Page 38 - ASME DSCC 2015 Program

Technical Program

ConTRIBuTED SESSIon ConTRIBuTED SESSIon
1-11-1 WP5 Robot Manipulators 1-29-1 WP6 Automotive 1: Engine Control
Emerson Burkhart A 4:00pm–6:00pm Emerson Burkhart B 4:00pm–6:00pm

Session Chair: Ashish Deshpande, The University of Texas at Austin Session Chair: Guoming Zhu, Michigan State University
Session Co-Chair: Andy Zelenak, The University of Texas at Austin Session Co-Chair: Mario Santillo, Ford Motor Company

dynamic Balancing of parallel Manipulators Through reconfiguration Adaptation for Air-Intake System Throttle Control in a Gasoline Engine
Contributed regular paper. DSCC2015-9669 With low-Pressure Exhaust-Gas Recirculation
Dan Zhang, Bin Wei, University of Ontario Institute of Technology, Oshawa, Contributed regular paper. DSCC2015-9657
ON, Canada Mario Santillo, Suzanne Wait, Julia Buckland, Ford Motor Company,
Dearborn, MI, United States
Dynamic Balancing of Parallel Manipulators Through Reconfiguration
We investigate control strategies for traditional throttle-in-bore as well as
The Advantages of Velocity Control for Reactive Robot Motion
low-cost cartridge-style throttle bodies for the air-intake system (AIS) throttle
Contributed regular paper. DSCC2015-9713
used in low-pressure exhaust-gas recirculation (LPEGR) on a turbocharged
Andy Zelenak, Clinton Peterson, Jack Thompson, Mitch Pryor, The gasoline engine. Pressure sensors placed upstream and downstream of
University of Texas at Austin, TX, United States
the AIS throttle are available as signals from the vehicle’s engine control
The Advantages of Velocity Control For Reactive Robot Motion unit, however, we do not use high-bandwidth feedback control of the AIS
throttle in order to maintain frequency separation from the higher-rate EGR
A new Continuum Robot With Crossed Elastic Strips: Extensible
loop, which uses the downstream pressure sensor for feedback control. A
Sections With only one Actuator Per Section
design-of-experiments conducted using a feed-forward lookup table-based
Contributed regular paper. DSCC2015-9919
AIS throttle control strategy exposes controller sensitivity to part-to-part
Andria Remirez, Vanderbilt University Department of Mechanical variations. For accurate tracking in the presence of these variations, we ex-
Engineering, Nashville, TN, United States, Robert J Webster III, Vanderbilt
University, Nashville, TN, United States plore the use of adaptive feedback control. In particular, we use an algebraic
model representing the throttle plate effective opening area to develop a
We propose a new kind of continuum robot based on crossed elastic strips. recursive least-squares (RLS)-based estimation routine. A low-pass filtered
The actuator-specified location of the crossover point controls the lengths version of the estimated model parameters is subsequently used in the
of the sections, enabling a wider range of configurations than would be pos- forward-path AIS throttle controller. Results are presented comparing the
sible with traditional fixed-section-length robots. Push-pull actuation of the RLS-based feedback algorithm with the feed-forward lookup table-based
crossed strips controls the curvature of the sections. We provide a model control strategy. RLS is able to adapt for part-to-part and change-over-time
that describes the resulting configurations in terms of tangent circular arcs of variabilities and exhibits an improved steady-state tracking response com-
varying lengths. Experiments with a prototype yield tip positions that agree pared to the feed-forward control strategy.
with model predictions with an average error of 4.6% of the robot’s length.
Control of a Base load and load-following Regulating organic
Impulse Redirection of a Tethered Projectile Rankine Cycle for Waste Heat Recovery in Heavy-Duty Diesel
Contributed regular paper. DSCC2015-9708 Powertrain
Hossein faraji, Ross Hatton, Stephanie Veile, Samantha Hemleben, Contributed regular paper. DSCC2015-9707
Pavel Zaytsev, Joel Wright, Hans luchsinger, Oregon State University, David luong, Tsu-Chin Tsao, University of California, Los Angeles, Los
Corvallis, OR, United States Angeles, CA, United States
The momentum of a projectile in free flight can be redirected by using a This paper examines a base loading organic Rankine Cycle (ORC) in a
tether to create a ‘virtual wall’ against which it bounces. The direction of this heavy-duty diesel powertrain. The ORC’s heat exchangers are modeled
bounce can be controlled actively through braking modulation, or passively as control-oriented, nonlinear Moving Boundary models. The pump and
through placement of the tether anchor and the orientation of the projectile expander, which are coupled to the engine crankshaft, have relatively faster
at impact. In this paper, we explore the space of motions achievable through dynamics the heat exchangers and are modeled as static components.
the latter two methods. In particular, we consider the ways in which holding The driving cycle produces transient heat source and engine conditions
the tether away from center of mass at different angles can contribute to for the ORC to maximize waste heat recovery under specified operating
changes in speed and direction of motion after the bounce. constraints. Constant low and high demand loads are given to the ORC’s
expander to follow while regulating to pressure setpoints. The ORC is to
maintain pressure setpoints through a pair of PI controllers and a third PI
controller to follow the power demand. The results demonstrate pressure
and base load power regulation to setpoints when the base load is feasible
for constant and varying loads. When the base load power demand is infea-
sibly too high, both pressure and power regulations contain steady-state
error. In the considered scenarios, initial pressure transients violate
38 constraints and suggest the need for advanced controllers. The ORC
improves the engine power efficiency by 0.5-2.5%.