Optimal Web Guiding

Author(s):  
Aravind Seshadri ◽  
Prabhakar R. Pagilla

This paper presents an optimal web guiding strategy based on the dynamic analysis of the lateral web behavior and a new fiber optic lateral web position measurement sensor. First, a lateral dynamic model of a moving web is revisited with an emphasis on correct application of appropriate boundary conditions. Then the dynamic models of two common intermediate guides (remotely pivoted guide and offset-pivot guide) are investigated. The effect of various model parameters on lateral web behavior is analyzed and discussions on proper selection of the parameters are given. Based on the model analysis, we discuss the design of a linear quadratic optimal controller that is capable of accommodating structured parametric uncertainties in the lateral dynamic model. The optimal guide control system is evaluated by a series of experiments on a web platform with different web materials under various operating conditions. Implementation of the controller with a new fiber optic lateral sensor for different scenarios is discussed. Results show good guiding performance in the presence of disturbances and with uncertainties in the model parameters.

2001 ◽  
Vol 124 (1) ◽  
pp. 62-66 ◽  
Author(s):  
Pei-Sun Zung ◽  
Ming-Hwei Perng

This paper presents a handy nonlinear dynamic model for the design of a two stage pilot pressure relief servo-valve. Previous surveys indicate that the performance of existing control valves has been limited by the lack of an accurate dynamic model. However, most of the existing dynamic models of pressure relief valves are developed for the selection of a suitable valve for a hydraulic system, and assume model parameters which are not directly controllable during the manufacturing process. As a result, such models are less useful for a manufacturer eager to improve the performance of a pressure valve. In contrast, model parameters in the present approach have been limited to dimensions measurable from the blue prints of the valve such that a specific design can be evaluated by simulation before actually manufacturing the valve. Moreover, the resultant model shows excellent agreement with experiments in a wide range of operating conditions.


Author(s):  
Yi Liu ◽  
Dragan Djurdjanovic

It has been demonstrated in the previous research that the node connectivity in the graph encoding the topological neighborhood relationships between local models in a piecewise dynamic model may significantly affect the cooperative learning process. It was shown that a graph with a larger connectivity leads to a quicker learning adaption due to more rapidly decaying transients of the estimation of local model parameters. In the same time, it was shown that the accuracy could be degraded by a larger bias in the asymptotic portion of the estimations of local model parameters. The efforts in topology optimization should therefore strive towards a high accuracy of the asymptotic portion of the estimator of local model parameters while simultaneously accelerating the decay of the estimation transients. In this paper, we pursue minimization of the residual sum of squares of a piecewise dynamic model after a predetermined number of training steps. The optimization of inter-model topology is implemented via a genetic algorithm that manipulates adjacency matrices of the graph underlying the piecewise dynamic model. An example of applying the topology optimization procedure on a peicewise linear model of a highly nonlinear dynamic system is provided to show the efficacy of the new method.


Robotica ◽  
1989 ◽  
Vol 7 (4) ◽  
pp. 327-337 ◽  
Author(s):  
T. G. Lim ◽  
H. S. Cho ◽  
W. K. Chung

SUMMARYAccurate modeling of robot dynamics is a prerequisite for the design of model-based control schemes and enhancement of the performance of the robot. The dynamic parameters associated with a pseudo-inertia matrix are often difficult to identify accurately because the inertia torques are small in comparison to gravity loadings, thus creating signal processing problem. The identification method presented in this paper utilizes a balancing mechanism which increases the estimation accuracy of the dynamic parameters. The balancing mechanism has the effect of amplifying the inertia-related torque signal by eliminating gravity loadings acting on the robot joints. A series of motion data were experimentally obtained through sequential test steps. By incorporating the measured information about joint torques, angular positions, velocities and accelerations the least square algorithm was used to identify the dynamic parameters. The estimated values were converted to those of the original robot model to obtain its dynamic model parameters. The identified robot dynamic model was shown to be accurate enough to predict the actual robot motions.


Author(s):  
Franklin F. K. Chen ◽  
B. Ronald Moncrief

Abstract A canyon building houses special nuclear material processing facilities in two canyon like structures, each with approximately a million cubic feet of air space and a hundred thousand hydraulic equivalent feet of ductwork of various cross sections. The canyon ventilation system is a “once through” design with separate supply and exhaust fans, utilizes two large sand filters to remove radionuclide particulate matter, and exhausts through a tall stack. The ventilation equipment is similar to most industrial ventilation systems. However, in a canyon building, nuclear contamination prohibits access to a large portion of the system and therefore limits the kind of plant data possible. The facility investigated is 40 years old and is operating with original or replacement equipment of comparable antiquity. These factors, access and aged equipment, present a challenge in gauging the performance of canyon ventilation, particularly under uncommon operating conditions. The ability to assess canyon ventilation system performance became critical with time, as the system took on additional exhaust loads and aging equipment approached design maximum. Many “What if?” questions, needed to address modernization/safety issues, are difficult to answer without a dynamic model. This paper describes the development, the validation and the utilization of a dynamic model to analyze the capacity of this ventilation system, under many unusual but likely conditions. The development of a ventilation model with volume and hydraulics of this scale is unique. The resultant model resolutions of better than 0.05″wg under normal plant conditions and approximately 0.2″wg under all plant conditions achievable with a desktop computer is a benchmark of the power of micro-computers. The detail planning and the persistent execution of large scale plant experiments under very restrictive conditions not only produced data to validate the model but lent credence to subsequent applications of the model to mission oriented analysis. Modelling methodology adopted a two parameter space approach, rational parameters and irrational parameters. Rational parameters, such as fan age-factors, idle parameters, infiltration areas and tunnel hydraulic parameters are deduced from plant data based on certain hydraulic models. Due to limited accessibility and therefore partial data availability, the identification of irrational model parameters, such as register positions and unidentifiable infiltrations, required unique treatment of the parameter space. These unique parameters were identified by a numerical search strategy to minimize a set of performance indices. With the large number of parameters, this further attests to our strategy in utilizing the computing power of modern micros. Nine irrational parameters at five levels and 12 sets of plant data, counting up to 540 runs, were completely searched over the time span of a long weekend. Some key results, in assessing emergency operation, in evaluating modernization options, are presented to illustrate the functions of the dynamic model.


Author(s):  

The present work is devoted to questions of the water-divider system application in the Volga River delta. Assessment of the water divider operation impact on runoff in the Buzan and Volga branches has been carried out both with conventional methods and with computations on the lower Volga hydro-dynamic model. High academic value of the paper has been determined by the right selection of all the hydro-dynamic model parameters in the conditions of insufficiency of the needed data on the flood regime.


Author(s):  
Lawrence J. Tognetti ◽  
Wayne J. Book

This paper uses the two–port network with virtual coupling paradigm to analyze various haptic system architectures. Haptic Two–Port Network (H2PN) numerical tuning algorithms and analysis techniques based on Llewelyn Stability Criterion are presented and lay the groundwork for testing haptic networks on HuRBiRT (Human Robotic Bilateral Research Tool), a large scale nonlinear hybrid active / passive haptic device. This paper presents the addition of local force feedback to the Impedance / Admittance (I/A) H2PN to form the true dual of the Admittance / Impedance (A/I) H2PN and explores alternative impedance and admittance virtual coupling forms. First, I/A and A/I H2PN’s are numerically tuned using a linearized dynamic model of HuRBiRT and resulting admittance and impedance limits of the respective networks are compared to add insight on the duality of the two different implementations of haptic causality, with specific consideration given to the advantage of adding force feedback to the impedance network and selection of virtual coupling form. Second, I/A and A/I H2PN’s are experimentally validated on HuRBiRT and resulting experimental networks are directly compared to those numerically formulated through use of HuRBiRT’s linearized dynamic models.


Batteries ◽  
2021 ◽  
Vol 7 (3) ◽  
pp. 58
Author(s):  
Nadjiba Mahfoudi ◽  
M’hamed Boutaous ◽  
Shihe Xin ◽  
Serge Buathier

An efficient thermal management system (TMS) of electric vehicles requires a high-fidelity battery model. The model should be able to predict the electro-thermal behavior of the battery, considering the operating conditions throughout the battery’s lifespan. In addition, the model should be easy to handle for the online monitoring and control of the TMS. Equivalent circuit models (ECMs) are widely used because of their simplicity and suitable performance. In this paper, the electro-thermal behavior of a prismatic 50 Ah LMO/Graphite cell is investigated. A dynamic model is adopted to describe the battery voltage, current, and heat generation. The battery model parameters are identified for a single cell, considering their evolution versus the state of charge and temperature. The needed experimental data are issued from the measurements carried out, thanks to a special custom electrical bench able to impose a predefined current evolution or driving cycles, controllable by serial interface. The proposed battery parameters, functions of state of charge (SOC), and temperature (T) constitute a set of interesting and complete data, not available in the literature, and suitable for further investigations. The thermal behavior and the dynamic models are validated using the New European Driving Cycle (NEDC), with a large operating time, higher than 3 h. The measurement and model prediction exhibit a temperature difference less than 1.2 °C and a voltage deviation less than 3%, showing that the proposed model accurately predicts current, voltage, and temperature. The combined effects of temperature and SOC provides a more efficient modeling of the cell behavior. Nevertheless, the simplified model with only temperature dependency remains acceptable. Hence, the present modeling constitutes a confident prediction and a real step for an online control of the complete thermal management of electrical vehicles.


2014 ◽  
Vol 541-542 ◽  
pp. 880-886
Author(s):  
Ping Wu ◽  
Qiang Yu ◽  
Hao Chen ◽  
Jun Yi ◽  
Guang Quan Pu

According to the world average generation levels, the nuclear power generation is the third-largest energy generation form following the thermal and hydroelectric ones. Among all the operating nuclear generation, the type of the PWR has occupied more than 50%. The paper constructed three most commonly used dynamic PWR neutron models, which are six-groups delayed, single-group delayed and linearized neutron model, and made a detail analysis of those different models. An investigation of the different errors among the models under different perturbations is taken by simulation and a standard for the simplification of the models had been proposed, which can provide a reference for the selection of the future PWR neutron dynamic model.


2021 ◽  
Author(s):  
Vishal Kumar Patel

Aqueous xanthan gum solutions are non-Newtonian fluids, pseudoplastic fluids possessing yield stress. Their continuous mixing is an extremely complicated phenomenon exhibiting non idealities such as channeling, recirculation and stagnation. To characterize the continuous mixing of xanthan gum solutions, three dynamic models were utilized: (1) a dynamic model with 2 time delays in discrete time domain, (2) a dynamic model with 2 time delays in continuous time domain, and (3) a simplified dynamic model with 1 time delay in discrete time domain. A hybrid genetic algorithm was employed to estimate the model parameters through the experimental input-output dynamic data. The extents of channeling and fully-mixed volume were used to compare the performances of these three models. The dynamic model parameters exerting strong influence on the model response were identified. It was observed that the models with 2 time delays gave a better match with the experimental results.


2021 ◽  
Author(s):  
Vishal Kumar Patel

Aqueous xanthan gum solutions are non-Newtonian fluids, pseudoplastic fluids possessing yield stress. Their continuous mixing is an extremely complicated phenomenon exhibiting non idealities such as channeling, recirculation and stagnation. To characterize the continuous mixing of xanthan gum solutions, three dynamic models were utilized: (1) a dynamic model with 2 time delays in discrete time domain, (2) a dynamic model with 2 time delays in continuous time domain, and (3) a simplified dynamic model with 1 time delay in discrete time domain. A hybrid genetic algorithm was employed to estimate the model parameters through the experimental input-output dynamic data. The extents of channeling and fully-mixed volume were used to compare the performances of these three models. The dynamic model parameters exerting strong influence on the model response were identified. It was observed that the models with 2 time delays gave a better match with the experimental results.


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