4,396 research outputs found
Observer-based tuning of two-inertia servo-drive systems with integrated SAW torque transducers
This paper proposes controller design and tuning
methodologies that facilitate the rejection of periodic load-side disturbances applied to a torsional mechanical system while simultaneously compensating for the observer’s inherent phase delay. This facilitates the use of lower-bandwidth practically realizable disturbance observers. The merits of implementing full- and reduced-order observers are investigated, with the latter being implemented with a new low-cost servo-machine-integrated highband width
torque-sensing device based on surface acoustic wave
(SAW) technology. Specifically, the authors’ previous work based on proportional–integral–derivative (PID) and resonance ratio control (RRC) controllers (IEEE Trans. Ind. Electron., vol. 53, no. 4, pp. 1226–1237, Aug. 2006) is augmented with observer disturbance feedback. It is shown that higher-bandwidth disturbance observers are required to maximize disturbance attenuation over the low-frequency band (as well as the desired rejection frequency), thereby attenuating a wide range of possible frequencies. In such cases, therefore, it is shown that the RRC controller is
the preferred solution since it can employ significantly higher observer bandwidth, when compared to PID counterparts, by virtue of reduced noise sensitivity. Furthermore, it is demonstrated that the prototype servo-machine-integrated 20-N · mSAWtorque transducer is not unduly affected by machine-generated electromagnetic
noise and exhibits similar dynamic behavior as a
conventional instrument inline torque transducer
Empirical assessment of the critical time increment in explicit particulate discrete element method simulations
This contribution considers the critical time increment (〖∆t〗_crit) to achieve stable simulations using particulate discrete element method (DEM) codes that adopt a Verlet-type time integration scheme. The 〖∆t〗_crit is determined by considering the maximum vibration frequency of the system. Based on a series of parametric studies, 〖∆t〗_crit is shown to depend on the particle mass (m), the maximum contact stiffness (Kmax), and the maximum particle coordination number (CN,max). Empirical expressions relating 〖∆t〗_crit to m, Kmax, and CN,max are presented; while strictly only valid within the range of simulation scenarios considered here, these can inform DEM analysts selecting appropriate 〖∆t〗_crit values
Observer based tuning techniques and integrated SAW torque transducers for two-inertia servo-drive systems
A controller design and tuning methodology is proposed that facilitates the rejection of periodic load-side disturbances applied to a torsional mechanical system, whilst simultaneously compensating for the disturbance observer's inherent phase delay, thereby facilitating the used of lower bandwidth, practically realisable, disturbance observers. The merits of implementing both a full- and reduced order observer, is investigated, with the latter being implemented with a new low-cost, high-bandwidth torque sensing device based on surface acoustic wave technolog
New continua for absorption spectroscopy from 40 to 2000 Å
The spectra of plasmas produced by focusing the output of a Q-switched ruby laser (output 1 J) on the rare-earth metals have been studied. From samarium (Z = 70), strong quasi-uniform continua are emitted in the wavelength range 40–2000 Å. Line emission from the target elements is absent over most of this wavelength region, particularly below about 600 Å. The use of these continua as simple, reliable background sources for absorption spectroscopy in the vacuum-ultraviolet and soft x-ray region down to 40 Å is demonstrated
Zebra battery technologies for all electric smart car
This paper describes the operational behaviour and advantages of the high temperature, sodium nickel chloride (Zebra) battery, for use in all electric urban (city) vehicles. It is shown that an equivalent parallel electrical circuit can be employed to accurately simulate the electrochemical behaviour inherent in the most recent generation of Zebra cells. The experimental procedure is outlined and summary attributes of the investigation validated by both simulation studies, and experimentally, via measurements from a prototype battery module intended for use in an all electric smart ca
SAW torque transducers for disturbance rejection and tracking control of multi-inertia servo-drive systems
The paper proposes a resonance ratio control (RRC) technique for the coordinated motion control of multi-inertia mechanical systems, based on the measurement of shaft torque via a SAW-based torque sensor. Furthermore, a new controller structure, RRC plus disturbance feedback is proposed, which enables the controller to be designed to independently satisfy tracking and regulation performance. A tuning method for the RRC structure is given based on the ITAE index, normalized as a function of the mechanical parameters enabling a direct performance comparison between a basic proportional and integral (PI) controller. The use of a reduced-order state observer is presented to provide a dynamic estimate of the load-side disturbance torque for a multi-inertia mechanical system, with an appraisal of the composite closed-loop dynamics. It is shown that the integrated formulation of the tuning criteria enables lower bandwidth observers to be implemented with a corresponding reduction in noise and computational load. The control structures are experimentally validated via a purpose designed test facility and demonstrate significant improvement in dynamic tracking performance, whilst additionally rejecting periodic load side disturbances, a feature previously unrealisable except by other, high-gain control schemes that impose small stability margins
"So go downtown": simulating pedestrian movement in town centres
Pedestrian movement models have been developed since the 1970s. A review of the literature shows that such models have been developed to explain and predict macro, meso, and micro movement patterns. However, recent developments in modelling techniques, and especially advances in agent-based simulation, open up the possibility of developing integrative and complex models which use existing models as 'building blocks'. In this paper we describe such integrative, modular approach to simulating pedestrian movement behaviour. The STREETS model, developed by using Swarm and GIS, is an agent-based model that focuses on the simulation of the behavioural aspects of pedestrian movement. The modular structure of the simulation is described in detail. This is followed by a discussion of the lessons learned from the development of STREETS, especially the advantages of adopting a modular approach and other aspects of using the agent-based paradigm for modelling
Improved performance of motor-drive systems by SAW shaft torque feedback
The paper describes the application of a non-contact, high bandwidth, low cost, SAW-based torque
measuring system for improving the dynamic performance
of industrial process motor-drive systems. Background to
the SAW technology and its motor integration is discussed
and a resonance ratio control (RRC) technique for the
coordinated motion control of multi-inertia mechanical
systems, based on the measurement of shaft torque via a
SAW-based torque sensor is proposed. Furthermore, a
new controller structure, RRC plus disturbance feedback
is proposed, which enables the controller to be designed to
independently satisfy tracking and regulation
performance. A tuning method for the RRC structure is
given based on the ITAE index, normalized as a function of
the mechanical parameters enabling a direct performance
comparison between a basic proportional and integral (PI)
controller. The use of a reduced-order state observer is
presented to provide a dynamic estimate of the load-side
disturbance torque for a multi-inertia mechanical system,
with an appraisal of the composite closed-loop dynamics.
The control structures are experimentally validated and
demonstrate significant improvement in dynamic tracking
performance, whilst additionally rejecting periodic load
side disturbances, a feature previously unrealisable except
by other, high-gain control schemes that impose small
stability margins
On the Anomalous Temperature Distribution of the Intergalactic Medium in the NGC 3411 Group of Galaxies
We present XMM, Chandra and VLA observations of the USGC S152 group and its
central elliptical NGC 3411. Imaging of the group X-ray halo suggests it is
relaxed with little apparent structure. We investigate the temperature and
metal abundance structure of the group halo, and find that while the abundance
distribution is fairly typical, the temperature profile is highly unusual,
showing a hot inner core surrounded by a cool shell of gas with a radius of
\~20-40 kpc, at the center of the larger group halo. Spectral mapping confirms
an irregular ring of gas ~0.15 keV cooler than its surroundings. We estimate
the total mass, entropy and cooling time profiles within ~200 kpc, and find
that the cool shell contains ~9x10^9 Msun of gas. VLA observations at 1.4, 5
and 8 GHz reveal a relatively weak nuclear radio source, with a core radio
luminosity L_R=2.7x10^38 erg/s, and a diffuse component extended on scales of a
few arcseconds (or more). A lack of evidence for activity at optical or X-ray
wavelengths supports the conclusion that the central black hole is currently in
a quiescent state. We discuss possible mechanisms for the formation of
temperature features observed in the halo, including a previous period of AGN
activity, and settling of material stripped from the halo of one of the other
group member galaxies.Comment: 15 pages, 8 postscript figures, accepted for publication in ApJ
version with high resolution figures available at
http://hea-www.harvard.edu/~ejos/files/N3411_hires.pd
- …