The work in this dissertation comprises aeroservoelastic simulation development, two modal filter design case studies and theoretical improvement of the modal filter. The modal filter is made robust to sensor bias. Studies have shown that the states estimated by the modal filter can be integrated into active structural control. The integration of modal filters into aircraft structural control systems is explored. Modal filters require distributed sensing to achieve accurate modal coordinate estimates. Distributed sensing technology has progressed to the point, where it is being tested on aircraft such as Ikhana and the upcoming X-56A. Previously, the modal filter was criticized for requiring too many sensors. It was never assessed for its potential benefits in aircraft control. Therefore it is of practical interest to reinvestigate the modal filter. The first case study shows that under conditions of sensor normality, the modal filter is a Gaussian efficient estimator in an aeroservoelastic environment. This is a fundamental experiment considering the fact that the modal filter has never been tested in the airflow. To perform this case study a linear aeroservoelastic code capable of modeling distributed sensing is developed and experimentally validated. From this code, a computational wing model is fitted with distributed sensing. A modal filtering design methodology is developed and applied. With distributed sensing and modal filtering feedback control is achieved. This is also compared and contrasted with a controller using state-of-the-art accelerometers. In addition, new methods of active shape control are introduced for warping an aeroelastic structure utilizing the modal filter and control surfaces. The next case study takes place in a realistic setting for an aircraft. Flexible aircraft bring challenges to the active control community. Increased gust loads, possibility of flutter, and off-design drag may detrimentally affect performance and safety. Aeroservoelastic tailoring, gust load alleviation (GLA) and active flutter suppression (AFS) may be required on future flexible air vehicles. It is found that modal filters can theoretically support these systems. The aircraft case study identifies additional steps required in the modal filtering design methodology. Distributed sensing, the modal filter and modal reference shape control are demonstrated on the X-56A flutter-unstable simulation model. It is shown that control of deformations at potentially millions of points on an aircraft vehicle can be achieved through control of a few modal coordinates. Finally modal filter robustness is theoretically improved and computationally verified. State-of-the-art modal filters have high bias sensitivity. In fact, this is so critical that state-of-the-art modal filters may never be certified for aircraft implementation. This is especially true within a flight critical control system. The solution to this problem is found through derivation of the robust modal filter. The filter combines good properties of concentration algorithms with robust re-descending M-estimation. A new trim criterion specific to the strain based modal sensing system is derived making the filter robust to asymmetric or leverage point outliers. Robust starts are introduced to improve convergence of the modal estimation system to the globally optimal solution in the presence of 100s of biased fiber optic sensors.

Submitted by Maria Medeiros (maria.dilva1@ufcg.edu.br) on 2018-08-20T14:23:35Z No. of bitstreams: 1 GLERYSTON THIAGO GOMES DA SILVA - DISSERTAÇÃO (PPGEM) 2017.pdf: 4116473 bytes, checksum: 5df445f57ab1b4d9326f681288378141 (MD5) / Made available in DSpace on 2018-08-20T14:23:35Z (GMT). No. of bitstreams: 1 GLERYSTON THIAGO GOMES DA SILVA - DISSERTAÇÃO (PPGEM) 2017.pdf: 4116473 bytes, checksum: 5df445f57ab1b4d9326f681288378141 (MD5) Previous issue date: 2017-05-03 / Capes / O presente trabalho avalia a adesão entre fios e fitas de uma liga com memória de forma (LMF) de Ni-Ti e uma borracha de silicone, para o desenvolvimento de estruturas flexíveis. A avaliação da adesão foi realizada através de ensaios de extração (Pull Out). Para realização dos ensaios, foram produzidos seis tipos de corpos de prova (CPs) em que os fios e as fitas foram embebidos em uma matriz de borracha de silicone. Primeiramente, as fitas foram obtidas laminando a frio fios de Ni-Ti superelástico. Após a laminação as fitas foram submetidas a tratamento térmico em temperaturas e tempos diferentes, a fim de obter dois tipos de fitas: uma com característica de superelasticidade (SE) e outra com o efeito memória de forma (EMF). Um promotor de adesão Dow Corning 1200 Primer foi aplicado nas superfícies dos fios e das fitas para aumento da adesão. Os fios e as fitas de Ni-Ti e a borracha de silicone foram individualmente caracterizados por Calorimetria Exploratória Diferencial (DSC), Análise Dinâmico-Mecânica (DMA) e tração uniaxial, analisando o comportamento do fator de amortecimento, módulo de elasticidade, tensões de transformação e temperaturas de transformação de fase. O ensaio de carregamento – descarregamento em tração na borracha de silicone também foi realizado para analisar a presença do efeito Mullins. Para verificação qualitativa do aumento da rugosidade e da adesão geradas pelo processo de laminação e pela aplicação do primer, respectivamente, foram realizadas imagens por Microscopia Eletrônica de Varredura (MEV) e Espectroscopia de Energia Dispersiva (EDS) nos fios e nas fitas de Ni-Ti antes e após o ensaio de extração (Pull Out). A partir dos resultados obtidos, observa-se que o fio superelástico e as fitas de Ni-Ti laminadas e tratadas termicamente sem aplicação do primer não apresentam adesão suficiente para o desenvolvimento de estruturas flexíveis compostas por borracha de silicone e elementos atuadores como fios e fitas de Ni-Ti, sendo necessária a aplicação de um promotor de adesão (primer) nas superfícies das LMF. / The present work evaluates the adhesion between Ni-Ti Shape Memory Alloy (SMA) wires and ribbons embedded into a silicone rubber, for the development of flexible structures. Adhesion evaluation was performed through pullout tests. To perform the tests, six types of specimens were produced, in which the wires and ribbons were embedded in a silicone rubber matrix. Firstly, the ribbons were obtained by cold rolling of a superelastic Ni-Ti wire. After the cold rolling, the ribbons were subjected to heat treatment at different temperatures and times in order to obtain two types materials: one with Superelasticity (SE) property and other with Shape Memory Effect (SME). A Dow Corning 1200 Primer adhesion promoter was applied to the surfaces of the wires and ribbons to improve adhesion. Ni-Ti wire and ribbons and silicone rubber were characterized by Differential Scanning Calorimetry (DSC), Dynamic-Mechanical Analysis (DMA) and uniaxial tensile tests, to obtain loss factor behavior, elastic modulus, tensile stress transformations and phase transformation temperatures. Analysis of tensile loading - unloading test on silicone rubber was also performed to evaluate the presence of the Mullins effect. For the qualitative verification of the roughness and adhesion improvement, generated by the cold rolling process and the application of the primer, respectively, images of Scanning Electron Microscopy (SEM) and Dispersive Energy Spectroscopy (EDS) in the Ni- Ti wire and ribbons were performed before and after the pullout tests. The obtained results indicate that the Ni-Ti superelastic wires and heat treated cold rolled ribbons without primer do not present sufficient adhesion for the development of silicone rubber flexible structures with embedded Ni-Ti wires and ribbons, requiring the application of an adhesion promoter (primer) on the surfaces of the SMA.

Orientador: Alberto Luiz Serpa / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica / Made available in DSpace on 2018-08-06T08:29:26Z (GMT). No. of bitstreams: 1 SarraciniJunior_Fernando_M.pdf: 6793847 bytes, checksum: effab2db853f18298e45c0a677c2ee50 (MD5) Previous issue date: 2006 / Resumo: A implementação de controladores de ordem reduzida (fixa) demanda um menor esforço de processamento e consequentemente recursos de hardware menos sofisticados em relação à implementação de controladores de ordem completa. Este trabalho mostra que a implementação prática de controladores H 00 de ordem fixa voltados para o controle de estruturas flexíveis é factível. A obtenção de tais controladores é um problema considerado difícil por ser nãoconvexo. Para contornar as dificuldades numéricas de obtenção dos controladores de ordem fixa, uma combinação do método Lagrangiano Aumentado com Desigualdades Matriciais Lineares (LMls) é utilizada. Uma estrutura de viga com engaste em uma de suas extremidades é modelada através do método de Elementos Finitos. Controladores Hoc de ordem fixa e de ordem completa são projetados com base em um modelo matemático truncado. Incertezas de modelagem e a presença de modos próximos na região de frequência de interesse dificultam a obtenção de controladores que garantam a estabilidade e um desempenho satisfatório. Para contornar estas dificuldades, usa-se a técnica de controle robusto Hoo e filtros de ponderação. Dessa forma, procura-se minimizar o efeito das incertezas e evitar que modos que não foram considerados durante a fase de projeto dos controladores não sejam excitados, garantido assim a não ocorrência do fenômeno denominado spillover. Controladores Hoo de ordem completa e ordem fixa são implementados na prática e os resultados experimentais são comparados com resultados simulados / Abstract: The implementation of reduced (fixed ) order controllers requires a smaller computational effort and. consequently, less advanced hardware resources in relation to the implementation of full order controllers. This work shows that the practical implementation of fixed order Hoo controllers directed toward the control of flexible structures is viable. Obtaining such controllers is considered a difficult task for being a non-convex problem. To overcome the numerical difficulties of attainment of fixed order controllers, a combination of the Lagrangian method increased with Linear Matrix Inequalities (LMIs) is used. A cantilever beam is modelled with the Finite Element Method. Fixed and full order controllers are designed based on a truncated mathematical model. Modelling uncertainties and the existence of near modes in the frequency range of interest make difficult the attainment of controllers that assure the stability and the performance of the system. To overcome this difficulty, the robust Hoo control and weighing filters are used. In this way, it is desired to minimize the effect of uncertainties and avoid the excitement of non-modelled modes, assuring that the spillover phenomenon does not occur. Full order and fixed order H x controllers are implemented in the practice and the experimental results are compared with the simulated results / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

Orientador: Paulo Roberto Gardel Kurka / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica / Made available in DSpace on 2018-08-23T11:40:22Z (GMT). No. of bitstreams: 1 Izuka_JaimeHideo_D.pdf: 4550690 bytes, checksum: d283c500cecbc7a038784ba35f0f73df (MD5) Previous issue date: 2013 / Resumo: A utilização de braços manipuladores flexíveis em veículos de exploração foi o motivador deste trabalho. Estas estruturas têm como vantagens a sua massa reduzida e a capacidade de suportar grandes deformações sem que o limite de elasticidade seja excedido. O controle das vibrações de sua extremidade livre é essencial para uma aplicação prática. Neste contexto, este trabalho tem como objetivo a determinação de um modelo dinâmico para uma estrutura longa e flexível, visando o seu controle de vibração. A estrutura considerada possui seção variável, semelhante a uma viga telescópica. Considera-se ainda que a estrutura esteja sujeita a uma grande deformação causada pelas ações de tendão de tração, peso próprio e cargas concentradas. O modelo dinâmico consiste na adaptação de uma malha de elementos finitos de baixa ordem à configuração da linha de deformação estática da viga. A vibração a ser controlada consiste das pequenas oscilações que ocorrem em torno da posição de equilíbrio da viga deformada. O modelo dinâmico encontrado para a estrutura é utilizado no projeto de um controlador de vibrações, ativado por forças exercidas no tendão de tração, responsável pela deformação estática da própria viga. Comparações com a literatura, bem como resultados experimentais comprovam a validade do modelo empregado para a caracterização do sistema. Simulações numéricas mostram o sucesso de uso do modelo no projeto de um controlador ativo de vibrações / Abstract: The use of flexible manipulator arms in exploration vehicles was the motivation of this work. The advantages of such structures are their light weight and the capability to withstand large displacements without exceeding their specified elastic limit. The control of vibrations of its free end is essential for a practical application. In this context, the objective of this study is to determine a dynamic model for a long and flexible structure, aiming its vibration control. The structure has a variable section, similar to a telescopic beam. Large deformation behavior of the structure is considered. Concentrated loads, self-weight of the structure and tendon traction are the loads applied to the structure. The model dynamics is described by a low order finite element mesh, which is adapted to the geometry defined by the static deformation of the beam. The vibrations to be controlled are the small oscillations about the equilibrium position of the deformed beam. The dynamic model found for the structure is applied to design an active vibration controller. The controller forces are applied though the tendon traction cables, which is also responsible for the static deformation of the beam itself. Comparison with literature as well as experimental results prove the validity of the model used to characterize the system. Numerical simulations show the success of using the model in the design of an active vibration controller / Doutorado / Mecanica dos Sólidos e Projeto Mecanico / Doutor em Engenharia Mecânica

Brittleness of a polymeric material has a direct relationship with the material's performance and furthermore shares an inverse relationship with that material's flexibility. The concept of flexibility of materials has been understood but merely explained with a hand-waving manner. Thus, it has never been defined by a calculation, thereby lacking the ability to determine a definite quantitative value for this characteristic. Herein, an equation is presented and proven which makes determining the value of flexibility possible. Such an equation could be used to predict a material's flexibility prior to testing it, thus saving money and valuable time for those in research and in industry. Substantiating evidence showing the relationship between flexibility of polymers and their respective mechanical properties is presented. Further relating the known tensile properties of a given polymer to its flexibility is expanded upon by proving its relationship to the linear coefficient of thermal expansion for each polymer. Additionally, determining flexibility for polymers whose chemical structures have been compromised by respective solvents has also been investigated to predict a solvent's impact on a polymer after exposure. Polymers examined through literature include polycarbonate (PC), polystyrene (PS), teflon (PTFE), styrene acrylonitrile (SAN), acrylonitrile butadiene styrene (ABS), poly(ethersulfone) (PES), low density polyethylene (LDPE), polypropylene (PP), poly(methyl methacrylate) (PMMA), and poly(vinylidene fluoride) (PVDF). Further testing and confirmation was made using PC, PS, ABS, LDPE, PP, and PMMA.

No description available.

No description available.

[pt] Identificação paramétrica de sistemas mecânicos é uma das principais aplicações das técnicas de identificação de sistemas na Engenharia Mecânica, especificamente para a identificação de parâmetros modais de estruturas flexíveis. Um dos principais problemas na identificação é a presença de ruido nas medições. Este trabalho apresenta uma análise na presença de ruído de alguns dos métodos no domínio do tempo aplicáveis na identificação de parâmetros modais de sistemas mecânicos lineares invariantes no tempo com múltiplas entradas e múltiplas saídas (MIMO), usando como base o modelo em espaço de estados tipicamente usado em Dinâmica e Vibrações. Os algoritmos de subespaço envolvidos neste estudo destacam-se pela utilização da decomposição em valores singulares (SVD) dos dados, obtendo subespaços ortogonais dos modos associados ao sistema e dos modos associados ao ruído. Outros complicadores no processo de identificação que serão explorados neste trabalho são: flexibilidde e baixo amortecimento. Comparam-se as técnicas usando o modelo no espaço de estado da estrutura Mini- mast desenvolvida pela NASA Langley Research Center e simulações são feitas variando o nível de ruído nos dados, o amortecimento e a flexibilidade da estrutura. O problema de identificação de parâmetros estruturais (matrizes de massa, rigidez e amortecimento) também é estudado, as características e limitações dos algoritmos utilizados são analisados. Como exemplo de aplicação prática, um experimento foi realizado para identificar os parâmetros modais e estruturais de um rotor flexível e os resultados são discutidos. / [en] Parametric identification of mechanical systems is one of the main applications of the system identification techniques in Mechanical Engineering, specifically for the identification of modal parameters of flexible structures. One of the main problems in the identification is the presence of noise in the measurements. This work presents an analysis in the presence of noise of some of the time domain methods applicable in modal parameters identification of linear time-invariant mechanical systems with multiple inputs and multiple outputs (MIMO), using as base the state-space model typically used in Dynamics and Vibrations. The subspace algorithms involved in this study are distinguished for the use of the singular values decomposition (SVD) of the data, obtaining ortogonal subspaces of the modes associates to the system and of the modes associates to the noise. Other complicators in the identification process that will be explored in this work are: flexibility and low damping. The techniques are compared using the state-space model of the Mini-mast structure developed for NASA Langley Research Center and simulations are made varying the level of noise in the data, the damping and the flexibility of the structure. The problem of identification of structural parameters (mass, stiffness and damping matrices) also is studied, the characteristics and limitations of the used algorithm is analyzed. As example of practical application, an experiment was made to identify the modal parameters of a flexible rotor and the results are discussed.

Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the models and control methods in order to fulfil all conflicting requirements, such as increased performance for a robot with lower weight, and thus lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are lower power consumption, improved dexterity, safety issues, and low environmental impact. This thesis deals with three different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. This work describes identification, feedforward control, and feedback control, using this model. The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot. The inverse dynamics control problem is discussed, and a solution methodology is proposed. This methodology is based on a differential algebraic equation (DAE) formulation of the problem. Feedforward control of a two-axes manipulator is then studied using this DAE approach. Finally, a benchmark problem for robust feedback control of a single-axis extended flexible joint model is presented and some proposed solutions are analyzed.

<p>Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the models and control methods in order to fulfil all conflicting requirements, such as increased performance for a robot with lower weight, and thus lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are lower power consumption, improved dexterity, safety issues, and low environmental impact.</p><p>This thesis deals with three different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. This work describes identification, feedforward control, and feedback control, using this model.</p><p>The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot.</p><p>The inverse dynamics control problem is discussed, and a solution methodology is proposed. This methodology is based on a differential algebraic equation (DAE) formulation of the problem. Feedforward control of a two-axes manipulator is then studied using this DAE approach.</p><p>Finally, a benchmark problem for robust feedback control of a single-axis extended flexible joint model is presented and some proposed solutions are analyzed.</p>