Principles and Synthesis of Hydractive CRONE Suspension

Mechatronic subsystems have been extensively developed in automotive applications as they increase performance compared to passive components. The Hydractive CRONE suspension based on fractional differentiation is presented as a hybrid system undergoing an infinite sequence of autonomous switchings. The modelling and operation of Hydractive CRONE suspension as a hybrid system are presented. The stability of Hydractive CRONE suspension is demonstrated using the maximum principle extended to hybrid systems. Finally, comfort mode synthesis is proposed using the third generation CRONE control system design.     

The CRONE Suspension: Management of the Dilemma Comfort-Road Holding

The CRONE suspension, French acronym of “suspension à Comportement Robuste d’Ordre Non Entier”, results from a traditional suspension system whose spring and damper are replaced by a mechanical and hydropneumatic system defined by a fractional (so-called non-integer) order force–displacement transfer function. ‘ling, frequency-domain robust control design methodology, optimal approach, stability analysis and performance are presented in this paper.     

CRONE Control: Principles and Extension to Time-Variant Plants with Asymptotically Constant Coefficients

The principles of CRONE control, a frequency-domain robust control designmethodology based on fractional differentiation, are presented.Continuous time-variant plants with asymptotically constant coefficientsare analysed in the frequency domain, through their representation usingtime-variant frequency responses. A stability theorem for feedbacksystems including time-variant plants with asymptotically constantcoefficients is proposed. Finally, CRONE control is extended to robustcontrol of these plants.     

Study of the inertial effect and the nonlinearities of?the?CRONE suspension based on the hydropneumatic technology

In this paper, we emphasize two main effects involved in the CRONE car suspension technology (CRONE: French acronym for Commande Robuste d??Ordre Non Entier). In a first time, we present the influence of the inductive or inertial effect of the pipes that links the different cells of the hydropneumatic car suspension. These components are mainly resistive and capacitive devices. Then, we analyze the nonlinear relations that link the hydraulic power variables (the flow and the pressure) of the hydraulic resistors and the hydropneumatic accumulators and we study the effect of the nonlinear terms on the car suspension response. Our study is based on the gamma RC arrangement developed in Altet et al. (In: Analysis and design of hybrid systems??proceedings of ADHS03, pp. 63?C68. Elsevier, Amsterdam, 2003) and Serrier et al. (In: Proceedings of IDETC/CIE 2005: ASME 2005 international design engineering technical conferences and computers and information in engineering conference, Long Beach, CA, USA, 24?C28 September 2005). In a second time, we focus only on the gamma RLC arrangement, introduced in Abi Zeid Daou et al. (Int. J. Electron. 96(12):1207?C1223, 2009). We show whether the parasite effect due to the pipes or the nonlinear RC components affect the system??s response. The simulation results show that neither the inertial effect caused by these parasite pipes of one meter length nor the use of the nonlinear resistors or the accumulators modifies the response of the gamma RC arrangement.     

The CRONE Suspension: Management of the Dilemma Comfort-Road Holding

The CRONE suspension, French acronym of suspension à Comportement Robuste dOrdre Non Entier, results from a traditional suspension system whose spring and damper are replaced by a mechanical and hydropneumatic system defined by a fractional (so-called non-integer) order force–displacement transfer function. ling, frequency-domain robust control design methodology, optimal approach, stability analysis and performance are presented in this paper.     

Robust Speed Control of a Low Damped Electromechanical System Based on CRONE Control: Application to a Four Mass Experimental Test Bench

Robust speed control of a low damped electromechanical system with backlash is studied, controlled load angular speed being not measured. The proposed control strategy combines a Luenberger observer (load angular speed and load torque disturbance estimations) and a robust CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.     

Path tracking design based on Davidson–Cole prefilter using a centralized CRONE controller applied to multivariable systems

To perfectly govern MIMO (Multi-Input Multi-Output) processes, a fully populated matrix controller has been developed due to its flexibility. Taking into account the plant uncertainties, the CRONE (Commande Robuste d’Ordre Non Entier) control approach is used with the non-diagonal quantitative feedback theory (QFT) procedure. The MIMO-QFT robust synthesis methodology has been used in order to generate the appropriate equivalent MISO (Multi-Input Single-Output) system structure from the MIMO plant. For each MISO structure, the CRONE control approach based on third-generation CRONE methodology is used to find the diagonal elements of the controller of the plant while considering the plant uncertainties. The non-diagonal part of the controller is determined to reach the aim of minimizing the coupling effects. After that, a fractional prefilter synthesis approach is developed to find the non-integer prefilter expression satisfying the tracking specifications. A SCARA robot manipulator has been used to verify the designed controller performances.     

Robust Speed Control of a Low Damped Electromechanical System Based on CRONE Control: Application to a Four Mass Experimental Test Bench

Robust speed control of a low damped electromechanical system with backlash is studied, controlled load angular speed being not measured. The proposed control strategy combines a Luenberger observer (load angular speed and load torque disturbance estimations) and a robust CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.     

Decentralized CRONE control of nonsquare multivariable systems in path-tracking design

In this paper, motion control and robust path tracking were extended to nonsquare MIMO (Multi-Input Multi-Output) systems having more outputs than inputs. A path-tracking design based on fractional prefilter approach has been developed and extended to control nonsquare MIMO systems. The nonsquare relative gain array (NRG) is used to assess the performance of nonsquare control systems based on steady-state information. The CRONE control approach developed for multivariable plants based on third-generation SISO CRONE methodology is combined with MIMO-QFT (Quantitative Feedback Theory) robust design methodology, taking into account the plant uncertainties. After the determination of CRONE controller, the parameter of prefilter has been optimized considering physical constraints of actuators and the tracking performance specifications. The proposed design is applied to an example.     

Motion Control by ZV Shaper Synthesis Extended for Fractional Systems and Its Application to CRONE Control

Shaping command input or preshaping is used for reducing system oscillation in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual oscillation. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. This paper presents the study of ZV shaper for explicit fractional derivative systems (generalized derivative systems). A robustness study of ZV shaper is then presented and applied to improve second generation CRONE control response time. Results from simulation and from a DC motor bench are also given.     

Motion Control by ZV Shaper Synthesis Extended for Fractional Systems and Its Application to CRONE Control

Shaping command input or preshaping is used for reducing system oscillation in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual oscillation. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. This paper presents the study of ZV shaper for explicit fractional derivative systems (generalized derivative systems). A robustness study of ZV shaper is then presented and applied to improve second generation CRONE control response time. Results from simulation and from a DC motor bench are also given.     

静电支承球形转子的恒速控制

本讨论静电支承球形转子的恒速控制问题。首先,介绍静电支承系统的基本工作原理,其次,建立静电支承系统的动力学模型。第三,分析采用PID控制器的支承刚度,第四,阐述形成静电旋转力矩的原理。最后,提出利用静电力恒速的方案与基本限制条件。     

Three-DOF modelling of tractor seat-operator system

A 3-DOF analytical model for a tractor seat suspension system is presented in this paper. The response characteristics of the model have been determined using a computer simulation technique. It was observed that vibration transmissibility predicted by this model matched very well with the measured values. In contrast, the values predicted by 1-DOF or 2-DOF models did not match that well. The suspension system having spring constant between 10.726 and 18.957 kN/m and damping co-efficient between 0.665 and 1.099 kNs/m were found to be suitable for Indian tractor seats. Furthermore, the model could be employed as a tool in selection of optimal suspension parameters for any other type of vehicles.     

Theoretical investigation of ignition and detonation of coal-particle gas mixtures

A mathematical model of ignition of a coal-particle gas suspension is developed within the framework of mechanics of reacting heterogeneous media. Some qualitative features are studied, which reveal different typical variants of heat dynamics of the mixture: heterogeneous ignition caused by the coke residue ignition reaction, homogeneous ignition induced by volatile oxidation in the gas phase, and hybrid ignition due to the simultaneous effect of surface and volume reactions. Verification of the model is performed using available experimental data on ignition delay times for coal-particle suspensions in air and oxygen behind reflected shock waves. The model is extended to detonation processes in the suspension, verified by experimental data on the relation between the propagation velocity and initial particle concentration. Stationary detonation regimes are studied, and specific features of detonation structures are discussed.This paper was presented at the 18th International Colloquium on the Dynamics of Explosions and Reactive System, Seattle, Washington, USA, August, 2001     

Influence of suspension viscosity on Brownian relaxation of filler particles

Brownian relaxation caused by Brownian movement of particles in suspensions can macroscopically be probed by small-amplitude oscillatory shear experiments. Phenomenological considerations suggest a direct proportionality between suspension viscosity and Brownian relaxation times. To verify this relation experimentally, a set of nanocomposite suspensions with viscosities varying over five decades is presented. The suspensions are chosen in a way to ensure that particle-particle interactions and average particle-particle distances are identical so that they can be used as a model system to study the mere influence of suspension viscosity on Brownian relaxation. The suggested linear relationship between suspension viscosity and Brownian relaxation time can be confirmed. Moreover, a verification of a recently introduced characteristic timescale for Brownian relaxation is presented.     

Coupling the lattice‐Boltzmann and spectrin‐link methods for the direct numerical simulation of cellular blood flow

The implementation of a spectrin‐link (SL) red blood cell (RBC) membrane method coupled with a lattice‐Boltzmann (LB) fluid solver is discussed. Details of the methodology are included along with subtleties associated with its integration into a massively parallel hybrid LB finite element (FE) suspension flow solver. A comparison of the computational performance of the coupled LB–SL method with that of the previously implemented LB–FE is given for an isolated RBC and for a dense suspension in Hagen–Poiseuille flow. Validating results for RBCs isolated in shear and parachuting in microvessel flow are also presented. Copyright © 2011 John Wiley & Sons, Ltd.     

直流静电悬浮系统的实验研究

正负对称输出的直流高压放大器和直流高压电源是直流静电悬浮系统的两项关键技术问题,本介绍了我们的这两项研究成果,以及在此基础上构建的直流静电悬浮实验系统和相关实验结果。     

Dynamic modelling of the double wishbone motor-vehicle suspension system

In this paper the dynamic analysis of the double wishbone motor-vehicle suspension system using the point-joint coordinates formulation is presented. The mechanical system is replaced by an equivalent constrained system of particles and then the laws of particle dynamics are used to derive the equations of motion. Due to the presence of large number of geometric and kinematic constraints the velocity transformation approach is used to eliminate some constraints. The equations of motion in terms of the Cartesian coordinates of the particles are transformed to a reduced set in terms of relative joint variables by defining differential-algebraic equations in terms of the joint variables are equal to the number of degrees of freedom of the whole system plus the number of cut-joint constraints corresponding to cut of kinematical closed loops. Use of both the Cartesian and relative joint variables produces an efficient set of equations without loss of generality. The chosen suspension includes open and closed loops with quarter-car model.     

Numerical simulation of flow-induced fiber orientation using normalization of second moment

A normalization scheme for the numerical solution of the moment approximation equation in fiber suspension flows is presented. Here, normalization refers to rescaling the trace of the second moment tensor to unity at each time step. The equivalence between the normalization scheme and the quadratic closure model is analytically proved. The performance of the scheme is investigated in simple shear flow with respect to the quadratic and hybrid closures, and a stochastic Monte-Carlo simulator that provides exact solution. The proposed scheme is a computationally efficient alternative to the quadratic closure: it performs equally well and is more efficient regarding computational time.     

An Analysis of a Hybrid Optimization Method for Variational Data Assimilation

In four-dimensional variational data assimilation (4D-Var) an optimal estimate of the initial state of a dynamical system is obtained by solving a large-scale unconstrained minimization problem. The gradient of the cost functional may be efficiently computed using the adjoint modeling, at the expense equivalent to a few forward model integrations; for most practical applications, the evaluation of the Hessian matrix is not feasible due to the large dimension of the discrete state vector. Hybrid methods aim to provide an improved optimization algorithm by dynamically interlacing inexpensive L-BFGS iterations with fast convergent Hessian-free Newton (HFN) iterations. In this paper, a comparative analysis of the performance of a hybrid method vs. L-BFGS and HFN optimization methods is presented in the 4D-Var context. Numerical results presented for a two-dimensional shallow-water model show that the performance of the hybrid method is sensitive to the selection of the method parameters such as the length of the L-BFGS and HFN cycles and the number of inner conjugate gradient iterations during the HFN cycle. Superior performance may be obtained in the hybrid approach with a proper selection of the method parameters. The applicability of the new hybrid method in the framework of operational 4D-Var in terms of computational cost and performance is also discussed.