Preliminary design and optimization of toroidally-wound limited angle servo motor based on a generalized magnetic circuit model

This paper proposes a new generalized equivalent magnetic circuit model for the preliminary design of a toroidally-wound limited angle servo motor (LASM). In the model, the magnetic networks are formulated as a function of the pole number and geometric dimensions. Nonlinear saturation effect of the ferromagnetic material is also taken into consideration. A multi-objective optimization function involving the torque requirement, the mass, the time constant, and magnetic saturations of ferromagnetic material is introduced. Based on the proposed model, six design cases with different objectives have been carried by the particle swarm optimization (PSO) method. The comparisons of different optimization cases demonstrate the effectiveness and computation efficiency of the proposed method, and hence its suitability in preliminary design. Moreover, the generalized model can be readily applied in the other electromagnetic modelling

PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System

AbstractA proportional integral derivative (PID) controller is designed and attached to electro-hydraulic servo actuator system (EHSAS) to control the angular position of the rotary actuator which control the movable surface of space vehicles. The PID gain parameters are optimized by the genetic algorithm (GA). The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experi-mental results verify the effectiveness of the PID controller adaptive by GA to control the angular position of the rotary actuator as com-pared with the classical PID controller and the compensator controller

Fuzzy robust nonlinear control approach for electro-hydraulic flight motion simulator

AbstractA fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command, but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output (MISO) fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion simulators. Comparative experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties

An Information Integration Framework Based on XML to Support Mechatronics Multi-disciplinary Design

Abstract-To implement the information integration of multidisciplinary applications, an information integration framework of mechatronics system multi-disciplinary design is developed. This developed integration framework adopts a XML Web service based architecture which facilitates the seamless information integration in Internet environments. MSCIM (Mechatronics System Common Information Model) is defined as well as the standard data access interfaces are specified. MSCIM includes all the major objects and the relationships of objects in the process of mechatronics systems design. As a neutral and Web-friendly industry standard, the XML Schema is used as the formal definition language of the MSCIM. DAF (Data access facility) is adopted as the standard data access interface and the accurate definition is given via WSDL. Standard data access interfaces are implemented through SOAP (Simple Object Access Protocol) over HTTP which provides the multi-disciplinary design application with a generic way to exchange information and access public data. Furthermore, this information integration framework provides the multi-disciplinary engineers with an integrated logical view of mechatronics systems and realizes cooperation of multi-disciplinary teams which shortens the development cycle and saves the cost at the same time in mechatronics multi-disciplinary design

Preliminary design and multi-objective optimization of electro-hydrostatic actuator

Electro-hydrostatic actuator is generally regarded as the preferred solution for more electrical aircraft actuation systems. It is of importance to optimize the weight, efficiency and other key design parameters, during the preliminary design phase. This paper describes a multi-objective optimization preliminary design method of the electro-hydrostatic actuator with the objectives of optimizing the weight and efficiency. Models are developed to predict the weight and efficiency of the electro-hydrostatic actuator from the requirements of the control surface. The models of weight prediction are achieved by using scaling laws with collected data, and the efficiency is calculated by the static energy loss model. The multi-objective optimization approach is used to find the Pareto-front of objectives and relevant design parameters. The proposed approach is able to explore the influence of the level length of linkage, displacement of pump and torque constant of motor on the weight and efficiency of the electro-hydrostatic actuator, find the Pareto-front designs in the defined parameter space and satisfy all relevant constraints. Using an electro-hydrostatic actuator for control surface as a test case, the proposed methodology is demonstrated by comparing three different conditions. It is also envisaged that the proposed prediction models and multi-objective optimization preliminary design method can be applied to other components and systems

Modeling of Reliability and Performance Assessment of a Dissimilar Redundancy Actuation System With Failure Monitoring

Actuation system is a vital system in an aircraft, providing the force necessary to move flight control surfaces. The system has a significant influence on the overall aircraft performance and its safety. In order to further increase already high reliability and safety, Airbus has implemented a dissimilar redundancy actuation system (DRAS) in its aircraft. The DRAS consists of a hydraulic actuation system (HAS) and an electro-hydrostatic actuation system (EHAS), in which the HAS utilizes a hydraulic source (HS) to move the control surface and the EHAS utilizes an electrical supply (ES) to provide the motion force. This paper focuses on the performance degradation processes and fault monitoring strategies of the DRAS, establishes its reliability model based on the generalized stochastic Petri nets (GSPN), and carries out a reliability assessment considering the fault monitoring coverage rate and the false alarm rate. The results indicate that the proposed reliability model of the DRAS, considering the fault monitoring, can express its fault logical relation and redundancy degradation process and identify potential safety hazards

A fault-tolerant triple-redundant voice coil motor for direct drive valves: Design, optimization, and experiment

AbstractA direct drive actuator (DDA) with direct drive valves (DDVs) as the control device is an ideal solution for a flight actuation system. This paper presents a novel triple-redundant voice coil motor (TRVCM) used for redundant DDVs. The TRVCM features electrical/mechanical hybrid triple-redundancy by securing three stators along with three moving coils in the same frame. A permanent magnet (PM) Halbach array is employed in each redundant VCM to simplify the system structure. A back-to-back design between neighborly redundancies is adopted to decouple the magnetic flux linkage. The particle swarm optimization (PSO) method is implemented to optimize design parameters based on the analytical magnetic circuit model. The optimization objective function is defined as the acceleration capacity of the motor to achieve high dynamic performance. The optimal geometric parameters are verified with 3D magnetic field finite element analysis (FEA). A research prototype has been developed for experimental purpose. The experimental results of magnetic field density and force output show that the proposed TRVCM has great potential of applications in DDA systems

Enhanced bandwidth nonlinear resonance electromagnetic human motion energy harvester using magnetic-springs and ferrofluid

An enhanced bandwidth nonlinear resonant electromagnetic energy harvester has been designed to harness low frequency energy from basic human motion. Some vertical stacked cylindrical permanent magnets (PMs) constitute the inertial mass of the proposed harvester, which is suspended axially by two magnetic-springs and circumferentially by ferrofluid within a carbon fiber tube. In order to widen the frequency band and improve harvesting efficiency, two PMs are respectively fixed on the two end caps of the carbon fiber tube, so as to form two magnetic-springs with variable stiffness by cooperating with the PM stack. The self-assembled ferrofluid around the PM stack acts as its bearing system to minimize any friction during its movement. Copper wire are wrapped outside the tube to form the armature winding. The stiffness characteristic of the magnetic-springs and the optimum equilibrium position and number of windings have been determined by finite element method (FEM) analysis. As a proof of concept, a portable prototype of the proposed energy harvester that weighs 110g and with a volume of only 37.7cm $^3$ is fabricated. A series of experiments are carried out and the results show that the frequency band of the harvester becomes wider as the external vibration intensity increases. In addition, the effectiveness of ferrofluid in reducing friction is demonstrated under walking and running conditions. Without ferrofluid, the maximum average outputs are 10.15 mW and 32.53 mW respectively for walking and running. With ferrofluid, the maximum outputs are 17.72 mW and 54.61 mW, representing an increase of 74.58% and 67.88%, respectively. Furthermore, the prototype exhibits an average power density of 1.45 mW/cm $^3$ during running motions, which compares favorably with existing harvesters used in low power wearable devices

Modeling of reliability and performance assessment of a dissimilar redundancy actuation system with failure monitoring

AbstractActuation system is a vital system in an aircraft, providing the force necessary to move flight control surfaces. The system has a significant influence on the overall aircraft performance and its safety. In order to further increase already high reliability and safety, Airbus has implemented a dissimilar redundancy actuation system (DRAS) in its aircraft. The DRAS consists of a hydraulic actuation system (HAS) and an electro-hydrostatic actuation system (EHAS), in which the HAS utilizes a hydraulic source (HS) to move the control surface and the EHAS utilizes an electrical supply (ES) to provide the motion force. This paper focuses on the performance degradation processes and fault monitoring strategies of the DRAS, establishes its reliability model based on the generalized stochastic Petri nets (GSPN), and carries out a reliability assessment considering the fault monitoring coverage rate and the false alarm rate. The results indicate that the proposed reliability model of the DRAS, considering the fault monitoring, can express its fault logical relation and redundancy degradation process and identify potential safety hazards

An electromagnetic wearable 3-DoF resonance human body motion energy harvester using ferrofluid as a lubricant

Wearable energy harvester offers clean and continuous power for wearable sensors or devices, and plays an important role in a wide range of applications such as the health monitoring and motion track. In this study, we investigate a small electromagnetic resonance wearable kinetic energy harvester. It consists of a permanent magnet (PM) supported by two elastic strings within a rectangular box form a 3-degree-of-freedom (3-DoF) vibrator. Copper windings are attached to the outer surface of the box to generate electrical energy when the PM is forced to vibrate. To minimize any frictional losses, ferrofluid is used such that the poles of PM are cushioned by the ferrofluid, to the effect that the PM will not touch the inner of the box. Simulation results show that the ferrofluid can keep the PM ‘contactless’ from the box even subject to 10 times gravity acceleration. A prototype is built and tested under different loading conditions. Resistance load experimental results indicate the proposed harvester can generate 1.11.1 mW in walking condition and 2.282.28 mW in running condition. An energy storage circuit is employed and the energy storage experimental results show that the average storage power during walking and running conditions are 0.0140.014 mW and 0.1490.149 mW respectively. It is shown that the developed harvester can be readily attached on a shoe to offer continuous power supply for wearable sensors and devices