Thesis (Ph. D.)--University of Canterbury, 2002. / Typescript (photocopy). Includes bibliographical references (p. 179-186).

[pt] É apresentado o modelo não-linear de barras proposto por Simo para o estudo do comportamento dinâmico de estruturas espaciais. A formulação das equações do movimento é feita em um sistema inercial de modo a simplificar o operador de inércia e o material é considerado como elástico linear. Carregamos não – conservativos são considerados de modo que a integração das equações é feita na forma fraca. As partes flexíveis, que são necessariamente estruturas unidimensionais, são descritas por um modelo de barras que generaliza os modelos clássicos de Euler-Bernouilli e de Timoshenko. Implementa-se um programa computacional baseado nesta teoria na linguagem Matlab. O modelo de barras discretiza-se espacialmente usando elementos finitos e integra-se o sistema de equações resultante linearizado usando o método de Newton-Raphson, associado ao esquema de integração de Newmark. Incorpora-se os efeitos de amortecimento interno e cargas seguidoras, assim como elementos lineares quadráticos. Se incorpora à programação o tratamento de juntas esféricas através do método de multiplicadores de Lagrange, que permitem estudar alguns tipos de sistemas de multicorpos flexíveis. O programa é testadopor uma série de exemplos e comparações com resultados clássicos para mostrar a sua versatilidade e também as limitações dos modelos clássicos. Também se apresenta o modelo usado no programa computacional SAMCEF, e mostra-se a potencialidade deste programa em base a uma série de exemplos que incluem problemas de flexibilidade e choque em sistemas multicorpos. / [en] It is presented a theory to treat multibody problems with rigid or flexible parts that treats the overall motion and the deformations in the same way using na inertial reference frame. The essential part of the model is the treatment of nonlinear rods that are flexible parts of the multibody systems. A code was construcetd in the platform MATBLAB and it was widely tested thorough comparisons with results found in the literature that acted as benchmark problems. The results are very good.

Made available in DSpace on 2014-06-11T19:24:47Z (GMT). No. of bitstreams: 0 Previous issue date: 2008-10-29Bitstream added on 2014-06-13T20:13:05Z : No. of bitstreams: 1 queiroz_jas_me_bauru.pdf: 1085643 bytes, checksum: eec6371aa0008c040f50ab54f81f875a (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Os materiais viscoelásticos têm sido muito utilizados para atenuar vibração e ruído em estruturas, devido a sua capacidade inerente de absorver uma porcentagem de energia vibratória dos sistemas mecânicos e de dissipá-la sob a forma de calor. Esse tipo de amortecimento tem sido utilizado em muitas aplicações nas indústrias automotiva e aeroespacial, porém as propriedades dinâmicas das estruturas viscoelásticas não são fáceis de serem determinadas, pois suas respostas dependem de muitos fatores externos, tais como a geometria da estrutura, a freqüência de excitação a qual a estrutura está submetida, entre outros. Neste trabalho foi implementado um aparato experimental composto por um motor de corrente contínua, controlado por Modulação por Largura de Pulso (PWM), ao qual se engastou uma estrutura flexível de aço inox (escalímetro), com e sem revestimento viscoelástico. O objetivo foi analisar tal estrutura quando excitada em movimento livre e forçado. Ao oscilar a estrutura, os extensômetros, devidamente acoplados em sua superfície, faziam a leitura dos dados (deformação) e os enviavam a um instrumento de aquisição de dados analógicos, os quais, após a conversão para digital, foram enviados a um PC para análises necessárias ao experimento. Para avaliar as características das estruturas e estimar as taxas de amortecimento, foram aplicados técnicas de decremento logarítmico nas análises em movimento livre e o método da banda de meia potência nas análises em movimento forçado. Foram utilizados dois modelos de materiais viscoelásticos (fitas VHB da 3M). Os métodos de revestimentos foram: “Configuração de Camada Livre” e “Estrutura Sanduíche”. Este último permitiu aumentar as deformações cisalhantes na camada viscoelástica e, conseqüentemente, aumentou a dissipação de energia vibratória. Essas análises permitiram... / The viscoelastic materials have been widely used to reduce noise and vibration on structures, because of its inherent ability to absorb a percentage of vibrating energy in mechanical systems and dissipate it as heat. This type of damping has been used in many applications in the automotive and aerospacial industries, but the dynamic properties of viscoelastic structures are not easy to be determined, because their answers depend on many external factors, such as the geometry of the structure, the frequency of excitation that the structure is exposed, among others. In this work a prototype composed of a DC engine, controlled by the Pulse Width Modulator by (PWM), which is setting up a flexible stainless steel (scale ruler), with and without coating viscoelastic has been implemented. The objective was analyze the structure when excited in free and forced movement. When the structure swings, the strain Gages properly attached to its surface, made the reading of data (deformation), and sent it to an analog data acquisition instrument, which after that converts analogical data to digital and they were sent to a PC for experiment analysis. To evaluate the structure characteristics, and estimate the damping rates were applied techniques of analysis in logarithmic decrement in free movement, and the method of half-band power in the forced movement analysis. We used two models of viscoelastic materials (tapes of 3M HBV). The methods of coating were: Setting Free Layer and structure Sandwich. The last one enabled the increase the cut deformations in viscoelastic layer and consequently increased the dissipation of vibrating energy. These tests have allowed a better understanding of the influence of viscoelastic material in the vibration behavior of these structures.

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Lam Fung Ping. / "Architecture Department, Chinese University of Hong Kong, Master of Architecture Programme 2005-2006, design report." / Includes bibliographical references (leaf [185]). / INTRODUCTION / BACKGROUND --- p.p. 1-4 / GENERAL LOCAL CASES --- p.p. 5-80 / STREET STUDIES --- p.p. 80-101 / DETAIL UNIT STUDIES --- p.p. 102-126 / TRANSFORMATION PRICIPLES --- p.p. 127-152 / SITE & PROGRAM --- p.p. 153-156 / CONCEPT & PROCESS --- p.p. 157-171 / MODULE DESIGN --- p.p. 172-184

Neste trabalho é apresentada uma metodologia de projeto de bomba dinâmica por lâmina ondulante. Um algoritmo permite determinar variáveis de projeto da bomba que maximizem a eficiência energética. A bomba consiste em um canal de seção transversal quadrada, dentro do qual há uma lâmina flexível, articulada nas extremidades. Impõe-se deformação transversal nessa lâmina. A deformação deve ter forma senoidal que se propaga ao longo da lâmina. A amplitude e a freqüência de oscilação são controladas. Os campos de pressão e velocidade no canal foram estimados por simulação numérica, uma vez que não é possível obter uma solução analítica. O Método dos Elementos Finitos foi empregado para resolver a equação de Navier-Stokes. O movimento da lâmina foi representado através do conceito de fronteiras virtuais móveis. Uma vez obtidos os campos de pressão e velocidade, calcula-se a eficiência energética para avaliar quais variáveis de projeto geram maior eficiência energética. Doze atuadores eletromagnéticos aplicam forças a lâmina. O estado da lâmina é observado por cinco sensores de posição capacitivos. O comprimento da lâmina, a largura da lâmina, amplitude das oscilações, a freqüência das oscilações, altura do canal e largura do canal são variáveis de projeto. Uma tabela que relaciona variáveis de projeto e eficiência mecânica foi calculada. Os resultados de simulação numérica indicam que é possível obter eficiência energética média da ordem de 20%. Resultados experimentais mostram o escoamento na saída da bomba. Este escoamento ocorre por golfadas em lados alternados da lâmina ondulatória. / In the present work a design methodology of ondulatory pumps is proposed. An algorithm determines the design variables which maximize energy efficiency. The pump consists of a channel, with square transversal area, and a flexible blade hinged at its extremities. A sinusoidal transversal deformation is imposed by electromagnetic forces. The transversal deformation have sinusoidal shape and propagates along the channel, it resembles the movement of anguiliform fishes. The amplitude and frequency of oscillations are controled. The pressure and velocity fields in the channel are computed by numerical simulations since analytical solutions are not possible. The Finite Elements Method is used to solve the Navier-Stokes equations. The blade movement is represented through the concept of virtual moving boundaries. Once the pressure and velocity fields are computed, the mechanical efficiency of the pump is computed to determine which set of design parameters generates higher energy efficiency. Twelve electromagnetic actuators apply forces on the blade. The state of the blade is observed by five capacitive position sensors. Amplitude of oscillations and frequency of oscillations are design variables. A map from design variables space to efficiency was computed. The results from numerical simulations suggest that it is possible to generate energy efficiency close to 20%.Experimental results show the flow at the outlet of the pump. The flow is more intense on alternate sides of the ondulatory beam.

Uma antena-radar clássica é composta basicamente de uma fonte primária justaposta a um foco refletor parabólico. A lei de iluminação é estabelecida de maneira a satisfazer, tão precisamente quanto possível, a forma do feixe desejado. É a movimentação do conjunto que garante a cobertura de exploração desejada. O presente texto estuda o projeto e desenvolvimento de um servomecanismo capaz de suportar e posicionar uma antena de radar, dentro de parâmetros e restrições definidas. Os objetivos do trabalho são: levantar e estudar os fatores relevantes para especificação de um projeto de controle de posição de uma antena-radar através de servomecanismos; apresentar uma proposta de projeto de controle de posição através de servomecanismo; propor um modelo estrutural teórico consistente do conjunto antena-radar para fins de simulação dinâmica e análise modal da estrutura, e apresentar a implantação do sistema de controle proposto num projeto real de Engenharia, para o servomecanismo de uma antena de radar meteorológico. A proposta de controle foi aplicada com êxito no Modelo de Engenharia do Radar Meteorológico Doppler RMD700S-1M, desenvolvido pelo consórcio Omnisys/Atech, que foi instalado e opera em Mogi das Cruzes/SP. O texto apresenta, de forma estruturada, os fatores relevantes que devem ser levados em consideração para o desenvolvimento de um projeto deste tipo. Como conclusões do texto, são apresentadas considerações com relação ao projeto, apontando pontos positivos e negativos do desenvolvimento. / A classical radar antenna is basically composed of a primary source mounted at the focal point of a parabolic reflector. The illumination rule is established so that the desired beam-shape is attained, as precisely as possible. The physical motion of the set guarantees the coverage of the desired volume of exploitation. The actual text studies the design and development of a servomechanism capable of supporting and positioning a radar antenna, within well-defined parameters and restrictions. The aims of the dissertation are: determination and study of relevant factors for the specification of a control system design for the positioning of a servodriven radar antenna; presentation of a servo-driven positioning control system design proposal; proposal of a consistent theoretical structural model of the radar antenna set for the purpose of dynamic simulation and modal analysis of the structure and; presentation of the implementation of the proposed control system in a real Engineering design project: a servo-driven weather radar antenna. The control propose was successfully employed at the Engineering Model of the Doppler weather radar RMD700S-1M, developed by the trust Omnisys/Atech, installed and operant at Mogi das Cruzes/SP. The text presents, in a structured form, all relevant factor that must be taken into account in the development of such design. The conclusions drawn at the end of the dissertation are considerations regarding the design, which point out faults and weak points of the development.

In this thesis, three control methodologies are proposed for suppressing multi-mode vibration in flexible structures. Controllers developed using these methods are designed to (i) be able to cope with large and sudden changes in the system's parameters, (ii) be robust to unmodelled dynamics, and (iii) have a fast transient response. In addition, the controllers are designed to employ a minimum number of sensor-actuator pairs, and yet pose a minimum computational demand so as to allow real-time implementation. A cantilever beam with magnetically clamped loads is designed and constructed as the research vehicle for evaluation of the proposed controllers. Using this set-up, sudden and large dynamic variations of the beam loading can be tested, and the corresponding changes in the plant's parameters can be observed. Modal testing reveals that the first three modes of the plant are the most significant and need to be suppressed. It is also identified that the first and third modes are spaced more than a decade apart in frequency. The latter characteristic increases the difficulty of effectively controlling all three modes simultaneously using one controller. To overcome this problem, the resonant control method is chosen as the basis for the control methodologies discussed in this thesis. The key advantage of resonant control is that it can be tuned to provide specific attenuation only at and immediately close to the resonant frequency of concern. Consequently, it does not cause control spillover to other modes owing to unmodeled dynamics. Because of these properties, a resonant controller can be configured to form a parallel structure with the objective of targeting and cancelling multiple modes individually. This is possible regardless of the mode spacing. In addition, resonant control requires only a minimum number of collocated sensor-actuator pairs for multi-mode vibration cancellation. All these characteristics make resonant control a suitable candidate for multi-mode vibration cancellation of flexible structures. Since a resonant controller provides negligible attenuation away from the natural frequencies that it has been specifically designed for, it is very sensitive to changes of a system's natural frequencies and becomes ineffective when these mode frequencies change. Hence, for the case of a dynamically loaded structure with consequent variations in mode frequencies, the resonant control method must be modified to allow tracking of system parameter changes. This consideration forms the theme of this thesis, which is to allow adaptive multi-mode vibration control of dynamically-loaded flexible structures. Three controller design methodologies based on the resonant control principle are consequently proposed and evaluated. In the first approach, all possible loading conditions are assumed to be a priori known. Based on this assumption, a multi-model multi-mode resonant control (M4RC) method is proposed. The basis of the M4RC approach is that it comprises a bank of known loading models that are designed such that each model gives optimum attenuation for a particular loading condition. Conceptually, each model is implemented as a set of fixed-parameter controllers, one for each mode of concern. In reality, each mode controller is implemented as an adjustable resonant controller that is loaded with the fixed-model parameters of the corresponding mode. The M4RC method takes advantage of the highly frequency-sensitive nature of resonant control to allow simple and rapid selection of the optimum controller. Identification of the set of resonant frequencies is implemented using a bank of band-pass filters that correspond to the mode frequencies of the known models. At each time interval a supervisor scheme determines for each mode which model has the closest frequency to the observed vibration frequency and switches the corresponding model controller output to attenuate the mode. Selection is handled on a mode-by-mode basis, such that for each mode the closest model is selected. The proposed M4RC is relatively simple and less computationally complex compared to other multi-model methods reported in the literature. In particular, the M4RC uses a simple supervisor scheme and requires only a single controller per mode. Other multi-model methods use more complex supervision schemes and require one controller per model. The M4RC method is evaluated through both simulation and experimental studies. The results reveal that the proposed M4RC is very effective for controlling multi-mode vibration of a flexible structure with known loading conditions, but is ineffective for unmodeled loading conditions. In the second approach, the assumption that all loading conditions are a priori known is relaxed. An adaptive multi-mode resonant control (ARC) method is proposed to control the flexible structure for all possible (including unknown) loading conditions. On-line estimation of the structure's natural frequencies is used to update the adaptive resonant controller's parameters. The estimation of the natural frequencies is achieved using a parallel set of second-order recursive least-squares estimators, each of which is designed for a specific mode of concern. To optimise the estimation accuracy for each mode frequency, a different sampling rate suitable for that mode is used for the corresponding estimator. Simulation and experiment results show that the proposed adaptive method can achieve better performance, as measured by attenuation level, over its fixed-parameter counterpart for a range of unmodeled dynamics. The results also reveal that, for the same sequences of known loading changes, the transient responses of the ARC are slower than those of the M4RC. In the third approach, a hybrid multi-model and adaptive resonant control is utilized to improve the transient response of the ARC. The proposed multi-model multi-mode adaptive resonant control (M4ARC) method is designed as a combination of the M4RC and ARC methods. The basis of the proposed method is to use the M4RC fixed-parameter model scheme to deal with transient conditions while the ARC adaptive parameter estimator is still in a state of fluctuation. Then, once the estimator has reached the vicinity of its steady-state, the adaptive model is switched in place of the fixed model to achieve optimum control of the unforeseen loading condition. Whenever a loading change is experienced, the simple M4RC supervisor scheme is used to identify the closest model and to load the adjustable resonant controllers with the fixed parameters for that model. Meanwhile, the mode estimators developed for the ARC method are used to identify the exact plant parameters for the modes of concern. As soon as these parameters stop rapidly evolving and reach their steady-state, they are loaded into the respective adjustable controllers. The same process is repeated whenever a loading change occurs. Given the simplicity of the M4ARC method and its minimal computation demand, it is easily applicable for real-time implementation. Simulation and experiment results show that the proposed M4ARC outperforms both the ARC with respect to transient performance, and the M4RC with respect to unmodeled loading conditions. The outcomes of this thesis provide a basis for further development of the theory and application of active control for flexible structures with unforeseen configuration variations. Moreover, the basis for the proposed multi-model adaptive control can be used in other areas of control (not limited to vibration cancellation) where fast dynamic reconfiguration of the controller is necessary to accommodate structural changes and fluctuating external disturbances.

The design of optimal strictly positive real (SPR) compensators using numerical optimization is considered. The plants to be controlled are linear and nonlinear flexible manipulators. For the design of SISO and MIMO linear SPR controllers, the optimization objective function is defined by reformulating the H2-optimal control problem subject to the constraint that the controllers must be SPR. Various controller parameterizations using transfer functions/matrices and state-space equations are considered. Depending on the controller form, constraints are enforced (i) using simple inequalities guaranteeing SPRness, (ii) in the frequency domain, or (iii) by implementing the Kalman-Yakubovich- Popov lemma. The design of a gain-scheduled SPR controller using numerical optimization is also considered. Using a family of linear SPR controllers, the time dependent scheduling signals are parameterized, and the objective function of the optimizer seeks to find the form of the scheduling signals which minimizes the manipulator tip tracking error while minimizing the control effort.