Electrically tunable piezoelectric bimorph cantilever for energy harvesting

Con la presente tesi viene esaminato un metodo per modificare la frequenza di risonanza di trasduttori piezoelettrici mediante applicazione di carichi elettrici esterni. L'elaborato inizia con la presentazione dei cristalli utilizzati nel lavoro di tesi, concentrandosi sul processo di fabbricazione di un bimorph cantilever impiegato come convertitore elettromeccanico di energia, la cui frequenza di risonanza è modellizzata analiticamente mediante la legge di Newton e il modello di Euler-Bernoulli. Su tale struttura vengono condotte misure mediante shaker elettrodinamico e analizzatore d'impedenza, ai fini di giusticare il modello analitico presentato. Con lo scopo di sincronizzare la frequenza di risonanza del cantilever con la vibrazione dell'ambiente per massimizzare la potenza disponibile, viene proposto un algoritmo MPPT secondo l'approccio Perturba e Osserva (P&O), al quale è fornita in ingresso la tensione efficace di un layer di materiale piezoelettrico. Valutare la sua risposta in tensione, presenta dei limiti applicativi che hanno portato a prendere in considerazione un approccio totalmente diff�erente, basato sullo sfasamento tra la tensione di un trasduttore piezoelettrico e il segnale di accelerazione impiegato come eccitazione. Misure sperimentali sono state condotte con l'obiettivo di validare l'efficacia di quest'ultimo approccio qualora si voglia sincronizzare la frequenza di risonanza dei piezo con segnali di vibrazione reali.

Sub-wavelength resonators as seismic Rayleigh waves shield

We explore the thesis that tall structures can be protected by means of seismic metamaterials. Seismic metamaterials can be built as some elements are created over soil layer with different shapes, dimensions, patterns and from different materials. Resonances in these elements are acting as locally resonant metamaterials for Rayleigh surface waves in the geophysics context. Analytically we proved that if we put infinite chain of SDOF resonator over the soil layer as an elastic, homogeneous and isotropic material, vertical component of Rayleigh wave, longitudinal resonance of oscillators will couple with each other, they would create a Rayleigh bandgap frequency, and wave will experience attenuation before it reaches the structure. As it is impossible to use infinite chain of resonators over soil layer, we considered finite number of resonators throughout our simulations. Analytical work is interpreted using finite element simulations that demonstrates the observed attenuation is due to bandgaps when oscillators are arranged at sub-wavelength scale with respect to the incident Rayleigh wave. For wavelength less than 5 meters, the resulting bandgaps are remarkably large and strongly attenuating when impedance of oscillators matches impedance of soil. Since longitudinal resonance of SDOF resonator are proportional to its length inversely, a formed array of resonators that attenuates Rayleigh waves at frequency ≤10 Hz could be designed starting from vertical pillars coupled to the ground. Optimum number of vertical pillars and their interval spacing called effective area of resonators are investigated. For 10 pillars with effective area of 1 meter and resonance frequency of 4.9 Hz, bandgap frequency causes attenuation and a sinusoidal impulsive force illustrate wave steering down phenomena. Simulation results proved analytical findings of this work.

Mitigation of Train-Induced waves by resonant filled-trench (RFT)

The increase of railways near the urban areas is a significant cause of discomfort for inhabitants due to train-induced vibration and noise. Vibration characteristics can vary widely according to the train type: for high-speed trains, if train speed becomes comparable to the ground wave speed, the vibration level becomes significant; for freight trains, due to their heavier weight and lower speed, the vibration amplitudes are greater and propagate at a more considerable distance from the track; for urban tramways, although the vibration amplitude is relatively low, they can have a negative structural effect on the closest buildings [51]. Therefore, to dampen the vibration level, it is possible to carry out some interventions both on the track and the transmission path. This thesis aims to propose and numerically investigate a novel method to dampen the train-induced vibrations along the transmission path. The method is called "resonant filled-trench (RFT)" and consists of a combination of expanded polystyrene (EPS) geofoam to stabilize the trench wall against the collapse and drowned cylindrical embedded inclusions inside the geofoam, which act as a resonator, reflector, and attenuator. By means of finite element simulations, we show that up to 50% higher attenuation than the open trench is achievable after overcoming the resonance frequency of the inclusion, i.e., 35Hz, which covers the frequency contents of the train-induced vibration. Moreover, depending on the filling material used for the inclusions, trench depth can be reduced up to 17% compared to the open trench showing the same screening performance as the open trench. Also, an RFT with DS inclusion installed in dense sand soil shows a high hindrance performance (i.e., IL≥6dB) when the trench depth is larger than 0.5λ_R while it is 0.6λ_R for the open trench.

Axis control optimization: autotuning techniques and frequency response analysis of industrial mechatronic systems

In the field of industrial automation, there is an increasing need to use optimal control systems that have low tracking errors and low power and energy consumption. The motors we are dealing with are mainly Permanent Magnet Synchronous Motors (PMSMs), controlled by 3 different types of controllers: a position controller, a speed controller, and a current controller. In this thesis, therefore, we are going to act on the gains of the first two controllers by going to find, through the TwinCAT 3 software, what might be the best set of parameters. To do this, starting with the default parameters recommended by TwinCAT, two main methods were used and then compared: the method of Ziegler and Nichols, which is a tabular method, and advanced tuning, an auto-tuning software method of TwinCAT. Therefore, in order to analyse which set of parameters was the best,several experiments were performed for each case, using the Motion Control Function Blocks. Moreover, some machines, such as large robotic arms, have vibration problems. To analyse them in detail, it was necessary to use the Bode Plot tool, which, through Bode plots, highlights in which frequencies there are resonance and anti-resonance peaks. This tool also makes it easier to figure out which and where to apply filters to improve control.