Dissertationen zum Thema „Force and displacement control method“

La plupart des bâtiments de moyenne et grande hauteur en béton armé sont munis de murs de refend ductiles afin résister aux charges latérales dues au vent et aux séismes. Les murs de refend ductiles sont conçus selon des règles conception stricts. Ces murs sont généralement conçus de façon à forcer la formation d’une rotule plastique à leur base dans l’éventualité d’un séismemajeur. Lors de la conception d’un mur, l’enveloppe des moments fléchissants ainsi que l’enveloppe des efforts tranchants dans la portion du mur situé au-dessus de la rotule plastique sont basés sur la résistance probable en flexion du mur dans la région de la rotule plastique. Plusieurs études sur les murs de refend conçus selon cette philosophie de conception on fait le constat que l’effort tranchant maximum dans un mur peut être sous-estimé lors d’un séisme, et que des rotules plastiques peuvent également se former à d’autres endroits qu’à la base du mur, ce qui constitue un mécanisme de ruine indésirable. Ces effets sont principalement attribuables à la contribution des modes supérieures à la réponse dynamique globale des bâtiments lors d’un séisme. L’effet des modes supérieurs est particulièrement important dans les bâtiments élancés de grande hauteur ayant une période propre de vibration longue. L’essai pseudo-dynamique avec sous-structure est uneméthode efficace et économique d’évaluer expérimentalement l’effet des modes supérieurs sur le comportement sismique des murs de refend dans les bâtiments. Lors de tels essais, comme la masse du bâtiment est modélisée numériquement, ceci permet de tester des structures à de relativement grandes échelles sans avoir à combattremécaniquement les forces d’inerties générées lors d’un séisme. Dans le cadre de la présente étude, la portion constituant la base d’un mur de refend correspondant à la zone de rotule plastique faisant partie d’un bâtiment de huit étages à l’échelle 1/2,75 a été testé. Les dimensions générales de la portion de mur testée étaient de 1800 mm de longueur, par 2200 mm de hauteur par 160 mm d’épaisseur. Le mur étudié a été conçu selon l’édition 2015 du Code National du Bâtiment du Canada (CNBC 2015) ainsi que selon la norme CSA A23.3-14 (Calcul des ouvrages en béton), où le facteur d’amplification de l’effort tranchant causé par l’effet des modes supérieurs n’a pas été pris en compte. Lors des essais pseudo-dynamiques avec sous-structure, une nouvelle méthode de contrôle à trois degrés de liberté convenant à des spécimens d’essai très rigides axialement a été développée et validée. Une procédure novatrice de redémarrage d’un essai interrompu en cours de route a également été développée et validée. Lors des essais, le bâtiment de huit étages incluant la portion de mur dans le laboratoire a été soumis à trois séismes. Le premier séisme était de très faible intensité, l’intensité du deuxième séisme correspondait au séisme de conception, et le troisième séisme correspondait au séisme de conception dont l’intensité a été doublé. Durant les deux séismes de forte intensité, le mur testé s’est comporté de manière ductile et des fissures de cisaillement et de flexion importantes ont été observées. Même si l’effort tranchant maximum mesuré durant le séisme de conception a atteint 2,16 fois la valeur de conception du mur, et 3,01 fois la valeur de conception du mur dans le cas du séisme amplifié, aucun mécanisme de ruine n’a été observé. Suite aux essais pseudo-dynamiques avec sous-structure, un essai par poussée progressive a également été effectué. Les résultats des essais pseudo-dynamiques avec sous-structure portent à croire que la valeur de l’effort tranchant de conception d’un mur selon la norme CSA A23.3-14 est sous-estimé. De plus, l’essai poussée progressive a permis de démontrer que lemur était beaucoup plus résistant qu’anticipé, puisque l’effort tranchant avait été sous-estimé lors de la conception. L’essai par poussée progressive a également permis de démontrer que le mur peut atteindre des niveaux de ductilité en déplacement supérieur à celui prévu par la norme CSA A23.3-14.
Abstract: Most mid- and high-rise reinforced concrete (RC) buildings rely on RC structural walls as their seismic force resisting system. Ductile RC structural walls (commonly called shear walls) designed according to modern building codes are typically detailed to undergo plastic hinging at their base. Both the design moment envelope for the remaining portion of the wall and the design shear forces are evaluated based on the probable flexural resistance of the wall in the plastic hinge region. Several analytical studies have shown that so-designed structural walls can be subjected to shear forces in excess of the design values. Plastic hinging can also develop in the upper portion of the walls. These effects are mainly attributed to higher mode response and, hence, are more severe in taller or slender walls with long fundamental periods. Considering the literature, there is a significant uncertainty regarding the behavior of the structural walls under the higher mode of vibrations excited under earthquake excitations. Hybrid testing is an effective experimentalmethod to study the natural behaviour of structures such as shear walls. The hybrid testing method enables the simulation of the seismic response of large structural elements like RC shear walls without the need to include large masses typically encountered in multi-storey buildings. In this study a barbell shaped RC shear wall specimen of 1800mm in length including a 300mm × 300mm boundary element at each end that is 2200mm in height, and 160mm thick was investigated. A test specimen corresponding to the base plastic hinge zone of an 8-storey shear wall was tested in a laboratory evolvement whilst the reminder of the building structure was modeled numerically. The reference wall was scaled down by a factor of 1/2.75 to obtain dimensions of the test specimen. The RC wall was designed in accordance with the 2015 edition of the National Building Code of Canada (NBCC 2015) and the Canadian Standard Association A23.3-14 code. The amplification of the base design shear force accounting for the inelastic effects of higher modes specified by the CSAA23.3-14 standard was not taken into account in order to evaluate the amplification experimentally. In order to investigate the response of ductile RC walls under earthquake ground motions and track the effect of the higher vibration modes on the shear force demand, three earthquakes with different intensities were applied on the hybrid model successively. The RC wall exhibited a ductile behaviour under the ground motions and flexural and shear cracks developed all over the height of the wall. In spite of amplifying the shear force demand by a factor of 2.16 under the design level earthquake and 3.01 under a high intensity earthquake, no shear failure was observed. The test results indicated that the amplification of the design shear forces at the base of ductile RC shear walls are underestimated by the CSAA23.3-14 standard. A new method for controlling three degrees of freedomin hybrid simulation of the earthquake response of stiff specimens was developed and verified in this study. Also, an innovative procedure to restore an interrupted hybrid test was programmed and verified. The hybrid tests were followed by a push-over test under a lateral force distribution equal to the square root of sum of the squares of the first five modes in order to evaluate the displacement ductility of the RC wall. Findings of the final push-over test showed that the tested ductile RC wall can withstand higher displacement ductilities than the presented levels in the NBCC 2015.

This work describes a self-sensing technique for a piezoelectrically driven MRI-compatible tweezer style end effector, suitable for robot assisted, MRI guided surgery. Nested strain amplification mechanisms are used to amplify the displacement of the piezo actuators to practical levels for robotics. By using a hysteretic piezoelectric model and a two port network model for the compliant nested strain amplifiers, it is shown that force and displacement at the tweezer tip can be estimated if the input voltage and charge are measured. One piezo unit is used simultaneously as a sensor and an actuator, preserving the full actuation capability of the device. Experimental validation shows an average of 12% error between the self-sensed and true values.

A two dimensional continuous numerical model based on Discrete Element Method is used to investigate the behaviour of accretionary wedges with different basal frictions. The models are based on elastic-plastic, brittle material and computational granular dynamics, and several characteristics of the influence of the basal friction are analysed. The model results illustrate that the wedge’s deformation and geometry, for example, fracture geometry, the compression force, area loss, displacement, height and length of the accretionary wedge etc., are strongly influenced by the basal friction. In general, the resulting wedge grows steeper, shorter  and higher, and the compression force is larger when shortened  above a larger friction basement.  Especially, when there is no basal friction, several symmetrical wedges will distribute symmetrically in the domain. The distribution of the internal stress when a new accretionary prime is forming is also studied. The results illustrate that when the stress in a certain zone is larger than a critical number, a new thrust will form there.

This thesis aims at presenting the Discrete Vortex Method (DVM) as a tool to determine the flow field and associated wind loads over structures. Two structures are considered: the first is a surface-mounted prism and is used to simulate wind loads over low-rise structures. The second is a bridge section with attached flaps that can be oriented to vary the moment coefficient. Advantages and disadvantages of using DVM for these applications are discussed. For the surface-mounted prism, the results show that the developed code correctly predicts the flow separation around the corners. As for the surface pressures, it is concluded that parallel processing, which could be easily implemented for DVM, should be used to correctly predict surface pressures and their variations. This is due to the required slow time advancement of the computations. The results on attaching flaps to bridge sections yield required orientations to minimize moments under different angles of attack.
Master of Science

The ABS (Anti-lock Braking System) is an active safety system that is designed for emergency braking situations. In an emergency braking scenario, the ABS instructs the disk-pad braking force to achieve the maximum available tyre-road braking force without locking the wheels. The maximum available tyre-road braking force helps to achieve the optimal braking distance, while the rotating wheels allow the vehicle to retain directional control capability, which allows the driver to avoid dangerous obstacles during an emergency braking scenario. This research has delivered a new and novel approach to ABS design, which could be developed at a low cost in a way which will benefit specialist and niche vehicle manufacturers alike. The proposed ABS control method combines the control logic from both theory-based ABS and commercialised ABS. Therefore, it is more practical compared to the theory-based ABS and less complex compared to a commercialised ABS. The control method only has two control phases with simple decrease, hold, and increase control actions. The proposed ABS control method uses representable tyre-road braking force data from an in-wheel-hub force measurement sensor as well as wheel angular acceleration data from a wheel angular speed sensor as control references. It uses the detected peak tyre-road braking force and its relative predefined drop percentage as control activation and control phase alternation triggers. It uses wheel angular acceleration to identify the control phase and implement the correct control actions. Zero wheel angular acceleration is used to trigger the hold control action in the first control phase, while wheel angular acceleration is used as an aid to increase the accuracy of the in-wheel-hub force sensor. An ADAMS full vehicle model based on a Subaru Impreza and a Simulink ABS control logic model have been used to establish a co-simulation environment to test the performance of the proposed ABS control method using high, low friction and split-mu road surfaces. The co-simulation results demonstrate that the proposed novel ABS control method satisfies the ABS control target, and its control results are similar to commercialised ABS.

The traveling wave ultrasonic motor is considered for use in haptic devices where a certain input-output relation is desired between the applied force and the resulting motion. Historically, DC motors have been the standard choice for this purpose. Owing to its unique characteristics, the ultrasonic motors have been considered an attractive alternative. However, there are some limitations when using the ultrasonic motor for force-feedback applications. In particular, direct torque control is difficult, and the motor can only supply torque in the direction of motion. To accommodate these limitations we developed an indirect control approach. The experimental results demonstrate that the model reference control method was able to approximate a second order spring-damper system.

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES
This work presents the designs and results obtained through simulation and experimental testing of conventional controllers P, PI and PID implemented by personal computers applied to an electropneumatic servomechanism for control of force. The system consists of a double acting pneumatic cylinder, which is responsible for applying the force on a mechanical subsystem consisting of a spiral spring, representing the means of working. The proportional electropneumatic flow valve, being the element controlling the flow of compressed air to be released into the pneumatic air cylinder which results in controlled force application; a load cell converts the force applied by the cylinder onto the medium into an electrical signal. The control signal to be applied on the electropneumatic proportional flow valve comes from a signal input and output plate installed on the computer, which is controlled by an algorithm implemented in the computing environment LabVIEW®, wherein the mentioned controllers are inserted, the mathematical representative model of the servomechanism was obtained by applying the parametric identification technique Box-Jenkins (BJ) which results in a family of four models, one of which is chosen to represent the system. The adjustment of the controllers is done by using the critical gain method of Ziegler and Nichols so that the response from the system meets the performance specifications imposed on it. Simulated and experimental results of the system are presented under the inserted controllers, which are analyzed according to relevant theory to the study of conventional controllers; it appears then that the PID controller is best suited for use in its electropneumatic servomechanism.
Neste trabalho apresenta-se os projetos e resultados obtidos através de simulações e ensaios experimentais de controladores convencionais P, PI e PID implementado por computador pessoal aplicado em um servomecanismo eletropneumático para controle de força. O sistema é constituído por um cilindro pneumático de dupla ação, sendo este responsável pela aplicação da força sobre um subsistema mecânico constituído por uma mola helicoidal, representando o meio de trabalho. A válvula eletropneumática proporcional de vazão, sendo o elemento de controle da vazão de ar comprimido a ser liberada para o cilindro pneumático que resulta na aplicação da força controlada; uma célula de carga converte a força aplicada pelo cilindro sobre o meio em sinal elétrico. O sinal de controle a ser aplicado na válvula eletropneumática proporcional de vazão é proveniente de uma placa de entrada e saída de sinais instalada no computador, sendo esta comandada por um algoritmo implementado no ambiente computacional LabVIEW®, no qual os referidos controladores estão inseridos. O modelo matemático representativo do servomecanismo foi obtido aplicando-se a técnica de identificação paramétrica Box-Jenkins (BJ) da qual resulta uma família de quatro modelos, dos quais um é escolhido para representar o sistema. O ajuste dos controladores é feito utilizando-se a técnica do ganho crítico de Ziegler e Nichols, de modo que a resposta do sistema atenda as especificações de desempenho impostas ao mesmo. Resultados simulados e experimentais do sistema são apresentados sob ação dos controladores inseridos, que são analisados de acordo com a teoria pertinente ao estudo dos controladores convencionais; verifica-se então que o controlador PID é o mais adequado para utilização no respectivo servomecanismo.

碩士
國立清華大學
資訊工程學系
103
We propose combining net-based and path-based timing-driven placement for better trade off between accuracy and complexity. We employ a force-directed iteration improvement approach and design a slack-based cost function that accurately captures timing violation and maneuverability. Our cost function can adjust weights on late, early, total, and worst slack for maneuverability. We evaluate our approach using the ICCAD2014 ITDP contest framework. It sets a displacement constraint on cell movement to preserve global placement result. Experiment results show that our approach significantly reduces timing violation from the initial legalize global placement. On average, total negative late slack, worst negative late slack, total negative early slack and worst negative early slack have been improved by 99.98%, 96.28%, 32.23% and 34.87%, respectively.

碩士
國立交通大學
土木工程系所
106
In the traditional analysis of geometric nonlinearity, the most popular method is formulated on the basis of weak-form such as the finite element method. Due to the element nature, its application is limited, for instance, by the numerical integration in the governing equation and the quality control of deformed mesh. The meshfree methods have been developed and become one leading research topic in the field of computational mechanics since 1990s. In particular, the strong form collocation methods require no additional efforts to deal with numerical integration and impose Dirichlet boundary conditions, thereby making the collocation methods computationally efficient. Concerning geometric nonlinearity, how to accurately reflect the change in the slope of the load-deflection curve of the structure and remain numerically stable are of major concerns in the incremental-iterative process. As a result, we propose a strong-form formulated generalized displacement control method to analyze geometrically nonlinear problems, where the radial basis collocation method is adopted. The numerical examples demonstrate the ability of the proposed method for large deformation analysis.

碩士
中原大學
土木工程研究所
103
In this study, discuss the procedure of vector form intrinsic finite element (VFIFE) displacement control method. When the loading at specific node of structure and control arbitrary nodes displacement, we can find out the variety of the loading at specific node. In conventional VFIFE displacement control method which can’t observe variety of the loading at specific node of structure when we control arbitrary nodes displacement, thus we use the numerical analysis method to solve this problem. But using numerical method will divergent in iterative process occasionally, therefore we add the second numerical method in iterative process. Finally, we use some examples to discuss the stability and accuracy of the new VFIVE displacement control method, and compare with conventional geometry nonlinear method.

碩士
國立臺灣大學
造船及海洋工程學研究所
89
The purpose of this thesis is to design a mixed sensitivity controller using the H-infinity theorem for the force control of an electro-hydraulic cylinder system. The design criterion is to achieve good response and robustness for the force output. The controller is tested by both numerical simulation and laboratory experiments. The performance of the controller is further compared with experimental results using a PID controller. It is verified that under the variations of oil temperature, supply pressure, and specimen diameter, the H-infinity controller can overcome system uncertainties and achieves better performance.

The interferometric cantilever displacement detection in non-contact atomic force microscopy (NC-AFM) is in fundamental aspects explored and optimized. Furthermore, the opto-mechanical interaction of the light field with the cantilever is investigated in detail. Cantilevers are harmonic oscillators that are designed to have a high sensitivity for the detection of minute external forces typically originating from tip-sample interaction. In this work, however, the high sensitivity is used for detailed studies of opto-mechanical forces due to the radiation pressure of the light interacting with the cantilever. The interferometer in the NC-AFM setup consists of an optical cavity working similar to a Fabry-Pérot interferometer in combination with a reference interference arm working similar to a Michelson interferometer combining multi-beam interference with a reference beam resulting in a complex superposition of beams forming the interferometric intensity modulation signal. The character of the interferometer can be adjusted from predominant Michelson to predominant Fabry-Pérot characteristics by the optical loss inside the cavity. A systematic approach for accurate alignment, by using 3D intensity maps and intensity-over-distance curves, as well as the implications of deficient fiber-cantilever configurations are explored and the impact of the interferometer configuration on the detection system noise floor is investigated. A new physical property, namely, the Fabry-Perot enhancement factor is introduced that is a direct measure for the light intensity interacting with the cantilever compared to the reference beam intensity reflected back inside the fiber. The quantification of the optical loss yields an exact knowledge of the amount of light interacting with the cantilever that is crucial to understand opto-mechanical effects. The resulting opto-mechanical force varies sinusoidally during the course of one oscillation cycle. It is a key result of this work that the sinusoidal modification of the cantilever restoring force can be described analogue to the restoring force of a pendulum. This results in an observable amplitude dependent frequency shift of the cantilever oscillation, allowing a calculation of the ratio of the opto-mechanical force relative to the cantilever restoring force and thus allows an in-situ measurement of the cantilever stiffness with remarkable precision. Further investigation of the cantilever oscillation yields that other characteristic properties of the oscillation are significantly modified by the opto-mechanical interaction. The observed effective fundamental mode Q-factor drops significantly while the cantilever amplitude response to a certain excitation voltage increases. A discrete numerical model describing the cantilever as a 1D linear chain of mass points is implemented, yielding that the additional opto-mechanical force results in a partial pinning of the cantilever at the edges of the interferometric fringes. Pinning efficiently shifts energy from the fundamental mode to higher modes and modes of a pinned cantilever, resulting in a complex modal structure.

碩士
國立彰化師範大學
車輛科技研究所
99
This paper proposes an approach to evaluate and control the traction force of the vehicle wheels driven by DC motors directly without monitoring the slip ratio of the wheel. Utilizing the built character database of the DC motor, or so-called force-RPM-current database, a gain-scheduled approach is developed to provide the appropriate traction force while one traction wheel of the vehicle is traveling into different road surface. An illustrated simulation with a scenario close to real situation is also given to show the feasibility to evaluate and control the traction force through the database of the DC motor.

碩士
國立雲林科技大學
機械工程技術研究所
86
Since most of the deep drawn/stretched sheet metal products are three-dimensional and non-axisymmetric, developing a new set of molds is usually a time-onsuming task. One of the main problems is how to control the plastic deformation of the sheet metal between the dies properly. Inappropriate plastic flow results in the instabilities such as the splitting or wrinkling. To avoid this, hydraulic cushions with adjustable blankholding force (BHF) based on stroke can be utilized. However, the success of such action relies on the designand application of the sensing system and the employed control criterion.The existing position or velocity sensors are generally too big to be implemented inside the mold to measure the velocities of the workpiece on the desired spots. The control criterion or the BHF-stroke curve is pre-determined eit her by FEM simulations or by a series of experiments with selected BHF values.Due to the unrealistic friction model, the result of the FEM simulation is not warranted. On the other hand, conducting many tests with assigned BHF during punching is costly and time-consuming. It is also lack of flexibility and the optimum BHF-stroke curve can hardly be obtained. In the proposed thesis, at first, an affordable mini-velocity sensor whichcan be easily concealed in the mold will be developed. It is small enough tomeasure the workpiece velocity on the shoulder corner of the die. Many sensorscan be arranged in different positions in the flange area. A drawing die set withhydraulic servo-controlled BHF, which was constructed during the project "DeepDrawing Die with Hydraulic Servo-controlled Blankholding Force" under the supportof NSC, will be equipped with the new sensors to evolve a real-time, multi-inputcontrol criterion.

碩士
國立交通大學
電控工程研究所
101
This paper presents a lateral motion control scheme with minimum energy consumption for a front-wheel-steering/front-wheel-driving (FWS/FWD) vehicle using an adaptive H-infinity controller and an optimum longitudinal tire force distribution method. The proposed control system is divided into three layers: the upper controller, the optimum longitudinal tire force distribution and the lower controller. When the driver commands the vehicle, the upper controller finds the optimum weighting among various fixed H-infinity controllers on-line to generate the desired front wheel steering angle and direct yaw moment which allow the vehicle to follow the given reference trajectory with minimum energy loss. Then the optimum longitudinal tire force distribution algorithm determines the minimum longitudinal forces that meet the requirements for direct yaw moment from the upper controller. The lower controller compensates for the nonlinear and uncertain characteristics of the tire dynamics to generate the desired longitudinal tire forces. Finally, simulations are carried out to verify the effectiveness of the proposed control scheme.

碩士
高苑科技大學
經營管理研究所
101
Department of Defense for the establishment of the new age elite national army, with the government reform, continue to promote the strength of structural adjustment; This research studies at this stage, "the Pristine of the Program" organizational change, members of the organization in response to sudden changes of environment, the condition of derivative Significant supporting measures, how to impact morale characterization,to developing continuation programs as a manager, or adjust the leadership method of reference. In this study, the quality management group of the Air Force Logistics repair factory for the study, the use of Participant observation, supplemented by Free representation method, summarized in the following conclusions: 1.The organizational change morale characterization upward; however, when it is involved morale dimensions and management related topics, showing that affect the morale of members is reduced, formed to enhance the morale of obstacles. 2.Environment variation, and the relative supporting measures impact , the morale ‘s characterization is upward; except to the extent that the work situations involving external environmental factors (such as major government policy), and the organization's internal management capacity, the bureaucracy relations and other issues, the lower the morale of the members of the organization. 3.High team spirit organization,in the face of rapid changes of external environment and internal organization of the operational functions is imperfect,management capability can not be convinced of the context,the members still peers to help one another、to encourage, the operation of the organization is still not affected; except to the extent that organizations morale shaken symptoms become apparent,the morale of the obstacles become increasingly serious, must immediately confront and take improvement measures. According to the above results, four suggestions are addressed: 1.That motivates employees to participate in change and policies to promote opinions communication process. 2.To create a happy working environment, to terminate the ex-tide, and the members of the organization are willing for organizational effectiveness. 3.The human resources management system refined, emphasis on employee performance measurement and future development. 4.Management Leadership ability to re-learn, put in to develop the process of education and experience.

Hydraulic manipulators commonly interact with environments that are highly unstructured, and thus rely on the intelligence of human operators to provide proper commands. Typically, operators use visual information, directly or through cameras, to perform a task. Providing haptic or touch sensation about the task environment to the operator, enhances her/his ability to perform telemanipulation. The focus of this thesis is on haptic teleoperation of hydraulic manipulators. The application is directed at live transmission line maintenance tasks. In this thesis, both unilateral and bilateral haptic teleoperation of hydraulic manipulators are investigated. On the unilateral telemanipulation front, position error is shown to be an important issue in performing repetitive tasks. The most important sources of inaccuracy in position are sensors, robot controller performance, and the operator. To reduce the human operator’s errors, the concept of virtual fixtures is adopted in this research. It is shown that virtual fixtures can help operators perform routine tasks related to live line maintenance. Stability and telepresence are the main issues in reference to bilateral control. Three stable bilateral control schemes are designed for haptic teleoperation of hydraulic actuators considering nonlinear dynamics of hydraulic actuation, haptic device, and the operator. For each control scheme, stability of the entire control system is proven theoretically by constructing a proper Lyapunov function. Due to the discontinuity originating from a sign function in the control laws, the proposed control systems are non-smooth. Thus, the existence, continuation, and uniqueness of Filippov’s solution to the system are first proven for each control system. Next, the extensions of Lyapunov’s stability theory to non-smooth systems and LaSalle’s invariant set theorems are employed to prove the asymptotic stability of the control systems. In terms of telepresence, two types of haptic sensation are provided to the operator: (i) haptic based on the reflected interaction force, and (ii) haptic based on the position error. Performances of all proposed controllers are validated by experimental results on a hydraulic actuator controlled by a haptic device. It is shown that besides stability, the hydraulic actuator performs well in terms of position tracking while the haptic device provides telepresence for the operator.