Presentation January 2012

Transcription

1 LIM Mechatronics LIM Lab Mechatronics POLITECNICO Lab DI TORINO POLITECNICO DI TORINO Presentation January 2012

2 An interdepartmental structure founded in 1993 as joint-venture by a number of people of the Departments of Control and Computer Sciences, Electrical Engineering, Electronics and Mechanics. Projects are mainly committed by companies and lead to the design, construction and testing of industrial prototypes. Established a full education offer in Mechatronics Engineering with of a Doctoral degree, a Bachelor degree and a Master degree. The scientific relevance of activities is documented on several international conference proceedings, journals and patents. An interdisciplinary environment to perform theoretical and experimental research with a staff of 40 people including professors, researchers, PhD students and grant holders.

3 Verrès (AO) Torino Pietro Maggiolini Lab

4 2 Full Professors 2 Associate Professors 2 Researchers 2 Graduated Technicians 5 Grant Holders 14 PhD Students 2 Administratives

5 Magnetic Suspension Active Magnetic Bearings (AMB) ElectroDynamic Bearings (EDB) Mobile Robotics Legged Robots Wheeled Robots Systems and Technology for Spatial Exploration (STEPS) Mechatronic Systems for Internal Combustion Engines Belt Drive Systems Electromagnetic Couplers Piezoelectric Injectors Modeling and Control Pressure Regulators for Gas Engines Torsional Damper for Crankshafts Rotordynamics Modeling for Vibration Control Monitoring and Diagnostics

6 Control Units for Mechatronic Applications Digital Platform ASIC/SiP Prototyping Non Conventional Actuators Control and DC/DC Power Drivers Power Drives BMS Electric/Hybrid Car Cabling Architecture Vibration Control Magnetic Dampers for Rotating Machines Damping Systems for Industrial Applications Piezoelectric Transducers for Flexible Structures Lightweight Vehicles Architecture Analysis and Design Electric and Hybrid Powertrains Tilting Vehicles Dynamics Electromagnetic Shock Absorbers Power Actuation ElectroHydrostatic Transmission ElectroHydrostatic Actuators ElectroMechanical Actuators

7 Active Magnetic Bearings (AMB) ElectroDynamic Bearings (EDB)

8 Active Magnetic Bearings (AMB) are usually meant as Active Magnetic Suspension applied to support rotor spindles. Typical applications are turbo-molecular pumps, flywheels, pumps and oil compressors. Several applications of AMB have been developed driven by an integrated design, typical of Mechatronics. Knowledge on rotor modeling and desing, actuator development and power, sensors and control electronics design/integration are the key point of AMB based applications.

9 An ElectroDynamic Bearings exploit the eddy current effects that take place in a conductor rotating in a constant magnetic field to achieve levitation without additional devices, as sensors, power electronics, etc. Typical applications can start form small passive suspended rotor up flywheels. A novel approach to modeling ElectroDynamic Bearings have been developed and the entire design methodology has been tested in several test rigs proving the its effectiveness.

10 Legged Robots Wheeled Robots Systems and Technology for Spatial Exploration (STEPS)

11 A line of hexapod walking machines based on the twin rigid frames configuration was developed, showing that this approach allows to obtain good performance with a limited complication. Tests showed in particular the good reliability of this design.

12 A 10-wheels rover has been designed and built; it is an all-terrain rover with the capability to climb short stair ramps. Endowed with an articulated arm to grasp and carry heavy loads, it carries cameras and can be wireless teleoperated from a supervisor staying within short distance.

13 Suspension and dampers developement and system integration of a vehicle for spatial explorations. Design and prototype of a lander legs with electromagnetic dampers.

14 Belt Drive Systems Electromagnetic Couplers Piezoelectric Injectors Modeling and Control Pressure Regulators for Gas Engines Torsional Damper for Crankshafts

15 Develop and validate a Finite Element for the dynamics of drive belts. Y U U v v2 v1 1 2 U u1 u X u2 K belt1 1 i R m h C belt1 K rpm K rpa C rpa J rpa R a f K belt3 3 e C belt3 b at c R a t J rpm K belt2 C belt2 2 b C rpm

16 Disengageable with controlled slip for accessories management Design/Research Novel Material Innovative Design Fail Safe Experimental validation Prototype and Test Rig realization Operative performances

17 MultiStack Piezo Injectos for diesel engines Design/Research Custom FE modelling of piezo-stack (including hysteresis) Bidirectional buck converter for driving ACU based real-time digital control and interfacing Power and control electronics prototyping Experimental validation Prototype and Test Rig realization Displacements and dynamic performaces

18 Direct Acting solution Design/Research Trade-off Electromagnet dimensioning and FEM validation Modelling / Control design Open Motion Control developing tool Quasilinear modeling Control design and validation Experimental validation Prototype and Test Rig realization Characterization and tuning

19 Passive Electromagnetic Damper for Automotive Truck Engine

20 Modeling for Vibration Control Monitoring and Diagnostics

21 Dynrot A specific Finite Elements code has been developed (together with Prof.G.Genta) for rotating machines. Its main features are mono and bidimensional rotor machinery modeling including fourier series elements for disks and blades array. Being usable as Matlab Toolbox it offers the opportunities to integrate rotordynamcs models with other model in order to develop the complete system model of the whole rotating machine (i.e: rotors with AMB and controls laws).

22 Integrating the experience of modeling and design of rotating systems with the knowledge of electronic control units, some applications of monitoring and diagnostics on test rigs and real machine (i.e. AMB rotors and hydroelectric power plant) have been developed. Using dedicate electronics or COTS applications based monitoring such as rotor dynamics signatures have been implemented. The integration with detailed system modeling add to the monitoring systems the opportunities to exploiting diagnostics features.

23 Digital Platform ASIC/SiP Prototyping Non Conventional Actuators Control and DC/DC Power Drivers Power Drives BMS Electric/Hybrid Car Cabling Architecture

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25 ECU/ACU Systems

26 ASIC-like Design Concept Design Specification ASIC VHDL development Functional Verification Synthesis FPGA Timing verification Floor Planning Place & Route Back annotation Post Route Verification Timing verification Download Layout

27 Magnetic Dampers for Rotating Machines Damping Systems for Industrial Applications Piezoelectric Transducers for Flexible Structures

28 AMBs knowledge has been exploited from suspension to damping. The base idea is to use mechanical stiffness in the support beside a magnetic actuator that provide the required amount of damping. Several damping devices have been developed: Active Magnetic Dampers Semi Active Magnetic Dampers Passive Eddy current Dampers All of these has been validated on test rigs and these technologies has been evaluated to be applied on aero-engine gas turbines.

29 Precision Micro-Machining An active vibration isolation system has been developed to control the motion of a one ton stage. The complete control chain has been modeled, designed and build starting from the velocity sensors, trough the conditioning, control and power electronics, to the actuators.

30 Architecture Analysis and Design Electric and Hybrid Powertrains Tilting Vehicles Dynamics ElectroMagnetic Shock Absorbers

31 a d b c Innovative Urban Electric Vehicle Specs Urban mission Three passanger Full electric traction Interior space and seats set-up Car body design Ergonomics and passangers layout Accessibility

32 Geared Wheel Hub Motor Direct Drive Hub motor

33 Electric MotorPerm PMG 150S Typology Axial Brushless Nominal power 13.5 kw Peak Torque 80 Nm BatteriesLiPo Kokam Configuration 27 celle serie Voltage/Current 96V / 400A Recharge time 1 h Kawasaki Ninja 250R 2009 Typology Parallel twin DOHC Power max rpm Torque max rpm

34 Multibody with Simulink SimMechanics Multibody with Adams-Motorcycle Piaggio Mp3 TTW

35 F [N] Tunable Passive solution F,v v [m/s] F,v

36 ElectroHydrostatic Transmission ElectroHydrostatic Actuators ElectroMechanical Actuators

37 Develop of special Actuator to be uses in power-trains or actuator in dynamic test bench

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