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Spacecraft endless loop magnetic recorder - completion of speed servo with substitute motor, testing of brushless direct current motor, and assembly of prototype transport
Servoamplifier and amplifier-detector inspection for gyroscope and accelerometer servo loops
Present efforts to verify and validate aero-hydro-servo-elastic numerical simulation tools that predict the dynamic response of a floating offshore wind turbine are primarily limited to code-to-code comparisons or code-to-data comparisons using data from wind-wave basin tests. In partnership with SWAY AS, the National Renewable Energy Laboratory (NREL) installed scientific wind, wave, and motion measurement equipment on the 1/6.5th-scale prototype SWAY floating wind system to collect data to validate a FAST model of the SWAY design in an open-water condition. Nanyang Technological University (NTU), through a collaboration with NREL, assisted in this validation.
Abstract This paper provides a summary of the work done within the OC6 Phase II project, which was focused on the implementation and verification of an advanced soil–structure interaction model for offshore wind system design and analysis. The soil–structure interaction model comes from the REDWIN project and uses an elastoplastic, macroelement model with kinematic hardening, which captures the stiffness and damping characteristics of offshore wind foundations more accurately than more traditional and simplified soil–structure interaction modeling approaches. Participants in the OC6 project integrated this macroelement capability to coupled aero‐hydro‐servo‐elastic offshore wind turbine modeling tools and verified the implementation by comparing simulation results across the modeling tools for an example monopile design. The simulation results were also compared to more traditional soil–structure interaction modeling approaches like apparent fixity, coupled springs, and distributed springs models. The macroelement approach resulted in smaller overall loading in the system due to both shifts in the system frequencies and increased energy dissipation. No validation work was performed, but the macroelement approach has shown increased accuracy within the REDWIN project, resulting in decreased uncertainty in the design. For the monopile design investigated here, that implies a less conservative and thus more cost‐effective offshore wind design.
ABSTRACT A coupled medium‐fidelity drivetrain model is developed and implemented in OpenFAST for a 10‐MW land‐based reference turbine. The implementation is verified against a fully coupled multibody wind turbine model, including a detailed drivetrain. The new model can simultaneously and accurately estimate main bearing loads and represent elastic bending of the drivetrain. It has low computational cost and is useful for early design phases, sensitivity analyses and complex systems like wind farms (where computational expense must be expended elsewhere). Here, the model is implemented for a monopile offshore wind turbine and used to investigate the sensitivity of main bearing basic rating life to different synthetic turbulence models. Large‐eddy simulations (LES) targeting stable, neutral, and unstable atmospheric conditions at below‐, near‐ and above‐rated wind speeds are used as a reference. The turbulence models recommended by the International Electrotechnical Commission, the Mann spectral tensor model, and the Kaimal spectral model with exponential coherence are fitted to the LES data. Additionally, a constrained turbulence generator, PyConTurb (short for Python Constrained Turbulence ), based on LES data, is applied in the aero‐hydro‐servo‐elastic simulations. Taking PyConTurb as the baseline, the Kaimal model significantly underestimates fatigue of the downwind main bearing, with between 10% and 40% less damage. The Mann model also underestimates the downwind main bearing fatigue by up to 30%. The upwind main bearing damage is driven by mean loads, and differences between models are less significant, although the trends are similar. Reasons for these discrepancies are investigated and attributed to differences in spatial and temporal variations among the turbulence models.
This paper presents the acausal modeling, validation, and control of floating offshore wind turbines (FOWTs). The model simulates the IEA‐15 MW reference turbine and the semi‐submersible VolturnUS‐S platform utilizing a Control‐oriented, Reconfigurable, and Acausal Floating Turbine Simulator (CRAFTS), which integrates the key coupled aero‐hydro‐elasto‐servo dynamics and is being developed by authors at the University of Central Florida. Verification and validation are conducted using numerical data from the industry‐standard simulation platform OpenFAST and experimental data from the Floating Offshore‐wind and Controls Advanced Laboratory (FOCAL) project, in which the authors were involved. Numerical results demonstrate the model's ability to qualitatively capture loads and responses across various load cases, highlighting the impact of the control system under different wind and wave conditions and opening new opportunities for optimizing FOWT designs. This paper provides wind turbine researchers with valuable insights into system characteristics, system frequencies, damping effects, and internal reaction forces, serving as a reference for future studies in FOWT modeling and control.
A polymeric foam commonly used in composite sandwich structures was characterized under multi-axial loading at strain rates varying from quasi-static to dynamic. Additionally, tests were conducted under uniaxial compression, tension, pure shear and combinations of normal and shear stresses. Quasi-static and intermediate strain rate tests were conducted in a servo-hydraulic testing machine. High strain rate tests were conducted using a split Hopkinson pressure bar (Kolsky bar) system made of polycarbonate bars having an impedance compatible to that of the foam material. The typical compressive stress-strain behavior of the polymeric foam exhibits a linear elastic region up to a yield point, a nonlinear elastic-plastic region up to an initial peak or “critical stress” corresponding to collapse initiation of the cells, followed by strain softening up to a local minimum (plateau or saddle point stress) and finally, a strain hardening region up to densification of the foam. The characteristic stresses of the stress-strain behavior vary linearly with the logarithm of strain rate. A general three-dimensional elastic-viscoplastic model, formulated in strain space, was proposed. The model expresses the multi-axial state of stress in terms of an effective stress, incorporates strain rate effects and includes the large deformation region. Stress-strain curves obtained under multi-axial loading at different strain rates were used to develop and validate the elastic-viscoplastic constitutive model. Lastly, excellent agreement was shown between model predictions and experimental results.
This paper contains a systematic exposition of some results on the equations of motion of a dynamically symmetric n-dimensional rigid body in a nonconservative field of forces. Similar bodies are considered in the dynamics of actual rigid bodies interacting with a resisting medium under the conditions of jet flow past the body with a nonconservative following force acting on the body in such a way that its characteristic point has a constant velocity, which means that the system has a nonintegrable servo-constraint.
Abstract Real-world multibody systems are often subject to phenomena like friction, joint clearances, and external events. These phenomena can significantly impact the optimal design of the system and its controller. This work addresses the gradient-based optimization methodology for multibody dynamic systems with joint friction using a direct sensitivity approach. The Brown–McPhee model has been used to characterize the joint friction in the system. This model is suitable for the study due to its accuracy for dynamic simulation and its compatibility with sensitivity analysis. This novel methodology supports codesign of the multibody system and its controller, which is especially relevant for applications like robotics and servo-mechanical systems, where the actuation and design are highly dependent on each other. Numerical results are obtained using a software package written in Julia with state-of-the-art libraries for automatic differentiation and differential equations. Three case studies are provided to demonstrate the attractive properties of simultaneous optimal design and control approach for certain applications.
Additive Manufacturing (AM) has increasingly been used to fabricate parts in aerospace applications, which may require service lives beyond ten-million cycles due to the imposed high loading frequencies. Understanding the very high cycle fatigue (VHCF) behavior of these additive manufactured (AM) parts is an important step towards their design and qualification processes. This study focuses on the high cycle fatigue (HCF) and VHCF behaviors of both wrought and laser beam-powder bed fusion (LB-PBF) fabricated Inconel 718 in machined/polished surface condition, emphasizing on the influence of test frequency (i.e., cyclic strain rate). Uniaxial, fully-reversed force- and stress-controlled fatigue tests were conducted utilizing a servo-hydraulic and an ultrasonic test system operating at 5 Hz and 20 kHz, respectively, on wrought as well as LB-PBF vertically and diagonally built specimens. Fatigue cracks in the majority of the specimens were found to initiate from intra-granular slip bands near or at the surface, which gives rise to strong anisotropy in fatigue resistance in LB-PBF specimens due to the presence of columnar grains along the build directions. Longer fatigue lives were obtained at 20 kHz, which was ascribed to possibly lower-than-intended stresses applied in the ultrasonic tests. The corrected stress-life fatigue data at 20 kHz were found to converge to the one obtained from conventional testing at 5 Hz, implying no effect of cyclic strain rate on the fatigue behavior of Inconel 718 regardless of the fabrication process. The findings of this work confirm the use of ultrasonic fatigue testing to expedite generation of AM materials data to keep up with the current demand; however, the applied stress may need to be corrected.
An experimental testing procedure is proposed for generating creep-dominant creep-fatigue interaction in Alloy 617 at 950 °C. Most experimental studies on Alloy 617 at elevated temperatures employ a purely strain-controlled loading waveform with a tensile hold period. Strain-controlled loading can only generate interaction in the fatigue-dominant regime of the damage interaction diagram, due to the saturation effect of increasing hold time on cycle life. This saturation is caused by the rapid stress relaxation of Alloy 617 at high temperatures. Design codes for components undergoing creep-fatigue interaction at high temperatures require creep-fatigue testing data in the creep-dominant regime. Here this study investigates multiple creep-fatigue loading waveforms with the objective of producing creep-dominant interaction. The custom loading waveforms are implemented on a servo-hydraulic load frame with a furnace. A hybrid-control scheme with strain-controlled ramps and load-controlled hold periods is proposed due to its flexibility in generating varying proportions of creep and fatigue damage. Experimental data is presented and different loading schemes are compared. Special emphasis is on the creep and fatigue damage contributions by the newly proposed testing method. Several conclusions are discussed and an extension of this current work is suggested to improve the damage interaction diagram for design purposes.
Here, we describe low-cost gradient amplifiers for small MRI systems, such as those based on small/medium permanent magnets. The requirements for MRI gradient amplifiers are quite similar to those of modestly priced audio stereo power amplifiers. Such amplifiers for sound service can be modified to be DC coupled, extending their response down to zero frequency, as needed for MRI gradient service. We describe such modifications to one unit (Samson Servo 600) and mention a commercially available modification of another. The 600 is capable of an output greater than ±8 A and ±60 V, much greater than our needs for a greenhouse MRI. Audio amplifiers can be used this way as controlled voltage (CV) gradient amplifiers, with acceptable performance because the gradient coils typically have short L/R time constants. Superior performance can be had by using a controlled current (CC) “front end”; the circuit of our simple front end is included. The complete 3-axis CC system costs about $1200.
The temperature dependence of fracture toughness in HT9 steel irradiated to 3–145 dpa at 380–503 degrees*C was investigated using miniature three-point bend (TPB) fracture specimens. A miniature-specimen reuse technique has been established: the tested halves of subsize Charpy impact specimens with dimensions of 27 mm *3mm* 4 mm were reused for this fracture test campaign by cutting a notch with a diamond-saw in the middle of each half, and by fatigue-precracking to generate a sharp crack tip. It was confirmed that the fracture toughness of HT9 steel in the dose range depends more strongly on the irradiation temperature than the irradiation dose. At an irradiation temperature <430 *degreesC, the fracture toughness of irradiated HT9 increased with the test temperature, reached an upper shelf of 180—200 MPa*m^.5 at 350–450 degrees*C, and then decreased with the test temperature. At an irradiation temperature >430 degrees*C, the fracture toughness was nearly unchanged up to about 450 *degreesC and decreased slowly with test temperatures in a higher temperature range. Such a rather monotonic test temperature dependence after high-temperature irradiation is similar to that observed for an archive material generally showing a higher degree of toughness. A brittle fracture without stable crack growth occurred in only a few specimens with relatively lower irradiation and test temperatures. In this discussion, these TPB fracture toughness data are compared with previously published data from 12.7 mm diameter disc compact tension (DCT) specimens.
The PSEC4 custom integrated circuit was designed for the recording of fast waveforms for use in large-area time-of-flight detector systems. The ASIC has been fabricated using the IBM-8RF 0.13 micron CMOS process. On each of 6 analog channels, PSEC4 employs a switched capacitor array (SCA) 256 samples deep, a ramp-compare ADC with 10.5 bits of DC dynamic range, and a serial data readout with the capability of region-of-interest windowing to reduce dead time. The sampling rate can be adjusted between 4 and 15 Gigasamples/second [GSa/s] on all channels and is servo-controlled on-chip with a low-jitter delay-locked loop (DLL). The input signals are passively coupled on-chip with a -3 dB analog bandwidth of 1.5 GHz. The power consumption in quiescent sampling mode is less than 50 mW/chip; at a sustained trigger and readout rate of 50 kHz the chip draws 100 mW. After fixed-pattern pedestal subtraction, the uncorrected integral non-linearity is 0.15% over an 750 mV dynamic range. With a linearity correction, a full 1 V signal voltage range is available.The sampling timebase has a fixed-pattern non-linearity with an RMS of 13%, which can be corrected for precision waveform feature extraction and timing.
Here, this paper presents the conceptual design, preliminary experimental validation, and performance evaluation of a novel bio-inspired bi-stable piezoelectric energy harvester for self-powered animal telemetry tags. The overall conceptual design, which includes a bio-inspired attachment and a bi-stable piezoelectric energy harvester, is introduced firstly with a specific application example of marine fish tracking. The self-powered telemetry tag can be externally deployed on fish (dorsal fin) to monitor fish habitats, population, and underwater environment. Inspired by the Venus flytrap's rapid shape transition, a bi-stable piezoelectric energy harvester is developed to scavenge energy from fish maneuvering and the surrounding fluid flow for a sustainable power supply. The bistability of the harvester is characterized by the measured force-displacement curve and double potential wells. A bluff body is integrated to the free end of the bistable piezoelectric energy harvester to enhance the structure-fluid interaction for the large-amplitude snap-through vibrations and higher voltage output. Controlled laboratory experiments are conducted in a water tank on the bio-inspired bi-stable piezoelectric energy harvester using a servo motor system to simulate fish swing motion at various conditions to evaluate the power generation performance. The preliminary underwater experimental results demonstrated that the proposed bio-inspired bi-stable piezoelectric energy harvester could effectively convert fish swing motions into electricity. The device collected 17.25 mJ of energy over 130 s under a peak-to-peak swing angle of 30° at 1.5 Hz in the capacitor charging experiments.
Two kinds of optical heterodyne saturation spectroscopies, namely, frequency modulation spectroscopy (FMS) and modulation transfer spectroscopy (MTS), are demonstrated for locking a fiber laser to the transition lines of metastable {sup 4}He atoms around 1083 nm. The servo-loop error signals of FMS and MTS for stabilizing laser frequency are optimized by studying the dependence of the peak-to-peak amplitude and slope on the optical power of pump and probe beams. A comparison of the stabilization performances of FMS/MTS and polarization spectroscopy (PS) is presented, which shows that MTS exhibits relatively superior performance with the least laser frequency fluctuation due to its flat-background dispersive signal, originated from the four-wave mixing process. The Allan deviation of the stabilized laser frequency is 5.4 × 10{sup −12}@100 s with MTS for data acquired in 1000 s, which is sufficiently applicable for fields like laser cooling, optical pumping, and optical magnetometry.
We demonstrate a hybrid accelerometer that benefits from the advantages of both conventional and atomic sensors in terms of bandwidth (DC to 430 Hz) and long term stability. First, the use of a real time correction of the atom interferometer phase by the signal from the classical accelerometer enables to run it at best performance without any isolation platform. Second, a servo-lock of the DC component of the conventional sensor output signal by the atomic one realizes a hybrid sensor. This method paves the way for applications in geophysics and in inertial navigation as it overcomes the main limitation of atomic accelerometers, namely, the dead times between consecutive measurements.
A simplified method of contactless Lorentz force (LF) measurements for flow meters on electrolytes is described and realized. Modification and comparative representation are discussed against recently well-developed methods. Based on the catapult effect, that current carrying conductor experiences a repulsive force in a magnetic field, we demonstrate force measurement method of LF velocimetry applications by commonly known “electromagnetic force” compensation principle. Measurement approach through zero point stability is considered to minimize mechanical influences and avoid gravimetric uncertainties. Here, the current carrying wires are static fixed in the vicinity of magnet system at zero point stable position, while occurring deflection of magnets by electrolyte flow is compensated by external applied current within wires. Measurements performed by developed servo-system which drives control loop by means of optical position sensor for simplified (i) single wire and (ii) coil-like extended compensation schemes. Guided by experiments on electrolyte flow, we demonstrate the applicability of adopted principle for conductivities ranging from 2 to 20 S/m. Further improvements are discussed in agreement with the parameters of demonstration setup, straightforward theory, and experimental results. We argue that this method is potentially suitable for: (a) applications with higher conductivity like molten metal (order of 10{sup 6 }S/m) assuming spatial configuration of setup and (b) for lower range of conductivity (below 1 S/m) while this is strongly subject to stiffness of system and noise mainly mechanical and thermal radiations.