Hashim Alnami, C. Pang, Avinash Papineni, Xin Wang
This paper presents novel sliding mode control (SMC) approaches for Maximum Torque Per Ampere (MTPA) and Maximum Power Per Ampere (MPPA) of interior permanent magnet synchronous motors (IPMs). We first derive the first-order sliding mode control methods to improve the field oriented control’s resiliency against the external perturbations, extraneous noise and modeling uncertainties. And after that, we propose the higher-order sliding mode control to significantly reduce the chattering phenomenon which is inherent in the first order sliding mode control method. Based on the comparison studies, the conventional proportional-integral derivative based field oriented control shows sluggish response and is more sensitive to parameter perturbations and external torque disturbances. By introducing the novel sliding mode control methods, both of the speed and torque regulation performance of interior-mounted permanent magnet synchronous motor can be greatly improved. Computer simulation studies have shown the superior performance of the first-order and higher-order sliding mode controllers for interior permanent magnet synchronous motor speed and torque regulation applications.
{"title":"Optimal Interior Mounted Permanent Magnet Synchronous Motors MTPA and MPPA Control Based on Sliding Mode Approaches","authors":"Hashim Alnami, C. Pang, Avinash Papineni, Xin Wang","doi":"10.1115/imece2021-70904","DOIUrl":"https://doi.org/10.1115/imece2021-70904","url":null,"abstract":"\u0000 This paper presents novel sliding mode control (SMC) approaches for Maximum Torque Per Ampere (MTPA) and Maximum Power Per Ampere (MPPA) of interior permanent magnet synchronous motors (IPMs). We first derive the first-order sliding mode control methods to improve the field oriented control’s resiliency against the external perturbations, extraneous noise and modeling uncertainties. And after that, we propose the higher-order sliding mode control to significantly reduce the chattering phenomenon which is inherent in the first order sliding mode control method. Based on the comparison studies, the conventional proportional-integral derivative based field oriented control shows sluggish response and is more sensitive to parameter perturbations and external torque disturbances. By introducing the novel sliding mode control methods, both of the speed and torque regulation performance of interior-mounted permanent magnet synchronous motor can be greatly improved. Computer simulation studies have shown the superior performance of the first-order and higher-order sliding mode controllers for interior permanent magnet synchronous motor speed and torque regulation applications.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91118561","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In the recent years, robotic devices have been widely used to interact with human beings in various scenarios, including healthcare, education, tourism, and manufacturing applications. These applications of robotic devices have also been expanded to many social activities. These social robots can take the form of a traditional mobile robot or a humanoid system that provide one-on-one interaction. Among different types of robotic devices, the bio-inspired humanoid robotics has received extensive attention in therapeutic settings by providing psychological and physiological benefits. With the social benefits, humanoid type of social robots can be an important tool to assist people in many different situations. To allow social robotic devices to better interact with human being, it is desired that these robotic systems can identify on-going human motions and respond to the motions by mimicking human movements. Thus, these systems need to acquire human motions and predict the types of these movements in real-time. Such a technique has been investigated by various research groups. Once the human motions have been identified, corresponding reactions of the robots can be determined accordingly, which usually requires the involved joints to move along specific trajectories. To synthesize such an interactive robotic system, a platform of a multi-axial robotic device, a motion identification model of human motions, a reference generator based on the identified motions, the sensors used for real-time motion measurements, and an adequate control strategy need to be integrated as a single system. The major bottleneck of such a system is that the processing and control units might not be efficient enough and can cause dramatic legacy. To validate the overall process, a simplified system was developed to investigate the feasibility of such an interactive robotic system. In this study, an experimental multi-axial robotic arm was adopted. A developed motion identification model was used to determine the on-going motions of the interacting person. Once the motion being identified, the responding motion of robotic device can be determined based on a pre-selected motion library. The trajectories of individual joints of the robotic arm can then also be generated accordingly. The robotic arm was then following the pre-selected trajectories for corresponding interactions. To compensate for the nonlinear factors caused by existing mechanical/electrical components and the cross-coupled dynamics among the mechanical components, a control strategy that integrates an adaptive robust control method and a linear controller for motion tracking was applied. With the proposed control scheme, an adequate controlled outcome can be achieved.
{"title":"Tracking Control Design and Implementation of Multiaxial Controller for Social Robotic Devices","authors":"M. Cheng, E. Bakhoum","doi":"10.1115/imece2021-70510","DOIUrl":"https://doi.org/10.1115/imece2021-70510","url":null,"abstract":"\u0000 In the recent years, robotic devices have been widely used to interact with human beings in various scenarios, including healthcare, education, tourism, and manufacturing applications. These applications of robotic devices have also been expanded to many social activities. These social robots can take the form of a traditional mobile robot or a humanoid system that provide one-on-one interaction. Among different types of robotic devices, the bio-inspired humanoid robotics has received extensive attention in therapeutic settings by providing psychological and physiological benefits. With the social benefits, humanoid type of social robots can be an important tool to assist people in many different situations.\u0000 To allow social robotic devices to better interact with human being, it is desired that these robotic systems can identify on-going human motions and respond to the motions by mimicking human movements. Thus, these systems need to acquire human motions and predict the types of these movements in real-time. Such a technique has been investigated by various research groups. Once the human motions have been identified, corresponding reactions of the robots can be determined accordingly, which usually requires the involved joints to move along specific trajectories. To synthesize such an interactive robotic system, a platform of a multi-axial robotic device, a motion identification model of human motions, a reference generator based on the identified motions, the sensors used for real-time motion measurements, and an adequate control strategy need to be integrated as a single system. The major bottleneck of such a system is that the processing and control units might not be efficient enough and can cause dramatic legacy. To validate the overall process, a simplified system was developed to investigate the feasibility of such an interactive robotic system.\u0000 In this study, an experimental multi-axial robotic arm was adopted. A developed motion identification model was used to determine the on-going motions of the interacting person. Once the motion being identified, the responding motion of robotic device can be determined based on a pre-selected motion library. The trajectories of individual joints of the robotic arm can then also be generated accordingly. The robotic arm was then following the pre-selected trajectories for corresponding interactions. To compensate for the nonlinear factors caused by existing mechanical/electrical components and the cross-coupled dynamics among the mechanical components, a control strategy that integrates an adaptive robust control method and a linear controller for motion tracking was applied. With the proposed control scheme, an adequate controlled outcome can be achieved.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82607120","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Jian Su, Xin Zhi, Sha Lu, Qichun Zhang, Janet Dong
Off road terrain poses a continual challenge to military movement. To meet this challenge, a robotic mule is designed to be a personal mobility device that can carry a soldier or that a soldier can carry. This paper will discuss the design process of such novel robotic mule, including overall structure, cargo/soldier platform, driving system, power system, and stress analysis and simulation. This robotic mule provides a new approach for army soldiers or soldiers’ equipment to move across field effortlessly and efficiently. The movement of the robot can be guided by GPS system or follow a soldier who carries emitter with sensor. The robot is designed to operate in nature terrain, which is standard nature trail in a boreal forest and may have a few roots and rocks but free from climbing obstacles. The robotic mechanism is suitable for one-man lift, with weight not to exceed 20 kg. The robot is capable of moving through a standard door width 80 cm while fully loaded. The system can support 100 kg payload. It also provides soldier following capability and be able to perform with or without the operator on board. The system controls balance of the vehicle, while avoiding obstacles, and negotiating narrow urban or off-road terrain. The speed on flat terrain is 5–7 m/s with a range of 30 km. The robot mule consists of a robust chassis platform, a driving system, a power system, a chair system for soldier, and GPS and vision system for autonomous control. For chassis platform, its structure is designed to be both light and sturdy. Stress analysis of the structure is applied to verify the safety of carrying objective payload. The width of the chassis platform is designed to access standard handicap door. For driving system, considering both terrain and weight limits, a four-wheel driving system is designed to overcome nature terrain which may have a few roots and rocks. Next, based on calculation of traction need and travel range, motor and lithium battery kit are selected to maintain target speed on flat terrain with target mileage. Power for extra functional features needed, such as sensors for navigation and surrounding detection etc. is also considered in calculation of battery capacity. Cargo/soldier platform is designed to provide proper space for carrying the soldier and/or equipment. Security fixtures are designed and added to the cargo/soldier platform which avoid swaying and falling of equipment. Also, ergonomics research is conducted to make a comfortable and hazards free platform for soldiers. Moreover, two handles are designed and will be mounted on each side of the robot mule, which makes the robot be lifted easily by a soldier and helps guard cargo payload in place.
{"title":"Design of a Lightweight Robotic Mule","authors":"Jian Su, Xin Zhi, Sha Lu, Qichun Zhang, Janet Dong","doi":"10.1115/imece2021-69715","DOIUrl":"https://doi.org/10.1115/imece2021-69715","url":null,"abstract":"\u0000 Off road terrain poses a continual challenge to military movement. To meet this challenge, a robotic mule is designed to be a personal mobility device that can carry a soldier or that a soldier can carry. This paper will discuss the design process of such novel robotic mule, including overall structure, cargo/soldier platform, driving system, power system, and stress analysis and simulation. This robotic mule provides a new approach for army soldiers or soldiers’ equipment to move across field effortlessly and efficiently. The movement of the robot can be guided by GPS system or follow a soldier who carries emitter with sensor. The robot is designed to operate in nature terrain, which is standard nature trail in a boreal forest and may have a few roots and rocks but free from climbing obstacles.\u0000 The robotic mechanism is suitable for one-man lift, with weight not to exceed 20 kg. The robot is capable of moving through a standard door width 80 cm while fully loaded. The system can support 100 kg payload. It also provides soldier following capability and be able to perform with or without the operator on board. The system controls balance of the vehicle, while avoiding obstacles, and negotiating narrow urban or off-road terrain. The speed on flat terrain is 5–7 m/s with a range of 30 km.\u0000 The robot mule consists of a robust chassis platform, a driving system, a power system, a chair system for soldier, and GPS and vision system for autonomous control. For chassis platform, its structure is designed to be both light and sturdy. Stress analysis of the structure is applied to verify the safety of carrying objective payload. The width of the chassis platform is designed to access standard handicap door. For driving system, considering both terrain and weight limits, a four-wheel driving system is designed to overcome nature terrain which may have a few roots and rocks. Next, based on calculation of traction need and travel range, motor and lithium battery kit are selected to maintain target speed on flat terrain with target mileage. Power for extra functional features needed, such as sensors for navigation and surrounding detection etc. is also considered in calculation of battery capacity. Cargo/soldier platform is designed to provide proper space for carrying the soldier and/or equipment. Security fixtures are designed and added to the cargo/soldier platform which avoid swaying and falling of equipment. Also, ergonomics research is conducted to make a comfortable and hazards free platform for soldiers. Moreover, two handles are designed and will be mounted on each side of the robot mule, which makes the robot be lifted easily by a soldier and helps guard cargo payload in place.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83630774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Web handling systems maintain a certain amount of tension in the web and a process speed. Non-circular rolls of material are not uncommon in the real world arising from storing the rolls or imprecise control of parameters. Non-circular rolls at the beginning of a web handling system cause tension spikes in the web as they are unwound. Simulating the tension effects of the non-circular unwind roll is the aim of this paper. A review of numerical models, called primitive elements, for web handling systems is included. The parameters required to describe a web handling system are reviewed. A primitive element for modeling a non-circular roll is introduced. The web handling system model, which uses linear and nonlinear elements in simulation, is compared with experimentally measured data.
{"title":"Simulating Dynamic Tension Effects From an Out-of-Round Unwind Roll","authors":"Ben Reish","doi":"10.1115/imece2021-70139","DOIUrl":"https://doi.org/10.1115/imece2021-70139","url":null,"abstract":"\u0000 Web handling systems maintain a certain amount of tension in the web and a process speed. Non-circular rolls of material are not uncommon in the real world arising from storing the rolls or imprecise control of parameters. Non-circular rolls at the beginning of a web handling system cause tension spikes in the web as they are unwound. Simulating the tension effects of the non-circular unwind roll is the aim of this paper. A review of numerical models, called primitive elements, for web handling systems is included. The parameters required to describe a web handling system are reviewed. A primitive element for modeling a non-circular roll is introduced. The web handling system model, which uses linear and nonlinear elements in simulation, is compared with experimentally measured data.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88793958","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The hardware-in-the-loop (HIL) testing methodology has recently gained wide acceptance from the scientific community worldwide, as it allows virtual or actual components of a complex system to be implemented and tested together with the controller in a real-time environment. In this paper, three different case studies are investigated to show the use of the HIL testing methodology in different disciplines. In the first case study, a shunt active power filter for power quality improvement in a distribution network is presented and investigated using the HIL methodology. In the first case study, a HIL platform for drill string system control has also been developed and its operational principle and hardware components are explained. In the third case study, a HIL testing platform was developed for high power induction motor driving drill string system, in which the drill string is studied together with the induction motor and a variable frequency drive to match real-world case scenarios. A variety of tests were performed to provide a comprehensive study on the effectiveness of the HIL testing platform on different applications that take advantage of state-of-the-art real-time simulators. The presented HIL infrastructure can be extended to accommodate different studies on other electromechanical systems.
{"title":"Hardware-in-the-Loop Simulation for Large-Scale Applications","authors":"A. Krama, Mohamed Gharib","doi":"10.1115/imece2021-70914","DOIUrl":"https://doi.org/10.1115/imece2021-70914","url":null,"abstract":"\u0000 The hardware-in-the-loop (HIL) testing methodology has recently gained wide acceptance from the scientific community worldwide, as it allows virtual or actual components of a complex system to be implemented and tested together with the controller in a real-time environment. In this paper, three different case studies are investigated to show the use of the HIL testing methodology in different disciplines. In the first case study, a shunt active power filter for power quality improvement in a distribution network is presented and investigated using the HIL methodology. In the first case study, a HIL platform for drill string system control has also been developed and its operational principle and hardware components are explained. In the third case study, a HIL testing platform was developed for high power induction motor driving drill string system, in which the drill string is studied together with the induction motor and a variable frequency drive to match real-world case scenarios. A variety of tests were performed to provide a comprehensive study on the effectiveness of the HIL testing platform on different applications that take advantage of state-of-the-art real-time simulators. The presented HIL infrastructure can be extended to accommodate different studies on other electromechanical systems.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73771734","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper briefly reviews the literature inherent of the design of airfoil and rotorcrafts for atmospheric flight on Mars. The interest toward the red planet exploration has considerably increased as result of the successful deployment of the Perseverance Rover and the continuous tests developed by SpaceX’s launch vehicle, Starship. While the Mars 2020 Mission is currently in progress, the first controlled flight on another planet have been proven in April 2021 with the Vertical Take-off and Landing of the Ingenuity rotorcraft in Mars. In addition, the rotorcraft Dragonfly is expected to achieve the same endeavor in Titan, the largest moon of Saturn, by 2036. Continuous efforts have been oriented to the development of new technologies and aircraft configurations to improve the current designs and performance. In this paper we summarize the different Mars drone design and configuration approaches carried out by several research groups in the last two decades. We also briefly layout the main challenges related to the lift generation problem for a Mas rotorcraft.
{"title":"Mars Drone Configurations And Approaches to Rotor Design: A Review","authors":"Aleandro Saez, Maurizio Manzo, M. Ciarcià","doi":"10.1115/imece2021-71876","DOIUrl":"https://doi.org/10.1115/imece2021-71876","url":null,"abstract":"\u0000 This paper briefly reviews the literature inherent of the design of airfoil and rotorcrafts for atmospheric flight on Mars. The interest toward the red planet exploration has considerably increased as result of the successful deployment of the Perseverance Rover and the continuous tests developed by SpaceX’s launch vehicle, Starship. While the Mars 2020 Mission is currently in progress, the first controlled flight on another planet have been proven in April 2021 with the Vertical Take-off and Landing of the Ingenuity rotorcraft in Mars. In addition, the rotorcraft Dragonfly is expected to achieve the same endeavor in Titan, the largest moon of Saturn, by 2036. Continuous efforts have been oriented to the development of new technologies and aircraft configurations to improve the current designs and performance. In this paper we summarize the different Mars drone design and configuration approaches carried out by several research groups in the last two decades. We also briefly layout the main challenges related to the lift generation problem for a Mas rotorcraft.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75525389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
It has been widely acknowledged over the last couple of decades that the vibroacoustic characteristics of electric powertrains assembled to engine mounting systems are significantly different from internal combustion engines. These distinctions necessitate the modeling of inertial properties of the mounting system in order to account for internal resonances and wave effects. This paper presents a spatial model with three degrees-of-freedom that can be used to capture internal resonances of the engine mount system at frequencies well above 1 kHz. Such a model could significantly enhance the understanding of the vibroacoustic performance of the system while being specifically beneficial for electric powertrains. Results indicate that the model is successful in capturing internal resonances up to 10 kHz while also representing the lower order eigenmodes of the powertrain. The iterative capability of the model renders it specifically beneficial for experimental characterization and model correlation. It is observed that force transmissibility is highly sensitive to the design parameters that govern the effective stiffness of the engine mounts. The model presented in this paper can be used for the optimization of engine mount systems for electric powertrains.
{"title":"Multi-Degree-of-Freedom Modeling for Electric Powertrains: Inertia Effect of Engine Mounting System","authors":"S. Kaul","doi":"10.1115/imece2021-66287","DOIUrl":"https://doi.org/10.1115/imece2021-66287","url":null,"abstract":"\u0000 It has been widely acknowledged over the last couple of decades that the vibroacoustic characteristics of electric powertrains assembled to engine mounting systems are significantly different from internal combustion engines. These distinctions necessitate the modeling of inertial properties of the mounting system in order to account for internal resonances and wave effects. This paper presents a spatial model with three degrees-of-freedom that can be used to capture internal resonances of the engine mount system at frequencies well above 1 kHz. Such a model could significantly enhance the understanding of the vibroacoustic performance of the system while being specifically beneficial for electric powertrains. Results indicate that the model is successful in capturing internal resonances up to 10 kHz while also representing the lower order eigenmodes of the powertrain. The iterative capability of the model renders it specifically beneficial for experimental characterization and model correlation. It is observed that force transmissibility is highly sensitive to the design parameters that govern the effective stiffness of the engine mounts. The model presented in this paper can be used for the optimization of engine mount systems for electric powertrains.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74006766","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Diesel engines have been used in many vehicles and power generation units since a long time due to their less fuel consumption and high trustworthiness. With reference to upcoming emission norms, various engine out emissions have proved to be causing adverse effect on human health and environment. Soot, or particulate matter is one of the major pollutants in diesel engine out emissions and causes various lung related issues. There have been efforts to reduce the amount of soot generated using after-treatment devices like diesel particulate filter (DPF) to filter out particles and get clean tailpipe emissions. These technologies increase load on the system and involves additional maintenance. Also, deposition-based soot sensors have been found to be inoperative in certain scenarios like cold start conditions. In this research work, an effort has been made to develop a phenomenological model that predicts soot mass generated in a Cummins 6.7L diesel engine. The model uses in-cylinder conditions such as pressure, bulk mean temperature, fuel mass flow rate and injector orifice diameter. The difference between soot mass formed and oxidized yields the net amount of soot generated at engine out end. Furthermore, the generated soot mass is compared with benchmark results for specific load conditions and appropriate controller is designed to minimize this tradeoff. The control parameter being used here is fuel rail pressure, which controls the lift-off length, and ultimately equivalence ratio, which predicts mass of soot, generated in formation phase. The presented method shows a prediction error ranging from 5–20%, which is significantly reduced to 2% using a PID controller. The approach presented in this research work is generic and can be operated as stand-alone system or an integrated subsystem in a higher order control architecture.
{"title":"A Control Oriented Soot Prediction Model for Diesel Engines Using an Integrated Approach","authors":"Mahesh S. Shewale, A. Razban","doi":"10.1115/imece2021-71502","DOIUrl":"https://doi.org/10.1115/imece2021-71502","url":null,"abstract":"Diesel engines have been used in many vehicles and power generation units since a long time due to their less fuel consumption and high trustworthiness. With reference to upcoming emission norms, various engine out emissions have proved to be causing adverse effect on human health and environment. Soot, or particulate matter is one of the major pollutants in diesel engine out emissions and causes various lung related issues. There have been efforts to reduce the amount of soot generated using after-treatment devices like diesel particulate filter (DPF) to filter out particles and get clean tailpipe emissions. These technologies increase load on the system and involves additional maintenance. Also, deposition-based soot sensors have been found to be inoperative in certain scenarios like cold start conditions. In this research work, an effort has been made to develop a phenomenological model that predicts soot mass generated in a Cummins 6.7L diesel engine. The model uses in-cylinder conditions such as pressure, bulk mean temperature, fuel mass flow rate and injector orifice diameter. The difference between soot mass formed and oxidized yields the net amount of soot generated at engine out end. Furthermore, the generated soot mass is compared with benchmark results for specific load conditions and appropriate controller is designed to minimize this tradeoff. The control parameter being used here is fuel rail pressure, which controls the lift-off length, and ultimately equivalence ratio, which predicts mass of soot, generated in formation phase. The presented method shows a prediction error ranging from 5–20%, which is significantly reduced to 2% using a PID controller. The approach presented in this research work is generic and can be operated as stand-alone system or an integrated subsystem in a higher order control architecture.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81217501","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Drillstring vibration can be highly detrimental to its mechanical integrity, and significantly reduce overall operational efficiency. Vibrations often arise due to the contact force and moment arising at the bit and formation (rock). These occur due to cutting and friction related actions. The literature has various bit-rock interaction BRI models, which may have time delay and nonlinear terms. The time delay term arises from modulation of the depth of cut per revolution by the vertical vibrations. A major inertia participating in the vibrations is the bottom hole assembly BHA, consisting of the bit, instrumentation and power subs, drill collar and stabilizers. Control of the BHA vibrations is imperative to prevent destructive vibration that may break the pipe, dull the bit and diminish hole trajectory and rate of penetration. The most severe vibration types include stick-slip, bit-bounce and lateral whirl. Stick-slip is caused by the alternate stopping of the bit due to friction and its release when the drillpipes produces a sufficient torque as it winds up. Bit-bounce occurs due to time delay in the torque and axial force due to modulation of the cutting force and torque by axial vibration. Finally, lateral whirl results from friction occurring at lateral contact points of the BHA and wellbore. Modelling of these complex, nonlinear, self-excited vibrations is a challenge given the large order models involved and nature of the BRI forces and moments. The paper provides a systematic means to accurately simulate drillstring vibrations with high fidelity and efficiency. This is achieved using a Timoshenko beam based finite element model FEM, and is illustrated with an example containing the Detournay BRI model. High accuracy codes need user friendly interfaces to be effective for field and design use. The paper also provides algorithms and methods for programming the solution-modelling component of the code, and the user interface component.
{"title":"Drillstring Simulator: A Novel Software Model for Stick–Slip And Bit-Bounce Vibrations","authors":"Baik Jin Kim, A. Palazzolo, Mohamed Gharib","doi":"10.1115/imece2021-73717","DOIUrl":"https://doi.org/10.1115/imece2021-73717","url":null,"abstract":"\u0000 Drillstring vibration can be highly detrimental to its mechanical integrity, and significantly reduce overall operational efficiency. Vibrations often arise due to the contact force and moment arising at the bit and formation (rock). These occur due to cutting and friction related actions. The literature has various bit-rock interaction BRI models, which may have time delay and nonlinear terms. The time delay term arises from modulation of the depth of cut per revolution by the vertical vibrations. A major inertia participating in the vibrations is the bottom hole assembly BHA, consisting of the bit, instrumentation and power subs, drill collar and stabilizers. Control of the BHA vibrations is imperative to prevent destructive vibration that may break the pipe, dull the bit and diminish hole trajectory and rate of penetration. The most severe vibration types include stick-slip, bit-bounce and lateral whirl. Stick-slip is caused by the alternate stopping of the bit due to friction and its release when the drillpipes produces a sufficient torque as it winds up. Bit-bounce occurs due to time delay in the torque and axial force due to modulation of the cutting force and torque by axial vibration. Finally, lateral whirl results from friction occurring at lateral contact points of the BHA and wellbore. Modelling of these complex, nonlinear, self-excited vibrations is a challenge given the large order models involved and nature of the BRI forces and moments. The paper provides a systematic means to accurately simulate drillstring vibrations with high fidelity and efficiency.\u0000 This is achieved using a Timoshenko beam based finite element model FEM, and is illustrated with an example containing the Detournay BRI model. High accuracy codes need user friendly interfaces to be effective for field and design use. The paper also provides algorithms and methods for programming the solution-modelling component of the code, and the user interface component.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80873280","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
M. Hughes, Mariah Mook, M. Jenkins, Arun Vishnu SureshBabu, Ashok Gopalarathnam, M. Bryant
The interaction between upstream flow disturbance generators and downstream aeroelastic structures has been the focus of several recent studies at North Carolina State University. Building on this work, which observed the modulation of limit cycle oscillations (LCOs) in the presence of vortex wakes, this study examines the design and validation of a novel disturbance generator consisting of an oscillating cylinder with an attached splitter plate. Analytical design of the bluff body was performed based on specific flow conditions which produced LCO annihilation in previous studies. Computational fluid dynamics simulations and experimental wind tunnel tests were used to validate the ability of the new disturbance generator to produce the desired wake region. Future work will see the implementation of this novel design in conjunction with aeroelastic structures in an effort to modulate and control LCOs, including the excitation and annihilation thereof.
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