The research project “Railcab” designs a shuttle-based transportation system, which combines innovative mechatronic technologies with existing railway tracks. The traction and braking forces are generated by a linear electromagnetic drive while the tracking and guidance is performed using classical wheel/rail technology. By adopting different mechatronic modules, a modular structuring of the overall system, the driving safety, vehicle dynamics and the travelling comfort can be increased. In the present paper, we concentrate on the development of the active tracking module which reduces the sensitivity of the system behaviour with respect to the friction in the wheel/rail contact. Basic ideas of the tracking module are self-optimizing active tracking, camber adjustment, and mechanical locking device. Based on a-priori identified risks, like e.g. strong cross-wind, frosted rails and crossing of switches, the safety concepts are described in detail together with the methodology that was used in the design process.
The paper presents a numerical model of the novel design of the axial magnetic bearing with six cylindrical poles. The motivation behind this idea was to eliminate vibrations in rotating machinery due to the axial load. Common conception of such a bearing provides a single component of the electromagnetic force, which is not enough to reduce transverse and lateral vibrations of the armature. The proposed design allows for avoiding wobbling of the disc with the use of a few axial force components that are able to actively compensate the axial load and stabilise the disc in a balanced position. Before a real device is manufactured, a virtual prototype should be prepared. The accurate numerical model will provide essential knowledge about the performance of the axial magnetic bearing.
In this paper, the MFC sensor and actuators are applied to suppress circular plate vibrations. It is assumed that the system to be regulated is unknown. The mathematical model of the plate was obtained on the base of registration of a system response on a fixed excitation. For the estimation of the system’s behaviour the ARX identification method was used to derive the linear model in the form of a transfer function of the order nine. The obtained model is then used to develop the linear feedback control algorithm for the cancellation of vibration by using the MFC star-shaped actuator (SIMO system). The MFC elements location is dealt with in this study with the use of a laser scanning vibrometer. The control schemes presented have the ability to compute the control effort and to apply it to the actuator within one sampling period. This control scheme is then illustrated through some numerical examples with simulations modelling the designed controller. The paper also describes the experimental results of the designed control system. Finally, the results obtained for the considered plate show that in the chosen frequency limit the designed structure of a closed-loop system with MFC elements provides a substantial vibration suppression.
Vibration intensity in mobile machines depends on the road roughness profile, ride velocity and dissipative properties of machine components. To reduce vibrations of a mobile machine with a boom equipment one of the available passive methods, utilizing a hydropnematic system for boom support to improve flexibility, the system incorporating throttling valves. Energy dissipation in a hydropneumatic system controls the decay of vibrations of the machine body and equipment. In the range of large velocities, passive methods prove inadequate. When ride velocity is to be increased, at the same time the required safety features and stabilization of the position of machine equipment are to be provided, further dynamic analyses are fully merited to identify processes taking place in the driving system. The final result should be the synthesis of the LQR control system to modulate the loading characteristics of the motor and to control the flow in a hydraulic boom-support system.