This thesis documents the development of a novel nonlinear controller for servo pneumatic actuators that give good reference tracking at low speed motion, where friction has strong effect to the system behaviors. The design of the nonlinear controller presented in this thesis is based on the formalism of Lyapunov stability theory. The controller is constructed through a dynamical adaptive backstepping-sliding mode control algorithm. The conventional Lyapunov-based control algorithm is often limited by the order of the dynamical system; however, the backstepping design concept allows the control algorithm to be extended to higher order dynamical systems. In addition, the friction is estimated on-line via the Lyapunov-based adaptive laws embedded in the controller; meanwhile, the sliding mode control provides high robustness to the system parameter uncertainties. The simulation results clearly demonstrating the improved system performance (i.e., fast response and the reduced tracking error) are presented. Finally, the integration of the controller with a Lyapunov-based pressure observer reduces the state feedback of the servo pneumatic actuator model to only the piston displacement.

No description available.

No description available.

Within pressurised Metered Dose Inhalers (pMDIs) the contact between the valve components and elastomeric seals is of major significance, representing the main contributory factor to the overall system frictional characteristics. Therefore, the seal performance is extremely important and must be optimised to meet the contradictory requirements of preventing leakage and allowing smooth actuation. The environmentally driven trend to HFA formulations as opposed to CFC based ones has deteriorated this problem due to poor lubrication conditions and it has, consequently, increased the frictional losses during the pMDI actuation (hysteresis cycle). Research has been conducted into the key areas of the inhaler mechanism. As such, the contact pressure distribution and resulting reactions have been investigated, with emphasis on the correct treatment of the elastomer (seal) characteristics. The modelling of the device has been conducted within the environment of the multibody dynamics commercial software ADAMS, where a virtual prototype has been built using solid CAD geometries of the valve components. An equation was extrapolated to describe the relation between the characteristics of the ultra thin film contact conditions (sliding velocity, surface geometry, film thickness and reaction force) encountered within the inhaler valve and integrated into the virtual prototype allowing the calculation of friction within the conjuncture (due to viscous shear and adhesion). The latter allowed the analysis and optimisation of key device parameters, such as seal geometry, lubricant properties etc. It has been concluded that the dominant mechanism of friction is adhesion, while boundary lubrication is the prevailing lubrication regime due to the poor surface roughness to film thickness ratio. The multibody dynamics model represents a novel multi physics approach to study the behaviour of pMDIs, including rigid body inertial dynamics, general elasticity, surface interactions (such as adhesion), hydrodynamics and intermolecular surface interactions (such as Van der Waals forces). Good agreement has been obtained against experimental results at component and device level.

Experimental thermal-hydraulic study of a rectangular supercritical CO2 natural-circulation loop with a horizontal heated channel was conducted at different steady-state conditions. These included different system pressures and three different inlet temperatures, with different inlet and outlet valve openings. Approximately, 450 experimental steady-state data-points were collected. The data include measurements of pressure-drop along the heated channel, pressure-drop across inlet and outlet valves, applied heat on the heated channel, pressure, temperature and flow-rate. Steady-state curves of mass flow-rate versus power, outlet temperature versus power, and detailed information of frictional pressure drop and local head loss coefficients were produced. Comparison showed that for the available experimental set-up, computed frictional pressure-drops fell within 1-1.20 of the Blasius formula prediction. Moreover, flow oscillations were observed in several cases when outlet temperature of CO2 was higher than the pseudo-critical temperature on the negative slope part of the mass flow-rate versus power curve.

This thesis presents the design, analysis, and numerical and experimental evaluation of nonlinear controllers for co-operation among several hydraulic robots operating in the presence of significant system uncertainties, non-linearities and friction. The designed controllers allow hydraulically driven manipulators to (i) co-operatively handle a rigid object (payload) following a given trajectory, (ii) share the payload and (iii) maintain an acceptable internal force on the object. A general description of the kinematic and dynamic relations for a hydraulically actuated multi-manipulator system is presented first. The entire mathematical model incorporates object dynamics, robot dynamics, hydraulic actuator functions and friction dynamics. For the purpose of simulations, a detailed numerical simulation program of such a system is also developed, in which two three-link planar robot manipulators resembling the Magnum hydraulic manipulators manufactured by ISE, interact with each other through manipulating a common object. The regulating control problem is studied next, in which the desired position of the object and the corresponding desired link displacement change step-wise. Initially, a controller is designed based on a backstepping technique, assuming that full knowledge of the dynamics and kinematics of the system is available. The assumption is then relaxed and the control system is analyzed. Based on the analysis, the controller is then modified to account for the uncertainty of the payload, robot dynamic parameters and hydraulic functions. Next, the regulating controller is extended to a tracking controller, which allows the object to follow a given trajectory and is robust against parameter uncertainties. Additionally, an observer is added to the controller to avoid the need of acceleration feedback. To investigate the effect of friction force, the above controllers are examined by introducing the most recent and complete LuGre friction model into the system dynamics. The tracking controller is then redesigned to compensate the effect of friction. Observers are designed to observe the immeasurable friction states. Based on the observed friction states and estimated friction parameters, an appropriate friction compensation scheme is designed which does not directly use velocity in order to avoid the need of acceleration feedback by the controller. Finally, the problem of “explosion of terms” coming from the backstepping method is solved by using the concept of dynamic surface control in which a low pass filter is integrated to avoid model differentiation. Simulations are carried out for analysis of the control system and verification of the developed controllers. Experimental examinations are performed on an available hydraulic system consisting of two single-axis hydraulic actuators.

An experimental study was carried out to determine the effect of compaction on arching of wheat flour in storage. A model bin 475 mm in height and 600 mm × 375 mm in cross-section was used to conduct tests and wheat flour at moisture contents (MC) of 8.6% and 14.2% was tested. Direct shear tests were performed to determine the angle of internal friction and cohesion of wheat flour subjected to various compaction pressures. It was observed that the internal friction angles were about the same for the wheat flour at two moisture contents (37.1 vs. 37.5), but cohesion for 14.2% MC was 32% higher than that for 8.6% MC. The flowability of wheat flour decreased with increasing compaction pressure sharply at the initial stage of compaction. Compaction led to a 64% increase in required hopper opening for arching-free flow for flour at 8.6% MC, and 49% at 14.2% MC. However, compaction pressure had little effect on arch formation after it reached above 5 kPa.

This thesis documents the development of a novel nonlinear controller for servo pneumatic actuators that give good reference tracking at low speed motion, where friction has strong effect to the system behaviors. The design of the nonlinear controller presented in this thesis is based on the formalism of Lyapunov stability theory. The controller is constructed through a dynamical adaptive backstepping-sliding mode control algorithm. The conventional Lyapunov-based control algorithm is often limited by the order of the dynamical system; however, the backstepping design concept allows the control algorithm to be extended to higher order dynamical systems. In addition, the friction is estimated on-line via the Lyapunov-based adaptive laws embedded in the controller; meanwhile, the sliding mode control provides high robustness to the system parameter uncertainties. The simulation results clearly demonstrating the improved system performance (i.e., fast response and the reduced tracking error) are presented. Finally, the integration of the controller with a Lyapunov-based pressure observer reduces the state feedback of the servo pneumatic actuator model to only the piston displacement.

No description available.

A scanning reference electrode technique (SRET) apparatus has been designed and commissioned to investigate the corrosion of friction stir spot welds (FSSW) made in AZ31 magnesium alloys. The operational parameters of the apparatus have been calibrated to give good spatial resolution. By combining the SRET data with material flow data and immersion test data it was found that the FSSW process caused the formation of distinct noble and active regimes within the weld area. The noble region was aligned with the stir zone (SZ) and was caused by a dynamically recrystallized grain structure which is void of dislocations / twins, and β Mg17Al12. Localized corrosion attack was observed in both SRET and immersion testing along the thermo-mechanically affected zone (TMAZ). The same effect was consistently observed with a flat versus concave shoulder tool, and dwell times of 1s and 4s.