Search results for: sliding modes

Authors: S. Djebali, S. Larbi, A. Bilek

Abstract:

The present work aims at contributing to the study of the complex phenomenon of wear of pin on disc contact in dry sliding friction between two material couples (bronze/steel and unsaturated polyester virgin and charged with graphite powder/steel). The work consists of the determination of the coefficient of friction, the study of the influence of the tribological parameters on this coefficient and the determination of the mass loss and the wear rate of the pin. This study is also widened to the highlighting of the influence of the addition of graphite powder on the tribological properties of the polymer constituting the pin. The experiments are carried out on a pin-disc type tribometer that we have designed and manufactured. Tests are conducted according to the standards DIN 50321 and DIN EN 50324. The discs are made of annealed XC48 steel and quenched and tempered XC48 steel. The main results are described here after. The increase of the normal load and the sliding speed causes the increase of the friction coefficient, whereas the increase of the percentage of graphite and the hardness of the disc surface contributes to its reduction. The mass loss also increases with the normal load. The influence of the normal load on the friction coefficient is more significant than that of the sliding speed. The effect of the sliding speed decreases for large speed values. The increase of the amount of graphite powder leads to a decrease of the coefficient of friction, the mass loss and the wear rate. The addition of graphite to the UP resin is beneficial; it plays the role of solid lubricant.

Keywords: bronze, friction coefficient, graphite, mass loss, polyester, steel, wear rate

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Authors: Christopher Viens, Bosko Gajic, Steve Krase

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Stick-Slip is a term that is often overused and commonly diagnosed from surface drilling parameters of torque and differential pressure, but the actual magnitude of the condition is rarely captured at the BHA level as the necessary measurements are seldom deployed. Deployment of an accurate stick-slip measurement downhole has led to an interesting discovery that goes against long held traditional drilling lore. A divide has been identified between stick-slip as independent bit and BHA conditions. This phenomenon in horizontal laterals is common, but few M/LWD systems have been able to capture it. Utilizing measurements of downhole RPM bore pressure, high-speed magnetometer data, bending moment, and continuous inclination, the wellbore spiraling phenomenon is able to be captured, quantified, and intimately tied back to systematic effects of BHA stalling and micro-sliding. An operator in the Permian Basin has identified that this phenomenon is contributing to increased tortuosity and drag. Utilizing downhole torque measurements the root causes of the stick-slip and spiraling phenomenon were identified and able to engineered out of the system.

Keywords: bending moment, downhole dynamics measurements, micro sliding, wellbore spiraling

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Authors: Soheil Arash Moghadam, Abdol R. Kashani Nia, Ali Akrami Zade

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Considering numerous applications of Autonomous Underwater Vehicles in various industries, there has been plenty of researches and studies on the motion control of such vehicles. One of the useful aspects for studying is the guidance of these vehicles. In this paper, while presenting motion equations with six degrees of freedom for Autonomous Underwater Vehicles, Proportional Navigation Guidance Law and the first order sliding mode control for TAIPAN AUV was used to address its guidance for the purpose of collision with a moving target.

Keywords: Autonomous Underwater Vehicle (AUV), degree of freedom (DOF), hydrodynamic, line of sight(LOS), proportional navigation guidance(PNG), sliding mode control(SMC)

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Authors: S. Sonkham, U. Pinsopon, W. Chatlatanagulchai

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This paper presents a method of sliding mode control (SMC) designing and developing for the servo system in a dual-stage actuator (DSA) hard disk drive. Mathematical modelling of hard disk drive actuators is obtained, extracted from measuring frequency response of the voice-coil motor (VCM) and PZT micro-actuator separately. Matlab software tools are used for mathematical model estimation and also for controller design and simulation. A model-reference approach for tracking requirement is selected as a proposed technique. The simulation results show that performance of a model-reference SMC controller design in DSA servo control can be satisfied in the tracking error, as well as keeping the positioning of the head within the boundary of +/-5% of track width under the presence of internal and external disturbance. The overall results of model-reference SMC design in DSA are met per requirement specifications and significant reduction in %off track is found when compared to the single-state actuator (SSA).

Keywords: hard disk drive, dual-stage actuator, track following, hdd servo control, sliding mode control, model-reference, tracking control

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Authors: K. C. Kalam Aswathy, M. V. Anil Kumar

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The possible failure modes of cold-formed steel (CFS) lipped angle (LA) compression members are yielding, local, flexural-torsional, or flexural buckling, and any possible interaction between these buckling modes. In general, the strength estimated by current design guidelines is conservative for these members when flexural-torsional buckling (FTB) is the first global buckling mode, as the post-buckling strength of this mode is not accounted for in the global buckling strength equations. The initial part of this paper reports the results of an experimental and numerical study of CFS-LA members undergoing independent FTB. The modifications are suggested to global buckling strength equations based on these results. Subsequently, the reduction in the ultimate strength from strength corresponding to independent buckling modes for LA members undergoing interaction between buckling modes such as local-flexural torsional, flexural-flexural torsional, local-flexural, and local-flexural torsional-flexural are studied systematically using finite element analysis results. A simple and more accurate interaction equation that accounts for the above interactions between buckling modes in CFS-LA compression members is proposed.

Keywords: buckling interactions, cold-formed steel, flexural-torsional buckling, lipped angle

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Authors: Angga S. Fajar, Y. Takahashi, J. Kiyono, S. Sawada

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The structural system concept of RC pier accompanied with multi sliding friction damping mechanism was developed based on numerical analysis approach. However in the implementation, to make design for such kind of this structural system consumes a lot of effort in case high of complexity. During making design, the special behaviors of this structural system should be considered including flexible small deformation, sufficient elastic deformation capacity, sufficient lateral force resistance, and sufficient energy dissipation. The confinement distribution of friction devices has significant influence to its. Optimization and prediction with multi function regression of this structural system expected capable of providing easier and simpler design method. The confinement distribution of friction devices is optimized with SNOPT in Opensees, while some design variables of the structure are predicted using multi function regression of ANN. Based on the optimization and prediction this structural system is able to be designed easily and simply.

Keywords: RC Pier, multi sliding friction device, optimal design, flexible small deformation

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Authors: Hanan Mikhael Dawood, Afaneen Anwer Abood Al-Khazraji

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The paper presents an investigation of field oriented control strategy of Permanent Magnet Synchronous Motor (PMSM) based on hardware in the loop simulation (HIL) over a wide speed range. A sensorless rotor position estimation using sliding mode observer for permanent magnet synchronous motor is illustrated considering the effects of magnetic saturation between the d and q axes. The cross saturation between d and q axes has been calculated by finite-element analysis. Therefore, the inductance measurement regards the saturation and cross saturation which are used to obtain the suitable id-characteristics in base and flux weakening regions. Real time matrix multiplication in Field Programmable Gate Array (FPGA) using floating point number system is used utilizing Quartus-II environment to develop FPGA designs and then download these designs files into development kit. dSPACE DS1103 is utilized for Pulse Width Modulation (PWM) switching and the controller. The hardware in the loop results conducted to that from the Matlab simulation. Various dynamic conditions have been investigated.

Keywords: magnetic saturation, rotor position estimation, sliding mode observer, hardware in the loop (HIL)

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Authors: Rihab Hamdi, Amel Hadri Hamida, Ouafae Bennis, Fatima Babaa, Sakina Zerouali

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This paper features a sliding mode controller (SMC) for closed-loop voltage control of DC-DC three-cells buck converter connected in parallel, operating in continuous conduction mode (CCM), based on pulse-width modulation (PWM). To maintain the switching frequency, the approach is to incorporate a pulse-width modulation that utilizes an equivalent control, inferred by applying the SM control method, to produce a control sign to be contrasted and the fixed-frequency within the modulator. Detailed stability and transient performance analysis have been conducted using Lyapunov stability criteria to restrict the switching frequency variation facing wide variations in output load, input changes, and set-point changes. The results obtained confirm the effectiveness of the proposed control scheme in achieving an enhanced output transient performance while faithfully realizing its control objective in the event of abrupt and uncertain parameter variations. Simulations studies in MATLAB/Simulink environment are performed to confirm the idea.

Keywords: DC-DC converter, pulse width modulation, power electronics, sliding mode control

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Authors: Shweda Mohan, J. L. Nandagopal, S. Amritha

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This paper focuses on the dynamic modelling of unicycle robot. Two main concepts used for balancing unicycle robot are: reaction wheel pendulum and inverted pendulum. The pitch axis is modelled as inverted pendulum and roll axis is modelled as reaction wheel pendulum. The unicycle yaw dynamics is not considered which makes the derivation of dynamics relatively simple. For the roll controller, sliding-mode controller has been adopted and optimal methods are used to minimize switching-function chattering. For pitch controller, an LQR controller has been implemented to drive the unicycle robot to follow the desired velocity trajectory. The pitching and rolling balance could be achieved by two DC motors. Unicycle robot is a non-holonomic, non-linear, static unbalance system that has the minimal number of point contact to the ground, therefore, it is a perfect platform for researchers to study motion and balance control. These real-time solutions will be a viable solution for advanced robotic systems and controls.

Keywords: decoupled dynamics, linear quadratic regulator (LQR) control, Lyapunov function sliding mode control, unicycle robot, velocity and trajectory control

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Authors: N. Ould cherchali, M. S. Boucherit, L. Barazane, A. Morsli

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Photovoltaic power is widely used to supply isolated or unpopulated areas (lighting, pumping, etc.). Great advantage is that this source is inexhaustible, it offers great safety in use and it is clean. But the dynamic models used to describe a photovoltaic system are complicated and nonlinear and due to nonlinear I-V and P–V characteristics of photovoltaic generators, a maximum power point tracking technique (MPPT) is required to maximize the output power. In this paper, two online techniques of maximum power point tracking using robust controller for photovoltaic systems are proposed, the first technique use fuzzy logic controller (FLC) and the second use sliding mode controller (SMC) for photovoltaic systems. The two maximum power point tracking controllers receive the partial derivative of power as inputs, and the output is the duty cycle corresponding to maximum power. A Photovoltaic generator with Boost converter is developed using MATLAB/Simulink to verify the preferences of the proposed techniques. SMC technique provides a good tracking speed in fast changing irradiation and when the irradiation changes slowly or is constant the panel power of FLC technique presents a much smoother signal with less fluctuations.

Keywords: fuzzy logic controller, maximum power point, photovoltaic system, tracker, sliding mode controller

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Authors: Neda Razavi Kaleibar, Bahloul Salmani

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The present study dealt with the multimodal analysis of two cinematic adaptations of The Great Gatsby as intersemiotic translation. The assessment in this study went beyond the faithfulness based on repetition, addition, deletion, and creation which limit the analysis from other aspects. In fact, this research aimed to pinpoint the role of multimodality in examining the intersemiotic translations of the novel into film by means of analyzing different applied modes. Through a qualitative type of research, the analysis was conducted based on the theory proposed by Burn as Kineikonic mode theory derived from the concept of multimodality. The results of the study revealed that due to the applied modes, each adaptation represents a sense and meaning different from the other one. Analyzing the results and discussions, it was concluded that not only the modes have an undeniable role in film adaptations, but rather multimodal analysis including different nonverbal modes can be a useful and functional choice for analyzing the intersemiotic translations.

Keywords: cinematic adaptation, intersemiotic translation, kineikonic mode, multimodality

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Authors: Tohru Kawabe

Abstract:

In this paper, a new SMC (Sliding Mode Control) method with MP (Model Predictive Control) integral action for the slip suppression of EV (Electric Vehicle) under braking is proposed. The proposed method introduce the integral term with standard SMC gain , where the integral gain is optimized for each control period by the MPC algorithms. The aim of this method is to improve the safety and the stability of EVs under braking by controlling the wheel slip ratio. There also include numerical simulation results to demonstrate the effectiveness of the method.

Keywords: sliding mode control, model predictive control, integral action, electric vehicle, slip suppression

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Authors: Makhsud Bobojanov, Dauletbek Rismukhamedov, Furkat Tuychiev, Khusniddin Shamsutdionov

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The article presents the results of experimental study of a two-speed asynchronous motor 4A80B6/4U3 with pole-changing winding on a fan drive VSUN 160x74-0.55-4 in static and dynamic modes. A prototype of a pole-changing Motor was made based on the results of the calculation and the performance and mechanical characteristics of the Motor were removed at the experimental stand, as well as useful capacities and other parameters from both poles were determined. In dynamic mode, the curves of changes of torque and current of the stator were removed by direct start, constant speed operation, by switching of speeds and stopping.

Keywords: two speed motor, pole-changing motor, electric drive of fan, dynamic modes

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Authors: Mehdi Shekarzadeh, Pejman Taghipour Birgani

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In this paper, the effect of mass and height of tip on the flexural vibration modes of an atomic force microscope (AFM) rectangular cantilever is analyzed. A closed-form expression for the sensitivity of vibration modes is derived using the relationship between the resonant frequency and contact stiffness of cantilever and sample. Each mode has a different sensitivity to variations in surface stiffness. This sensitivity directly controls the image resolution. It is obtained an AFM cantilever is more sensitive when the mass of tip is lower and the first mode is the most sensitive mode. Also, the effect of changes of tip height on the flexural sensitivity is negligible.

Keywords: atomic force microscope, AFM, vibration analysis, flexural vibration, cantilever

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Authors: Yi-Hua Chen, Hsiang-Wen Tang, I-Ling Chang, Lien-Wen Chen

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The defect mode of two-dimensional phononic crystals with Archimedean tilings was explored in the present study. Finite element method and supercell method were used to obtain dispersion relation of phononic crystals. The simulations of the acoustic wave propagation within phononic crystals are demonstrated. Around the cavity which is created by removing several cylinders in the perfect Archimedean tilings, whispering-gallery mode (WGM) can be observed. The effects of the cavity geometry on the WGM modes are investigated. The WGM modes with high Q-factor and high cavity pressure can be obtained by phononic crystals with Archimedean tilings.

Keywords: defect mode, Archimedean tilings, phononic crystals, whispering-gallery modes

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Authors: Ntloana Hlabishi Peter

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The availability of public transportation modes and qualitative infrastructure is a burning issue that affects urban sustainability. Public transportation is indispensable in providing adequate transportation means to people at an affordable price, and it promotes public transport reliance. Burgersfort town has a critical condition on the urban public transportation infrastructure which affects the bus and taxi public transport modes and the existing infrastructure. The municipality is regarded as one of the mining towns in Limpopo Province considering the availability of mining activities and proposal on establishment of a Special Economic Zone (SEZ). The study aim is to assess the efficacy of current public transportation infrastructure and to propose relevant recommendations that will unlock the possibility of future supportable public transportation systems. The Key Informant Interview (KII) was used to acquire data on the views from commuters and stakeholders involved. There KII incorporated three relevant questions in relation to services rendered in public transportation. Relevant literature relating to public transportation modes and infrastructure revealed the imperatives of public transportation infrastructure, and relevant legislation was reviewed concerning public transport infrastructure. The finding revealed poor conditions on the public transportation ranks and also inadequate parking space for public transportation modes. The study reveals that 100% of people interviewed were not satisfied with the condition of public transportation infrastructure and 100% are not satisfied with the services offered by public transportation sectors. The findings revealed that the municipality is the main player who can upgrade the existing conditions of public transportation. The study recommended that an intermodal transportation facility must be established to resolve the emerging challenges.

Keywords: public transportation, modes, infrastructure, urban sustainability

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Authors: Sharifa Alshahrani

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Comics is a multimodal text wherein meaning is created by taking in all modes of expression at once. It uses two different semiotic modes, the verbal and the visual modes, together to make meaning and these different semiotic modes can be socially and culturally shaped to give meaning. Therefore, comics translation cannot treat comics as a monomodal text by translating only the verbal mode inside or outside the speech balloons as the cultural differences are encoded in the visual mode as well. Due to the development of the internet and editing software, comics translation is not anymore confined to the publishing houses and official translation as scanlation, or the fan translation took the initiative in translating comics for being emotionally attracted to the culture and genre. Scanlation is carried out by volunteering fans who translate out of passion. However, quality is one of the debatable issues relating to scanlation and fan translation. This study will investigate how the dynamic multimodal relationship in comics is exploited and interpreted in the translation by exploring the translation strategies and procedures adopted by the publishing houses and scanlation in interpreting comics into Arabic using three analytical frameworks; cultural references model, multimodal relation model and translation strategies and procedures models.

Keywords: comics, multimodality, translation, scanlation

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Authors: A. Dėdelė, A. Miškinytė

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The assessment of air pollution exposure in different microenvironments is important for better understanding the relationship between health effects caused by air pollution. The recent researches revealed that the level of air pollution in transport microenvironment contributes considerably to the total exposure of air pollution. The aim of the study was to determine air pollution of nitrogen dioxide and to assess the exposure of NO2 dependence on the chosen commuting mode using a global positioning system (GPS). The same travel destination was chosen and 30 rides in three different commuting modes: cycling, walking, and public transport were made. Every different mean of transport is associated with different route. GPS device and travel diary data were used to track all routes of different commuting modes. Air pollution of nitrogen dioxide was determined using the ADMS-Urban dispersion model. The average annual concentration of nitrogen dioxide was modeled for 2011 year in Kaunas city. The geographical information systems were used to visualize the travel routes, to create maps indicating the route of different commuting modes and to combine modelled nitrogen dioxide data. The results showed that there is a significant difference between the selected commuting mode and the exposure of nitrogen dioxide. The concentrations in the microenvironments were 22.4 μg/m3, 21.4 μg/m3, and 25.9 μg/m3 for cycling, walking and public transport respectively. Of all the modes of commuting, the highest average exposure of nitrogen dioxide was found travelling by public transport, while the lowest average concentration of NO2 was determined by walking.

Keywords: nitrogen dioxide, dispersion model, commuting mode, GPS

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Authors: Mkhinini Maher, Knani Jilani

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We present in this work the performances of a mobile omnidirectional robot through evaluating its management of the redundancy of actuation. Thus we come to the predictive control implemented. The distribution of the wringer on the robot actions, through the inverse pseudo of Moore-Penrose, corresponds to a -geometric- distribution of efforts. We will show that the load on vehicle wheels would not be equi-distributed in terms of wheels configuration and of robot movement. Thus, the threshold of sliding is not the same for the three wheels of the vehicle. We suggest exploiting the redundancy of actuation to reduce the risk of wheels sliding and to ameliorate, thereby, its accuracy of displacement. This kind of approach was the subject of study for the legged robots.

Keywords: mobile robot, actuation, redundancy, omnidirectional, inverse pseudo moore-penrose, reductive control

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Authors: Rajat Raj, Rohini S. Hallikar

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The ever-increasing integration of renewable energy sources in the power grid necessitates the development of efficient and reliable microgrid systems. Photovoltaic (PV) systems coupled with energy storage technologies, such as batteries, offer promising solutions for sustainable and resilient power generation. This paper proposes an adaptive power control topology for a PV-battery microgrid system, aiming to optimize the utilization of available solar energy and enhance the overall system performance. In order to provide a smooth transition between the OFF-GRID and ON-GRID modes of operation with proportionate power sharing, a self-adaptive control method for a microgrid is proposed. Three different modes of operation are discussed in this paper, i.e., GRID connected, the transition between Grid-connected and Islanded State, and changing the irradiance of PVs and doing the transitioning. The simulation results show total harmonic distortion to be 0.08, 1.43 and 2.17 for distribution generation-1 and 4.22,3.92 and 2.10 for distribution generation-2 in the three modes, respectively which helps to maintain good power quality. The simulation results demonstrate the superiority of the adaptive power control topology in terms of maximizing renewable energy utilization, improving system stability and ensuring a seamless transition between grid-connected and islanded modes.

Keywords: islanded modes, microgrids, photo voltaic, total harmonic distortion

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Authors: Burak Yildirim, Muhsin Tunay Gencoglu

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This publication shows the effects of Microgrid (MG) integration on the power systems oscillating stability. Generated MG model power systems were applied to the IEEE 14 bus test system which is widely used in stability studies. Stability studies were carried out with the help of eigenvalue analysis over linearized system models. In addition, Hopf bifurcation point detection was performed to show the effect of MGs on the system loadability margin. In the study results, it is seen that MGs affect system stability positively by increasing system loadability margin and has a damper effect on the critical modes of the system and the electromechanical local modes, but they make the damping amount of the electromechanical interarea modes reduce.

Keywords: Eigenvalue analysis, microgrid, Hopf bifurcation, oscillatory stability

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Authors: Ghodbane Azeddine, Saad Maarouf, Boland Jean-Francois, Thibeault Claude

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This paper proposes a new design of an active fault-tolerant flight control system against abrupt actuator faults. This overall system combines a multiple time scale sliding mode controller for fault compensation and a geometric approach for fault detection and diagnosis. The proposed control system is able to accommodate several kinds of partial and total actuator failures, by using available healthy redundancy actuators. The overall system first estimates the correct fault information using the geometric approach. Then, and based on that, a new reconfigurable control law is designed based on the multiple time scale sliding mode technique for on-line compensating the effect of such faults. This approach takes advantages of the fact that there are significant difference between the time scales of aircraft states that have a slow dynamics and those that have a fast dynamics. The closed-loop stability of the overall system is proved using Lyapunov technique. A case study of the non-linear model of the F16 fighter, subject to the rudder total loss of control confirms the effectiveness of the proposed approach.

Keywords: actuator faults, fault detection and diagnosis, fault tolerant flight control, sliding mode control, multiple time scale approximation, geometric approach for fault reconstruction, lyapunov stability

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Authors: Ilya Kavalchuk, Mehdi Seyedmahmoudian, Ben Horan, Aman Than Oo, Alex Stojcevski

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The power electronic components within Electric Vehicles (EV) need to operate in several important modes. Some modes directly influence safety, while others influence vehicle performance. Given the variety of functions and operational modes required of the power electronics, it needs to meet efficiency requirements to minimize power losses. Another challenge in the control and construction of such systems is the ability to support bidirectional power flow. This paper considers the construction, operation, and feasibility of available converters for electric vehicles with feasible configurations of electrical buses and loads. This paper describes logic and control signals for the converters for different operations conditions based on the efficiency and energy usage bases.

Keywords: electric vehicles, electrical machines control, power electronics, powerflow regulations

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Authors: Almontas Vilutis, Vytenis Jankauskas

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The paper presents the results of the investigation of the dry sliding friction of wood-plastic composites (WPCs) against WC-Co cemented carbide. The dependence of the dynamic coefficient of friction on the main influencing factors (vertical load, temperature, and sliding distance) was investigated by evaluating their mutual interaction. Multiple regression analysis showed a high polynomial dependence (adjusted R2 > 0.98). The resistance of the composite to thermo-mechanical effects determines how temperature and force factors affect the magnitude of the coefficient of friction. WPC-B composite has the lowest friction and highest resistance compared to WPC-A, while composite and cemented carbide materials wear the least. Energy dispersive spectroscopy (EDS), based on elemental composition, provided important insights into the friction process.

Keywords: friction, composite, carbide, factors

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Authors: Nurezlin Mohd Azib, Pan Kok Chang

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This quantitative study investigates the effects of major and minor modes, and contributing musical parameter of tempo, to the emotional perceptions of ‘happy’ and ‘sad’ in piano music among subjects aged 9-17 years old. The study was conducted in two phases; survey-questionnaire, and listening activity. Subjects (N=31) were sampled from piano music students’ population in Bangi, Selangor. In the survey-questionnaire, subjects answered 20 questions on demographic characteristics, music listening and preference, and understanding of emotional perception in music. In the listening activity, subjects listened to 20 untitled piano music excerpts and rated the emotion perceived for each excerpt, whether ‘happy’ or ‘sad’. Results from survey-questionnaire show that most percentage of subjects are 11 years old, in Grade 1, of 3 years of learning piano, prefer classical music, always listen to music, prefer both major and minor modes’ music, and find it easy to understand emotion in music, as well as major and minor modes. Results from listening activity show that 60 % of major mode music are perceived as ‘major-happy’, while 60 % too, of minor mode music are perceived as ‘minor-sad’. However, Chi-square test of independence statistical analysis indicates that there are no association and significant relationship between modes (major and minor) and ‘happy’, as well as ‘sad’ perceptions (x2 (1, N = 20) = 0.80, p = 0.371), at the significance level of p ≤ 0.05. Contrastingly, there are association and significant relationship between tempo (fast and slow), and ‘happy’, as well as ‘sad’ perceptions (x2 (1, N = 20) = 9.899, p = 0.005). Therefore, it is concluded that tempo plays an important role in effects of major and minor mode to ‘happy’ and ‘sad’ emotional perceptions in piano music among subjects aged 9 to 17 in this study.

Keywords: effects, emotional perceptions, major and minor modes, piano music

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Authors: Vinod Kumar, Surjit Angra

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The objective of this theoretical study is to develop simple design formulas for the prediction of minimum film thickness and maximum mean film temperature rise in lightly loaded high-speed rolling/sliding lubricated elliptical contacts incorporating starvation effect. Herein, the reported numerical analysis focuses on thermoelastohydrodynamically lubricated rolling/sliding elliptical contacts, considering the Newtonian rheology of lubricant for wide range of operating parameters, namely load characterized by Hertzian pressure (PH = 0.01 GPa to 0.10 GPa), rolling speed (>10 m/s), slip parameter (S varies up to 1.0), and ellipticity ratio (k = 1 to 5). Starvation is simulated by systematically reducing the inlet supply. This analysis reveals that influences of load, rolling speed, and level of starvation are significant on the minimum film thickness. However, the maximum mean film temperature rise is strongly influenced by slip in addition to load, rolling speed, and level of starvation. In the presence of starvation, reduction in minimum film thickness and increase in maximum mean film temperature are observed. Based on the results of this study, empirical relations are developed for the prediction of dimensionless minimum film thickness and dimensionless maximum mean film temperature rise at the contacts in terms of various operating parameters.

Keywords: starvation, lubrication, elliptical contact, traction, minimum film thickness

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Authors: Abdelhak Djoudi, Hachemi Chekireb, El Madjid Berkouk

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The doubly fed induction generator (DFIG) received recently an important consideration in medium and high power wind energy conversion systems integration, due to its advantages compared to other generators types. The stator power sliding mode control (SPSMC) proves a great efficiency judge against other control laws and schemes. In the SPSMC laws elaborated by several authors, only the slide surface tracking conditions are elaborated using Lyapunov functions, and the boundedness of the DFIG states is never treated. Some works have validated theirs approaches by experiments results in the case of specified machines, but these verifications stay insufficient to generalize to other machines range. Adding to this argument, the DFIG states boundedness demonstration is widely suggested in goal to ensure that in the application of the SPSMC, the states evaluates within theirs tolerable bounds. Our objective in the present paper is to highlight the efficiency of the SPSMC by stability analysis. The boundedness of the DFIG states such as the stator current and rotor flux is discussed. Moreover, the states trajectories are finding using analytical proves taking into consideration the SPSMC gains.

Keywords: Doubly Fed Induction Generator (DFIG), Stator Powers Sliding Mode Control (SPSMC), lyapunov function, stability, states boundedness, trajectories mathematical proves

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Authors: Angga S. Fajar, Y. Takahashi, J. Kiyono, S. Sawada

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The problem of medium span bridge bearing support in the extreme temperatures fluctuation region is deterioration in case the suppression of superstructure that sustains temperature expansion. The other hand, the behavior and the parameter of RC column accompanied with friction damping mechanism were determined successfully based on the experiment and numerical analysis. This study proposes the structural system of RC pier accompanied with multi sliding friction damping mechanism to substitute the conventional system of pier together with bearing support. In this system, the pier has monolith behavior to the superstructure with flexible small deformation to accommodate thermal expansion of the superstructure. The flexible small deformation behavior is realized by adding the gap mechanism in the multi sliding friction devices form. The important performances of this system are sufficient lateral flexibility in small deformation, sufficient elastic deformation capacity, sufficient lateral force resistance, and sufficient energy dissipation. Numerical analysis performed for this system with fiber element model. It shows that the structural system has good performance not only under small deformation due to thermal expansion of the superstructure but also under seismic load.

Keywords: RC Pier, thermal expansion, multi sliding friction device, flexible small deformation

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Authors: Feleke Tsegaye

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The work in this thesis mainly focuses on trajectory tracking of fixed wing unmanned aerial vehicle (FWUAV) by using fuzzy based sliding mode controller(FSMC) for surveillance applications. Unmanned Aerial Vehicles (UAVs) are general-purpose aircraft built to fly autonomously. This technology is applied in a variety of sectors, including the military, to improve defense, surveillance, and logistics. The model of FWUAV is complex due to its high non-linearity and coupling effect. In this thesis, input decoupling is done through extracting the dominant inputs during the design of the controller and considering the remaining inputs as uncertainty. The proper and steady flight maneuvering of UAVs under uncertain and unstable circumstances is the most critical problem for researchers studying UAVs. A FSMC technique was suggested to tackle the complexity of FWUAV systems. The trajectory tracking control algorithm primarily uses the sliding-mode (SM) variable structure control method to address the system’s control issue. In the SM control, a fuzzy logic control(FLC) algorithm is utilized in place of the discontinuous phase of the SM controller to reduce the chattering impact. In the reaching and sliding stages of SM control, Lyapunov theory is used to assure finite-time convergence. A comparison between the conventional SM controller and the suggested controller is done in relation to the chattering effect as well as tracking performance. It is evident that the chattering is effectively reduced, the suggested controller provides a quick response with a minimum steady-state error, and the controller is robust in the face of unknown disturbances. The designed control strategy is simulated with the nonlinear model of FWUAV using the MATLAB® / Simulink® environments. The simulation result shows the suggested controller operates effectively, maintains an aircraft’s stability, and will hold the aircraft’s targeted flight path despite the presence of uncertainty and disturbances.

Keywords: fixed-wing UAVs, sliding mode controller, fuzzy logic controller, chattering, coupling effect, surveillance, finite-time convergence, Lyapunov theory, flight path

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Authors: Gabriel Sitler, Yousef Sardahi, Asad Salem

Abstract:

This paper presents an optimal and robust sliding mode controller (SMC) to regulate the position of the knee joint angle for patients suffering from knee injuries. The controller imitates the role of active orthoses that produce the joint torques required to overcome gravity and loading forces and regain natural human movements. To this end, a mathematical model of the shank, the lower part of the leg, is derived first and then used for the control system design and computer simulations. The design of the controller is carried out in optimal and multi-objective settings. Four objectives are considered: minimization of the control effort and tracking error; and maximization of the control signal smoothness and closed-loop system’s speed of response. Optimal solutions in terms of the Pareto set and its image, the Pareto front, are obtained. The results show that there are trade-offs among the design objectives and many optimal solutions from which the decision-maker can choose to implement. Also, computer simulations conducted at different points from the Pareto set and assuming knee squat movement demonstrate competing relationships among the design goals. In addition, the proposed control algorithm shows robustness in tracking a standard gait signal when accounting for uncertainty in the shank’s parameters.

Keywords: optimal control, multi-objective optimization, sliding mode control, wearable knee exoskeletons

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