Fractional Order Disturbance Observer for Robust Vibration Suppression

For the first time, the fractional order disturbance observer (FO-DOB) is proposed for vibration suppression applications such as hard disk drive servo control. It has been discovered in a recently published US patent application (US20010036026) that there is a tradeoff between phase margin loss and strength of the low frequency vibration suppression. Given the required cutoff frequency of the low pass filter, also known as the Q-filter, it turns out that the relative degree of the Q-filter is the major tuning knob for this tradeoff. The solution in US20010036026 was based on an integer order Q-filter with a variable relative degree. This actually motivated the use of a fractional order Q-filter. The fractional order disturbance observer is based on the fractional order Q-filter. The implementation issue is also discussed. The nice point of this paper is that the traditional DOB is extended to the fractional order DOB with the advantage that the FO-DOB design is now no longer conservative nor aggressive, i.e., given the cutoff frequency and the desired phase margin, we can uniquely determine the fractional order of the low pass filter.     

Velocity-sensorless proportional–derivative trajectory tracking control with active damping for quadcopters

The proposed observer-based control mechanism solves the trajectory tracking problem in the presence of external disturbances with the reduction in sensor numbers. This systematically considers the quadcopter nonlinear dynamics and parameter and load variations by adopting the standard controller design approach based on a disturbance observer (DOB). The first feature is designing first-order observers for estimating the velocity and angular velocity error, with their parameter independence obtained from the DOB design technique. As the second feature, the resultant velocity observer-based control action including active damping and DOBs secures first-order tracking behavior for the position and attitude (angle) loops through pole zero cancellation, thereby forming a proportional–derivative control structure. Closed-loop analysis results reveal the performance recovery and steady-state error removal properties in the absence of tracking error integrators. The numerical verification confirms the effectiveness of the proposed mechanism using MATLAB/Simulink.

     

Experimental study on vibrations of a nonwoven fabric cylindrical filter

Unexpected vibrations on a cylindrical filter made of nonwoven fabrics were clarified experimentally. Two types of filter with length L=1.8 m and 3.7 m, both 45 cm in diameter and 1.08 mm in thickness, were used. This is a new type of aeroelastic vibration phenomenon because the filter is a closed cylindrical vessel. In addition, the flow velocity of inner air was very slow and inner air flowed out slowly from the filter surface. The velocity distribution of air flow from a fan duct as well as the frequency and amplitude of the filter vibration were measured for two types of filter. By setting up a roll core panel at the outlet of the fan duct, we could rectify the outflow and suppressed the vibration of the shorter filter with L=1.8 m. However, this method was not adequate for the longer filter with L=3.7 m, and we could suppress the vibration by shielding the inner surface of the filter at the top region.     

Effects of element order and interface reconstruction in FEM/volume‐of‐fluid incompressible flow simulation

In previous studies, the moment‐of‐fluid interface reconstruction method showed dramatic accuracy improvements in static and pure advection tests over existing methods, but this did not translate into an equivalent improvement in volume‐tracked multimaterial incompressible flow simulation using low‐order finite elements. In this work, the combined effects of the spatial discretization and interface reconstruction in flow simulation are examined. The mixed finite element pairs, Q₁Q₀ (with pressure stabilization) and Q₂P _{? 1} are compared. Material order‐dependent and material order‐independent first and second‐order accurate interface reconstruction methods are used. The Q₂P _{? 1} elements show significant improvements in computed flow solution accuracy for single material flows but show reduced convergence using element‐average piecewise constant density and viscosity in volume‐tracked simulations. In general, a refined Q₁Q₀ grid, with better material interface resolution, provided an accuracy similar to the Q₂P _{? 1} element grid with a comparable number of degrees of freedom. Moment‐of‐fluid shows more benefit from the higher‐order accurate flow simulation than the LVIRA, Youngs', and power diagram interface reconstruction methods, especially on unstructured grids, but does not recover the dramatic accuracy improvements it has shown in advection tests. Published 2012. This article is a US Government work and is in the public domain in the USA.     

Computation of Fractional Order Derivative and Integral via Power Series Expansion and Signal Modelling

The three techniques of s-to-z transform, power series expansion (PSE) and signal modelling are combined to develop a new procedure for efficiently computing the fractional order derivatives and integrals of discrete-time signals. A mapping function between the s-plane and the z-plane is first chosen, and then a PSE of this mapping function raised to fractional order is performed to get the desired infinite impulse response of the ideal digital fractional operator. Finally, the desired impulse response is modelled as the impulse response of a linear invariant system whose rational transfer function is determined using deterministic signal modelling techniques. Three non-iterative techniques, namely Padé, Prony and Shanks’ methods have been considered in this paper. Using Al-Alaoui’s rule as s-to-z transform, computation examples show that both Prony and Shanks’ method can achieve more accurate fractional differentiation and integration than Padé method which is equivalent to continued fraction expansion technique.     

Fractional order control of a coupled tank

In this paper, a hybrid system that combines the advantages in terms of robustness of the fractional control and the Sliding Mode Control (SMC) will be proposed. The proposed fractional order SMC is applied to a level control in a nonlinear coupled tank, as a case study. To investigate the capability of the method, a Sliding Mode Controller is alternatively designed. Primarily a sliding surface based on linear compensation networks PD or PID is designed. The work is followed by designation of a fractional form of these networks, PD ^μ or PI ^λ D ^μ . Finally, the performance of the proposed technique is also investigated under disturbance and variation in parameters of system. The simulation results indicate the significance of the fractional order sliding mode controllers.     

Identification of Fractional Systems Using an Output-Error Technique

An original method for modeling, simulation and identification of fractional systems in the time domain is presented in this article. The basic idea is to model the fractional system by a state-space representation, where conventional integration is replaced by a fractional one with the help of a non-integer integrator. This operator is itself approximated by a N-dimensional system composed of an integrator and of a phase-lead filter. An output-error technique is used in order to estimate the parameters of the model, including the fractional order N. Simulations exhibit the properties of the identification algorithm. Finally, this methodology is applied to the modeling of the dynamics of a real heat transfer system.     

Theoretical and Experimental Study on the Parametrically Excited Vibration of Mass-Loaded String

The parametrically excited lateral vibration of a mass-loaded string is investigated in this paper. Supposing that the mass at the lower end of the string is subjected to a vertical harmonic excitation and neglecting the higher-order vibration modes, the equation of motion for the mass-loaded string can be represented by a Mathieu's equation with cubic nonlinearity. Based on the stability criterion for Mathieu's equation, the critical conditions inducing parametric resonance are clarified. Theoretical analysis shows that when the natural frequency f _s of the string lateral vibration and the vertical excitation frequency f satisfy f _s= (n/2)f, n= 1, 2, 3, ..., parametric resonance occurs in the case of no damping. For a damped system, parametric resonance most likely occurs when f is close to 2f _s, and depends on the damping of the system and the vertical excitation. The critical excitation has been derived at different frequencies. If the natural frequency of the mass vertical vibration happens to be twice that of the string lateral vibration, the parametric resonance may occur due to a small disturbance. Numerical simulations show that the lateral vibration of the string does not increase infinitely at parametric resonance because the parametric excitation is self-tuned due to the coupling between the vertical and lateral vibrations. Finally, the theoretical results are supported by some experimental work.     

A novel framework to design and compare limit cycle minimizing controllers: demonstration with integer and fractional-order controllers

In this paper, a constrained optimization problem is formulated to tune the limit cycle minimizing controllers meeting additional loop-shaping performances such as phase margin and gain crossover frequency. A graphical approach is proposed so as to determine the superior controller in terms of better limit-cycle suppression. The framework is illustrated with a suitable case of elementary servo plant which has separable static backlash nonlinearity in its model. For this plant, integer-order controllers and their fractional counterparts (PI and \( PI ^\alpha , [ PI ]^\alpha \) ; PID and \( PI ^\alpha D^\beta \) ) are designed and compared. Interestingly, it is found that the fractional controllers produce better limit-cycle responses than their integer counterparts while both meeting the rest of the specifications. Correspondingly, the better sustained oscillations in the plant output response are obtained with fractional controllers. Such a ‘fractional superiority’ is further verified with the closed-loop nonlinear simulation.     

Galerkin Projections and Finite Elements for Fractional Order Derivatives

Ordinary differential equations (ODEs) with fractional order derivatives are infinite dimensional systems and nonlocal in time: the history of the state variable is needed to calculate the instantaneous rate of change. This nonlocal nature leads to expensive long-time computations (O(t ²) computations for solution up to time t). A finite dimensional approximation of the fractional order derivative can alleviate this problem. We present one such approximation using a Galerkin projection. The original infinite dimensional system is replaced with an equivalent infinite dimensional system involving a partial differential equation (PDE). The Galerkin projection reduces the PDE to a finite system of ODEs. These ODEs can be solved cheaply (O(t) computations). The shape functions used for the Galerkin projection are important, and given attention. The approximation obtained is specific to the fractional order of the derivative; but can be used in any system with a derivative of that order. Calculations with both global shape functions as well as finite elements are presented. The discretization strategy is improved in a few steps until, finally, very good performance is obtained over a user-specifiable frequency range (not including zero). In particular, numerical examples are presented showing good performance for frequencies varying over more than 7 orders of magnitude. For any discretization held fixed, however, errors will be significant at sufficiently low or high frequencies. We discuss why such asymptotics may not significantly impact the engineering utility of the method.     

Attenuating performance of a polymer layer coated onto floating structures subjected to water blasts

The water blast attenuating performance of a polymer layer coated onto floating structures has been experimentally investigated. A series of contrastive live fire tests were conducted on a rectangular metal box before and after coating a layer of polymer on its outer hull. The blast responses of the box and water pressure near the wet surface were monitored and analyzed. Test results show that the transmitted impulse at the initial FSI stage can be reduced by almost 50%, owing to the rubber wall flexibility. Consequently, both acceleration and strain peaks of the box induced by the first shock wave can be effectively reduced. Further shock response spectrum analysis indicates that the coating performs like a low pass filter with cutoff frequency at about 50 Hz. Response components higher than 50 Hz can be attenuated effectively, but for components lower than the cutoff frequency, the attenuating effect is limited.     

Numerical Investigation of the Time Scales of Single Droplet Burning

The effect of gas phase velocity fluctuations on single droplet burning is investigated numerically. The main objective of this study is to understand the effect of gas phase turbulence on nitric oxide formation in single droplet flames. Since the interaction of gas phase velocity fluctuations with droplet burning is of sequential character, a separate investigation of droplet momentum coupling and droplet burning is performed. Momentum coupling controls droplet relaxation against changes of the gas phase velocity along the droplet trajectory and, thereby, determines to what extend gas phase velocity fluctuations translate into droplet slip velocity fluctuations. This coupling effect acts as a high pass filter with a cutoff frequency determined by the droplet Reynolds number and diameter. In the simulation of single droplet burning detailed models for chemical reaction, diffusive species transport and evaporation are used. A significant effect of slip velocity fluctuations on the mean values of NO formation rate is observed. The effect of slip velocity fluctuations on the mean NO formation rate is frequency dependent. The frequency response of the droplet flame is similar to that of a low pass filter. The droplet flame time scale characterizing the response to slip velocity fluctuations is found to correlate with chemical time scales. This time scale is not affected by droplet diameter.     

A crack perpendicular to and terminating at a bimaterial interface

Using dislocation simulation approach, the basic equation for a finite crack perpendicular to and terminating at a bimaterial interface is formulated. A novel expansion method is proposed for solving the problem. The complete solution to the problem, including the explicit formulae for theT stresses ahead of the crack tip and the stress intensity factors are presented. The stress field characteristics are analysed in detail. It is found that normal stresses {ie27-1} and {ie27-2} ahead of the crack tip, are characterised byQ fields if the crack is within a stiff material and the parameters |p _T | and |q _T | are very small, whereQ is a generalised stress intensity factor for a crack normal to and terminating at the interface. If the crack is within a weak material, the normal stresses {ie27-3} and {ie27-4} are dominated by theQ field plusT stress. This work was supported by the Swedish Research Council for Engineering Sciences.     

Quadcopter attitude control with vibration reduction by additive-state-decomposition dynamic inversion design with a notch filter

In practice, the unbalanced mass of the propeller is the leading cause of vibration in a quadcopter. Therefore, this paper proposes an additive-state-decomposition notch dynamic inversion controller to suppress the vibration noise. Firstly, the vibration mechanics model based on unbalanced mass is established and its characteristic frequency is analyzed. Then, the specific form of the notch filter is designed, and this characteristic frequency is taken as its internal parameter. Next, stability analysis shows that the proposed controller guarantees that all attitude signals are globally uniformly ultimately bounded. In particular, the notch filter can effectively reduce the vibration having a specific frequency. Finally, the proposed controller is performed on a real quadcopter to verify its vibration reduction performance.

     

A theory of homogeneous isotropic turbulence

Summary Homogeneous and isotropic turbulence has been discussed in the present paper. An attempt has been made to find the simplifying hypothesis for connecting the higher order correlation tensor with the lower ones. Starting from the Navier-Stokes equations of motion for an incompressible fluid and following the usual method of taking the averages, a differential equation in Q and X, the defining scalar of the second order correlation tensor Q _x and the defining scalar of a third order isotropic tensor X _ijk , has been derived. The tensor X _ijk stands for a tensorial expression containing the derivatives of the third and the fourth order tensors. Then the hypothesis is used that X=F(Q), where F is an unknown function. To find the forms of F, Kolmogoroff's similarity principles have been used, and thus two forms for F(Q) corresponding to two regions of the validity of these principles have been deduced.     

Discrete filter operators for large‐eddy simulation using high‐order spectral difference methods

The combination of a high‐order unstructured spectral difference (SD) spatial discretization scheme with sub‐grid scale (SGS) modeling for large‐eddy simulation is investigated with particular focus on the consistent implementation of a structural mixed model based on the scale similarity hypothesis. The difficult task of deriving a consistent formulation for the discrete filter within the SD element of arbitrary order led to the development of a new class of three‐dimensional constrained discrete filters. The discrete filters satisfy a set of selected criteria and are completely local within the SD element. Their weights can be automatically computed at run time from the number of solution points within each element and the expected filter cutoff length scale. The novel discrete filters can be applied to any SGS model involving explicit filtering and to a broad class of high‐order discontinuous finite element numerical schemes. The code is applied to the computation of turbulent channel flows at three Reynolds numbers, namely Re_τ = 180, 395, and 590 (based on the friction velocity u_τ and channel half‐width δ). Results from computations with and without the SGS model are compared against results from direct numerical simulation. The numerical experiments suggest that the results are sensitive to the use of the SGS model, even when a high‐order numerical scheme is used, especially when the grid resolution is kept relatively low and mostly in terms of resolved Reynolds stresses. Results obtained using existing filters based on the projection of the solution over lower‐order polynomial bases are also shown and demonstrate that these filters are inadequate for SGS modeling purposes, mostly because of their inability to enforce the selected cutoff length scale with sufficient accuracy. The use of the similarity mixed formulation proved to be particularly accurate in reproducing SGS interactions, confirming that its well‐known potential can be realized in conjunction with state‐of‐the‐art high‐order numerical schemes.Copyright © 2012 John Wiley & Sons, Ltd.     

New tuning rules for fractional PIα controllers

This paper describes a new tuning method for fractional PI^α controllers. The main theoretical contribution of the paper is the analytical solution of a nonlinear function minimization problem, which plays a central role in deriving the tuning formulae. These formulae take advantage of the fractional order α to offer an excellent tradeoff between dynamic performances and stability robustness. Finally, a position control is implemented to compare laboratory experiments with computer simulations. The comparison results show the good performance of the tuning formulae.     

Anisotropy of Seismic Attenuation in Fractured Media: Theory and Ultrasonic Experiment

This is a study on anisotropy of seismic attenuation in a transversely isotropic (TI) model, which is a long-wavelength equivalent of an isotropic medium with embedded parallel fractures. The model is based on Schoenberg’s linear-slip theory. Attenuation is introduced by means of a complex-valued stiffness matrix, which includes complex-valued normal and tangential weaknesses. To study the peculiarities of seismic attenuation versus wave-propagation direction in TI media, numerical modeling was performed. The model-input data were the complex-valued weaknesses found from the laboratory ultrasonic experiment made with a Plexiglas plate-stack model, oil-saturated (wet) and air-filled (dry). The laboratory experiment and the numerical modeling have shown that in the vicinity of the symmetry axis, in the wet model, P-wave attenuation is close to S-wave attenuation, while in the dry model, P-wave attenuation is much greater than S-wave attenuation. Moreover, the fluid fill affects the P-wave attenuation pattern. In the dry (air-saturated) model, the attenuation pattern in the vicinity of the symmetry axis exhibits steeper slope and curvature than in the wet (oil-saturated) model. To define the slope or the curvature, a QVO gradient was introduced, which was found to be proportional to the symmetry-axis Q _S/Q _P-ratio, which explains the differences between dry and wet models. Thus, depending on the Q _S/Q _P-ratio, the QVO gradient can serve as an indicator of the type of fluid in fractures, because the QVO gradient is greater in gas-saturated than in liquid-saturated rocks. The analysis of P-wave attenuation anisotropy in seismic reflection and vertical seismic profiling data can be useful in seismic exploration for distinguishing gas from water in fractures.     

Dynamics of coaxial torsional resonators consisting or segments with different radii,material properties and surrounding media

High-Q torsional resonators constitute the most sensitive transducers for high frequency dynamic viscoelastic measurements of dilute polymer solutions. Most such resonators described in the literature are segmented. Because of the need for torque and torsional displacement transducers the Q-value of the individual segments most often differ, but normally all segments have the same radius.A detailed analysis of the dynamics of such resonators when both the radii, material properties and surrounding media may be different for each segment, is presented. For resonators where all segment lengths equal an integer multiple of a quarter of the torsional wavelength, we find that the Q-value of the resonator as a whole is mainly determined by the Q-value of the segment with the smallest radius. We further find that reduction of the radius of the segment surrounded by polymer solution results in a stronger mechanical coupling between the resonator as a whole and the polymer solution. These findings suggest that the segment radii are important optimization parameters of segmented torsional resonators used to measure the high frequency dynamic viscoelastic properties of e.g. polymer solutions.     

Fractional Rayleigh–Duffing-like system and its synchronization

This paper presents a periodically driven Rayleigh?CDuffing-like system with the function x|x|. It is proven via the Melnikov function method that the quadratic function x|x| induces Smale horseshoes to the Rayleigh?CDuffing-like system. The Rayleigh?CDuffing-like oscillator with fractional order is also discussed, and results of computer simulation demonstrate the chaotic dynamic behaviors of the system. Furthermore, two fractional Rayleigh?CDuffing-like systems are synchronized by active control technology, the method based on state observer and nonlinear feedback method. Numerical results validate the effectiveness and applicability of the proposed synchronization schemes.