mimo lqg and lqg ltr control design via 2 optimization

... 433 4 .2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 4.11 4. 12 4.13 4.14 4.15 4.16 xvi 4.17 4.18 4.19 4 .20 4 .21 4 .22 4 .23 4 .24 4 .25 4 .26 4 .27 4 .28 4 .29 4.30 4.31 4. 32 4.33 4.34 4.35 4.36 ... 1 12 3 .22 3 .23 3 .24 3 .25 3 .26 xiii xiv 3 .27 3 .28 3 .29 3.30 3.31 3. 32 3.33 3.34 3.35 3.36 3.37 3.38 3.39 3.40 3.41 3. 42 3.43 3.44 3.45 3.46 3.47 3.48 3.49 3.50 3.51 3. 52 3.53 3.54 3.55 ... 6 02 Fault tree of dormant failure of a high-integrity protection system (HIPS; Andrews 1994) 620 xviii 5 .23 5 .24 5 .25 5 .26 5 .27 5 .28 5 .29 5.30 5.31 5.32...

Ngày tải lên: 02/07/2014, 10:20

... 37.8"C[N/(sec-m2)] 0.0 I55 0.03I8 0.1059 0 .24 07 p at 93.3" [N/(sec-m2)] s 0.00376 0.0057 0.00168 0.0 1975 -0.0 1 42 -0.0 I 72 -0. 022 -0. 025 Design of Fluid Film Bearings 23 5 25 to 72 C The results ... no 10 11 12 13 S 0. 025 0.0361 0. 025 1 0.036 0. 025 1 0.036 0 .2 198 0 .2 198 0 .2 198 0.031 I 0.031 0 .26 49 0 .26 49 P , x (106) SP, x (106) 3. 72 4 .25 7.44 8.50 14.88 17.00 3.54 7.09 14.17 2. 853 5.705 ... 0.0036 0.0104 0.0007 0.0 020 0.644 0.700 0.93 0.994 1 .27 4 1.414 0 .23 8 0.336 0.483 0.455 0.686 0.196 0. 322 0.63 0. 72 0.966 0.959 1 .25 3 1.365 0 .25 2 0.357 0.470 0. 42 0.679 0 .24 5 0.343 The test conditions...

Ngày tải lên: 05/08/2014, 09:20

... 37.8"C[N/(sec-m2)] 0.0 I55 0.03I8 0.1059 0 .24 07 p at 93.3" [N/(sec-m2)] s 0.00376 0.0057 0.00168 0.0 1975 -0.0 1 42 -0.0 I 72 -0. 022 -0. 025 Design of Fluid Film Bearings 23 5 25 to 72 C The results ... no 10 11 12 13 S 0. 025 0.0361 0. 025 1 0.036 0. 025 1 0.036 0 .2 198 0 .2 198 0 .2 198 0.031 I 0.031 0 .26 49 0 .26 49 P , x (106) SP, x (106) 3. 72 4 .25 7.44 8.50 14.88 17.00 3.54 7.09 14.17 2. 853 5.705 ... 0.0036 0.0104 0.0007 0.0 020 0.644 0.700 0.93 0.994 1 .27 4 1.414 0 .23 8 0.336 0.483 0.455 0.686 0.196 0. 322 0.63 0. 72 0.966 0.959 1 .25 3 1.365 0 .25 2 0.357 0.470 0. 42 0.679 0 .24 5 0.343 The test conditions...

Ngày tải lên: 05/08/2014, 09:20

... of 0.09Pa-s at 26 °C; the loads were 94,703, 189,406 ,28 4,109, and 378,8 12 N/m; the slide/roll ratios were 0,0.08,0.154,0 .22 2,0.345; rolling speeds varied the from 0.3 to 2. 76 m/s, and the sliding ... Steel Copper Chromium Tin 10W30 0. 42 0.38 0.17 0 .20 Material Properties 43 40 94 67 0.145 7800 8930 7135 728 0 888 473 386 450 22 2 1880 20 3.4 103 25 0 46 - Chapter 26 6 The experimental results cover ... 0.05 c 26 0.04 c 0.03 0.5 oq0.03 1.0 1.5 2. 0 2. 5 3.0 3.5 ~ LL+ +- 0.00 O.O1 0.5 40 w (WmXlO', (8) 1.0 2. 0 1.5 2. 5 3.0 3.5 w (Nlm x1oq @) 0.03 - -W cW +W - 0. 02 = 94703 Nlm = 198408 Nln = 28 4109...

Ngày tải lên: 05/08/2014, 09:20

... of 0.09Pa-s at 26 °C; the loads were 94,703, 189,406 ,28 4,109, and 378,8 12 N/m; the slide/roll ratios were 0,0.08,0.154,0 .22 2,0.345; rolling speeds varied the from 0.3 to 2. 76 m/s, and the sliding ... Steel Copper Chromium Tin 10W30 0. 42 0.38 0.17 0 .20 Material Properties 43 40 94 67 0.145 7800 8930 7135 728 0 888 473 386 450 22 2 1880 20 3.4 103 25 0 46 - Chapter 26 6 The experimental results cover ... 0.05 c 26 0.04 c 0.03 0.5 oq0.03 1.0 1.5 2. 0 2. 5 3.0 3.5 ~ LL+ +- 0.00 O.O1 0.5 40 w (WmXlO', (8) 1.0 2. 0 1.5 2. 5 3.0 3.5 w (Nlm x1oq @) 0.03 - -W cW +W - 0. 02 = 94703 Nlm = 198408 Nln = 28 4109...

Ngày tải lên: 05/08/2014, 09:20

... Chapter 19 20 21 22 23 7.9 stokes), substitute ml, T l and m2, T2 into Eq (7. 32) , respectively, and solve these two linear equations simultaneously to get a and (If lubricant is SAE 10, SAE 20 , SAE ... Calculate D2 by using Eq (7 .29 ) where K, c, p, U are substituted by K , c2,p2, E2 Use Eq (7.30) to calculate p2 where h, = hr2, D = 02 17 Calculate AT, by using Eq (7.31) where /? = (PI P2) /2 18 Use ... (7. 32) to calculate a and for theparticular lubricant as follows Suppose that the viscosity is rnl at T1 and m2 at T2 (where T1 and T2 are absolute temperature, say, K = 27 3.16 "C, ml and m2 are...

Ngày tải lên: 05/08/2014, 09:20

... ~ ) 27 0 29 6 22 4 25 2 27 0 27 0 22 4 29 6 58 63 40 50 58 58 40 63 I99 468 27 0 397 359 160 I80 384 27 6 24 2 26 0 22 0 21 6 746 22 0 33 106 58 90 80 27 32 82. 5 65 47 55 40 40 150 40 22 6 40 26 2 340 27 0 29 6 ... 0 .20 32 Dry A B 0 .20 0.54 0.54 Dry A B 0 .20 0.54 0 .20 440 c 521 00 vs steel 1045 Dry A B 0 .20 0.45 0 .20 1060 Dry A B 0 .20 0 .20 0 .20 4140 LL Dry A B 0 .20 0 .20 0 .20 521 00 Dry A B 0 .20 0 .20 0 .20 ... Dry A B 3 02 0.54 A Dry 0.54 Dry A B 440 c 0 .20 0 .20 B 32 0 .20 0 .20 0.54 Material G p Dry 0 .20 0 .20 0 .20 0 .20 0 .20 0.66 A 0 .20 0. 12 0.73 0 .22 B Dry Brass vs steel 1045 Oila 0 .20 0 .20 0 .24 0.80 A...

Ngày tải lên: 05/08/2014, 09:20

... ~ ) 27 0 29 6 22 4 25 2 27 0 27 0 22 4 29 6 58 63 40 50 58 58 40 63 I99 468 27 0 397 359 160 I80 384 27 6 24 2 26 0 22 0 21 6 746 22 0 33 106 58 90 80 27 32 82. 5 65 47 55 40 40 150 40 22 6 40 26 2 340 27 0 29 6 ... 0 .20 32 Dry A B 0 .20 0.54 0.54 Dry A B 0 .20 0.54 0 .20 440 c 521 00 vs steel 1045 Dry A B 0 .20 0.45 0 .20 1060 Dry A B 0 .20 0 .20 0 .20 4140 LL Dry A B 0 .20 0 .20 0 .20 521 00 Dry A B 0 .20 0 .20 0 .20 ... Dry A B 3 02 0.54 A Dry 0.54 Dry A B 440 c 0 .20 0 .20 B 32 0 .20 0 .20 0.54 Material G p Dry 0 .20 0 .20 0 .20 0 .20 0 .20 0.66 A 0 .20 0. 12 0.73 0 .22 B Dry Brass vs steel 1045 Oila 0 .20 0 .20 0 .24 0.80 A...

Ngày tải lên: 05/08/2014, 09:20

... v) 20 0 4oo 120 0 1400- 1600- 1800- 20 00- w (3 22 00 24 00 - 26 00 - 28 00 - 3000 Figure 9 .2 9.1.5 Design chart for gear lubrication Lubrication Factor for Surface Durability Most gear rating and design ... Technology,” NASA, SP-3 18, 1973 27 Almen, J O., “Lubricants and False Brinelling of Ball and Roller Bearings,” Mech Eng., 1937, Vol 59, pp 415 422 28 Temlinson, G A., Thorpe, P L., and Gough, J H., “An Investigation ... Protection and Passivity, E Arnold, London, England, 1946 22 Avery, H S., Surface Protection Against Wear and Corrosion, American Society for Metals, 1954, Chapter 23 Larsen, R G., and Perry,...

Ngày tải lên: 05/08/2014, 09:20

... (2) (2) I Uniform thickness and Uniform thickness and Uniform thickness and sharing Uniform thickness and sharing (2) = 0 .25 external loading internal loading equal load = 0.50 73,456.4 27 2 ,28 3.7 ... Uniform thickness and equal load sharing Uniform thickness and optimal load sharing )( : = 0 .25 (2) = 0.50 ):( = 0.75 448.9 1345.8 465 .2 787.9 0.75 469.8 724 .3 395 .2 543.8 338.9 29 5.9 3 02. 8 36 Case ... material Outer and inner race material Surface finish for rollers and races 4.3305 in 1.96 82 in 1.06 in 3.719 in 2. 5658 in 2. 5637 in 2. 5 620 in 0.5766 in 0.659 in 12 0.1719 in 0.3 0.0 021 in 0.0038...

Ngày tải lên: 05/08/2014, 09:20

... (2) (2) I Uniform thickness and Uniform thickness and Uniform thickness and sharing Uniform thickness and sharing (2) = 0 .25 external loading internal loading equal load = 0.50 73,456.4 27 2 ,28 3.7 ... Uniform thickness and equal load sharing Uniform thickness and optimal load sharing )( : = 0 .25 (2) = 0.50 ):( = 0.75 448.9 1345.8 465 .2 787.9 0.75 469.8 724 .3 395 .2 543.8 338.9 29 5.9 3 02. 8 36 Case ... material Outer and inner race material Surface finish for rollers and races 4.3305 in 1.96 82 in 1.06 in 3.719 in 2. 5658 in 2. 5637 in 2. 5 620 in 0.5766 in 0.659 in 12 0.1719 in 0.3 0.0 021 in 0.0038...

Ngày tải lên: 05/08/2014, 09:20

... specific heat 1. 128 Qfi dz (9.53) 396 Chapter Torqi~ed2.6'( -cos(!?pi'f"t))M I N-m I I -2W'(l-~s (2' pi~f't)) /2 lb-in 5- (v E I Frea=lSOHz 0 .25 'T g3 - 0 .2 ! E c Is I" I 0.3 4- - I c 0.15 2- I 0.1 1- ... method due to convection to the lubricant I 70.4 - I r I I I I I I Torque =22 .6*(1-cos (2' pi'Pt)) /2 N-m =20 0'( 1-cos (2' pi'f9)) /2 Ib-in f=100 HZ Figure 9.37 The heat flux at four key points under the ... fretting wear depth H , = Vickers hardness I I I I I I Torque =22 .6‘(1-cos (2* pi’ft)) /2 N-m =20 0’(1 -ws(P*pi’ft))l2 Ib-in 0 Figure 9.41 0.1 0 .2 0.3 0.4 0.5 0.6 Time (sec) Fretting wear prediction using...

Ngày tải lên: 05/08/2014, 09:20

... specific heat 1. 128 Qfi dz (9.53) 396 Chapter Torqi~ed2.6'( -cos(!?pi'f"t))M I N-m I I -2W'(l-~s (2' pi~f't)) /2 lb-in 5- (v E I Frea=lSOHz 0 .25 'T g3 - 0 .2 ! E c Is I" I 0.3 4- - I c 0.15 2- I 0.1 1- ... method due to convection to the lubricant I 70.4 - I r I I I I I I Torque =22 .6*(1-cos (2' pi'Pt)) /2 N-m =20 0'( 1-cos (2' pi'f9)) /2 Ib-in f=100 HZ Figure 9.37 The heat flux at four key points under the ... fretting wear depth H , = Vickers hardness I I I I I I Torque =22 .6‘(1-cos (2* pi’ft)) /2 N-m =20 0’(1 -ws(P*pi’ft))l2 Ib-in 0 Figure 9.41 0.1 0 .2 0.3 0.4 0.5 0.6 Time (sec) Fretting wear prediction using...

Ngày tải lên: 05/08/2014, 09:20

... Vol 2, pp 22 2 -23 5 110 Jaeger, J C., “Moving Sources of Heat and the Temperature at Sliding Contacts,” Proc Roy Soc (N.S.W.), 19 42, Vol 56, p 20 3 1 Meng, H C., and Ludema, K C., “Wear Models and ... Eng Res., 1960, Vol 5 (2) , pp 22 6 -23 2 78 Verma, B., “Oscillating Soil Tools - A Review,” Trans ASAE, 1971, pp 1107-1 115 79 Choa, S., and Chanceller, W., “Optimum Design and Operation Parameters ... f0.05 Increase to 0.45f0.05 0 .20 f0. 02 Decrease to Increase to 0.15f0. 02 0.75f0.05 Decrease to Increase to 0 .20 f0. 02 0.55f0.04 R-N2' R-Ozc - 0.6 - - 1.0 - R-( 02/ N2)d 1.6 1.3 - 0.8 3.8 - 0.5 -...

Ngày tải lên: 05/08/2014, 09:20

... Vol 2, pp 22 2 -23 5 110 Jaeger, J C., “Moving Sources of Heat and the Temperature at Sliding Contacts,” Proc Roy Soc (N.S.W.), 19 42, Vol 56, p 20 3 1 Meng, H C., and Ludema, K C., “Wear Models and ... Eng Res., 1960, Vol 5 (2) , pp 22 6 -23 2 78 Verma, B., “Oscillating Soil Tools - A Review,” Trans ASAE, 1971, pp 1107-1 115 79 Choa, S., and Chanceller, W., “Optimum Design and Operation Parameters ... f0.05 Increase to 0.45f0.05 0 .20 f0. 02 Decrease to Increase to 0.15f0. 02 0.75f0.05 Decrease to Increase to 0 .20 f0. 02 0.55f0.04 R-N2' R-Ozc - 0.6 - - 1.0 - R-( 02/ N2)d 1.6 1.3 - 0.8 3.8 - 0.5 -...

Ngày tải lên: 05/08/2014, 09:20

... 1986, Vol 52( 481), pp 24 63 -24 71 Lyon, R., “Noise Reduction and Machine Diagnostic and Educational Challenge,” Noise Vibr Control Wldwide, Sept 1985, Vol 16(8), pp 22 1 -22 4 Fielding, B., and Skorecki, ... and different gear ratios was determined Figures 1.7 and 1.8 present the effect of change of load for surface contact stresses 68.9, 689, 1378, and 1 722 .5MPa ( 10,000, 100,000, 20 0,000, and 25 0,OOOpsi) ... in ( 127 mm) center distance was calculated in both dry and lubricated regimes for different design and operating parameters The teeth are standard with a normal pressure angle equal to 25 " and...

Ngày tải lên: 05/08/2014, 09:20

... 1986, Vol 52( 481), pp 24 63 -24 71 Lyon, R., “Noise Reduction and Machine Diagnostic and Educational Challenge,” Noise Vibr Control Wldwide, Sept 1985, Vol 16(8), pp 22 1 -22 4 Fielding, B., and Skorecki, ... and different gear ratios was determined Figures 1.7 and 1.8 present the effect of change of load for surface contact stresses 68.9, 689, 1378, and 1 722 .5MPa ( 10,000, 100,000, 20 0,000, and 25 0,OOOpsi) ... in ( 127 mm) center distance was calculated in both dry and lubricated regimes for different design and operating parameters The teeth are standard with a normal pressure angle equal to 25 " and...

Ngày tải lên: 05/08/2014, 09:20

... parameter Specific heat Sources: Refs 3-5 Value 1.0 104 > 1 .2 > 110 0.03 1.8 104 3. 52 1 .22 0 .2 1.1 x 10-6 20 3.0 x 108 0.853 Units kg/mm2 GPa GPa Dimensionless mls glcm3 GPa Dimensionless K-‘ W/(cm-K) ... a silicon nitride interface layer (U = 12. 7m/sec, I = 0 .25 mm.) Figure 2. 7 For i = to n: (1 2. 3) eL A= S S ( 2. 4) % For i = to n: ( I 2. 5) T = -4 Kd ( 2. 6) ... coating rate and low substrate temperature Parameters such as coating thickness, coating composition and substrate temperature are easily controlled 12. 2.3 Comparison between the CVD and PVD Processes...

Ngày tải lên: 05/08/2014, 09:20

... parameter Specific heat Sources: Refs 3-5 Value 1.0 104 > 1 .2 > 110 0.03 1.8 104 3. 52 1 .22 0 .2 1.1 x 10-6 20 3.0 x 108 0.853 Units kg/mm2 GPa GPa Dimensionless mls glcm3 GPa Dimensionless K-‘ W/(cm-K) ... a silicon nitride interface layer (U = 12. 7m/sec, I = 0 .25 mm.) Figure 2. 7 For i = to n: (1 2. 3) eL A= S S ( 2. 4) % For i = to n: ( I 2. 5) T = -4 Kd ( 2. 6) ... coating rate and low substrate temperature Parameters such as coating thickness, coating composition and substrate temperature are easily controlled 12. 2.3 Comparison between the CVD and PVD Processes...

Ngày tải lên: 05/08/2014, 09:20