Janusz Kowal

Energy Recovering in Active Vibration Isolation System — Results of Experimental Research

Studies of systems with energy regeneration have been carried out for years, because they primarily cover the assemblies with electrodynamic actuators. This paper addresses the issue of active reduction of mechanical vibration using an electrohydraulic actuator. The testing procedure aims to assess the potential use of those assemblies in a different frequency band and force range than in electrodynamic actuators. The paper explains the operating principle of the system, and the findings of laboratory tests are presented. The tested vibration reducing system is the physical model of a 2 degree-of-freedom (DOF) suspension. An initial analysis has been conducted to explore the potential use of the energy produced by the vibration of unsprung mass in the first degree of the suspension system, for power supply to the active component incorporated in the second suspension degree. The energy recuperated from the first suspension DOF is transferred by a dedicated hydraulic system and stored in an accumulator. Results of the experiments revealed that the mechanical parameters of the system can be selected in such a way that for specific interfering signals the accumulated energy should be at least equal to the energy used up by the system.

Optimal Control of Slow-Active Vehicle Suspension - Results of Experimental Data

Laboratory investigations of an active vehicle suspension of an in-series structure of the slow-active type are presented in this paper. The multidimensional model is reduced to a case representing quarter car suspension. Control laws for active vibration reduction systems are usually determined based upon linear models of objects. Active suspensions are characterised by nonlinearity, connected most often with actuating systems and their energetic restrictions. This causes divergences between theoretical quality factors and those determined experimentally. The second essential problem is finding a compromise between opposed quality factors (for example, minimum power requirement and high efficiency of vibration reduction). Thanks to the use of the proper control law in the active vibration reduction system of vehicle suspension, the goal of ensuring a high level of ride comfort, good vehicle handling and incessant contact of the wheels with the road surface with a minimum power requirement may be attained. The authors, in seeking a compromise, determined classical LQR controllers for the proposed quality indicators realising the aims mentioned above. These controllers are determined for a linearised suspension model obtained from identification. Experimental characteristics are determined for all of the suspension control systems.

Multiple scattering and accidental coincidences in the J-PET detector simulated using GATE package

Novel Positron Emission Tomography system, based on plastic scintillators, is developed by the J-PET collaboration. In order to optimize geometrical conguration of built device, advanced computer simulations are performed. Detailed study is presented of background given by accidental coincidences and multiple scattering of gamma quanta.

Bench Tests of Slow and Full Active Suspensions in Terms of Energy Consumption

This paper is focused on the problem of active suspensions of wheeled vehicles with electro-hydraulic actuators. Two dynamic structures first with actuator connected with spring in series and second in parallel – called slow active and full active respectively – were considered. The considerations described in the paper concern physical quarter-vehicle models of suspensions. These models were constructed and installed on a rig for dynamic tests of structures. A laboratory rig enables the simulation of real conditions by disturbing investigated suspension by kinematic excitation. Research was carried out for various algorithms controlling the actuator of the active unit. For evaluation of laboratory research results, comparisons were proposed of frequency response functions and of time curves of instantaneous power taken by the active system from supply, obtained at the same excitation signals. Quantitative aggregated indicators in the form of an averaged coefficient of vibration transmissibility and power required for the active unit to achieve vibration transmissibility function were also proposed.

Application of an SMA Spring for Vibration Screen Control

Use of springs made of an alloy with shape memory (SMA) to shape the dynamic characteristics of a resonance vibration screen is proposed in this paper. These springs change spring constant as a result of temperature changes. Thus it is possible to change their resonance frequency in real time. In the paper a mathematical model of a controlled SMA spring was formulated and its parameters were identified. In the model both the effect of spring coefficient changes and damping changes depending upon alloy temperature and spring vibration frequency were taken into consideration. Experimental investigations of the examined spring and screen physical model were carried out and selected characteristics were also included. The investigations were carried out at the Dynamics and Control of Structures Laboratory of AGH University of Science and Technology. The control law was formulated. Simulation investigations of the mathematical vibration screen model in both open and closed loop systems were made. It was shown that the elaborated control system is robust of vibration mass changes by as much as ±30%.

Construction of a Parametrized Tracked Vehicle Model and its Simulation in MSC.ADAMS Program

The paper summarizes the methods of a tracked vehicles model construction in MSC.ADAMS program. Advantages and faults of these methods are described here. Finally, the authors describe one chosen method with exact elements geometry of the chosen real suspension parts. Basis on this method, a construction of the tracked vehicle model is described. Parts of this model are parameterized and can be fluently changed with usage of a dedicated user interface. Next, a part of the tracked vehicle simulation results is presented.

Semi-active suspension system for 2S1 tracked platform in application of improvement of the vehicle body stability

In the article, a new solution of a semi-active suspension system is presented. It is based on a sky-hook strategy model. This solution in 2S1 tracked platform is applied to improve body vehicle stability and driving comfort. The solution is applied in two versions of the 2S1 vehicle suspension model. First one is a basic model. This suspension is based on existing construction of the 2S1 platform suspension. It is based on torsion bars. Second one is a modified model, based on spiral torsion springs. In this model a new solution of idler mechanism is applied. It provides constant tension of the tracks. Semi-active suspensions simulations results are compared with results of models with passive versions of the suspension to highlight the improvement level. Simulations are conducted in the Yuma Proving Ground conditions. Results of all models simulations are compared and analyzed to improve stability and comfort level in conditions of the modern battlefield. Stability level is analyzed for weapon aiming tasks. Comfort level is analyzed for the vehicle crew efficiency.

Semi-active Suspension System for 2S1 Tracked Platform in Drive Comfort Improvement Application

In the article, a new solution of a semi-active suspension system is presented. It is based on a sky-hook strategy model. This solution in 2S1 tracked platform is applied to improve driving comfort as very important factor for the vehicle crew efficiency. The solution is applied in two versions of the 2S1 vehicle suspension model. First one is a basic model. This suspension is based on existing construction of the 2S1 platform suspension. It is based on torsion bars. Second one is a modified model, based on spiral torsion springs. In this model a new solution of idler mechanism is applied. It provides constant tension of the tracks. Semi-active suspensions simulations results are compared with results of models with passive versions of the suspension to highlight the improvement level. Results of all models simulations are compared and analyzed to improve comfort and stability level in conditions of the modern battlefield.

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

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 sky-hook 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.

Optimal Controller for Active Vehicle Suspension Disturbed by Sinusoidal Signals

The problem of optimal control of systems disturbed by sinusoidal signals for infinite control time is considered in the paper. The control laws described in [1] is base of a modified mean-square performance index with an infinite control time. The performance index was formulated in such a way that each sinusoidal component corresponds to a separate weight matrix. This allows energy constraints on the control signals to be differentiated based on frequency. An optimal solution to the optimization problem was found. In the paper the problem of the impact of time on the identification of sinusoidal disturbance on vibration isolation system frequency characteristic. The controller was synthesized for slow-active vehicle suspension [2,3]. The model of suspension, synthesis of the controller and implementation of the system was described. The results of simulations of the designed vehicle active suspension system are presented.