Active control of the accordion modes of a submerged hull

Active vibration control of a submerged hull is presented. A submarine hull can be idealised as a ring stiffened finite cylinder with applied fluid loading. At low frequencies, rotation of the propeller results in discrete tones at the blade passing frequency and its harmonics. The low frequency axial and radial vibration modes of the submerged body can result in a high level of radiated noise. Global hull modes are difficult to attenuate since passive control techniques such as damping materials are not practical due to size and weight constraints. This work investigates active vibration control of a submarine hull for attenuation of the structural and acoustic responses. Based on a feedforward algorithm at tonal frequencies, active vibration suppression of the axial and radial hull displacements are investigated. The effect of the various control arrangements on the structure-borne radiated noise is examined. Numerical simulations of the control performance are presented.

Control of motorcycle steering instabilities

Modern high performance motorcycles often employ a steering damper producing a moment that opposes the angular velocity of the steering assembly relative to the main frame. When modeling the motorcycle in a conventional manner, the steering damper is included as an integral part of the machine. The reduction in the wobble-mode frequency is caused by the effective increase in the steering system's moment of inertia. The compensators show the potential to significantly improve the damping of both wobble and weave modes simultaneously. The dynamic characteristics of high-performance motorcycles can be improved by replacing the conventional steering damper with a passive mechanical steering compensator. The design methodology adopted uses Nyquist frequency response ideas, root-locus analysis and loop-shaping design to obtain a preliminary choice of parameters.

Hybrid model predictive control applied to switching control of burner load for a compact marine boi

This paper discusses the application of hybrid model predictive control to control switching between different burner modes in a novel compact marine boiler design. A further purpose of the present work is to point out problems with finite horizon model predictive control applied to systems for which the optimal solution is a limit cycle. Regarding the marine boiler control the aim is to find an optimal control strategy which minimizes a trade-off between deviations in boiler pressure and water level from their respective setpoints while limiting burner switches.The approach taken is based on the Mixed Logic Dynamical framework. The whole boiler systems is modelled in this framework and a model predictive controller is designed. However to facilitate on-line implementation only a small part of the search tree in the mixed integer optimization is evaluated to find out whether a switch should occur or not. The strategy is verified on a simulation model of the compact marine boiler for control of low/high burner load switches. It is shown that even though performance is adequate for some disturbance levels it becomes deteriorated when the optimal solution is a limit cycle. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.

Passive control of combustion instability in a low emissions aeroderivative gas turbine

This paper describes the conceptual ideas, the theoretical validation, the laboratory testing and the field trials of a recently patented fuel-air mixing device for use in high-pressure ratio, low emissions, gaseous-fueled gas turbines. By making the fuel-air mixing process insensitive to pressure fluctuations in the combustion chamber, it is possible to avoid the common problem of positive feedback between mixture strength and the unsteady combustion process. More specifically, a mixing duct has been designed such that fuel-air ratio fluctuations over a wide range of frequencies can be damped out by passive design means. By scaling the design in such a way that the range of damped frequencies covers the frequency spectrum of the acoustic modes in the combustor, the instability mechanism can be removed. After systematic development, this design philosophy was successfully applied to a 35:1 pressure ratio aeroderivative gas turbine yielding very low noise levels and very competitive NOx and CO measurements. The development of the new premixer is described from conceptual origins through analytic and CFD evaluation to laboratory testing and final field trials. Also included in this paper are comments about the practical issues of mixing, flashback resistance and autoignition.

Oscillatory sensitivity patterns for global modes in wakes

Globally unstable wakes with co-flow at intermediate Reynolds numbers are studied, to quantify important spatial regions for the development and control of the global instability. One region of high structural sensitivity is found close to the inlet for all wakes, in agreement with previous findings for cylinder wakes. A second, elongated region of high structural sensitivity is seen downstream of the first one for unconfined wakes at Re = 400. When base flow modifications are considered, a spatially oscillating sensitivity pattern is found inside the downstream high structural sensitivity region. This implies that the same change in the base flow can either destabilize or stabilize the flow, depending on the exact position where it is applied. It is shown that the sensitivity pattern remains unchanged for different choices of streamwise boundary conditions and numerical resolution. Actual base flow modifications are applied in selected configurations, and the linear global modes recomputed. It is confirmed that the linear global eigenvalues move according to the predicted sensitivity pattern for small amplitude base flow modifications, for which the theory applies. We also look at the implications of a small control cylinder on the flow. Only the upstream high sensitivity region proves to be robust in terms of control, but one should be careful not to disturb the flow in the downstream high sensitivity region, in order to achieve control. The findings can have direct implications on the numerical resolution requirements for wakes at higher Reynolds numbers. Furthermore, they provide one more possible explanation to why confined wakes have a more narrow frequency spectrum than unconfined wakes.

Growth and shape control of disks by bending and extension

Differential growth of thin elastic bodies furnishes a surprisingly simple explanation of the complex and intriguing shapes of many biological systems, such as plant leaves and organs. Similarly, inelastic strains induced by thermal effects or active materials in layered plates are extensively used to control the curvature of thin engineering structures. Such behaviour inspires us to distinguish and to compare two possible modes of differential growth not normally compared to each other, in order to reveal the full range of out-of-plane shapes of an initially flat disk. The first growth mode, frequently employed by engineers, is characterised by direct bending strains through the thickness, and the second mode, mainly apparent in biological systems, is driven by extensional strains of the middle surface. When each mode is considered separately, it is shown that buckling is common to both modes, leading to bistable shapes: growth from bending strains results in a double-curvature limit at buckling, followed by almost developable deformation in which the Gaussian curvature at buckling is conserved; during extensional growth, out-of-plane distortions occur only when the buckling condition is reached, and the Gaussian curvature continues to increase. When both growth modes are present, it is shown that, generally, larger displacements are obtained under in-plane growth when the disk is relatively thick and growth strains are small, and vice versa. It is also shown that shapes can be mono-, bi-, tri- or neutrally stable, depending on the growth strain levels and the material properties: furthermore, it is shown that certain combinations of growth modes result in a free, or natural, response in which the doubly curved shape of disk exactly matches the imposed strains. Such diverse behaviour, in general, may help to realise more effective actuation schemes for engineering structures. © 2012 Elsevier Ltd. All rights reserved.

Control of bimanual rhythmic movements: Trading efficiency for robustness depending on the context

This paper investigates how the efficiency and robustness of a skilled rhythmic task compete against each other in the control of a bimanual movement. Human subjects juggled a puck in 2D through impacts with two metallic arms, requiring rhythmic bimanual actuation. The arms kinematics were only constrained by the position, velocity and time of impacts while the rest of the trajectory did not influence the movement of the puck. In order to expose the task robustness, we manipulated the task context in two distinct manners: the task tempo was assigned at four different values (hence manipulating the time available to plan and execute each impact movement individually); and vision was withdrawn during half of the trials (hence reducing the sensory inflows). We show that when the tempo was fast, the actuation was rhythmic (no pause in the trajectory) while at slow tempo, the actuation was discrete (with pause intervals between individual movements). Moreover, the withdrawal of visual information encouraged the rhythmic behavior at the four tested tempi. The discrete versus rhythmic behavior give different answers to the efficiency/robustness trade-off: discrete movements result in energy efficient movements, while rhythmic movements impact the puck with negative acceleration, a property preserving robustness. Moreover, we report that in all conditions the impact velocity of the arms was negatively correlated with the energy of the puck. This correlation tended to stabilize the task and was influenced by vision, revealing again different control strategies. In conclusion, this task involves different modes of control that balance efficiency and robustness, depending on the context. © 2008 Springer-Verlag.

Control limitations from distributed sensing: Theory and Extremely Large Telescope application

We investigate performance bounds for feedback control of distributed plants where the controller can be centralized (i.e. it has access to measurements from the whole plant), but sensors only measure differences between neighboring subsystem outputs. Such "distributed sensing" can be a technological necessity in applications where system size exceeds accuracy requirements by many orders of magnitude. We formulate how distributed sensing generally limits feedback performance robust to measurement noise and to model uncertainty, without assuming any controller restrictions (among others, no "distributed control" restriction). A major practical consequence is the necessity to cut down integral action on some modes. We particularize the results to spatially invariant systems and finally illustrate implications of our developments for stabilizing the segmented primary mirror of the European Extremely Large Telescope. © 2013 Elsevier Ltd. All rights reserved.

Global modes with multiple saddle points

Significant progress has been made towards understanding the global stability of slowly-developing shear flows. The WKBJ theory developed by Patrick Huerre and his co-authors has proved absolutely central, with the result that both the linear and the nonlinear stability of a wide range of flows can now be understood in terms of their local absolute/convective instability properties. In many situations, the local absolute frequency possesses a single dominant saddle point in complex X-space (where X is the slow streamwise coordinate of the base flow), which then acts as a single wavemaker driving the entire global linear dynamics. In this paper we consider the more complicated case in which multiple saddles may act as the wavemaker for different values of some control parameter. We derive a frequency selection criterion in the general case, which is then validated against numerical results for the linearized third-order Ginzburg-Landau equation (which possesses two saddle points). We believe that this theory may be relevant to a number of flows, including the boundary layer on a rotating disk and the eccentric Taylor-Couette-Poiseuille flow. © 2014 Elsevier Masson SAS. All rights reserved.

Modal control of a 50μm core diameter multimode fiber using a spatial light modulator

An iterative, self-correcting system for doing modal control using adaptive optics in a 50μm core diameter multimode fiber (MMF) is designed. It is shown experimentally to reduce the number of modes generated by 300%. © 2006 Optical Society of America.

Modal control of a 50μm core diameter multimode fiber using a spatial light modulator

An iterative, self-correcting system for doing modal control using adaptive optics in a 50μm core diameter multimode fiber (MMF) is designed. It is shown experimentally to reduce the number of modes generated by 300%. © 2006 Optical Society of America.

Trajectory control based on discrete full-range dynamics

There has been an increasing interest in the use of mechanical dynamics, (e.g., assive, Elastic, And viscous dynamics) for energy efficient and agile control of robotic systems. Despite the impressive demonstrations of behavioural performance, The mechanical dynamics of this class of robotic systems is still very limited as compared to those of biological systems. For example, Passive dynamic walkers are not capable of generating joint torques to compensate for disturbances from complex environments. In order to tackle such a discrepancy between biological and artificial systems, We present the concept and design of an adaptive clutch mechanism that discretely covers the full-range of dynamics. As a result, The system is capable of a large variety of joint operations, including dynamic switching among passive, actuated and rigid modes. The main innovation of this paper is the framework and algorithm developed for controlling the trajectory of such joint. We present different control strategies that exploit passive dynamics. Simulation results demonstrate a significant improvement in motion control with respect to the speed of motion and energy efficiency. The actuator is implemented in a simple pendulum platform to quantitatively evaluate this novel approach.