Motion stabilization in the presence of friction and backlash: a hybrid system approach

In this paper a hybrid system approach is considered to deal with backlash and friction induced nonlinearities in mechanical control systems. To describe the low velocity frictional behaviour a linearized friction model is proposed. The novelty of this study is that based on the introduced friction model, the stability theorems developed for hybrid systems can directly be applied for controller design of mechanical systems in the presence of Stribeck friction and backlash. During the controller design it is assumed that the size of the backlash gap is unknown and the load side position and velocity cannot be measured. For motion control an LQ controller is applied. A condition is formulated for the control law parameters to guarantee the asymptotic stability of the control system. Simulation measurements were performed to confirm the theoretical results

Redundant actuator development program

Two concepts of redundant secondary actuator mechanization, applicable to future advanced flight control systems, were studied to quantitatively assess their design applicability to an AST. The two actuator concepts, a four-channel, force summed system and a three-channel, active/standby system have been developed and evaluated through analysis, analog computer simulation, and piloted motion simulation. The quantitative comparison of the two concepts indicates that the force summed concept better meet performance requirements, although the active/standby is superior in other respects. Both concepts are viable candidates for advanced control application dependent on the specific performance requirements

A new method for analysis of limit cycle behavior of the NASA/JPL 70-meter antenna axis servos

A piecewise linear method of analyzing the effects of discontinuous nonlinearities on control system performance is described. The limit cycle oscillatory behavior of the system resulting from the nonlinearities is described in terms of a sequence of linear system transient responses. The equations are derived which relate the initial and the terminal conditions of successive transients and the boundary conditions imposed by the non-linearities. The method leads to a convenient computation algorithm for prediction of limit cycle characteristics resulting from discontinuous nonlinearities such as friction, deadzones, and hysteresis

Flight control systems properties and problems, volume 1

This volume contains a delineation of fundamental and mechanization-specific flight control characteristics and problems gleaned from many sources and spanning a period of over two decades. It is organized to present and discuss first some fundamental, generic problems of closed-loop flight control systems involving numerator characteristics (quadratic dipoles, non-minimum phase roots, and intentionally introduced zeros). Next the principal elements of the largely mechanical primary flight control system are reviewed with particular emphasis on the influence of nonlinearities. The characteristics and problems of augmentation (damping, stability, and feel) system mechanizations are then dealt with. The particular idiosyncracies of automatic control actuation and command augmentation schemes are stressed, because they constitute the major interfaces with the primary flight control system and an often highly variable vehicle response

Tribological And Dynamical Study Of An Automotive Transmission System

The transmission system is critical for automotive and heavy duty equipment due to its prominent role in the powertrain system, which is often challenged with degraded torque capacity and harsh dynamic response. Simulation-guided design can provide appropriate guidelines to resolve these problems with virtual analyses. In current study, the tribological and dynamical study of an automatic transmission is performed at two levels: a wet clutch and powertrain. In this dissertation, tribological study is performed for a wet clutch based on the thermohydrodynamic (THD) analysis that takes the following factors into account. • The groove effect (depth, area, and pattern) is investigated for lubrication analysis; • The elastic-plastic asperity contact model is used to predict the contact pressure; • The heat transfer during the entire cycle of engagement from slip to lock to detachment is covered; • The engagement time and the temperature profile are predicted for torque and thermal analysis. With large engagement cycles, the friction lining of a wet clutch is worn off due to the material degradation at high load/temperature condition. By relating the wear behavior with the mechanism of thermal degradation and thermomechanical degradation, a physics-based wear model is proposed for the first time to analyze the wear process in a wet clutch. The predicted wear rate falls within nearly 95% confidence interval of the test results. Discrepancies of simulation are primarily due to limited availability of input data and model assumptions. Therefore, an uncertainty quantification analysis of the wear model is performed using the Monte Carlo simulations. In addition, a comprehensive parametric analysis of the clutch wear is considered with various factors, including groove design (waffle pattern shows the minimum wear), material properties and operational configurations (rotational speed plays the most influential role). The dynamics of transmission directly affects the performance of the powertrain. The coupling effects of the key transmission components are examined. Of particular interests are the stick-slip behavior of the wet clutch and backlash of the gear train. Through simulation of the powertrain, the main source and the pattern of vibration propagation in the driveline are examined. Major vibration is observed during inappropriate clutch engagement

Five-Axis Machine Tool Condition Monitoring Using dSPACE Real-Time System

This paper presents the design, development and SIMULINK implementation of the lumped parameter model of C-axis drive from GEISS five-axis CNC machine tool. The simulated results compare well with the experimental data measured from the actual machine. Also the paper describes the steps for data acquisition using ControlDesk and hardware-in-the-loop implementation of the drive models in dSPACE real-time system. The main components of the HIL system are: the drive model simulation and input – output (I/O) modules for receiving the real controller outputs. The paper explains how the experimental data obtained from the data acquisition process using dSPACE real-time system can be used for the development of machine tool diagnosis and prognosis systems that facilitate the improvement of maintenance activities

Mechanical suspensions for space applications

Characteristics of mechanical suspensions for moving components of aerospace system