Browse Topic: Mechatronics

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Docking System Enables Safe Rendezvous in SpaceTBMG-3561412/1/2019
Even though it has been done many times before, the docking maneuver between two objects in space is always a delicate and potentially dangerous procedure. The speed is extremely high (about 28,000 km/h in the case of the International Space Station, or ISS), and corrections are difficult. When the two objects are about to meet, maneuvering thrusters can no longer be used since their exhaust plumes can cause damage. To prevent harm, cargo transporters are caught by a robotic arm installed in the ISS and berthed manually. Manned spacecraft, on the other hand, dock directly in a computer-controlled process.
Safety and Comfort for All: An affordable Hill-Hold and Automated Parking Brake System2019-26-00051/9/2019
With an ever-increasing number of vehicles on Indian roads, the safety and ease of driving has become a very important criterion for the customers. In passenger and commercial vehicles, while launching a vehicle on gradient or stop and go traffic in hilly region, the vehicle tends to roll back/forward in the opposite direction of the intended movement. This undesirable movement is also a safety issue, as this may cause collision with the vehicle on the rear or in front. It requires a skilled driver to coordinate between the clutch pedal, brake (also handbrake in some situations) and accelerator pedal to prevent the vehicle from rolling back while handling such situations. It also leads to clutch disc wear and heating as the driver may tend to slip the clutch to prevent the vehicle from rolling back. Hill hold is a driver assist feature which prevents the vehicle roll back/roll forward during launch operation on uphill/downhill conditions. Hill-hold is offered as an add-on feature on most vehicles equipped with Electronic Stability Program (ESP). Hill hold is achieved in ESP by applying the rear or all four brakes of the vehicle. ESP is not commonly provided in entry level vehicles due to its higher cost because of a lot of additional components and controls. Another shortcoming of the Hill-hold through ESP is that, due to its control strategy it holds the brakes only for approximately 3-5 seconds, after which the vehicle will start rolling back. At Schaeffler India, two hill hold concepts have been developed for entry level vehicles and above. These systems achieve the Hill-hold and Auto Park brake function either by purely mechanical or mechatronic means. The mechanical system consists of a transmission integrated Hill-hold system. The mechatronic system is designed for easy integration in the existing parking brake (hand brake) system with minimal modifications. The paper describes the various development phases from collecting the voice of customer, input requirements, system arrangements and architecture, design and development steps till validation and results.
Iyer, Ramkumar, Awade, Yogesh, Doshi, Pritesh, Dabhade, Abhishek, Jadhav, Vinod
Adaptive Cascade Optimum Braking Control Based on a Novel Mechatronic Booster2017-01-25149/17/2017
BBW (Brake-by-wire) can increase the electric and hybrid vehicles performance and safety. This paper proposes a novel mechatronic booster system, which includes APS (active power source), PFE (pedal feel emulator), ECU (electronic control unit). The system is easily disturbed when the system parameters and the outside conditions change. The system performance is weakened. The cascade control technique can be used to solve the problem. This paper develops an adaptive cascade optimum control (ACOC) algorithm based on the novel mechatronic booster system. The system is divided into main loop and servo loop, both of them are closed-loop system. The servo-loop system can eliminate the disturbance which exists in the servo loop. So the robustness of the cascade control system is improved than which of the general closed-loop control system. Different control object is respectively chosen. The control-oriented mathematical model is designed. Based on the control-oriented model, optimum control algorithm(LQR) is used to design the servo-loop controller for optimum error and rapid response. To eliminate the system uncertainty and control the hydraulic pressure accurately, adaptive control algorithm, which includes the feedforward controller and the adaptive module based on the recursive least-square algorithm with a fixed forgetting factor(λ)(abbr. RFF), is used to design the main-loop controller. The performance of the novel mechatronic booster system is evaluated by co-simulation and bench test. Experimental results prove that the system fulfills the requirements of the brake system for automotive. Compared with using PI single-loop system and cascade PI system, the adaptive cascade optimum control algorithm can improve the rapidity and robustness of system. The system performance is also enhanced.
Han, Wei, Xiong, Lu, Yu, Zhuoping, Li, Haocheng
Power Assisted Braking Control Based on a Novel Mechatronic Booster2016-01-16444/5/2016
This paper presents a power assisted braking control based on a novel mechatronic booster system. A brake pedal feel control unit is first discussed which includes a pedal emulator with an angular sensor to detect driver’s pedal travel, a signal processing module with a Kalman filter for sensor signal conditioning, and a driver braking intention detection and behavior recognition module based on the displacement and velocity of the pedal travel. A power assisted braking control is then presented as the core of the system which consists of controls on basic power assist, velocity compensation and friction compensation. The friction is estimated based on a generic algorithm offline. A motor controller is designed to provide the desired torque for the power assist. Finally, a novel mechatronic booster system is designed and built with an experimental platform set up with a widely adopted rapid prototype system using dSPACE products, such as MicroAutoBox, RapidPro, etc. Extensive experiments have been conducted which demonstrate the validity and effectiveness of the proposed control for the power assisted braking system.
Liu, Haizhen, Deng, Weiwen, He, Rui, Qian, Lei, Yang, Shun, Wu, Jian
Design, Development, and Hover Testing of a Helicopter Rotor Blade Chord Extension Morphing SystemF-0070-2014-96575/20/2014
A rotor blade chord extension system was designed, fabricated and hover tested, using electromechanical and pneumatic actuation. A 1.5 in actuator stroke output in the spanwise direction was converted into chordwise motion of a trailing-edge plate, via a rigid link. On the hover stand, with a 20 Volt DC input, the electromechanical actuator was shown to fully extend and retract the plate at rotational speeds up to 385 RPM (which put the system at a centrifugal loading of 209.5 g, or 47.2% of that on a Black Hawk helicopter at 73% span). The configuration was changed to reduce the actuator force requirement for the pneumatic actuator. The rotor test facility allowed a maximum of 105 psi pressure input through the rotary union (significantly lower than the rating of the actuator). At these moderate pressure inputs, full trailing-edge plate deployment was observed at 315 RPM (140.2 g, or 31.6% of that on a Black Hawk helicopter at 73% span). The model prediction of trailing-edge plate displacement versus pressure showed good correlation with test results.
Hayden, Eric, Gandhi, Farhan
Implementation of the Mobility Engineering Center2011-36-036510/4/2011
The paper describes the experience of the Federal University of Santa Catarina - UFSC, Brazil, in the elaboration and the implementation of the Mobility Engineering Center. Aspects related to the project and the circumstances which led UFSC to create another center outside the main campus are presented. The main reason behind this venture is the great national demand for professionals in various field of Mobility Engineering, areas such as, automobilistic, railway, mechatronics, naval, aerospace and aeronautical, infrastructure and logistic engineering. All these specializations are concentrated in the new campus which is situated in the city of Joinville which is about 180 km from the main UFSC-campus. The lessons learned from the administrative and pedagogical experiences involved in the implementation of the new Center since 2009 are discussed. Other relevant aspects will also be presented.
Dias, Acires, Rojas Lezana, Alvaro G., Ferreira, Cristiano Vasconcellos, Al-Qureshi, Hazim Ali
Wheel Optimized Brake Torque at the VE Mechatronic Brake2011-01-23589/18/2011
Conventional brakes commence with given brake torque distribution and abruptly change to wheel individual torque corrections when ABS-ESP intervenes. This leads to less than optimal braking, firstly around the transition from “given distribution” to individual ABS-ESP control and secondly when ABS-ESP switches from “locked” to “rotating”. Neither of these states offers the optimal deceleration. The VE mechatronic brake (EMB, electro mechanical brake) is designed to apply wheel individual braking with wheel optimized torques that give the best braking and stability from initial input to maximum deceleration, without sudden transition to ABS-ESP. With electric drive motors, a very rapid adjustable part of wheel individual torque can be combined with the individually controllable VE brakes. Sudden wheel locking can be unlocked instantaneously with no mechanical intervention, by reduction of the regenerative torque or even with electrical acceleration, simply by commands to the e-drive motor controller. A rotating wheel with insufficient braking torque can be brought to the grip limit by a rapid regenerative brake torque increase. The instantaneously adjustable e-drive motor (generator) torque offers a mechatronic brake time to set the new wheel torque, but retains the very fast response time of the combined braking. Using this combination, a very quick vehicle yaw control response can also be achieved. In this paper, simulations and measurements of wheel individual friction braking combined with rapid controlled e-drive motor torque is discussed, as well as other properties of this combination e.g. determination of true friction brake torque.
Putz, Michael Herbert, Wunsch, Christian, Morgan, John E.
Innovative Graduate Program in Mechatronics Engineering to Meet the Needs of the Automotive Industry2010-01-230410/19/2010
A new inter-disciplinary degree program has been developed at Lawrence Technological University: the Master of Science in Mechatronic Systems Engineering Degree (MS/MSE). It is one of a few MS-programs in mechatronics in the U.S.A. today. This inter-disciplinary program reflects the main areas of ground vehicle mechatronic systems and robotics. This paper presents areas of scientific and technological principles which the Mechanical Engineering, Electrical and Computer Engineering, and Math and Computer Science Departments bring to Mechatronic Systems Engineering and the new degree program. New foundations that make the basis for the program are discussed. One of the biggest challenges was developing foundations for mechanical engineering in mechatronic systems design and teaching them to engineers who have different professional backgrounds. The authors first developed new approaches and principles to designing mechanical subsystems as components of mechatronic systems. Then, the developed principles and approaches were implemented in the MS/MSE program curriculum which consists of three course modules (eight core courses). The MS/MSE program and a new Research Laboratory of Mechatronic Systems were developed with support and collaboration of industry. The paper discusses aspects of collaboration with the private companies and development of new educational approaches to learning commercial software/hardware for designing mechanical subsystems and making this process a part of the mechatronics laboratory development.
Vantsevich, Vladimir V., Rivin, Eugene I.
Automotive Battery Requirements in Vehicles with Electrical DrivesTP-AAB-AABC_EUROPE_2010_342/4/2010
The major research fields of the department "Automotive EE-Systems and Fundamentals of Electrical Engineering" are problems in vehicles electrics, electronics and mechatronics with focus on energy and signal distribution. Most of the projects are realized in close cooperation with industrial partners.
Brabetz, Ludwig, Ayeb, Mohamed, Tellmann, Dirk
Optimal Robust Design Optimization with Application to a Piezoelectric Brake2008-01-255410/12/2008
A robust optimization approach has been applied to the design of a piezoelectric brake. The force generated by the piezoelectric actuator is transmitted to the pad shoe through a lever. The optimal design of the lever is crucial for obtaining the desired performance of the brake. Increasing the stiffness and reducing the mass of the lever is the key problem for such kind of mechatronic brake. A trade off between mass and stiffness of the lever must be obtained. Multi-objective programming (MOP) has been applied in order to achieve the best compromise. In addition to MOP, the optimal robust design method has been applied to perform the optimal design not only by considering the performance of the system (the stiffness and mass of the lever) but also by taking into account the robustness (the sensitivity to the uncertain system parameters). This approach has allowed the proper design of the mechanism for the piezoelectric brake by taking into account different cross sections and materials.
Gobbi, Massimiliano, Guarneri, Paolo, Mastinu, Gianpiero
SAE Off-Highway Engineering 2002-02-01OFHFEB022/1/2002
Evolution of ac-drive technology The introduction of inverter drives has stimulated development of the ultra-class haul trucks in operation today. Hydraulics in the age of specialization Today's hydraulics are to earlier systems as Sim City is to Lincoln Logs. Increasing sophistication has changed the way companies such as Eaton and Caterpillar build equipment, while users' expectations and regulators' demands keep rising. IT-tool for intelligent motion control A Danish mechatronic research program focused on intelligent motion control for rapid prototyping of fluid-power components and systems.
Software tools and methods for the practice-oriented PDM integration of design and diagnostics of mechatronic systems in vehicles2000-05-01146/12/2000
a practice-oriented approach for an accelerated product development and product design process for mechatronic systems is presented. The handling of complex and versatile product data to perform this process is shown in the area of electrical drives and actuators in cars. It is discussed, how the coordination of all the necessary disciplines as development, design, testing field, specification and release management should be software supported and PDM integrated. The advantages and benefits of the presented methods are shown on particular examples. The necessary software modules are introduced, showing that the realized solution gives both opportunities - the integration into a PDM backbone and at the same time an independent communication within department and/or company. The practical way, to realize the expert-specific needs of the development department, which is not possible with a general PDM system is pointed out. The internet and intranet capabilities of the system and the advantages of such a workflow in the practical communication with suppliers and external partners is shown. The benefits in the daily work are confirmed on examples, deriving the economic profitability of the presented methods.
Gospodaric, Davor, Guckel, Roland, Iamandi, Heiko, Ditzer, Erich
Autonomous Vehicle System and Control ArchitectureC2402
This four-week virtual-only experience is conducted by leading experts in the autonomous vehicle industry and academia. You’ll develop an understanding of the fundamentals of AV architecture, including mechatronics, kinematics, and the sense-think-act framework in autonomous systems. The course builds a connection for how robotics are used in autonomous vehicles and provides you with demonstrations, procedures, and the skills necessary to program a robot with basic commands using the Robot Op
and, Farzin, Venkat, Dr, i, Krov, Lecturer, Video
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