Causality in real-time dynamic substructure testing

Causality, in the bond graph sense, is shown to provide a conceptual framework for the design of real-time dynamic substructure testing experiments. In particular, known stability problems with split-inertia substructured systems are reinterpreted as causality issues within the new conceptual framework. As an example, causality analysis is used to provide a practical solution to a split-inertia substructuring problem and the solution is experimentally verified

Bond graphs in model matching control

Bond graphs are primarily used in the network modeling of lumped parameter physical systems, but controller design with this graphical technique is relatively unexplored. It is shown that bond graphs can be used as a tool for certain model matching control designs. Some basic facts on the nonlinear model matching problem are recalled. The model matching problem is then associated with a particular disturbance decoupling problem, and it is demonstrated that bicausal assignment methods for bond graphs can be applied to solve the disturbance decoupling problem as to meet the model matching objective. The adopted bond graph approach is presented through a detailed example, which shows that the obtained controller induces port-Hamiltonian error dynamics. As a result, the closed loop system has an associated standard bond graph representation, thereby rendering energy shaping and damping injection possible from within a graphical context

Component-based modeling of PEM fuel cells with bond graphs

A polymer electrolyte membrane (PEM) fuel cell is a power generation device that transforms chemical energy contained within hydrogen and oxygen gases into useful electricity. The performance of a PEMFC unit is governed by three interdependent physical phenomena: heat, mass, and charge transfer. When modelling such a multi-physical system it is advantageous to use an approach capable of representing all the processes in a unified fashion. This paper presents a component-based model of PEMFCs developed using the bond graph (BG) technique in Modelica language. The basics of the BG method are outlined and a number of relevant publications are reviewed. Model assumptions and necessary equations for each fuel cell component are outlined. The overall model is constructed from a set of bond-graphic blocks within thermal, pneumatic and electrical domains. The model output was compared with the experimental data gathered from a two-cell stack and demonstrated a good accuracy in predicting system behaviour. In the future the designed model will be used for fuel cell reliability studies

Model for the alpha and beta shear-mechanical properties of supercooled liquids and its comparison to squalane data

This paper presents data for supercooled squalane's frequency-dependent shear modulus covering frequencies from 10 mHz to 30 kHz and temperatures from 168 K to 190 K; measurements are also reported for the glass phase down to 146 K. The data reveal a strong mechanical beta process. A model is proposed for the shear response of supercooled liquids. The model is an electrical equivalent-circuit characterized by additivity of the dynamic shear compliances of the alpha and beta processes. The nontrivial parts of the alpha and beta processes are represented by a "Cole-Cole retardation element", resulting in the Cole-Cole compliance function well-known from dielectrics. The model, which assumes that the high-frequency decay of the alpha shear compliance loss varies with angular frequency as $\omega^{-1/2}$, has seven parameters. Assuming time-temperature superposition for the alpha and the beta processes separately, the number of parameters varying with temperature is reduced to four. From the temperature dependence of the best-fit model parameters the following conclusions are drawn: 1) the alpha relaxation time conforms to the shoving model; 2) the beta relaxation loss-peak frequency is almost temperature independent; 3) the alpha compliance magnitude, which in the model equals the inverse of the instantaneous shear modulus, is only weakly temperature dependent; 4) the beta compliance magnitude decreases by a factor of three upon cooling in the temperature range studied. The final part of the paper briefly presents measurements of the dynamic adiabatic bulk modulus covering frequencies from 10 mHz to 10 kHz in the temperature range 172 K to 200 K. The data are qualitatively similar to the shear data by having a significant beta process. A single-order-parameter framework is suggested to rationalize these similarities

Integrating Abstraction Techniques for Formal Verification of Analog Designs

The verification of analog designs is a challenging and exhaustive task that requires deep understanding of physical behaviours. In this paper, we propose a qualitative based predicate abstraction method for the verification of a class of non-linear analog circuits. In the proposed method, system equations are automatically extracted from a circuit diagram by means of a bond graph. Verification is applied based on combining techniques from constraint solving and computer algebra along with symbolic model checking. Our methodology has the advantage of avoiding exhaustive simulation normally encountered in the verification of analog designs. To this end, we have used Dymola, Hsolver, SMV and Mathematica to implement the verification flow. We illustrate the methodology on several analog examples including Colpitts and tunnel diode oscillators

Dynamically dual vibration absorbers: a bond graph approach to vibration control

This paper investigates the use of an actuator and sensor pair coupled via a control system to damp out oscillations in resonant mechanical systems. Specifically the designs emulate passive control strategies, resulting in controller dynamics that resemble a physical system. Here, the use of the novel dynamically dual approach is proposed to design the vibration absorbers to be implemented as the controller dynamics; this gives rise to the dynamically dual vibration absorber (DDVA). It is shown that the method is a natural generalisation of the classical single-degree of freedom mass–spring–damper vibration absorber and also of the popular acceleration feedback controller. This generalisation is applicable to the vibration control of arbitrarily complex resonant dynamical systems. It is further shown that the DDVA approach is analogous to the hybrid numerical-experimental testing technique known as substructuring. This analogy enables methods and results, such as robustness to sensor/actuator dynamics, to be applied to dynamically dual vibration absorbers. Illustrative experiments using both a hinged rigid beam and a flexible cantilever beam are presented

A review of friction models in interacting joints for durability design.

This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industrial professionals

Study of the effect of contact force model on the dynamic response of mechanical systems with dry clearance joints : computational and experimental approaches

The main objective of this work is to present a computational and experimental study on the contact forces developed in revolute clearance joints. For this purpose, a well-known slider-crank mechanism with a revolute clearance joint between the connecting rod and slider is utilized. The intra-joint contact forces that generated at this clearance joints are computed by considered several different elastic and dissipative approaches, namely those based on the Hertz contact theory and the ESDU tribology-based for cylindrical contacts, along with a hysteresis-type dissipative damping. The normal contact force is augmented with the dry Coulomb’s friction force. In addition, an experimental apparatus is use to obtained some experimental data in order to verify and validate the computational models. From the outcomes reported in this paper, it is concluded that the selection of the appropriate contact force model with proper dissipative damping plays a significant role in the dynamic response of mechanical systems involving contact events at low or moderate impact velocities.Fundação para a Ciência e a Tecnologia (FCT