Search results for: rotor blades.

Authors: Rajesh Kumar, Puneet Aggarwal

Abstract:

In context of understanding problems faced by undergraduate students while carrying out laboratory experiments dealing with high voltages, it was found that most of the students are hesitant to work directly on machine. The reason is that error in the circuitry might lead to deterioration of machine and laboratory instruments. So, it has become inevitable to include modern pedagogic techniques for undergraduate students, which would help them to first carry out experiment in virtual system and then to work on live circuit. Further advantages include that students can try out their intuitive ideas and perform in virtual environment, hence leading to new research and innovations. In this paper, virtual environment used is of MATLAB/Simulink for three-phase induction machines. The performance analysis of three-phase induction machine is carried out using virtual environment which includes Direct Current (DC) Test, No-Load Test, and Block Rotor Test along with speed torque characteristics for different rotor resistances and input voltage, respectively. Further, this paper carries out computer aided teaching of basic Voltage Source Inverter (VSI) drive circuitry. Hence, this paper gave undergraduates a clearer view of experiments performed on virtual machine (No-Load test, Block Rotor test and DC test, respectively). After successful implementation of basic tests, VSI circuitry is implemented, and related harmonic distortion (THD) and Fast Fourier Transform (FFT) of current and voltage waveform are studied.

Keywords: Block rotor test, DC test, no-load test, virtual environment, VSI.

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Authors: Thair Sh. Mahmoud, Tang Sai Hong, Mohammed H. Marhaban

Abstract:

In this paper, Neuro-Fuzzy based Fuzzy Subtractive Clustering Method (FSCM) and Self Tuning Fuzzy PD-like Controller (STFPDC) were used to solve non-linearity and trajectory problems of pitch AND yaw angles of Twin Rotor MIMO system (TRMS). The control objective is to make the beams of TRMS reach a desired position quickly and accurately. The proposed method could achieve control objectives with simpler controller. To simplify the complexity of STFPDC, ANFIS based FSCM was used to simplify the controller and improve the response. The proposed controllers could achieve satisfactory objectives under different input signals. Simulation results under MATLAB/Simulink® proved the improvement of response and superiority of simplified STFPDC on Fuzzy Logic Controller (FLC).

Keywords: Fuzzy Subtractive Clustering Method, Neuro Fuzzy, Self Tuning Fuzzy Controller, and Twin Rotor MIMO System.

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Authors: R. Gunabalan, V. Subbiah

Abstract:

This paper describes the speed sensorless vector control method of the parallel connected induction motor drive fed by a single inverter. Speed and rotor fluxes of the induction motor are estimated by natural observer with load torque adaptation and adaptive rotor flux observer. The performance parameters speed and rotor fluxes are estimated from the measured terminal voltages and currents. Fourth order induction motor model is used and speed is considered as a parameter. The performance of the natural observer is similar to the conventional observer. The speed of an induction motor is estimated by MATLAB simulation under different speed and load conditions. Estimated values along with other measured states are used for closed loop control. The simulation results show that the natural observer is also effective for parallel connected induction motor drive.

Keywords: natural observer, adaptive observer, sensorless control

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Authors: A. M. Maqableh

Abstract:

Modelling techniques for a fluid coupling taken from published literature have been extended to include the effects of the filling and emptying of the coupling with oil and the variation in losses when the coupling is partially full. In the model, the fluid flow inside the coupling is considered to have two principal velocity components; one circumferentially about the coupling axis (centrifugal head) and the other representing the secondary vortex within the coupling itself (vortex head). The calculation of liquid mass flow rate circulating between the two halves of the coupling is based on: the assumption of a linear velocity variation in the circulating vortex flow; the head differential in the fluid due to the speed difference between the two shafts; and the losses in the circulating vortex flow as a result of the impingement of the flow with the blades in the coupling and friction within the passages between the blades.

Keywords: Fluid Coupling, Mathematical Modelling, partially filled.

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Authors: Design of 3-Step Skew BLAC Motor for Better Performance in Electric Power Steering System

Abstract:

In Electric Power Steering (EPS), spoke type Brushless AC (BLAC) motors offer distinct advantages over other electric motor types in terms torque smoothness, reliability and efficiency. This paper deals with the shape optimization of spoke type BLAC motor, in order to reduce cogging torque. This paper examines 3 steps skewing rotor angle, optimizing rotor core edge and rotor overlap length for reducing cogging torque in spoke type BLAC motor. The methods were applied to existing machine designs and their performance was calculated using finite- element analysis (FEA). Prototypes of the machine designs were constructed and experimental results obtained. It is shown that the FEA predicted the cogging torque to be nearly reduce using those methods.

Keywords: EPS, 3-Step skewing, spoke type BLAC, cogging torque, FEA, optimization.

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Authors: Chun-Yao Lee, Yi-Xing Shen, Jung-Cheng Cheng, Yi-Yin Li, Chih-Wen Chang

Abstract:

This paper proposes the method combining artificial neural network (ANN) with particle swarm optimization (PSO) to implement the maximum power point tracking (MPPT) by controlling the rotor speed of the wind generator. First, the measurements of wind speed, rotor speed of wind power generator and output power of wind power generator are applied to train artificial neural network and to estimate the wind speed. Second, the method mentioned above is applied to estimate and control the optimal rotor speed of the wind turbine so as to output the maximum power. Finally, the result reveals that the control system discussed in this paper extracts the maximum output power of wind generator within the short duration even in the conditions of wind speed and load impedance variation.

Keywords: Maximum power point tracking, artificial neuralnetwork, particle swarm optimization.

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Authors: Daniel Icaza, Federico Córdova, Chiristian Castro, Fernando Icaza, Juan Portoviejo

Abstract:

In this article, the mathematical model is presented, and simulations were carried out using specialized software such as MATLAB before the construction of a 900-W wind turbine. The present study was conducted with the intention of taking advantage of the rotation of the blades of the wind generator after going through a process of amplification of speed by means of a system of gears to finally mechanically couple two electric generators of similar characteristics. This coupling allows generating a maximum voltage of 6 V in DC for each generator and putting in series the 12 V DC is achieved, which is later stored in batteries and used when the user requires it. Laboratory tests were made to verify the level of power generation produced based on the wind speed at the entrance of the blades.

Keywords: Smart grids, wind turbine, modeling, renewable energy, robust control.

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Authors: Chandrashekhar Bhat, Dilifa J. Noronha, Faber A. Saldanha

Abstract:

Transportation of long turbine blades from one place to another is a difficult process. Hence a feasibility study of modularization of wind turbine blade was taken from structural standpoint through finite element analysis. Initially, a non-segmented blade is modeled and its structural behavior is evaluated to serve as reference. The resonant, static bending and fatigue tests are simulated in accordance with IEC61400-23 standard for comparison purpose. The non-segmented test blade is separated at suitable location based on trade off studies and the segments are joined with an innovative double strap bonded joint configuration. The adhesive joint is modeled by adopting cohesive zone modeling approach in ANSYS. The developed blade model is analyzed for its structural response through simulation. Performances of both the blades are found to be similar, which indicates that, efficient segmentation of the long blade is possible which facilitates easy transportation of the blades and on site reassembling. The location selected for segmentation and adopted joint configuration has resulted in an efficient segmented blade model which proves the methodology adopted for segmentation was quite effective. The developed segmented blade appears to be the viable alternative considering its structural response specifically in fatigue within considered assumptions.

Keywords: Cohesive zone modeling, fatigue, segmentation, wind turbine blade.

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Authors: Abdullah Alnutayfat, Alexander Sutin, Dong Liu

Abstract:

Wind turbine has become one of the most popular energy production methods. However, failure of blades and maintenance costs evolve into significant issues in the wind power industry, so it is essential to detect the initial blade defects to avoid the collapse of the blades and structure. This paper aims to apply modulation of high-frequency blade vibrations by low-frequency blade rotation, which is close to the known Vibro-Acoustic Modulation (VAM) method. The high-frequency wideband blade vibration is produced by the interaction of the surface blades with the environment air turbulence, and the low-frequency modulation is produced by alternating bending stress due to gravity. The low-frequency load of rotational wind turbine blades ranges between 0.2-0.4 Hz and can reach up to 2 Hz for strong wind. The main difference between this study and previous ones on VAM methods is the use of a wideband vibration signal from the blade's natural vibrations. Different features of the VAM are considered using a simple model of breathing crack. This model considers the simple mechanical oscillator, where the parameters of the oscillator are varied due to low-frequency blade rotation. During the blade's operation, the internal stress caused by the weight of the blade modifies the crack's elasticity and damping. The laboratory experiment using steel samples demonstrates the possibility of VAM using a probe wideband noise signal. A cycle load with a small amplitude was used as a pump wave to damage the tested sample, and a small transducer generated a wideband probe wave. The received signal demodulation was conducted using the Detecting of Envelope Modulation on Noise (DEMON) approach. In addition, the experimental results were compared with the modulation index (MI) technique regarding the harmonic pump wave. The wideband and traditional VAM methods demonstrated similar sensitivity for earlier detection of invisible cracks. Importantly, employing a wideband probe signal with the DEMON approach speeds up and simplifies testing since it eliminates the need to conduct tests repeatedly for various harmonic probe frequencies and to adjust the probe frequency.

Keywords: Damage detection, turbine blades, Vibro-Acoustic Structural Health Monitoring, SHM, Detecting of Envelope Modulation on Noise.

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Authors: Abdul Rashid Husain, Mohamad Noh Ahmad, Abdul Halim Mohd. Yatim

Abstract:

In this paper, stabilization of an Active Magnetic Bearing (AMB) system with varying rotor speed using Sliding Mode Control (SMC) technique is considered. The gyroscopic effect inherited in the system is proportional to rotor speed in which this nonlinearity effect causes high system instability as the rotor speed increases. Also, transformation of the AMB dynamic model into a new class of uncertain system shows that this gyroscopic effect lies in the mismatched part of the system matrix. Moreover, the current gain parameter is allowed to be varied in a known bound as an uncertainty in the input matrix. SMC design method is proposed in which the sufficient condition that guarantees the global exponential stability of the reduced-order system is represented in Linear Matrix Inequality (LMI). Then, a new chattering-free control law is established such that the system states are driven to reach the switching surface and stay on it thereafter. The performance of the controller applied to the AMB model is demonstrated through simulation works under various system conditions.

Keywords: Active Magnetic Bearing (AMB), Sliding ModeControl (SMC), Linear Matrix Inequality (LMI), mismatcheduncertainty.

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Authors: M. Douak, Z. Aouachria

Abstract:

The aim of our study is to project an optimized wind turbine of Darrieus type. This type of wind turbine is characterized by a low starting torque in comparison with the Savonius rotor allowing them to operate for a period greater than wind speed. This led us to reconsider the Darrieus rotor to optimize a design which will increase its starting torque. The study of a system of monitoring and control of the angle of attack of blade profile, which allows an auto start to wind speeds as low as possible is presented for the straight blade of Darrieus turbine. The study continues to extend to other configurations namely those of parabolic type.

Keywords: Darrieus turbine, pitch angle, self-stating, wind energy.

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Authors: Federico Amato, Gabriele Bedon, Marco Raciti Castelli, Ernesto Benini

Abstract:

The aerodynamic performances of vertical axis wind turbines are highly affected by tip vortexes. In the present work, different tip devices are considered and simulated against a baseline rotor configuration, with the aim of identifying the best tip architecture. Three different configurations are tested: winglets, an elliptic termination and an aerodynamic bulkhead. A comparative analysis on the most promising architectures is conducted, focusing also on blade torque evolution during a full revolution of the rotor blade. The most promising technology is concluded to be a well designed winglet.

Keywords: Darrieus Wind Turbine, Tip Devices, Tip Vortexes, Winglet, Elliptic Termination, Aerodynamic Bulkhead

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Authors: Alireza Rasekh, Peter Sergeant, Jan Vierendeels

Abstract:

This paper copes with the numerical simulation for convective heat transfer in the stator disk of an axial flux permanent magnet (AFPM) electrical machine. Overheating is one of the main issues in the design of AFMPs, which mainly occurs in the stator disk, so that it needs to be prevented. A rotor-stator configuration with 16 magnets at the periphery of the rotor is considered. Air is allowed to flow through openings in the rotor disk and channels being formed between the magnets and in the gap region between the magnets and the stator surface. The rotating channels between the magnets act as a driving force for the air flow. The significant non-dimensional parameters are the rotational Reynolds number, the gap size ratio, the magnet thickness ratio, and the magnet angle ratio. The goal is to find correlations for the Nusselt number on the stator disk according to these non-dimensional numbers. Therefore, CFD simulations have been performed with the multiple reference frame (MRF) technique to model the rotary motion of the rotor and the flow around and inside the machine. A minimization method is introduced by a pattern-search algorithm to find the appropriate values of the reference temperature. It is found that the correlations are fast, robust and is capable of predicting the stator heat transfer with a good accuracy. The results reveal that the magnet angle ratio diminishes the stator heat transfer, whereas the rotational Reynolds number and the magnet thickness ratio improve the convective heat transfer. On the other hand, there a certain gap size ratio at which the stator heat transfer reaches a maximum.

Keywords: Axial flux permanent magnet, CFD, magnet parameters, stator heat transfer.

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Authors: A.Larabi, M.S. Boucherit

Abstract:

In this paper, we investigated vector control of an induction machine taking into account discretization problems of the command. In the purpose to show how to include in a discrete model of this current control and with rotor time constant update. The results of simulation obtained are very satisfaisant. That was possible thanks to the good choice of the values of the parameters of the regulators used which shows, the founded good of the method used, for the choice of the parameters of the discrete regulators. The simulation results are presented at the end of this paper.

Keywords: Induction motor, discrete vector control, PIRegulator, transformation of park, PWM.

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Authors: Omid Ghasemalizadeh, Mohammad Reza Mirzaee, Hossein Sadeghi, Mohammad Taghi Ahmadian

Abstract:

There are lots of different ways to find the natural frequencies of a rotating system. One of the most effective methods which is used because of its precision and correctness is the application of the transfer matrix. By use of this method the entire continuous system is subdivided and the corresponding differential equation can be stated in matrix form. So to analyze shaft that is this paper issue the rotor is divided as several elements along the shaft which each one has its own mass and moment of inertia, which this work would create possibility of defining the named matrix. By Choosing more elements number, the size of matrix would become larger and as a result more accurate answers would be earned. In this paper the dynamics of a rotor-bearing system is analyzed, considering the gyroscopic effect. To increase the accuracy of modeling the thickness of the disk and bearings is also taken into account which would cause more complicated matrix to be solved. Entering these parameters to our modeling would change the results completely that these differences are shown in the results. As said upper, to define transfer matrix to reach the natural frequencies of probed system, introducing some elements would be one of the requirements. For the boundary condition of these elements, bearings at the end of the shaft are modeled as equivalent spring and dampers for the discretized system. Also, continuous model is used for the shaft in the system. By above considerations and using transfer matrix, exact results are taken from the calculations. Results Show that, by increasing thickness of the bearing the amplitude of vibration would decrease, but obviously the stiffness of the shaft and the natural frequencies of the system would accompany growth. Consequently it is easily understood that ignoring the influences of bearing and disk thicknesses would results not real answers.

Keywords: Rotor System, Disk and Bearing Thickness, Transfer Matrix, Amplitude.

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Authors: Chih-Chung Chang, Sy-Chi Kuo, Chen-Kang Huang, Sih-Li Chen

Abstract:

This study experimentally and numerically investigates motor cooling performance. The motor consists of a centrifugal fan, two axial fans, a shaft, a stator, a rotor and a heat exchanger with 637 cooling tubes. The pressure rise-flow rate (P-Q) performance curves of the cooling fans at 1800 rpm are tested using a test apparatus complying with the Chinese National Standard (CNS) 2726. Compared with the experimental measurements, the numerical analysis results show that the P-Q performance curves of the axial fan and centrifugal fan can be estimated within about 2% and 6%, respectively. By using the simplified model, setting up the heat exchanger and stator as porous media, the flow field in the motor is calculated. By using the results of the flow field near the rotor and stator, and subjecting the heat generation rate as a boundary condition, the temperature distributions of the stator and rotor are also calculated. The simulation results show that the calculated temperature of the stator winding near the axial fans is lower by about 5% than the measured value, and the calculated temperature of the stator core located at the center of the stator is about 1% higher than the measured value. Besides, discussion is made to improve the motor cooling performance.

Keywords: Motor cooling, P-Q performance curves, CNS, porous media.

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Authors: А. Pashayev, D. Askerov, R. Sadiqov, A. Samedov, C. Ardil

Abstract:

In contrast to existing methods which do not take into account multiconnectivity in a broad sense of this term, we develop mathematical models and highly effective combination (BIEM and FDM) numerical methods of calculation of stationary and quasistationary temperature field of a profile part of a blade with convective cooling (from the point of view of realization on PC). The theoretical substantiation of these methods is proved by appropriate theorems. For it, converging quadrature processes have been developed and the estimations of errors in the terms of A.Ziqmound continuity modules have been received. For visualization of profiles are used: the method of the least squares with automatic conjecture, device spline, smooth replenishment and neural nets. Boundary conditions of heat exchange are determined from the solution of the corresponding integral equations and empirical relationships. The reliability of designed methods is proved by calculation and experimental investigations heat and hydraulic characteristics of the gas turbine first stage nozzle blade.

Keywords: Modeling, Simulating, Gas Turbine, Cooled Blades.

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Authors: Katsuya Takasaki, Manabu Takao, Toshiaki Setoguchi

Abstract:

The effect of a 3-dimensional (3D) blade on the turbine characteristics of Wells turbine for wave energy conversion has been investigated experimentally by model testing under steady flow conditions in this study, in order to improve the peak efficiency and stall characteristics. The aim of use of 3D blade is to prevent flow separation on the suction surface near the tip. The chord length is constant with radius and the blade profile changes gradually from the mean radius to tip. The proposed blade profiles in the study are NACA0015 from the hub to mean radius and NACA0025 at the tip. The performances of Wells turbine with 3D blades has been compared with those of the original Wells turbine, i.e., the turbine with 2-dimensional (2D) blades. As a result, it was concluded that although the peak efficiency of Wells turbine can be improved by the use of the proposed 3D blade, its blade does not overcome the weakness of stalling.

Keywords: Fluid machinery, ocean engineering, stall, wave energy conversion, Wells turbine.

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Authors: Farhad Asadi, Gholamhasan Payganeh

Abstract:

High-speed turbomachine can experience significant centrifugal and gas bending loads. As a result, the compressor blades must be able to resist high-frequency oscillations due to surge or stall condition in flow field dynamics. In this paper, vibration characteristics of the 6th stage blade compressor have been examined in detail with, using 3-D finite element (FE) methods. The primary aim of this article is to gain an understanding of nonlinear vibration induced in the blade against different loading conditions. The results indicate the nonlinear behavior of the blade as a result of the amplitude of resonances or material properties. Since one of the leading causes of turbine blade failure is high cycle fatigue, simulations were started by specifying the stress distribution in the blade due to the centrifugal rotation. Next, resonant frequencies and critical speeds of the blade were defined by modal analysis. Finally, the harmonic analysis was simulated on the blades.

Keywords: Nonlinear vibration, modal analysis, resonance, frequency response, compressor blade.

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Authors: Yasuo Obikane, Sofiane Khelladi

Abstract:

In the upstream we place a piece of ring and rotate it with 83Hz, 166Hz, 333Hz,and 666H to find the effect of the periodic distortion.In the experiment this type of the perturbation will not allow since the mechanical failure of any parts of the equipment in the upstream will destroy the blade system. This type of study will be only possible by CFD. We use two pumps NS32 (ENSAM) and three blades pump (Tamagawa Univ). The benchmark computations were performed without perturbation parts, and confirm the computational results well agreement in head-flow rate. We obtained the pressure fluctuation growth rate that is representing the global instability of the turbo-system. The fluctuating torque components were 0.01Nm(5000rpm), 0.1Nm(10000rmp), 0.04Nm(20000rmp), 0.15Nm( 40000rmp) respectively. Only for 10000rpm(166Hz) the output toque was random, and it implies that it creates unsteady flow by separations on the blades, and will reduce the pressure loss significantly

Keywords: inlet distorsion, perturbation, turbo-machine

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Authors: Youcef Bekakra, Djilani Ben attous

Abstract:

In this paper, a field oriented control (FOC) induction motor drive is presented. In order to eliminate the speed sensor, an adaptation algorithm for tuning the rotor speed is proposed. Based on the Model Reference Adaptive System (MRAS) scheme, the rotor speed is tuned to obtain an exact FOC induction motor drive. The reference and adjustable models, developed in stationary stator reference frame, are used in the MRAS scheme to estimate induction rotor speed from measured terminal voltages and currents. The Integral Proportional (IP) gains speed controller are tuned by a modern approach that is the Particle Swarm Optimization (PSO) algorithm in order to optimize the parameters of the IP controller. The use of PSO as an optimization algorithm makes the drive robust, with faster dynamic response, higher accuracy and insensitive to load variation. The proposed algorithm has been tested by numerical simulation, showing the capability of driving load.

Keywords: Induction motor drive, field oriented control, model reference adaptive system (MRAS), particle swarm optimization (PSO).

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Authors: A. Shahsavari, M. Nili-Ahmadabadi

Abstract:

This paper presents an innovative one-dimensional optimization of a transonic compressor based on the radial equilibrium theory by means of increasing blade loading. Firstly, the rotor blade of the transonic compressor is redesigned based on the constant span-wise deHaller number and diffusion. The code is applied to extract compressor meridional plane and blade to blade geometry containing rotor and stator in order to design blade three-dimensional view. A structured grid is generated for the numerical domain of fluid. Finer grids are used for regions near walls to capture boundary layer effects and behavior. RANS equations are solved by finite volume method for rotating zones (rotor) and stationary zones (stator). The experimental data, available for the performance map of NASA Rotor67, is used to validate the results of simulations. Then, the capability of the design method is validated by CFD that is capable of predicting the performance map. The numerical results of new geometry show about 19% increase in pressure ratio and 11% improvement in overall efficiency of the transonic stage; however, the design point mass flow rate of the new compressor is 5.7% less than that of the original compressor.

Keywords: One dimensional design, deHaller number, radial equilibrium, transonic compressor.

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Authors: E. Diryak, P. Lefley, L. Petkovska, G. Cvetkovski

Abstract:

This paper presents the optimum design for a double stator, cup rotor machine; a novel type of BLDC PM Machine. The optimization approach is divided into two stages: the first stage is calculating the machine configuration using Matlab, and the second stage is the optimization of the machine using Finite Element Modeling (FEM). Under the design specifications, the machine model will be selected from three pole numbers, namely, 8, 10 and 12 with an appropriate slot number. A double stator brushless DC permanent magnet machine is designed to achieve low cogging torque; high electromagnetic torque and low ripple torque.

Keywords: Permanent magnet machine, low- cogging torque, low- ripple torque, high- electromagnetic torque, design optimization.

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Authors: Marco Raciti Castelli, Ernesto Benini

Abstract:

This paper presents a model for the evaluation of energy performance and aerodynamic forces acting on a small straight-bladed Darrieus-type vertical axis wind turbine depending on blade geometrical section. It consists of an analytical code coupled to a solid modeling software, capable of generating the desired blade geometry based on the desired blade design geometric parameters. Such module is then linked to a finite volume commercial CFD code for the calculation of rotor performance by integration of the aerodynamic forces along the perimeter of each blade for a full period of revolution.After describing and validating the computational model with experimental data, the results of numerical simulations are proposed on the bases of two candidate airfoil sections, that is a classical symmetrical NACA 0021 blade profile and the recently developed DU 06-W-200 non-symmetric and laminar blade profile.Through a full CFD campaign of analysis, the effects of blade geometrical section on angle of attack are first investigated and then the overall rotor torque and power are analyzed as a function of blade azimuthal position, achieving a numerical quantification of the influence of airfoil geometry on overall rotor performance.

Keywords: Wind turbine, NACA 0021, DU 06-W-200.

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Authors: Djalal Eddine Khodja, Boukhemis Chetate

Abstract:

In this paper, an automatic system of diagnosis was developed to detect and locate in real time the defects of the wound rotor asynchronous machine associated to electronic converter. For this purpose, we have treated the signals of the measured parameters (current and speed) to use them firstly, as indicating variables of the machine defects under study and, secondly, as inputs to the Artificial Neuron Network (ANN) for their classification in order to detect the defect type in progress. Once a defect is detected, the interpretation system of information will give the type of the defect and its place of appearance.

Keywords: Artificial Neuron Networks (ANN), Effective Value (RMS), Experimental results, Failure detection Indicating values, Motor-converter unit.

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Authors: Ayad Al-Mahturi, Herman Wahid

Abstract:

This paper presents an optimal state feedback controller based on Linear Quadratic Regulator (LQR) for a two-rotor aero-dynamical system (TRAS). TRAS is a highly nonlinear multi-input multi-output (MIMO) system with two degrees of freedom and cross coupling. There are two parameters that define the behavior of LQR controller: state weighting matrix and control weighting matrix. The two parameters influence the performance of LQR. Particle Swarm Optimization (PSO) is proposed to optimally tune weighting matrices of LQR. The major concern of using LQR controller is to stabilize the TRAS by making the beam move quickly and accurately for tracking a trajectory or to reach a desired altitude. The simulation results were carried out in MATLAB/Simulink. The system is decoupled into two single-input single-output (SISO) systems. Comparing the performance of the optimized proportional, integral and derivative (PID) controller provided by INTECO, results depict that LQR controller gives a better performance in terms of both transient and steady state responses when PSO is performed.

Keywords: Linear quadratic regulator, LQR controller, optimal control, particle swarm optimization, PSO, two-rotor aero-dynamical system, TRAS.

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Authors: J.W. Xiang, M. Liang

Abstract:

This paper presents a method to detect multiple cracks based on frequency information. When a structure is subjected to dynamic or static loads, cracks may develop and the modal frequencies of the cracked structure may change. To detect cracks in a structure, we construct a high precision wavelet finite element (EF) model of a certain structure using the B-spline wavelet on the interval (BSWI). Cracks can be modeled by rotational springs and added to the FE model. The crack detection database will be obtained by solving that model. Then the crack locations and depths can be determined based on the frequency information from the database. The performance of the proposed method has been numerically verified by a rotor example.

Keywords: Rotor, frequency measurement, multiple cracks, wavelet finite element method, identification.

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Authors: Sh. Derakhshan, A. Mostafavi

Abstract:

Nowadays, the challenge in hydraulic turbine design is the multi-objective design of turbine runner to reach higher efficiency. The hydraulic performance of a turbine is strictly depends on runner blades shape. The present paper focuses on the application of the multi-objective optimization algorithm to the design of a small Francis turbine runner. The optimization exercise focuses on the efficiency improvement at the best efficiency operating point (BEP) of the GAMM Francis turbine. A global optimization method based on artificial neural networks (ANN) and genetic algorithms (GA) coupled by 3D Navier-Stokes flow solver has been used to improve the performance of an initial geometry of a Francis runner. The results show the good ability of optimization algorithm and the final geometry has better efficiency with initial geometry. The goal was to optimize the geometry of the blades of GAMM turbine runner which leads to maximum total efficiency by changing the design parameters of camber line in at least 5 sections of a blade. The efficiency of the optimized geometry is improved from 90.7% to 92.5%. Finally, design parameters and the way of selection have been considered and discussed.

Keywords: Francis Turbine, Runner, Optimization, CFD

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Authors: Dean J. Callaghan, Mark M. McGrath

Abstract:

Sensorized instruments that accurately measure the interaction forces (between biological tissue and instrument endeffector) during surgical procedures offer surgeons a greater sense of immersion during minimally invasive robotic surgery. Although there is ongoing research into force measurement involving surgical graspers little corresponding effort has been carried out on the measurement of forces between scissor blades and tissue. This paper presents the design and development of a force measurement test apparatus, which will serve as a sensor characterization and evaluation platform. The primary aim of the experiments is to ascertain whether the system can differentiate between tissue samples with differing mechanical properties in a reliable, repeatable manner. Force-angular displacement curves highlight trends in the cutting process as well the forces generated along the blade during a cutting procedure. Future applications of the test equipment will involve the assessment of new direct force sensing technologies for telerobotic surgery.

Keywords: Force measurement, minimally invasive surgery, scissor blades, tissue cutting.

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Authors: Marco Raciti Castelli, Ernesto Benini

Abstract:

This work presents a comparison between the Annual Energy Output (AEO) of two commercial vertical-axis wind turbines (VAWTs) for a low-wind urban site: both a drag-driven and a liftdriven concepts are examined in order to be installed on top of the new Via dei Giustinelli building, Trieste (Italy). The power-curves, taken from the product specification sheets, have been matched to the wind characteristics of the selected installation site. The influence of rotor swept area and rated power on the performance of the two proposed wind turbines have been examined in detail, achieving a correlation between rotor swept area, electrical generator size and wind distribution, to be used as a guideline for the calculation of the AEO.

Keywords: Annual Energy Output, micro-generationtechnology, urban environment, Vertical-Axis Wind Turbine

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