R. Precup, S. Preitl, Claudia-Adina Bojan-Dragos, Elena-Lorena Hedrea, Raul-Cristian Roman, E. Petriu
Servo systems become more and more important in control systems applications in various fields as both separate control systems and actuators. Ensuring very good control system performance using few information on the servo system model (viewed as a controlled process) is a challenging task. Starting with authors’ results on data-driven model-free control, fuzzy control and the indirect model-free tuning of fuzzy controllers, this paper suggests a low-cost approach to the data-driven fuzzy control of servo systems. The data-driven fuzzy control approach consists of six steps: (i) open-loop data-driven system identification to produce the process model from input-output data expressed as the system step response, (ii) Proportional-Integral (PI) controller tuning using the Extended Symmetrical Optimum (ESO) method, (iii) PI controller parameters mapping onto parameters of Takagi-Sugeno PI-fuzzy controller in terms of the modal equivalence principle, (iv) closed-loop data-driven system identification, (v) PI controller tuning using the ESO method, (vi) PI controller parameters mapping onto parameters of Takagi-Sugeno PI-fuzzy controller. The steps (iv), (v) and (vi) are optional. The approach is applied to the position control of a nonlinear servo system. The experimental results obtained on laboratory equipment validate the approach.
{"title":"A LOW-COST APPROACH TO DATA-DRIVEN FUZZY CONTROL OF SERVO SYSTEMS","authors":"R. Precup, S. Preitl, Claudia-Adina Bojan-Dragos, Elena-Lorena Hedrea, Raul-Cristian Roman, E. Petriu","doi":"10.22190/fume220111005p","DOIUrl":"https://doi.org/10.22190/fume220111005p","url":null,"abstract":"Servo systems become more and more important in control systems applications in various fields as both separate control systems and actuators. Ensuring very good control system performance using few information on the servo system model (viewed as a controlled process) is a challenging task. Starting with authors’ results on data-driven model-free control, fuzzy control and the indirect model-free tuning of fuzzy controllers, this paper suggests a low-cost approach to the data-driven fuzzy control of servo systems. The data-driven fuzzy control approach consists of six steps: (i) open-loop data-driven system identification to produce the process model from input-output data expressed as the system step response, (ii) Proportional-Integral (PI) controller tuning using the Extended Symmetrical Optimum (ESO) method, (iii) PI controller parameters mapping onto parameters of Takagi-Sugeno PI-fuzzy controller in terms of the modal equivalence principle, (iv) closed-loop data-driven system identification, (v) PI controller tuning using the ESO method, (vi) PI controller parameters mapping onto parameters of Takagi-Sugeno PI-fuzzy controller. The steps (iv), (v) and (vi) are optional. The approach is applied to the position control of a nonlinear servo system. The experimental results obtained on laboratory equipment validate the approach.","PeriodicalId":51338,"journal":{"name":"Facta Universitatis-Series Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90540258","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
M. Damjanović, Željko Stević, D. Stanimirović, I. Tanackov, D. Marinković
Traffic safety is one of the key issues nowadays, given the fact that a large number of people lose their lives in traffic accidents every day. There are various influential factors in the occurrence of traffic accidents, the number of vehicles being one of them. This paper assesses the traffic safety in Montenegro in the period 1998-2020 by applying the multiphase modeling with a purpose to obtain comparative results which enable implementation of adequate strategies. A total of six scenarios were formed with two inputs and two outputs in a DEA (Data Envelopment Analysis) model, with the number of registered vehicles per year being an input in all scenarios. In addition, as inputs, the scenarios included AADT (Annual Average Daily Traffic), passengers in road transport, passenger-km by road transport, goods transported by road, tone-km by road, and passengers in local transport. The number of traffic accidents with casualties, the number of traffic accidents with material damage, the number of fatal cases and the number of injured persons, depending on a scenario, were observed as outputs. After the DEA model, IMF SWARA (Improved Fuzzy Stepwise Weight Assessment Ratio Analysis) was applied to determine the weights of inputs and outputs, while the final state of traffic safety by years was determined using the MARCOS (Measurement of alternatives and ranking according to COmpromise solution) method.
鉴于每天都有大量的人在交通事故中丧生，交通安全是当今的关键问题之一。交通事故的发生有多种影响因素，车辆数量是其中之一。本文通过应用多阶段建模来评估黑山1998-2020年期间的交通安全，目的是获得能够实施适当策略的比较结果。在DEA(数据包络分析)模型中，以每年注册车辆数量为所有场景的输入，共形成了6个两输入两输出的场景。此外，作为输入，情景包括AADT(年平均每日交通量)、公路运输的乘客、公路运输的乘客-公里、公路运输的货物、公路运输的吨公里和当地运输的乘客。造成人员伤亡的交通事故数目、造成物质损害的交通事故数目、死亡案件数目和受伤人数，视情况而定，作为产出加以观察。在DEA模型的基础上，采用改进的模糊逐步权重评价比分析法(IMF SWARA)确定输入和输出的权重，采用MARCOS (Measurement of alternatives and ranking by COmpromise solution)方法确定按年计算的交通安全最终状态。
{"title":"IMPACT OF THE NUMBER OF VEHICLES ON TRAFFIC SAFETY: MULTIPHASE MODELING","authors":"M. Damjanović, Željko Stević, D. Stanimirović, I. Tanackov, D. Marinković","doi":"10.22190/fume220215012d","DOIUrl":"https://doi.org/10.22190/fume220215012d","url":null,"abstract":"Traffic safety is one of the key issues nowadays, given the fact that a large number of people lose their lives in traffic accidents every day. There are various influential factors in the occurrence of traffic accidents, the number of vehicles being one of them. This paper assesses the traffic safety in Montenegro in the period 1998-2020 by applying the multiphase modeling with a purpose to obtain comparative results which enable implementation of adequate strategies. A total of six scenarios were formed with two inputs and two outputs in a DEA (Data Envelopment Analysis) model, with the number of registered vehicles per year being an input in all scenarios. In addition, as inputs, the scenarios included AADT (Annual Average Daily Traffic), passengers in road transport, passenger-km by road transport, goods transported by road, tone-km by road, and passengers in local transport. The number of traffic accidents with casualties, the number of traffic accidents with material damage, the number of fatal cases and the number of injured persons, depending on a scenario, were observed as outputs. After the DEA model, IMF SWARA (Improved Fuzzy Stepwise Weight Assessment Ratio Analysis) was applied to determine the weights of inputs and outputs, while the final state of traffic safety by years was determined using the MARCOS (Measurement of alternatives and ranking according to COmpromise solution) method.","PeriodicalId":51338,"journal":{"name":"Facta Universitatis-Series Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79736851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
T. Ryba, M. Rucki, Z. Siemiątkowski, Damian Bzinkowski, Michał Solecki
In the paper, the issue of the supervision of belt tension and wear in industrial feeder is addressed. The designed system is based on strain gauges that are built into the roller and are subject to the belt pressure at each revolution. In order to assess the effectiveness of this system, calibration and uncertainty analysis was performed. As a result, it was demonstrated that the main source of uncertainty was the function of approximation, while the others were orders of magnitude smaller. The final function provided results with accuracy of ca. 10% of actually measured value, which was assumed to be a good result for this particular industrial application.
{"title":"DESIGN AND CALIBRATION OF THE SYSTEM SUPERVISING BELT TENSION AND WEAR IN AN INDUSTRIAL FEEDER","authors":"T. Ryba, M. Rucki, Z. Siemiątkowski, Damian Bzinkowski, Michał Solecki","doi":"10.22190/fume201004026r","DOIUrl":"https://doi.org/10.22190/fume201004026r","url":null,"abstract":"In the paper, the issue of the supervision of belt tension and wear in industrial feeder is addressed. The designed system is based on strain gauges that are built into the roller and are subject to the belt pressure at each revolution. In order to assess the effectiveness of this system, calibration and uncertainty analysis was performed. As a result, it was demonstrated that the main source of uncertainty was the function of approximation, while the others were orders of magnitude smaller. The final function provided results with accuracy of ca. 10% of actually measured value, which was assumed to be a good result for this particular industrial application.","PeriodicalId":51338,"journal":{"name":"Facta Universitatis-Series Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75135796","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Parabolic trough solar collectors (PTSCs) are commonly used for applications that reach a temperature of up to 500 °C. Recently, improving the efficiency of PTSCs has been the focus of research because PTSCs have advantages, such as cost and size reduction and improved optical and thermal performance. This study summarizes relevant published research on the preparation, properties and experimental behavior of the optical and thermal properties of PTSCs. Analyzing of the thermal modeling method presents a steady and transient heat transfer analysis. Optical efficiency depends on material properties, such as mirror reflectance, glass cover transmittance, receiver absorption–emission, intercept factor, geometry factor and incidence angle. Also analyzed and discussed are the models used in computational fluid dynamics to study the physical properties of PTSCs. Lastly, studies on PTSC performance and enhancement, including novel designs, enhancement of passive heat transfer and laden flows of nanoparticles inside the absorber tube, are presented and examined separately. Nanofluids have illustrated their advantages and ability to increase heat transfer rates. Moreover, other works that aimed to enhance the optical and thermal efficiency of PTSCs are evaluated.
{"title":"RECENT IMPROVEMENTS OF THE OPTICAL AND THERMAL PERFORMANCE OF THE PARABOLIC TROUGH SOLAR COLLECTOR SYSTEMS","authors":"A. Y. Al-Rabeeah, I. Seres, I. Farkas","doi":"10.22190/fume201106030a","DOIUrl":"https://doi.org/10.22190/fume201106030a","url":null,"abstract":"Parabolic trough solar collectors (PTSCs) are commonly used for applications that reach a temperature of up to 500 °C. Recently, improving the efficiency of PTSCs has been the focus of research because PTSCs have advantages, such as cost and size reduction and improved optical and thermal performance. This study summarizes relevant published research on the preparation, properties and experimental behavior of the optical and thermal properties of PTSCs. Analyzing of the thermal modeling method presents a steady and transient heat transfer analysis. Optical efficiency depends on material properties, such as mirror reflectance, glass cover transmittance, receiver absorption–emission, intercept factor, geometry factor and incidence angle. Also analyzed and discussed are the models used in computational fluid dynamics to study the physical properties of PTSCs. Lastly, studies on PTSC performance and enhancement, including novel designs, enhancement of passive heat transfer and laden flows of nanoparticles inside the absorber tube, are presented and examined separately. Nanofluids have illustrated their advantages and ability to increase heat transfer rates. Moreover, other works that aimed to enhance the optical and thermal efficiency of PTSCs are evaluated.","PeriodicalId":51338,"journal":{"name":"Facta Universitatis-Series Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84752544","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A critical hurdle of a nonlinear vibration system in a fractal space is the inefficiency in modelling the system. Specifically, the differential equation models cannot elucidate the effect of porosity size and distribution of the periodic property. This paper establishes a fractal-differential model for this purpose, and a fractal Duffing-Van der Pol oscillator (DVdP) with two-scale fractal derivatives and a forced term is considered as an example to reveal the basic properties of the fractal oscillator. Utilizing the two-scale transforms and He-Laplace method, an analytic approximate solution may be attained. Unfortunately, this solution is not physically preferred. It has to be modified along with the nonlinear frequency analysis, and the stability criterion for the equation under consideration is obtained. On the other hand, the linearized stability theory is employed in the autonomous arrangement. Consequently, the phase portraits around the equilibrium points are sketched. For the non-autonomous organization, the stability criteria are analyzed via the multiple time scales technique. Numerical estimations are designed to confirm graphically the analytical approximate solutions as well as the stability configuration. It is revealed that the exciting external force parameter plays a destabilizing role. Furthermore, both of the frequency of the excited force and the stiffness parameter, execute a dual role in the stability picture.
分形空间中非线性振动系统的一个关键障碍是系统建模的低效率。具体来说，微分方程模型不能解释孔隙度大小和周期性分布的影响。本文为此建立了分形-微分模型，并以具有两尺度分形导数和强制项的分形Duffing-Van der Pol振子(DVdP)为例，揭示了分形振子的基本性质。利用双尺度变换和He-Laplace方法，可以得到解析近似解。不幸的是，这种解决方案在物理上不是首选的。在进行非线性频率分析的同时对其进行修正，得到了所考虑方程的稳定性判据。另一方面，将线性化稳定性理论应用于自主布置。因此，画出了平衡点周围的相图。对于非自治组织，采用多时间尺度技术分析了稳定性准则。设计了数值估计，以图形化地确定解析近似解和稳定性构型。结果表明，激振外力参数起着不稳定的作用。此外，激振力的频率和刚度参数在稳定性图中起双重作用。
{"title":"FORCED NONLINEAR OSCILLATOR IN A FRACTAL SPACE","authors":"Ji-Huan He, G. Moatimid, M. Zekry","doi":"10.22190/fume220118004h","DOIUrl":"https://doi.org/10.22190/fume220118004h","url":null,"abstract":"A critical hurdle of a nonlinear vibration system in a fractal space is the inefficiency in modelling the system. Specifically, the differential equation models cannot elucidate the effect of porosity size and distribution of the periodic property. This paper establishes a fractal-differential model for this purpose, and a fractal Duffing-Van der Pol oscillator (DVdP) with two-scale fractal derivatives and a forced term is considered as an example to reveal the basic properties of the fractal oscillator. Utilizing the two-scale transforms and He-Laplace method, an analytic approximate solution may be attained. Unfortunately, this solution is not physically preferred. It has to be modified along with the nonlinear frequency analysis, and the stability criterion for the equation under consideration is obtained. On the other hand, the linearized stability theory is employed in the autonomous arrangement. Consequently, the phase portraits around the equilibrium points are sketched. For the non-autonomous organization, the stability criteria are analyzed via the multiple time scales technique. Numerical estimations are designed to confirm graphically the analytical approximate solutions as well as the stability configuration. It is revealed that the exciting external force parameter plays a destabilizing role. Furthermore, both of the frequency of the excited force and the stiffness parameter, execute a dual role in the stability picture.","PeriodicalId":51338,"journal":{"name":"Facta Universitatis-Series Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87543050","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Piezo-actuated stick-slip micro-drives (PASSMDs) are often used in microrobotic applications due to their advantages of a straightforward design and good operational characteristics. In this work, influences of fabrication tolerances on operational characteristics of PASSMDs are theoretically investigated. A dynamic model describing the whole macroscopic movement of the driver’s runner and the actuators, and the microscopic behavior of the frictional contacts using the method of dimensionality reduction, was used. Three essential parameters of the drives including the angle between working surfaces of the runner, the alignment angle between two actuator blocks on each side of the runner, and the stiffness of an individual actuator, whose values are impacted by the tolerance of the fabrication and assembly process, were considered as the input of the investigation. By performing hybrid-dynamic simulations, influences of these parameters on the drives' operational characteristics, including the repeatability of the step length, the critical amplitude phenomenon, and the maximal-achievable driving frequency/velocity, were evaluated. Simulation results show that these parameters significantly influence on the characteristics of the drives. The contribution of this work is so important that several important phenomena of PASSMDs, which are experimentally detected, are physically explained for the first time. The results of this work could help designers to optimize for better generations of PASSMDs.
{"title":"INVESTIGATION OF INFLUENCES OF FABRICATION TOLERANCES ON OPERATIONAL CHARACTERISTICS OF PIEZO-ACTUATED STICK-SLIP MICRO-DRIVES","authors":"X. Nguyen, H. Nguyen","doi":"10.22190/fume210311036n","DOIUrl":"https://doi.org/10.22190/fume210311036n","url":null,"abstract":"Piezo-actuated stick-slip micro-drives (PASSMDs) are often used in microrobotic applications due to their advantages of a straightforward design and good operational characteristics. In this work, influences of fabrication tolerances on operational characteristics of PASSMDs are theoretically investigated. A dynamic model describing the whole macroscopic movement of the driver’s runner and the actuators, and the microscopic behavior of the frictional contacts using the method of dimensionality reduction, was used. Three essential parameters of the drives including the angle between working surfaces of the runner, the alignment angle between two actuator blocks on each side of the runner, and the stiffness of an individual actuator, whose values are impacted by the tolerance of the fabrication and assembly process, were considered as the input of the investigation. By performing hybrid-dynamic simulations, influences of these parameters on the drives' operational characteristics, including the repeatability of the step length, the critical amplitude phenomenon, and the maximal-achievable driving frequency/velocity, were evaluated. Simulation results show that these parameters significantly influence on the characteristics of the drives. The contribution of this work is so important that several important phenomena of PASSMDs, which are experimentally detected, are physically explained for the first time. The results of this work could help designers to optimize for better generations of PASSMDs.","PeriodicalId":51338,"journal":{"name":"Facta Universitatis-Series Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86356797","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-01-01DOI: 10.1007/978-90-481-3885-2_13
P. A. Lakshminarayanan, Y. Aghav
{"title":"Oxides of Nitrogen from Direct Injection Diesel Engines","authors":"P. A. Lakshminarayanan, Y. Aghav","doi":"10.1007/978-90-481-3885-2_13","DOIUrl":"https://doi.org/10.1007/978-90-481-3885-2_13","url":null,"abstract":"","PeriodicalId":51338,"journal":{"name":"Facta Universitatis-Series Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76110985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-01-01DOI: 10.1007/978-90-481-3885-2_14
P. A. Lakshminarayanan, Y. Aghav
{"title":"Particulate Matter from Direct Injection Diesel Engines","authors":"P. A. Lakshminarayanan, Y. Aghav","doi":"10.1007/978-90-481-3885-2_14","DOIUrl":"https://doi.org/10.1007/978-90-481-3885-2_14","url":null,"abstract":"","PeriodicalId":51338,"journal":{"name":"Facta Universitatis-Series Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85852565","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-01-01DOI: 10.1007/978-3-030-87281-6_5
A. Ghajar
{"title":"Heat Transfer Results in Plain Tubes with Different Inlet Configurations","authors":"A. Ghajar","doi":"10.1007/978-3-030-87281-6_5","DOIUrl":"https://doi.org/10.1007/978-3-030-87281-6_5","url":null,"abstract":"","PeriodicalId":51338,"journal":{"name":"Facta Universitatis-Series Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77006103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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