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Presentation January 2012

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

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.

LIM Mechatronics Lab POLITECNICO DI TORINO

Verrs (AO)

Torino

Pietro Maggiolini Lab

LIM Mechatronics Lab POLITECNICO DI TORINO

2 Full Professors 2 Associate Professors 2 Researchers 2 Graduated Technicians

5 Grant Holders
14 PhD Students 2 Administratives

LIM Mechatronics Lab POLITECNICO DI TORINO

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

Mobile Robotics

Mechatronic Systems for Internal Combustion Engines


Rotordynamics

LIM Mechatronics Lab POLITECNICO DI TORINO

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

Lightweight Vehicles

Power Actuation

ElectroHydrostatic Transmission ElectroHydrostatic Actuators ElectroMechanical Actuators

LIM Mechatronics Lab POLITECNICO DI TORINO

Active Magnetic Bearings (AMB) ElectroDynamic Bearings (EDB)

LIM Mechatronics Lab POLITECNICO DI TORINO

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.

LIM Mechatronics Lab POLITECNICO DI TORINO

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.

LIM Mechatronics Lab POLITECNICO DI TORINO

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

LIM Mechatronics Lab POLITECNICO DI TORINO

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.

LIM Mechatronics Lab POLITECNICO DI TORINO

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.

LIM Mechatronics Lab POLITECNICO DI TORINO

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

LIM Mechatronics Lab POLITECNICO DI TORINO

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

LIM Mechatronics Lab POLITECNICO DI TORINO

Develop and validate a Finite Element for the dynamics of drive belts.
Y

U
2 1 U

v2 v v1

2 U X u1 u u2

i Kbelt11 h Krpa Crpa Jrpa Ra f Cbelt1 e bat c Ra


t

Rm Krpm Jrpm Kbelt2 Cbelt22 b Crpm

Kbelt3
3 Cbelt3

LIM Mechatronics Lab POLITECNICO DI TORINO

Disengageable with controlled slip for accessories management Design/Research


Novel Material Innovative Design Fail Safe

Experimental validation
Prototype and Test Rig realization Operative performances

LIM Mechatronics Lab POLITECNICO DI TORINO

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

LIM Mechatronics Lab POLITECNICO DI TORINO

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

LIM Mechatronics Lab POLITECNICO DI TORINO

Passive Electromagnetic Damper for Automotive Truck Engine

LIM Mechatronics Lab POLITECNICO DI TORINO

Modeling for Vibration Control Monitoring and Diagnostics

LIM Mechatronics Lab POLITECNICO DI TORINO

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).

LIM Mechatronics Lab POLITECNICO DI TORINO

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.

LIM Mechatronics Lab POLITECNICO DI TORINO

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

LIM Mechatronics Lab POLITECNICO DI TORINO

LIM Mechatronics Lab POLITECNICO DI TORINO

ECU/ACU Systems

LIM Mechatronics Lab POLITECNICO DI TORINO

ASIC-like

Design Concept Design Specification VHDL development Functional Verification Synthesis

ASIC

FPGA

Timing verification Floor Planning Post Route Verification Download

Place & Route Back annotation Timing verification Layout

LIM Mechatronics Lab POLITECNICO DI TORINO

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

LIM Mechatronics Lab POLITECNICO DI TORINO

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.

LIM Mechatronics Lab POLITECNICO DI TORINO

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.

LIM Mechatronics Lab POLITECNICO DI TORINO

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

LIM Mechatronics Lab POLITECNICO DI TORINO

Innovative Urban Electric Vehicle


Specs
Urban mission Three passanger Full electric traction Interior space and seats set-up
a b

Car body design


Ergonomics and passangers layout Accessibility

LIM Mechatronics Lab POLITECNICO DI TORINO

Geared Wheel Hub Motor

Direct Drive Hub motor

LIM Mechatronics Lab POLITECNICO DI TORINO

Electric MotorPerm PMG 150S Typology Nominal power Peak Torque Axial Brushless 13.5 kW 80 Nm

BatteriesLiPo Kokam Configuration Voltage/Current Recharge time 27 celle serie 96V / 400A 1h

Kawasaki Ninja 250R 2009 Typology Power max Torque max Parallel twin DOHC 33 CV @ 11000 rpm 22 Nm @ 9500 rpm

LIM Mechatronics Lab POLITECNICO DI TORINO

Multibody with Simulink SimMechanics Multibody with Adams-Motorcycle

TTW

Piaggio Mp3

LIM Mechatronics Lab POLITECNICO DI TORINO

F,v

Tunable Passive solution

2500 2000 1500 1000 500

F [N]

0 -500 -1000 -1500 -2000 -2500 -1.5

-1

-0.5

0 v [m/s]

0.5

1.5

F,v

LIM Mechatronics Lab POLITECNICO DI TORINO

ElectroHydrostatic Transmission ElectroHydrostatic Actuators ElectroMechanical Actuators

LIM Mechatronics Lab POLITECNICO DI TORINO

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

LIM Mechatronics Lab POLITECNICO DI TORINO

LIM Mechatronics Lab POLITECNICO DI TORINO

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