MR damper based implementation of nonlinear damping for a pitch plane suspension system

Laalej, Hatim; Lang, Zi–Qiang; Sapiński, Bogdan; Martynowicz, Paweł

doi:10.1088/0964-1726/21/4/045006

Cited by 28 publications

(27 citation statements)

References 26 publications

(46 reference statements)

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“…It can be assumed, that there is an increase of ride comfort of the vehicle crew in whole range of frequency of excitation signal. In case of linear suspension model similar result was achieved by Laalej et al (2012). During work over formulating sky-hook control strategy, the nonlinear characteristic of spiral spring has been considered in this article.…”

Section: Simulation Researchsupporting

confidence: 63%

Sky-Hook Control and Kalman Filtering in Nonlinear Model of Tracked Vehicle Suspension System

Jurkiewicz

Kowal

Zając

2017

Acta Mechanica Et Automatica

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Abstract:The essence of the undertaken topic is application of the continuous sky-hook control strategy and the Extended Kalman Filter as the state observer in the 2S1 tracked vehicle suspension system. The half-car model of this suspension system consists of seven logarithmic spiral springs and two magnetorheological dampers which has been described by the Bingham model. The applied continuous skyhook control strategy considers nonlinear stiffness characteristic of the logarithmic spiral springs. The control is determined on estimates generated by the Extended Kalman Filter. Improve of ride comfort is verified by comparing simulation results, under the same driving conditions, of controlled and passive vehicle suspension systems.

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Section: Simulation Researchsupporting

confidence: 63%

Sky-Hook Control and Kalman Filtering in Nonlinear Model of Tracked Vehicle Suspension System

Jurkiewicz

Kowal

Zając

2017

Acta Mechanica Et Automatica

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“…Internal feedback P-controller loop (alternatively to PI-controller [27] with settings as in [24,26]) with MR damper real-time force measurement is implemented in such a force follow-up algorithm [24,26,27]. P-controller proportional gain is 0.04, saturation limits are (0, 1) A, and a measurement signal scaling factor (alpha) is equal to 0.75.…”

Section: Linear Damping (C)mentioning

confidence: 99%

“…This solution is MR damper based implementation of nonlinear damping [26][27][28] in (MR) TVA system. Two approaches considered here are:…”

Section: Nonlinear Damping (C3 and Sqrt)mentioning

confidence: 99%

Study of vibration control using laboratory test rig of wind turbine tower-nacelle system with MR damper based tuned vibration absorber

Martynowicz¹

2016

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract. Wind turbine tower dynamic stress is related to the fatigue wear and reliability of the whole wind turbine structure. This paper deals with the problem of tower vibration control using a specially designed and built laboratory model. The considered wind turbine tower-nacelle model consists of a vertically arranged stiff rod (representing the tower), and a system of steel plates (representing nacelle and turbine assemblies) fixed at its top. The horizontally aligned tuned vibration absorber (TVA) with magnetorheological (MR) damper is located also at the top of the rod (in nacelle system). Force excitation sources applied horizontally to the tower itself and to the nacelle were both considered. The MR damper real-time control algorithms, including ground hook control and its modification, sliding mode control, linear and nonlinear (cubic and square root) damping, and adaptive solutions are compared to the open-loop case with various constant MR damper input current values and system without MR TVA (i.e., MR TVA in "locked" state). Comprehensive experimental analyses and their results are presented.Key words: wind turbine vibration, tower-nacelle laboratory model, tuned vibration absorber, MR damper, tower vibration control.Study of vibration control using laboratory test rig of wind turbine tower-nacelle system with MR damper based tuned vibration absorber P. MARTYNOWICZ* AGH University of Science and Technology, Department of Process Control, 30 Mickiewicza Ave., 30-059 Krakow, Poland additional moving mass, spring and viscous damper, which parameters are tuned to the selected (most often first) mode of vibration [10,14]. Passive TVAs work well at the load conditions characterized with a single frequency to which they are tuned, but cannot adapt to wide excitation spectrum [15], thus more advanced TVAs are considered to change or tune TVA operating frequency. Among them, magnetorheological (MR) TVAs are placed [15], as using MR damper (instead of viscous damper) guarantees a wide range of resistance force, fast response times, low sensitivity to temperature change and fluid contamination, high operational robustness, and minor energy requirements as compared with active systems [16][17][18]. As simulations and experiments show, implementation of MR damper in TVA system may lead to further vibration reduction in relation with passive TVA (subject of author's separate publications).Within the scope of current project, tower-nacelle simulation and laboratory models (Figs. 1 and 2) were specially developed and built, in which all turbine components (nacelle, blades, hub, shaft, generator and possibly gearbox) are represented by nacelle concentrated mass and mass moments of inertia. The laboratory test rig of wind turbine tower-nacelle system offers the possibility of modeling tower vibration under various aerodynamic, hydrodynamic, mechanical unbalance, changeable electromagnetic load, and other excitation sources (listed above), since horizontal concentrated force (designated by F s (t)) generated by dedi...

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“…The problem of wind turbine tower vibration control with an MR TVA, utilising an adaptive stiffness concept with a newly developed force tracking algorithm, is presented here. Both the adaptive stiffness and the MR damper force tracking solutions were investigated previously separately; however, only limited (numerical or hardware in the loop only, continuous -with no discontinuities or two-level force/current pattern regarded) implementation scenarios were presented, [28][29][30][31][32] or the quality of the force follow-up left the field for further improvements. [24][25][26] The MR damper real-time force tracking problem along with the adaptive stiffness and damping/friction was investigated extensively with fair results in previous studies.…”

Section: Introductionmentioning

confidence: 99%

“…Again, measured real-time tracking of force patterns is characterised with insufficiently rapid force rise or significant overshoot, both after force sign change. The current work covers real-time realisation of the improved (over the previous solutions [24][25][26]29,31,32,37 ) stock MR damper continuous pattern tracking algorithm coping well with the discontinuities (rapid value changes) of the force and the magnetic remanence, combining MR damper forward model with force sign change prediction (feed forward), force sensor feedback and dedicated logics, together with a basic adaptive stiffness implementation, resulting in a quality vibration reduction system. As a reference, passive solutions with several MR damper constant input current values, the adaptive stiffness concept with previously tested MR damper hyperbolic tangent inverse model and PI-based force tracking algorithms, [24][25][26]29,31,32,37 along with a modified ground hook control 25,26 results are presented.…”

Section: Introductionmentioning

confidence: 99%

Control of a magnetorheological tuned vibration absorber for wind turbine application utilising the refined force tracking algorithm

Martynowicz

2017

Journal of Low Frequency Noise, Vibration and Active Control

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This work covers selected control issues, including refined force tracking algorithm formulation, concerning the wind turbine tower-nacelle laboratory model equipped with a magnetorheological damper based tuned vibration absorber. The objective of the current research is a development and experimental implementation of the control algorithm that couples basic adaptive stiffness solution with stock magnetorheological damper force tracking concept to obtain a quality tower vibration reduction system. The experiments were conducted assuming monoharmonic, horizontal excitation applied to the assembly modelling the nacelle. The frequency range comprised the neighbourhood of the first bending mode of the tower-nacelle system. The results proved the effectiveness of the adopted algorithm referring to other high-performance solutions.

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MR damper based implementation of nonlinear damping for a pitch plane suspension system

Cited by 28 publications

References 26 publications

Sky-Hook Control and Kalman Filtering in Nonlinear Model of Tracked Vehicle Suspension System

Sky-Hook Control and Kalman Filtering in Nonlinear Model of Tracked Vehicle Suspension System

Study of vibration control using laboratory test rig of wind turbine tower-nacelle system with MR damper based tuned vibration absorber

Control of a magnetorheological tuned vibration absorber for wind turbine application utilising the refined force tracking algorithm

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