In this thesis, the dynamic responses of harmonic drive (H.D.) systems under different operating conditions are investigated. The numerical simulation and the experimental measurements of harmonic drive systems are included in this thesis. The effects of flexspline of harmonic drive, i.e., the torsional stiffness and the damping ratio on the response of corresponding system are studied .Lagrange¡¦s equation is employed to derive the equation of motion of the system. The system equation with a nonlinear torsional stiffness is solved by using the 6th order Runge-Kutta method. Comparison between numerical simulation results and experimental measured data indicate that the proposed harmonic drive model is accurate and feasible for simulating the dynamic response of a harmonic drive system.

Abstract The harmonic drive mechanism has been used wildly in industrial robots. High reduction ratio, few components, and quiet torque transfer are the advantages of this device. In this thesis, the dynamic characteristic of an integrated DC motor and harmonic driver system is investigated. The dynamic equations of the harmonic drive systems are derived by applying Lagrange¡¦s equation. Two different harmonic driver designs, i.e. a cup-type with two teeth difference and a circular type with four teeth difference are used in the analysis. The system responses are simulated by employing the sixth order Runge-Kutta method. Comparison between numerical simulation results and experimental results, it indicates that the proposed model is feasible and accurate for simulating the dynamic response of an electro-mechanical integrated harmonic drive system.

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ITC/USA 2006 Conference Proceedings / The Forty-Second Annual International Telemetering Conference and Technical Exhibition / October 23-26, 2006 / Town and Country Resort & Convention Center, San Diego, California / For the final evaluation of a GPS attitude determination algorithm, it was determined its true performance in terms of accuracy, reliability and dynamic response. To accomplish that, a flight test campaign was carried out to validate the attitude determination algorithm. In this phase, the measured aircraft attitude was compared to a reference attitude, to allow the determination of the errors. The system was built using non-dedicated airborne GPS receivers, and a complete Flight Tests Instrumentation (FTI) System. The flight test campaign was carried out at the Brazilian’s Flight Test Group T-25C 1956 Basic Trainer aircraft. The performance and accuracy of the system is demonstrated under static and dynamics tests profiles, which are fully compliant with the Federal Aviation Administration (FAA) Advisory Circular (AC) 25-7A. Dynamic response of the system is evaluated.

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Impact tests are performed on two circular circumferential frame segments using a drop tower apparatus. These frames have a nominal radius of 120 inches, a forty-eight - degree included angle, a thin-walled cross section in the shape of the letter J, and are typical of the transverse fuselage frames found in a large transport aircraft. The material is a 2D triaxial braided composite of carbon fiber yarns. Impact speeds of the 91.6 lb drop mass are 23.7 ft/s or less. This speed range is the order of the vertical speed considered in a survivable crash on a runway. Transient response characteristics and failure sequence are compared to nominally identical frames tested quasi-statically in a previous study. The peak load at the first major failure event and the corresponding displacement are larger in impact tests than in the quasi-static tests. However, the fracture sequence in the vicinity of the impact location is similar to what was observed in the static tests. Preliminary transient simulations of the frame impact tests using the LSDyna software were also performed. Using the available composite material failure criteria in the software, reasonable correlation was achieved between the simulation and the tests on the load-displacement plot. The computed strains distributions did not compare as well to the measured strains at the first major failure event. / Master of Science

The purpose of this research is to analyze a new type of vibration isolator consisting of two pre-bent struts which are clamped at both ends and intermediately bonded with a viscoelastic filler. The proposed isolation device has the ability to support a relatively large static load with little deflection and offers a low axial resistance under dynamic excitation, making it ideal for isolating vertical vibrations. In this research, four of these vibration isolators are used to support a rigid, square plate. The symmetric case is analyzed first. Then the plate has a center of mass which is located at some distance from the geometric center of the plate. When the system is subjected to vertical harmonic base excitations, this eccentric weight introduces rotational as well as vertical motions of the plate. This research will investigate the effects of various eccentricities on the efficiency of the vibration isolators in the configuration described. The displacement transmissibility will be the measure of the isolators' effectiveness at mitigating vibrations transmitted from the base to the rigid plate. For each case, the nonlinear equilibrium equations and the governing equations of motion for small vibrations about equilibrium are numerically solved, and the transmissibility is calculated and plotted over a wide range of frequencies. These plots are used to recognize ranges of frequencies for which isolation is achieved and frequencies at which resonance occurs in the system. At the resonant frequencies, the physical behavior of the system is analyzed to determine the types of vibration modes which occur in the system. A free vibration analysis is also performed to obtain a better understanding of resonances in the system. / Master of Science

A digital adaptive slope control (DASC) technique is presented to improve the dynamic response and efficiency of a current programmed mode (CPM) buck converter employing a low-cost auxiliary phase. Compared to the existing nonlinear control techniques, the advantages of the proposed control scheme include superior voltage droop and settling time, and on-line calibration to compensate for tolerance in the inductance. The proposed technique is experimentally verified on a 500 kHz, 10 V to 2.5 V CPM buck converter prototype. Charge balancing and optimal transient response are achieved for a range of positive and negative load steps. In addition, compared to a representative single phase converter, the proposed system not only has better dynamic response but also achieves 2 % heavy-load and 10 % light-load steady-state efficiency improvement. The impact of the auxiliary phase operation on the converter’s dynamic efficiency is also evaluated at different load step amplitudes and frequencies.

A digital adaptive slope control (DASC) technique is presented to improve the dynamic response and efficiency of a current programmed mode (CPM) buck converter employing a low-cost auxiliary phase. Compared to the existing nonlinear control techniques, the advantages of the proposed control scheme include superior voltage droop and settling time, and on-line calibration to compensate for tolerance in the inductance. The proposed technique is experimentally verified on a 500 kHz, 10 V to 2.5 V CPM buck converter prototype. Charge balancing and optimal transient response are achieved for a range of positive and negative load steps. In addition, compared to a representative single phase converter, the proposed system not only has better dynamic response but also achieves 2 % heavy-load and 10 % light-load steady-state efficiency improvement. The impact of the auxiliary phase operation on the converter’s dynamic efficiency is also evaluated at different load step amplitudes and frequencies.

An experimental wind tunnel study on the dynamic response of a 300 m tall guyed telecommunication mast under various wind loads was undertaken at the Boundary Layer Wind Tunnel Laboratory (BLWTL) in the University of Western Ontario, London, Canada. Although the dynamic response of guyed masts subjected to turbulent wind loads has been routinely analyzed using a number of numerical models, typically in the frequency domain, limited experimental verification of the dynamic analysis results has been performed. Full-scale measurements, where available, have proven to be difficult to correlate with analytical models due to the tremendous uncertainty inherent in field measurements. As a result, the need for systematic validation of existing analytical models remains.<p>In this investigation, a representative 300 m tall guyed telecommunication mast has been designed and modeled to an appropriate scale. Based on Canadian Standard CSA S37-01, and an empirical study on 41 existing guyed masts, the 300 m tall guyed mast was designed using wind load conforming to representative Canadian climate data obtained from National Building Code of Canada (NBCC 1995). Appropriate properties for the dynamically scaled full aeroelastic model were derived from the 300 m tall prototype guyed mast, which was intended to represent a realistic guyed mast for broadcasting applications in Canada.<p>The wind tunnel test of the guyed mast model was carried out in both open country and over water exposures, simulating medium and low turbulence flow conditions, respectively. Dynamic response characteristics measured during the wind tunnel tests have been analysed and summarized, including dynamic displacements, bending moments, response spectra and peak factors, as well as natural frequencies, mode shapes and structural damping. Comparisons have been made with predictions obtained from an existing frequency domain analysis model. <p>The wind tunnel test results show that good agreement was generally achieved between the frequency domain analytical model and the wind tunnel model with respect to both the magnitude and distribution of the monitored responses. It was found that measured dynamic bending moments were distributed in a fairly uniform manner over the mast height, and that mean (static) bending moments exhibit large variations, along with near-zero response zones at points of contraflexure. It was also found that nonlinear damping effects, associated with vibrations of the highly slackened leeward guys on the upper levels of the mast, may be beneficial in reducing dynamic mast displacements. <p>The spectrum studies indicated that lowest modes were dominated by large guy movements at top guy level and small mast movements, the middle modes were characterized by coupled effects between the guyed cables and mast, meanwhile the highest modes involved significant mast movements with little guy vibration. It is evident that the top of the mast displacement are dominated by the first and second modes.