator will bend and can generate a force. This document develops and describes an analytical model the transduction properties of THUNDER actuators. The model development is divided into three sections. First, a static model is described that relates internal stresses and strains and external displacements to the thermal pre-stress and applied voltage. Second, a dynamic energy based model is described that allows calculation of the resonance frequencies, developed force and electrical input impedance. Finally, a fully coupled electro-mechanical transducer model is described. The model development proceeds by assuming that both the thermal pre-stress and the piezoelectric actuation cause the actuator to deform in a pure bend in a single plane. It is useful to think of this as a two step process, the actuator is held flat, differential stresses induce a bending moment, the actuator is released and it bends. The thermal pre-stress is caused by the different amounts that the constituent layers shrink due to their different coefficients of thermal expansion. The adhesive between layers sets at a high temperature and as the actuator cools, the metal layers shrink more than the PZT. The PZT layer is put into compression while the metal layers are in tension. The piezoelectric actuation has a similar effect. An applied voltage causes the PZT layer to strain, which in turn strains the two metal layers. If the PZT layer expands it will put the metal layers into tension and PZT layer into compression. In both cases, if shear force effects are neglected, the actuator assembly will experience a uniform in-plane strain. As the materials each have a different elastic modulus, different stresses will
A magnetorheological actuation system: test and model
NASA Astrophysics Data System (ADS)
John, Shaju; Chaudhuri, Anirban; Wereley, Norman M.
2008-04-01
Self-contained actuation systems, based on frequency rectification of the high frequency motion of an active material, can produce high force and stroke output. Magnetorheological (MR) fluids are active fluids whose rheological properties can be altered by the application of a magnetic field. By using MR fluids as the energy transmission medium in such hybrid devices, a valving system with no moving parts can be implemented and used to control the motion of an output cylinder shaft. The MR fluid based valves are configured in the form of an H-bridge to produce bi-directional motion in an output cylinder by alternately applying magnetic fields in the two opposite arms of the bridge. The rheological properties of the MR fluid are modeled using both Bingham plastic and bi-viscous models. In this study, the primary actuation is performed using a compact terfenol-D rod driven pump and frequency rectification of the rod motion is done using passive reed valves. The pump and reed valve configuration along with MR fluidic valves form a compact hydraulic actuation system. Actuator design, analysis and experimental results are presented in this paper. A time domain model of the actuator is developed and validated using experimental data.
A Simple Sensor Model for THUNDER Actuators
NASA Technical Reports Server (NTRS)
Campbell, Joel F.; Bryant, Robert G.
2009-01-01
A quasi-static (low frequency) model is developed for THUNDER actuators configured as displacement sensors based on a simple Raleigh-Ritz technique. This model is used to calculate charge as a function of displacement. Using this and the calculated capacitance, voltage vs. displacement and voltage vs. electrical load curves are generated and compared with measurements. It is shown this model gives acceptable results and is useful for determining rough estimates of sensor output for various loads, laminate configurations and thicknesses.
Preisach modeling of dielectric elastomer EAP actuator
NASA Astrophysics Data System (ADS)
Hwang, HyunWoo; Kim, Chul-Jin; Kim, Sung Joo; Yang, Hyunseok; Park, No Cheol; Park, Young-Pil
2008-03-01
DE EAP(Dielectric Elastomer ElectroActive Polymer) has advantages in its weight, ease of fabrication and low power consumption. There are many efforts applied to various field in recent ten years. But the present modeling is not enough to appear its characteristics because of its hysteresis. In this paper, we propose modeling of DE EAP with Preisach Model that is used in order to model the hysteretic response arising in PZT and SMA. The modeling of DE EAP with Presach model is verified by experiment with various DE EAP actuators.
Design, test and model of a hybrid magnetostrictive hydraulic actuator
NASA Astrophysics Data System (ADS)
Chaudhuri, Anirban; Yoo, Jin-Hyeong; Wereley, Norman M.
2009-08-01
The basic operation of hybrid hydraulic actuators involves high frequency bi-directional operation of an active material that is converted to uni-directional motion of hydraulic fluid using valves. A hybrid actuator was developed using magnetostrictive material Terfenol-D as the driving element and hydraulic oil as the working fluid. Two different lengths of Terfenol-D rod, 51 and 102 mm, with the same diameter, 12.7 mm, were used. Tests with no load and with load were carried out to measure the performance for uni-directional motion of the output piston at different pumping frequencies. The maximum no-load flow rates were 24.8 cm3 s-1 and 22.7 cm3 s-1 with the 51 mm and 102 mm long rods respectively, and the peaks were noted around 325 Hz pumping frequency. The blocked force of the actuator was close to 89 N in both cases. A key observation was that, at these high pumping frequencies, the inertial effects of the fluid mass dominate over the viscous effects and the problem becomes unsteady in nature. In this study, we also develop a mathematical model of the hydraulic hybrid actuator in the time domain to show the basic operational principle under varying conditions and to capture phenomena affecting system performance. Governing equations for the pumping piston and output shaft were obtained from force equilibrium considerations, while compressibility of the working fluid was taken into account by incorporating the bulk modulus. Fluid inertia was represented by a lumped parameter approach to the transmission line model, giving rise to strongly coupled ordinary differential equations. The model was then used to calculate the no-load velocities of the actuator at different pumping frequencies and simulation results were compared with experimental data for model validation.
Otten, Alexander; van Vuuren, Wieke; Stienen, Arno; van Asseldonk, Edwin; Schouten, Alfred; van der Kooij, Herman
2011-01-01
Robotics used for diagnostic measurements on, e.g. stroke survivors, require actuators that are both stiff and compliant. Stiffness is required for identification purposes, and compliance to compensate for the robots dynamics, so that the subject can move freely while using the robot. A hydraulic actuator can act as a position (stiff) or a torque (compliant) actuator. The drawback of a hydraulic actuator is that it behaves nonlinear. This article examines two methods for controlling a nonlinear hydraulic actuator. The first method that is often applied uses an elastic element (i.e. spring) connected in series with the hydraulic actuator so that the torque can be measured as the deflection of the spring. This torque measurement is used for proportional integral control. The second method of control uses the inverse of the model of the actuator as a linearizing controller. Both methods are compared using simulation results. The controller designed for the series elastic hydraulic actuator is faster to implement, but only shows good performance for the working range for which the controller is designed due to the systems nonlinear behavior. The elastic element is a limiting factor when designing a position controller due to its low torsional stiffness. The model-based controller linearizes the nonlinear system and shows good performance when used for torque and position control. Implementing the model-based controller does require building and validating of the detailed model. PMID:22275654
Yang, Bo; Tan, U-Xuan; McMillan, Alan; Gullapalli, Rao; Desai, Jaydev P
2011-12-01
This paper presents the design and control of an MRI-compatible 1-DOF needle driver robot and its precise position control using pneumatic actuation with long transmission lines. MRI provides superior image quality compared to other imaging modalities such as CT or ultrasound, but imposes severe limitations on the material and actuator choice (to prevent image distortion) due to its strong magnetic field. We are primarily interested in developing a pneumatically actuated breast biopsy robot with a large force bandwidth and precise targeting capability during radio-frequency ablation (RFA) of breast tumor, and exploring the possibility of using long pneumatic transmission lines from outside the MRI room to the device in the magnet to prevent any image distortion whatsoever. This paper presents a model of the entire pneumatic system. The pneumatic lines are approximated by a first order system with time delay, because its dynamics are governed by the telegraph equation with varying coefficients and boundary conditions, which cannot be solved precisely. The slow response of long pneumatic lines and valve subsystems make position control challenging. This is further compounded by the presence of non-uniform friction in the device. Sliding mode control (SMC) was adopted, where friction was treated as an uncertainty term to drive the system onto the sliding surface. Three different controllers were designed, developed, and evaluated to achieve precise position control of the RFA probe. Experimental results revealed that all SMCs gave satisfactory performance with long transmission lines. We also performed several experiments with a 3-DOF fiber-optic force sensor attached to the needle driver to evaluate the performance of the device in the MRI under continuous imaging. PMID:22058649
Yang, Bo; Tan, U-Xuan; McMillan, Alan; Gullapalli, Rao; Desai, Jaydev P.
2011-01-01
This paper presents the design and control of an MRI-compatible 1-DOF needle driver robot and its precise position control using pneumatic actuation with long transmission lines. MRI provides superior image quality compared to other imaging modalities such as CT or ultrasound, but imposes severe limitations on the material and actuator choice (to prevent image distortion) due to its strong magnetic field. We are primarily interested in developing a pneumatically actuated breast biopsy robot with a large force bandwidth and precise targeting capability during radio-frequency ablation (RFA) of breast tumor, and exploring the possibility of using long pneumatic transmission lines from outside the MRI room to the device in the magnet to prevent any image distortion whatsoever. This paper presents a model of the entire pneumatic system. The pneumatic lines are approximated by a first order system with time delay, because its dynamics are governed by the telegraph equation with varying coefficients and boundary conditions, which cannot be solved precisely. The slow response of long pneumatic lines and valve subsystems make position control challenging. This is further compounded by the presence of non-uniform friction in the device. Sliding mode control (SMC) was adopted, where friction was treated as an uncertainty term to drive the system onto the sliding surface. Three different controllers were designed, developed, and evaluated to achieve precise position control of the RFA probe. Experimental results revealed that all SMCs gave satisfactory performance with long transmission lines. We also performed several experiments with a 3-DOF fiber-optic force sensor attached to the needle driver to evaluate the performance of the device in the MRI under continuous imaging. PMID:22058649
Pneumatic Artificial Muscle Actuation and Modeling
NASA Astrophysics Data System (ADS)
Leephakpreeda, Thananchai; Wickramatunge, Kanchana C.
2009-10-01
A Pneumatic Artificial Muscle (PAM) yields a natural muscle-like actuator with a high force to weight ratio, a soft and flexible structure, and adaptable compliance for a humanoid robot, rehabilitation and prosthetic appliances to the disabled, etc. To obtain optimum design and usage, the mechanical behavior of the PAM need to be understood. In this study, observations of experimental results reveal an empirical model for relations of physical variables, contraction and air pressure within the PAM, as compared to mechanical characteristics, such as stiffness or/and pulling forces of the PAM available now in market.
Simulating wind and marine hydrokinetic turbines with actuator lines in RANS and LES
NASA Astrophysics Data System (ADS)
Bachant, Peter; Wosnik, Martin
2015-11-01
As wind and marine hydrokinetic (MHK) turbine designs mature, focus is shifting towards improving turbine array layouts for maximizing overall power output, i.e., minimizing wake interference for axial-flow or horizontal-axis turbines, or taking advantage of constructive wake interaction for cross-flow or vertical-axis turbines. Towards this goal, an actuator line model (ALM) was developed to provide a computationally feasible method for simulating full turbine arrays inside Navier-Stokes models. The ALM predicts turbine loading with the blade element method combined with sub-models for dynamic stall and flow curvature. The open-source software is written as an extension library for the OpenFOAM CFD package, which allows the ALM body force to be applied to their standard RANS and LES solvers. Turbine forcing is also applied to volume of fluid (VOF) models, e.g., for predicting free surface effects on submerged MHK devices. An additional sub-model is considered for injecting turbulence model scalar quantities based on actuator line element loading. Results are presented for the simulation of performance and wake dynamics of axial- and cross-flow turbines and compared with moderate Reynolds number experiments and body-fitted mesh, blade-resolving CFD. Work supported by NSF-CBET grant 1150797.
Modeling of two-hot-arm horizontal thermal actuator
NASA Astrophysics Data System (ADS)
Yan, Dong; Khajepour, Amir; Mansour, Raafat
2003-03-01
Electrothermal actuators have a very promising future in MEMS applications since they can generate large deflection and force with low actuating voltages and small device areas. In this study, a lumped model of a two-hot-arm horizontal thermal actuator is presented. In order to prove the accuracy of the lumped model, finite element analysis (FEA) and experimental results are provided. The two-hot-arm thermal actuator has been fabricated using the MUMPs process. Both the experimental and FEA results are in good agreement with the results of lumped modeling.
Line Fluid Actuated Valve Development Program. [for application on the space shuttle
NASA Technical Reports Server (NTRS)
Lynch, R. A.
1975-01-01
The feasibility of a line-fluid actuated valve design for potential application as a propellant-control valve on the space shuttle was examined. Design and analysis studies of two prototype valve units were conducted and demonstrated performance is reported. It was shown that the line-fluid actuated valve concept offers distinct weight and electrical advantages over alternate valve concepts. Summaries of projected performance and design goals are also included.
Modeling actuation forces and strains in nastic structures
NASA Astrophysics Data System (ADS)
Matthews, Luke A.; Giurgiutiu, Victor
2006-03-01
Nastic structures are capable of three dimensional shape change using biological principles borrowed from plant motion. The plant motor cells increase or decrease in size through a change in osmotic pressure. When nonuniform cell swelling occurs, it causes the plant tissue to warp and change shape, resulting it net movement, known as nastic motion, which is the same phenomena that causes plants to angle their broad leaf and flower surfaces to face light sources. The nastic structures considered in this paper are composed of a bilayer of microactuator arrays with a fluid reservoir in between the two layers. The actuators are housed in a thin plate and expand when water from the fluid reservoir is pumped into the actuation chamber through a phospholipid bilayer with embedded active transport proteins, which move the water from the low pressure fluid reservoir into a high pressure actuation chamber. Increasing water pressure inside the actuator causes lateral expansion and axial bulging, and the non-uniform net volume change of actuators throughout the nastic structure results in twisting or bending shape change. Modifying the actuation displacement allows controlled volume change. This paper presents an analytical model of the driving and blocking forces involved in actuation, as well as stress and strain that occurs due to the pressure changes. Actuation is driven by increasing osmotic pressure, and blocking forces are taken into consideration to plan actuator response so that outside forces do not counteract the displacement of actuation. Nastic structures are designed with use in unmanned aerial vehicles in mind, so blocking forces are modeled to be similar to in-flight conditions. Stress in the system is modeled so that any residual strain or lasting deformation can be determined, as well as a lifespan before failure from repeated actuation. The long-term aim of our work is to determine the power and energy efficiency of nastic structures actuation mechanism.
Piezoelectric Actuator Modeling Using MSC/NASTRAN and MATLAB
NASA Technical Reports Server (NTRS)
Reaves, Mercedes C.; Horta, Lucas G.
2003-01-01
This paper presents a procedure for modeling structures containing piezoelectric actuators using MSCMASTRAN and MATLAB. The paper describes the utility and functionality of one set of validated modeling tools. The tools described herein use MSCMASTRAN to model the structure with piezoelectric actuators and a thermally induced strain to model straining of the actuators due to an applied voltage field. MATLAB scripts are used to assemble the dynamic equations and to generate frequency response functions. The application of these tools is discussed using a cantilever aluminum beam with a surface mounted piezoelectric actuator as a sample problem. Software in the form of MSCINASTRAN DMAP input commands, MATLAB scripts, and a step-by-step procedure to solve the example problem are provided. Analysis results are generated in terms of frequency response functions from deflection and strain data as a function of input voltage to the actuator.
Numerical modeling of shape memory alloy linear actuator
NASA Astrophysics Data System (ADS)
Jani, Jaronie Mohd; Huang, Sunan; Leary, Martin; Subic, Aleksandar
2015-09-01
The demand for shape memory alloy (SMA) actuators in high-technology applications is increasing; however, there exist technical challenges to the commercial application of SMA actuator technologies, especially associated with actuation duration. Excessive activation duration results in actuator damage due to overheating while excessive deactivation duration is not practical for high-frequency applications. Analytical and finite difference equation models were developed in this work to predict the activation and deactivation durations and associated SMA thermomechanical behavior under variable environmental and design conditions. Relevant factors, including latent heat effect, induced stress and material property variability are accommodated. An existing constitutive model was integrated into the proposed models to generate custom SMA stress-strain curves. Strong agreement was achieved between the proposed numerical models and experimental results; confirming their applicability for predicting the behavior of SMA actuators with variable thermomechanical conditions.
Modeling Piezoelectric Stack Actuators for Control of Micromanipulation
NASA Technical Reports Server (NTRS)
Goldfarb, Michael; Celanovic, Nikola
1997-01-01
A nonlinear lumped-parameter model of a piezoelectric stack actuator has been developed to describe actuator behavior for purposes of control system analysis and design, and, in particular, for microrobotic applications requiring accurate position and/or force control. In formulating this model, the authors propose a generalized Maxwell resistive capacitor as a lumped-parameter causal representation of rate-independent hysteresis. Model formulation is validated by comparing results of numerical simulations to experimental data. Validation is followed by a discussion of model implications for purposes of actuator control.
Piezoelectric actuator models for active sound and vibration control of cylinders
NASA Technical Reports Server (NTRS)
Lester, Harold C.; Lefebvre, Sylvie
1993-01-01
Analytical models for piezoelectric actuators, adapted from flat plate concepts, are developed for noise and vibration control applications associated with vibrating circular cylinders. The loadings applied to the cylinder by the piezoelectric actuators for the bending and in-plane force models are approximated by line moment and line force distributions, respectively, acting on the perimeter of the actuator patch area. Coupling between the cylinder and interior acoustic cavity is examined by studying the modal spectra, particularly for the low-order cylinder modes that couple efficiently with the cavity at low frequencies. Within the scope of this study, the in-plane force model produced a more favorable distribution of low-order modes, necessary for efficient interior noise control, than did the bending model.
Empirical modeling of dynamic behaviors of pneumatic artificial muscle actuators.
Wickramatunge, Kanchana Crishan; Leephakpreeda, Thananchai
2013-11-01
Pneumatic Artificial Muscle (PAM) actuators yield muscle-like mechanical actuation with high force to weight ratio, soft and flexible structure, and adaptable compliance for rehabilitation and prosthetic appliances to the disabled as well as humanoid robots or machines. The present study is to develop empirical models of the PAM actuators, that is, a PAM coupled with pneumatic control valves, in order to describe their dynamic behaviors for practical control design and usage. Empirical modeling is an efficient approach to computer-based modeling with observations of real behaviors. Different characteristics of dynamic behaviors of each PAM actuator are due not only to the structures of the PAM actuators themselves, but also to the variations of their material properties in manufacturing processes. To overcome the difficulties, the proposed empirical models are experimentally derived from real physical behaviors of the PAM actuators, which are being implemented. In case studies, the simulated results with good agreement to experimental results, show that the proposed methodology can be applied to describe the dynamic behaviors of the real PAM actuators. PMID:23871151
Thrust Production and Wake Structure of an Actuated Lamprey Model
NASA Astrophysics Data System (ADS)
Buchholz, James; Smits, Alexander
2004-11-01
Thrust generation is studied for a flexible lamprey model which is actuated periodically to produce a streamwise traveling wave. Shape memory alloy actuators are used to achieve this deformation. The flow field is investigated using DPIV and flow visualization for a range of Strouhal numbers based on peak-to-peak amplitude of the trailing edge. The vortex kinematics in the spanwise and streamwise planes are examined, and a three-dimensional unsteady vortex model of the wake will be discussed.
Dynamic modeling of brushless dc motors for aerospace actuation
NASA Technical Reports Server (NTRS)
Demerdash, N. A.; Nehl, T. W.
1980-01-01
A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.
Dynamic modeling of brushless dc motors for aerospace actuation
NASA Astrophysics Data System (ADS)
Demerdash, N. A.; Nehl, T. W.
1980-11-01
A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.
Computational Modeling of Magnetically Actuated Propellant Orientation
NASA Technical Reports Server (NTRS)
Hochstein, John I.
1996-01-01
sufficient performance to support cryogenic propellant management tasks. In late 1992, NASA MSFC began a new investigation in this technology commencing with the design of the Magnetically-Actuated Propellant Orientation (MAPO) experiment. A mixture of ferrofluid and water is used to simulate the paramagnetic properties of LOX and the experiment is being flown on the KC-135 aircraft to provide a reduced gravity environment. The influence of a 0.4 Tesla ring magnet on flow into and out of a subscale Plexiglas tank is being recorded on video tape. The most efficient approach to evaluating the feasibility of MAPO is to compliment the experimental program with development of a computational tool to model the process of interest. The goal of the present research is to develop such a tool. Once confidence in its fidelity is established by comparison to data from the MAPO experiment, it can be used to assist in the design of future experiments and to study the parameter space of the process. Ultimately, it is hoped that the computational model can serve as a design tool for full-scale spacecraft applications.
Nonlinear finite element modeling of THUNDER piezoelectric actuators
NASA Astrophysics Data System (ADS)
Taleghani, Barmac K.; Campbell, Joel F.
1999-06-01
A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (Thin Layer Unimorph Ferroelectric Driver) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.
Modeling liquid crystal elastomers: actuators, pumps, and robots
NASA Astrophysics Data System (ADS)
Selinger, Robin L. B.; Mbanga, Badel L.; Selinger, Jonathan V.
2008-02-01
We model the dynamics of shape evolution of liquid crystal elastomers (LCE) in three dimensions using finite element elastodynamics. The model predicts the macroscopic mechanical response induced by changes in nematic order, e.g. by heating or cooling through the isotropic/nematic transition or, in azo-doped materials, by exposure to light. We model the performance of LCE actuator devices including multicomponent actuators, peristaltic pumps and self-propelled robots. The goal of this work is to build a bridge between basic soft matter theory and practical materials engineering/device design. Supported by NSF-DMR-0605889.
Non-Linear Finite Element Modeling of THUNDER Piezoelectric Actuators
NASA Technical Reports Server (NTRS)
Taleghani, Barmac K.; Campbell, Joel F.
1999-01-01
A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (THin Layer UNimorph Ferroelectric DrivER) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.
A comprehensive model for piezoceramic actuators: modelling, validation and application
NASA Astrophysics Data System (ADS)
Quant, Mario; Elizalde, Hugo; Flores, Abiud; Ramírez, Ricardo; Orta, Pedro; Song, Gangbing
2009-12-01
This paper presents a comprehensive model for piezoceramic actuators (PAs), which accounts for hysteresis, non-linear electric field and dynamic effects. The hysteresis model is based on the widely used general Maxwell slip model, while an enhanced electro-mechanical non-linear model replaces the linear constitutive equations commonly used. Further on, a linear second order model compensates the frequency response of the actuator. Each individual model is fully characterized from experimental data yielded by a specific PA, then incorporated into a comprehensive 'direct' model able to determine the output strain based on the applied input voltage, fully compensating the aforementioned effects, where the term 'direct' represents an electrical-to-mechanical operating path. The 'direct' model was implemented in a Matlab/Simulink environment and successfully validated via experimental results, exhibiting higher accuracy and simplicity than many published models. This simplicity would allow a straightforward inclusion of other behaviour such as creep, ageing, material non-linearity, etc, if such parameters are important for a particular application. Based on the same formulation, two other models are also presented: the first is an 'alternate' model intended to operate within a force-controlled scheme (instead of a displacement/position control), thus able to capture the complex mechanical interactions occurring between a PA and its host structure. The second development is an 'inverse' model, able to operate within an open-loop control scheme, that is, yielding a 'linearized' PA behaviour. The performance of the developed models is demonstrated via a numerical sample case simulated in Matlab/Simulink, consisting of a PA coupled to a simple mechanical system, aimed at shifting the natural frequency of the latter.
Computational model of deformable lenses actuated by dielectric elastomers
NASA Astrophysics Data System (ADS)
Lu, Tongqing; Cai, Shengqiang; Wang, Huiming; Suo, Zhigang
2013-09-01
A recent design of deformable lens mimics the human eye, adjusting its focal length in response to muscle-like actuation. The artificial muscle is a membrane of a dielectric elastomer subject to a voltage. Here, we calculate the coupled and inhomogeneous deformation of the lens and the dielectric elastomer actuator by formulating a nonlinear boundary-value problem. We characterize the strain-stiffening elastomer with the Gent model and describe the voltage-induced deformation using the model of ideal dielectric elastomer. The computational predictions agree well with experimental data. We use the model to explore the space of parameters, including the prestretch of the membrane, the volume of the liquid in the lens, and the size of the dielectric elastomer actuator relative to the lens. We examine how various modes of failure limit the minimum radius of curvature.
A voice-actuated wind tunnel model leak checking system
NASA Technical Reports Server (NTRS)
Larson, W. E.
1985-01-01
A voice-actuated wind tunnel model leak checking system was developed. The system uses a voice recognition and response unit to interact with the technician along with a graphics terminal to provide the technician with visual feedback while checking a model for leaks.
Valve, explosive actuated, normally open, pyronetics model 1399
NASA Technical Reports Server (NTRS)
Avalos, E.
1971-01-01
Results of the tests to evaluate open valve, Model 1399 are reported for the the following tests: proof pressure leakage, actuation, disassembly, and burst pressure. It is concluded that the tests demonstrate the soundness of the structural integrity of the valve.
Modelling and control of double-cone dielectric elastomer actuator
NASA Astrophysics Data System (ADS)
Branz, F.; Francesconi, A.
2016-09-01
Among various dielectric elastomer devices, cone actuators are of large interest for their multi-degree-of-freedom design. These objects combine the common advantages of dielectric elastomers (i.e. solid-state actuation, self-sensing capability, high conversion efficiency, light weight and low cost) with the possibility to actuate more than one degree of freedom in a single device. The potential applications of this feature in robotics are huge, making cone actuators very attractive. This work focuses on rotational degrees of freedom to complete existing literature and improve the understanding of such aspect. Simple tools are presented for the performance prediction of the device: finite element method simulations and interpolating relations have been used to assess the actuator steady-state behaviour in terms of torque and rotation as a function of geometric parameters. Results are interpolated by fit relations accounting for all the relevant parameters. The obtained data are validated through comparison with experimental results: steady-state torque and rotation are determined at a given high voltage actuation. In addition, the transient response to step input has been measured and, as a result, the voltage-to-torque and the voltage-to-rotation transfer functions are obtained. Experimental data are collected and used to validate the prediction capability of the transfer function in terms of time response to step input and frequency response. The developed static and dynamic models have been employed to implement a feedback compensator that controls the device motion; the simulated behaviour is compared to experimental data, resulting in a maximum prediction error of 7.5%.
Three Dimensional Modeling of an MRI Actuated Steerable Catheter System
Liu, Taoming; Çavuşoğlu, M. Cenk
2014-01-01
This paper presents the three dimensional kinematic modeling of a novel steerable robotic ablation catheter system. The catheter, embedded with a set of current-carrying micro-coils, is actuated by the magnetic forces generated by the magnetic field of the MRI scanner. This paper develops a 3D model of the MRI actuated steerable catheter system by using finite differences approach. For each finite segment, a quasi-static torque-deflection equilibrium equation is calculated using beam theory. By using the deflection displacements and torsion angles, the kinematic modeling of the catheter system is derived. The proposed models are evaluated by comparing the simulation results of the proposed model with the experimental results of a proof-of-concept prototype. PMID:25328804
Three Dimensional Modeling of an MRI Actuated Steerable Catheter System.
Liu, Taoming; Cavuşoğlu, M Cenk
2014-01-01
This paper presents the three dimensional kinematic modeling of a novel steerable robotic ablation catheter system. The catheter, embedded with a set of current-carrying micro-coils, is actuated by the magnetic forces generated by the magnetic field of the MRI scanner. This paper develops a 3D model of the MRI actuated steerable catheter system by using finite differences approach. For each finite segment, a quasi-static torque-deflection equilibrium equation is calculated using beam theory. By using the deflection displacements and torsion angles, the kinematic modeling of the catheter system is derived. The proposed models are evaluated by comparing the simulation results of the proposed model with the experimental results of a proof-of-concept prototype. PMID:25328804
Model for bending actuators that use electrostrictive graft elastomers
NASA Astrophysics Data System (ADS)
Costen, Robert C.; Su, Ji; Harrison, Joycelyn S.
2001-07-01
Recently, it was reported that an electrostrictive graft elastomer exhibits large electric field-induced strain (4%). Combined with its high mechanical modulus, the elastomer can offer very promising electromechanical properties, in terms of output mechanical energy density, for an electroactive polymeric material. Therefore, it has been considered as one of the candidates that can be used in high performance, low mass actuation devices in many aerospace applications. Various bi-layer-based bending actuators have been designed and fabricated. An analytic model based on beam theory in the strength of materials has been derived for the transverse deflection, or curvature, and the longitudinal strain of the bi-layer beam. The curvature and strain are functions of the applied voltage and the thickness, width, and Young's modulus of the active and passive layers. The model can be used to optimize the performance of electrostrictive graft elastomer-based actuators to meet the requirements of various applications. In this presentation, optimization and sensitivity studies are applied to the bending performance of such actuators.
Model For Bending Actuators That Use Electrostrictive Graft Elastomers
NASA Technical Reports Server (NTRS)
Costen, Robert C.; Su, Ji; Harrison, Joycelyn S.
2001-01-01
Recently, it was reported that an electrostrictive graft elastomer exhibits large electric field-induced strain (4%). Combined with its high mechanical modulus, the elastomer can offer very promising electromechanical properties, in terms of output mechanical energy density, for an electroactive polymeric material. Therefore, it has been considered as one of the candidates that can be used in high performance, low mass actuation devices in many aerospace applications. Various bilayer- based bending actuators have been designed and fabricated. An analytic model based on beam theory in the strength of materials has been derived for the transverse deflection, or curvature, and the longitudinal strain of the bi-layer beam. The curvature and strain are functions of the applied voltage and the thickness, width, and Young s modulus of the active and passive layers. The model can be used to optimize the performance of electrostrictive graft elastomer-based actuators to meet the requirements of various applications. In this presentation, optimization and sensitivity studies are applied to the bending performance of such actuators.
NASA Astrophysics Data System (ADS)
Shian, Samuel; Diebold, Roger M.; Clarke, David R.
2013-04-01
Electrically tunable adaptive lenses provide several advantages over traditional lens assemblies in terms of compactness, speed, efficiency, and flexibility. We present an elastomer-liquid lens system which makes use of an in-line, transparent electroactive polymer actuator. The lens has two liquid-filled cavities enclosed within two frames, with two passive outer elastomer membranes and an internal transparent electroactive membrane. Advantages of the lens design over existing systems include large apertures, flexibility in choosing the starting lens curvature, and electrode encapsulation with a dielectric liquid. A lens power change up to 40 diopters, corresponding to focal length variation up to 300%, was recorded during actuation, with a response time on the order of tens of milliseconds.
NASA Technical Reports Server (NTRS)
Groom, N. J.
1979-01-01
An analytical model of an Annular Momentum Control Device (AMCD) laboratory test model magnetic bearing actuator with permanent magnet fluxbiasing is presented. An AMCD consists of a spinning annular rim which is suspended by a noncontacting linear electromagnetic spin motor. The actuator is treated as a lumped-parameter electromechanical system in the development of the model.
TVC actuator model. [for the space shuttle main engine
NASA Technical Reports Server (NTRS)
Baslock, R. W.
1977-01-01
A prototype Space Shuttle Main Engine (SSME) Thrust Vector Control (TVC) Actuator analog model was successfully completed. The prototype, mounted on five printed circuit (PC) boards, was delivered to NASA, checked out and tested using a modular replacement technique on an analog computer. In all cases, the prototype model performed within the recording techniques of the analog computer which is well within the tolerances of the specifications.
Nonlinear dynamic modeling for smart material electro-hydraulic actuator development
NASA Astrophysics Data System (ADS)
Larson, John P.; Dapino, Marcelo J.
2013-03-01
Smart material electro-hydraulic actuators use hydraulic rectification by one-way check valves to amplify the motion of smart materials, such as magnetostrictives and piezoelectrics, in order to create compact, lightweight actuators. A piston pump driven by a smart material is combined with a hydraulic cylinder to form a self-contained, power-by-wire actuator that can be used in place of a conventional hydraulic system without the need for hydraulic lines and a centralized pump. The performance of an experimental actuator driven by a 12.7 mm diameter, 114 mm length Terfenol-D rod is evaluated over a range of applied input frequencies, loads, and currents. The peak performance achieved is 37 W, moving a 220 N load at a rate of 17 cm/s and producing a blocked pressure of 12.5 MPa. Additional tests are conducted to quantify the dynamic behavior of the one-way reed valves using a scanning laser vibrometer to identify the frequency response of the reeds and the effect of the valve seat and fluid mass loading. A lumped-parameter model is developed for the system that includes valve inertia and fluid response nonlinearities, and the model results are compared with the experimental data.
Effects of noise variance model on optimal feedback design and actuator placement
NASA Technical Reports Server (NTRS)
Ruan, Mifang; Choudhury, Ajit K.
1994-01-01
In optimal placement of actuators for stochastic systems, it is commonly assumed that the actuator noise variances are not related to the feedback matrix and the actuator locations. In this paper, we will discuss the limitation of that assumption and develop a more practical noise variance model. Various properties associated with optimal actuator placement under the assumption of this noise variance model are discovered through the analytical study of a second order system.
Characterization and modeling of electrostatically actuated polysilicon micromechanical devices
NASA Astrophysics Data System (ADS)
Chan, Edward Keat Leem
Sensors, actuators, transducers, microsystems and MEMS (MicroElertroMechanical Systems) are some of the terms describing technologies that interface information processing systems with the physical world. Electrostatically actuated micromechanical devices are important building blocks in many of these technologies. Arrays of these devices are used in video projection displays, fluid pumping systems, optical communications systems, tunable lasers and microwave circuits. Well-calibrated simulation tools are essential for propelling ideas from the drawing board into production. This work characterizes a fabrication process---the widely-used polysilicon MUMPs process---to facilitate the design of electrostatically actuated micromechanical devices. The operating principles of a representative device---a capacitive microwave switch---are characterized using a wide range of electrical and optical measurements of test structures along with detailed electromechanical simulations. Consistency in the extraction of material properties from measurements of both pull-in voltage and buckling amplitude is demonstrated. Gold is identified as an area-dependent source of nonuniformity in polysilicon thicknesses and stress. Effects of stress gradients, substrate curvature, and film coverage are examined quantitatively. Using well-characterized beams as in-situ surface probes, capacitance-voltage and surface profile measurements reveal that compressible surface residue modifies the effective electrical gap when the movable electrode contacts an underlying silicon nitride layer. A compressible contact surface model used in simulations improves the fit to measurements. In addition, the electric field across the nitride causes charge to build up in the nitride, increasing the measured capacitance over time. The rate of charging corresponds to charge injection through direct tunneling. A novel actuator that can travel stably beyond one-third of the initial gap (a trademark limitation of
Non-linear time variant model intended for polypyrrole-based actuators
NASA Astrophysics Data System (ADS)
Farajollahi, Meisam; Madden, John D. W.; Sassani, Farrokh
2014-03-01
Polypyrrole-based actuators are of interest due to their biocompatibility, low operation voltage and relatively high strain and force. Modeling and simulation are very important to predict the behaviour of each actuator. To develop an accurate model, we need to know the electro-chemo-mechanical specifications of the Polypyrrole. In this paper, the non-linear time-variant model of Polypyrrole film is derived and proposed using a combination of an RC transmission line model and a state space representation. The model incorporates the potential dependent ionic conductivity. A function of ionic conductivity of Polypyrrole vs. local charge is proposed and implemented in the non-linear model. Matching of the measured and simulated electrical response suggests that ionic conductivity of Polypyrrole decreases significantly at negative potential vs. silver/silver chloride and leads to reduced current in the cyclic voltammetry (CV) tests. The next stage is to relate the distributed charging of the polymer to actuation via the strain to charge ratio. Further work is also needed to identify ionic and electronic conductivities as well as capacitance as a function of oxidation state so that a fully predictive model can be created.
Modelling of spring roll actuators based on viscoelastic dielectric elastomers
NASA Astrophysics Data System (ADS)
Zhang, Junshi; Chen, Hualing; Tang, Liling; Li, Bo; Sheng, Junjie; Liu, Lei
2015-06-01
In this article, the effect of viscoelastic deformation is analyzed theoretically to evaluate the performance of spring roll dielectric elastomer (DE) actuators. By patterning the electrodes on the rolls, respectively, two functions are studied: axial elongation and bending. The thermodynamic model of viscoelastic DE spring roll is established, and the governing equation is deduced by the free energy method. It is found that when the applied voltage is static and relatively small, both the axial elongated and bending deformed spring rolls can reach equilibrium after viscoelastic relaxation. The evolutions in different timescales and the final profile are presented. The dynamic response is studied as well, by applying a sinusoidal voltage. For the axial elongated spring roll, viscoelasticity can reduce amplitude and increase mean stretch of the actuator. For the bending deformed spring rolls, the results indicate that the spring stiffness has a more significant impact on dynamic performance compared to the effect of voltage.
Active Flow Control Using Sweeping Jet Actuators on a Semi-Span Wing Model
NASA Technical Reports Server (NTRS)
Melton, LaTunia Pack; Koklu, Mehti
2016-01-01
Wind tunnel experiments were performed using active flow control on an unswept semispan wing model with a 30% chord trailing edge flap to aid in the selection of actuators for a planned high Reynolds number experiment. Two sweeping jet actuator sizes were investigated to determine the influence of actuator size on the active flow control system efficiency. Sweeping jet actuators with orifice sizes of 1 mm x 2 mm and 2 mm x 4 mm were selected because of the differences in actuator jet sweep angle. The parameters that were varied include actuator momentum, freestream velocity, and trailing edge flap deflection angle. Steady and unsteady pressure data, Particle Image Velocimetry data, and force and moment data were acquired to assess the performance of the two actuators. In addition to the wind tunnel experiments, benchtop studies of the actuators were performed to characterize the jets produced by each actuator. Benchtop investigations of the smaller actuator reveal that the jet exiting the actuator has a reduced sweep angle compared to published data for larger versions of this type of actuator. The larger actuator produces an oscillating jet that attaches to the external di?user walls at low supply pressures and produces the expected sweep angles. The AFC results using the smaller actuators show that while the actuators can control flow separation, the selected spacing of 3.3 cm may be too large due to the reduced sweep angle. In comparison, the spacing for the larger actuators, 6.6 cm, appears to be optimal for the Mach numbers investigated. Particle Image Velocimetry results are presented and show how the wall jets produced by the actuators cause the flow to attach to the flap surface.
Test Cases for Modeling and Validation of Structures with Piezoelectric Actuators
NASA Technical Reports Server (NTRS)
Reaves, Mercedes C.; Horta, Lucas G.
2001-01-01
A set of benchmark test articles were developed to validate techniques for modeling structures containing piezoelectric actuators using commercially available finite element analysis packages. The paper presents the development, modeling, and testing of two structures: an aluminum plate with surface mounted patch actuators and a composite box beam with surface mounted actuators. Three approaches for modeling structures containing piezoelectric actuators using the commercially available packages: MSC/NASTRAN and ANSYS are presented. The approaches, applications, and limitations are discussed. Data for both test articles are compared in terms of frequency response functions from deflection and strain data to input voltage to the actuator. Frequency response function results using the three different analysis approaches provided comparable test/analysis results. It is shown that global versus local behavior of the analytical model and test article must be considered when comparing different approaches. Also, improper bonding of actuators greatly reduces the electrical to mechanical effectiveness of the actuators producing anti-resonance errors.
NASA Astrophysics Data System (ADS)
Long, Yongjun; Wei, Xiaohui; Wang, Chunlei; Dai, Xin; Wang, Shigang
2014-05-01
A new rotary normal stress electromagnetic actuator for fast steering mirror (FSM) is presented. The study includes concept design, actuating torque modeling, actuator design, and validation with numerical simulation. To achieve an FSM with compact structure and high bandwidth, the actuator is designed with a cross armature magnetic topology. By introducing bias flux generated by four permanent magnets (PMs), the actuator has high-force density similar to a solenoid but also has essentially linear characteristics similar to a voice coil actuator, leading to a simply control algorithm. The actuating torque output is a linear function of both driving current and rotation angle and is formulated with equivalent magnetic circuit method. To improve modeling accuracy, both the PM flux and coil flux leakages are taken into consideration through finite element simulation. Based on the established actuator model, optimal design of the actuator is presented to meet the requirement of our FSM. Numerical simulation is then presented to validate the concept design, established actuator model, and designed actuator. It is shown that the calculated results are in a good agreement with the simulation results.
Simulation model for analyzing SPUDI with actuated signals
Shafahi, Y.; Haghani, A.; Carter, E.C.; Gupta, K.N.V.
1998-09-01
A time based microsimulation model is developed for analyzing the traffic operation at single point urban diamond interchanges. Features of the model include actuated signal operation, protected and permitted left turn phasing, right turn phasing with and without right turn on red, traffic in shared lanes, traffic in left turn and right turn storage lanes, car following, lane changing, gap acceptance behavior, primary and secondary queue formation and dissipation. The model accepts geometric, traffic, and signal data in an interactive mode. Input files may also be created separately without going through the interactive session. The model outputs include measures of effectiveness such as stopped delay, total delay, average speed, and maximum and average queue length. These measures of effectiveness are given for each turning movement for each approach, and for the intersection as a whole. The model outputs also show the total green time and the total yellow and all red times assigned by the actuated system to each phase during the simulation time. The model results are compared with the actual data collected in the field.
Comprehensive modeling of electrostatically actuated MEMS beams including uncertainty quantification
NASA Astrophysics Data System (ADS)
Snow, Michael G.
MEMS switches have offered dramatic improvements in the performance of RF systems. However, difficulties with reliability has slowed the adoption of MEMS switches in RF systems. These reliability issues are partly due to the poor manufacturing tolerances endemic to MEMS manufacturing processes. These manufacturing tolerances may cause significant variations in performance characteristics. This work focuses on electrostatically actuated MEMS beam capacitive shunt switches. A non-linear dynamic model for these switches was developed. The model accounts for a variety of physical effects including; beam stretching, residual stress, non-rigid boundary conditions, initial curvature, electrostatic fringing field, finite electrodes, squeeze film damping, and distributed contact. The effects of uncertain parameters on the outputs of the model are discovered through response surface based uncertainty quantification techniques. The model accurately predicts the actuation voltages and switching times of these MEMS switches as well as the effects of uncertain parameters. The derived model is widely applicable and accuratly reproduces the results of other models in the literature. Future researchers will be able to rapidly iterate designs and accurately understand the behavior of these switches.
Hysteresis Modeling of Magnetic Shape Memory Alloy Actuator Based on Krasnosel'skii-Pokrovskii Model
Wang, Shoubin; Gao, Wei
2013-01-01
As a new type of intelligent material, magnetically shape memory alloy (MSMA) has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP) model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator. PMID:23737730
A top-down multi-scale modeling for actuation response of polymeric artificial muscles
NASA Astrophysics Data System (ADS)
Yang, Qianxi; Li, Guoqiang
2016-07-01
A class of innovative artificial muscles made of high-strength polymeric fibers such as fishing lines or sewing threads have been discovered recently. These muscles are fabricated by a simple "twist-insertion" procedure, which have attracted increasing attention due to their low cost and readily availability, giant tensile stroke, record energy density, and easy controllability. In the present paper, we established a multi-scale modeling framework for the thermomechanical actuation responses by a top-down strategy, spanning from macro-scale helical spring analysis down to molecular level chain interaction study. Comparison between modeling results and experimental results exhibited excellent agreement. The effect of the micro-, meso- and macro-scale parameters on the actuation responses of the artificial muscle was further discussed through a parametric study per the validated model. This work helps understand the physical origin behind the remarkable tensile actuation behavior of the twisted-then-coiled polymeric artificial muscles and also provides inspirations for optimal design of advanced artificial muscles made by twist-insertion procedure.
Fabrication, modeling and optimization of an ionic polymer gel actuator
NASA Astrophysics Data System (ADS)
Jo, Choonghee; Naguib, Hani E.; Kwon, Roy H.
2011-04-01
The modeling of the electro-active behavior of ionic polymer gel is studied and the optimum conditions that maximize the deflection of the gel are investigated. The bending deformation of polymer gel under an electric field is formulated by using chemo-electro-mechanical parameters. In the modeling, swelling and shrinking phenomena due to the differences in ion concentration at the boundary between the gel and solution are considered prior to the application of an electric field, and then bending actuation is applied. As the driving force of swelling, shrinking and bending deformation, differential osmotic pressure at the boundary of the gel and solution is considered. From this behavior, the strain or deflection of the gel is calculated. To find the optimum design parameter settings (electric voltage, thickness of gel, concentration of polyion in the gel, ion concentration in the solution, and degree of cross-linking in the gel) for bending deformation, a nonlinear constrained optimization model is formulated. In the optimization model, a bending deflection equation of the gel is used as an objective function, and a range of decision variables and their relationships are used as constraint equations. Also, actuation experiments are conducted using poly(2-acrylamido-2-methylpropane sulfonic acid) (PAMPS) gel and the optimum conditions predicted by the proposed model have been verified by the experiments.
Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan
2014-01-01
As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system. PMID:24828010
Analytic model and frequency characteristics of plasma synthetic jet actuator
NASA Astrophysics Data System (ADS)
Zong, Hao-hua; Wu, Yun; Li, Ying-hong; Song, Hui-min; Zhang, Zhi-bo; Jia, Min
2015-02-01
This paper reports a novel analytic model of a plasma synthetic jet actuator (PSJA), considering both the heat transfer effect and the inertia of the throat gas. Both the whole cycle characteristics and the repetitive working process of PSJA can be predicted with this model. The frequency characteristics of a PSJA with 87 mm3 volume and different orifice diameters are investigated based on the analytic model combined with experiments. In the repetitive working mode, the actuator works initially in the transitional stage with 20 cycles and then in the dynamic balanced stage. During the transitional stage, major performance parameters of PSJA experience stepped growth, while during the dynamic balanced stage, these parameters are characterized by periodic variation. With a constant discharge energy of 6.9 mJ, there exists a saturated frequency of 4 kHz/6 kHz for an orifice diameter of 1 mm/1.5 mm, at which the time-averaged total pressure of the pulsed jet reaches a maximum. Between 0.5 mm and 1.5 mm, a larger orifice diameter leads to a higher saturated frequency due to the reduced jet duration time. As the actuation frequency increases, both the time-averaged cavity temperature and the peak jet velocity initially increase and then remain almost unchanged at 1600 K and 280 m/s, respectively. Besides, with increasing frequency, the mechanical energy incorporated in single pulsed jet, the expelled mass per pulse, and the time-averaged density in the cavity, decline in a stair stepping way, which is caused by the intermittent decrease of refresh stage duration in one period.
Validation of high displacement piezoelectric actuator finite element models
NASA Astrophysics Data System (ADS)
Taleghani, Barmac K.
2000-08-01
The paper presents the results obtained by using NASTRAN and ANSYS finite element codes to predict doming of the THUNDER piezoelectric actuators during the manufacturing process and subsequent straining due to an applied input voltage. To effectively use such devices in engineering applications, modeling and characterization are essential. Length, width, dome height, and thickness and important parameters for users of such devices. Therefore, finite element models were used to assess the effects of these parameters. NASTRAN and ANSYS used different methods for modeling piezoelectric effects. In NASTRAN, a thermal analogy was used to represent voltage at nodes as equivalent temperatures, while ANSYS processed the voltage directly using piezoelectric finite elements. The results of finite element models were validated by using the experimental results.
Validation of High Displacement Piezoelectric Actuator Finite Element Models
NASA Technical Reports Server (NTRS)
Taleghani, B. K.
2000-01-01
The paper presents the results obtained by using NASTRAN(Registered Trademark) and ANSYS(Regitered Trademark) finite element codes to predict doming of the THUNDER piezoelectric actuators during the manufacturing process and subsequent straining due to an applied input voltage. To effectively use such devices in engineering applications, modeling and characterization are essential. Length, width, dome height, and thickness are important parameters for users of such devices. Therefore, finite element models were used to assess the effects of these parameters. NASTRAN(Registered Trademark) and ANSYS(Registered Trademark) used different methods for modeling piezoelectric effects. In NASTRAN(Registered Trademark), a thermal analogy was used to represent voltage at nodes as equivalent temperatures, while ANSYS(Registered Trademark) processed the voltage directly using piezoelectric finite elements. The results of finite element models were validated by using the experimental results.
Validation of thermal models for a prototypical MEMS thermal actuator.
Gallis, Michail A.; Torczynski, John Robert; Piekos, Edward Stanley; Serrano, Justin Raymond; Gorby, Allen D.; Phinney, Leslie Mary
2008-09-01
This report documents technical work performed to complete the ASC Level 2 Milestone 2841: validation of thermal models for a prototypical MEMS thermal actuator. This effort requires completion of the following task: the comparison between calculated and measured temperature profiles of a heated stationary microbeam in air. Such heated microbeams are prototypical structures in virtually all electrically driven microscale thermal actuators. This task is divided into four major subtasks. (1) Perform validation experiments on prototypical heated stationary microbeams in which material properties such as thermal conductivity and electrical resistivity are measured if not known and temperature profiles along the beams are measured as a function of electrical power and gas pressure. (2) Develop a noncontinuum gas-phase heat-transfer model for typical MEMS situations including effects such as temperature discontinuities at gas-solid interfaces across which heat is flowing, and incorporate this model into the ASC FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (3) Develop a noncontinuum solid-phase heat transfer model for typical MEMS situations including an effective thermal conductivity that depends on device geometry and grain size, and incorporate this model into the FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (4) Perform combined gas-solid heat-transfer simulations using Calore with these models for the experimentally investigated devices, and compare simulation and experimental temperature profiles to assess model accuracy. These subtasks have been completed successfully, thereby completing the milestone task. Model and experimental temperature profiles are found to be in reasonable agreement for all cases examined. Modest systematic differences appear to be related to uncertainties in the geometric dimensions of the test structures and in the thermal conductivity of the
A mechanical model of a non-uniform ionomeric polymer metal composite actuator
NASA Astrophysics Data System (ADS)
Anton, Mart; Aabloo, Alvo; Punning, Andres; Kruusmaa, Maarja
2008-04-01
This paper describes a mechanical model of an IPMC (ionomeric polymer metal composite) actuator in a cantilever beam configuration. The main contribution of our model is that it gives the most detailed description reported so far of the quasistatic mechanical behaviour of the actuator with non-uniform bending at large deflections. We also investigate a case where part of an IPMC actuator is replaced with a rigid elongation and demonstrate that this configuration would make the actuator behave more linearly. The model is experimentally validated with MuscleSheet™ IPMCs, purchased from BioMimetics Inc.
Huang, Guoliang; Song, Fei; Wang, Xiaodong
2010-01-01
Elastic waves, especially guided waves, generated by a piezoelectric actuator/sensor network, have shown great potential for on-line health monitoring of advanced aerospace, nuclear, and automotive structures in recent decades. Piezoelectric materials can function as both actuators and sensors in these applications due to wide bandwidth, quick response and low costs. One of the most fundamental issues surrounding the effective use of piezoelectric actuators is the quantitative evaluation of the resulting elastic wave propagation by considering the coupled piezo-elastodynamic behavior between the actuator and the host medium. Accurate characterization of the local interfacial stress distribution between the actuator and the host medium is the key issue for the problem. This paper presents a review of the development of analytical, numerical and hybrid approaches for modeling of the coupled piezo-elastodynamic behavior. The resulting elastic wave propagation for structural health monitoring is also summarized. PMID:22319319
Model-Based Angular Scan Error Correction of an Electrothermally-Actuated MEMS Mirror
Zhang, Hao; Xu, Dacheng; Zhang, Xiaoyang; Chen, Qiao; Xie, Huikai; Li, Suiqiong
2015-01-01
In this paper, the actuation behavior of a two-axis electrothermal MEMS (Microelectromechanical Systems) mirror typically used in miniature optical scanning probes and optical switches is investigated. The MEMS mirror consists of four thermal bimorph actuators symmetrically located at the four sides of a central mirror plate. Experiments show that an actuation characteristics difference of as much as 4.0% exists among the four actuators due to process variations, which leads to an average angular scan error of 0.03°. A mathematical model between the actuator input voltage and the mirror-plate position has been developed to predict the actuation behavior of the mirror. It is a four-input, four-output model that takes into account the thermal-mechanical coupling and the differences among the four actuators; the vertical positions of the ends of the four actuators are also monitored. Based on this model, an open-loop control method is established to achieve accurate angular scanning. This model-based open loop control has been experimentally verified and is useful for the accurate control of the mirror. With this control method, the precise actuation of the mirror solely depends on the model prediction and does not need the real-time mirror position monitoring and feedback, greatly simplifying the MEMS control system. PMID:26690432
Model-Based Angular Scan Error Correction of an Electrothermally-Actuated MEMS Mirror.
Zhang, Hao; Xu, Dacheng; Zhang, Xiaoyang; Chen, Qiao; Xie, Huikai; Li, Suiqiong
2015-01-01
In this paper, the actuation behavior of a two-axis electrothermal MEMS (Microelectromechanical Systems) mirror typically used in miniature optical scanning probes and optical switches is investigated. The MEMS mirror consists of four thermal bimorph actuators symmetrically located at the four sides of a central mirror plate. Experiments show that an actuation characteristics difference of as much as 4.0% exists among the four actuators due to process variations, which leads to an average angular scan error of 0.03°. A mathematical model between the actuator input voltage and the mirror-plate position has been developed to predict the actuation behavior of the mirror. It is a four-input, four-output model that takes into account the thermal-mechanical coupling and the differences among the four actuators; the vertical positions of the ends of the four actuators are also monitored. Based on this model, an open-loop control method is established to achieve accurate angular scanning. This model-based open loop control has been experimentally verified and is useful for the accurate control of the mirror. With this control method, the precise actuation of the mirror solely depends on the model prediction and does not need the real-time mirror position monitoring and feedback, greatly simplifying the MEMS control system. PMID:26690432
Model-Based Optimization for Flapping Foil Actuation
NASA Astrophysics Data System (ADS)
Izraelevitz, Jacob; Triantafyllou, Michael
2014-11-01
Flapping foil actuation in nature, such as wings and flippers, often consist of highly complex joint kinematics which present an impossibly large parameter space for designing bioinspired mechanisms. Designers therefore often build a simplified model to limit the parameter space so an optimum motion trajectory can be experimentally found, or attempt to replicate exactly the joint geometry and kinematics of a suitable organism whose behavior is assumed to be optimal. We present a compromise: using a simple local fluids model to guide the design of optimized trajectories through a succession of experimental trials, even when the parameter space is too large to effectively search. As an example, we illustrate an optimization routine capable of designing asymmetric flapping trajectories for a large aspect-ratio pitching and heaving foil, with the added degree of freedom of allowing the foil to move parallel to flow. We then present PIV flow visualizations of the optimized trajectories.
Multi-scale mechanical modelling of a tubular actuator with compliant metal electrodes
NASA Astrophysics Data System (ADS)
Wang, Peng; Lassen, Benny; Jones, Richard W.
2010-04-01
Rolled tubular dielectric elastomer-based actuators provide larger forces by making multiple thin layers of the dielectric elastomer apply their actuation forces in parallel. Such a rolled actuator is currently being marketed by Danfoss PolyPower A/S. This actuator is core-free has no pre-strain and is free-standing The dielectric elastomer (DE) material used to construct the actuator combines a silicon elastomer with compliant metal electrode technology that provides unidirectional motion. In this contribution the focus is on the three dimensional (3-D) modelling of this core-free tubular actuator. 3-D modelling is achieved by representing the actuator by two two-dimensional (2-D) models thus ensuring that the resulting 2-D models can be handled numerically by finite element simulation and analysis. Initially the Voltagestrain and Strain-blocking force characteristics of the actuators are investigated using only the modelled 'active' area, the electrode covered part of the actuator. The 'passive' area, which reduces the total force provided by the 'active' area, is modelled by approximating the steady-state characteristics of the passive area as a spring with a specified stiffness. The spring stiffness is related directly to the geometry and elastic modulus of the elastomer material in the 'passive' area. Using this simple model in conjunction with the force provided by the 3-D 'active' area model the 'effective force' of the actuator can be found. The use of this 'effective force' expression provides good agreement with the experimental forcestrain data obtained from a Danfoss PolyPower tubular actuator.
Including slot harmonics to mechanical model of two-pole induction machine with a force actuator
NASA Astrophysics Data System (ADS)
Sinervo, Anssi; Arkkio, Antero
2012-10-01
A simple mechanical model is identified for a two-pole induction machine that has a four-pole extra winding as a force actuator. The actuator can be used to suppress rotor vibrations. Forces affecting the rotor of the induction machine are separated into actuator force, purely mechanical force due to mass unbalance, and force caused by unbalanced magnetic pull from higher harmonics and unipolar flux. The force due to higher harmonics is embedded to the mechanical model. Parameters of the modified mechanical model are identified from measurements and the modifications are shown to be necessary. The force produced by the actuator is calculated using the mechanical model, direct flux measurements, and voltage and current of the force actuator. All three methods are shown to give matching results proving that the mechanical model can be used in vibration control. The test machine is shown to have time periodic behavior and discrete Fourier analysis is used to obtain time-invariant model parameters.
Polyelectrolyte gels as bending actuators: modeling and numerical simulation
NASA Astrophysics Data System (ADS)
Wallmersperger, Thomas; Keller, Karsten; Attaran, Abdolhamid
2013-04-01
Polyelectrolyte gels are ionic electroactivematerials. They have the ability to react as both, sensors and actuators. As actuators they can be used e.g. as artificial muscles or drug delivery control; as sensors they may be used for measuring e.g. pressure, pH or other ion concentrations in the solution. In this research both, anionic and cationic polyelectrolyte gels placed in aqueous solution with mobile anions and cations are investigated. Due to external stimuli the polyelectrolyte gels can swell or shrink enormously by the uptake or delivery of solvent. In the present research a coupled multi-field problem within a continuum mechanics framework is proposed. The modeling approach introduces a set of equations governing multiple fields of the problem, including the chemical field of the ionic species, the electrical field and the mechanical field. The numerical simulation is performed by using the Finite Element Method. Within the study some test cases will be carried out to validate our model. In the works by Gülch et al., the application of combined anionic-cationic gels as grippers was shown. In the present research for an applied electric field, the change of the concentrations and the electric potential in the complete polymer is simulated by the given formulation. These changes lead to variations in the osmotic pressure resulting in a bending of different polyelectrolyte gels. In the present research it is shown that our model is capable of describing the bending behavior of anionic or cationic gels towards the different electrodes (cathode or anode).
Modeling and development of a twisting wing using inductively heated shape memory alloy actuators
NASA Astrophysics Data System (ADS)
Saunders, Robert N.; Hartl, Darren J.; Boyd, James G.; Lagoudas, Dimitris C.
2015-04-01
Wing twisting has been shown to improve aircraft flight performance. The potential benefits of a twisting wing are often outweighed by the mass of the system required to twist the wing. Shape memory alloy (SMA) actuators repeatedly demonstrate abilities and properties that are ideal for aerospace actuation systems. Recent advances have shown an SMA torsional actuator that can be manufactured and trained with the ability to generate large twisting deformations under substantial loading. The primary disadvantage of implementing large SMA actuators has been their slow actuation time compared to conventional actuators. However, inductive heating of an SMA actuator allows it to generate a full actuation cycle in just seconds rather than minutes while still . The aim of this work is to demonstrate an experimental wing being twisted to approximately 10 degrees by using an inductively heated SMA torsional actuator. This study also considers a 3-D electromagnetic thermo-mechanical model of the SMA-wing system and compare these results to experiments to demonstrate modeling capabilities.
Modeling of thermo-mechanical fatigue and damage in shape memory alloy axial actuators
NASA Astrophysics Data System (ADS)
Wheeler, Robert W.; Hartl, Darren J.; Chemisky, Yves; Lagoudas, Dimitris C.
2015-04-01
The aerospace, automotive, and energy industries have seen the potential benefits of using shape memory alloys (SMAs) as solid state actuators. Thus far, however, these actuators are generally limited to non-critical components or over-designed due to a lack of understanding regarding how SMAs undergo thermomechanical or actuation fatigue and the inability to accurately predict failure in an actuator during use. The purpose of this study was to characterize the actuation fatigue response of Nickel-Titanium-Hafnium (NiTiHf) axial actuators and, in turn, use this characterization to predict failure and monitor damage in dogbone actuators undergoing various thermomechanical loading paths. Calibration data was collected from constant load, full cycle tests ranging from 200-600MPa. Subsequently, actuator lifetimes were predicted for four additional loading paths. These loading paths consisted of linearly varying load with full transformation (300-500MPa) and step loads which transition from zero stress to 300-400MPa at various martensitic volume fractions. Thermal cycling was achieved via resistive heating and convective cooling and was controlled via a state machine developed in LabVIEW. A previously developed fatigue damage model, which is formulated such that the damage accumulation rate is general in terms of its dependence on current and local stress and actuation strain states, was utilized. This form allows the model to be utilized for specimens undergoing complex loading paths. Agreement between experiments and simulations is discussed.
Controller modeling and evaluation for PCV electro-mechanical actuator
NASA Astrophysics Data System (ADS)
Parker, Joey K.
1993-11-01
Hydraulic actuators are currently used to operate the propellant control valves (PCV) for the space shuttle main engine (SSME) and other rocket engines. These actuators are characterized by large power to weight ratios, large force capabilities, and rapid accelerations, which favor their use in control valve applications. However, hydraulic systems are also characterized by susceptibility to contamination, which leads to frequent maintenance requirements. The Control Mechanisms Branch (EP34) of the Component Development Division of the Propulsion Laboratory at the Marshall Space Flight Center (MSFC) has been investigating the application of electromechanical actuators as replacements for the hydraulic units in PCV's over the last few years. This report deals with some testing and analysis of a PCV electromechanical actuator (EMA) designed and fabricated by HR Textron, Inc. This prototype actuator has undergone extensive testing by EP34 personnel since early 1993. At this time, the performance of the HR Textron PCV EMA does not meet requirements for position tracking.
Controller modeling and evaluation for PCV electro-mechanical actuator
NASA Technical Reports Server (NTRS)
Parker, Joey K.
1993-01-01
Hydraulic actuators are currently used to operate the propellant control valves (PCV) for the space shuttle main engine (SSME) and other rocket engines. These actuators are characterized by large power to weight ratios, large force capabilities, and rapid accelerations, which favor their use in control valve applications. However, hydraulic systems are also characterized by susceptibility to contamination, which leads to frequent maintenance requirements. The Control Mechanisms Branch (EP34) of the Component Development Division of the Propulsion Laboratory at the Marshall Space Flight Center (MSFC) has been investigating the application of electromechanical actuators as replacements for the hydraulic units in PCV's over the last few years. This report deals with some testing and analysis of a PCV electromechanical actuator (EMA) designed and fabricated by HR Textron, Inc. This prototype actuator has undergone extensive testing by EP34 personnel since early 1993. At this time, the performance of the HR Textron PCV EMA does not meet requirements for position tracking.
NASA Astrophysics Data System (ADS)
Tian, Pengfei; Jones, Richard W.; Yu, Fei
2016-07-01
A dielectric elastomer (DE) tubular actuator, based on compliant metal electrode technology, exhibits hysteresis-like characteristics when driven with a low power rated high voltage power supply (HVPS). This behavior occurs mainly because the DE actuator acts as a capacitive load compromising the ‘slew rate’ of the HVPS during the actuator’s operation. The motivation of this contribution is to investigate the use of elliptical modelling approaches for capturing the hysteresis characteristics exhibited by the DE tubular actuator when it is driven by a low cost low power rated HVPS. The DE tubular actuator considered in this work demonstrates asymmetric hysteresis behaviour due to the nonlinear voltage–strain behaviour of the actuator. A linearization filter placed in series with the actuator (during its operation) ensures a symmetric hysteresis characteristic that can then be modelled using an ellipse-based approach. Elliptical models come in many forms with the two most popular being the constrained general conic form and the general parametric form. Elliptical-based hysteresis model fits are carried out on experimental data obtained from the application of periodic input voltages, at a number of different low-frequencies, to the tubular actuator. The range of frequencies used is related to the possible use of the tubular actuator for attenuating low frequency vibration during DE actuator-based load positioning applications. Constrained conic and general parametric forms of elliptical model are used for modelling the hysteresis characteristics of the DE actuator and rate dependent models developed based on both approaches. The sensitivity of both of these rate dependent models to small inaccuracies in model parameters was then investigated. The general parametric form was found to be more robust in this respect.
A Reduced-Order Model For Zero-Mass Synthetic Jet Actuators
NASA Technical Reports Server (NTRS)
Yamaleev, Nail K.; Carpenter, Mark H.; Vatsa, Veer S.
2007-01-01
Accurate details of the general performance of fluid actuators is desirable over a range of flow conditions, within some predetermined error tolerance. Designers typically model actuators with different levels of fidelity depending on the acceptable level of error in each circumstance. Crude properties of the actuator (e.g., peak mass rate and frequency) may be sufficient for some designs, while detailed information is needed for other applications (e.g., multiple actuator interactions). This work attempts to address two primary objectives. The first objective is to develop a systematic methodology for approximating realistic 3-D fluid actuators, using quasi-1-D reduced-order models. Near full fidelity can be achieved with this approach at a fraction of the cost of full simulation and only a modest increase in cost relative to most actuator models used today. The second objective, which is a direct consequence of the first, is to determine the approximate magnitude of errors committed by actuator model approximations of various fidelities. This objective attempts to identify which model (ranging from simple orifice exit boundary conditions to full numerical simulations of the actuator) is appropriate for a given error tolerance.
Actuator and aerodynamic modeling for high-angle-of-attack aeroservoelasticity
NASA Technical Reports Server (NTRS)
Brenner, Martin J.
1993-01-01
Accurate prediction of airframe/actuation coupling is required by the imposing demands of modern flight control systems. In particular, for agility enhancement at high angle of attack and low dynamic pressure, structural integration characteristics such as hinge moments, effective actuator stiffness, and airframe/control surface damping can have a significant effect on stability predictions. Actuator responses are customarily represented with low-order transfer functions matched to actuator test data, and control surface stiffness is often modeled as a linear spring. The inclusion of the physical properties of actuation and its installation on the airframe is therefore addressed in this paper using detailed actuator models which consider the physical, electrical, and mechanical elements of actuation. The aeroservoelastic analysis procedure is described in which the actuators are modeled as detailed high-order transfer functions and as approximate low-order transfer functions. The impacts of unsteady aerodynamic modeling on aeroservoelastic stability are also investigated in this paper by varying the order of approximation, or number of aerodynamic lag states, in the analysis. Test data from a thrust-vectoring configuration of an F/A-18 aircraft are compared to predictions to determine the effects on accuracy as a function of modeling complexity.
Actuator and aerodynamic modeling for high-angle-of-attack aeroservoelasticity
NASA Technical Reports Server (NTRS)
Brenner, Martin J.
1993-01-01
Accurate prediction of airframe/actuation coupling is required by the imposing demands of modern flight control systems. In particular, for agility enhancement at high angle of attack and low dynamic pressure, structural integration characteristics such as hinge moments, effective actuator stiffness, and airframe/control surface damping can have a significant effect on stability predictions. Actuator responses are customarily represented with low-order transfer functions matched to actuator test data, and control surface stiffness is often modeled as a linear spring. The inclusion of the physical properties of actuation and its installation on the airframe is therefore addressed using detailed actuator models which consider the physical, electrical, and mechanical elements of actuation. The aeroservoelastic analysis procedure is described in which the actuators are modeled as detailed high-order transfer functions and as approximate low-order transfer functions. The impacts of unsteady aerodynamic modeling on aeroservoelastic stability are also investigated by varying the order of approximation, or number of aerodynamic lag states, in the analysis. Test data from a thrust-vectoring configuration of an F/A-l8 aircraft are compared to predictions to determine the effects on accuracy as a function of modeling complexity.
Actuator-valve interface optimization. [Explosive actuators
Burchett, O.L.; Jones, R.L.
1987-02-01
The interface of explosive actuator driven valves can be optimized to maximize the velocity of the valve plunger by using the computer code Actuator-Valve Response. Details of the AVR model of the actuator driven valve plunger and the results of optimizing an actuator-valve interface with AVR are presented. 5 refs., 5 figs., 3 tabs.
Modeling and inverse feedforward control for conducting polymer actuators with hysteresis
NASA Astrophysics Data System (ADS)
Wang, Xiangjiang; Alici, Gursel; Tan, Xiaobo
2014-02-01
Conducting polymer actuators are biocompatible with a small footprint, and operate in air or liquid media under low actuation voltages. This makes them excellent actuators for macro- and micro-manipulation devices, however, their positioning ability or accuracy is adversely affected by their hysteresis non-linearity under open-loop control strategies. In this paper, we establish a hysteresis model for conducting polymer actuators, based on a rate-independent hysteresis model known as the Duhem model. The hysteresis model is experimentally identified and integrated with the linear dynamics of the actuator. This combined model is inverted to control the displacement of the tri-layer actuators considered in this study, without using any external feedback. The inversion requires an inverse hysteresis model which was experimentally identified using an inverse neural network model. Experimental results show that the position tracking errors are reduced by more than 50% when the hysteresis inverse model is incorporated into an inversion-based feedforward controller, indicating the potential of the proposed method in enabling wider use of such smart actuators.
Hydrogel core flexible matrix composite (H-FMC) actuators: theory and preliminary modelling
NASA Astrophysics Data System (ADS)
Dicker, M. P. M.; Weaver, P. M.; Rossiter, J. M.; Bond, I. P.
2014-09-01
The underlying theory of a new actuator concept based on hydrogel core flexible matrix composites (H-FMC) is presented. The key principle that underlines the H-FMC actuator operation is that the three-dimensional swelling of a hydrogel is partially constrained in order to improve the amount of useful work done. The partial constraint is applied to the hydrogel by a flexible matrix composite (FMC) that minimizes the hydrogel's volume expansion while swelling. This constraint serves to maximize the fixed charge density and resulting osmotic pressure, the driving force behind actuation. In addition, for certain FMC fibre orientations the Poisson's ratio of the anisotropic FMC laminate converts previously unused hydrogel swelling in the radial and circumferential directions into useful axial strains. The potential benefit of the H-FMC concept to hydrogel actuator performance is shown through comparison of force-stroke curves and evaluation of improvements in useful actuation work. The model used to achieve this couples chemical and electrical components, represented with the Nernst-Plank and Poisson equations, as well as a linear elastic mechanical material model, encompassing limited geometric nonlinearities. It is found that improvements in useful actuation work in the order of 1500% over bare hydrogel performance are achieved by the H-FMC concept. A parametric study is also undertaken to determine the effect of various FMC design parameters on actuator free strain and blocking stress. A comparison to other actuator concepts is also included.
Modeling posture-dependent leg actuation in sagittal plane locomotion.
Schmitt, J; Clark, J
2009-12-01
The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height. PMID:19946148
NASA Astrophysics Data System (ADS)
Herraez, Ivan; Micallef, Daniel; van Kuik, Gijs A. M.; Peinke, Joachim
2015-11-01
At the tip of wind turbine blades, the radial bound circulation is transformed into chordwise circulation just before being released as trailing vorticity, giving rise to the tip vortex. The force acting on the chordwise circulation contains a radial and a normal component with respect to the blade axis. This load does not contribute to the torque, so it is a conservative load. Due to this, it is disregarded in the engineering tools used for the design of wind turbines. However, as we demonstrated in a previous work, the conservative load might influence the trajectory of the tip vortex. In order to see how this affects the blade loads, in this research we perform large eddy simulations with an actuator line model where the conservative load has been included. The conservative load reduces the angle of attack in the tip region as a consequence of the modified tip vortex trajectory. This has a negative influence on the lift and the power output. We conclude that the accuracy of engineering design tools of wind turbines can be improved if the conservative load acting at the tip is considered.
Optical actuation of silicon cantilevers: modelling and experimental investigation
NASA Astrophysics Data System (ADS)
Jiang, Fei; Keating, Adrian; Martyuink, Mariusz; Silva, Dilusha; Faraone, Lorenzo; Dell, John M.
2013-05-01
This paper reports on the modeling and experimental investigation of optical excitation of silicon cantilevers. In this work, the silicon cantilevers fabricated have dimensions with width of 15 μm, thickness of 0.26 μm, and variable length from 50 to 120 μm. In order to investigate the effect of the laser modulation frequency and position on the temperature at the anchor edge and displacements at the tip of cantilevers, a transient thermal ANSYS simulation and a steady-state static thermal mechanical ANSYS simulation were undertaken using a structure consisting of silicon device layer, SiO2 sacrificial layer and silicon substrate. The dynamic properties of silicon cantilevers were undertaken by a series of experiments. The period optical driving signal with controlled modulation amplitude was provided by a 405 nm diode laser with a 2.9 μW/μm2 laser power and variable frequencies. The laser spot was located through the longitude direction of silicon cantilevers. In factor, simulation results well matched with experimental observation, including: 1) for untreated silicon cantilevers, the maximum of displacement is observed when the laser beam was located half a diameter way from the anchor on the silicon suspended cantilever side; 2) for the both cantilevers, maximum displacement occurs when the optical actuation frequency is equal to the resonant frequency of cantilevers. Understanding the optical excitation on silicon cantilevers, as waveguides, can potentially increase sensing detection sensitivity (ratio of transmission to cantilever deflection).
Displacement Models for THUNDER Actuators having General Loads and Boundary Conditions
NASA Technical Reports Server (NTRS)
Wieman, Robert; Smith, Ralph C.; Kackley, Tyson; Ounaies, Zoubeida; Bernd, Jeff; Bushnell, Dennis M. (Technical Monitor)
2001-01-01
This paper summarizes techniques for quantifying the displacements generated in THUNDER actuators in response to applied voltages for a variety of boundary conditions and exogenous loads. The PDE (partial differential equations) models for the actuators are constructed in two steps. In the first, previously developed theory quantifying thermal and electrostatic strains is employed to model the actuator shapes which result from the manufacturing process and subsequent repoling. Newtonian principles are then employed to develop PDE models which quantify displacements in the actuator due to voltage inputs to the piezoceramic patch. For this analysis, drive levels are assumed to be moderate so that linear piezoelectric relations can be employed. Finite element methods for discretizing the models are developed and the performance of the discretized models are illustrated through comparison with experimental data.
Semi-empirical modeling of hysteresis compensation in magnetostrictive actuator
NASA Astrophysics Data System (ADS)
Ji, Ki-Hyun; Park, Hae-Jung; Park, Young-Woo; Wereley, Norman M.
2013-04-01
Hysteresis causes a delayed response to a given input in a magnetostrictive actuator (MA). It becomes critical when the MA has to be controlled in precise and real-time mode. An efficient way to compensate hysteresis must be considered. The Jiles-Atherton and Preisach models have been applied mostly in the literature, but these models need complex mathematics that makes them difficult to be applied in precise and real-time mode. Thus, this paper presents a semi-empirical model to compensate hysteresis in the MA. The idea comes from the similarity of the shapes between the hysteresis-compensated input voltage to the MA, and the output voltage of R-C circuit. The respective hysteresis-compensated input voltage and R-C circuit are expressed as polynomial and exponential equations, resulting in two closed-form equations about capacitance. One set of capacitance values for each frequency is selected by simulating the derived equations. Experiments are performed to choose one capacitance value among a set of capacitance values from simulation, based on trial-and-error. The concept of the hysteresis loss is introduced and defined as the ratio of areas between the hysteretic and reference curves. It is observed that the percent change of hysteresis loss increases as the frequency increases up to 400 Hz, but decreases with further increase of the frequency up to 800 Hz. It can be concluded that the proposed approach is effective to compensate hysteresis in the MA, and that hysteresis loss definition introduced by us can be used as a helpful measure of hysteresis compensation.
Computational modeling and parametric study of a rotary actuator driven by piezoelectric composites
NASA Astrophysics Data System (ADS)
Li, Hing L.; Lee, ShiWei R.
1998-07-01
An innovative actuation principle was introduced in a previous study to drive a rotary actuator by piezoelectric composite laminate. The driving element is a three layer laminated beam with piezoceramics sandwiched between two antisymmetric composite laminae. By taking advantage of the structural coupling, a rotary actuator similar to ultrasonic motors can be implemented. A prototype of the mentioned actuator has been fabricated. The objective of this study is to model this device by finite element method. A commercial finite element code, ANSYS, was employed to simulate the rotary actuator. The piezoelectric laminate and the rotor were modeled by solid brick elements and special constraint element was used to account for the contact between two separate bodies. Static and transient dynamic analyses were conducted to simulate the deformation and the angular motion of the rotary actuator, respectively. Parametric study was performed by modal and harmonic analyses to investigate the dynamic response of the driving laminate. The results of this study confirmed the proposed actuation principle and the developed computational model may be used for the optimization of future design.
NASA Astrophysics Data System (ADS)
Stuebner, Michael; Smith, Ralph C.
2010-04-01
Macro Fiber Composite (MFC) actuators utilize PZT fibers embedded in an epoxy matrix for structural actuation. Due to their construction, they are lightweight and provide broadband inputs. Significant advantages of MFC actuators are their high performance, durability, and flexibility when compared to traditional piezoceramic actuators. They are presently being considered for a range of applications including positioning of membrane mirrors and structural control in the aerospace and automotive industry. However, they exhibit varying degrees of hysteresis and constitutive nonlinearities throughout their operating range that must be incorporated in models to achieve the full capabilities of the materials. In this paper, hysteresis is modeled using the homogenized energy model. The inverse model is then used to construct an inverse compensator framework suitable for subsequent control design. The performance of the inverse compensator is illustrated through a numerical example.
The effect of plasma actuator on the depreciation of the aerodynamic drag on box model
NASA Astrophysics Data System (ADS)
Harinaldi, Budiarso, Julian, James; Rabbani M., N.
2016-06-01
Recent active control research advances have provided many benefits some of which in the field of transportation by land, sea as well as by air. Flow engineering by using active control has proven advantages in energy saving significantly. One of the active control equipment that is being developed, especially in the 21st century, is a plasma actuator, with the ability to modify the flow of fluid by the approach of ion particles makes these actuators a very powerful and promising tool. This actuator can be said to be better to the previously active control such as suction, blowing and synthetic jets because it is easier to control, more flexible because it has no moving parts, easy to be manufactured and installed, and consumes a small amount of energy with maximum capability. Plasma actuator itself is the composition of a material composed of copper and a dielectric sheet, where the copper sheets act as an electricity conductor and the dielectric sheet as electricity insulator. Products from the plasma actuators are ion wind which is the result of the suction of free air around the actuator to the plasma zone. This study investigates the ability of plasma actuators in lowering aerodynamic drag which is commonly formed in the models of vehicles by varying the shape of geometry models and the flow speed.
Modeling and control of a hydraulically actuated flexible-prismatic link robot
Love, L.; Kress, R.; Jansen, J.
1996-12-01
Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.
NASA Technical Reports Server (NTRS)
Duyar, A.; Guo, T.-H.; Merrill, W.; Musgrave, J.
1991-01-01
In a previous study, Guo, Merrill and Duyar, 1990, reported a conceptual development of a fault detection and diagnosis system for actuation faults of the Space Shuttle main engine. This study, which is a continuation of the previous work, implements the developed fault detection and diagnosis scheme for the real time actuation fault diagnosis of the Space Shuttle Main Engine. The scheme will be used as an integral part of an intelligent control system demonstration experiment at NASA Lewis. The diagnosis system utilizes a model based method with real time identification and hypothesis testing for actuation, sensor, and performance degradation faults.
Orthotropic deflection model for corner-supported plates with segmented in-plane actuators.
Sumali, Hartono; Washington, Gregory N.; Massad, Jordan Elias
2005-02-01
The shape control of thin, flexible structures has been studied primarily for edge-supported thin plates. For applications involving reconfigurable apertures such as membrane optics and active RF surfaces, corner-supported configurations may prove more applicable. Corner-supported adaptive structures allow for parabolic geometries, greater flexibility, and larger achievable deflections when compared to edge-supported geometries under similar actuation conditions. Preliminary models have been developed for corner-supported thin plates actuated by isotropic piezoelectric actuators. However, typical piezoelectric materials are known to be orthotropic. This paper extends a previously-developed isotropic model for a corner-supported, thin, rectangular bimorph to a more general orthotropic model for a bimorph actuated by a two-dimensional array of segmented PVDF laminates. First, a model determining the deflected shape of an orthotropic laminate for a given distribution of voltages over the actuator array is derived. Second, symmetric actuation of a bimorph consisting of orthotropic material is simulated using orthogonally-oriented laminae. Finally, the results of the model are shown to agree well with layered-shell finite element simulations for simple and complex voltage distributions.
Effects of source vs. interactive actuator assumptions on modelling of a smart structure
NASA Technical Reports Server (NTRS)
Robertshaw, Harry H.; Wynn, Robert H., Jr.; Kimiavi, Babak
1990-01-01
Embedded or internal actuators in a structure are being utilized to perform vibration attenuation, pointing maneuvers, damage control, and other adaptive tasks. The controls-structures-interaction (CSI) design process depends strongly on the coupled dynamic response of the structure and the actuators. A bond graph approach is used to guide this analytical study to uncover the effects of certain generic actuator types on the closed-loop, initial condition control of a single-mode structural model and an eighteen-state model of an active truss. So-called 'flow' and 'effort' source actuator types were studied and were shown to have significant differences in closed-loop response for ranges of initial conditions and system open-loop natural frequencies.
Design Optimization Tool for Synthetic Jet Actuators Using Lumped Element Modeling
NASA Technical Reports Server (NTRS)
Gallas, Quentin; Sheplak, Mark; Cattafesta, Louis N., III; Gorton, Susan A. (Technical Monitor)
2005-01-01
The performance specifications of any actuator are quantified in terms of an exhaustive list of parameters such as bandwidth, output control authority, etc. Flow-control applications benefit from a known actuator frequency response function that relates the input voltage to the output property of interest (e.g., maximum velocity, volumetric flow rate, momentum flux, etc.). Clearly, the required performance metrics are application specific, and methods are needed to achieve the optimal design of these devices. Design and optimization studies have been conducted for piezoelectric cantilever-type flow control actuators, but the modeling issues are simpler compared to synthetic jets. Here, lumped element modeling (LEM) is combined with equivalent circuit representations to estimate the nonlinear dynamic response of a synthetic jet as a function of device dimensions, material properties, and external flow conditions. These models provide reasonable agreement between predicted and measured frequency response functions and thus are suitable for use as design tools. In this work, we have developed a Matlab-based design optimization tool for piezoelectric synthetic jet actuators based on the lumped element models mentioned above. Significant improvements were achieved by optimizing the piezoceramic diaphragm dimensions. Synthetic-jet actuators were fabricated and benchtop tested to fully document their behavior and validate a companion optimization effort. It is hoped that the tool developed from this investigation will assist in the design and deployment of these actuators.
NASA Astrophysics Data System (ADS)
Aljanaideh, Omar; Habineza, Didace; Rakotondrabe, Micky; Al Janaideh, Mohammad
2016-04-01
An experimental study has been carried out to characterize rate-dependent hysteresis of a piezoelectric tube actuator at different excitation frequencies. The experimental measurements were followed by modeling and compensation of the hysteresis nonlinearities of the piezoelectric tube actuator using both the inverse rate-dependent Prandtl-Ishlinskii model (RDPI) and inverse rate-independent Prandtl-Ishlinskii model (RIPI) coupled with a controller. The comparison of hysteresis modeling and compensation of the actuator with both models is presented.
Research on Hysteresis of Piezoceramic Actuator Based on the Duhem Model
Wang, Jingyuan
2013-01-01
To improve the modeling accuracy of piezoceramic actuator in the precision positioning system, the Duhem hysteretic model of the piezoceramic actuator was proposed. The paper used the polynomial function to approach the piecewise continuous function and f(v) and g(v) in the Duhem model, adopted recursive least squares algorithm and gradient correction algorithm to identify parameter α, polynomial coefficients of f and g in the Duhem model, and established the nonlinear parametric model of the piezoceramic actuator. Contrasting the simulation results of recursive least squares algorithm and gradient correction algorithm, the modeling accuracy is 0.24% when adopting the recursive least squares algorithm, and the modeling accuracy is 0.11% when adopting the gradient correction method. The result showed that the gradient correction algorithm could meet the modeling accuracy better, and the structure of the algorithm is simple, adaptable, and easy to implement. PMID:23861658
Osmotic actuation modelling for innovative biorobotic solutions inspired by the plant kingdom.
Sinibaldi, E; Puleo, G L; Mattioli, F; Mattoli, V; Di Michele, F; Beccai, L; Tramacere, F; Mancuso, S; Mazzolai, B
2013-06-01
Osmotic-driven plant movements are widely recognized as impressive examples of energy efficiency and low power consumption. These aspects motivate the interest in developing an original biomimetic concept of new actuators based on the osmotic principle exploited by plants. This study takes a preliminary step in this direction, by modelling the dynamic behaviour of two exemplificative yet relevant implementations of an osmotic actuator concept. In more detail, the considered implementations differ from each other in the way actuation energy storage is achieved (through a piston displacement in the former case, through membrane bulging in the latter). The dynamic problem is analytically solved for both cases; scaling laws for the actuation figures of merit (namely characteristic time, maximum force, maximum power, power density, cumulated work and energy density) as a function of model parameters are obtained for the bulging implementation. Starting from such performance indicators, a preliminary dimensioning of the envisaged osmotic actuator is exemplified, based on design targets/constraints (such as characteristic time and/or maximum force). Moreover, model assumptions and limitations are discussed towards effective prototypical development and experimental testing. Nonetheless, this study takes the first step towards the design of new actuators based on the natural osmotic principle, which holds potential for disruptive innovation in many fields, including biorobotics and ICT solutions. PMID:23648821
A Reduced-Order Model for Efficient Simulation of Synthetic Jet Actuators
NASA Technical Reports Server (NTRS)
Yamaleev, Nail K.; Carpenter, Mark H.
2003-01-01
A new reduced-order model of multidimensional synthetic jet actuators that combines the accuracy and conservation properties of full numerical simulation methods with the efficiency of simplified zero-order models is proposed. The multidimensional actuator is simulated by solving the time-dependent compressible quasi-1-D Euler equations, while the diaphragm is modeled as a moving boundary. The governing equations are approximated with a fourth-order finite difference scheme on a moving mesh such that one of the mesh boundaries coincides with the diaphragm. The reduced-order model of the actuator has several advantages. In contrast to the 3-D models, this approach provides conservation of mass, momentum, and energy. Furthermore, the new method is computationally much more efficient than the multidimensional Navier-Stokes simulation of the actuator cavity flow, while providing practically the same accuracy in the exterior flowfield. The most distinctive feature of the present model is its ability to predict the resonance characteristics of synthetic jet actuators; this is not practical when using the 3-D models because of the computational cost involved. Numerical results demonstrating the accuracy of the new reduced-order model and its limitations are presented.
Finite element modeling of electromechanical behavior of a dielectric electroactive polymer actuator
NASA Astrophysics Data System (ADS)
Deodhar, Aseem; York, Alexander; Hodgins, Micah; Seelecke, Stefan
2011-04-01
Dielectric Electroactive Polymers (DEAP) will undergo large deformations when subject to an electric field making them an attractive material for use in novel actuator systems. There are many challenges with successful application and design of DEAP actuators resulting from their inherent electromechanical coupling and non-linear material behavior. FE modeling of the material behavior is a useful tool to better understand such systems and aid in the optimal design of prototypes. These modeling efforts must account for the electromechanical coupling in order to accurately predict their response to multiple loading conditions expected during real operating conditions. This paper presents a Finite Element model of a dielectric elastomer undergoing out-of-plane, axisymmetric deformation. The response of the elastomer was investigated while it was subjected to mechanical and electric fields and combined electro-mechanical actuation. The compliant electrodes have a large effect on the mechanical behavior of the EAP which needs to be taken into consideration while modeling the EAP as a system. The model is adapted to include the effect of electrode stiffness on the mechanical response of the actuator. The model was developed using the commercial Finite Element Modeling software, COMSOL. The results from the mechanical simulations are presented in the form of forcedisplacement curves and are validated with comparisons to experimental results. Electromechanical simulations are carried out and the stroke of the actuator for different electrode stiffness values is compared with experimental values when the EAP is biased with a constant force.
Tests and Techniques for Characterizing and Modeling X-43A Electromechanical Actuators
NASA Technical Reports Server (NTRS)
Lin, Yohan; Baumann, Ethan; Bose, David M.; Beck, Roger; Jenney, Gavin
2008-01-01
A series of tests were conducted on the electromechanical actuators of the X-43A research vehicle in preparation for the Mach 7 and 10 hypersonic flights. The tests were required to help validate the actuator models in the simulation and acquire a better understanding of the installed system characteristics. Static and dynamic threshold, multichannel crosstalk, command-to-surface timing, free play, voltage regeneration, calibration, frequency response, compliance, hysteretic damping, and aircraft-in-the-loop tests were performed as part of this effort. This report describes the objectives, configurations, and methods for those tests, as well as the techniques used for developing second-order actuator models from the test results. When the first flight attempt failed because of actuator problems with the launch vehicle, further analysis and model enhancements were performed as part of the return-to-flight activities. High-fidelity models are described, along with the modifications that were required to match measurements taken from the research vehicle. Problems involving the implementation of these models into the X-43A simulation are also discussed. This report emphasizes lessons learned from the actuator testing, simulation modeling, and integration efforts for the X-43A hypersonic research vehicle.
A voice-actuated wind tunnel model leak checking system
NASA Technical Reports Server (NTRS)
Larson, William E.
1989-01-01
A computer program has been developed that improves the efficiency of wind tunnel model leak checking. The program uses a voice recognition unit to relay a technician's commands to the computer. The computer, after receiving a command, can respond to the technician via a voice response unit. Information about the model pressure orifice being checked is displayed on a gas-plasma terminal. On command, the program records up to 30 seconds of pressure data. After the recording is complete, the raw data and a straight line fit of the data are plotted on the terminal. This allows the technician to make a decision on the integrity of the orifice being checked. All results of the leak check program are stored in a database file that can be listed on the line printer for record keeping purposes or displayed on the terminal to help the technician find unchecked orifices. This program allows one technician to check a model for leaks instead of the two or three previously required.
NASA Astrophysics Data System (ADS)
Han, Chulhee; Kim, Wan Ho; Choi, Seung-Bok
2016-04-01
This paper proposes a new type of a direct-drive valve (DDV) suspension system for vehicle controlled by the piezostack actuator associated with displacement amplifier. In order to achieve this goal, a new type of controllable piezostack DDV damper is designed and its performance evaluation of damping force is undertaken. Next, a full vehicle suspension system consisting of sprung mass, spring, tire and the piezostack DDV damper is constructed. After deriving the governing equations of the motion for the proposed the piezostack DDV suspension system, the skyhook controller is implemented for the realization of the full vehicle. Analytical model of the whole suspension system is then derived and performance characteristics are analyzed through numerical simulation. Finally, vibration control responses of the vehicle suspension system such as vertical acceleration are evaluated under both bump and sine road conditions.
One-dimensional analytical model development of a plasma-based actuator
NASA Astrophysics Data System (ADS)
Popkin, Sarah Haack
This dissertation provides a method for modeling the complex, multi-physics, multi-dimensional processes associated with a plasma-based flow control actuator, also known as the SparkJet, by using a one-dimensional analytical model derived from the Euler and thermodynamic equations, under varying assumptions. This model is compared to CFD simulations and experimental data to verify and/or modify the model where simplifying assumptions poorly represent the real actuator. The model was exercised to explore high-frequency actuation and methods of improving actuator performance. Using peak jet momentum as a performance metric, the model shows that a typical SparkJet design (1 mm orifice diameter, 84.8 mm3 cavity volume, and 0.5 J energy input) operated over a range of frequencies from 1 Hz to 10 kHz shows a decrease in peak momentum corresponding to an actuation cutoff frequency of 800 Hz. The model results show that the cutoff frequency is primarily a function of orifice diameter and cavity volume. To further verify model accuracy, experimental testing was performed involving time-dependent, cavity pressure and arc power measurements as a function of orifice diameter, cavity volume, input energy, and electrode gap. The cavity pressure measurements showed that pressure-based efficiency ranges from 20% to 40%. The arc power measurements exposed the deficiency in assuming instantaneous energy deposition and a calorically perfect gas and also showed that arc efficiency was approximately 80%. Additional comparisons between the pressure-based modeling and experimental results show that the model captures the actuator dependence on orifice diameter, cavity volume, and input energy but over-estimates the duration of the jet flow during Stage 2. The likely cause of the disagreement is an inaccurate representation of thermal heat transfer related to convective heat transfer or heat loss to the electrodes.
Validated model of arc-filament plasma actuators for control of wall-bounded flows
NASA Astrophysics Data System (ADS)
Bodony, Daniel; Natarajan, Mahesh
2011-11-01
Plasma actuators based on the electrical arcs between two electrodes have shown promise in controlling high-subsonic and low-supersonic flows. Simulation-based predictions of these flows have often used heuristic models for the effect the plasma has on the flow to be controlled. In this talk we present a two-parameter model of the actuator which combines the unsteady Joule heating induced by the plasma with a thermally perfect model of air. PIV and spectroscopy data are used, in conjunction with simulations, to understand the two parameters and demonstrate how their values are to be determined. The importance of the cavity in which the electrodes are mounted is discussed, as is the role of diffusion. We demonstrate the use of the actuator model by controlling a high-subsonic, separating boundary layer in an S-duct geometry. Supported by the Rolls-Royce Corporation.
Modeling and optimization of IPMC actuator for autonomous jellyfish vehicle (AJV)
NASA Astrophysics Data System (ADS)
Joshi, Keyur B.; Akle, Barbar J.; Leo, Donald J.; Priya, Shashank
2011-04-01
Ionomeric Polymer Metal Composite (IPMC) actuators generate high flexural strains at small voltage amplitudes of 2-5V. IPMCs bend toward the anode when a potential drop is applied across its thickness. The actuation mechanism is due to the motion of ions inside it; which requires a form of hydration to dissociate and mobilize the charges. In our group IPMCs are developed either water based or Ionic Liquid based which is also known as the dry IPMCs. This combination of small voltage requirement with operation in both dry and underwater conditions makes the IPMCs a viable alternative for an Autonomous Jellyfish Vehicle (AJV). In this study, we estimate the mechanical properties of IPMC actuator having curved geometry using FEM model to match the experimental deformation. We combine the results from an electric model to estimate charge accumulated on electrode surface with piezoelectric model to estimate stress due to this charge accumulation. In the last step, the results are integrated with a structural model to simulate the actuator deformation. We have designed an AJV with embedded IPMC actuators using these properties to achieve the curvature of relaxed and contracted Jellyfish (Aurelia Aurita). Bio-mimetic deformation profile was achieved by using structural mechanics of beams with large deformation with only application of +/- 0.8V to optimized beam within 8.1% error norm in relaxed state and 21.3% in contracted state, with only -0.24% to 0.26% maximum flexural strain at maximum curvature point in contracted state.
Development of a dc Motor Model and an Actuator Efficiency Model
Watkins, John Clifford; Mc Kellar, Michael George; DeWall, Kevin George
2001-07-01
For the past several years, researchers at the Idaho National Engineering and Environmental Laboratory, under the sponsorship of the U.S. Nuclear Regulatory Commission, have been investigating the ability of motor-operated valves (MOVs) used in Nuclear Power Plants to close or open when subjected to design basis flow and pressure loads. Part of this research addresses the response of a dcpowered motor-operated gate valve to assess whether it will achieve flow isolation and to evaluate whether it will slow down excessively under design-basis conditions and thus fail to achieve the required stroke time. As part of this research, we have developed a model of a dc motor operating under load and a model of actuator efficiency under load based on a first principle evaluation of the equipment. These models include the effect that reduced voltage at the Motor Control Center and elevated containment temperatures have on the performance of a dc powered MOV. The model also accounts for motor torque and speed changes that result from the heatup of the motor during the stroke. These models are part of the Motor- Operated Valve In Site Test Assessment (MISTA) software which is capable of independently evaluating the ability of dc-powered motoroperated gate valves to achieve flow isolation and to meet required stroke times under design-basis conditions. This paper presents an overview of the dc motor model and the actuator efficiency under load model. The paper then compares the analytical results from the models with the results of actual dc motor and actuator testing, including comparisons of the effect reduced voltage, elevated containment temperature, and motor heating during the stroke have on an MOV.
Active control of crossflow-induced transition by means of in-line pneumatic actuator orifices
NASA Astrophysics Data System (ADS)
Lohse, J.; Barth, H. P.; Nitsche, W.
2016-08-01
The possibility of a pneumatic actuator system for controlling the crossflow vortex-induced laminar breakdown is investigated by means of hot-wire measurements. Steady blowing or suction through a spanwise row of periodically arranged orifices initiates a system of longitudinal vortices which reduces the amplitude of the most amplified stationary crossflow vortices. Thus, the onset of high-frequency secondary instability and the following laminar-turbulent transition was shifted farther downstream. All experiments were conducted at the redesigned DLR swept flat plate experiment in the open test section of the 1 m wind tunnel at the DLR in Göttingen.
NASA Astrophysics Data System (ADS)
Kikuchi, Kunitomo; Sakamoto, Takumi; Tsuchitani, Shigeki; Asaka, Kinji
2011-04-01
Ionic polymer metal composites (IPMCs) that can operate in air have recently been developed by incorporating an ionic liquid in ionic polymers. To understand transduction in these composites, it is important to determine the role of the ionic liquid in the ionic polymer (Nafion®), to identify the counter cation, and to investigate the interaction of IPMCs with water vapor in the air. We used Fourier-transform infrared spectroscopy to analyze three Nafion® membranes, which were soaked in mixtures of water and an ionic liquid (1-ethyl-3-methyl-imidazolium tetrafluoroborate (EMIBF4), 1-buthyl-3-methyl-imidazolium tetrafluoroborate (BMIBF4), and 1-buthyl-3-methyl-imidazolium hexafluorophosphate (BMIPF6)). The results demonstrate that only cations (EMI+ and BMI+) in the ionic liquids are taken into the Nafion® membranes as counter ions and that the water content of the membranes in air is less than ˜4% that of Nafion® swollen with water. Based on the experimental results, a transduction model is proposed for an IPMC with an ionic liquid. In this model, bending is caused by local swelling due to the volume effect of the bulky counter cations. This model can explain 30-50% of the experimentally observed bending curvature.
NASA Astrophysics Data System (ADS)
Shen, Qi; Palmre, Viljar; Stalbaum, Tyler; Kim, Kwang J.
2015-09-01
The ionic polymer-metal composite (IPMC) is an emerging smart material in actuation and sensing applications, such as artificial muscles, underwater actuators, and advanced medical devices. However, the effect of the change in surface electrode properties on the actuating of IPMC has not been well studied. To address this problem, we theoretically predict and experimentally investigate the dynamic electro-mechanical response of the IPMC thin-strip actuator. A model of the IPMC actuator is proposed based on the Poisson-Nernst-Planck equations for ion transport and charge dynamics in the polymer membrane, while a physical model for the change of surface resistance of the electrodes of the IPMC due to deformation is also incorporated. By incorporating these two models, a complete, dynamic, physics-based model for IPMC actuators is presented. To verify the model, IPMC samples were prepared and experiments were conducted. The results show that the theoretical model can accurately predict the actuating performance of IPMC actuators over a range of dynamic conditions. Additionally, the charge dynamics inside the polymer during the oscillation of the IPMC is presented. It is also shown that the charge at the boundary mainly affects the induced stress of the IPMC. The current study is beneficial for the comprehensive understanding of the surface electrode effect on the performance of IPMC actuators.
Shape memory alloy micro-actuator performance prediction using a hybrid constitutive model
NASA Astrophysics Data System (ADS)
Wong, Franklin C.; Boissonneault, Olivier
2006-03-01
The volume and weight budgets in missiles and gun-launched munitions have decreased with the military forces' emphasis on soldier-centric systems and rapid deployability. Reduction in the size of control actuation systems employed in today's aerospace vehicles would enhance overall vehicle performance as long as there is no detrimental impact on flight performance. Functional materials such as shape memory alloys (SMA's) offer the opportunity to create compact, solid-state actuation systems for flight applications. A hybrid SMA model was developed for designing micro-actuated flow effectors. It was based on a combination of concepts originally presented by Likhatchev for microstructural modelling and Brinson for modelling of transformation kinetics. The phase diagram for a 0.1mm SMA wire was created by carrying out tensile tests in a Rheometrics RSA-II solids analyser over a range of temperatures from 30°C to 130°C. The characterization parameters were used in the hybrid model to predict the displacement-time trajectories for the wire. Experimental measurements were made for a SMA wire that was subjected to a constant 150g load and short, intense 4.5 to 10V pulses. Actuation frequency was limited by the cooling rate rather than the heating rate. A second set of experiments studied the performance of SMA wires in an antagonistic micro-actuator set-up. A series of 2 or 3V step inputs were alternately injected into each wire to characterize the peak to peak displacement and the motion time constant. A maximum frequency of 0.25Hz was observed. An antagonistic actuator model based on the hybrid SMA model predicted reasonably well the displacement-time results.
Continuum damage model for ferroelectric materials and its application to multilayer actuators
NASA Astrophysics Data System (ADS)
Gellmann, Roman; Ricoeur, Andreas
2016-05-01
In this paper a micromechanical continuum damage model for ferroelectric materials is presented. As a constitutive law it is implemented into a finite element (FE) code. The model is based on micromechanical considerations of domain switching and its interaction with microcrack growth and coalescence. A FE analysis of a multilayer actuator is performed, showing the initiation of damage zones at the electrode tips during the poling process. Further, the influence of mechanical pre-stressing on damage evolution and actuating properties is investigated. The results provided in this work give useful information on the damage of advanced piezoelectric devices and their optimization.
Modeling and analysis of bio-syncretic micro-swimmers for cardiomyocyte-based actuation.
Zhang, Chuang; Wang, Jingyi; Wang, Wenxue; Xi, Ning; Wang, Yuechao; Liu, Lianqing
2016-01-01
Along with sensation and intelligence, actuation is one of the most important factors in the development of conventional robots. Many novel achievements have been made regarding bio-based actuators to solve the challenges of conventional actuation. However, few studies have focused on methods for controlling the movement performance of bio-syncretic robots by designing robotic structures and programming actuation bio-entities. In this paper, a theoretical model was derived considering kinematics and hydromechanics to describe the dynamics of a dolphin-shaped microstructure and to control the bio-syncretic swimmer movement by establishing the relationships between the swimming velocity of the bio-swimmer, the cell seeding concentration and the cell contractility. The proposed theoretical model was then verified with the fabricated biomimetic swimmer prototype actuated by equivalent external magnetism replacing the bio-entity force based on the study of living, beating cardiomyocyte contractility. This work can improve the development of bio-syncretic robots with an approach to preplanning the seeding concentration of cells for controlling the movement velocity of microstructures, and is also meaningful for biomimetic robots, medical treatments and interventional therapy applications. PMID:27545346
Modeling and Simulation of Aerodynamic Single Dielectric Barrier Discharge Plasma Actuators
NASA Astrophysics Data System (ADS)
Orlov, Dmitri; Font, Gabriel
2008-11-01
This work presents different approaches to modeling of the plasma actuator, an electrical flow control device, which is now widely used in aerodynamics for separation control, lift enhancement, drag reduction and flight control without moving surfaces. Study of the physics of the discharge in air at atmospheric pressure was performed using particle (PIC-DSMC) and fluid plasma simulations. Based on the experimentally obtained data electro-static and lumped-element circuit models were developed for engineering purposes. Numerical flow simulations were performed to study the effect of the plasma body force on the neutral fluid. The results agreed well with the experiments. An application of the plasma actuators to the leading-edge separation control on the NACA 0021 airfoil was studied numerically. The results were obtained for a range of angles of attack. Improvement in the airfoil characteristics was observed in numerical simulations at high angles of attack in cases with plasma actuation.
NASA Astrophysics Data System (ADS)
Gu, Guo-Ying; Gupta, Ujjaval; Zhu, Jian; Zhu, Li-Min; Zhu, Xiang-Yang
2015-07-01
In the practical applications of actuators, the control of their deformation or driving force is a key issue. Most of recent studies on dielectric elastomer actuators (DEAs) focus on issues of mechanics, physics, and material science, whereas less importance is given to the control of these soft actuators. In this paper, we underline the importance of a nonlinear dynamic model as the basis for a feedforward deformation control approach of a rubber-based DEA. Experimental evidence shows the effectiveness of the feedforward controller. The present study confirms that a DEA's trajectory can be finely controlled with a solid nonlinear dynamic model despite the presence of material nonlinearities and electromechanical coupling. The effective control of DEAs may pave the way for extensive emerging applications to soft robots.
Design and Modeling of a 3-D Magnetic Actuator for Magnetic Microbead Manipulation.
Zhang, Zhipeng; Menq, Chia-Hsiang
2011-06-01
This paper presents the design, implementation, modeling, and analyses of a hexapole magnetic actuator that is capable of 3-D manipulation of a magnetic microbead. The magnetic actuator employs six sharp-tipped magnetic poles placed in hexapole configuration, six actuating coils, and a magnetic yoke. The magnetic poles concentrate the magnetic flux generated by the coils to the workspace, resulting in a high magnetic field with a large field gradient for magnetic force generation on the magnetic microbead. A lumped-parameter magnetic force model is then established to characterize nonlinearity of the magnetic force exerting on the magnetic microbead with respect to the applied currents to the coils and the position dependence of the magnetic force in the workspace. The force generation capability of the designed system is then explored using the force model. Moreover, an inverse force model is derived and its effect on the magnetic actuation capability is investigated. The inverse force model facilitates the implementation of a feedback control law to stabilize and control the motion of a magnetic microbead. Experimental results in terms of the magnetic force in relation to stable motion control of a magnetic microbead are used to validate the force model. PMID:24382943
Resonance-based low-frequency synthetic jet actuator modeling, design, and testing
NASA Astrophysics Data System (ADS)
Gravatt, Lynn; Flatau, Alison
2006-03-01
Synthetic Jet Actuators have been the topic of extensive study in the aerospace industry because of their ability to actively control flow over aerodynamic surfaces without discrete control surfaces such as a flap. One challenge has been to develop a low frequency, lightweight actuator that can provide large displacements. This study will discuss the modeling, design, manufacture, and testing of a bimorph piezo-composite actuator that will provide such displacements at low frequencies. The design employs two opposing benders that provide a piston-type motion. The initial goals of this study were to achieve 30 m/s out of the slot while maintaining the mechanical resonant frequency of the system at about 100 Hz.
Eversion of bistable shells under magnetic actuation: a model of nonlinear shapes
NASA Astrophysics Data System (ADS)
Seffen, Keith A.; Vidoli, Stefano
2016-06-01
We model in closed form a proven bistable shell made from a magnetic rubber composite material. In particular, we incorporate a non-axisymmetrical displacement field, and we capture the nonlinear coupling between the actuated shape and the magnetic flux distribution around the shell. We are able to verify the bistable nature of the shell and we explore its eversion during magnetic actuation. We show that axisymmetrical eversion is natural for a perfect shell but that non-axisymmetrical eversion rapidly emerges under very small initial imperfections, as observed in experiments and in a computational analysis. We confirm the non-uniform shapes of shell and we study the stability of eversion by considering how the landscape of total potential and magnetic energies of the system changes during actuation.
NASA Technical Reports Server (NTRS)
Joshi, Suresh M.
2012-01-01
This paper explores a class of multiple-model-based fault detection and identification (FDI) methods for bias-type faults in actuators and sensors. These methods employ banks of Kalman-Bucy filters to detect the faults, determine the fault pattern, and estimate the fault values, wherein each Kalman-Bucy filter is tuned to a different failure pattern. Necessary and sufficient conditions are presented for identifiability of actuator faults, sensor faults, and simultaneous actuator and sensor faults. It is shown that FDI of simultaneous actuator and sensor faults is not possible using these methods when all sensors have biases.
Design, modelling and control of a micro-positioning actuator based on magnetic shape memory alloys
NASA Astrophysics Data System (ADS)
Minorowicz, Bartosz; Leonetti, Giuseppe; Stefanski, Frederik; Binetti, Giulio; Naso, David
2016-07-01
This paper presents an actuator based on magnetic shape memory alloys (MSMAs) suitable for precise positioning in a wide range (up to 1 mm). The actuator is based on the spring returned operating mode and uses a Smalley wave spring to maintain the same operating parameters of a classical coil spring, while being characterized by a smaller dimension. The MSMA element inside the actuator provides a deformation when excited by an external magnetic field, but its behavior is characterized by an asymmetric and saturated hysteresis. Thus, two models are exploited in this work to represent such a non-linear behavior, i.e., the modified and generalized Prandtl–Ishlinskii models. These models are particularly suitable for control purposes due to the existence of their analytical inversion that can be easily exploited in real time control systems. To this aim, this paper investigates three closed-loop control strategies, namely a classical PID regulator, a PID regulator with direct hysteresis compensation, and a combined PID and feedforward compensation strategy. The effectiveness of both modelling and control strategies applied to the designed MSMA-based actuator is illustrated by means of experimental results.
A validated model for induction heating of shape memory alloy actuators
NASA Astrophysics Data System (ADS)
Saunders, Robert N.; Boyd, James G.; Hartl, Darren J.; Brown, Jonathan K.; Calkins, Frederick T.; Lagoudas, Dimitris C.
2016-04-01
Shape memory alloy (SMA) actuators deliver high forces while being compact and reliable, making them ideal for consideration in aerospace applications. One disadvantage of these thermally driven actuators is their slow cyclic time response compared to conventional actuators. Induction heating has recently been proposed to quickly heat SMA components. However efforts to date have been purely empirical. The present work approachs this problem in a computational manner by developing a finite element model of induction heating in which the time-harmonic electromagnetic equations are solved for the Joule heat power field, the energy equation is solved for the temperature field, and the linear momentum equations are solved to find the stress, displacement, and internal state variable fields. The combined model was implemented in Abaqus using a Python script approach and applied to SMA torque tube and beam actuators. The model has also been used to examine magnetic flux concentrators to improve the induction systems performance. Induction heating experiments were performed using the SMA torque tube, and the model agreed well with the experiments.
49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.
Code of Federal Regulations, 2010 CFR
2010-10-01
... drums/rotors. 393.47 Section 393.47 Transportation Other Regulations Relating to Transportation..., slack adjusters, linings/pads and drums/rotors. (a) General requirements. Brake components must be... shoe with two pads; or worn to the wear indicator if the lining is so marked, for air drum brakes....
49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.
Code of Federal Regulations, 2013 CFR
2013-10-01
... drums/rotors. 393.47 Section 393.47 Transportation Other Regulations Relating to Transportation..., slack adjusters, linings/pads and drums/rotors. (a) General requirements. Brake components must be... shoe with two pads; or worn to the wear indicator if the lining is so marked, for air drum brakes....
49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.
Code of Federal Regulations, 2014 CFR
2014-10-01
... drums/rotors. 393.47 Section 393.47 Transportation Other Regulations Relating to Transportation..., slack adjusters, linings/pads and drums/rotors. (a) General requirements. Brake components must be... shoe with two pads; or worn to the wear indicator if the lining is so marked, for air drum brakes....
49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.
Code of Federal Regulations, 2011 CFR
2011-10-01
... drums/rotors. 393.47 Section 393.47 Transportation Other Regulations Relating to Transportation..., slack adjusters, linings/pads and drums/rotors. (a) General requirements. Brake components must be... shoe with two pads; or worn to the wear indicator if the lining is so marked, for air drum brakes....
49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.
Code of Federal Regulations, 2012 CFR
2012-10-01
... drums/rotors. 393.47 Section 393.47 Transportation Other Regulations Relating to Transportation..., slack adjusters, linings/pads and drums/rotors. (a) General requirements. Brake components must be... shoe with two pads; or worn to the wear indicator if the lining is so marked, for air drum brakes....
Subminiature hydraulic actuator
NASA Technical Reports Server (NTRS)
Sevart, F. D.
1978-01-01
Subminiature, single-vane rotary actuator for wind-tunnel test-model control-surface actuation systems presents severe torque and system band-pass requirements with stringent space and weight limitations. Actuator has very low leakage of fluid from one side to other, permitting use in precision position servo-systems.
NASA Astrophysics Data System (ADS)
Yan, Su
2007-12-01
To improve the fuel consumption of a satellite, maintain the position and orientation and eliminate the unwanted thruster vibration, intelligent composite structure technology was proposed in the ADPICAS (Adaptive Damping and Positioning using Intelligent Composite Active Structures) project funded by the ONR (Office of Naval Research) in collaboration with the NRL (Naval Research Laboratory) in 2000. This dissertation introduces the author's research achievements in developing smart composite panels for the ADPICAS project, including modeling, actuator optimization, and vibration control. The method of separation of variables is presented to derive the analytical shape functions for complex composite structures with asymmetric constraints, i.e., the 2-D Adaptive Composite Circular Plate (ACCP) in cylindrical coordinates and the 3-D Adaptive Composite Satellite Dish (ACSD) in spherical coordinates. Following these solutions, two modeling approaches are developed to obtain the models of adaptive composite panels including an adaptive composite beam, the ACCP, and the ACSD. One model approach is to employ the Lagrange-Rayleigh-Ritz method based on the developed analytical shape functions. Meanwhile, the transfer function estimation technique, combining the finite element analyses, is applied to obtain the numerical model of the composite panels. Aiming at improving the actuation efficiency, a Genetic Algorithm is presented to optimize the piezoelectric actuator placement on the composite panels. Taking the inertia and stiffness characteristics of the piezoelectric actuators into account, this algorithm defines the performance index as a weighted summation of control error and control energy consumption, and obtained the optimal solution that minimizes the performance index. Furthermore, an adaptive disturbance observer/feed-forward (ADOB/FF) controller is proposed to achieve simultaneous precision positioning and vibration suppression of the adaptive composite panels
Lin, Jhih-Hong; Chiang, Mao-Hsiung
2016-01-01
Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved. PMID:27571081
NASA Astrophysics Data System (ADS)
Hodgins, M.; Rizzello, G.; Naso, D.; York, A.; Seelecke, S.
2014-10-01
Dielectric electro-active polymer (DEAP) technology holds promise for enabling lightweight, energy efficient, and scalable actuators. The circular DEAP actuator configuration (also known as cone or diaphragm actuator) in particular shows potential in applications such as pumps, valves, micro-positioners and loudspeakers. For a quantitative prediction of the actuator behavior as well as for design optimization tasks, material models which can reproduce the coupled electromechanical behavior inherent to these actuators are necessary. This paper presents a non-linear viscoelastic model based on an electro-mechanical Ogden free energy expression for the DEAP. The DEAP model is coupled with a spring/mass system to study the dynamic performance of such a representative system from static behavior to 50 Hz. The system is identified and validated by several different experiments.
Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters
Greigarn, Tipakorn; Çavuşoğlu, M. Cenk
2015-01-01
This paper presents a kinematic study of a pseudorigid-body model (PRBM) of MRI-compatible, magnetically actuated, steerable catheters. It includes a derivation of a mathematical model of the PRBM of the catheter, singularity studies of the model, and a new manipulability measure. While the forward kinematics of the model presented here is applicable to PRBMs for other applications, actuation method is unique to the particular design. Hence, a careful study of singularities and manipulability of the model is required. The singularities are studied from the underlying equations of motion with intuitive interpretations. The proposed manipulability measure is a generalization of the inverse condition number manipulability measure of robotic manipulators. While the PRBM is an approximation of the flexible catheter, kinematic studies of the PRBM still provide some insight into feasibility and limitations of the catheter, which is beneficial to the design and motion planning of the catheter. PMID:26413380
NASA Astrophysics Data System (ADS)
Rosenblatt, F.; Morrison, J. F.; Iannucci, L.
2008-03-01
Controlling turbulence is a major aim for many engineering disciplines. Decades of research, have shown that the large frictional drag in turbulent flows is attributed to the existence of near-wall coherent structures. Turbulence control is therefore likely to be achieved by manipulating these coherent structures. The challenge this presents is to find actuators that are functional at the spatial scales of those coherent structures (10 μm to 0.1 mm) and their temporal scale (100 kHz). Recent advances in MEMS technology have made possible the construction of such actuators. Electroactive polymers (EAP) provide excellent performance, are lightweight, flexible, and inexpensive. Therefore EAPs, and in particular dielectric elastomers (DEAs), provide many potential applications as micro-actuators. The modelling and simulating of EAP actuators are a cost-effective way of providing a better understanding of the material itself in order to optimise designs. A technique to accurately model DEA materials, taking into account its non-linearities as well as its large deformations, is being developed in this study.
NASA Astrophysics Data System (ADS)
Hunt, A.; Chen, Z.; Tan, X.; Kruusmaa, M.
2016-03-01
Ionic electroactive polymers (IEAPs), particularly ionic polymer-metal composites (IPMCs) and carbon-polymer composites (CPCs), bend when a voltage is applied on their electrodes, and conversely, they generate an electrical signal when subjected to a mechanical bending. In this work we study and compare the capabilities of IPMC and CPC actuators and sensors in closed-loop control applications. We propose and realize an integrated IEAP sensor-actuator design, characterize its performance using three different materials, and compare the results. The design consists of two short IEAP actuators and one sensor mechanically coupled together in a parallel configuration, and an attached rigid extension significantly longer than the IEAPs. This allows the device to be compliant, simple to construct, lightweight, easy to miniaturize, and functionally similar to a one-degree-of-freedom rotational joint. For control design and accurate position sensing in feedback experiments, we adapt physics-based and control-oriented models of actuation and sensing dynamics, and perform experiments to identify their parameters. In performance characterization, both model-based {H}∞ control and proportional-integral control are explored. System responses to step inputs, sinusoids, and random references are measured, and long-duration sinusoidal tracking experiments are performed. The results show that, while IEAP position sensing is stable for only a limited time-span, H ∞ control significantly improves the performance of the device.
A finite element approach to model and analyze photostrictive optical actuators
NASA Astrophysics Data System (ADS)
Rahman, Mosfequr
Photostrictive materials, called PLZT, exhibit large photostriction under uniform illumination of high-energy light. These materials are of interest for future generation wireless remote control photo-actuators, micro-actuators, and micro-sensors applications. The photostrictive effect is a superposition phenomenon of bulk photovoltaic effect and converse piezoelectric effect. In this present research photostrictive thin films are analyzed to evaluate their use as actuators in a future MEMS gyroscope. The finite element method is used for accurate analysis of photostrictive thin films. Four-node isoparametric quadrilateral plane stress elements are used to model photostrictive thin film and eight-node nonconforming brick elements are used to model a silicon wafer under the photostrictive thin film. A numerical finite element code, BAMAFEM, has been modified by introducing photostrictive material modeling capability. For generation of program code the FORTRAN90 language is used. Established analytical solutions have been used to verify the BAMAFEM finite element results. Comparison of BAMAFEM results and MATLAB results of 2-D displacements indicate that BAMAFEM results almost match with the theoretical results. For the verification of the finite element formulation of the photostrictive element and the BAMAFEM program code, a steel simply supported beam with one PLZT actuator bonded on top of the beam is studied. The BAMAFEM result for transverse deflection matches the analytical result within a small difference (1.7%). Using the valid and verified modified BAMAFEM finite element program code, static analysis has been done to calculate transverse deflection for a silicon cantilever beam with a PLZT actuator bonded on the whole top surface of the beam. BAMAFEM output of transverse deflection matched the analytical result of the same with a percent error of 1%.
NASA Technical Reports Server (NTRS)
Yam, Yeung; Johnson, Timothy L.; Lang, Jeffrey H.
1987-01-01
A model reduction technique based on aggregation with respect to sensor and actuator influence functions rather than modes is presented for large systems of coupled second-order differential equations. Perturbation expressions which can predict the effects of spillover on both the reduced-order plant model and the neglected plant model are derived. For the special case of collocated actuators and sensors, these expressions lead to the derivation of constraints on the controller gains that are, given the validity of the perturbation technique, sufficient to guarantee the stability of the closed-loop system. A case study demonstrates the derivation of stabilizing controllers based on the present technique. The use of control and observation synthesis in modifying the dimension of the reduced-order plant model is also discussed. A numerical example is provided for illustration.
NASA Astrophysics Data System (ADS)
Suzuki, Y.
2016-05-01
This article demonstrates the practical applicability of a method of modelling shape memory alloys (SMAs) as actuators. For this study, a pair of SMA wires was installed in an antagonistic manner to form an actuator, and a linear differential equation that describes the behaviour of the actuator’s generated force relative to its input voltage was derived for the limited range below the austenite onset temperature. In this range, hysteresis need not be considered, and the proposed SMA actuator can therefore be practically applied in linear control systems, which is significant because large deformations accompanied by hysteresis do not necessarily occur in most vibration control cases. When specific values of the parameters used in the differential equation were identified experimentally, it became clear that one of the parameters was dependent on ambient airflow velocity. The values of this dependent parameter were obtained using an additional SMA wire as a sensor. In these experiments, while the airflow distribution around the SMA wires was varied by changing the rotational speed of the fans in the wind tunnels, an input voltage was conveyed to the SMA actuator circuit, and the generated force was measured. In this way, the parameter dependent on airflow velocity was estimated in real time, and it was validated that the calculated force was consistent with the measured one.
Flow Separation Control on A Full-Scale Vertical Tail Model Using Sweeping Jet Actuators
NASA Technical Reports Server (NTRS)
Andino, Marlyn Y.; Lin, John C.; Washburn, Anthony E.; Whalen, Edward A.; Graff, Emilio C.; Wygnanski, Israel J.
2015-01-01
This paper describes test results of a joint NASA/Boeing research effort to advance Active Flow Control (AFC) technology to enhance aerodynamic efficiency. A full-scale Boeing 757 vertical tail model equipped with sweeping jets AFC was tested at the National Full-Scale Aerodynamics Complex 40- by 80-Foot Wind Tunnel at NASA Ames Research Center. The flow separation control optimization was performed at 100 knots, a maximum rudder deflection of 30deg, and sideslip angles of 0deg and -7.5deg. Greater than 20% increments in side force were achieved at the two sideslip angles with a 31-actuator AFC configuration. Flow physics and flow separation control associated with the AFC are presented in detail. AFC caused significant increases in suction pressure on the actuator side and associated side force enhancement. The momentum coefficient (C sub mu) is shown to be a useful parameter to use for scaling-up sweeping jet AFC from sub-scale tests to full-scale applications. Reducing the number of actuators at a constant total C(sub mu) of approximately 0.5% and tripling the actuator spacing did not significantly affect the flow separation control effectiveness.
MODELING MOLECULAR HYPERFINE LINE EMISSION
Keto, Eric; Rybicki, George
2010-06-20
In this paper, we discuss two approximate methods previously suggested for modeling hyperfine spectral line emission for molecules whose collisional transition rates between hyperfine levels are unknown. Hyperfine structure is seen in the rotational spectra of many commonly observed molecules such as HCN, HNC, NH{sub 3}, N{sub 2}H{sup +}, and C{sup 17}O. The intensities of these spectral lines can be modeled by numerical techniques such as {Lambda}-iteration that alternately solve the equations of statistical equilibrium and the equation of radiative transfer. However, these calculations require knowledge of both the radiative and collisional rates for all transitions. For most commonly observed radio frequency spectral lines, only the net collisional rates between rotational levels are known. For such cases, two approximate methods have been suggested. The first method, hyperfine statistical equilibrium, distributes the hyperfine level populations according to their statistical weight, but allows the population of the rotational states to depart from local thermal equilibrium (LTE). The second method, the proportional method, approximates the collision rates between the hyperfine levels as fractions of the net rotational rates apportioned according to the statistical degeneracy of the final hyperfine levels. The second method is able to model non-LTE hyperfine emission. We compare simulations of N{sub 2}H{sup +} hyperfine lines made with approximate and more exact rates and find that satisfactory results are obtained.
NASA Technical Reports Server (NTRS)
Demerdash, N. A.; Nehl, T. W.
1979-01-01
A comprehensive digital model for the analysis of the dynamic-instantaneous performance of a power conditioner fed samarium-cobalt permanent magnet brushless DC motor is presented. The particular power conditioner-machine system at hand, for which this model was developed, is a component of an actual prototype electromechanical actuator built for NASA-JSC as a possible alternative to hydraulic actuators as part of feasibility studies for the shuttle orbiter applications. Excellent correlation between digital simulated and experimentally obtained performance data was achieved for this specific prototype. This is reported on in this paper. Details of one component of the model, its applications and the corresponding results are given in this paper.
Kuang, Y; Hilgers, A; Sadiq, M; Cochran, S; Corner, G; Huang, Z
2016-07-01
Clear needle visualisation is recognised as an unmet need for ultrasound guided percutaneous needle procedures including regional anaesthesia and tissue biopsy. With inadequate needle visibility, these procedures may result in serious complications or a failed operation. This paper reports analysis of the modal behaviour of a previously proposed ultrasound-actuated needle configuration, which may overcome this problem by improving needle visibility in colour Doppler imaging. It uses a piezoelectric transducer to actuate longitudinal resonant modes in needles (outer diameter 0.8-1.2mm, length>65mm). The factors that affect the needle's vibration mode are identified, including the needle length, the transducer's resonance frequency and the gripping position. Their effects are investigated using finite element modelling, with the conclusions validated experimentally. The actuated needle was inserted into porcine tissue up to 30mm depth and its visibility was observed under colour Doppler imaging. The piezoelectric transducer is able to generate longitudinal vibration with peak-to-peak amplitude up to 4μm at the needle tip with an actuating voltage of 20Vpp. Actuated in longitudinal vibration modes (distal mode at 27.6kHz and transducer mode at 42.2kHz) with a drive amplitude of 12-14Vpp, a 120mm needle is delineated as a coloured line in colour Doppler images, with both needle tip and shaft visualised. The improved needle visibility is maintained while the needle is advanced into the tissue, thus allowing tracking of the needle position in real time. Moreover, the needle tip is highlighted by strong coloured artefacts around the actuated needle generated by its flexural vibration. A limitation of the technique is that the transducer mode requires needles of specific lengths so that the needle's resonance frequency matches the transducer. This may restrict the choice of needle lengths in clinical applications. PMID:27022669
A dynamic model for generating actuator specifications for small arms barrel active stabilization
NASA Astrophysics Data System (ADS)
Pathak, Anupam; Brei, Diann; Luntz, Jonathan; Lavigna, Chris
2006-03-01
Due to stresses encountered in combat, it is known that soldier marksmanship noticeably decreases regardless of prior training. Active stabilization systems in small arms have potential to address this problem to increase soldier survivability and mission effectiveness. The key to success is proper actuator design, but this is highly dependent on proper specification which is challenging due to the human/weapon interaction. This paper presents a generic analytical dynamic model which is capable of defining the necessary actuation specifications for a wide range of small arms platforms. The model is unique because it captures the human interface--shoulder and arm--that introduces the jitter disturbance in addition to the geometry, inertial properties and active stabilization stiffness of the small arms platform. Because no data to date is available for actual shooter-induced disturbance in field conditions, a method is given using the model to back-solve from measured shooting range variability data the disturbance amplitude information relative to the input source (arm or shoulder). As examples of the applicability of the model to various small arms systems, two different weapon systems were investigated: the M24 sniper weapon and the M16 assault rifle. In both cases, model based simulations provided valuable insight into impact on the actuation specifications (force, displacement, phase, frequency) due to the interplay of the human-weapon-active stabilization interface including the effect of shooter-disturbance frequency, disturbance location (shoulder vs. arm), and system parameters (stiffness, barrel rotation).
Component based modelling of piezoelectric ultrasonic actuators for machining applications
NASA Astrophysics Data System (ADS)
Saleem, A.; Salah, M.; Ahmed, N.; Silberschmidt, V. V.
2013-07-01
Ultrasonically Assisted Machining (UAM) is an emerging technology that has been utilized to improve the surface finishing in machining processes such as turning, milling, and drilling. In this context, piezoelectric ultrasonic transducers are being used to vibrate the cutting tip while machining at predetermined amplitude and frequency. However, modelling and simulation of these transducers is a tedious and difficult task. This is due to the inherent nonlinearities associated with smart materials. Therefore, this paper presents a component-based model of ultrasonic transducers that mimics the nonlinear behaviour of such a system. The system is decomposed into components, a mathematical model of each component is created, and the whole system model is accomplished by aggregating the basic components' model. System parameters are identified using Finite Element technique which then has been used to simulate the system in Matlab/SIMULINK. Various operation conditions are tested and performed to demonstrate the system performance.
Modeling fluid structure interaction with shape memory alloy actuated morphing aerostructures
NASA Astrophysics Data System (ADS)
Oehler, Stephen D.; Hartl, Darren J.; Turner, Travis L.; Lagoudas, Dimitris C.
2012-04-01
The development of efficient and accurate analysis techniques for morphing aerostructures incorporating shape memory alloys (SMAs) continues to garner attention. These active materials have a high actuation energy density, making them an ideal replacement for conventional actuation mechanisms in morphing structures. However, SMA components are often exposed to the same highly variable environments experienced by the aeroelastic assemblies into which they are incorporated. This is motivating design engineers to consider modeling fluidstructure interaction for prescribing dynamic, solution-dependent boundary conditions. This work presents a computational study of a particular morphing aerostructure with embedded, thermally actuating SMA ribbons and demonstrates the effective use of fluid-structure interaction modeling. A cosimulation analysis is utilized to determine the surface deflections and stress distributions of an example aerostructure with embedded SMA ribbons using the Abaqus Finite Element Analysis (FEA) software suite, combined with an Abaqus Computational Fluid Dynamics (CFD) processor. The global FEA solver utilizes a robust user-defined material subroutine which contains an accurate three-dimensional SMA constitutive model. Variations in the ambient fluid environment are computed using the CFD solver, and fluid pressure is mapped into surface distributed loads. Results from the analysis are qualitatively validated with independently obtained data from representative flow tests previously conducted on a physical prototype of the same aerostructure.
NASA Technical Reports Server (NTRS)
Richard, James A. (Inventor)
2012-01-01
A non-collinear valve actuator includes a primary actuating system and a return spring system with each applying forces to a linkage system in order to regulate the flow of a quarter-turn valve. The primary actuating system and return spring system are positioned non-collinearly, which simply means the primary actuating system and return spring system are not in line with each other. By positioning the primary actuating system and return spring system in this manner, the primary actuating system can undergo a larger stroke while the return spring system experiences significantly less displacement. This allows the length of the return spring to be reduced due to the minimization of displacement thereby reducing the weight of the return spring system. By allowing the primary actuating system to undergo longer strokes, the weight of the primary actuating system may also be reduced. Accordingly, the weight of the non-collinear valve actuator is reduced.
NASA Technical Reports Server (NTRS)
Leigh, Timothy D.; Zimmerman, David C.
1991-01-01
Experiments have shown that piezoceramic materials display a nonlinear relationship between the applied electric field and the actuation strain. This relationship also displays a substantial hysteresis upon reversal of the applied field. In this paper, piezoceramic actuator models are incorporated into the structural equations of motion to arrive at a set of nonlinear actively controlled structural equations of motion. A new implicit algorithm for determining the time history of the actively controlled structure is presented. The algorithm employs the trapezoidal rule for stepping the equations forward in time. The algorithm is compared to an explicit algorithm and is shown to provide greater numerical accuracy. In addition, the numerical stability and convergence characteristics are presented via example. The new algorithm displays convergence and stability properties that are comparable to the standard trapezoidal rule used for dynamic systems without hysteresis.
Modelling of piezoelectric actuator dynamics for active structural control
NASA Technical Reports Server (NTRS)
Hagood, Nesbitt W.; Chung, Walter H.; Von Flotow, Andreas
1990-01-01
The paper models the effects of dynamic coupling between a structure and an electrical network through the piezoelectric effect. The coupled equations of motion of an arbitrary elastic structure with piezoelectric elements and passive electronics are derived. State space models are developed for three important cases: direct voltage driven electrodes, direct charge driven electrodes, and an indirect drive case where the piezoelectric electrodes are connected to an arbitrary electrical circuit with embedded voltage and current sources. The equations are applied to the case of a cantilevered beam with surface mounted piezoceramics and indirect voltage and current drive. The theoretical derivations are validated experimentally on an actively controlled cantilevered beam test article with indirect voltage drive.
NASA Technical Reports Server (NTRS)
Duyar, A.; Guo, T.-H.; Merrill, W.; Musgrave, J.
1992-01-01
In a previous study, Guo, Merrill and Duyar, 1990, reported a conceptual development of a fault detection and diagnosis system for actuation faults of the space shuttle main engine. This study, which is a continuation of the previous work, implements the developed fault detection and diagnosis scheme for the real time actuation fault diagnosis of the space shuttle main engine. The scheme will be used as an integral part of an intelligent control system demonstration experiment at NASA Lewis. The diagnosis system utilizes a model based method with real time identification and hypothesis testing for actuation, sensor, and performance degradation faults.
NASA Technical Reports Server (NTRS)
Patre, Parag; Joshi, Suresh M.
2011-01-01
Decentralized adaptive control is considered for systems consisting of multiple interconnected subsystems. It is assumed that each subsystem s parameters are uncertain and the interconnection parameters are not known. In addition, mismatch can exist between each subsystem and its reference model. A strictly decentralized adaptive control scheme is developed, wherein each subsystem has access only to its own state but has the knowledge of all reference model states. The mismatch is estimated online for each subsystem and the mismatch estimates are used to adaptively modify the corresponding reference models. The adaptive control scheme is extended to the case with actuator failures in addition to mismatch.
NASA Technical Reports Server (NTRS)
Wilson, William C.; Atkinson, Gary M.
2007-01-01
Integrated Vehicle Health Monitoring (IVHM) of aerospace vehicles requires rugged sensors having reduced volume, mass, and power that can be used to measure a variety of phenomena. Wireless systems are preferred when retro-fitting sensors onto existing vehicles. Surface Acoustic Wave (SAW) devices are capable of sensing: temperature, pressure, strain, chemical species, mass loading, acceleration, and shear stress. SAW technology is low cost, rugged, lightweight, and extremely low power. To aid in the development of SAW sensors for IVHM applications, a first order model of a SAW Delay line has been created.
NASA Astrophysics Data System (ADS)
Walton, John P.; Coutu, Ronald A.; Starman, LaVern
2015-02-01
There are numerous applications for micromirror arrays seen in our everyday lives. From flat screen televisions and computer monitors, found in nearly every home and office, to advanced military weapon systems and space vehicles, each application bringing with it a unique set of requirements. The microelectromechanical systems (MEMS) industry has researched many ways micromirror actuation can be accomplished and the different constraints on performance each design brings with it. This paper investigates a new "zipper" approach to electrostatically driven micromirrors with the intent of improving duel plane beam steering by coupling large deflection angles, over 30°, and a fast switching speed. To accomplish this, an extreme initial deflection is needed which can be reached using high stress bimorph beams. Currently this requires long beams and high voltage for the electrostatic pull in or slower electrothermal switching. The idea for this "zipper" approach is to stack multiple beams of a much shorter length and allow for the deflection of each beam to be added together in order to reach the required initial deflection height. This design requires much less pull-in voltage because the pull-in of one short beam will in turn reduce the height of the all subsequent beams, making it much easier to actuate. Using modeling and simulation software to characterize operations characteristics, different bimorph cantilever beam configurations are explored in order to optimize the design. These simulations show that this new "zipper" approach increases initial deflection as additional beams are added to the assembly without increasing the actuation voltage.
NASA Technical Reports Server (NTRS)
Schwartz, Robert W.; Ballato, J.; Northwang, W. D.; Laoratanakul, P.
2000-01-01
Dome formation in Rainbow and Thunder actuators occurs to relieve thermal expansion mismatch stress between the metallic and piezoelectric layers during cooling from device fabrication temperatures. Accompanying this process is the generation of an internal stress profile within the devices and the development of significant tensile stresses within the surface region of the piezoelectric. These tensile stresses affect the domain configuration (ratio of c-to-a domains), and improve the 90 deg. domain wall movement response of the device in this region of the piezoelectric. This results in improved electromechanical performance compared to standard direct extensional and flextensional devices, presumably because of the contributions of stress to the non-linearity of the piezoelectric d-coefficients. 1 Interestingly, this improvement in response seems counterintuitive; a stress perpendicular to the direction of the applied electric field should impede, not contribute to 90' domain switching. Further consideration of the lower region of the piezoelectric that is under compressive stress thus appears warranted. The specified objectives of the research were to: 1. Conduct finite element and equivalent circuit simulation-based investigations to understand the effects of actuator geometry on internal stress distribution and actuator performance (displacement and load-bearing capabilities). 2. Use the results of the modeling studies to predict the processing conditions (geometry and thickness ratio) required for the fabrication of Rainbow ceramics with optimized performance.
Improved Electrohydraulic Linear Actuators
NASA Technical Reports Server (NTRS)
Hamtil, James
2004-01-01
A product line of improved electrohydraulic linear actuators has been developed. These actuators are designed especially for use in actuating valves in rocket-engine test facilities. They are also adaptable to many industrial uses, such as steam turbines, process control valves, dampers, motion control, etc. The advantageous features of the improved electrohydraulic linear actuators are best described with respect to shortcomings of prior electrohydraulic linear actuators that the improved ones are intended to supplant. The flow of hydraulic fluid to the two ports of the actuator cylinder is controlled by a servo valve that is controlled by a signal from a servo amplifier that, in turn, receives an analog position-command signal (a current having a value between 4 and 20 mA) from a supervisory control system of the facility. As the position command changes, the servo valve shifts, causing a greater flow of hydraulic fluid to one side of the cylinder and thereby causing the actuator piston to move to extend or retract a piston rod from the actuator body. A linear variable differential transformer (LVDT) directly linked to the piston provides a position-feedback signal, which is compared with the position-command signal in the servo amplifier. When the position-feedback and position-command signals match, the servo valve moves to its null position, in which it holds the actuator piston at a steady position.
NASA Astrophysics Data System (ADS)
Zhu, Zicai; Wang, Yanjie; Liu, Yanfa; Asaka, Kinji; Sun, Xiaofei; Chang, Longfei; Lu, Pin
2016-07-01
Water containing ionic polymer-metal composites (IPMCs) show complex deformation properties with water content. In order to develop a simple application-oriented model for engineering application, actuation mechanisms and model equations should be simplified as necessary. Beginning from our previous comprehensive multi-physical model of IPMC actuator, numerical analysis was performed to obtain the main factors influencing the bending deformation and the corresponding simplified model. In this paper, three aspects are mainly concerned. (1) Regarding mass transport process, the diffusion caused by concentration gradient mainly influences the concentrations of cation and water at the two electrode boundaries. (2) By specifying the transport components as hydrated cation and free water in the model, at the cathode, the hydrated cation concentration profile is more flat, whereas the concentrations of both free water and the total water show drastic changes. In general, the two influence the redistribution of cation and water but have little impact on deformation prediction. Thus, they can be ignored in the simplification. (3) An extended osmotic pressure is proposed to cover all eigen stresses simply with an effective osmotic coefficient. Combining with a few other linearized methods, a simplified model has been obtained by sacrificing the prediction precision on the transport process. Furthermore, the improved model has been verified by fitting with IPMC deformation evolved with water content. It shows that the simplified model has the ability to predict the complex deformations of IPMCs.
Muniraj, Murali; Arulmozhiyal, Ramaswamy
2015-01-01
A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system. PMID:26613102
Muniraj, Murali; Arulmozhiyal, Ramaswamy
2015-01-01
A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system. PMID:26613102
NASA Astrophysics Data System (ADS)
Abel, Julianna; Luntz, Jonathan; Brei, Diann
2012-08-01
Active knits are a unique architectural approach to meeting emerging smart structure needs for distributed high strain actuation with simultaneous force generation. This paper presents an analytical state-based model for predicting the actuation response of a shape memory alloy (SMA) garter knit textile. Garter knits generate significant contraction against moderate to large loads when heated, due to the continuous interlocked network of loops of SMA wire. For this knit architecture, the states of operation are defined on the basis of the thermal and mechanical loading of the textile, the resulting phase change of the SMA, and the load path followed to that state. Transitions between these operational states induce either stick or slip frictional forces depending upon the state and path, which affect the actuation response. A load-extension model of the textile is derived for each operational state using elastica theory and Euler-Bernoulli beam bending for the large deformations within a loop of wire based on the stress-strain behavior of the SMA material. This provides kinematic and kinetic relations which scale to form analytical transcendental expressions for the net actuation motion against an external load. This model was validated experimentally for an SMA garter knit textile over a range of applied forces with good correlation for both the load-extension behavior in each state as well as the net motion produced during the actuation cycle (250% recoverable strain and over 50% actuation). The two-dimensional analytical model of the garter stitch active knit provides the ability to predict the kinetic actuation performance, providing the basis for the design and synthesis of large stroke, large force distributed actuators that employ this novel architecture.
NASA Astrophysics Data System (ADS)
Kruusamäe, Karl; Brunetto, Paola; Punning, Andres; Kodu, Margus; Jaaniso, Raivo; Graziani, Salvatore; Fortuna, Luigi; Aabloo, Alvo
2011-12-01
This paper further discusses a concept of creating a self-sensing ionic polymer-metal composite (IPMC) actuating device with patterned surface electrodes where the actuator and sensor elements are separated by a grounded shielding electrode. Different patterning methods are discussed and compared in detail; the presented experimental data give an understanding of the qualitative properties of the patterns created. Finally, an electromechanical model of the device is proposed and validated.
Reduced-order modeling of high-speed jets controlled by arc filament plasma actuators
NASA Astrophysics Data System (ADS)
Sinha, Aniruddha; Serrani, Andrea; Samimy, Mo
2013-02-01
Arc filament plasma actuators applied to high-speed and high Reynolds number jets have demonstrated significant mixing enhancement when operated near the jet column mode (JCM) frequency. A feedback-oriented reduced-order model is developed for this flow from experimental data. The existent toolkit of stochastic estimation, proper orthogonal decomposition, and Galerkin projection is adapted to yield a 35-dimensional model for the unforced jet. Explicit inclusion of a "shift mode" stabilizes the model. The short-term predictive capability of instantaneous flow fields is found to degrade beyond a single flow time step, but this horizon may be adequate for feedback control. Statistical results from long-term simulations agree well with experimental observations. The model of the unforced jet is augmented to incorporate the effects of plasma actuation. Periodic forcing is modeled as a deterministic pressure wave specified on the inflow boundary of the modeling domain. Simulations of the forced model capture the nonlinear response that leads to optimal mixing enhancement in a small range of frequencies near the JCM.
Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves
Somogyi, D.; Alvarez, P.D.; Kalsi, M.S.
1996-12-01
Kalsi Engineering, Inc. has recently developed a computer program to predict the torsional fatigue life of Limitorque Type SMB/SB/SBD actuators for motor-operated valves under given loading levels, including those that exceed the ratings. The development effort was an outgrowth of the {open_quote}Thrust Rating Increase{close_quote} test program. The fatigue model computes all pertinent stress components and their variations as a function of the loading ramp. The cumulative damage and fatigue life due to stress cycling is computed by use of a modification of Miner`s rule. Model predictions were validated against actual cyclic loading test results.
NASA Technical Reports Server (NTRS)
Yam, Y.; Lang, J. H.; Johnson, T. L.; Shih, S.; Staelin, D. H.
1983-01-01
A model reduction procedure based on aggregation with respect to sensor and actuator influences rather than modes is presented for large systems of coupled second-order differential equations. Perturbation expressions which can predict the effects of spillover on both the aggregated and residual states are derived. These expressions lead to the development of control system design constraints which are sufficient to guarantee, to within the validity of the perturbations, that the residual states are not destabilized by control systems designed from the reduced model. A numerical example is provided to illustrate the application of the aggregation and control system design method.
Tracking control of piezoelectric actuators using a polynomial-based hysteresis model
NASA Astrophysics Data System (ADS)
Gan, Jinqiang; Zhang, Xianmin; Wu, Heng
2016-06-01
A polynomial-based hysteresis model that describes hysteresis behavior in piezoelectric actuators is presented. The polynomial-based model is validated by comparing with the classic Prandtl-Ishlinskii model. Taking the advantages of the proposed model into consideration, inverse control using the polynomial-based model is proposed. To achieve better tracking performance, a hybrid control combining the developed inverse control and a proportional-integral-differential feedback loop is then proposed. To demonstrate the effectiveness of the proposed tracking controls, several comparative experiments of the polynomial-based model and Prandtl-Ishlinskii model are conducted. The experimental results show that inverse control and hybrid control using the polynomial-based model in trajectory-tracking applications are effective and meaningful.
Two-Dimensional Scramjet Inlet Unstart Model: Wind-Tunnel Blockage and Actuation Systems Test
NASA Technical Reports Server (NTRS)
Holland, Scott D.
1994-01-01
This supplement to NASA TM 109152 shows the Schlieren video (10 min. 52 sec., color, Beta and VHS) of the external flow field and a portion of the internal flow field of a two-dimensional scramjet inlet model in the NASA Langley 20-Inch Mach 6 Tunnel. The intent of the overall test program is to study (both experimentally and computationally) the dynamics of the inlet unstart; this (phase I) effort examines potential wind-tunnel blockage issues related to model sizing and the adequacy of the actuation systems in accomplishing the start and unstart. The model is equipped with both a moveable cowl and aft plug. Windows in the inlet sidewalls allow limited optical access to the internal shock structure. In the video, flow is from right to left, and the inlet is oriented inverted with respect to flight, i.e., with the cowl on top. The plug motion is obvious because the plug is visible in the aft window. The cowl motion, however, is not as obvious because the cowl is hidden from view by the inlet sidewall. The end of the cowl actuator arm, however, becomes visible above the inlet sidewalls between the windows when the cowl is up (see figure 1b of the primary document). The model is injected into the tunnel and observed though several actuation sequences with two plug configurations over a range of unit freestream Reynolds number at a nominal freestream Mach number of 6. The framing rate and shutter speed of the camera were too slow to fully capture the dynamics of the unstart but did prove sufficient to identify inlet start and unstart. This series of tests indicated that the model was appropriately sized for this facility and identified operability limits required first to allow the inlet to start and second to force the unstart.
Integrated modeling for determining launch survival and limitations of actuated lightweight mirrors
NASA Astrophysics Data System (ADS)
Cohan, Lucy E.; Miller, David W.
2008-07-01
The future of space telescopes lies in large, lightweight, segmented aperture systems. Segmented apertures eliminate manufacturability and launch vehicle fairing diameter as apertures size constraints. Low areal density, actuated segments allow the systems to meet both launch mass restrictions and on-orbit wavefront error requirements. These systems, with silicon carbide as a leading material, have great potential for increasing the productivity, affordability, and manufacturability of future space-based optical systems. Thus far, progress has been made on the manufacturing, sensing, actuation, and on-orbit control of such systems. However, relatively little attention has been paid to the harsh environment of launch. The launch environment may dominate aspects of the design of the mirror segments, with survivability requirements eliminating many potentially good designs. Integrated modeling of a mirror segment can help identify trends in mirror geometries that maximize launch performance, ensuring survivability without drastically over designing the mirror. A finite element model of a single, ribbed, actuated, silicon carbide mirror segment is created, and is used to develop a dynamic, state-space model, with launch load spectra as disturbance inputs, and mirror stresses as performance outputs. The parametric nature of this model allows analysis of many geometrically different mirror segments, helping to identify key parameters for launch survival. The modeling method described herein will enable identification of the design decisions that are dominated by launch, and will allow for development of launch-load alleviation techniques to further push the areal density boundaries in support of the creation of larger and lighter mirrors than previously possible.
Modeling and control of actuators for high performance structural dynamic testing
NASA Astrophysics Data System (ADS)
Gao, X.; Dyke, S. J.
2014-05-01
Most research in the structural engineering field uses either a simplified data-based model or a physics-based model to describe the dynamic behavior of servo-hydraulic actuators. In either way, the nominal model is typically used for modeling, analysis and control design. However, little effort has been directed to model uncertainties that are inherently associated with any physical system. A robust modeling approach is proposed in this study that can characterize both parametric and non-parametric uncertainties. The combination of this uncertainty with the nominal model provides a powerful tool to analyze the system performance and stability properties. Several control techniques are evaluated experimentally, and an H∞ robust control design is demonstrated to achieve the best performance as well as good robustness.
Smart patch piezoceramic actuator issues
NASA Technical Reports Server (NTRS)
Griffin, Steven F.; Denoyer, Keith K.; Yost, Brad
1993-01-01
The Phillips Laboratory is undertaking the challenge of finding new and innovative ways to integrate sensing, actuation, and the supporting control and power electronics into a compact self-contained unit to provide vibration suppression for a host structure. This self-contained unit is commonly referred to as a smart patch. The interfaces to the smart patch will be limited to standard spacecraft power and possibly a communications line. The effort to develop a smart patch involves both contractual and inhouse programs which are currently focused on miniaturization of the electronics associated with vibrational control using piezoceramic sensors and actuators. This paper is comprised of two distinct parts. The first part examines issues associated with bonding piezoceramic actuators to a host structure. Experimental data from several specimens with varying flexural stiffness are compared to predictions from two piezoelectric/substructure coupling models, the Blocked Force Model and the Uniform Strain Model with Perfect Bonding. The second part of the paper highlights a demonstration article smart patch created using the insights gained from inhouse efforts at the Phillips Laboratory. This demonstration article has self contained electronics on the same order of size as the actuator powered by a voltage differential of approximately 32 volts. This voltage is provided by four rechargeable 8 volt batteries.
Smart patch piezoceramic actuator issues
NASA Astrophysics Data System (ADS)
Griffin, Steven F.; Denoyer, Keith K.; Yost, Brad
1993-02-01
The Phillips Laboratory is undertaking the challenge of finding new and innovative ways to integrate sensing, actuation, and the supporting control and power electronics into a compact self-contained unit to provide vibration suppression for a host structure. This self-contained unit is commonly referred to as a smart patch. The interfaces to the smart patch will be limited to standard spacecraft power and possibly a communications line. The effort to develop a smart patch involves both contractual and inhouse programs which are currently focused on miniaturization of the electronics associated with vibrational control using piezoceramic sensors and actuators. This paper is comprised of two distinct parts. The first part examines issues associated with bonding piezoceramic actuators to a host structure. Experimental data from several specimens with varying flexural stiffness are compared to predictions from two piezoelectric/substructure coupling models, the Blocked Force Model and the Uniform Strain Model with Perfect Bonding. The second part of the paper highlights a demonstration article smart patch created using the insights gained from inhouse efforts at the Phillips Laboratory. This demonstration article has self contained electronics on the same order of size as the actuator powered by a voltage differential of approximately 32 volts. This voltage is provided by four rechargeable 8 volt batteries.
NASA Astrophysics Data System (ADS)
Snow, Michael G.; Bajaj, Anil K.
2015-08-01
This work presents an uncertainty quantification (UQ) analysis of a comprehensive model for an electrostatically actuated microelectromechanical system (MEMS) switch. The goal is to elucidate the effects of parameter variations on certain key performance characteristics of the switch. A sufficiently detailed model of the electrostatically actuated switch in the basic configuration of a clamped-clamped beam is developed. This multi-physics model accounts for various physical effects, including the electrostatic fringing field, finite length of electrodes, squeeze film damping, and contact between the beam and the dielectric layer. The performance characteristics of immediate interest are the static and dynamic pull-in voltages for the switch. Numerical approaches for evaluating these characteristics are developed and described. Using Latin Hypercube Sampling and other sampling methods, the model is evaluated to find these performance characteristics when variability in the model's geometric and physical parameters is specified. Response surfaces of these results are constructed via a Multivariate Adaptive Regression Splines (MARS) technique. Using a Direct Simulation Monte Carlo (DSMC) technique on these response surfaces gives smooth probability density functions (PDFs) of the outputs characteristics when input probability characteristics are specified. The relative variation in the two pull-in voltages due to each of the input parameters is used to determine the critical parameters.
Stroke maximizing and high efficient hysteresis hybrid modeling for a rhombic piezoelectric actuator
NASA Astrophysics Data System (ADS)
Shao, Shubao; Xu, Minglong; Zhang, Shuwen; Xie, Shilin
2016-06-01
Rhombic piezoelectric actuator (RPA), which employs a rhombic mechanism to amplify the small stroke of PZT stack, has been widely used in many micro-positioning machineries due to its remarkable properties such as high displacement resolution and compact structure. In order to achieve large actuation range along with high accuracy, the stroke maximizing and compensation for the hysteresis are two concerns in the use of RPA. However, existing maximization methods based on theoretical model can hardly accurately predict the maximum stroke of RPA because of approximation errors that are caused by the simplifications that must be made in the analysis. Moreover, despite the high hysteresis modeling accuracy of Preisach model, its modeling procedure is trivial and time-consuming since a large set of experimental data is required to determine the model parameters. In our research, to improve the accuracy of theoretical model of RPA, the approximation theory is employed in which the approximation errors can be compensated by two dimensionless coefficients. To simplify the hysteresis modeling procedure, a hybrid modeling method is proposed in which the parameters of Preisach model can be identified from only a small set of experimental data by using the combination of discrete Preisach model (DPM) with particle swarm optimization (PSO) algorithm. The proposed novel hybrid modeling method can not only model the hysteresis with considerable accuracy but also significantly simplified the modeling procedure. Finally, the inversion of hysteresis is introduced to compensate for the hysteresis non-linearity of RPA, and consequently a pseudo-linear system can be obtained.
NASA Technical Reports Server (NTRS)
Webb, J. A., Jr.
1974-01-01
The multipurpose ventricular actuating system is a pneumatic signal generating device that provides controlled driving pressures for actuating pulsatile blood pumps. Overall system capabilities, the timing circuitry, and calibration instruction are included.
NASA Astrophysics Data System (ADS)
Shu, Liang; Wu, Guichu; Chen, Dingfang; Dapino, Marcelo J.
2016-03-01
On active bending structures, the actuation direction and the excitation field direction are not the same. Simple lumped parameter models are inadequate to describe the relationship between output displacement and input field. In this paper, a dynamic distributed parameter model is presented to describe the system dynamics of a galfenol bending actuator. To consider nonlinearities and hysteresis in bending, a nonlinear magnetomechanical model is developed to characterize the hysteretic magnetostriction generated by the galfenol layer. A dynamic real-time control strategy is proposed to compensate for hysteresis. A nonlinear inverse filter is constructed to linearize the hysteresis based on the proposed distributed parameter model. In order to increase the calculation efficiency, a new iteration method is proposed to calculate the filter. The iteration stepsize of the input field can be adaptively updated according to the inverting error. Simulation results show that significant enhancement of convergence efficiency can be achieved by using the proposed method compared with the existing fixed step size method. Experiments have been conducted to verify the real-time control strategy.
NASA Astrophysics Data System (ADS)
Pusey, Jason L.; Yoo, Jin-Hyeong
2014-06-01
We document the design and preliminary numerical simulation study of a high fidelity model of Canid, a recently introduced bounding robot. Canid is a free-standing, power-autonomous quadrupedal machine constructed from standard commercially available electromechanical and structural elements, incorporating compliant C-shaped legs like those of the decade old RHex design, but departing from that standard (and, to the best of our knowledge, from any prior) robot platform in its parallel actuated elastic spine. We have used a commercial modeling package to develop a finite-element model of the actuated, cable-driven, rigid-plate-reinforced harness for the carbon-fiber spring that joins the robot's fore- and hind-quarters. We compare a numerical model of this parallel actuated elastic spine with empirical data from preliminary physical experiments with the most important component of the spine assembly: the composite leaf spring. Specifically, we report our progress in tuning the mechanical properties of a standard modal approximation to a conventional compliant beam model whose boundary conditions represent constraints imposed by the actuated cable driven vertebral plates that comprise the active control affordance over the spine. We conclude with a brief look ahead at near-term future experiments that will compare predictions of this fitted composite spring model with data taken from the physical spine flexed in isolation from the actuated harness.
Rhombic micro-displacement amplifier for piezoelectric actuator and its linear and hybrid model
NASA Astrophysics Data System (ADS)
Chen, Jinglong; Zhang, Chunlin; Xu, Minglong; Zi, Yanyang; Zhang, Xinong
2015-01-01
This paper proposes rhombic micro-displacement amplifier (RMDA) for piezoelectric actuator (PA). First, the geometric amplification relations are analyzed and linear model is built to analyze the mechanical and electrical properties of this amplifier. Next, the accurate modeling method of amplifier is studied for important application of precise servo control. The classical Preisach model (CPM) is generally implemented using a numerical technique based on the first-order reversal curves (FORCs). The accuracy of CPM mainly depends on the number of FORCs. However, it is generally difficult to achieve enough number of FORCs in practice. So, Support Vector Machine (SVM) is employed in the work to circumvent the deficiency of the CPM. Then the hybrid model, which is based on discrete CPM and SVM is developed to account for hysteresis and dynamic effects. Finally, experimental validation is carried out. The analyzed result shows that this amplifier with the hybrid model is suitable for control application.
Discrete sensing and actuation in a simulation model of frequency responsive loads
Nutaro, James J; Protopopescu, Vladimir A
2012-01-01
Loads acting autonomously on a local frequency signal can improve the response of a power system to sudden changes in supply, demand, or both. In this paper we address the use of load for regulating frequency by using feedback control. We extend prior research that focused on continuous proportional control, whereby one assumes that the load responds instantaneously, continuously, and in direct proportion to the changing frequency. However, sensors employed in any practical system have a finite sensitivity which introduces quantization effects into the control. As a result, a critical factor in the design of such a control is the relationship between the sensitivity of the sensor and the gain of the actuator. To study this issue, our model is constructed in two parts. The continuous dynamics of the power system is coupled to discrete event models of the sensors by state events that describe the detection points available to them. The quantized signals from the sensors are transformed by the actuators into discrete changes of load which, in turn, change the frequency and thereby complete the control loop. We illustrate the model with a scenario that involves a sudden, unanticipated change in load and the combined response of the control and power system to recover from the event.
An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets
Bradley, Stuart
2015-01-01
Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an “actuator” interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator “firings”) to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a “cost function” is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs. PMID:26610500
Theoretical modeling of pulse discharge cycle in dielectric barrier discharge plasma actuator
NASA Astrophysics Data System (ADS)
Sato, Shintaro; Ohnishi, Naofumi
2016-07-01
Simple models based on two-dimensional simulations are proposed to estimate intervals of periodically observed current pulses with a positive-going voltage in a dielectric barrier discharge plasma actuator. There are two distinct peaks in one streamer discharge; one is related to the formation of an ion cloud and the other is related to a filamentary discharge that is identified as a streamer. Simulation results show that the intervals of the current pulses depend on the slope of the applied voltage. For the ion-cloud formation phase, we model the time evolution of electron number density at the exposed electrode with ionization frequency. For the ion-cloud expansion phase, a positive ion cylinder model is proposed to estimate the electric field generated by surface charge on the dielectric. These models well reproduce the discharge intervals obtained in the numerical simulations.
NASA Technical Reports Server (NTRS)
Allan, Brian G.
2000-01-01
A reduced order modeling approach of the Navier-Stokes equations is presented for the design of a distributed optimal feedback kernel. This approach is based oil a Krylov subspace method where significant modes of the flow are captured in the model This model is then used in all optimal feedback control design where sensing and actuation is performed oil tile entire flow field. This control design approach yields all optimal feedback kernel which provides insight into the placement of sensors and actuators in the flow field. As all evaluation of this approach, a two-dimensional shear layer and driven cavity flow are investigated.
Samadi, B; Achiche, S; Parent, A; Ballaz, L; Chouinard, U; Raison, M
2016-11-01
The use of exoskeletons as an aid for people with musculoskeletal disorder is the subject to an increasing interest in the research community. These devices are expected to meet the specific needs of users, such as children with cerebral palsy (CP) who are considered a significant population in pediatric rehabilitation. Although these exoskeletons should be designed to ease the movement of people with physical shortcoming, their design is generally based on data obtained from healthy adults, which leads to oversized components that are inadequate to the targeted users. Consequently, the objective of this study is to custom-size the lower limb exoskeleton actuators based on dynamic modeling of the human body for children with CP on the basis of hip, knee, and ankle joint kinematics and dynamics of human body during gait. For this purpose, a multibody modeling of the human body of 3 typically developed children (TD) and 3 children with CP is used. The results show significant differences in gait patterns especially in knee and ankle with respectively 0.39 and -0.33 (Nm/kg) maximum torque differences between TD children and children with CP. This study provides the recommendations to support the design of actuators to normalize the movement of children with CP. PMID:26980164
Numerical Simulation and Wake Modeling of Wind Turbine Rotor as AN Actuator Disk
NASA Astrophysics Data System (ADS)
Shen, Xiang; Wang, Tongguang; Zhong, Wei
Numerical simulations of flow fields around the wind turbine rotor simplified as an actuator disk (AD) with zero thickness have been made to investigate the flow structure and wake development in different operation states. A N-S solver has been used and the energy extracted by the rotor is represented by a discontinuous pressure jump through the actuator disk. Axial pressure and velocity development from far upstream to far downstream is fully described by the simulations, which could never be obtained by the momentum theory. It is showed that there are significant differences in wake development between inviscid and viscous conditions. In inviscid simulations, the axial velocity keeps decreasing along the oncoming flow direction, which is consistent with the momentum theory. In viscous simulations, however, the axial velocity first decreases but then gradually recovers approaching to the undisturbed velocity, due to momentum transport from outer flow to wake flow by viscous shear effect. Based on the numerical analysis, the work of this paper is also focused on wake modeling. A new two-dimensional models based on nonlinear wake development has been developed, which is capable to describe the far wake more accurately.
Large eddy simulation of unsteady wind farm behavior using advanced actuator disk models
NASA Astrophysics Data System (ADS)
Moens, Maud; Duponcheel, Matthieu; Winckelmans, Gregoire; Chatelain, Philippe
2014-11-01
The present project aims at improving the level of fidelity of unsteady wind farm scale simulations through an effort on the representation and the modeling of the rotors. The chosen tool for the simulations is a Fourth Order Finite Difference code, developed at Universite catholique de Louvain; this solver implements Large Eddy Simulation (LES) approaches. The wind turbines are modeled as advanced actuator disks: these disks are coupled with the Blade Element Momentum method (BEM method) and also take into account the turbine dynamics and controller. A special effort is made here to reproduce the specific wake behaviors. Wake decay and expansion are indeed initially governed by vortex instabilities. This is an information that cannot be obtained from the BEM calculations. We thus aim at achieving this by matching the large scales of the actuator disk flow to high fidelity wake simulations produced using a Vortex Particle-Mesh method. It is obtained by adding a controlled excitation at the disk. We apply this tool to the investigation of atmospheric turbulence effects on the power production and on the wake behavior at a wind farm level. A turbulent velocity field is then used as inflow boundary condition for the simulations. We gratefully acknowledge the support of GDF Suez for the fellowship of Mrs Maud Moens.
NASA Astrophysics Data System (ADS)
Bouda, Vaclav; Boudova, Lea; Haluzikova, Denisa
2005-05-01
The aim of the presentation is to propose an alternative model of mammalian skeletal muscle function, which reflects the simplicity of nature and can be applied in engineering. Van der Waals attractive and repulsive electrostatic forces are assumed to control the design of internal structures and functions of contractile units of the muscles - sarcomere. The role of myosin heads is crucial for the higher order formation. The model of the myosin head lattice is the working model for the sarcomere contraction interpretation. The contraction is interpreted as a calcium induced phase transition of the lattice, which results in relative actin-myosin sliding and/or force generation. The model should provide the engineering science with a simple analogy to technical actuators of high performance.
A Flight Dynamics Model for a Multi-Actuated Flexible Rocket Vehicle
NASA Technical Reports Server (NTRS)
Orr, Jeb S.
2011-01-01
A comprehensive set of motion equations for a multi-actuated flight vehicle is presented. The dynamics are derived from a vector approach that generalizes the classical linear perturbation equations for flexible launch vehicles into a coupled three-dimensional model. The effects of nozzle and aerosurface inertial coupling, sloshing propellant, and elasticity are incorporated without restrictions on the position, orientation, or number of model elements. The present formulation is well suited to matrix implementation for large-scale linear stability and sensitivity analysis and is also shown to be extensible to nonlinear time-domain simulation through the application of a special form of Lagrange s equations in quasi-coordinates. The model is validated through frequency-domain response comparison with a high-fidelity planar implementation.
Development of an advanced actuator disk model for Large-Eddy Simulation of wind farms
NASA Astrophysics Data System (ADS)
Moens, Maud; Duponcheel, Matthieu; Winckelmans, Gregoire; Chatelain, Philippe
2015-11-01
This work aims at improving the fidelity of the wind turbine modelling for Large-Eddy Simulation (LES) of wind farms, in order to accurately predict the loads, the production, and the wake dynamics. In those simulations, the wind turbines are accounted for through actuator disks. i.e. a body-force term acting over the regularised disk swept by the rotor. These forces are computed using the Blade Element theory to estimate the normal and tangential components (based on the local simulated flow and the blade characteristics). The local velocities are modified using the Glauert tip-loss factor in order to account for the finite number of blades; the computation of this correction is here improved thanks to a local estimation of the effective upstream velocity at every point of the disk. These advanced actuator disks are implemented in a 4th order finite difference LES solver and are compared to a classical Blade Element Momentum method and to high fidelity wake simulations performed using a Vortex Particle-Mesh method in uniform and turbulent flows.
Two-spring model for active compression textiles with integrated NiTi coil actuators
NASA Astrophysics Data System (ADS)
Holschuh, B.; Newman, D.
2015-03-01
This paper describes the development and implementation of a two-spring model to predict the performance of hybrid compression textiles combining passive elastic fabrics and integrated NiTi shape memory alloy (SMA) coil actuators. An analytic model that treats passive fabric-SMA coil systems as conjoined linear springs is presented to predict garment passive and active counter-pressure as a function of 11 design variables. For a fixed SMA coil design (encompassing five design variables), the model predicts that passive fabric material modulus, initial length, width and thickness determine both passive counter-pressure magnitude and activation stroke length, and that passive and active pressures are highly dependent on the relative unstretched lengths of the conjoined SMA-fabric system compared to the total limb circumference. Several passive fabrics were tested to determine their moduli and to generally assess the fabric linearity model assumption: two fabrics (spandex and neoprene) were found to behave linearly up to 200% strain, while two other fabrics (flat polyester elastic and a tri-laminate Lycra) were found to be nonlinear in the same strain envelope. Five hypothetical compression tourniquet designs are presented using experimentally determined fabric characteristics and previously studied SMA actuators developed at MIT. The performance of each tourniquet design is discussed with a specific focus on mechanical counter-pressure (MCP) space suit design requirements, with designs presented that achieve the full MCP design specification (\\gt 29.6 kPa) while minimizing (\\lt 5 mm) garment thickness. The modeling framework developed in this effort enables compression garment designers to tailor counter-pressure and activation stroke properties of active compression garments based on a variety of design parameters to meet a wide range of performance specifications.
Computational design and multiscale modeling of a nanoactuator using DNA actuation.
Hamdi, Mustapha
2009-12-01
Developments in the field of nanobiodevices coupling nanostructures and biological components are of great interest in medical nanorobotics. As the fundamentals of bio/non-bio interaction processes are still poorly understood in the design of these devices, design tools and multiscale dynamics modeling approaches are necessary at the fabrication pre-project stage. This paper proposes a new concept of optimized carbon nanotube based servomotor design for drug delivery and biomolecular transport applications. The design of an encapsulated DNA-multi-walled carbon nanotube actuator is prototyped using multiscale modeling. The system is parametrized by using a quantum level approach and characterized by using a molecular dynamics simulation. Based on the analysis of the simulation results, a servo nanoactuator using ionic current feedback is simulated and analyzed for application as a drug delivery carrier. PMID:19880974
NASA Technical Reports Server (NTRS)
Holland, Scott D.
1994-01-01
The present study examines the wind-tunnel blockage and actuation systems effectiveness in starting and forcibly unstarting a two-dimensional scramjet inlet in the NASA Langley 20-Inch Mach 6 Tunnel. The intent of the overall test program is to study (both experimentally and computationally) the dynamics of the inlet unstart; however, prior to the design and fabrication of an expensive, instrumented wind-tunnel model, it was deemed necessary first to examine potential wind-tunnel blockage issues related to model sizing and to examine the adequacy of the actuation systems in accomplishing the start and unstart. The model is equipped with both a moveable cowl and aft plug. Windows in the inlet sidewalls allow limited optical access to the internal shock structure; schlieren video was used to identify inlet start and unstart. A chronology of each actuation sequence is provided in tabular form along with still frames from the schlieren video. A pitot probe monitored the freestream conditions throughout the start/unstart process to determine if there was a blockage effect due to the model start or unstart. Because the purpose of this report is to make the phase I (blockage and actuation systems) data rapidly available to the community, the data is presented largely without analysis of the internal shock interactions or the unstart process. This series of tests indicated that the model was appropriately sized for this facility and identified operability limits required first to allow the inlet to start and second to force the unstart.
Model predictive driving simulator motion cueing algorithm with actuator-based constraints
NASA Astrophysics Data System (ADS)
Garrett, Nikhil J. I.; Best, Matthew C.
2013-08-01
The simulator motion cueing problem has been considered extensively in the literature; approaches based on linear filtering and optimal control have been presented and shown to perform reasonably well. More recently, model predictive control (MPC) has been considered as a variant of the optimal control approach; MPC is perhaps an obvious candidate for motion cueing due to its ability to deal with constraints, in this case the platform workspace boundary. This paper presents an MPC-based cueing algorithm that, unlike other algorithms, uses the actuator positions and velocities as the constraints. The result is a cueing algorithm that can make better use of the platform workspace whilst ensuring that its bounds are never exceeded. The algorithm is shown to perform well against the classical cueing algorithm and an algorithm previously proposed by the authors, both in simulation and in tests with human drivers.
Kang, Rongjie; Branson, David T; Zheng, Tianjiang; Guglielmino, Emanuele; Caldwell, Darwin G
2013-09-01
Biological tentacles, such as octopus arms, have entirely flexible structures and virtually infinite degrees of freedom (DOF) that allow for elongation, shortening and bending at any point along the arm length. The amazing dexterity of biological tentacles has driven the growing implementation of continuum manipulators in robotic systems. This paper presents a pneumatic manipulator inspired by biological continuum structures in some of their key features and functions, such as continuum morphology, intrinsic compliance and stereotyped motions with hyper redundant DOF. The kinematics and dynamics of the manipulator are formulated and identified, and a hierarchical controller taking inspiration from the structure of an octopus nervous system is used to relate desired stereotyped motions to individual actuator inputs. Simulations and experiments are carried out to validate the model and prototype where good agreement was found between the two. PMID:23851387
Formulation, predictions, and sensitivity analysis of a pyrotechnically actuated pin puller model
Gonthier, K.A.; Powers, J.M.
1994-07-01
This article presents an analysis for pyrotechnic combustion and pin motion in the NASA Standard Initiator (NSI) actuated pin puller. The conservation principles and constitutive relations for a multiphase system are posed and reduced to a set of five ordinary differential equations which are solved to predict the system`s performance. The model tracks the interactions of the unreacted, incompressible solid pyrotechnic, incompressible condensed phase combustion products, and gas phase combustion products. Predicted pressure histories for the firing of an NSI into (1) the pin puller device, (2) a 10 cm(sup 3) closed vessel, and (3) an apparatus known as the Dynamic Test Device compare well with experimental results. A sensitivity analysis reveals large regions in parameter space where system performance is insensitive to particular parametric values; smaller regions of high sensitivity are also found. 15 refs.
NASA Astrophysics Data System (ADS)
Chaterjee, S.; Pohit, G.
2009-05-01
A comprehensive model of an electrostatically actuated microcantilever beam separated from the ground plane by relatively larger gap is formulated accounting for the nonlinearities of the system arising out of electric forces, geometry of the deflected beam and the inertial terms. Since the gap is relatively large, the electrostatic model is formulated incorporating higher order correction of electrostatic forces. First static analysis is carried out to match the results obtained from the proposed model with the results provided by other researchers. It is observed that reduced order model exhibits good convergence when five or more number of modes is considered for the analysis. Dynamic analysis of the model is performed with five modes. The study indicates that although electrostatic forces cause softening characteristics whereas geometric nonlinearity produces stiffening effect on the microstructure, the nonlinearities play a significant role when pull-in occurs. The consideration of slope and curvature of deformable electrode for modelling the electrostatic forces for large gap separations predicts more accurate results. For applications in and around pull-in zone, the large deflection model needs to be considered for effective design.
Effect of Synthetic Jet Actuator Spacing on the Performance Enhancement of a Vertical Tail Model
NASA Astrophysics Data System (ADS)
Monastero, Marianne; Rathay, Nicholas; Whalen, Edward; Amitay, Michael
2014-11-01
The use of synthetic-jet-based active flow control to augment the side force produced by vertical tail models through rudder separation control was experimentally investigated in the Rensselaer Polytechnic Institute Subsonic Wind Tunnel. Increasing the side force generated by the vertical tail may lead to a reduction in tail size and, therefore, less drag and fuel consumption. Stereo particle image velocimetry and aerodynamic load data were acquired with a focus on the effect of non-dimensional spacing between jets on the resulting flowfield and forces for a 1/19th scale model based on a Boeing 767 commercial airplane. For some rudder deflections, differing results with active flow control were found when force data for the 1/19th scale model were compared to force data obtained on a larger, 1/9th scale model. Actuator spacing was varied and individual jet momentum coefficient was held constant for these experiments. These results show the need for more fundamental testing to understand why jets are beneficial or detrimental to the augmented side force and how those effects scale-up. A new model was designed to enable a fundamental study of the effect on the flowfield of various jet and model parameters such as sweep angle, jets spacing, rudder chord extent, and rudder deflection.
Static and transient modeling of fast moving ball actuator as a display device
NASA Astrophysics Data System (ADS)
Lee, Jongmo; Yoon, Ho Won; Hong, MunPyo; Jhun, Chul Gyu; Bae, Byung Seong; Han, Seungoh
2016-04-01
FMBA(Fast Moving Ball Actuator), developed as novel electronic-paper display, has already proven its operability and functionality. However, optimization issues related with low operating voltage, high refresh rate, fine pixel and higher display resolution, etc. are still remaining to be improved for a successful commercialization. In order to optimize such issues effectively, static and transient model were developed and verified by comparing the calculated results to the measured. The static model is based on the force balancing equation between the driving and the holding forces while the transient model is developed from Newton's 2nd law by adding the inertia as well as the resistive damping forces caused by the surroundings. With the simplified static model, driving voltage of 30.71 V was obtained, which is reasonably matched to the measured voltage of 40 V. Based on the transient model, also, the transient response of the device can be estimated within reasonable margin. Considering the absence of reliable key parameters of surface roughness, static and dynamic frictional coefficient, and refractive indices, the developed static and transient models account well the experimental results and thus they are expected to contribute further improvements in FMBA.
MEMS Actuated Deformable Mirror
Papavasiliou, A; Olivier, S; Barbee, T; Walton, C; Cohn, M
2005-11-10
This ongoing work concerns the creation of a deformable mirror by the integration of MEMS actuators with Nanolaminate foils through metal compression boning. These mirrors will use the advantages of these disparate technologies to achieve dense actuation of a high-quality, continuous mirror surface. They will enable advanced adaptive optics systems in large terrestrial telescopes. While MEMS actuators provide very dense actuation with high precision they can not provide large forces typically necessary to deform conventional mirror surfaces. Nanolaminate foils can be fabricated with very high surface quality while their extraordinary mechanical properties enable very thin, flexible foils to survive the rigors of fabrication. Precise metal compression bonding allows the attachment of the fragile MEMS actuators to the thin nanolaminate foils without creating distortions at the bond sites. This paper will describe work in four major areas: (1) modeling and design, (2) bonding development, (3) nanolaminate foil development, (4) producing a prototype. A first-principles analytical model was created and used to determine the design parameters. A method of bonding was determined that is both strong, and minimizes the localized deformation or print through. Work has also been done to produce nanolaminate foils that are sufficiently thin, flexible and flat to be deformed by the MEMS actuators. Finally a prototype was produced by bonding thin, flexible nanolaminate foils to commercially available MEMS actuators.
NASA Technical Reports Server (NTRS)
Kandelman, A.; Nelson, D. J.
1977-01-01
Simplified mathematical model simulates large hydraulic systems on either analog or digital computers. Models of pumps, servoactuators, reservoirs, accumulators, and valves are connected generating systems containing six hundred elements.
NASA Astrophysics Data System (ADS)
Buoso, Stefano; Palacios, Rafael
2016-04-01
This work presents a numerical framework for the simulation and design of integrally actuated membrane wings with feedback control. The performance of the aeroelastic system are evaluated using a high-fidelity model. It consists in a fluid solver based on the direct numerical integration of the unsteady Navier-Stokes equations implicitly coupled with a geometrically non-linear dynamic structural model which has been calibrated using experimental data. The rate-dependent constitutive law for the dielectric elastomer considered for the integral wing actuation is based on a non-linear formulation. The framework also includes a methodology for the model reduction of the fully-coupled system. The resulting low-order description showed to retain the main system dynamics, and can therefore be used for the design of the control scheme for the wing. Results highlights the potential to achieve on-demand aerodynamics using the actuation concept proposed. In particular, it is shown that the wing aerodynamic performance is noticeably enhanced through the actuation and the disturbances on the lift in case of gusts can be reduced up to 60%.
Non-linear modelling and optimal control of a hydraulically actuated seismic isolator test rig
NASA Astrophysics Data System (ADS)
Pagano, Stefano; Russo, Riccardo; Strano, Salvatore; Terzo, Mario
2013-02-01
This paper investigates the modelling, parameter identification and control of an unidirectional hydraulically actuated seismic isolator test rig. The plant is characterized by non-linearities such as the valve dead zone and frictions. A non-linear model is derived and then employed for parameter identification. The results concerning the model validation are illustrated and they fully confirm the effectiveness of the proposed model. The testing procedure of the isolation systems is based on the definition of a target displacement time history of the sliding table and, consequently, the precision of the table positioning is of primary importance. In order to minimize the test rig tracking error, a suitable control system has to be adopted. The system non-linearities highly limit the performances of the classical linear control and a non-linear one is therefore adopted. The test rig mathematical model is employed for a non-linear control design that minimizes the error between the target table position and the current one. The controller synthesis is made by taking no specimen into account. The proposed approach consists of a non-linear optimal control based on the state-dependent Riccati equation (SDRE). Numerical simulations have been performed in order to evaluate the soundness of the designed control with and without the specimen under test. The results confirm that the performances of the proposed non-linear controller are not invalidated because of the presence of the specimen.
NASA Technical Reports Server (NTRS)
Narasimhan, Sriram; Roychoudhury, Indranil; Balaban, Edward; Saxena, Abhinav
2010-01-01
Model-based diagnosis typically uses analytical redundancy to compare predictions from a model against observations from the system being diagnosed. However this approach does not work very well when it is not feasible to create analytic relations describing all the observed data, e.g., for vibration data which is usually sampled at very high rates and requires very detailed finite element models to describe its behavior. In such cases, features (in time and frequency domains) that contain diagnostic information are extracted from the data. Since this is a computationally intensive process, it is not efficient to extract all the features all the time. In this paper we present an approach that combines the analytic model-based and feature-driven diagnosis approaches. The analytic approach is used to reduce the set of possible faults and then features are chosen to best distinguish among the remaining faults. We describe an implementation of this approach on the Flyable Electro-mechanical Actuator (FLEA) test bed.
NASA Astrophysics Data System (ADS)
Boz, Utku; Basdogan, Ipek
2015-12-01
Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.
Complete modeling of rotary ultrasonic motors actuated by traveling flexural waves
NASA Astrophysics Data System (ADS)
Bao, Xiaoqi; Bar-Cohen, Yoseph
2000-06-01
Ultrasonic rotary motors have the potential to meet this NASA need and they are developed as actuators for miniature telerobotic applications. These motors are being adapted for operation at the harsh space environments that include cryogenic temperatures and vacuum and analytical tools for the design of efficient motors are being developed. A hybrid analytical model was developed to address a complete ultrasonic motor as a system. Included in this model is the influence of the rotor dynamics, which was determined experimentally to be important to the motor performance. The analysis employs a 3D finite element model to express the dynamic characteristics of the stator with piezoelectric elements and the rotor. The details of the stator including the teeth, piezoelectric ceramic, geometry, bonding layer, etc. are included to support practical USM designs. A brush model is used for the interface layer and Coulomb's law for the friction between the stator and the rotor. The theoretical predictions were corroborated experimentally for the motor. In parallel, efforts have been made to determine the thermal and vacuum performance of these motors. To explore telerobotic applications for USMs a robotic arm was constructed with such motors.
NASA Astrophysics Data System (ADS)
Al-Taie, Fatimah; Werner, Herbert
2016-06-01
A technique for model reduction of exponentially stable spatially interconnected systems is presented, where the order of the reduced model is determined by the number of truncated small generalised singular values of the structured solutions to a pair of Lyapunov inequalities. For parameter-invariant spatially interconnected systems, the technique is based on solving a pair of Lyapunov inequalities in continuous-time and -space domain with a rank constraint. Using log-det and cone complementarity methods, an improved error bound can be obtained. The approach is extended to spatially parameter-varying systems, and a balanced truncation approach using parameter-dependent Gramians is proposed to reduce the conservatism caused by the use of constant Gramians. This is done by considering two important operators, which can be used to represent multidimensional systems (temporal- and spatial-linear parameter varying interconnected systems). The results are illustrated with their application to an experimentally identified spatially interconnected model of an actuated beam; the experimentally obtained response to an excitation signal is compared with the response predicted by a reduced model.
Zhang, Xingwu; Wang, Chenxi; Gao, Robert X; Yan, Ruqiang; Chen, Xuefeng; Wang, Shibin
2016-01-01
Milling vibration is one of the most serious factors affecting machining quality and precision. In this paper a novel hybrid error criterion-based frequency-domain LMS active control method is constructed and used for vibration suppression of milling processes by piezoelectric actuators and sensors, in which only one Fast Fourier Transform (FFT) is used and no Inverse Fast Fourier Transform (IFFT) is involved. The correction formulas are derived by a steepest descent procedure and the control parameters are analyzed and optimized. Then, a novel hybrid error criterion is constructed to improve the adaptability, reliability and anti-interference ability of the constructed control algorithm. Finally, based on piezoelectric actuators and acceleration sensors, a simulation of a spindle and a milling process experiment are presented to verify the proposed method. Besides, a protection program is added in the control flow to enhance the reliability of the control method in applications. The simulation and experiment results indicate that the proposed method is an effective and reliable way for on-line vibration suppression, and the machining quality can be obviously improved. PMID:26751448
Zhang, Xingwu; Wang, Chenxi; Gao, Robert X.; Yan, Ruqiang; Chen, Xuefeng; Wang, Shibin
2016-01-01
Milling vibration is one of the most serious factors affecting machining quality and precision. In this paper a novel hybrid error criterion-based frequency-domain LMS active control method is constructed and used for vibration suppression of milling processes by piezoelectric actuators and sensors, in which only one Fast Fourier Transform (FFT) is used and no Inverse Fast Fourier Transform (IFFT) is involved. The correction formulas are derived by a steepest descent procedure and the control parameters are analyzed and optimized. Then, a novel hybrid error criterion is constructed to improve the adaptability, reliability and anti-interference ability of the constructed control algorithm. Finally, based on piezoelectric actuators and acceleration sensors, a simulation of a spindle and a milling process experiment are presented to verify the proposed method. Besides, a protection program is added in the control flow to enhance the reliability of the control method in applications. The simulation and experiment results indicate that the proposed method is an effective and reliable way for on-line vibration suppression, and the machining quality can be obviously improved. PMID:26751448
NASA Astrophysics Data System (ADS)
Catania, Giuseppe; Sorrentino, Silvio
2015-01-01
The design of hydraulic transmission systems for control and actuation requires accurate knowledge of their dynamic response: some standard techniques are known to obtain a consistent dynamic model of a fluid line, including the contribution of inertia, compressibility and friction. In this paper an efficient procedure is developed for simulating the dynamic response of a fluid line in both the frequency and time domains, focusing the attention on the modal analysis of a discretized model, in view of coupling with mechanical systems. A bi-dimensional approach is adopted, and the laminar flow frequency-dependent friction is modeled using non-integer order differential laws, which may improve the accuracy of the simulated responses in comparison with more traditional Newtonian models.
NASA Astrophysics Data System (ADS)
Liang, Binbin; Zhang, Long; Wang, Binglei; Zhou, Shenjie
2015-07-01
A size-dependent model for the electrostatically actuated Nano-Electro-Mechanical Systems (NEMS) incorporating nonlinearities and Casimir force is presented by using a variational method. The governing equation and boundary conditions are derived with the help of strain gradient elasticity theory and Hamilton principle. Generalized differential quadrature (GDQ) method is employed to solve the problem numerically. The pull-in instability with Casimir force included is then studied. The results reveal that Casimir force, which is a spontaneous force between the two electrodes, can reduce the external applied voltage. With Casimir force incorporated, the pull-in instability occurs without voltage applied when the beam size is in nanoscale. The minimum gap and detachment length can be calculated from the present model for different beam size, which is important for NEMS design. Finally, discussions of size effect induced by the strain gradient terms reveal that the present model is more accurate since size effect play an important role when beam in nanoscale.
Thickness effects in electroactive polymers actuators: a simple explanation and modeling
NASA Astrophysics Data System (ADS)
Yuse, K.; Guyomar, D.; Kanda, M.
2011-04-01
For practical use, the electrical field requirements of Electro Active Polymer (EAP) actuators have to be lowered down. Recently, we developed nano carbon filled polymeric films which can generate a large strain (30-50%) at moderate electrical field (less than 20 MV/m). Herein, the electrostrictive strain saturates versus electrical field and that the maximum strain depends strongly on the sample thickness. Combining polarization saturation effect and heterogeneities in the polymer thickness lead to a model that describes correctly the strain behavior versus electrical field, polymer thickness and frequency. A three-layer model was established which assumes that the polymer is not homogeneous along the thickness. Two outer and one inner layers exist, which must be formed during the polymer curing. It is considered that these layers have slightly different characteristics, such as permittivity. When the electrical field is input parallel to the polymer thickness, a different strain would take place in each layer according to the field distribution. Since the layers are attached together, the strain must be the same in each layer. Consequently stresses appear in the different layers. Introducing in this model a saturation of the polarization for high field leads to simulation results that fit well the experimental data.
An explicit physics-based model of ionic polymer-metal composite actuators
NASA Astrophysics Data System (ADS)
Pugal, David; Kim, Kwang J.; Aabloo, Alvo
2011-10-01
The Poisson-Nernst-Planck system of equations is used to simulate the charge dynamics due to ionic current and resulting time-dependent displacement of ionic polymer-metal composite (IPMC) materials. Measured data show that currents through the polymer of IPMC cause potential gradients on the electrodes. Existing physics based models of IPMC do not explicitly consider how this affects the charge formation near the electrodes and resulting actuation of IPMC. We have developed an explicit physics based model that couples the currents in the polymer to the electric current in the continuous electrodes of IPMC. The coupling is based on the Ramo-Shockley theorem. The circular dependency concept is used to explain how the dependency between the ionic current and the potential drop in the electrodes is calculated and how they affect each other. Simulations were carried out using the finite element method. Calculated potential gradients, electric currents, and tip displacement of IPMC were validated against experimental data. We also show how the model is general in respect to the different types of currents in the polymer and how it can be used in more complicated cases such as 3D simulations.
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
NASA Astrophysics Data System (ADS)
Madsen, H. Aa; Paulsen, U. S.; Vitae, L.
2014-12-01
The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined. The describing equations for the two-dimensional AC model are presented and a solution method splitting the final solution in a linear and non-linear part is briefly described. A family of loadforms approaching the uniform loading is used to study the ideal energy conversion indicating that the maximum power coefficient for the ideal energy conversion of a VAWT could exceed the Betz limit. The real energy conversion of the 5MW DeepWind rotor is simulated with the AC flow model in combination with the blade element analysis. Aerodynamic design aspects are discussed on this basis revealing that the maximum obtainable power coefficient for a fixed pitch VAWT is constrained by the fundamental cyclic variation of inflow angle and relative velocity leading to a loading that deviates considerably from the uniform loading.
On reliable control system designs. Ph.D. Thesis; [actuators
NASA Technical Reports Server (NTRS)
Birdwell, J. D.
1978-01-01
A mathematical model for use in the design of reliable multivariable control systems is discussed with special emphasis on actuator failures and necessary actuator redundancy levels. The model consists of a linear time invariant discrete time dynamical system. Configuration changes in the system dynamics are governed by a Markov chain that includes transition probabilities from one configuration state to another. The performance index is a standard quadratic cost functional, over an infinite time interval. The actual system configuration can be deduced with a one step delay. The calculation of the optimal control law requires the solution of a set of highly coupled Riccati-like matrix difference equations. Results can be used for off-line studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.
NASA Astrophysics Data System (ADS)
Jacobs, William R.; Wilson, Emma D.; Assaf, Tareq; Rossiter, Jonathan; Dodd, Tony J.; Porrill, John; Anderson, Sean R.
2015-05-01
Current models of dielectric elastomer actuators (DEAs) are mostly constrained to first principal descriptions that are not well suited to the application of control design due to their computational complexity. In this work we describe an integrated framework for the identification of control focused, data driven and time-varying DEA models that allow advanced analysis of nonlinear system dynamics in the frequency-domain. Experimentally generated input-output data (voltage-displacement) was used to identify control-focused, nonlinear and time-varying dynamic models of a set of film-type DEAs. The model description used was the nonlinear autoregressive with exogenous input structure. Frequency response analysis of the DEA dynamics was performed using generalized frequency response functions, providing insight and a comparison into the time-varying dynamics across a set of DEA actuators. The results demonstrated that models identified within the presented framework provide a compact and accurate description of the system dynamics. The frequency response analysis revealed variation in the time-varying dynamic behaviour of DEAs fabricated to the same specifications. These results suggest that the modelling and analysis framework presented here is a potentially useful tool for future work in guiding DEA actuator design and fabrication for application domains such as soft robotics.
Single actuator wave-like robot (SAW): design, modeling, and experiments.
Zarrouk, David; Mann, Moshe; Degani, Nir; Yehuda, Tal; Jarbi, Nissan; Hess, Amotz
2016-01-01
In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed. PMID:27367548
Modeling and experiment of three-degree-of-freedom actuators using piezoelectric buzzers
NASA Astrophysics Data System (ADS)
Chen, W. M.; Liu, T. S.
2013-10-01
This study presents innovative three-degree-of-freedom piezoelectric actuators. Under the piezoelectric force and dry friction, the piezoelectric actuators not only can move in the Z-axis direction, but also rotate around the Y-axis and Z-axis. The Z-axis displacement can reach 62 mm and the rotation angle around the Y-axis and Z-axis can reach 270° and 360°, respectively. Compared with the literature, this innovative actuator design achieves one-degree-of-freedom translation and two-degree-of-freedom rotation. Equations of motion are derived based on the piezoelectric properties and Newton’s law. Two types of actuators are created in this study. In the first type, the centers of four piezoelectric buzzers are attached to an arm while in the other type each rim of the four piezoelectric buzzers is attached to the arm. Experimental results are compared with theoretical results. According to the experimental results, the present actuator can accomplish a translational velocity of 11 mm s-1, a Y-axis angular velocity of 8.96 rad s-1, a Z-axis angular velocity of 2.63 rad s-1, and a force of 2.49 mN. By using four piezoelectric buzzers, this study creates piezoelectric actuators capable of both translational and rotational motions.
Modelling and characterization of inflated dielectric elastomer actuators with tubular configuration
NASA Astrophysics Data System (ADS)
Zhang, Chi; Chen, Hualing; Liu, Lei; Li, Dichen
2015-06-01
A dielectric elastomer undergoes large and fast deformation subject to external electric stimuli, making it a promising artificial muscle for various kinds of actuators, sensors and energy generators. This paper presents an actuator fabricated by (1) rolling a dielectric elastomer membrane, (2) pre-stretching the membrane along the radial direction and fixing the edges with rigid cylindrical plastic ends, and (3) applying a force to the end along the longitudinal direction and pumping air into the tube for inflation. Subject to a voltage, the structure works as an actuator with a large linear stroke. Governing equations of this actuator are established and simulation results are found to agree well with experimental results. We examine four modes of failure, namely loss of tension, electrical breakdown, snap-through instability and tensile rupture, with a variation in applied pressure. The actuating voltage is greatly reduced by applying pressure, providing the possibility of low-voltage driving. By regulating the applied pressure, large actuation strain and displacement are obtained simultaneously and the distributions of stretch, true stress and the true electric field become more homogeneous.
NASA Technical Reports Server (NTRS)
Holloway, Sidney E., III
1994-01-01
This paper describes the mechanical design, analysis, fabrication, testing, and lessons learned by developing a uniquely designed spaceflight-like actuator. The linear proof mass actuator (LPMA) was designed to attach to both a large space structure and a ground test model without modification. Previous designs lacked the power to perform in a terrestrial environment while other designs failed to produce the desired accelerations or frequency range for spaceflight applications. Thus, the design for a unique actuator was conceived and developed at NASA Langley Research Center. The basic design consists of four large mechanical parts (mass, upper housing, lower housing, and center support) and numerous smaller supporting components including an accelerometer, encoder, and four drive motors. Fabrication personnel were included early in the design phase of the LPMA as part of an integrated manufacturing process to alleviate potential difficulties in machining an already challenging design. Operating testing of the LPMA demonstrated that the actuator is capable of various types of load functions.
NASA Technical Reports Server (NTRS)
Holloway, S. E., III
1995-01-01
This paper describes the mechanical design, analysis, fabrication, testing, and lessons learned by developing a uniquely designed spaceflight-like actuator. The Linear Proof Mass Actuator (LPMA) was designed to attach to both a large space structure and a ground test model without modification. Previous designs lacked the power to perform in a terrestrial environment while other designs failed to produce the desired accelerations or frequency range for spaceflight applications. Thus, the design for a unique actuator was conceived and developed at NASA Langley Research Center. The basic design consists of four large mechanical parts (Mass, Upper Housing, Lower Housing, and Center Support) and numerous smaller supporting components including an accelerometer, encoder, and four drive motors. Fabrication personnel were included early in the design phase of the LPMA as part of an integrated manufacturing process to alleviate potential difficulties in machining an already challenging design. Operational testing of the LPMA demonstrated that the actuator is capable of various types of load functions.
Model identification of terfenol-D magnetostrictive actuator for precise positioning control
NASA Astrophysics Data System (ADS)
Saleem, Ashraf; Ghodsi, Mojtaba; Mesbah, Mostefa; Ozer, Abdullah
2016-04-01
Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.
Identification of a nonlinear black-box model for a self-sensing polymer metal composite actuator
NASA Astrophysics Data System (ADS)
Quang Truong, Dinh; Ahn, Kyoung Kwan; Nam, Doan Ngoc Chi; Yoon, Jong Il
2010-08-01
An ion polymer metal composite (IPMC) is an electro-active polymer that bends in response to a small applied electrical field as a result of the mobility of cations in the polymer network and vice versa. The aim of this paper is the identification of a novel accurate nonlinear black-box model (NBBM) for IPMC actuators with self-sensing behavior based on a recurrent multi-layer perceptron neural network (RMLPNN) and a self-adjustable learning mechanism (SALM). Firstly, an IPMC actuator is investigated. Driving voltage signals are applied to the IPMC in order to identify the IPMC characteristics. Secondly, the advanced NBBM for the IPMC is built with suitable inputs and output to estimate the IPMC tip displacement. Finally, the model parameters are optimized by the collected input/output training data. Modeling results show that the proposed self-sensing methodology based on the optimized NBBM model can well describe the bending behavior of the IPMC actuator corresponding to its applied power without using any measuring sensor.
NASA Technical Reports Server (NTRS)
Powell, W. W., Sr.
1979-01-01
Two theories emerged as the cause of undesired oscillations at frequencies between 40 and 60 Hz in the Orbiter Vehicle inboard and outboard elevon actuation subsystems during hardware testing. Both the "hardover feedback" and "deadspace" theories were examined using continuous system modeling program simulation. Results did not support the "hardover feedback" theory but showed that deadspace in the torque feedback spring connections to the servospools must be considered to be a possible cause of the oscillations. Further investigation is recommended.
NASA Astrophysics Data System (ADS)
Datta, Supratik
2009-12-01
Iron-gallium alloys (Galfenol) are structural magnetostrictive materials that exhibit high free-strain at low magnetic fields, high stress-sensitivity and useful thermo-mechanical properties. Galfenol, like smart materials in general, is attractive for use as a dynamic actuator and/or sensor material and can hence find use in active shape and vibration control, real-time structural health monitoring and energy harvesting applications. Galfenol possesses significantly higher yield strength and greater ductility than most smart materials, which are generally limited to use under compressive loads. The unique structural attributes of Galfenol introduce opportunities for use of a smart material in applications that involve tension, bending, shear or torsion. A principal motivation for the research presented in this dissertation is that bending and shear loads lead to development of non-uniform stress and magnetic fields in Galfenol which introduce significantly more complexity to the considerations to be modeled, compared to modeling of purely axial loads. This dissertation investigates the magnetostrictive response of Galfenol under different stress and magnetic field conditions which is essential for understanding and modeling Galfenol's behavior under bending, shear or torsion. Experimental data are used to calculate actuator and sensor figures of merit which can aid in design of adaptive structures. The research focuses on the bending behavior of Galfenol alloys as well as of laminated composites having Galfenol attached to other structural materials. A four-point bending test under magnetic field is designed, built and conducted on a Galfenol beam to understand its performance as a bending sensor. An extensive experimental study is conducted on Galfenol-Aluminum laminated composites to evaluate the effect of magnetic field, bending moment and Galfenol-Aluminum thickness ratio on actuation and sensing performance. A generalized recursive algorithm is presented for
NASA Technical Reports Server (NTRS)
Waszak, Martin R.; Fung, Jimmy
1998-01-01
This report describes the development of transfer function models for the trailing-edge and upper and lower spoiler actuators of the Benchmark Active Control Technology (BACT) wind tunnel model for application to control system analysis and design. A simple nonlinear least-squares parameter estimation approach is applied to determine transfer function parameters from frequency response data. Unconstrained quasi-Newton minimization of weighted frequency response error was employed to estimate the transfer function parameters. An analysis of the behavior of the actuators over time to assess the effects of wear and aerodynamic load by using the transfer function models is also presented. The frequency responses indicate consistent actuator behavior throughout the wind tunnel test and only slight degradation in effectiveness due to aerodynamic hinge loading. The resulting actuator models have been used in design, analysis, and simulation of controllers for the BACT to successfully suppress flutter over a wide range of conditions.
The LDCM actuator for vibration suppression
NASA Technical Reports Server (NTRS)
Ide, Eric N.; Lindner, Douglas K.
1988-01-01
A linear dc motor (LDCM) has been proposed as an actuator for the COFS I mast and the COFS program ground test Mini-Mast. The basic principles of operation of the LDCM as an actuator for vibration suppression in large flexible structures are reviewed. Because of force and stroke limitations, control loops are required to stabilize the actuator, which results in a non-standard actuator-plant configuration. A simulation model that includes LDCM actuator control loops and a finite element model of the Mast is described, with simulation results showing the excitation capability of the actuator.
NASA Astrophysics Data System (ADS)
Zhu, Wei; Bian, Leixiang; An, Yi; Chen, Gangli; Rui, Xiaoting
2015-07-01
This paper outlines an optical beam steering system built using a two-axis fast steering mirror (FSM) with piezoelectric stack actuators to maintain precise pointing control. A novel mathematical model of the FSM is put forward by using a transfer matrix method of a multibody system to describe the dynamics characteristics and a hysteresis model to represent the hysteresis. Based on the proposed model, a model-based hybrid control is applied to force the output angle of the FSM to track the laser beam accurately thereafter. The experimental results are in accordance with the theoretical analysis. The results highlight significantly improved accuracy in the beam tracking control of the FSM.
Model to Design Drip Hose Lateral Line
NASA Astrophysics Data System (ADS)
Ludwig, Rafael; Cury Saad, João Carlos
2014-05-01
Introduction The design criterion for non-pressure compensating drip hose is normally to have 10% of flow variation (Δq) in the lateral line, corresponding to 20% of head pressure variation (ΔH). Longer lateral lines in drip irrigation systems using conventional drippers provide cost reduction, but it is necessary to obtain to the uniformity of irrigation [1]. The use of Δq higher levels can provide longer lateral lines. [4] proposes the use of a 30% Δq and he found that this value resulted in distribution uniformity over 80%. [1] considered it is possible to extend the lateral line length using two emitters spacing in different section. He assumed that the spacing changing point would be at 40% of the total length, because this is approximately the location of the average flow according with [2]. [3] found that, for practical purposes, the average pressure is located at 40% of the length of the lateral line and that until this point it has already consumed 75% of total pressure head loss (hf ). In this case, the challenge for designers is getting longer lateral lines with high values of uniformity. Objective The objective of this study was to develop a model to design longer lateral lines using non-pressure compensating drip hose. Using the developed model, the hypotheses to be evaluated were: a) the use of two different spacing between emitters in the same lateral line allows longer length; b) it is possible to get longer lateral lines using high values of pressure variation in the lateral lines since the distribution uniformity stays below allowable limits. Methodology A computer program was developed in Delphi® based on the model developed and it is able to design lateral lines in level using non-pressure compensating drip hose. The input data are: desired distribution uniformity (DU); initial and final pressure in the lateral line; coefficients of relationship between emitter discharge and pressure head; hose internal diameter; pipe cross-sectional area
NASA Astrophysics Data System (ADS)
Gan, Jinqiang; Zhang, Xianmin; Wu, Heng
2016-03-01
In this paper, a generalized hysteresis model is developed to describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. Based on the classical Prandtl-Ishlinskii (P-I) model, the developed model adds a quadratic polynomial and makes other small changes. When it is used to describe rate-independent hysteresis, the parameters of the model are constants, which can be identified by self-adaptive particle swarm optimization. The effectiveness of this rate-independent modified P-I model is demonstrated by comparing simulation results of the developed model and the classic Prandtl-Ishlinskii model. Simulation results suggest that the rate-independent modified P-I model can describe hysteresis more precisely. Compared with the classical P-I model, the rate-independent modified P-I model reduces modeling error by more than 50%. When it is used to describe rate-independent hysteresis, a one-side operator is adopted and the parameters are functions with input frequency. The results of the experiments and simulations have shown that the proposed models can accurately describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators.
Gan, Jinqiang; Zhang, Xianmin; Wu, Heng
2016-03-01
In this paper, a generalized hysteresis model is developed to describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. Based on the classical Prandtl-Ishlinskii (P-I) model, the developed model adds a quadratic polynomial and makes other small changes. When it is used to describe rate-independent hysteresis, the parameters of the model are constants, which can be identified by self-adaptive particle swarm optimization. The effectiveness of this rate-independent modified P-I model is demonstrated by comparing simulation results of the developed model and the classic Prandtl-Ishlinskii model. Simulation results suggest that the rate-independent modified P-I model can describe hysteresis more precisely. Compared with the classical P-I model, the rate-independent modified P-I model reduces modeling error by more than 50%. When it is used to describe rate-independent hysteresis, a one-side operator is adopted and the parameters are functions with input frequency. The results of the experiments and simulations have shown that the proposed models can accurately describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. PMID:27036808
Modelling the effect of actuator-like behavior in dielectric elastomer generators
NASA Astrophysics Data System (ADS)
Zanini, P.; Rossiter, J.; Homer, M.
2015-10-01
Dielectric Elastomer Generators (DEGs) have been claimed as one promising technology for renewable mechanical to electrical energy harvesting, due to their lightweight, low cost, and high energy density. Dielectric elastomers have a dual behavior, able to convert electrical energy into mechanical if charged electrostatically and to convert mechanical to electrical energy if stretched and relaxed in a cycle that exploits its capacitance change. During such energy harvesting cycles, the material needs an electrical energy bias to be able to convert mechanical work into electrical energy, which produces an actuator behavior on the DEG that results in losses and decreases its performance. In this paper, we investigate this actuation behavior and its effect on energy harvesting in the DEGs. We compare two different charging methods and show that a constant voltage method can increase the net energy harvested by 5 times, despite the unwanted actuation effect.
Electrostatic actuators for portable microfluidic systems
NASA Astrophysics Data System (ADS)
Tice, Joshua
Both developed and developing nations have an urgent need to diagnose disease cheaply, reliably, and independently of centralized facilities. Microfulidic platforms are well-positioned to address the need for portable diagnostics, mainly due to their obvious advantage in size. However, most microfluidic methods rely on equipment outside of the chip either for driving fluid flow (e.g., syringe pumps) or for taking measurements (e.g., lasers or microscopes). The energy and space requirements of the whole system inhibit portability and contribute to costs. To capitalize on the strengths of microfluidic platforms and address the serious needs of society, system components need to be miniaturized. Also, miniaturization should be accomplished as simply as possible, considering that simplicity is usually requisite for achieving truly transformative technology. Herein, I attempt to address the issue of controlling fluid flow in portable microfluidic systems. I focus on systems that are driven by elastomer-based membrane valves, since these valves are inherently simple, yet they are capable of sophisticated fluid manipulation. Others have attempted to modify pneumatic microvalves for portable applications, e.g., by transitioning to electromagnetic, thermopneumatic, or piezoelectric actuation principles. However, none of these strategies maintain the proper balance of simplicity, functionality, and ease of integration. My research centers on electrostatic actuators, due to their conceptual simplicity and the efficacy of electrostatic forces on the microscale. To ensure easy integration with polymer-based systems, and to maintain simplicity in the fabrication procedure, the actuators were constructed solely from poly(dimethylsiloxane) and multi-walled carbon nanotubes. In addition, the actuators were fabricated exclusively with soft-lithographic techniques. A mathematical model was developed to identify actuator parameters compatible with soft-lithography, and also to
NASA Astrophysics Data System (ADS)
Song, Yan; Fang, Xiaosheng; Diao, Qingda
2016-03-01
In this paper, we discuss the mixed H2/H∞ distributed robust model predictive control problem for polytopic uncertain systems subject to randomly occurring actuator saturation and packet loss. The global system is decomposed into several subsystems, and all the subsystems are connected by a fixed topology network, which is the definition for the packet loss among the subsystems. To better use the successfully transmitted information via Internet, both the phenomena of actuator saturation and packet loss resulting from the limitation of the communication bandwidth are taken into consideration. A novel distributed controller model is established to account for the actuator saturation and packet loss in a unified representation by using two sets of Bernoulli distributed white sequences with known conditional probabilities. With the nonlinear feedback control law represented by the convex hull of a group of linear feedback laws, the distributed controllers for subsystems are obtained by solving an linear matrix inequality (LMI) optimisation problem. Finally, numerical studies demonstrate the effectiveness of the proposed techniques.
NASA Astrophysics Data System (ADS)
Quang Truong, Dinh; Ahn, Kyoung Kwan
2014-07-01
An ion polymer metal composite (IPMC) is an electroactive polymer that bends in response to a small applied electric field as a result of mobility of cations in the polymer network and vice versa. This paper presents an innovative and accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC actuators. The model is constructed via a general multilayer perceptron neural network (GMLPNN) integrated with a smart learning mechanism (SLM) that is based on an extended Kalman filter with self-decoupling ability (SDEKF). Here the GMLPNN is built with an ability to autoadjust its structure based on its characteristic vector. Furthermore, by using the SLM based on the SDEKF, the GMLPNN parameters are optimized with small computational effort, and the modeling accuracy is improved. An apparatus employing an IPMC actuator is first set up to investigate the IPMC characteristics and to generate the data for training and validating the model. The advanced NBBM model for the IPMC system is then created with the proper inputs to estimate IPMC tip displacement. Next, the model is optimized using the SLM mechanism with the training data. Finally, the optimized NBBM model is verified with the validating data. A comparison between this model and the previously developed model is also carried out to prove the effectiveness of the proposed modeling technique.
Miniature linear-to-rotary motion actuator
NASA Technical Reports Server (NTRS)
Sorokach, Michael R., Jr.
1993-01-01
A miniature hydraulic actuation system capable of converting linear actuator motion to control surface rotary motion has been designed for application to active controls on dynamic wind tunnel models. Due to space constraints and the torque requirements of an oscillating control surface at frequencies up to 50 Hertz, a new actuation system was developed to meet research objectives. This new actuation system was designed and developed to overcome the output torque limitations and fluid loss/sealing difficulties associated with an existing vane type actuator. Static control surface deflections and dynamic control surface oscillations through a given angle are provided by the actuation system. The actuator design has been incorporated into a transonic flutter model with an active trailing edge flap and two active spoilers. The model is scheduled for testing in the LaRC 16 Foot Transonic Dynamics Tunnel during Summer 1993. This paper will discuss the actuation system, its design, development difficulties, test results, and application to aerospace vehicles.
NASA Technical Reports Server (NTRS)
Tilton, Charles (Inventor); Weiler, Jeff (Inventor); Palmer, Randall (Inventor); Appel, Philip (Inventor)
2008-01-01
An actuated atomizer is adapted for spray cooling or other applications wherein a well-developed, homogeneous and generally conical spray mist is required. The actuated atomizer includes an outer shell formed by an inner ring; an outer ring; an actuator insert and a cap. A nozzle framework is positioned within the actuator insert. A base of the nozzle framework defines swirl inlets, a swirl chamber and a swirl chamber. A nozzle insert defines a center inlet and feed ports. A spool is positioned within the coil housing, and carries the coil windings having a number of turns calculated to result in a magnetic field of sufficient strength to overcome the bias of the spring. A plunger moves in response to the magnetic field of the windings. A stop prevents the pintle from being withdrawn excessively. A pintle, positioned by the plunger, moves between first and second positions. In the first position, the head of the pintle blocks the discharge passage of the nozzle framework, thereby preventing the atomizer from discharging fluid. In the second position, the pintle is withdrawn from the swirl chamber, allowing the atomizer to release atomized fluid. A spring biases the pintle to block the discharge passage. The strength of the spring is overcome, however, by the magnetic field created by the windings positioned on the spool, which withdraws the plunger into the spool and further compresses the spring.
NASA Astrophysics Data System (ADS)
Wu, Yongxian
IPMCs can also be tailored through the applied DC or AC functions. It is found that the Nafion-based IPMC's initial motion towards the anode can be controlled and ultimately eliminated by applying a potential ramp at a suitably slow rate. These results have significant bearing on verifying various IPMC actuation models.
Development of a Higher Order Laminate Theory for Modeling Composites with Induced Strain Actuators
NASA Technical Reports Server (NTRS)
Chattopadhyay, Aditi; Seeley, Charles E.
1996-01-01
A refined higher order plate theory is developed to investigate the actuation mechanism of piezoelectric materials surface bonded or embedded in composite laminates. The current analysis uses a displacement field which accurately accounts for transverse shear stresses. Some higher order terms are identified by using the conditions that shear stresses vanish at all free surfaces. Therefore, all boundary conditions for displacements and stresses are satisfied in the present theory. The analysis is implemented using the finite element method which provides a convenient means to construct a numerical solution due to the discrete nature of the actuators. The higher order theory is computationally less expensive than a full three dimensional analysis. The theory is also shown to agree well with published experimental results. Numerical examples are presented for composite plates with thicknesses ranging from thin to very thick.
Boron-10 Lined Proportional Counter Model Validation
Lintereur, Azaree T.; Siciliano, Edward R.; Kouzes, Richard T.
2012-06-30
The Department of Energy Office of Nuclear Safeguards (NA-241) is supporting the project “Coincidence Counting With Boron-Based Alternative Neutron Detection Technology” at Pacific Northwest National Laboratory (PNNL) for the development of an alternative neutron coincidence counter. The goal of this project is to design, build and demonstrate a boron-lined proportional tube-based alternative system in the configuration of a coincidence counter. This report discusses the validation studies performed to establish the degree of accuracy of the computer modeling methods current used to simulate the response of boron-lined tubes. This is the precursor to developing models for the uranium neutron coincidence collar under Task 2 of this project.
Distributed structural control using multilayered piezoelectric actuators
NASA Technical Reports Server (NTRS)
Cudney, Harley H.; Inman, Daniel J.; Oshman, Yaakov
1990-01-01
A method of segmenting piezoelectric sensors and actuators is proposed which can preclude the currently experienced cancelation of sensor signals, or the reduction of actuator effectiveness, due to the integration of the property undergoing measurement or control. The segmentation method is demonstrated by a model developed for beam structures, to which multiple layers of piezoelectric materials are attached. A numerical study is undertaken of increasing active and passive damping of a beam using the segmented sensors and actuators over unsegmented sensors and actuators.
Bills, K.C.; Kress, R.L.; Kwon, D.S.; Baker, C.P.
1994-12-31
This paper describes ORNL`s development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratory`s Flexible Beam Test Bed (PNL FBTB), which is a 1-Degree-of-Freedom, flexible arm with a hydraulic base actuator. ORNL transferred control algorithms developed for the PNL FBTB to controlling IGRIP models. A robust notch filter is running in IGRIP controlling a full dynamics model of the PNL test bed. Model results provide a reasonable match to the experimental results (quantitative results are being determined) and can run on ORNL`s Onyx machine in approximately realtime. The flexible beam is modeled as six rigid sections with torsional springs between each segment. The spring constants were adjusted to match the physical response of the flexible beam model to the experimental results. The controller is able to improve performance on the model similar to the improvement seen on the experimental system. Some differences are apparent, most notably because the IGRIP model presently uses a different trajectory planner than the one used by ORNL on the PNL test bed. In the future, the trajectory planner will be modified so that the experiments and models are the same. The successful completion of this work provides the ability to link C code with IGRIP, thus allowing controllers to be developed, tested, and tuned in simulation and then ported directly to hardware systems using the C language.
NASA Technical Reports Server (NTRS)
Brudnicki, Myron (Inventor)
1995-01-01
Rotary actuators and other mechanical devices incorporating shape memory alloys are provided herein. Shape memory alloys are a group of metals which when deformed at temperatures below their martensite temperatures, resume the shapes which they had prior to the deformation if they are heated to temperatures above their austensite temperatures. Actuators in which shape memory alloys are employed include bias spring types, in which springs deform the shape memory alloy (SMA), and differential actuators, which use two SMA members mechanically connected in series. Another type uses concentric cylindrical members. One member is in the form of a sleeve surrounding a cylinder, both being constructed of shape memory alloys. Herein two capstans are mounted on a shaft which is supported in a framework. Each capstan is capable of rotating the shaft. Shape memory wire, as two separate lengths of wire, is wrapped around each capstan to form a winding around that capstan. The winding on one capstan is so wrapped that the wire is in a prestretched state. The winding on the other capstan is so wrapped that the wire is in a taut, but not a prestretched, state. Heating one performs work in one direction, thus deforming the other one. When the other SMA is heated the action is reversed.
NASA Technical Reports Server (NTRS)
Kumar, Parikshith K.; Desai, Uri; Chatzigeorgiou, George; Lagoudas, Dimitris C.; Monroe, James; Karaman, Ibrahim; Noebe, Ron; Bigelow, Glen
2010-01-01
The present work is focused on studying the cycling actuation behavior of HTSMAs undergoing simultaneous creep and transformation. For the thermomechanical testing, a high temperature test setup was assembled on a MTS frame with the capability to test up to temperatures of 600 C. Constant stress thermal cycling tests were conducted to establish the actuation characteristics and the phase diagram for the chosen HTSMA. Additionally, creep tests were conducted at constant stress levels at different test temperatures to characterize the creep behavior of the alloy over the operational range. A thermodynamic constitutive model is developed and extended to take into account a) the effect of multiple thermal cycling on the generation of plastic strains due to transformation (TRIP strains) and b) both primary and secondary creep effects. The model calibration is based on the test results. The creep tests and the uniaxial tests are used to identify the viscoplastic behavior of the material. The parameters for the SMA properties, regarding the transformation and transformation induced plastic strain evolutions, are obtained from the material phase diagram and the thermomechanical tests. The model is validated by predicting the material behavior at different thermomechanical test conditions.
NASA Astrophysics Data System (ADS)
Lavaroni, Luca; Watson, Simon J.; Cook, Malcolm J.; Dubal, Mark R.
2014-06-01
In this paper computational fluid dynamics (CFD) simulations are performed using ANSYS CFX to compare wake interaction results obtained from two rotor modelling methodologies: the standard actuator disc and the blade element momentum model (BEM). The unsteady simulations embed Coriolis forces and neutral stability conditions in the surface layer and stable conditions in the free stream. The BEM method is implemented in the CFD code through a pre-processing set of files that employs look-up tables. The control system for the wind turbines is considered through look-up tables that are constructed based on operational wind farm data. Simulations using the actuator disc and BEM methodologies have been performed using a number of different turbulence models in order to compare the wind turbine wake structure results. The use of URANS and LES numerical methods, coupled with the two different methodologies of representing the turbine, enables an assessment to be made of the details required for varying degrees of accuracy in computing the wake structures. The findings stress the importance of including the rotation of the wake and the non-uniform load on the rotor in LES simulations to account for more accurate turbulence intensity levels in the near wake.
NASA Astrophysics Data System (ADS)
Howland, Michael; Bossuyt, Juliaan; Meyers, Johan; Meneveau, Charles
2015-11-01
Recently, there has been a push towards the optimization in the power output of entire large wind farms through the control of individual turbines, as opposed to operating each turbine in a maximum power point tracking manner. In this vane, the wake deflection by wind turbines in yawed conditions has generated considerable interest in recent years. In order to effectively study the wake deflection according to classical actuator disk momentum theory, a 3D printed drag disk model with a coefficient of thrust of approximately 0.75 - 0.85 and a diameter of 3 cm is used, studied under uniform inflow in a wind tunnel with test section of 1 m by 1.3 m, operating with a negligible inlet turbulence level at an inflow velocity of 10 m/s. Mean velocity profile measurements are performed using Pitot probes. Different yaw angles are considered, including 10, 20, and 30 degrees. We confirm earlier results that (e.g.) a 30 degree yaw angle deflects the center of the wake around 1/2 of a rotor diameter when it impinges on a downstream turbine. Detailed comparisons between the experiments and Large Eddy Simulations using actuator disk model for the wind turbines are carried out in order to help validate the CFD model. Work supported by NSF (grants CBET-113380 and IIA-1243482, the WINDINSPIRE project) and by ERC (ActiveWindFarms, grant no. 306471).
Actuator-valve interface optimization
Burchett, O.L.; Jones, R.L.
1986-01-01
A computer code, Actuator Valve Response (AVR), has been developed to optimize the explosive actuator-valve interface parameters so that the valve plunger velocity is at a maximum when the plunger reaches the valve tubes. The code considers three forces to act on the valve plunger before the plunger reaches the valve tubes. These are the pressure force produced by the actuator, the shear force necessary to shear the seal disks on the actuator and the valve plunger, and the friction force caused by friction between the plunger and the plunger bore. The three forces are modeled by expressions that are explicitly functions of the plunger displacement. A particular actuator-valve combination was analyzed with the computer code AVR with four different combinations of valve plunger seal disk shear strength and initial friction force. (LEW)
Semi-empirical magnetostrictive delay line modelling
NASA Astrophysics Data System (ADS)
Kollár, Mojmír; Hristoforou, Evangelos
In this paper, analogous approach as commonly used at the electric lines was adopted to model the magneostrictive delay line (MDL) operating on amorphous ribbons and wires like that of composition Fe 78Si 7B 15. Particularly, the damping and deterioration of the propagating magnetostrictive wave along the sample and their relation to the intrinsic material properties were of primary interest. Two damping factors taken into the consideration lead to a second-order differential equation of motion that could be solved analytically for instance of a rectangular-pulse excitation. The Laplace transform and convolution, in most of cases as a discrete procedure, has to be utilized in all other cases. Theoretical assessment confronted with some experimental results is showing a fairly good agreement.
Design of torque actuator based on ferromagnetic shape memory alloy composite
NASA Astrophysics Data System (ADS)
Cheng, Victor J.; Taya, Minoru; Lee, Jae Kon; Kusaka, Masahiro; Wada, Taishi
2004-07-01
Experimental tests were conducted on a torque actuator based on ferromagnetic shape memory alloy composite and performance data obtained. Based on experimental results of the initial design, several design changes were made to the actuator that resulted in improved torque capability and maximum angle of twist compared to the original design. A full 3-D finite element method model was undertaken to optimize magnetic flux lines generated by the hybrid magnet.
Modular droplet actuator drive
NASA Technical Reports Server (NTRS)
Pollack, Michael G. (Inventor); Paik, Philip (Inventor)
2011-01-01
A droplet actuator drive including a detection apparatus for sensing a property of a droplet on a droplet actuator; circuitry for controlling the detection apparatus electronically coupled to the detection apparatus; a droplet actuator cartridge connector arranged so that when a droplet actuator cartridge electronically is coupled thereto: the droplet actuator cartridge is aligned with the detection apparatus; and the detection apparatus can sense the property of the droplet on a droplet actuator; circuitry for controlling a droplet actuator coupled to the droplet actuator connector; and the droplet actuator circuitry may be coupled to a processor.
Modeling and analysis of the thermal effects of a circular bimorph piezoelectric actuator.
Wang, Hairen; Yang, Shengfeng
2016-02-01
A theoretical analysis of the thermal effects of a circular bimorph piezoelectric actuator (CBPA) was performed. The circular bimorph structure consists of two flexible piezoelectric ceramic layers and one metallic layer in the middle, and is powered to produce flexural deformation. The CBPA, which may be a good match for large adaptive optics telescopes, has a large stroke and a high resonance frequency. We have derived analytical solutions (both the static solution and the dynamic solution) of the thermal effects of introducing (and increasing the thickness of) a metallic layer into the bimorph. Numerical results are presented to illustrate the dependence of the CBPA's performance upon the physical parameters. PMID:26836094
Linear stability analysis for an optimum Glauert rotor modelled by an actuator disc
NASA Astrophysics Data System (ADS)
Smith, D. M.; Blackburn, H. M.; Sheridan, J.
2014-06-01
We approximate a wind turbine using the Actuator Disc methodology with loading for an optimum Glauert rotor, and vary blade length and tip speed ratio, to determine base flows for linear stability computations at a Reynolds number of 100. Results from such computations suggest that the least stable mode is axisymmetric and insensitive to changes in tip speed operation, suggesting that the stability properties in the farfield wake for an optimised rotor are independent of the chosen tip speed optimization point. Higher azimuthal modes promote greater variation in velocities and may be relevant to cases at higher Reynolds numbers.
Modeling Transmission Line Networks Using Quantum Graphs
NASA Astrophysics Data System (ADS)
Koch, Trystan; Antonsen, Thomas
Quantum graphs--one dimensional edges, connecting nodes, that support propagating Schrödinger wavefunctions--have been studied extensively as tractable models of wave chaotic behavior (Smilansky and Gnutzmann 2006, Berkolaiko and Kuchment 2013). Here we consider the electrical analog, in which the graph represents an electrical network where the edges are transmission lines (Hul et. al. 2004) and the nodes contain either discrete circuit elements or intricate circuit elements best represented by arbitrary scattering matrices. Including these extra degrees of freedom at the nodes leads to phenomena that do not arise in simpler graph models. We investigate the properties of eigenfrequencies and eigenfunctions on these graphs, and relate these to the statistical description of voltages on the transmission lines when driving the network externally. The study of electromagnetic compatibility, the effect of external radiation on complicated systems with numerous interconnected cables, motivates our research into this extension of the graph model. Work supported by the Office of Naval Research (N0014130474) and the Air Force Office of Scientific Research.
Line emission from H II blister models
NASA Technical Reports Server (NTRS)
Rubin, R. H.
1984-01-01
Numerical techniques to calculate the thermal and geometric properties of line emission from H II 'blister' regions are presented. It is assumed that the density distributions of the H II regions are a function of two dimensions, with rotational symmetry specifying the shape in three-dimensions. The thermal and ionization equilibrium equations of the problem are solved by spherical modeling, and a spherical sector approximation is used to simplify the three-dimensional treatment of diffuse ionizing radiation. The global properties of H II 'blister' regions near the edges of a molecular cloud are simulated by means of the geometry/density distribution, and the results are compared with observational data. It is shown that there is a monotonic increase of peak surface brightness from the i = 0 deg (pole-on) observational position to the i = 90 deg (edge-on) position. The enhancement of the line peak intensity from the edge-on to the pole-on positions is found to depend on the density, stratification, ionization, and electron temperature weighting. It is found that as i increases, the position of peak line brightness of the lower excitation species is displaced to the high-density side of the high excitation species.
Electromechanical characteristic analysis of a dielectric electroactive polymer (DEAP) actuator
NASA Astrophysics Data System (ADS)
Zhu, Yinlong; Zhou, Hongpin; Wang, Huaming
2015-10-01
To assist in the design and optimization of dielectric electroactive polymer (DEAP) actuators, an analytical model for the electromechanical response of cone DEAP actuators is developed. Using the Yeoh form strain energy potential and the Maxwell stress tensor, the constitutive relationship of the DEAP that accounts for the electromechanical coupling behavior is deduced. The equilibrium equations of DEAP actuators with a cone configuration are derived and an analytical model is then proposed. With this model, the actuation characteristics of the DEAP actuator, including actuation displacement, force output and efficiency can be calculated. Additionally, the principal stresses and principal stretch ratio of the membrane under different actuation voltages can be determined, along with the wrinkling failure mode of DEAP actuators. The experimental results for the DEAP actuator matched the numerical results determined using the proposed model. As such, the proposed work is beneficial as a guide for the design optimization of DEAP actuators.
NASA Technical Reports Server (NTRS)
Nelson, D. P.
1983-01-01
Wind tunnel model tests were conducted to demonstrate the aerodynamic performance improvements of a refined actuated inlet ejector nozzle. Models of approximately one-tenth scale were configured to simulate nozzle operation at takeoff, subsonic cruise, transonic cruise and supersonic cruise. Variations of model components provided a performance evaluation of ejector inlet and exit area, forebody boattail angle and ejector inlet operation in the open and closed mode. Approximately 700 data points were acquired at Mach numbers of 0, 0.36, 0.9, 1.2, and 2.0 for a wide range of nozzle flow conditions. Results show that relative to two ejector nozzles previously tested performance was improved significantly at takeoff and subsonic cruise performance, a C sub f of 0.982, was attained equal to the high performance of the previous tests. The established advanced supersonic transport propulsion study performance goals were met or closely approached at takeoff and supersonic cruise.
NASA Astrophysics Data System (ADS)
Cotroneo, Vincenzo; Davis, William N.; Reid, Paul B.; Schwartz, Daniel A.; Trolier-McKinstry, Susan; Wilke, Rudeger H. T.
2011-09-01
The present generation of X-ray telescopes emphasizes either high image quality (e.g. Chandra with sub-arc second resolution) or large effective area (e.g. XMM-Newton), while future observatories under consideration (e.g. Athena, AXSIO) aim to greatly enhance the effective area, while maintaining moderate (~10 arc-seconds) image quality. To go beyond the limits of present and planned missions, the use of thin adjustable optics for the control of low-order figure error is needed to obtain the high image quality of precisely figured mirrors along with the large effective area of thin mirrors. The adjustable mirror prototypes under study at Smithsonian Astrophysical Observatory are based on two different principles and designs: 1) thin film lead-zirconate-titanate (PZT) piezoelectric actuators directly deposited on the mirror back surface, with the strain direction parallel to the glass surface (for sub-arc-second angular resolution and large effective area), and 2) conventional leadmagnesium- niobate (PMN) electrostrictive actuators with their strain direction perpendicular to the mirror surface (for 3-5 arc second resolution and moderate effective area). We have built and operated flat test mirrors of these adjustable optics. We present the comparison between theoretical influence functions as obtained by finite element analysis and the measured influence functions obtained from the two test configurations.
Modeling of magnetostriction in amorphous delay lines
NASA Astrophysics Data System (ADS)
Hristoforou, E.; Hauser, H.; Ktena, A.
2003-05-01
A macroscopic model of the response of magnetostrictive delay lines (MDLs) under pulsed current excitation Ie is presented. The basic principles of the MDL operation are outlined and the relevant considerations of the control parameters are discussed. It is shown that the peak value of the voltage response is proportional to the derivative of the magnetostriction λ versus field H. The analytic expression derived for dλ/dH involves two identification parameters, c and A0. Parameter c has field dimensions and is a function of material parameters as described by the energetic model (EM) and proportional to the effective anisotropy field as predicted by EM, and A0 is a normalization constant, related to Ic and saturation magnetostriction λs. Preliminary results are presented comparing theoretical curves with experimental data on a Fe78Si7B15 amorphous ribbon sample with sufficient agreement.
NASA Astrophysics Data System (ADS)
Mangina, R. S.; Enloe, C. L.; Font, G. I.
2015-11-01
We present an experimental case study of time-resolved force production by an aerodynamic plasma actuator immersed in various mixtures of electropositive (N2) and electronegative gases (O2 and SF6) at atmospheric pressure using a fixed AC high-voltage input of 16 kV peak amplitude at 200 Hz frequency. We have observed distinct changes in the discharge structures during both negative- and positive-going voltage half-cycles, with corresponding variations in the actuator's force production: a ratio of 4:1 in the impulse produced by the negative-going half-cycle of the discharge among the various gas mixtures we explored, 2:1 in the impulse produced by the positive-going half-cycle, and cases in which the negative-going half-cycle dominates force production (by a ratio of 1.5:1), where the half-cycles produce identical force levels, and where the positive-going half cycle dominates (by a ratio of 1:5). We also present time-resolved experimental evidence for the first time that shows electrons do play a significant role in the momentum coupling to surrounding neutrals during the negative going voltage half-cycle of the N2 discharge. We show that there is sufficient macroscopic variation in the plasma that the predictions of numerical models at the microscopic level can be validated even though the plasma itself cannot be measured directly on those spatial and temporal scales.
Comparing different CFD wind turbine modelling approaches with wind tunnel measurements
NASA Astrophysics Data System (ADS)
Kalvig, Siri; Manger, Eirik; Hjertager, Bjørn
2014-12-01
The performance of a model wind turbine is simulated with three different CFD methods: actuator disk, actuator line and a fully resolved rotor. The simulations are compared with each other and with measurements from a wind tunnel experiment. The actuator disk is the least accurate and most cost-efficient, and the fully resolved rotor is the most accurate and least cost-efficient. The actuator line method is believed to lie in between the two ends of the scale. The fully resolved rotor produces superior wake velocity results compared to the actuator models. On average it also produces better results for the force predictions, although the actuator line method had a slightly better match for the design tip speed. The open source CFD tool box, OpenFOAM, was used for the actuator disk and actuator line calculations, whereas the market leading commercial CFD code, ANSYS/FLUENT, was used for the fully resolved rotor approach.
NASA Technical Reports Server (NTRS)
Ruoff, C. F. (Inventor)
1985-01-01
A mechanical actuator can be constructed by employing a plurality of memory metal actuator elements in parallel to control the amount of actuating force. In order to facilitate direct control by digital control signals provided by a computer or the like, the actuating elements may vary in stiffness according to a binary relationship. The cooling or reset time of the actuator elements can be reduced by employing Peltier junction cooling assemblies in the actuator.