Presentation January 2012

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LIM Mechatronics Lab – POLITECNICO DI TORINO LIM Mechatronics Lab – POLITECNICO DI TORINO

Presentation

January 2012

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 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.

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LIM Mechatronics Lab – POLITECNICO DI TORINO

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Torino

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Verrès (AO)

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2 Full Professors

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2 Associate Professors

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2 Researchers

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2 Graduated Technicians

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5 Grant Holders

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14 PhD Students

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2 Administratives

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 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

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 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

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Active Magnetic Bearings (AMB)

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ElectroDynamic Bearings (EDB)

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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.

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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.

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Legged Robots

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Wheeled Robots

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Systems and Technology for

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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.

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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 tele-operated from a supervisor staying within short distance.

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Suspension and dampers developement and system

integration of a vehicle for spatial explorations.

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Design and prototype of a lander legs with

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Belt Drive Systems

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Electromagnetic Couplers

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Piezoelectric Injectors Modeling

and Control

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Pressure Regulators for Gas

Engines

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LIM Mechatronics Lab – POLITECNICO DI TORINO C_belt2 K_belt2 C_belt3 K_belt3 C_belt1 K_belt1 b_at R_a t J_rpm C_rpm K_rpm R_m K_rpa C_rpa R_a J_rpa 1 3 2 i b c e f h Y U U  X u v 1 2 1 2  v 1 v 2 u1 u2 2  U

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Develop and validate a Finite

Element for the dynamics of drive

belts.

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Disengageable with controlled slip for accessories management

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Design/Research  Novel Material  Innovative Design  Fail Safe ◦ Experimental validation

 Prototype and Test Rig realization  Operative performances

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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

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Power and control electronics prototyping

 Experimental validation

 Prototype and Test Rig realization

 Displacements and dynamic performaces

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Direct Acting solution

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Design/Research

 Trade-off

 Electromagnet dimensioning and FEM validation

◦ Modelling / Control design

 Open Motion Control developing tool

 Quasilinear modeling

 Control design and validation

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Experimental validation

 Prototype and Test Rig realization

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Passive Electromagnetic Damper for

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Modeling for Vibration Control

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Monitoring and Diagnostics

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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).

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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.

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Digital Platform

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ASIC/SiP Prototyping

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Non Conventional Actuators

Control and DC/DC Power Drivers

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Power Drives BMS Electric/Hybrid

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

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Magnetic Dampers for Rotating

Machines

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Damping Systems for Industrial

Applications

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Piezoelectric Transducers for

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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.

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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.

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Architecture Analysis and Design

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Electric and Hybrid Powertrains

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Tilting Vehicles Dynamics

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ElectroMagnetic Shock Absorbers

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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

b

c d

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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 33 CV @ 11000 rpm Torque max 22 Nm @ 9500 rpm

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Piaggio Mp3 TTW Mul ti body w ith Adam s -Motorc y c le Mul ti body w ith Si mul ink Si mM ec hani c s

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Tunable Passive solution

-1.5 -1 -0.5 0 0.5 1 1.5 -2500 -2000 -1500 -1000 -500 0 500 1000 1500 2000 2500 v [m/s] F [ N ] F,v F,v

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ElectroHydrostatic Transmission

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ElectroHydrostatic Actuators

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ElectroMechanical Actuators

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 Develop of special Actuator to be uses in

power-trains or actuator in dynamic test bench

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