An anti-wind-up controller design based on a two-degrees-of-freedom servosystem design approach

In actual control systems, many types of restrictions or nonlinearities exist. For example, owing to nonlinearities in the actuators or sensors, the controller may not be applicable in some practical situations. Such a nonlinearity is amplitude saturation in actuators. Although it may sometimes be ignored, failure to consider actuator saturation may severely degrade the performance of a closed-loop system, and even lead to instability. On the other hand, limiting the controller gain to avoid saturation sacrifices control effort, and may lead to loss of performance. Many approaches have been tired in order to overcome these undesirable problems, and some good results have been obtained. The saturation has been replaced with a gain which is calculated as a function of the variance of the signal at its inputs. Based on this assumption, some attractive control theories have been introduced. Here, we introduce a useful anti-wind-up control system. In other words, the control system proposed has a very simple design process and can guarantee good control performance, as it is based on the assumption that the saturation is replaced with a varying gain. The validity of the proposed control system will be shown by comparing some simulation results.     

Nonlinear analysis of parametric rolling in longitudinal and quartering seas with realistic modeling of roll-restoring moment

Parametric rolling of a containership in longitudinal and quartering seas is examined by applying nonlinear dynamics to a 1DOF mathematical model with realistic modeling of the wave effect on roll-restoring moment. In our previous work, we confirmed that a mathematical model with a roll-restoring moment in waves calculated with the Froude–Krylov assumption could considerably overestimate the danger of capsizing associated with parametric rolling. Therefore, in the present work, all numerical calculations based on nonlinear analysis were carried out with the direct aid of a measured roll-restoring moment in waves. For this purpose, captive model experiments were conducted for various sets of wavelengths in longitudinal seas. This experiment demonstrates that the Froude–Krylov prediction could not explain the wavelength effect on restoring moment as the wave-steepness effect. Using the numerical model with the aid of this measured roll-restoring moment, the Poincaré mapping technique was applied to identify bifurcation structures of roll motions not only in longitudinal seas, but also in quartering seas. As a result, it was confirmed that capsizing associated with parametric rolling is more likely to occur in following seas than in quartering seas. However, period-doubling and chaos appeared in quartering seas. Finally, an averaging method assuming a period-2 orbit was applied to the same model with the same conditions as the Poincaré map. Reasonably good agreement was obtained between the numerical results with a Poincaré map and those with the averaging method in longitudinal seas, but the averaging method has limited capability in quartering seas.     

Investigation of cavitation inception characteristics of hydrofoil sections via a viscous approach

Unlike traditional approaches based on potential theory, this work investigated the cavitation inception characteristics of hydrofoil sections by solving Reynolds-averaged Navier–Stokes (RANS) equations. The viscous effects at high Reynolds numbers were taken into account through calculation of the eddy viscosity using a k- model. This viscous approach delivers the lift and drag forces in a more self-contained way, which cannot be obtained directly from the potential theory. A comparison with smooth surface measurements validates the proposed numerical method. Two approaches to include the roughness effects are also described. The predictions of cavitation bucket characteristics based on potential theory are more conservative than those reached by the proposed viscous computations. Hydrofoil sections with different camber ratios, foil thicknesses, and Reynolds numbers were studied numerically. A decrease in the Reynolds number tends to increase the cavitation-free region without changing the shape of the steep region. An increase in foil thickness gives a range increase in the angle of attack where no cavitation is expected. An increase in the camber ratio moves the cavitation-free location of the angle of attack, and slightly increases its range.     

Automatic two-dimensional layout using a rule-based heuristic algorithm

 Efficient layout strategies are introduced for automatic nesting using a rule-based heuristic approach to improve the layout efficiency. Since a large portion of the complexity of the parts layout problem results from the overlapping computation, geometric redesign techniques are also suggested to reduce the complexity of the problem for a fast and reliable means of performing overlapping computation. A new heuristic sliding technique is developed to find a near-optimum layout location from all the feasible arrangements in such a manner that two or more arbitrary parts do not overlap or intersect. An identification method with a pivoting point is suggested to calculate the boundary of the overlap region in a fast computation time-frame. Resource plate clipping using virtual memory, based on a polygon clipping algorithm, is also proposed as a technique to reduce the geometric conditions of the resource plate and the overlap computation time by updating a new stock boundary of the resource plate for the layout space of the next part after each part is placed. The aim of this article is to develop a rule-based heuristic nesting system to achieve a new automatic layout on the AutoCAD system. For this implementation, some nesting examples are demonstrated. A rule-based heuristic approach can be desirable in terms of the layout efficiency and considering the computational time for nesting problems, and is proposed as a real-time layout simulation method in the industrial field. Received: October 7, 2002 / Accepted: March 27, 2003 RID="*"     

Experimental investigations on continuous regenerative anti-lock braking system of full electric vehicle

Functions of anti-lock braking for full electric vehicles (EV) with individually controlled wheel drive can be realized through conventional brake system actuating friction brakes and regenerative brake system actuating electric motors. To analyze advantages and limitations of both variants of anti-lock braking systems (ABS), the presented study introduces results of experimental investigations obtained from proving ground tests of all-wheel drive EV. The brake performance is assessed for three different configurations: hydraulic ABS; regenerative ABS only on the front axle; blended hydraulic and regenerative ABS on the front axle and hydraulic ABS on the rear axle. The hydraulic ABS is based on a rule-based controller, and the continuous regenerative ABS uses the gain-scheduled proportional-integral direct slip control with feedforward and feedback control parts. The results of tests on low-friction road surface demonstrated that all the ABS configurations guarantee considerable reduction of the brake distance compared to the vehicle without ABS. In addition, braking manoeuvres with the regenerative ABS are characterized by accurate tracking of the reference wheel slip that results in less oscillatory time profile of the vehicle deceleration and, as consequence, in better driving comfort. The results of the presented experimental investigations can be used in the process of selection of ABS architecture for upcoming generations of full electric vehicles with individual wheel drive.     

Effects of bulbous bow on cross-flow vortex structures around a streamlined submersible body at intermediate pitch maneuver: A numerical investigation

A flow field around a streamlined body at an intermediate angle of incidence is dominated by cross-flow separation and vortical flow fields. The separated flow leads to a pair of vortices on the leeside of the body; therefore, it is essential to accurately determine this pair and estimate its size and location. This study utilizes the element-based finite volume method based on RANS equations to compute a 3D axisymmetric flow around a SUBOFF bare submarined hull. Cross-flow vortex structures are then numerically simulated and compared for a submarine with SUBOFF and DRDC STR bows. Computed results of pressure and shear stress distribution on the hull surface and the strength and locations of the vortex structures are presented at an intermediate incidence angle of 20°. A wind tunnel experiment is also conducted to experimentally visualize the vortex structures and measure their core locations. These experimental results are compared with the numerical data, and a good agreement is found.     

Experiments on the resistance of a large transport vessel navigating in the Arctic region in pack ice conditions

In this study, we carried out model tests to investigate the ice failure process and the resistance experienced by a transport vessel navigating in the Arctic region in pack ice conditions. We tested different navigation velocities, ice plate sizes, and ice concentrations. During the tests, we closely observed several phenomena, including the modes of interaction of the ice ship and the moving and failure modes of ice. We also measured the vessel resistances under different conditions. The test results indicate that the navigation velocity is a significant determinant of the moving and failure modes of ice. Moreover, vessel resistance is remarkably dependent on the ice concentration and navigation velocity. The variances of the mean and maximum resistance are also compared and discussed in detail.     

Transit service quality analysis using cluster analysis and decision trees: a step forward to personalized marketing in public transportation

A transit service quality study based on cluster analysis was performed to extract detailed customer profiles sharing similar appraisals concerning the service. This approach made it possible to detect specific requirements and needs regarding the quality of service and to personalize the marketing strategy. Data from various customer satisfaction surveys conducted by the Transport Consortium of Granada (Spain) were analyzed to distinguish these groups; a decision tree methodology was used to identify the most important service quality attributes influencing passengers’ overall evaluations. Cluster analysis identified four groups of passengers. Comparisons using decision trees among the overall sample of all users and the different groups of passengers identified by cluster analysis led to the discovery of differences in the key attributes encompassed by perceived quality.     

Changes in level of household car ownership: the role of life events and spatial context

Recent longitudinal studies of household car ownership have examined factors associated with increases and decreases in car ownership level. The contribution of this panel data analysis is to identify the predictors of different types of car ownership level change (zero to one car, one to two cars and vice versa) and demonstrate that these are quite different in nature. The study develops a large scale data set (n = 19,334), drawing on the first two waves (2009–2011) of the UK Household Longitudinal Study (UKHLS). This has enabled the generation of a comprehensive set of life event and spatial context variables. Changes to composition of households (people arriving and leaving) and to driving licence availability are the strongest predictors of car ownership level changes, followed by employment status and income changes. Households were found to be more likely to relinquish cars in association with an income reduction than they were to acquire cars in association with an income gain. This may be attributed to the economic recession of the time. The effect of having children differs according to car ownership state with it increasing the probability of acquiring a car for non-car owners and increasing the probability of relinquishing a car for two car owners. Sensitivity to spatial context is demonstrated by poorer access to public transport predicting higher probability of a non-car owning household acquiring a car and lower probability of a one-car owning household relinquishing a car. While previous panel studies have had to rely on comparatively small samples, the large scale nature of the UKHLS has provided robust and comprehensive evidence of the factors that determine different car ownership level changes.