Vibration Analysis and Optimal Design of Pneumatic Circuits Using Artificial Neural Networks

Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2. DOI: 10.17667/ iim.2016.1-2/14. Vib a ion Analysis and Op imal Design o Pneuma ic Ci cui s Using A i icial Neu al Ne wo ks Şahin YILDIRIM Mecha onic Enginee ing Depa men E ciyes Uni e si y, Facul y o Enginee ing Kayse i, Tu key [email p o ec ed] Aslı DURMUŞOĞLU Mechanical Enginee ing Depa men E ciyes Uni e si y, Facul y o Enginee ing Kayse i, Tu key [email p o ec ed]u. Abs ac —Pneuma ic sys ems a e commonly used in indus y p ocesses and applica ions o au omo ion. These sys ems a e make a ac i e powe ansmission wi h he comp essed ai , because o hey a e economic, clea , sa e and simple s uc u ed.So in his sys ems, as noise and ib a ion e ec s, i ’ s undesi able si ua ions bo h human heal h and sys em pe o mances yield and wo king li e. In his s udy, ib a ion and noise da as a e ob ained om wo ype o pneuma ic sys ems p o o ype which a e classi y me al and non-me al ma e ials and pe o med an analysis wi h help o his da as and used neu al ne wo k which has adap i e and quick con uc ion. Keywo ds—pneuma ic ci cui s; ib a ion analysis; neu al ne wo ks I. INTRODUCTION Capable o con olling he p essu e o he si ua ion ha can be changed, wi h sys ems ha a e unning ai and gases, pneuma ic sys ems a e called. Pneuma ic sys ems; clean, secu e and wi h comp essed ai powe ansmission due o i s simple s uc u e makes i a ac i e. Thanks o his sys em, au oma ion p oduc ion is smoo h, as and con ollable sys ems has gained impo ance in ad ancing he echnology o use as. And conside ing he a ea hey a e used in au oma ion echnology, his impo ance is e en mo e e iden . Pneuma ic cylinde s, ep oducibili y, low cos and has a wide use in indus ial applica ions in e ms o supe io pe o mance. In many cases, o achie e good con ol pe o mance, nonlinea con ol echniques ha e been used. Simaui and colleagues [1] one o hese echniques by using he cascade me hod he back elec o-pneuma ic posi ion con ol sys em ha e wo ked on. Pneuma ic sys ems, indus ial p ocesses, and a e used ex ensi ely in au oma ion applica ions. Howe e , his sys em mus be made o he analysis o ins an aneous dynamic changes. Akkaya and his colleques [2] ha e been ca ied ou he simula ion o he dynamic p ope ies o a linea pneuma ic ac ua o sys em, and hus s udied he e ec o pa ame e a ia ions o he sys em despi e. Simula ion s udy in he Ma lab-Simulink model was ca ied ou using a compu e p og am c ea ed in. Pneuma ic ib a ion isola ion sys em (PVIS), e ec i e o ib a ion isola ion due o he pe o mance, a e widely used. Moon and Lee [3] we e in ended o do p is sys ems modelling and sensi i i y analysis. Pu and colleagues [4] in hei s udy o he police sys em o adjus he damping cha ac e is ics o double-chambe pneuma ic sp ing is used. The pu pose o his adjus able p is o imp o e he pe o mance cha ac e is ics o he sys em. In his s udy, wo di e en sepa a o pneuma ic es and sepa a ion s a ion o ANNS (a i icial neu al ne wo ks) using ib a ion analysis and modeling a e e iewed. Minimum and maximum alues o ma e ials o di e en weigh and p essu es aken a he p essu e di e ence cylinde pneuma ic ib a ion he e ec s o ib a ion on he sys em we e in es iga ed. II. SEPARATOR PNEUMATIC TEST AND SEPARATION STATIONS A. The Physical S uc u e O The Sys em Sepa a o and sepa a ion PLC con olled pneuma ic es s a ions, colo , heigh , and ese oi samples a e au oma ically seg ega ed in o di e en me al wi h di e en cha ac e is ics as o whe he o no . The sepa a ion s a ion also is con olled wi h wo pneuma ic cylinde s and a PLC con olle wi h DC mo o s and he mo emen and he sepa a ion p ocess a e p o ided. The samples o he de e mina ion o he p ope ies o a ious senso s dis ance senso s induc i e senso s a e used. The i s es s a ion and componen s o he sys em and sepa a ion Figu e 1 seen. Sampling a his s a ion, which is mo ed by a DC mo o o ha piece o p og ess is p o ided by he ma ching band. As can be seen om he igu e, he i s pa o he ape consis s o a ious senso s o making measu emen s and es . The senso s henacco ding o he esul s o he es p ocess, o pe o m he sepa a ion p ocess, pneuma ic cylinde s, and ma e ial o he channels is loca ed. This es samples a he s a ion and sepa a ion o whi e and black me al depending on whe he hey a e pneuma ic sepa a o s is pa sed h ough o di e en si es. Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2. DOI: 10.17667/ iim.2016.1-2/14. Fig 1.Tes and sepa a ion S a ion and he sys em componen s(Mechanism 1) Some ins umen s o he Figu e 1, can be desc ibes in he ollowing; 1.Elec o-pneuma ic solenoid al e g oup 2. and 3. Op ic senso s 4. The dis ance (heigh ness) senso 5. Induk i senso 6. Con as senso 7. Single ac ing pneuma ic cylinde s 8. Bel 9. Re lec o s 10. Ma e ial 11. P og amming cables 12. PLC 13. Ope a o panel The second es seen in Figu e 2, and he sepa a ion S a ion and he sys em componen s. A his s a ion he p og ess o a DC Mo o he mo ion o pneuma ic cylinde s and sample piece p o ided by he sys em. Samples placed in he s a ing posi ion o he i s senso and he measu emen s o be made a e being mo ed o wo posi ions. The las poin o he measu emen esul om he ma e ial o he channel abo e o below, again a e pushed by a pneuma ic cylinde . Fig 2. Tes and sepa a ion S a ion sys em componen s(Mechanism 2) Sepa a o and sepa a ion PLC con olled pneuma ic es s a ions, colo , heigh , and as o whe he o no o me al Figu e 2 common sys em componen s; 1. PLC (S7-300) 2. Pneuma ic Cylinde s 3. DC Mo o 4. Elec o-Pneuma ic Val e G oup 5. Pneuma ic Vacuum G ippe 6. Senso s The schema ic o he sys em s uc u e, he s uc u e is qui e simila o he p e ious schema ic o he s a ion. (Fig 1.) The di e ence he e, he sys em consis s o wo wo ks a ions. The mo emen o he sample o he anspo o he i s s a ion, he second S a ion and he measu emen s a e used o he pa sing p ocess. These wo s a ions, and is con olled by wo di e en PLC s a ions wo ks in e ac i ely wi h each o he . Tes specimens om his es and sepa a ion s a ion he Black, Whi e and whe he hey a e p ope ies such as me al a e s udied. Also he e is a hole on one side o he samples. In his way he specimen is placed ha will be pe o med o check whe he o no la o in e ed. B. Ma hema ical S uc u e O The Sys em In es iga ed pneuma ic sys ems, single ac ing cylinde , double ac ing cylinde and elec o-pneuma ic di ec ional con ol al es a e discussed as including h ee sepa a e elemen s. The s anda d o i ice using he heo y o dynamic p ope ies o elemen s and each elemen is gi en ma hema ical model o a pneuma ic. When you c ea ed he model, he ollowing assump ions we e made  Ai is an ideal gas.  Feeding p essu e (Ps) is cons an  Exhaus p essu e (PR) is equal o a mosphe ic p essu e (Pa).  The p ocess is isen opic.  Feed cylinde is cons an and equal o he empe a u e he empe a u es in he compa men s in he ank.  The dynamics o he pis on al e and he hose has been neglec ed. 1. Cylinde Model Push and pull o ces single ac ing pneuma ic cylinde s can be calcula ed as ollows. In he di ec ion o he h us o ce han he o ce in he di ec ion o pull. The eason o his is due o ensile comp essed ai in he di ec ion o he applied ield will be smalle han he sha s. Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2. DOI: 10.17667/ iim.2016.1-2/14. Fig 3. Single ac ing pneuma ic cylinde [8] Theo e ical o ce calcula ion; (1) (2) Figu e 4, 4/2 di ec ional con ol al e double ac ing cylinde con olled by a also has been gi en. He e 󰇗 󰇘, espec i ely, posi ion, speed, accele a ion [m, m/s ,m/s2 ]; o cylinde 1. and 2. he p essu e in he compa men s [Pa]; supply and exhaus p essu e [Pa]; cylinde 1. and 2. he a ea on he side o he pis on [m2]; 󰇗 cylinde 1. and 2. on he side o he mass ai low [kg/s]; con ol sys em and al e pis on weigh M [kg] ep esen s. Fig 4. Double ac ing pneuma ic cylinde [8] The eed p essu e o he al e posi ion o which de e mines how he cylinde is opened o a mosphe ic p essu e o o. The load o wa d (+) o mo e he cylinde 1. compa men opens in o he eed ank. Simul aneously, he cylinde 2. he compa men is opened o he a mosphe e. This condi ion gi es ise o he p essu e di e ence be ween he compa men s o he cylinde . The di e ence in p essu e inc eases enough o de ea ic ion and ex e nal o ces when he pis on and hus he load s a s o mo e. The equa ion o mo ion o he cylinde is as ollows [5]; (3) 󰇘 (4) 󰇘 (5) ( 󰇗 󰇘 ) (6) Equa ion (4), he ne o ce on he sys em due o he di e ence in p essu e, i he o ce o ic ion is . Vol s mass ai low comp essed om he cylinde elemen o he inpu a iables, he posi ion and eloci y o he pis on. A cylinde 1. ou pu a iables and 2. he p essu e in he compa men s. The ela ionships be ween p essu e and low a e gi en below [6]; 󰇗 [ 󰇗 󰇗] (7) 󰇗 [ 󰇗 󰇗] (8) 2. Val e Model Val e elemen om he p e ious elemen o p essu ized ai and an elec ical signal inpu o he a iable ha is se by he loca ion o he al e. As ou pu a iables depending on he posi ion o he al e cylinde 1. pane o 2. en e ed in o he pane, o he comp essed mass ai low. The po a ea al e , and al e discha ge coe icien cons an s, such as inpu sys em can be conside ed as cons an . The ela ionships be ween al e inpu and ou pu a iables a e gi en in he ollowing equa ions [5]. The pis on cylinde o wa d (+) mo emen in he case; 󰇗 √ ( ) (9) 󰇗 √ ( ) (10) whe e; { ( ) √ ( ) (11) The pis on cylinde backwa d (-) in he case o p og ess; 󰇗 √ ( ) (12) 󰇗 √ ( ) (13) whe e; { ( ) √ ( )( ) (14) √ ( ) √ ( ) ; ( ) (15) whe e is he speci ic hea a io, he gas cons an c i ical p essu e and he mass low pa ame e . III. EXPERIMENTAL WORK Two di e en alues a e measu ed a di e en p essu es o di e en es and sepa a ion s a ion he ib a ional modeling a i icial neu al ne wo ks a e e iewed. S a ions o es ing and so ing he ma e ial in 3 di e en weigh s wi h he ib a ion alues a e measu ed a minimum and maximum p essu es in pneuma ic cylinde and has pe o med analysis and modeling. While modeling algo i hms ha belong o 5 di e en a i icial neu al ne wo ks algo i hms ha gi e he bes and wo s esul s a e p esen ed in g aphs and ied. Tes and sepa a ion s a ion he i s pneuma ic sepa a o o black, whi e and me al (25 g, 15 g, 10 g) single ac ing Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2. DOI: 10.17667/ iim.2016.1-2/14. cylinde used o sepa a ing h ee ma e ials, (1., 2. and 3. measu emen poin s) 2 ba wo king p essu e and 6 ba ib a ion alues we e aken. Fig 4. Sepa a o pneuma ic es and sepa a ion s a ion and an expe imen al se up o measu ing he accele a ion (1). Second sepa a o pneuma ic es and sepa a ion s a ion 3 di e en weigh s (50 g, 100 g, 240 g) ma e ial o a wo king p essu e o 2 ba and 6 ba , wo double ac ing cylinde s (1. and 2. measu ing poin ) and DC mo o (3. measu ing poin h ough he ib a ion alues we e aken. Fig 5. Sepa a o pneuma ic es s a ion and an expe imen al se up o measu ing he accele a ion and sepa a ion (2). IV. ARTIFICIAL NEURAL NETWORKS (ANN ) Sepa a o pneuma ic es s a ions, expe imen al se ups and sepa a ion o he B uel - Kjae po able and mul i-channel pulse da a has been ecei ed and wi h he help o accele ome e senso s using a i icial neu al ne wo ks by using modeling and analysis conduc ed. In Figu e 6 The Block diag am o his si ua ion a e gi en. Fig 6. Block diag am o expe imen al sys em The mos ypical o m o he NN s uc u e, he cell gene a ed wi h he model o he laye s o be assembled can be ins alled wi h he sequen ial o ma . A neu al ne wo k model used is shown in Figu e 7. Fig 7. ANN’ s schema ic ep esen a ion He e he applied laye o he inpu laye o he inpu signal, he ou pu signal o he eceip o he esponse laye is called he ou pu laye . In he p esen s udy, a linea cell in he inpu laye , hidden and ou pu laye s, espec i ely, en and h ee nonlinea cell was used. Gi en he ne wo k ob ained o he aining, 70%, o he es phase, 30% we e used. ANN’ s da a o be used o he pu pose o es ing o he s able s uc u e o he ne wo k du ing he aining phase we e no used. A. Back P opaga ion Algo i hm The mos common applica ions used in he lea ning algo i hm. Mos p e e ed because i can be easily e i ied ma hema ically easy o unde s and and he lea ning algo i hm. Re e se his algo i hm o educe e o s back p opaga ion go i s name because o wo king om he ou pu o inpu [7]. Back p opaga ion algo i hm, he slope is dec easing and MLP’ s he mos basic lea ning algo i hm used in aining. In his algo i hm he weigh s be ween he elemen s and wi h p ocessing imes ( ), he change in is calcula ed. This exp ession, ( ) ( ) (16) as i is p o ided. The equali y (16) he lea ning coe icien , momen um coe icien and o belonging o any neu on in he ou pu laye Dec o is a ac o . Fo he ou pu laye , his ac o is p o ided in he ollowing manne ; ( ) (17) whe e, ∑ (18) and he a ge ou pu o he elemen p ocesso . Dec ac o o he neu ons in he laye s; ( )∑ (19) B. QuickP opaga ion Algo i hm (QP) Quick p opaga ion algo i hm, de eloped by Fahlman and new on me hod based on a heu is ic lea ning algo i hm used o MLP aining. P opaga ion es s a e usually as when compa ed wi h o he echniques he pe o mance o he algo i hm is p e y good. This algo i hm gi es be e esul s in less da a p oblems wi h he noise le el especially [7]. Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2. DOI: 10.17667/ iim.2016.1-2/14. This algo i hm is neglec ed and he weigh in accele a ion and clipped he om up o in weigh change, ( ) ( ) ( ) (20) wi h he o mula is ob ained. He e ε is he lea ning coe icien , and momen um coe icien α is. He e o upda e he weigh unc ion, he del a unc ion and pa icipa es in he p ocessing o he accele a ion due o g a i y, he coe icien o weigh . ( ) ( ) ( ) ( ) (21) He e is he coe icien accele a ion. Finally, i he weigh is oo small, 0 is clipped by aking. | ( )| i ( ) is aken. He e, he weigh ac o c op [6]. C. Del a- Ba - Del a Algo i hm Del a-Ba -Del a mul i-laye ed pe sep on con e gence o he connec ion weigh s in a heu is ic app oach ha is used o inc ease he speed. In expe imen al s udies, he weigh o each dimension in e ms o space ha e shown ha all he e o su ace can be comple ely di e en . To explain he changes in he e o su ace, especially he coe icien o each link o he ne wo k should ha e own lea ning. The app op ia e s ep size o he size weigh only he weigh o his hough may no be sui able o all sizes [7]. The s anda d back p opaga ion algo i hm, he slope componen is p o ided in he ollowing way, ( ) ( ) ( ) (22) He e ( )a he ime o he e o alue , ( )and he weigh o he connec ion ( )illus a es he slope o he change in weigh componen . The s anda d back p opaga ion algo i hm o he Connec ion Weigh ; ( ) ( ) ( ) (23) will be upda ed as. He e is a lea ning cons an coe icien . DBD lea ning ule, he lea ning a e o each connec ion, he a iable ( )is assigned o, and upda e o he Connec ion Weigh ; ( ) ( ) ( ) ( ) (24) V. SIMULATION RESULTS The scope o wo k es ing and so ing s a ions in i e expe imen al se ups o ib a ion analysis neu al ne wo k algo i hm was used. Expe imen ally ob ained ib a ion da a is aken as he desi ed alue. A S a ion 107 he i s es o ib a ion and sepa a ion o he ne wo k he aining da a, he ib a ion da a we e used in he es ing phase 50. 175 he second es and sepa a ion s a ion o he ne wo k du ing aining, ib a ion da a, ib a ion da a we e used o he es phase 90. ANN’ s e alua ion o he accu acy o modeling wi h he da a o be used du ing aining o he da a o be used in he es phase is di e en . Vib a ion analysis o he s udy o back p opaga ion algo i hm, ba ch algo i hm, backp op, del a-ba -del a algo i hm, quickp opaga ion ( as p opaga ion) algo i hm and p op ( lexible p opaga ion) algo i hm was used. The i s es and sepa a ion s a ion he bes esul s o as p opaga ion algo i hm, while he wo s esul s del a-ba -del a algo i hm we e ob ained. The second es and sepa a ion s a ion o bes esul s he wo s esul s ha e been ob ained in he back p opaga ion algo i hm and is s ill he del a-ba -del a algo i hm we e ob ained. TABLE I. CHARACTERSTİCS OF DİFFERENT LEARNİNG ALGORİTHMS İN FEEDFORWARD ANNS A. Max. and min. p essu e in he simula ion esul s (Mechanism 1) Max. and min. he apid p essu e p opaga ion algo i hm and Del a - ba - Del a he esul s o he simula ion igu e 8,9, 10 and 11 a e gi en. Measu emen poin -1 Measu emen poin -2 Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2. DOI: 10.17667/ iim.2016.1-2/14. Measu emen poin -3 Fig 8. Di e en measu emen poin s max.expe imen al and neu al ne wo k esul s o p essu e( as -p opaga ion algo i hm) In he abo e cha max. apid p essu e p opaga ion algo i hm esul s a e gi en. Figu e. 8. as seen, he highes ib a ion 2. ANN and occu ed la gely a he poin o measu emen o he desi ed answe unco e ed. 1. and 3. he ib a ion alues a he measu emen poin s smalle neu al ne wo k has been able o ack he desi ed alues. Measu emen poin -1 Measu emen poin -2 Measu emen poin -3 Fig 9. Di e en measu emen poin s max.p essu e-expe imen al and neu al ne wo k esul s(Del a-ba -del a algo i hm) Del a-ba -del a neu al ne wo k algo i hm wi h h ee measu emen poin s in he desi ed esponse could no ca ch up. This algo i hm ANN’ s in he es phase he co ec pe cen age is 15%. Measu emen poin -1 Measu emen poin -2 Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2. DOI: 10.17667/ iim.2016.1-2/14. Measu emen poin -3 Fig 10. Di e en measu emen poin s o min.expe imen al and neu al ne wo k esul s o p essu e( as -p opaga ion algo i hm) Figu e 10, he maximum ib a ion alue, as shown in 2. we e aken om he measu emen poin . Fas -p opaga ion algo i hm neu al ne wo k ga e he desi ed answe . 1. despi e he lowe alue o he ib a ion measu emen a he poin o sudden NN could no ca ch up wi h he changes a he poin s whe e he desi ed alues. 3. he measu emen poin o he NN, he desi ed answe has ollowed. Measu emen poin -1 Measu emen poin -2 Measu emen poin -3 Fig 11. Di e en measu emen poin s o min.p essu e-expe imen al and neu al ne wo k esul s(Del a-ba -del a algo i hm) Del a-ba -del a algo i hm wi h neu al ne wo k has been able o ack he desi ed alues. 1. and 3. despi e he low equency alue a he poin o measu emen , neu al ne wo k did no ge he desi ed esponse. ANN wi h his algo i hm’ s accu acy pe cen age o 2% due o emained. B. Max. and min. p essu e in he simula ion esul s (Mechanism 2) Max. and min. p essu e p opaga ion algo i hm back p opaga ion and Del a - ba - Del a he esul s o he simula ion igu e 12,13, 14 and 15 a e gi en. Measu emen poin -1 Measu emen poin -2 Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2. DOI: 10.17667/ iim.2016.1-2/14. Measu emen poin -3 Fig 12. Di e en measu emen poin s max .expe imen al esul s o p essu e and a i icial neu al ne wo k(back p opaga ion algo i hm) In he abo e cha max. back p opaga ion algo i hm esul s in p essu e a e gi en. 1. wi h he inc ease in p essu e be ween measu emen poin s change in ib a ion da ahas been obse ed. ANN, his has la gely ollowed he desi ed da a a he poin o measu emen . 2. and 3. e y la ge di e ences we e obse ed in he measu emen poin s. ANN, his algo i hm is 80% and achie ed an accu acy a e o . Measu emen poin -1 Measu emen poin -2 Measu emen poin -3 Fig 13. Di e en measu emen poin s max.p essu e-expe imen al and neu al ne wo k esul s(Del a-ba -del a algo i hm) Del a-ba -del a algo i hm, neu al ne wo k he ou pu da a o he desi ed alues a h ee measu emen poin s has been able o ollow he e ec o ib a ion. Measu emen poin -1 Measu emen poin -2 0 0,5 1 1,5 2 2,5 110 19 28 37 46 55 64 73 82 İ me [m/s2] zaman[s] ysa deneysel Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2. DOI: 10.17667/ iim.2016.1-2/14. Measu emen poin -3 Fig 14. Di e en measu emen poin s min..p essu e-expe imen al and neu al ne wo k esul s (Backp opaga ion algo i hm ) In he abo e g aph, p essu e, esul s o back p opaga ion algo i hm a e gi en. ANN, a he poin s whe e he ib a ion is able o ack sudden changes o he desi ed alues. Apa om ha ANN’ s accu acy he pe cen age o he algo i hm o 50%. Whe e 2 alues a e lowe ib a ion. ela i ely good esul s we e ob ained a he poin o measu emen . Measu emen poin -1 Measu emen poin -2 Measu emen poin -3 Fig 15. Di e en measu emen poin s o min.p essu e-expe imen al and neu al ne wo k esul s(Del a-ba -del a algo i hm) As seen in Figu e 15, he la ges alue o 1 ib a ion we e ob ained a he measu emen poin . ANN, del a-ba -del a algo i hm did no gi e he desi ed esul . ANN’ s displayed a s able image ou pu da a. ANN’ s he accu acy a e is almos negligible. VI. CONCLUSIONS In his s udy, wo di e en es s a ions, PLC con olled pneuma ic sepa a o and he sepa a ion o es se s om di e en poin s o accele a ion and ib a ion analysis using neu al ne wo k modeling wi h noise e ec s was ca ied ou . As a esul , he ib a ion occu ing a di e en wo king p essu es and p essu e changes in pneuma ic sys ems and e iewed he e ec o ib a ion was in es iga ed. Expe imen al and i e di e en algo i hm by using simula ion esul s ob ained a e e alua ed, he as p opaga ion algo i hm and in he back p opaga ion algo i hm simula ion esul s ob ained o he same beha io expe imen al esul s ibu e capabili y, he algo i hms he ib a ion pa ame e s can be used in eal- ime.      REFERENCES [1] Smaoui, M., B un, X., Thomasse , D., 2006. A s udy on acking posi ion con ol o an elec opneuma ics sys em using backs epping design. Con ol Enginee ing P ac ice, 14: 923-933. [2] Akkaya, A. V., Se ilgen, S. H., E dem, H. H., Çe in, B., 2005. 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