På överhettartuber i värmepannor bildas beläggningar på grund av sot och partiklar från förbränningen. Beläggningarna isolerar överhettartuberna vilket försämrar värmepannans verkningsgrad. Sotning av tuberna sker under drift och ett system som automatiskt kan beräkna hur mycket beläggningar som finns på tuberna skulle kunna göra sotningen mer behovsstyrd.Resonansfrekvenser hos överhettartuberna påverkas av masspåslaget som blir när beläggningar bildas. En förändring i frekvens kan då översättas till en förändring i massa. Vibrationsmätningar har gjorts med töjningsgivare som är monterade på överhettartuber i en av Ryaverkets pannor och i SAKAB:s panna. I detta examensarbete har syftet varit att analysera olika metoder för att skatta resonansfrekvenser i genomförda mätningar. Algoritmerna MUSIC, ESPRIT och AR samt en heuristisk statistisk metod har testats på genererade signaler. MUSIC och ESPRIT har givit bäst skattningar och har därefter använts för att analysera mätningarna. Periodvis följer vissa skattningar av mätningar från Ryaverket trender mellan sotningarna vilket indikerar att det skulle kunna vara resonansfrekvenser. Annars innehåller skattningarna för mycket variationer. Skattningarna av mätningar från SAKAB:s panna är gjorda under en kortare tidsperiod men visar en tydligare trend som troliggör att det är resonansfrekvenser som detekterats.För att automatiskt hitta och följa resonansfrekvenser i skattningarna, även om dessa innehåller stora variationer, har en målföljningsalgoritm implementerats. Algoritmen hittar skattningar som följer en förväntad trend mellan sotningarna. Tester visar att algoritmen hittar troliga resonansfrekvenser i skattningarna men att det är svårt att kunna dra några slutsatser om skattningarna varierar för mycket. Bättre signaler skulle kunna minska variationerna hos skattningarna. Ett förslag presenteras hur MUSIC eller ESPRIT tillsammans med en målföljningsalgoritm skulle kunna användas för att beräkna masspåslag på överhettartuberna. / Combustion in thermal power plants emits particles which create coatings on the super heater tubes. The coatings insulate the tubes and impairs the efficiency of the heat transfer. Cleaning the tubes occurs while the power plant is running and a system that automatically calculates the amount of coatings could make the cleaning more needs-based. The resonance frequencies of the super heater tubes are affected by the added mass of the coatings. A change in frequency corresponds to a change in mass. Vibration measurements have been made with strain gauges on the super heater tubes in Ryaverket's power plant and in one of SAKAB's power plants. The purpose of this thesis work has been to analyse different methods to estimate resonance frequencies in the vibration measurements. ESPRIT, MUSIC, AR and a heuristic statistical method have been tested on generated signals. MUSIC and ESPRIT have given the best estimations and have thus been used to analyse the measurements. Periodically some estimations of measurements from Ryaverket are following trends which indicates that they could be resonance frequencies. The rest of the estimations contain too large variations. The estimations made of the measurements from SAKAB have been made during a shorter time period but shows clearer trends which make them probable resonance frequencies.To automatically trace resonance frequencies in the estimations, even though they contains large variations, a target tracking algorithm has been implemented. The algorithm finds estimations that follows expected trends between the cleaning periods. Tests shows that the target tracking algorithm finds probable resonance frequencies in the estimations but that it is hard to reach a conclusion if they contain large variations. Better measurements could give estimations with smaller variations.An idea is presented where MUSIC or ESPRIT together with a target tracking algorithm could be used to calculate the amount of coatings on the super heater tubes.

This master’s thesis work was performed at Volvo Powertrain in Köping, Sweden, which manufactures gearboxes and integrated transmission systems for heavy vehicles. The thesis is a continuation of a previous master’s thesis performed at the Köping factory in 2009. After manufacturing and assembly, each gearbox is manually validated to ensure the gearbox quality and functionality. When validating the gearbox gears, the operator shifts the gearbox in a predefined manner and listens for irregularities. If an error sound is heard the operator must then locate the source of error. With numerous of cog wheels rotating at the same time this task requires extensive knowledge and experience of the operator. The main objective is to develop an automatic diagnostic system for detection of cog errors and assist the operator in the process of locating the faulty component. The work consists of two parts. In the first part the automatic diagnostic system is developed and a database of gearbox recordings is stored. The amounts of logged non-faulty gearboxes are significantly much larger (50) than the logged faulty gearboxes (1). Therefore, when determining thresholds needed for the diagnosis, the data obtained from the non-faulty gearboxes are used. Two statistical methods are presented to extract the thresholds. The first method uses an extremevalue distribution and the other method a Gaussian distribution. When validated, both methods did successfully detect on cog faults. In the second part an investigation is made of how shaft imbalance can be detected and implemented in the developed system. Volvo Powertrain continually follows-up all faults found at the validation station to ensure the quality of their work and eliminate the sources of error. During system testing one logged gearbox was found faulty. The automatic diagnostic system did successfully detect and locate the faulty component which later also was confirmed when the gearbox was dismounted. With only one detected error it is difficult to conclude the system performance and further testing is required. However, during the testing no false detections were made.

Torsional vibration is an oscillatory angular twisting motion in the rotating members of a system. It can be deemed quite dangerous in that it cannot be detected as easily as other forms of vibration, and hence, subsequent failures that it leads to are often abrupt and may cause direct breakage of the shafts of the drive train. The need for sufficient analysis during the design stage of a rotating machine is, thus, well justified in order to avoid expensive modifications during later stages of the manufacturing process. In 1998, a project was initiated by the Turbomachinery Research Consortium (TRC) at Texas A&M University, College Station, TX, to develop a suite of computer codes to model torsional vibration of large drive trains. The author had the privilege of developing some modules in Visual Basic for Applications (VBA-Excel) for this suite of torsional vibration analysis codes, now collectively called XLTRC-Torsion. This treatise parleys the theory behind torsional vibration analysis using both the Transfer Matrix approach and the Finite Element approach, and in particular, validates the results generated by XLTRC-Torsion based on those approaches using experimental data available from tests on a 66,000 HP Air Compressor.

Στην παρούσα διπλωματική εργασία γίνεται περιγραφή του ηλεκτρικού κινητήριου συστήματος της Πατραϊκής Χαρτοποιίας αποτελούμενο από κινητήρες συνεχούς ρεύματος για την παραγωγή χαρτιού "tissue". Επίσης παρουσιάζεται η σχεδίαση συστήματος καταγραφής βλαβών σε περιστρεφόμενες μηχανές μέσω της ανάλυσης φάσματος κραδασμών στο πλαίσιο της εφαρμοσμένης μεθόδου παρακολούθησης κραδασμών της προβλεπτικής συντήρησης. / In the current diploma thesis takes place a description of the electric motor drive system of Patraikh Xartopoiia which consist of direct current machines for the production of tissue type paper. Furthermore the design of damage recording system in rotating motors through vibration analysis is presented in the line of vibration monitoring applied method.

In this thesis, the redundancy resolution and failure analysis of Cable-Driven Parallel Manipulators (CDPM) are investigated. A CDPM consists mainly of a Mobile Platform (MP) actuated by cables. Cables can only apply force in the form of tension. So, to design a fully controllable CDPM, the manipulator has to be redundantly actuated (e.g., by using redundant cables, external force/moment or gravity). In this research, the redundancy resolution of planar CDPMs is investigated at the kinematic and dynamic levels in order to improve the manipulator safety, reliability and performance, e.g., by avoiding large tension in the cables that may result in high impact forces, and avoiding large MP velocities that may cause instability in the manipulator, or on the contrary, by increasing the cable tensions and the stiffness for high-precision applications. The proposed approaches are utilized in trajectory planning, design of controllers, and safe dynamic workspace analysis where collision is imminent and the safety of humans, objects and the manipulator itself are at risk. The kinematic and dynamic models of the manipulator required in the design and control of manipulators are examined and simulated under various operating conditions and manufacturing automation tasks to predict the behaviour of the CDPM. In the presented research, some of the challenges associated with the redundancy resolution are resolved including positive tension requirement in each cable, infinite inverse dynamic solutions, slow-computation abilities when using optimization techniques, failure of the manipulator, and elasticity of cables that has a significant role in the dynamics of a heavy loaded manipulator with a large workspace. Optimization-based and non-optimization-based techniques are employed to resolve the redundancy of CDPM. Depending on the advantages and disadvantages of each method, task requirements, the used redundancy resolution technique, and the objective function suitable optimization-based and non-optimization-based routines are employed. Methodologies that could combine redundancy resolution techniques at various levels (e.g., position, velocity, acceleration, and torque levels) are proposed. / Thesis (Ph.D, Mechanical and Materials Engineering) -- Queen's University, 2012-09-26 22:39:34.35

With a new range of water jet assemblies under development, CWF Hamilton & Co. Ltd. highlighted the need to establish a validated model for predicting critical speeds. A review of the relevant literature revealed a significant lack of information concerning the operating properties of a lightly loaded, water lubricated marine bearing. Therefore, an instrumented test rig based on a CWF Hamilton & Co. Ltd. ‘HJ364’ water jet assembly was established to evaluate critical speeds and validate the predictive models. A number of analytical and numerical models for predicting critical speeds were investigated. Geometric modifications were made to the test rig and the changes in critical speeds were observed. The ability of the predictive models to measure these observed critical speeds was examined. Driveline mass and driveline overhang were found to have the most significant effects on critical speeds. Modifications to the thrust bearing housing, the impeller mass, the tailpipe stiffness and the marine bearing resulted in no significant shift in critical speeds. However, a change to the geometry of the thrust bearing resulted in a significant shift. This indicated that the thrust bearing was not performing ideally in the test rig. All three models predicted changes in critical speeds relatively accurately. However, the estimates of the critical speeds themselves were somewhat conservative; approximately 10 to 15 percent lower than those measured. Linearisation of the thrust bearing geometry is recommended if greater accuracy is to be achieved. Of all the predictive methods, the Myklestad-Prohl transfer-matrix and the Isolated-Mainshaft finite-element were deemed to be the most flexible and suitable for CWF Hamilton & Co. Ltd.

Muscle strength is assumed to be closely related with BMD, the so called determinant of bone strength, however, new methods for bone strength measurement are arising. The purpose of this study was to determine the relationship between bone mineral density (BMD), muscle strength and natural frequency of the radius in the dominant and non-dominant arm in healthy and osteopenic individuals aged between 50-70 years. Sixty sedentary male (thirty healthy and thirty osteopenic) participated this study. Bone mineral density assessment was performed by dual x-ray absorbtiometry (DEXA) and quantitative computed tomography (QCT), whereas muscle strength was measured by an isokinetic dynamometer quantitatively. Natural frequency of the radius was determined by a dual channel frequency analyzer. Differences between BMD, muscle strength and natural frequency in healthy and osteopenic participants according to dominancy were examined by Analysis of Variance (ANOVA). Pearson Product Correlation Coefficient test was conducted to determine the magnitude of the correlation between cortical, trabecular and average BMD, muscle strength and natural frequency. Results demonstrated a statistically significant difference between BMD, natural frequency and muscle strength in the dominant arm of both groups. There was also a significant difference in the non-dominant arm in terms of BMD, natural frequency and muscle strength, except in total work in the non-dominant arms. Moreover, there was a moderate positive correlation between BMD measured by DEXA and natural frequency in the dominant arm (r = ,59 / p &lt / .001) and non-dominant arm (r = 0,64 / p &lt / 0.001), whereas the muscle strength was correlated to BMD with a low positive correlation in terms of peak torque in extension (r = ,36 / p = ,005), peak torque in flexion (r = ,31 / p = ,016), total work in extension (r = ,28 / p = ,030) and total work in flexion (r = ,27 / p = ,041) in the dominant arms. The correlation between muscle strength and BMD was not significant in the non-dominant arm. The highest correlation between natural frequency and bone geometry parameters was observed in cortical thickness (r = ,82 / p = ,02). A statistically significant positive correlation (r = ,81 / p = ,04) was also observed between average BMD measured by QCT and by DEXA. In summary, according to the findings of this study, it can be concluded that vibration analysis is a precise method in predicting bone strength that depends highly on its size, shape and the distribution of its trabecular and cortical components.

This research investigates possible monitoring methods to non-invasively detect blockages in the cyclone of milk powder spray driers to avoid costly production shutdowns. Two possible solutions have been identified. These are guided wave and vibration analysis. This research focuses on vibration analysis method, based on variation in the natural frequencies and/or damping ratios caused by blockages. Experimental simulation studies the performance to assess the viability of the vibration analysis method in identifying blockage in the cyclone. To test this method, a 1.87m long vertical cylindrical steel tube with both ends simply supported was setup as a prototype and flour was used as the powder conveyed by the tube. Analytical, numerical and experimental methods were implemented on the prototype using vibration analysis techniques. Experimental resonant frequencies of the empty shell from the impact hammer excitation were compared with analytical and numerical solutions to analyse the modal shapes. The first bending mode was determined as 79 Hz, which decreased with the amount of added mass and location closer to the middle point. This was validated by the simulated mass experiment, which also matched with the beam-mass theory. Flour induced experiment further validated the variation of the first bending mode. Experimental 270Hz, 380Hz and 398Hz resonant frequencies increased with the amount of added mass, which was validated by the simulated mass and flour induced experiment. Besides the variation of the natural frequencies, the damping ratio was also studied and quantified using the Hilbert transform envelope curve method. Onsite monitoring of the vibration of the cyclone in a spray dryer was done at Fonterra Te Rapa and clear resonant frequencies were obtained. The research results from the prototype demonstrate that vibration analysis as a non-destructive method to detect the milk powder deposition or blockage in the cyclone is possible and promising. However, more work is required before industry application.

Vibration-based fault diagnosis (FD) with a simple spectrum can be complex, especially when considering FD of rotating machinery with multiple bearings like a multi-stage turbine. Various studies have sought to better interpret fault spectra, but the process remains equivocal. Consequently, it has been accepted that the simple spectra requires support from additional techniques, such as orbit analysis. But even orbit analysis can be inconclusive. Though promising, attempts at developing viable methods that rival the failure coverage of spectrum analysis without gaining computational complexity remain protracted. Interestingly, few researchers have developed FD methods for transient machine operation, however, these have proven to be involved. Current practices limit vibration data to a single machine, which usually requires a large unique data history. However, if sharing of data between similar machines with different foundations was possible, the need for unique histories would be mitigated. From readily available works, this has not been encountered. Therefore, a simple but robust vibration-based approach is warranted. In light of this, a novel on-bearing vibration response integration approach for condition monitoring of shaft-related faults irrespective of speed and foundation type is proposed in the present study. Vibration data are acquired at different speeds for: a baseline, unbalance, bow, crack, looseness, misalignment, and rub conditions on three laboratory rigs with dynamically different foundations, namely: rigid, flexible support 1 (FS1) and flexible support 2 (FS2). Testing is done on the rigid rig set up first, then FS1, and afterwards FS2. Common vibration features are computed from the measured data to be input to the proposed approach for further processing. First, the proposed approach is developed through its application to a machine at a steady speed in a novel Single-speed FD technique which exploits a single vibration sensor per bearing and fusion of features from different bearings for FD. Initially, vibration features are supplemented with bearing temperature readings with improved classification compared to vibration features alone. However, it is observed that temperature readings are insensitive to faults on the FS1 and FS2 rigs, when compared to vibration features, which are standardised for consistent classification on the different rigs tested. Thus, temperature is not included as a final feature. The observed fault classifications on the different rigs at different speeds with the standardised vibration features are encouraging. Thereafter, a novel Unified Multi-speed FD technique that is based on the initial proposed approach and which works by fusion of vibration features from different bearings at different speeds in a single analysis step for FD is proposed. Experiments on the different rigs repeatedly show the novel Multi-speed technique to be suitable for transient machine operation. Then, a novel generic Multi-foundation Technique (also based on the proposed approach) that allows sharing of vibration data of a wide range of fault conditions between two similarly configured machines with similar speed operation but different foundations is implemented to further mitigate data requirements in the FD process. Observations made with the rigs during steady and transient speed tests show this technique is applicable in situations where data history is available on one machine but lacking on the other. Comparison of experimental results with results obtained from theoretical simulations indicates the approach is consistent. Thus, the proposed approach has the potential for practical considerations.

abstract: This investigation is focused on the consideration of structural uncertainties in nearly-straight pipes conveying fluid and on the effects of these uncertainties on the dynamic response and stability of those pipes. Of interest more specifically are the structural uncertainties which affect directly the fluid flow and its feedback on the structural response, e.g., uncertainties on/variations of the inner cross-section and curvature of the pipe. Owing to the complexity of introducing such uncertainties directly in finite element models, it is desired to proceed directly at the level of modal models by randomizing simultaneously the appropriate mass, stiffness, and damping matrices. The maximum entropy framework is adopted to carry out the stochastic modeling of these matrices with appropriate symmetry constraints guaranteeing that the nature, e.g., divergence or flutter, of the bifurcation is preserved when introducing uncertainty. To support the formulation of this stochastic ROM, a series of finite element computations are first carried out for pipes with straight centerline but inner radius varying randomly along the pipe. The results of this numerical discovery effort demonstrate that the dominant effects originate from the variations of the exit flow speed, induced by the change in inner cross-section at the pipe end, with the uncertainty on the cross-section at other locations playing a secondary role. Relying on these observations, the stochastic reduced order model is constructed to model separately the uncertainty in inner cross-section at the pipe end and at other locations. Then, the fluid related mass, damping, and stiffness matrices of this stochastic reduced order model (ROM) are all determined from a single random matrix and a random variable. The predictions from this stochastic ROM are found to closely match the corresponding results obtained with the randomized finite element model. It is finally demonstrated that this stochastic ROM can easily be extended to account for the small effects due to uncertainty in pipe curvature. / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2017