Presentation
January 2012
LIMLab
Mechatronics
Lab
POLITECNICO DI TORINO
LIM Mechatronics
– POLITECNICO
DI –TORINO
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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.
LIM Mechatronics Lab – POLITECNICO DI TORINO
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Verrès (AO)
Torino
◦ “Pietro Maggiolini” Lab
LIM Mechatronics Lab – POLITECNICO DI TORINO
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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
LIM Mechatronics Lab – POLITECNICO DI TORINO
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Magnetic Suspension
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Mobile Robotics
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Legged Robots
Wheeled Robots
Systems and Technology for Spatial Exploration (STEPS)
Mechatronic Systems for Internal Combustion Engines
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Active Magnetic Bearings (AMB)
ElectroDynamic Bearings (EDB)
Belt Drive Systems
Electromagnetic Couplers
Piezoelectric Injectors Modeling and Control
Pressure Regulators for Gas Engines
Torsional Damper for Crankshafts
Rotordynamics
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Modeling for Vibration Control
Monitoring and Diagnostics
LIM Mechatronics Lab – POLITECNICO DI TORINO
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Control Units for Mechatronic Applications
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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
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Lightweight Vehicles
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Architecture Analysis and Design
Electric and Hybrid Powertrains
Tilting Vehicles Dynamics
Electromagnetic Shock Absorbers
Power Actuation
◦ ElectroHydrostatic Transmission
◦ ElectroHydrostatic Actuators
◦ ElectroMechanical Actuators
LIM Mechatronics Lab – POLITECNICO DI TORINO
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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)
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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
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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
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•
LIM Mechatronics Lab – POLITECNICO DI TORINO
Develop and validate a Finite
Element for the dynamics of drive
belts.
Y
U
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2
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2
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U
v2
1
v1
v
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

2 U
1
X
u1
u
u2
i
Kbelt11
h
Crpa
e
Jrpa
Kbelt3
Ra
f
LIM Mechatronics Lab – POLITECNICO DI TORINO
Krpm
Cbelt1
Krpa
3 Cbelt3
Rm
bat c
Ra
t
Jrpm
Kbelt2
Cbelt22 b
Crpm
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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
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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
◦ Power and control electronics prototyping
 Experimental validation
 Prototype and Test Rig realization
 Displacements and dynamic performaces
LIM Mechatronics Lab – POLITECNICO DI TORINO
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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
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Passive Electromagnetic Damper for
Automotive Truck Engine
LIM Mechatronics Lab – POLITECNICO DI TORINO
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Modeling for Vibration Control
• Monitoring and Diagnostics
LIM Mechatronics Lab – POLITECNICO DI TORINO
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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).
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
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ECU/ACU Systems
LIM Mechatronics Lab – POLITECNICO DI TORINO
ASIC-like
Design Concept
Design Specification
VHDL development
Functional Verification
Synthesis
FPGA
Timing
verification
Place &
Route
Floor
Planning
Back
annotation
Post Route
Verification
Timing
verification
Download
Layout
LIM Mechatronics Lab – POLITECNICO DI TORINO
ASIC
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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
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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.
LIM Mechatronics Lab – POLITECNICO DI TORINO
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Architecture Analysis and Design
• Electric and Hybrid Powertrains
• Tilting Vehicles Dynamics
ElectroMagnetic Shock Absorbers
LIM Mechatronics Lab – POLITECNICO DI TORINO
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Innovative Urban Electric Vehicle
◦ Specs
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Urban mission
Three passanger
Full electric traction
Interior space and seats set-up
◦ Car body design
a
b
d
c
 Ergonomics and passangers layout
 Accessibility
LIM Mechatronics Lab – POLITECNICO DI TORINO
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Geared Wheel Hub Motor
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Direct Drive Hub motor
LIM Mechatronics Lab – POLITECNICO DI TORINO
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
1h
Kawasaki Ninja 250R 2009
LIM Mechatronics Lab – POLITECNICO DI TORINO
Typology
Parallel twin DOHC
Power max
33 CV @ 11000 rpm
Torque max
22 Nm @ 9500 rpm
Multibody with
Simulink
SimMechanics
Multibody with
Adams-Motorcycle
Piaggio Mp3
TTW
LIM Mechatronics Lab – POLITECNICO DI TORINO
F,v
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Tunable Passive solution
2500
2000
1500
1000
F [N]
500
0
-500
-1000
-1500
-2000
-2500
-1.5
-1
-0.5
0
v [m/s]
0.5
1
1.5
F,v
LIM Mechatronics Lab – POLITECNICO DI TORINO
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ElectroHydrostatic Transmission
• ElectroHydrostatic Actuators
• ElectroMechanical Actuators
LIM Mechatronics Lab – POLITECNICO DI TORINO
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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