Author | Title | Year | Journal/Proceedings | Reftype | DOI/URL |
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McNally, J.T. | Hydrogen-Diesel Dual Fuel Combustion Characterization for an Internal Combustion Engine [BibTeX] |
2024 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{McNally2024, author = {Jakub Tyler McNally}, title = {Hydrogen-Diesel Dual Fuel Combustion Characterization for an Internal Combustion Engine}, school = {University of Alberta}, year = {2024}, url = {/ ckoch/thesis/McNally_MSc_Thesis.pdf} } |
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Gordon, D. | Realtime Machine Learning based In-Cycle Control of HomogeneousCharge Compression Ignition [BibTeX] |
2023 | School: University of Alberta | phdthesis | URL |
BibTeX:
@phdthesis{GordonPhD2023, author = {D Gordon}, title = {Realtime Machine Learning based In-Cycle Control of HomogeneousCharge Compression Ignition}, school = {University of Alberta}, year = {2023}, url = {/ ckoch/thesis/PhD_Thesis_dgordon.pdf} } |
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Hajiparvaneh, E. | Sensitivity of Ambient NO2 Concentration to Upstream Oil and Gas and Transportation Emissions in Alberta [BibTeX] |
2023 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Hajiparvaneh2023, author = {Erfan Hajiparvaneh}, title = {Sensitivity of Ambient NO2 Concentration to Upstream Oil and Gas and Transportation Emissions in Alberta}, school = {University of Alberta}, year = {2023}, url = {/ ckoch/thesis/Erfan_thesis_final.pdf} } |
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Norouzi, A. | Machine Learning and Deep Learning for Modeling and Control of Internal Combustion Engines [BibTeX] |
2022 | School: University of Alberta | phdthesis | URL |
BibTeX:
@phdthesis{NorouziPhD2022, author = {A Norouzi}, title = {Machine Learning and Deep Learning for Modeling and Control of Internal Combustion Engines}, school = {University of Alberta}, year = {2022}, url = {/ ckoch/thesis/Armin_thesis.pdf} } |
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Lotfi, A. | Study of light-duty gasoline vehicle cold climate NOx and particulate number emissions in real-world driving conditions [BibTeX] |
2021 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Lotfi_Msc_21, author = {Ali Lotfi}, title = {Study of light-duty gasoline vehicle cold climate NOx and particulate number emissions in real-world driving conditions}, school = {University of Alberta}, year = {2021}, url = {/ ckoch/thesis/Lotfi_Ali_202101_MSc.pdf} } |
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Aliramezani, M. | Production engine emission sensor modeling for in-use measurement and on-board diagnostics | 2019 | School: University of Alberta | phdthesis | URL |
Abstract: Production engine emission sensors have become essential for on-board measurement in the exhaust gas and for engine feedback control. To help design future amperometric sensors, first the diffusion mechanism of a zirconia-based amperometric NOx sensor was examined by studying the effect of sensor temperature on sensor output. The multi component molecular diffusion mechanism was experimentally found to be the dominant diffusion mechanism that affects the diffusive flow through the sensor diffusion barriers. A sensor model was developed based on this dominant diffusion mechanism to predict NOx concentration which was validated with the experiments at different Diesel engine operating conditions with different species concentrations. Then, a physics-based sensor model that includes diffusion and electrochemical submodels is developed. It is shown that NO is partly reduced in the O2 sensing chamber which affects NO concentration in the O2 sensing chamber and in the NOx sensing chamber. Therefore, the electrochemical model is developed to simulate partial reduction of NOx on the O2 sensing electrode and reduction of NOx on the NOx sensing electrode. A transport model that simulates diffusion of the gas species through the sensor diffusion barriers and sensor chambers is coupled to the electrochemical submodels. Experiments at different engine operating conditions with different NOx concentrations from 0 to 2820 ppm have been performed to validate the model accuracy at different operating conditions. The model results closely match the experiments with a maximum 12% error for the NOx sensing pumping current. Cross-sensitivity of electrochemical sensors to the other exhaust gas contaminations, especially NH3, is still a challenge for the automotive industry. A dynamic NOx sensor model is developed to remove ammonia cross sensitivity from production NOx sensors mounted downstream of Diesel-engine selective catalytic reduction (SCR) systems. The model is validated for large amounts of ammonia slip during different engine transients. A three-state nonlinear control oriented SCR model is also developed to predict the NH3 concentration downstream of the SCR (NH3 slip). NH3 slip is then used as an input for modeling the cross sensitivity of a production NOx sensor and calculating the actual NOx concentration in the presence of NH3 contamination. A limiting-current-type amperometric hydrocarbon sensor for rich conditions (in the absence of O2) is also developed. The transient performance and stability of the sensor are optimized by changing the sensor temperature, the reference cell potential, and the stabilizing cell potential at a high propane concentration (5000 ppm - balanced with nitrogen). Then, the sensor steady state behavior is studied to find the diffusion rate-determined operating region. The sensor is shown to have a linear sensitivity to propane concentration from 0 to 3200 ppm. The sensor response time to different step changes from zero propane concentration to 5000 ppm propane concentration is studied. It is shown that propane concentration does not have a significant effect on the sensor response time. Sensor and engine On Board Diagnostics (OBD) is the last part of this thesis. A physics-based model was developed and then employed to predict the sensor output for oxygen as a function of sensor temperature and oxygen concentration. A temperature perturbation method was also developed based on the model to calibrate the sensor output with respect to oxygen concentration. The model accurately matched the experimental results in steady state and transient. A two step sensor diagnostics procedure based on the sensor temperature perturbation method was then proposed. A self-calibration procedure was also implemented inside the diagnostics procedure using temperature perturbation at engine-o. This self-recalibration only requires an external relative humidity measurement. Finally, based on experimental data, a Multi-Input Multi-Output (MIMO) control oriented diesel engine model is developed to predict engine NOx emission and brake mean effective pressure (BMEP). The steady state engine NOx is modeled as a function of the injected fuel amount, the injection rail pressure and the engine speed. The BMEP is assumed to be a function of the injected fuel amount and engine speed. Then, an engine dynamic model was developed by adding first order lags to the static NOx and BMEP models. This two-state control oriented model is used to represent the dynamic model. The engine response to step changes of injection pressure and injected fuel amount are examined and compared with the experimental data. The developed control oriented model can be used for both engine and NOx sensor on board diagnostics and for engine control with NOx sensor feedback. |
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BibTeX:
@phdthesis{AliramezaniPhD2019, author = {M Aliramezani}, title = {Production engine emission sensor modeling for in-use measurement and on-board diagnostics}, school = {University of Alberta}, year = {2019}, url = {/ ckoch/thesis/MA_Thesis_V04c.pdf} } |
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Gibeau, B.J. | Analysis and Control of Vortex Shedding from a Blunt Trailing Edge [BibTeX] |
2018 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Gibeau_MSC, author = {Bradley Joseph Gibeau}, title = {Analysis and Control of Vortex Shedding from a Blunt Trailing Edge}, school = {University of Alberta}, year = {2018}, url = {/ ckoch/thesis/Gibeau_Bradley_J_201809_MSc.pdf} } |
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Gordon, D. | HCCI Modeling and Control Strategies Utilizing Water Injection [BibTeX] |
2018 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Gordon_Msc_18, author = {David Gordon}, title = {HCCI Modeling and Control Strategies Utilizing Water Injection}, school = {University of Alberta}, year = {2018}, url = {/ ckoch/thesis/Gordon_David_C_201812_MSc.pdf} } |
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Klikach, R. | Investigation and Analysis of RCCI using NVO on a Converted Spark Ignition Engine [BibTeX] |
2018 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Klikach_Msc_18, author = {Robert Klikach}, title = {Investigation and Analysis of RCCI using NVO on a Converted Spark Ignition Engine}, school = {University of Alberta}, year = {2018}, url = {/ ckoch/thesis/rklikach_thesis_v15.pdf} } |
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Symko, G. | Characterization of the Exhaust Flow through the Diesel Oxidation Catalyst | 2018 | School: University of Alberta | mastersthesis | URL |
Abstract: The result of adding an insulation ring to the interior of the Diesel oxidation catalyst on pressure drop and light-o characteristics is investigated by injecting a ceramic material into the channels of the monolith forming a circular ring. The steady state pressure drop is recorded as a function of the mass flow rate while the transient temperature response is recorded as a function of time. The experimental results are compared with a numerical model created using ANSYS Fluent. The experimental results show no statistical difference in pressure drop with the addition of an insulation ring as the pulsations in the exhaust ow, created by the engine, results in uncertainty larger than the expected dierence in pressure drop. The numerical model shows an increase in pressure drop that corresponds to the decrease in flow area which results in an increase in viscous resistance through the remaining channels of the monolith. The experimental results indicate that the addition of an insulation ring increases the heat capacity of the DOC requiring more energy and time to reach steady state. However, the numerical model indicates that the increase in time to reach steady state is due to the slow rate of heating of the insulation ring, while the rate of heating of the monolith is increased, with the exception of a small area directly adjacent to the insulation ring. The experimental results show no statistical difference in pressure drop while the numerical model indicates an increase in pressure drop with the addition of an insulation ring. The light-off characteristics of the DOC with the addition of an insulation ring may be improved as the rate of heating is increased across the monolith, with the exception of directly adjacent to the insulation ring. Whether the decrease in the rate of heating adjacent to the insulation ring offsets the benefits of the increase for the remainder of the monolith needs to be further explored. |
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BibTeX:
@mastersthesis{Sym_Msc_18, author = {Giffin Symko}, title = {Characterization of the Exhaust Flow through the Diesel Oxidation Catalyst}, school = {University of Alberta}, year = {2018}, url = {/ ckoch/thesis/GS_Thesis_v03a.pdf} } |
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Ebrahimi, K. | Model Based Control of Combustion Timing and Load in HCCI Engines | 2016 | School: University of Alberta | phdthesis | URL |
Abstract: Different model based control strategies are developed for combustion timing and load control in a single cylinder Homogeneous Charge Compression Ignition (HCCI) engine. In HCCI engines, a lean homogeneous air-fuel mixture auto-ignites due to compression and the resulting combustion occurs at lower temperatures compared to spark ignition or diesel engines. The low HCCI combustion temperatures result in low Nitrogen Oxides (NO_x) levels but high unburnt Hydrocarbons (HC) and Carbon Monoxide (CO) levels. High HCCI thermal efficiency occurs when the combustion efficiency is high and the combustion timing is appropriate. In this thesis, the effects of fueling rate and valve timing on HCCI engine performance and energy distribution are described. This analysis indicates that Variable Valve Timing (VVT) with Symmetric Negative Valve Overlap (SNVO) is an effective actuator for combustion timing control. In addition, combustion timing affects combustion efficiency which has an important role in engine energy distribution. Next, a detailed multi-zone model with fuel specific kinetics is developed for HCCI engine performance analysis that captures valve timing and fueling rate dynamics. The multi-zone physics based model has 483 states, 5 inputs and 4 outputs. PI controller gains are first tuned using the detailed multi-zone model in simulation and then the controller is implemented on a single cylinder engine. Combustion timing is used as feedback to the controller and valve timing is the main actuator. Then a Feedforward/Feedback (Fdfwd/Fdbk) strategy is developed for HCCI combustion timing control. The Fdfwd/Fdbk controller is based on a model that relates combustion timing to valve timing and it is combined with an integrator feedback to zero the steady state error. A Model Predictive Control (MPC) strategy is then developed for HCCI combustion timing and load control that takes into account actuator and output constraints. A physics based approach is used for model order reduction of the detailed multi-zone model and a discrete nonlinear control oriented model is obtained with 4 states, 2 inputs and 2 outputs. This model is linearized around one operating point and the MPC is designed based on the linearized version of the 4-state control oriented model. The MPC is then implemented on the single cylinder engine and the results are compared to the PI and Fdfwd/Fdbk controller. The MPC exhibits good tracking performance for combustion timing and load. Finally, a new control oriented model is developed for combustion timing and load control considering combustion efficiency. This model can be used for future MPC design which consider combustion efficiency constraints. |
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BibTeX:
@phdthesis{EbrahimiPhD2016, author = {K Ebrahimi}, title = {Model Based Control of Combustion Timing and Load in HCCI Engines}, school = {University of Alberta}, year = {2016}, url = {/ ckoch/thesis/Ebrahimi_Khashayar_092016_PhD.pdf} } |
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Nazaripoor, H. | Electrohydrodynamic and Thermocapillary Instability of Thin Liquid Films | 2016 | School: University of Alberta | phdthesis | URL |
Abstract: Electrically induced instability of thin liquid films is a contactless pattern transfer method, often called electrohydrodynamic (EHD) lithography, which has gained extensive attention due to its ability in creation of novel micro- and nano-sized structures. The need for powerful microprocessors and cheaper electronic memory has accelerated the research effort on finding novel, fast and inexpensive techniques for creation of nano-sized features. An electrostatic model is developed called an ionic liquid (IL) model which consider a finite diffuse electric layer with comparable thickness to the film. This overcomes the shortcoming of assuming very large and small electric diffuse layer inherent in the perfect dielectric (PD) and leaky dielectric (LD) models respectively. The process of pattern formation is then numerically simulated by solving the nonlinear thin film equation using finite difference for the spatial domain and an adaptive time step solver for time. In single layer film, the total number of pillars formed (raised columnar structures called pillars) in 1μm^2 area of the domain in IL film is almost 5 times more than similar PD film for the conditions simulated. Replacing the flat electrode with the patterned one is found to result in more compact and well-ordered structures particularly when an electrode with square block protrusions is used. Structure size in PD films is reduced by a factor of four when it is replaced with IL films which results in nano-sized features with well-ordered pattern over the domain. In bilayer systems, an extensive numerical study is carried out to generate a map based on electric permittivity ratio of layers and the initial mean thickness of the lower layer. This map is used to predict the formation of various structures on PD-PD bilayers interface and provides a baseline for unstable IL-PD bilayers. The use of an IL layer is found to reduce the size of the structures, but results in polydispersed and disordered pillars spread over the domain. The numerical predictions follow similar trend of experimental observation in literature. To improve the electrically assisted patterning process and create smaller sized features with the higher active surface area, the combined thermocapillary (TC) and EHD instability of liquid nanofilms is considered using both linear stability and nonlinear analysis. The number density of pillars formed in 1μm^2 area is significantly increased compared to the EHD base-case and nano-sized pillars are created due to the TC effects. Relative interface area increases of up to 18% due to this pattern miniaturization are realized. It is also found that increase in the thermal conductivity ratio of layers changes the mechanism of pattern formation resulting in nonuniform and randomly distributed micro pillars being generated. |
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BibTeX:
@phdthesis{HadiNazaripoorPhDThesis2016, author = {Hadi Nazaripoor}, title = {Electrohydrodynamic and Thermocapillary Instability of Thin Liquid Films}, school = {University of Alberta}, year = {2016}, url = {/ ckoch/thesis/Nazaripoor_Hadi_201612_PhD.pdf} } |
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Slepicka, C. | Iterative Learning Control for Fuel Robust HCCI. | 2016 | School: University of Alberta | mastersthesis | URL |
Abstract: A dual-fuel system is used to control HCCI combustion timing and load in a CFR engine. The systems steady-state response to iso-octane and n-heptane injected energy is investigated then a dynamic ARMAX model is found using system identification. This model is used to design a norm-optimal Iterative Learning Controller (ILC). A new design for an ILC is developed that requires minimal system information and is called the model-less ILC. The stability and noise transference of this new design is investigated. Both ILC designs are then optimized for experimental implementation. To attenuate noise in the system two non-causal filters are developed to use with the ILC: a Gaussian and a zero-phase Butterworth. The filters are optimized on the ARMAX model and then implemented on the CFR engine. The three best ILC designs are are found to be the model-less with zero-phase Butterworth, norm-optimal with zero-phase Butterworth and a norm optimal without a filter. These ILC designs are compared to a Proportional-Integral (PI) controller and all three ILCs are found to out perform the PI controller. The three best ILC designs are then implemented on the engine with different operating conditions to explore the controller robustness. The intake temperature and compression ratio are varied and all ILC designs performed well with the ILC convergence time being most affected by these disturbances. The disturbance rejection of the controllers is then tested with the addition of biofuels: ethanol and biodiesel. The controllers are able to converge with the new fuel and out-performed the PI controller subject to the same biofuel disturbance. For the CFR engine with HCCI combustion performing repetitive steps in combustion timing and load, ILC outperforms PI control and is robust to changes in intake temperature, compression ratio and the addition of biofuels with little changes in the final iteration reference tracking error.A dual-fuel system is used to control HCCI combustion timing and load in a CFR engine. The systems steady-state response to iso-octane and n-heptane injected energy is investigated then a dynamic ARMAX model is found using system identification. This model is used to design a norm-optimal Iterative Learning Controller (ILC). A new design for an ILC is developed that requires minimal system information and is called the model-less ILC. The stability and noise transference of this new design is investigated. Both ILC designs are then optimized for experimental implementation. To attenuate noise in the system two non-causal filters are developed to use with the ILC: a Gaussian and a zero-phase Butterworth. The filters are optimized on the ARMAX model and then implemented on the CFR engine. The three best ILC designs are are found to be the model-less with zero-phase Butterworth, norm-optimal with zero-phase Butterworth and a norm optimal without a filter. These ILC designs are compared to a Proportional-Integral (PI) controller and all three ILCs are found to out perform the PI controller. The three best ILC designs are then implemented on the engine with different operating conditions to explore the controller robustness. The intake temperature and compression ratio are varied and all ILC designs performed well with the ILC convergence time being most affected by these disturbances. The disturbance rejection of the controllers is then tested with the addition of biofuels: ethanol and biodiesel. The controllers are able to converge with the new fuel and out-performed the PI controller subject to the same biofuel disturbance. For the CFR engine with HCCI combustion performing repetitive steps in combustion timing and load, ILC outperforms PI control and is robust to changes in intake temperature, compression ratio and the addition of biofuels with little changes in the final iteration reference tracking error. |
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BibTeX:
@mastersthesis{Slepicka_Msc_16, author = {Craig Slepicka}, title = {Iterative Learning Control for Fuel Robust HCCI.}, school = {University of Alberta}, year = {2016}, url = {/ ckoch/thesis/Slepicka_Craig_E_201603_Msc.pdf} } |
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Stang, D. | Characterization and Control of Cyclic Variability in a Gasoline/Natural Gas Dual-Injection Spark Ignition Engine | 2016 | School: University of Alberta | mastersthesis | URL |
Abstract: Reducing the cyclic variability of a gasoline/natural gas dual injection spark ignition engine using minimum variance control is the subject of this thesis. Cylinder pressure is used to calculate four combustion metrics, the standard deviation of which is used as an indicator of cyclic variability. Spark timing, fuel type, and engine speed are varied to characterize the cyclic variability of the engine. Location of peak pressure is found to be the best combustion metric for use as feedback in a closed loop controller. Using the location of peak pressure as an engine output and spark timing as an engine input, system identification is used to develop input-output models. Using the model, a minimum variance controller is developed which is able to reduce the cyclic variability by 1.4% by changing the spark timing in response to the measured location of peak pressure. A detuned minimum variance tracking controller is designed to produce maximum power in changing operating conditions by using 16 crank angle degrees after top dead center as the location of peak pressure set-point. The detuned minimum variance controller is able to track and maintain the set-point under constant operating conditions and as disturbances such as, changing fuel type, addition of internal exhaust gas recirculation, and changing coolant temperature, are introduced into the system. The detuned minimum variance controller rejects these disturbances when experimentally tested and maintains optimal engine operating conditions. |
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BibTeX:
@mastersthesis{Stang_Msc_16, author = {D. Stang}, title = {Characterization and Control of Cyclic Variability in a Gasoline/Natural Gas Dual-Injection Spark Ignition Engine}, school = {University of Alberta}, year = {2016}, url = {/ ckoch/thesis/Stang_Daniel_A_201601_MSc.pdf} } |
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Wang, Z. | Model order reduction and boundary control of incompressible Boussinesq flow [BibTeX] |
2016 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Wang_Msc_16, author = {Zichuan Wang}, title = {Model order reduction and boundary control of incompressible Boussinesq flow}, school = {University of Alberta}, year = {2016}, url = {/ ckoch/thesis/ZichuanWang_MScThesis20160303.pdf} } |
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Zhu, J. | Visualization Investigation of a Diesel-Gasoline Mixture Jet [BibTeX] |
2016 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Zhu_Msc_16, author = {Jiaxin Zhu}, title = {Visualization Investigation of a Diesel-Gasoline Mixture Jet}, school = {University of Alberta}, year = {2016}, url = {/ ckoch/thesis/JZthesis.pdf} } |
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Gonzalez, A.M. | Instrumentation Design, System Identification, and LQR/LQG Control of a Small Scale Helicopter | 2014 | School: University of Alberta | mastersthesis | URL |
Abstract: The interest of Unmanned Aerial Vehicles (UAV) for civil application has increased dramatically in recent years. With improvement in computer hardware, lightweight sensors, and light material, the cost of UAVs has reduced significantly. UAVs with vertical takeoff and landing capabilities have been the focus of much development. A mathematical model for a scale RC helicopter including the rotor dynamics is presented in this work. The main rotor lift slope CL, the main rotor aerodynamic drag coeffcient CDo , and the moments of inertia about the center of gravity are determined by the use of two sets of HIL testbeds. The avionics instrumentation, communication protocol and Ground Station system are described in detail. Finally, the model linearization and the LQR/LQG compensator in output feedback configuration with reference inputs are presented. Simulation results show that the proposed compensator stabilized and control the lineairzed dynamics of the helicopter. |
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BibTeX:
@mastersthesis{Gonzalez_Msc_14, author = {Alejandro Martinez Gonzalez}, title = {Instrumentation Design, System Identification, and LQR/LQG Control of a Small Scale Helicopter}, school = {University of Alberta}, year = {2014}, url = {/ ckoch/thesis/Martinez-Gonzalez_Alejandro_201407_MSc.pdf} } |
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Khaligh, S.P. | Control-Oriented Modeling and System Identifcation for Nonlinear Trajectory Tracking Control of a Small-Scale Unmanned Helicopter | 2014 | School: University of Alberta | phdthesis | URL |
Abstract: Model-based control design of small-scale helicopters involves considerable challenges due to their nonlinear and underactuated dynamics with strong couplings between the different degrees-of-freedom (DOFs). Most nonlinear model-based multi-input multi-output (MIMO) control approaches require the dynamic model of the system to be affine-in-control and fully actuated. Since the existing formulations for helicopter nonlinear dynamic model do not meet these requirements, these MIMO approaches cannot be applied for control of helicopters and control designs in the literature mostly use the linearized model of the helicopter dynamics around different trim conditions instead of directly using the nonlinear model. The purpose of this thesis is to derive the 6-DOF nonlinear model of the helicopter in an affine-in-control, non-iterative and square input-output formulation to enable many nonlinear control approaches, that require a control-affine and fully actuated square model such as the sliding mode control (SMC), to be used for control design of small-scale helicopters. A combination of the first-principles approach and system identification is used to derive this model. To complete the nonlinear model of the helicopter required for the control design, the inverse kinematics of the actuating mechanisms of the main and tail rotors are also derived using an approach suitable for the real-time control applications. The parameters of the new control-oriented formulation is identified using a time-domain system identification strategy and the model is validated using flight test data. A robust sliding mode control (SMC) is then designed using the new formulation of the helicopter dynamics and its robustness to parameter uncertainties and wind disturbances is tested in simulations. Next, a hardware-in-the-loop (HIL) testbed is designed to allow for the control implementation and gain tuning as well as testing the robustness of the controller to external disturbances in a controlled environment on the ground. The controller is also tested in real flights. |
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BibTeX:
@phdthesis{KhalighPhD2014, author = {S. Pourrezaei Khaligh}, title = {Control-Oriented Modeling and System Identifcation for Nonlinear Trajectory Tracking Control of a Small-Scale Unmanned Helicopter}, school = {University of Alberta}, year = {2014}, url = {/ ckoch/thesis/SK_PhDThesis.pdf} } |
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Schramm, A. | Effects of Negative Valve Overlap on HCCI Combustion and its use in the Control of HCCI Combustion Timing | 2014 | School: University of Alberta | mastersthesis | URL |
Abstract: Homogeneous charge compression ignition (HCCI) combustion can produce higher effciencies and lower emissions when compared to tradition spark or compression ignition engines. This study conducts an experimental investigation into the effects of valve timings on HCCI combustion conditions. Using a single cylinder engine with state-of-the-art electromagnetic variable valve timing (EVVT) fully independent valves, a series of tests are conducted with varying negative valve overlap (NVO). The in-cylinder residual trapped by the NVO causes an advance in combustion timing, a shortening of burn duration as well as increase in load and increase in brake specific fuel consumption. Asymmetric valve timings are also investigated and show complex behavior with high sensitivity of combustion timing in certain operating ranges. Finally, these strategies are implemented as a set of feedback controllers including a proportional-integral (PI) controller and a feedforward with integral action controller. Both controllers have good tracking for step changes in combustion timing setpoint with the feedforward controller providing a rise time of just four cycles. |
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BibTeX:
@mastersthesis{Schramm_Msc_14, author = {A. Schramm}, title = {Effects of Negative Valve Overlap on HCCI Combustion and its use in the Control of HCCI Combustion Timing}, school = {University of Alberta}, year = {2014}, url = {/ ckoch/thesis/ASthesis.pdf} } |
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Setayeshgar, A. | Investigation of Ultrasonic Acoustic Standing Wave Separation of Particles in a Multi-wavelength Macro-scale Resonator | 2014 | School: University of Alberta | phdthesis | URL |
Abstract: This thesis presents an investigation of macro-scale (>5mm) multi-wavelength acoustophoresis. This is a technique used for the filtration of micro-particles from the containing suspension. It uses the primary acoustic force generated by an ultrasonic acoustic pressure standing wave. Primary acoustic force is isolated in different multi-wavelength acoustic separator experiments and imaging methods are used to capture the motion of particles separating from the containing fluid. Different investigation methods and models for analyzing the macro-scale acoustic resonators are developed and the experimented acoustic resonators are characterized. A particle tracking velocimetry (PTV) approach for measuring individual particle motion is developed specifically to track particles over the lifetime of their motion as they densify to an acoustic pressure node. The applicability of primary acoustic force theory to the macro-scale acoustic resonators is validated by applying the PTV method to images of densification of mono-disperse size and poly-dispersed size particles. Utilizing the developed validated PTV method, the acoustic energy density, a parameter that can only be derived from experiments is also determined. A probability density function (PDF) modeling the location of particles for determination of acoustic energy density is also developed which is in agreement with the PTV method. The influence of dampening and scattering of the acoustic wave in macro-scale multi-wavelength is studied. This is performed by variation of piezo-electric transducer (PZT) voltage and changing the viscosity of the suspension by using different solutions of glycerol in water. The resulting acoustic energy density dependence on PZT voltage in macro-scale multi-wavelength acoustic resonators is observed to be different from that of micro-scale acoustic resonators. This effect, which is visible in all different experimented suspensions, indicates that macro-scale multi-wavelength acoustic resonators inherently show more dampening effects than micro-scale acoustic resonators. |
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BibTeX:
@phdthesis{SetayesshgarPhD2014, author = {Alireza Setayeshgar}, title = {Investigation of Ultrasonic Acoustic Standing Wave Separation of Particles in a Multi-wavelength Macro-scale Resonator}, school = {University of Alberta}, year = {2014}, url = {/ ckoch/thesis/Setayeshgar_Alireza_201409_PhD.pdf} } |
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Shahidi, S. | An Electrochemical Impedance Spectroscopic Diagnostic Device for Characterization of Liquid-Liquid Systems and Phase Separation Detection in Emulsions | 2013 | School: University of Alberta | mastersthesis | URL |
Abstract: Rapid characterization of complex fluids, especially sensing emulsion stability, is crucial for a variety of industrial applications ranging from pharmaceutical industry and cosmetics, to petroleum production. Electrochemical impedance spectroscopy (EIS) is a powerful tool for electrical characterization of such systems. In this study, a "milli-fluidic" EIS test fixture which is inexpensive, easily fabricated, yet robust, is designed. It is fabricated using 3D printing technology, which allows reproducible and reliable multiple experiments, and can then be disposed of after each test. The developed cell is tested using solutions, liquid-liquid mixtures, and oil-water emulsions. Frequency response analysis and equivalent circuit modeling have been performed to find the effective electrical properties of the liquids, and relate them to their physical properties, such as stability. In this work, EIS, performed using the developed device, is applied to reveal the electrical behavior of oilwater emulsions during phase separation. It is found that creaming (sedimentation) can be detected based on permittivity decay, and capacitance-based measurements can be utilized to measure stability and phase separation in emulsions. |
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BibTeX:
@mastersthesis{Shahidi_Msc_13, author = {S. Shahidi}, title = {An Electrochemical Impedance Spectroscopic Diagnostic Device for Characterization of Liquid-Liquid Systems and Phase Separation Detection in Emulsions}, school = {University of Alberta}, year = {2013}, url = {/ ckoch/thesis/shahidi_thesis_2013.pdf} } |
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Bussiere, M. | The Experimental Investigation of Vortex Wakes from Oscillating Airfoils | 2012 | School: University of Alberta | mastersthesis | URL |
Abstract: The ability to actively control large coherent vortices in the wake of an unsteady body is studied experimentally. This thesis initially considers a single airfoil in a uniform flow that is forced to oscillate sinusoidally about its aerodynamic center. The resulting wake is expected to be dominated by large coherent vortices (Bohl & Koochesfahani, 2009), (Schnipper, Andersen, & Bohr,2009), (Jung & Park, 2005), (Godoy-Diana, Marais, Aider, & Wesfreid, 2009), (Gopalkrishnan, Triantafyllou, Triantafyllou, & Barrett, 1994). The wakes for several different oscillation waveforms are studied and a model describing the evolution of the vortices as they progress downstream is developed and compared to the experimental data. The investigation then expands to 2 airfoils in a tandem configuration where the upstream airfoil produces a predictable and well studied wake which the downstream airfoil attempts to modify in some prescribed manner. To interpret the resulting velocity field in both cases, custom vortex detection software is developed so that vortices may be accurately identified and characterized. The experiments take place in a re-circulating water channel and flow measurements are undertaken primarily using the particle image velocimetry (PIV) measurement technique. The vortex detection algorithm must, therefore, accommodate experimental PIV velocity vector fields. Given the large number of vector fields that are to be investigated, the detection algorithm should proficiently and automatically reject false vortices with minimal human intervention. |
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BibTeX:
@mastersthesis{bussiere_thesis_12, author = {M. Bussiere}, title = {The Experimental Investigation of Vortex Wakes from Oscillating Airfoils}, school = {University of Alberta}, year = {2012}, url = {/ ckoch/thesis/MB_MSc_Thesis_final.pdf} } |
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Ghazimirsaied, A. | Extending HCCI Low Load Operation Using Chaos Prediction and Feedback Control | 2012 | School: University of Alberta | phdthesis | URL |
Abstract: Homogenous Charge Compression Ignition (HCCI) is a promising technology that offers high fuel economy and low oxides of nitrogen and particulate emission for automotive and stationary engines. A significant challenge with HCCI is the large number of partial burn/misfire cycles within the lean operation and the control of the combustion phasing. A detailed experimental and modeling investigation into the patterns of HCCI ignition timing and control based on deterministic structure of data points in HCCI combustion to reduce the high cyclic variations for operating conditions near misfire and to extend the HCCI operating range is the focus of this thesis. Nonlinear dynamics and chaos theory applied to a wide range of engine operating conditions show that unstable operation of HCCI with higher cyclic variations with a non-Gaussian distribution is observed near the partial burn and misfire region of the engine. In order to predict and control the ignition timing in the partial burn region of HCCI, the temporal dynamics of cyclic variation in HCCI engine near misfire is analyzed using chaotic theory methods. Closed loop ignition timing control is used to reduce cyclic combustion variations for an unstable operating range of the engine near misfire using fuel octane as the control input. |
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BibTeX:
@phdthesis{GhaziPhD2009, author = {A. Ghazimirsaied}, title = {Extending HCCI Low Load Operation Using Chaos Prediction and Feedback Control}, school = {University of Alberta}, year = {2012}, url = {/ ckoch/thesis/AG_phdthesis.pdf} } |
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Mashkournia, M. | Electromagnetic Variable Valve Timing on a Single Cylinder Engine in HCCI and SI | 2012 | School: University of Alberta | mastersthesis | URL |
Abstract: An experimental single cylinder engine with variable valve timing is used to study spark ignition and homogeneous charge compression ignition (HCCI). The discrete wavelet transform, on a single cylinder engine with a cam-phasing head, is used in real time for knock detection in HCCI. Classical control schemes are used by modulating fuel octane number to show real time knock control is possible with this detection scheme. The cam-phasing head is replaced with a electromagnetic variable valve timing head and stable spark ignition (SI) and HCCI operating points are found. The robustness of the valve controller is shown by making cycle by cycle switches of valve timing events in SI and HCCI. The effect of heat on the valves from operating in SI is shown to affect valve performance. A valve motion controller, which was designed and developed as a model in simulation, has been installed on a single cylinder engine and tested. The resulting valve motion control works well providing both a robust single cylinder test system with flexible valve timing and also a simulation test bed to develop valve motion control algorithms. |
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BibTeX:
@mastersthesis{mashkournia_thesis_12, author = {M. Mashkournia}, title = {Electromagnetic Variable Valve Timing on a Single Cylinder Engine in HCCI and SI}, school = {University of Alberta}, year = {2012}, url = {/ ckoch/thesis/MMthesis_20120608.pdf} } |
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Boddez, J.B. | Evaluation of SI-HCCI-SI Mode-Switching Using Conventional Actuation on a CNG Engine | 2011 | School: University of Alberta | mastersthesis | URL |
Abstract: Homogeneous Charge Compression Ignition (HCCI) operation is desirable for its high thermal efficiency and low emissions of NOx and particulates. Difficulty with cold starting and maximum achievable speed/load highlight the desire for mode-switching to traditional spark ignition (SI) operation. Mode-switching between SI and HCCI is investigated using only actuation of throttle, CNG injector pulse width, and CNG injection timing on a single cylinder CFR engine. Open-loop control achieves a one cycle mode-switch between two adjustable IMEP levels. Sequences are repeatable as demonstrated by 10 mode-switches with the same inputs. Performance is evaluated using a developed mode-switch performance criterion (MSPC) by considering duration between steady-states of operation, smoothness of IMEP, and knock based on maximum rate of pressure rise. Comparing the results with subjective analysis (the current standard) reveals good correlation. Throughout development, mode-switching performance is shown to improve by a factor of 60. |
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BibTeX:
@mastersthesis{boddez_thesis_11, author = {J. B. Boddez}, title = {Evaluation of SI-HCCI-SI Mode-Switching Using Conventional Actuation on a CNG Engine}, school = {University of Alberta}, year = {2011}, url = {/ ckoch/thesis/Boddez_Jason_Spring_2011.pdf} } |
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Schleppe, M.N. | SI - HCCI Mode Switching Optimization Using a Physics Based Model | 2011 | School: University of Alberta | mastersthesis | URL |
Abstract: Homogeneous Charge Compression Ignition (HCCI) operation is desirable for its high thermal efficiency and low emissions of NOx and particulates. Difficulty with cold starting and maximum achievable speed/load highlight the desire for mode-switching to traditional spark ignition (SI) operation. Mode-switching between SI and HCCI is investigated using only actuation of throttle, CNG injector pulse width, and CNG injection timing on a single cylinder CFR engine. Open-loop control achieves a one cycle mode-switch between two adjustable IMEP levels. Sequences are repeatable as demonstrated by 10 mode-switches with the same inputs. Performance is evaluated using a developed mode-switch performance criterion (MSPC) by considering duration between steady-states of operation, smoothness of IMEP, and knock based on maximum rate of pressure rise. Comparing the results with subjective analysis (the current standard) reveals good correlation. Throughout development, mode-switching performance is shown to improve by a factor of 60. |
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BibTeX:
@mastersthesis{schleppe_thesis_11, author = {M. N. Schleppe}, title = {SI - HCCI Mode Switching Optimization Using a Physics Based Model}, school = {University of Alberta}, year = {2011}, url = {/ ckoch/thesis/Schleppe_thesis_2011.pdf} } |
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Babazadeh, H. | Active Flow Control of a Precessing Jet | 2010 | School: University of Alberta | mastersthesis | URL |
Abstract: Active flow control of a precessing jet is the focus of this work. A round jet confined by a round cavity exhibits a self-excited rotational motion, precession, for a specfic range of cavity lengths. Active flow control of this unstable flow provides the ability to control near-field mixing of the precessing jet. Twelve micro-jets on the periphery of the nozzle inlet are used as actuation and near-field pressure data is measured by four pressure probes at the chamber exit to monitor the flow behavior. A phase plane, based on pressure signals, is used to find a Reynolds number and actuation frequency range where actuation stabilizes the flow motion. Phase-locked stereoscopic PIV is also used to validate the pressure processing tool. The results con�rm the pressure measurement and micro-jet actuation can be employed to develop a future closed-loop flow control on a precessing jet. |
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BibTeX:
@mastersthesis{babazadeh_thesis_10, author = {H. Babazadeh}, title = {Active Flow Control of a Precessing Jet}, school = {University of Alberta}, year = {2010}, url = {/ ckoch/thesis/Babazadeh_MSc_2010_noAppE_opt.pdf} } |
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Shahbahkti, M. | Modeling and Experimental Study of an HCCI Engine for Combustion Timing Control | 2009 | School: University of Alberta | phdthesis | URL |
Abstract: Homogeneous Charge Compression Ignition (HCCI) is a promising method for combustion engines to provide a substantial reduction in fuel consumption and formation of both nitrogen oxides and soot pollutants in automotive and stationary engines. Control of HCCI combustion timing is essential for the successful integration of the HCCI concept in real applications. This thesis concentrates on control oriented modeling and experimental study of HCCI combustion for control of ignition timing in HCCI engines. A detailed experimental study of HCCI with over 600 operating points on two different engines is done to characterize the complex relationship among the engine variables, the ignition timing and the exhaust temperature. This leads to identifying regions with distinct patterns of cyclic variation for HCCI ignitiontiming. In addition, main influential factors on the variations of ignition timing and exhaust temperature in HCCI engines are determined. A dynamic full-cycle physics based Control Oriented Model (COM) is derived from using the experimental data and simulations from an HCCI thermo-kinetic model. The COM is validated with a large number of transient and steady-state experimental points. The validation results show that the COM captures the key HCCI dynamics with a high degree of accuracy for control applications. The COM is computationally effcient and all inputs of the model can be readily measured or estimated ona real engine. This makes the COM simple and fast enough for use as an online simulation bed to design and evaluate different strategies for physics-based control of combustion timing in HCCI engines. |
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BibTeX:
@phdthesis{ShahbahktiPhD2009, author = {M. Shahbahkti}, title = {Modeling and Experimental Study of an HCCI Engine for Combustion Timing Control}, school = {University of Alberta}, year = {2009}, url = {/ ckoch/thesis/Mahdi_Shahbakhti_Thesis_Final_hyperlink.pdf} } |
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Van Kleeck, C.J. | Formation control for autonomous marine vehicles | 2009 | School: University of Alberta | mastersthesis | URL |
Abstract: The development, implementation, and testing of a leader-follower based robust nonlinear formation controller is discussed in this thesis. This controller uses sliding mode control on the length and angle between the leader and follower vessels to produce the desired formation. A boat model, assuming planar motion (three degrees of freedom), is used as the bases for the controller. Open loop testing is performed to determine parameter values to match the simulation model to the physical one and, upon tuning of the controller to match, closed loop testing of the controller with a virtual leader is also performed. From these tests it is found that the controller is unstable, thus improvements to the controller, through changes made to the model and to the parameter identification process, are undertaken. Simulations comparing the initial and updated models of the vehicle to open loop data show an improvement in the new model. |
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BibTeX:
@mastersthesis{VanKleeck_thesis_09, author = {Van Kleeck, C. J.}, title = {Formation control for autonomous marine vehicles}, school = {University of Alberta}, year = {2009}, url = {http://hdl.handle.net/10048/666} } |
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Audet, A. | Closed Loop Control of HCCI using Camshaft Phasing and Dual Fuel | 2008 | School: University of Alberta | mastersthesis | URL |
Abstract: Feedback control of a Homogeneous Charge Compression Ignition (HCCI) internal combustion engine through the aid of camshaft phasing and dual fuels is discussed in this dissertation. Control is achieved by modulating the effective compression ratio inside the combustion chamber and by varying the ratio of the input fuels; iso-octane and n-heptane. Varying the ratio of these two fuels changes the fuel octane number of the mixture, effecting the timing of combustion. Increasing the effective compression ratio increases the temperature inside the combustion chamber, advancing combustion. Proportional Integral (PI) control is implemented for the single-input single-output control problems. System identification is also applied to the engine in order to derive dynamic models between the inputs and outputs of the engine. These identified black box models are then used in the design of model based controllers. The performance of all control algorithms is validated experimentally and tested for the disturbance rejection characteristics. |
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BibTeX:
@mastersthesis{Audet_thesis_08, author = {A. Audet}, title = {Closed Loop Control of HCCI using Camshaft Phasing and Dual Fuel}, school = {University of Alberta}, year = {2008}, url = {/ ckoch/thesis/ADAthesis_final_hyper.pdf} } |
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Crawford, D.G. | Numerical Simulation of Thin Liquid Film Drainage Under the Influence of Pressure and Electrical Forcing | 2008 | School: University of Alberta | mastersthesis | URL |
Abstract: Thin liquid films occur in broad spectrum of biological, physical and engineering systems and have been widely studied. In this study, perfect dielectric fluid films interacting with an inert gas above and sandwiched between up and lower bounding surfaces are modeled under the influence of intermolecular and electrostatic forces. Film flow that occurs as a result of these different forces was studied for chemical, electrical and combined chemical and electrical patterning. A `long-wave' asymptotic analysis is used to reduce the governing fluid and electrostatic equations to a single partial differential equation for the film thickness which is solved numerically. The equation is solved using finite differences in space and a differential algebraic solver in time. When a film drains on a homogeneous surface the time required for drainage decreases as the magnitude of applied electrical forces increases. Striped patterning of the effective Hamaker constant or electric field can produce highly ordered patterns. Chemical patterning always produced drainage, but electrical patterning only produced complete de-wetting of the lower surface when one of the stripes had a width less than _c/4. When chemical and electrical patterning were combined new distinct film structures were produced. The final film structures were altered when the stripes of larger applied field and effective Hamaker constant occurred on the same stripe or did not. A software tool to simulate thin film drainage under intermolecular and electrostatic forcing was developed and validated. |
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BibTeX:
@mastersthesis{Crawford_thesis_08, author = {D. G. Crawford}, title = {Numerical Simulation of Thin Liquid Film Drainage Under the Influence of Pressure and Electrical Forcing}, school = {University of Alberta}, year = {2008}, url = {/ ckoch/thesis/CrawfordThesis_final.pdf} } |
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Lupul, R. | Steady State and Transient Characterization of a HCCI Engine with Varying Octane Fuel | 2008 | School: University of Alberta | mastersthesis | URL |
Abstract: An experimental investigation of Homogenous Charge Compression Ignition (HCCI) on a port fuel injected single cylinder engine equipped with two separate fuel systems is performed in steady state and load transient conditions. A range of intake air temperatures, intake manifold pressures, and engine speeds, are investigated using two fuel systems to separately supply n-heptane and iso-octane. Results show the ability of the two fuels to obtain the load range at a given operating condition with constant combustion timing. The ability to transition from Spark Ignition (SI) mode to HCCI mode (and vice versa) within consecutive cycles using the two fuel system is also shown for cases of constant load as well as constant intake manifold pressure. HCCI engine operation has comparable carbon monoxide and unburned hydrocarbon emissions with lowered fuel consumption and dramatically reduced NOx production compared to SI mode. |
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BibTeX:
@mastersthesis{Lupul_thesis_08, author = {R Lupul}, title = {Steady State and Transient Characterization of a HCCI Engine with Varying Octane Fuel}, school = {University of Alberta}, year = {2008}, url = {/ ckoch/thesis/RLthesis_hyper.pdf} } |
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Chladny, R.R. | Modeling and control of automotive gas exchange valve solenoid actuators | 2007 | School: University of Alberta | phdthesis | URL |
Abstract: A promising method for enhancing automotive internal combustion engine efficiency uses solenoid actuators to directly control the gas exchange valves. Mitigation of valve seating velocities is challenging due to phenomena such as magnetic saturation and combustion gas force disturbances. A comprehensive control strategy is presented for a hinged solenoid actuator. Gas forces on the exhaust valve are particularly problematic due to the potential for large cycle-to-cycle variations. Soft seating is achieved using a flatness-based landing algorithm with a nonlinear disturbance estimator. The estimator is used with an energy-based feedforward controller to reject exhaust gas force disturbances. Feedback is provided through the use of flux and current measurements and an accurate inductance model. Overviews of the employed modeling and simulation techniques and experimental testbench results are also presented. Both simulated and experimental results indicate the proposed control methodology is capable of compensating for the nonlinear magnetic dynamics and combustion gas force disturbances experienced by exhaust valve solenoid actuators. |
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BibTeX:
@phdthesis{Chladny2007, author = {R. R. Chladny}, title = {Modeling and control of automotive gas exchange valve solenoid actuators}, school = {University of Alberta}, year = {2007}, url = {/ ckoch/thesis/RC_phdthesis_h.pdf} } |
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Tsai, C.M. | Approach Control of a Gas Exchange Solenoid Actuator for IC Engines | 2007 | School: Simon Fraser University | mastersthesis | URL |
Abstract: Application of solenoid valve actuators in internal combustion engines can facilitate operations such as variable valve timing for improved effciency and emission. Unfortunately, smooth solenoid valve landing is hard to achieve due to limited control authority, limited bandwidth, and time varying disturbances. The resultant valve impact causes unacceptable noise and component wear on the engine. To solve this "soft seating" problem, the controller is further divided into approach and landing sub-controllers. The landing controller causes the valve to follow a smooth trajectory for a low-impact landing in the last portion of the valve flight. Before armature landing starts, the approach controller complements the landing control by setting a consistent initial condition for the landing trajectory. This thesis focuses on developing a cycle-adaptive approach controller that utilizes information from the repetitive operations of the engine valve. Additionally, a novel way of using induced voltages to identify disturbance pressure magnitudes is introduced. |
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BibTeX:
@mastersthesis{Tsai2007, author = {C. M. Tsai}, title = {Approach Control of a Gas Exchange Solenoid Actuator for IC Engines}, school = {Simon Fraser University}, year = {2007}, url = {/ ckoch/thesis/jimmytsai_thesis_2007_final_hyper.pdf} } |
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Chung, S.K. | Flatness-Based End-Control of a Gas Exchange Solenoid Actuator for IC Engines [BibTeX] |
2005 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Chung2005, author = {S. K. Chung}, title = {Flatness-Based End-Control of a Gas Exchange Solenoid Actuator for IC Engines}, school = {University of Alberta}, year = {2005}, url = {/ ckoch/thesis/SKCThesis_h.pdf} } |
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Supeene, G.M. | Numerical Simulation of Time-Dependent Droplet Deformation in an Electric Feild [BibTeX] |
2005 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Supeene2005, author = {G. M. Supeene}, title = {Numerical Simulation of Time-Dependent Droplet Deformation in an Electric Feild}, school = {University of Alberta}, year = {2005}, url = {/ ckoch/thesis/GSthesis.pdf} } |
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Atkins, M.J. | Experimental Examination of the effects of Fuel Octane and Diluent on HCCI Combustion [BibTeX] |
2004 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Atkins_thesis_04, author = {M. J. Atkins}, title = {Experimental Examination of the effects of Fuel Octane and Diluent on HCCI Combustion}, school = {University of Alberta}, year = {2004}, url = {/ ckoch/thesis/MJAthesisHyper.pdf} } |
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Kirchen, P.N. | Thermokinetic Modelling of the HCCI Cycle [BibTeX] |
2004 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Kirchen_thesis_04, author = {P. N. Kirchen}, title = {Thermokinetic Modelling of the HCCI Cycle}, school = {University of Alberta}, year = {2004}, url = {/ ckoch/thesis/pk_THESIS_saveTrees.pdf} } |
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Chladny, R.R. | Modeling and simulation of automotive gas exchange valve solenoid actuators [BibTeX] |
2003 | School: University of Alberta | mastersthesis | URL |
BibTeX:
@mastersthesis{Chladny2003, author = {R. R. Chladny}, title = {Modeling and simulation of automotive gas exchange valve solenoid actuators}, school = {University of Alberta}, year = {2003}, url = {/ ckoch/thesis/RCthesis_h.pdf} } |