A novel set of auxetic (negative Poisson's ratio) open cell polyurethane foam has been developed and tested under dynamic loading conditions to assess the viscoelastic response under white noise random excitation and compressive cycling. Foam pads normalized to standard ISO 13753 have been tested at room temperature and frequency bandwidth 10-500 Hz to assess transmissibility characteristics for possible antivibration glove applications. The results show that the ISO 13753 normalized transmissibility for these foams falls below 0.6 above 100 Hz, with lower peak maximum stresses under indentation compared to conventional open cell solids. These results suggest possible use of the auxetic foam for pads or linens against "white fingers" vibration applications. Further tests have been conducted on cyclic compressive loading up to 3 Hz and loading ratios of 0.95 for loading histories up to 100000 cycles. The damping capacity of the auxetic foams showed and increase by a factor 10 compared to the conventional foams used to manufacture the negative Poisson's ratio ones, and stiffness degradation stabilized after few tens on cycles.
The inward flow piezo poppet valve (PZP) is examined by the use of CFD (Computational Fluid Dynamics) over a range of displacements and pressures consistent with the use of an actuating piezo driver, for conical head poppets in steady flow conditions. No tendency to unsteady fluid forcing of the poppet is seen in the computational output. A simple sizing technique is indicated.
The paper describes new concepts of flexible polyurethane auxetic (negative Poisson’s ratio) foams with embedded carbonyl dispersions. Compared to conventional flexible PU foams, this type of cellular solid exhibit higher compliance under impact loading and increased dielectric loss factors in the X-band between 12 and 18 GHz. Results from mechanical tensile tests and rectangular wave guide experiments are shown and discussed in view of possible applications on sandwich structures typical of Salisbury screens or microwave absorbers.
There is much current interest in the development of smart fluid clutches for use in the design of high speed machinery. In this paper, the authors employ an ER clutch mechanism in a robotic application. This clutch mechanism consists of twin ER clutches which are driven in opposite directions by two electric motors. By controlling the electric field applied to each clutch, it is possible to control the angular displacement of a robot arm. Before considering control, an established mathematical model is validated. The purpose of this model validation is to help design a control strategy for accurate positioning of the robot arm. Through the use of a Simulink program and a digital controller, both the simulated and experimental angular displacements are compared and shown to be in close agreement. Finally, the displacement response of the ER- driven and DC servo-actuatored robot arm are compared and conclusions are drawn as to the suitability of the ER clutch mechanism as a robotic actuator.
A high-speed traversing mechanism using two electro- rheological clutches is described. An application of the traversing mechanism is in winding filaments onto bobbins. The traverse speed is 5 m/s; the required turn round period is 10 to 20 milli-seconds; the traverse length is 250 mm; the turn round position must be controllable and repeatable within +/- 1 mm; and the traverse requires to be controlled to shape the resulting bobbin. These combined criteria of high speed and controllability makes the use of electro-rheological fluids an attractive proposition. The paper considers the optimization of the traversing mechanism; both geometric and fluid parameters are considered. The limiting performance of the mechanism is detailed together with the effects on the precision of the mechanism. The paper also outlines control aspects of the mechanism and uses this to indicate important areas for consideration in the future development of electro- rheological fluids.
It is now well known that smart fluids [electrorheological (ER) and magnetorheological (MR)] can form the basis of controllable vibration damping devices. With both types of fluid, however, the force/velocity characteristic of the resulting damper is significantly non-linear, possessing the general form associated with a Bingham plastic. In a previous paper the authors showed that by using a linear feedback control strategy is it possible to produce the equivalent of a viscous damper with a continuously variable damping coefficient. In the present paper the authors illustrate an extension of the technique, by showing how the shape of the force/velocity characteristic can be controlled through feedback control. This is achieved by using a polynomial function to generate a set point based upon the damper velocity. The response is investigated for polynomial functions of zero, 1st and 2nd order. It is shown how the damper can accurately track higher order polynomial shaping functions, while the zero order function is particularly useful in illustrating the dynamics of the closed-loop system.
A high speed traversing/positioning mechanism using two electro-rheological clutches is described. The traversing mechanism can be used to wind filaments onto bobbins. The traverse speed is 5 m/s, the required turn round period is 10 to 20 milli-seconds, the traverse length is 250 mm, the turn around position must be controllable and repeatable within +/- 1 mm and the traverse requires to be controlled to shape the resulting bobbin ends. These combined criteria of high speed and controllability makes the use of electro- rheological fluids a potentially viable solution. A dynamic simulation is available to predict the performance of the mechanism, however, a number of the electro-rheological fluid properties required by this simulation are temperature dependent. The methodology for predicting the thermal equilibrium temperature of the electro-rheological fluid within the high speed traversing mechanism is presented. Heat generation within the electro-rheological fluid, due to the fundamental operating mechanics of the mechanism, shearing of the electro-rheological fluid and the electrical excitation, are combined with the heat transfer from the mechanism to enable the operating temperature of the fluid to be determined. This operating temperature enables the temperature dependent fluid properties to be used in simulating the dynamic performance of the mechanism.
It is widely acknowledged that the inherent non-linearity of smart fluid dampers is inhibiting the development of effective control regimes, and mass-production devices. In an earlier publication, an innovative solution to this problem was presented -- using a simple feedback control strategy to linearize the response. The study used a quasi-steady model of a long-stroke Electrorheological damper, and showed how proportional feedback control could linearize the simulated response. However, this initial research did not consider the dynamics of the damper's behavior, and so the development of a more advanced model has been necessary. In this article, the authors present an extension to this earlier study, using a model of the damper's response that is capable of accurately predicting the dynamic response of the damper. To introduce the topic, the electrorheological long-stroke damper test rig is described, and an overview of the earlier study is given. The advanced model is then derived, and its predictions are compared to experimental data from the test rig. This model is then incorporated into the feedback control simulations, and it is shown how the control strategy is still able to linearize the response in simulations.
A high speed traversing/positioning mechanism using two electro-rheological clutches is described. The traversing mechanism can be used to wind filaments onto bobbins. The traverse speed is 5 m/s, the required turn round period is 10 milli-seconds, the traverse length is 250 mm and the turn round position must be controllable and repeatable within +/- 1 mm. These combined criteria of high speed and controllability makes the use of electro-rheological fluids an attractive proposition. Simulations produced using a dynamic model are compared with experimental results and these validate the simulation techniques. The effect on the performance of various fundamental electro-rheological fluid characteristics, namely electro-rheological shear stress, electron-hydraulic time delays and zero volts viscosity are considered together with the design of the mechanism. This illustrates the need for optimization of such mechanisms to meet the varied and difficult design requirements found in high speed controllable devices. Some practical difficulties in achieving a reliable mechanism are also discussed.
Electrically-structured (ES) fluids offer a potentially elegant means of introducing greater flexibility into a range of industrial machines and structures, and are especially suited to controllable vibration damping. The authors have developed a technique for characterizing ES fluids, leading to a mathematical model and practical device design procedure, the principles of which are verified by testing with an industrial scale, long-stroke electro- rheological damper, suited to the needs of a rail vehicle lateral suspension. In this paper, the model is applied to predict the effect on the test damper steady state performance, and performance envelope, of the principle variables of operating temperature, mechanical displacement amplitude and frequency, and control field excitation, which influence the controllability and control requirements of the damper, and to show that the test damper should achieve the desired range of control.
The present state of development of an electrically adjustable linear motion device is reported. Design methodologies are indicated which will, when integrated with the characteristics of the electrorheological fluid engagement means, predict the performances of the traverse. Some proof of the techniques used is given for dynamic, thermal and electrical aspects of operation. Approximate sizing data are outlined. Potential turn round acceleration (approximately 100 g) and precision of position (<EQ 0.5 mm) control duty are highlighted.
A general technique providing effective but approximate characterization of electro-rheological fluids as continua (as against their apparent device specific performance) is extended by relating data from cylindrical, sliding electrode induced shear flow, and fixed, plane electrode, pressure induced linear flow types of test rigs. The motion being laminar, use is made of the well known Buckingham relationships: the yield stress in the fluid is taken to vary at constant excitation whilst the well defined unexcited viscosity remains fixed. On the basis of experimental data, and within an acceptable error band (for engineering design purposes) the two modes of operation are shown to share common fluid characteristics in terms of Hedstrom and Reynolds Numbers at constant excitation, and when these are related to a Friction Coefficient, a technique of using `fluid alone' data is made available. This technique allows small sample, low shear rate fluid test results from Couette-type apparatus to be applied in user friendly fashion to the prediction of performance of parallel plate valves and cylindrical clutches operating in the engineering scale.
A high speed traversing mechanism which utilizes two electro- rheological clutches is described. The traversing mechanism can be used to wind filaments onto bobbins. The traverse speed is 5 m/s, the required turn round period is 10 milliseconds, the traverse length is 250 mm and the turn round position must be electronically controllable and repeatable within plus or minus 1 mm. These combined criteria of high speed and controllability makes the use of electro-rheological fluids an attractive proposition. The dynamic model used to predict the performance of the mechanism is outlined and theoretical performance predictions made for a variety of electro- rheological fluid characteristics. Supporting experimental data is used to illustrate the validity of the dynamic modeling. The effect of various fundamental electro- rheological fluid characteristics, such as electro-shear stress, time delays and viscosity are considered in relation to the requirements for the operation of the high speed mechanism. This study indicates important areas for consideration in the future development of electro-rheological fluids.
KEYWORDS: Control systems, Modeling, Fluid dynamics, Resistance, Californium, Temperature metrology, Chemical elements, Motion models, Electrodes, Feedback control
The development of controllable suspension dampers for ground vehicles is the subject of much current research. In this paper the authors describe aspects of a design methodology for controllable dampers which use electro-rheological (ER) fluid as the working medium. This methodology is based upon a non- dimensional characterization of ER fluid data which allows measurements obtained from small-scale tests to be used to predict the behavior of industrial-scale vibration dampers. The ER damper is represented via a Bingham plastic constitutive relationship, augmented by terms to account for fluid inertia and compressibility. An industrial-scale test facility is described and the first available set of experimental results are presented. A comparison is made between model predictions and observed behavior.
An effective design methodology for ER devices requires reliable data to characterize the behavior of the ER fluid as distinct from the test device. In this paper the authors describe a technique they have used for generating ER fluid data so that it can be used to predict the performance of different types and sizes of device operating with the test fluid. The application of the technique is then illustrated using a problem of current industrial interest: namely the dynamic modeling of a controllable vibration damper for vehicle suspension applications.
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