Numerical modelling of multiple tuned mass damper equipped with magneto rheological damper for attenuation of building seismic responses

TMD is basically designed to be tuned to the dominant frequency of a structure which the excitation frequency will resonate the structural motion out of phase to reduce unwanted vibration. However, a single unit TMD is only capable of suppressing the fundamental structural mode and for multimode control, more than one TMD is needed. In this study, a 3-storey benchmark reinforced structural building subjected to El Centro seismic ground motion is modelled as uncontrolled Primary Structure (PS) by including properties such as stiffness and damping. For the case of controlled PS which the passive mechanism is included to the system, optimum parameters of both TMD and Multiple TMD (MTMD) are designed to be tuned to the dedicated structural modes where the performance is dependent on parameters such as mass ratio, optimum damping ratio, and optimum frequency ratio. The input and output components of structural system arrangements are then characterized in the transfer function manner and then converted into state space function. For enhancement of the passive system, Magneto-Rheological (MR) damper is added to both single TMD and MTMD passive system. The response analysis is executed using both time history and frequency response analysis. From the analysis, semi-active case is the most effective mechanism with 99% displacement reduction for the third and second floors, and 98% for the first floor, compared to the uncontrolled case. It is concluded that the MR damper significantly contributed to the enhancement of the passive system to mitigate structural seismic vibration

Development of Rotary Variable Damping and Stiffness Magnetorheological Dampers and their Applications on Robotic Arms and Seat Suspensions

This thesis successfully expanded the idea of variable damping and stiffness (VSVD) from linear magnetorheological dampers (MR) to rotary magnetorheological dampers; and explored the applications of rotary MR dampers on the robotic arms and seat suspension. The idea of variable damping and stiffness has been proved to be able to reduce vibration to a large degree. Variable damping can reduce the vibration amplitude and variable stiffness can shift the natural frequency of the system from excitation and prevent resonance. Linear MR dampers with the capacity of variable damping and stiffness have been studied by researchers. However, Linear MR dampers usually require larger installation space than rotary MR dampers, and need more expensive MR fluids to fill in their chambers. Furthermore, rotary MR dampers are inherently more suitable than linear MR dampers in rotary motions like braking devices or robot joints. Hence, rotary MR dampers capable of simultaneously varying the damping and stiffness are very attractive to solve angular vibration problems. Out of this motivation, a rotary VSVD MR damper was designed, prototyped, with its feature of variable damping and stiffness verified by experimental property tests in this thesis. Its mathematical model was also built with the parameters identified. The experimental tests indicated that it has a 141.6% damping variation and 618.1% stiffness variation. This damper’s successful development paved the way for the applications of rotary MR dampers with the similar capability of variable damping and stiffness

磁性流体を用いたバックドライブ可能な油圧アクチュエータの開発

早大学位記番号:新7478早稲田大

Prototype damper for use in deep foundation pile testing

A new method of testing deep foundation piles is proposed, focusing specifically on rapid load testing. The test involves applying a controlled force to a pile by dropping a weight and damper on it. The specific damper provided required modification of the annular gap to accommodate the magneto-rheological fluid, which replaces the hydraulic fluid. Two accelerometers and one K-type thermocouple monitor the damper by means of a control circuit with a programmable micro-controller. The control circuit bus impedance and board capacitance are evaluated. The control circuit outputs a signal which switches a coil housed inside the damper. This coil generates a field in the annular gap that changes the amount of damping, and consequently alters the applied force. With a control algorithm implemented, it is possible to attain the desired impact on a pile, potentially giving an insight into its load bearing capabilities

Design, Development, and Evaluation of Customized Electronics for Controlling a 5-DOF Magneto-Rheological Actuator Collaborative Robot

In recent years, Magneto-Rheological (MR) fluids has been used in various fields such as robotics, automotive, aerospace, etc. The most common use of the MR fluids is within a clutch-like mechanism, namely an MR clutch. When mechanical input is coupled to the input part of the MR clutch, the MR clutch provides a means of delivering this mechanical input to its output, through the MR fluids. The combination of the mechanical input device and the MR clutch is called an MR actuator. The MR actuator features inherently compliance owing to the characteristic of the MR fluids while also offering higher torque-to-mass and torque-to-inertia ratios over common actuators. As such, MR actuators are suitable candidates for human-safe and collaborative robots. The goal of this study is to design, develop and test customized electronic drivers that are compact and powerful to enable effective low-level control of the robot joints. The electronic drivers are responsible for sensor data processing, between-joint communication, supplying electric power, and executing control actions. The hardware design is optimized to handle transient current and voltage, and dissipate heat generated by components. Moreover, software development is based on μ C/OS-II real-time operating system to handle multiple time-critical tasks and to guarantee the stability and effectiveness of robot control system. A series of experiments are conducted to validate the designed hardware and software systems, and evaluate their performance

ACTIVE VIBRATION ATTENUATING SEAT SUSPENSION FOR AN ARMORED HELICOPTER CREW SEAT

An Active Vibration Attenuating Seat Suspension (AVASS) for an MH-60S helicopter crew seat is designed to protect the occupants from harmful whole-body vibration (WBV). Magnetorheological (MR) suspension units are designed, fabricated and installed in a helicopter crew seat. These MR isolators are built to work in series with existing Variable Load Energy Absorbers (VLEAs), have minimal increase in weight, and maintain crashworthiness for the seat system. Refinements are discussed, based on testing, to minimize friction observed in the system. These refinements include the addition of roller bearings to replace friction bearings in the existing seat. Additionally, semi-active control of the MR dampers is achieved using special purpose built custom electronics integrated into the seat system. Experimental testing shows that an MH-60S retrofitted with AVASS provides up to 70.65% more vibration attenuation than the existing seat configuration as well as up to 81.1% reduction in vibration from the floor

New experimental insights into magneto-mechanical rate dependences of magnetorheological elastomers

Magnetorheological elastomers (MREs), consisting of an elastomeric matrix filled with magnetic particles, are one of the most promising multifunctional composites. The main advantage of these materials is their response to external magnetic fields by mechanically deforming and/or changing their magnetorheological properties. This multi-physical nature makes them ideal candidates for timely applications in soft robotics and bioengineering. Although several works have addressed the magneto-mechanical coupling in these composites from both experimental and modelling approaches, there is still a big gap of knowledge preventing the full understanding of their underlying physics. In this regard, there is no experimental work addressing a comprehensive magneto-mechanical characterisation combining different MRE configurations, mechanical deformation modes and magnetic conditions. Furthermore, the interplays of rate dependences into such magnetorheological behaviour still remain elusive. In this work, we provide an unprecedented experimental characterisation of a soft MRE considering more than 100 different experimental conditions involving more than 600 tests. The experiments include monotonous uniaxial compression at different deformation rates and magnetic conditions, magneto-mechanical DMA tests, relaxation tests, oscillatory shear tests at different deformation rates and magnetic conditions, magneto-mechanical shear frequency sweep tests, and novel magneto-mechanical experiments. The results obtained in this work provide full characterisation of soft MREs with a special focus on rate dependences, forming the basis to explain novel multifunctional mechanisms identified behind their coupled response. In addition, it opens the door to new constitutive and modelling approaches.The authors acknowledge support from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement No. 947723, project: 4D-BIOMAP). MAM acknowledges support from the Ministerio de Ciencia, Innovacion y Universidades, Spain (FPU19/03874) and DGG acknowledges support from the Talent Attraction grant (CM 2018 - 2018-T2/IND-9992) from the Comunidad de Madri

Emerging Trends in Mechatronics

Mechatronics is a multidisciplinary branch of engineering combining mechanical, electrical and electronics, control and automation, and computer engineering fields. The main research task of mechatronics is design, control, and optimization of advanced devices, products, and hybrid systems utilizing the concepts found in all these fields. The purpose of this special issue is to help better understand how mechatronics will impact on the practice and research of developing advanced techniques to model, control, and optimize complex systems. The special issue presents recent advances in mechatronics and related technologies. The selected topics give an overview of the state of the art and present new research results and prospects for the future development of the interdisciplinary field of mechatronic systems

Soft sensors in automotive applications

2017 - 2018In this work, design and validation techniques of two soft sensors for the estimation of the motorcycle vertical dynamic have been proposed. The aim of this work is to develop soft sensors able to predict the rear and front stroke of a motorcycle suspension. This kind of information are typically used in the control loop of semi‐active or active suspension systems. Replacing the hard sensor with a soft sensor, enable to reduce cost and improve reliability of the system. An analysis of the motorcycle physical model has been carried out to analyze the correlation existing among motorcycle vertical dynamic quantities in order to determine which of them are necessary for the development of a suspension stroke soft sensor. More in details, a first soft sensor for the rear stroke has been developed using a Nonlinear Auto‐Regressive with eXogenous inputs (NARX) neural network. A second soft sensor for the front suspension stroke velocity has been designed using two different techniques based respectively on Digital filtering and NARX neural network. As an example of application, an Instrument Fault Detection (IFD) scheme, based on the rear stroke soft sensor, has been shown. Experimental results have demonstrated the good reliability and promptness of the scheme in detecting different typologies of faults as losing calibration faults, hold‐faults, and open/short circuit faults thanks to the soft sensor developed. Finally, the scheme has been successfully implemented and tested on an ARM microcontroller, to confirm the feasibility of a real‐time implementation on actual processing units used in such context. [edited by Author]XXX cicl

12th International Conference on Vibrations in Rotating Machinery

Since 1976, the Vibrations in Rotating Machinery conferences have successfully brought industry and academia together to advance state-of-the-art research in dynamics of rotating machinery. 12th International Conference on Vibrations in Rotating Machinery contains contributions presented at the 12th edition of the conference, from industrial and academic experts from different countries. The book discusses the challenges in rotor-dynamics, rub, whirl, instability and more. The topics addressed include: - Active, smart vibration control - Rotor balancing, dynamics, and smart rotors - Bearings and seals - Noise vibration and harshness - Active and passive damping - Applications: wind turbines, steam turbines, gas turbines, compressors - Joints and couplings - Challenging performance boundaries of rotating machines - High power density machines - Electrical machines for aerospace - Management of extreme events - Active machines - Electric supercharging - Blades and bladed assemblies (forced response, flutter, mistuning) - Fault detection and condition monitoring - Rub, whirl and instability - Torsional vibration Providing the latest research and useful guidance, 12th International Conference on Vibrations in Rotating Machinery aims at those from industry or academia that are involved in transport, power, process, medical engineering, manufacturing or construction