peapod - home | university of colorado boulder...•design and manufacture a pneumatically powered...
TRANSCRIPT
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PEAPODManufacturing Status Review
Pneumatically Energized Auto-throttled Pump for a Developmental Upperstage
Customer: Special Aerospace ServicesChris Webber and Tim Bulk
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• ProjectOverview• PumpManufacturing• PumpControl• Valving• Electronics• Software
• Budget• Conclusion
Overview
BudgetPumpControl
Testing/ScheduleOverview Pump
Manufacturing 2
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•Designandmanufactureapneumaticallypoweredpumpsystemforuseonanupperstagerocketengineorlander.• Proofofconceptpumpsystemforhypergolicpropellants• 10%-100% throttleability• Pneumaticallypowered
Project Motivation
BudgetPumpControl
Testing/ScheduleOverview Pump
Manufacturing 3
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Levels of SuccessLevel Functional Success Performance Success Functional Requirement
1 • Pneumatic power• Digital control• Meets safety
requirements
• 750 ± 15 psi outlet pressure• Structural FOS 2.5• 120 seconds of operation• 75% efficiency of pump at full
throttle
• FR1 – System is pneumatically driven
• FR7 - FOS of 2.5• FR8 – 75% efficiency at
full throttle• FR3 – Pump outlet is at
750 ± 15 PSI2 • Propellant stream
throttling• All level 1 requirements
• 10-100% throttleability• 0-100% throttle in 2 seconds• All level 1 requirements
• FR2 – Pump system is throttleable
• FR4 – Pump system can run through throttle profile
• FR5 – Pump is restartable3 • Hypergolic compatible
• All level 1 and 2 requirements
• 0-100% throttle in 1 second• All level 1 and 2 requirements
• FR6 – System is built to hypergolic standards
BudgetPumpControl
Testing/ScheduleOverview Pump
Manufacturing 4
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Subsystems1. Pump2. Drive System3. Control 4. Test
Functional Block Diagram
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CONOPS
6BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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Current Schedule
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Current Schedule
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• Whatisincluded:• Housing• Gears• Driveshaft• Bearings• Seals• Assembly• HeliumRegulatorHolster
Manufacturing - Overview
9BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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• Gearpumpismadeupof:• Gears– TobeManufactured• Housing– TobeManufactured• Close-outpanel– TobeManufactured• Driveshaft– Tobefinalized,willbekeyedandaltered• AlignmentShaft– Tobefinalized,willbekeyedandaltered• Seals– Purchased;Geometryisbeingtriplechecked• Mainbearings– Purchased;Thrustandrollerbearingstobepurchased• Coupler– TobePurchased• Collar– TobePurchased
Pump Manufacturing
10BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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•WireEDMprofilewithgroundfaces• Finalizingstockrequirements(17-4PHStainless)• CFDresultsmaydictateminorchanges• Nopostmachiningwithdecidedmanufacturer• Delivery4weeksARO
Gears
11BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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• CNChereatCU,usearoughcutfirsttominimizetimeonCNC• Benefit– workingfromourmodel• Basedoffof continuedCFDresults,asecondhousingwithloosertolerancesmaybemade– perhapshereoratSAS• Thisgivesusabackup• MustcontinuetomoveforwardandcompleteCFDconcurrently
• Timeframe:4weeks• Concerns:Depthofextrudedcut,maintainingtheprofile,materials,specialtoolstomanufacture
Pump Housing
12BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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Housing
13BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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• CNChereatCU• Basedoffof continuedCFDresults,asecondhousingwithloosertolerancesmaybemade– perhapshereoratSAS• Thisgivesusabackup,singularplatemayworkforbothhousingsTBD
• Timeframe:4weeksleadtime• Drawingtobefinalized:stillawaitingreliefgrooves,sealgroovegeometrymaychangeforoptimalperformance• Concerns:material,specialtoolstomanufacture,rotaryshaftsealandgeometry
Close-Out Plate
14BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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Close-Out Plate
15BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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• Seals• 1largeO-ringforfaceplateandhousing• 1O-ringshaftseal• Groovegeometryisbeingtriplechecked;Mayutilizeadoubleseal• Readyforpick-upinDenver
• Bearings• Bearingmanufacturerthatcommonlysuppliesbearingsforgearpumpsissending'samples'forfree(shipped,awaitingarrival)• Thisisputtingconstraintsonourshafts– metricoptionsmaysolvethis• Thrustbearingsareoutsideofworkingfluidandworkwithacollartoretainthedriveshaft• Rollerbearingsareincludedtoavoidwearontheinsideofthehousingandnecessitatepost-machiningoftheshafts
Pump Manufacturing
16BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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• Driveshaftandplacement• Post-machinehere• Wecankeyintheshophere,allowsforpropercontactandsizingtomaintainintegrityofhousing• Metricoptionsarebeingexploredtoobtainproperundersizing fortheperformancing sleevebearings• Timeframe:20hours
Pump Manufacturing
17BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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• SealgroovegeometrywillbefinalizedbyTuesdayCOB•MeetingwithMattRhodeTuesdaytonaildownlogistics–propermaterialandspecialtools• OrderandgetmaterialsandtoolsbyFeb.13th• StartmachiningASAPFeb13thor14th
Overall Timeframe
18BudgetPump
ControlTesting/ScheduleOverview Pump
Manufacturing
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GapDetected
BearingSpacer
ShaftBearingGearSetupShim GearSpacingShim
DriveShaft
Gear
Pump Assembly
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SpacingVerified
BearingSpacer
ShaftBearingGearSetupShim GearSpacingShim
DriveShaft
Gear
GearSpacingShim(+.0005)
Pump Assembly
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BearingSpacer
ShaftBearingGearSetupShim GearSpacingShim
DriveShaft
Gear
GearSpacingShim(+.0005)
Pump Assembly
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SpacingVerified
BearingSpacer
ShaftBearingGearSpacingShim
DriveShaft
Gear
GearSpacingShim(+.0005)
DriveShaftKey
Pump Assembly
Timeframe:1weekforassembly 22
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Pump Assembly
23
Bearing
Seal
Shaft
Collar
ThrustBearing
CloseoutPlate
Timeframe:1weekforassembly
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• ConstructinganElectronicHeliumRegulator• Tocontrolthedrivesystem
• Manufactureaholstertohousethesteppermotor• Timeframe:80hours
Electronic He Regulator
24BudgetTesting/
ScheduleOverview PumpManufacturing
Pump Control
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• Solenoidregulatorwastooexpensive• Manufacturingfromaluminum• Housessteppermotor• Need8Nmoftorquetoturnthepressureregulatoratitslowestsettings• Similarsetupforbackpressureregulator
Electronic He Regulator
25BudgetTesting/
ScheduleOverview PumpManufacturing
Pump Control
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Electronics FBD
Allelectronicdesignfallsinhere
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• SignalConditioning• Designwillbetestedinabreadboard• PCBboardwillbedesignedbasedonthebreadboard• PCBboardwillbepopulated
• Testing• Componenttestingwillbedoneonthebreadboard• Integrationwillbedone withthePCBboard
Electronics
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control 27
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• Electronics• Sensors• DAQs
• NI9211(temperaturereadings)• NI 9205(pressurereadings, similartoNI6002butmorepowerful)
• willuseNI6002 forfinaltests
• 100hoursleftforalltestingandintegration
Electronics Integration
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control 28
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• Software• LabVIEW• Developmentorder:
• Filesystem- complete• Componenttests/DAQ system– inprogress(~10hours, <1week)• Controlsystems– model,simulate,implement– inprogress(~45 hours, 4weeks)• Fullsystemtests - TBD(~60hours, 5weeks)
• DAQSoftwareDrivers• Already have
• Posttestanalysis- MATLAB(file readfunctions complete)
Software
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control 29
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Software
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control
• Controlcodeoverview:• Safetyimplicitto error
check• Throttle manual
or automatic• Backpressurefaster
than power - preventoscillation
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Software
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control
• Pressurevalvecontrol:• Somedatakeptin
memory– checkvalveposition
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Software
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control
• Backpressurecontrol:• Fastestcontrol
component
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• Software– thermocoupletestblockdiagram
Software
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control 33
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• Software– thermocoupletest userinterface
Software
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control 34
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• Combinedpressureandtemperatureuserinterface
• 115hoursremain
Software
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control 35
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Piping Assembly
BudgetTesting/ScheduleOverview Pump
ManufacturingPumpControl
Water Pipe Size: ¾"NPTPressure Ranges: 50-800PSIMax Flow Rate: 22Gal/min
Air Pipe Size: 1"NPTPressure Ranges: 0-2200 PSI
Max Flow Rate: 45CFM
Nomenclature
SV = Solenoid ValveRV = Relief ValveMBV = Manual Ball ValveMR = Manual RegulatorEP = Electronic Pressure RegulatorBPR = Back Pressure RegulatorTM = TachometerBD = Burst DiskLB = LubricatorF = Air FilterP = Pressure TransducerT = Temperature SensorADPT = GHT to NPTFP = Flexible PipeQD = Quick Disconnect
Low Pressure ~ 50PSI High Pressure ~ 750PSI
High Pressure ~ up to 2200 PSI Regulated Pressure ~ 0-125PSIMedium Pressure ~ up to 125PSI
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Testing Timeline
BudgetOverview PumpManufacturing
Component Testing – QC and CalibrationComponent Testing to be Conducted Man Hours Status
Pressure Transducer (Air P1, Water P1)
Calibration through ranges of known shop air pressures
6 Hours : 1.5*(2*1 + 2*1 + 2*1) 50%
Air Pressure Regulator (EPR) Operation through 0-110PSI to calibrate outlet pressure/thread engagement
10.5 Hours : 3*1 + 3*1.5 + 3*1 0%
Water Back Pressure Regulator (BPR)
Operation through 0-750PSI to calibrate inletpressure/thread engagement
10.5 Hours : 3*1 + 3*1.5 + 3*1 0%
Thermocouples (T1, T2) Calibration at known temperatures (Ice bath, boiling…)
4 Hours : 2*0.5 + 2*1 + 2*0.5 100%
Manual Ball Valve (Water MBV1) Verify correct operation (on/off) and no leaking 25 Minutes : 1*0.2 + 1*0.1 + 1*0.2 0%Solenoid Valve (Water SV1, Air SV2) Correct opening and closing upon energization
and de-energization1.5 Hours : 2*0.5 + 2*0.25 + 2*0.5 0%
Tachometer Calibration at known RPMs 6 Hours : 2*1 + 2*1 + 2*1 0%Manual Air Regulator (MR1) Calibration to ranges 100-125 with known shop
air pressures7 Hours : 2*1.5 + 2*1 + 2*1 0%
Full Air Assembly Torque Verification @ RPM, conducted with friction test, fan test
13.5 Hours : 3*2 + 3*1.5 + 3*1 0%
TimingPersonnel: Operators required
Hours: Timerequired to prepare and assemble test
Hours: Timerequired to conduct test
Hours: Timerequired to disassemble test and save results
Multiplier: Repeat test for identical sensor /component
*Subsystem Testing included in backups Total Man Hours: 113.4Testing/Schedule
PumpControl 37
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Scope
Electrical
CreateSignalConditioningonBreadboard
DevelopaPCBBoard
PopulatethePCBBoard
Software Manufacturing
Componenttest
Systemtest
Gears
Driveshaft
Housing
Valving/Piping
Integration
Bearings/Seals
Controlsystems
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Budget
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control 39
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Budget
BudgetTesting/ScheduleOverview Pump
ManufacturingPump
Control 40
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Schedule
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• Weareslightlybehindschedule(3days– 1week)• Encounteredproblemswithpumpmanufacturing• Airmotortesting• Unabletofindcheaperpartsresultedinmanufacturingthem
• Increaseinteamhourstoaccomplishsensorandintegrationtasks• MovingForward:• Increaseinsub-componenttestingfromallteammembers• Timeframe:~100hoursforElectronics
~200hoursforSoftware~100hoursforManufacturing/Assembly~150hoursforTesting
Conclusions
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Questions?
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Backup
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Pump Housing
• Worries about shafts wearing into the housing necessitated this solution• Possible to post machine
down the ends to press fit into bearings and key in the proper locations for the gears and coupler
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Pump Housing
• To prevent pressure pushing the driveshaft out, an extra retention method was included to prevent axial pushback since the shaft is essentially wedged between the mounted pump and mounted motor on the stand
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Pump Seals
• The geometry is being updated to optimal specs. Will be finalized/double checked by COB Tuesday• May included a double seal to mitigate possible leaking as
we enter testing
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Prelim Housing Drawing with GD&T
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Prelim Close-out Panel Drawing with GD&T
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Pump Control - Software
50BudgetTesting/
ScheduleOverview PumpManufacturing
Pump Control
• Pressureandtemperature
combinedtestsetup
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Pump Control - Software
51BudgetTesting/
ScheduleOverview PumpManufacturing
Pump Control
• Pressureandtemperaturecombinedtestmainloop
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Phase 1 – Sensor Testing and Simulation
• Designingmotor-regulatormechanicalinterface• Designingpressureregulationthroughcontrolofmotorvoltage
Electronicpressureregulatordesign
• CircuitDesign:Powerrequirements,readingoutputs
• Calibration:samplingrate,noisecompensation,errorrejection
SensorTesting
• ModelDriveandPumpsystem• Designcontrollawforthrottlingpumpflowrate• Designrealisticthrottleprofiles
SimulinkModeling
• Systemcircuitdesign• ImplementationofsafetymonitoringsoftwareLabView Design
KeyResultstoobtained
• Completionofpressureregulatingsystem,obtainingresultingaccuracy,slewrate,powerrequirements
• PressureTransducerperformance• Tachometermountingandperformance• Firstiterationofelectronicscircuitdesign• Firstiterationofsystemcontrollaw• Estimateofsystemslewrate(startupandshutdown)• Generationofvariousthrottleprofiles• FirstiterationofDAQdesignforbothdataacquisition
andsystemcontrol• Firstiterationofsystemuserinterface• Designofsystemmonitoringsoftware• Confirmingtestinglocation
Phase 2 Functional Reqs. met – None
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Phase 2 – Subsystem Testing
• Motor:RPM/TorqueTest• Motor:HeliumRunTest• ManualRegulator:PressureFluctuations• ElectronicRegulator:Calibrationtohitmaximum
accuracy.• Tachometer:Calibrationtohitmaximumaccuracy• Power-Offtesting:Verifyingthatsolenoidvalve
correctlyclosesincaseofpowerloss.• ThrottlingTest1:Throttlingfrom10-100%usingthe
electronicpressureregulator,confirmingcontrolwithpressuretransducer.
• ThrottlingTest2:Fullyassemblingdrivesystemcomponents.Runningthroughthrottleprofiles.
DriveSystemTesting PumpSystemTesting
KeyResultstobeobtained
• ManualRegulator:PressureFluctuations• Power-Offtesting:Verifyingthatsolenoidvalve
correctlyclosesincaseofpowerloss.• ElectronicBackPressureRegulator:Calibrationtohit
maximumaccuracy
• Numerousiterationsofthrottlingcontrolsoftware,monitoringsoftwareandelectronicregulatorsoftware
• Assessmentofunforeseenissues,correctionofaffectedcomponents
• Validationofcomponentcapabilities,allowingforfullsystemassemblytooccur
Phase 2 Functional Reqs. met – FR6, FR7
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Piping Assembly
54BudgetTesting/
ScheduleOverview PumpManufacturing
Pump Control
Water Pipe Size: ¾"NPTPressure Ranges: 50-800PSIMax Flow Rate: 22Gal/min
Air Pipe Size: 1"NPTPressure Ranges: 0-2200 PSI
Max Flow Rate: 45CFM
Nomenclature
SV = Solenoid ValveRV = Relief ValveMBV = Manual Ball ValveMR = Manual RegulatorEP = Electronic Pressure RegulatorBPR = Back Pressure RegulatorTM = TachometerBD = Burst DiskLB = LubricatorF = Air FilterP = Pressure TransducerT = Temperature SensorADPT = GHT to NPTFP = Flexible PipeQD = Quick Disconnect
Low Pressure ~ 50PSI High Pressure ~ 750PSI
High Pressure ~ up to 2200 PSI Regulated Pressure ~ 0-125PSIMedium Pressure ~ up to 125PSI
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Subsystem Testing Timeline
55BudgetTesting/
ScheduleOverview PumpManufacturing
Pump Control
Water Testing – Subsystem TestingComponent(s) Testing to be Conducted Man Hours Status
Solenoid Valve Shut-Off Simulate excessive pressure and/or temperaturereadings to initiate safety shutdown
9 Hours : (2*4 + 2*0.5 + 2*0.5) 0%
Adapter, Quick Disconnect, Flexible Pipe, Pressure Ducer
Quantify pressure losses (water) associated with pre-piping assembly
7.5 Hours : 2*1 + 2*1.5 + 2*1 0%
Pre-Pump pressure loss Quantify pressure loss (water) of full assembly leading to pump inlet
10.5 Hours : 3*2 + 3*0.5 + 3*1 0%
TimingPersonnel: Operators required
Hours: Timerequired to prepare and assemble test
Hours: Timerequired to conduct test
Hours: Timerequired to disassemble test and save results
Multiplier: Repeat test for identical sensor /component
Total Man Hours: 27
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Subsystem Testing Timeline
56BudgetTesting/
ScheduleOverview PumpManufacturing
Pump Control
Air Testing – Subsystem TestingComponent(s) Testing to be Conducted Man Hours Status
Solenoid Valve Shut-Off Simulate excessive pressure and/or temperaturereadings to initiate safety shutdown
4 Hours : (2*1 + 2*0.5 + 2*0.5) 0%
Pressurized Gas, Manual Regulator,Solenoid Valve (Air), Relief Valve, Filter, Pressure Transducer
Quantify pressure losses (air) associated with pre-regulator assembly
10.5 Hours : 3*1.5 + 3*1+ 3*1 0%
Full air system excluding Air Motor Detection of pressure regulator miss-calibration/erroneous operation
13.5 Hours : 3*2 + 3*1 + 3*1.5 0%
TimingPersonnel: Operators required
Hours: Timerequired to prepare and assemble test
Hours: Timerequired to conduct test
Hours: Timerequired to disassemble test and save results
Multiplier: Repeat test for identical sensor /component
Total Man Hours: 28
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Subsystem Testing Timeline
57BudgetTesting/
ScheduleOverview PumpManufacturing
Pump Control
Air Testing – Subsystem TestingComponent(s) Testing to be Conducted Man Hours Status
Solenoid Valve Shut-Off Simulate excessive pressure and/or temperaturereadings to initiate safety shutdown
9 Hours : (2*4 + 2*0.5 + 2*0.5) 0%
Pressurized Gas, Manual Regulator,Solenoid Valve (Air), Relief Valve, Filter, Pressure Transducer
Quantify pressure losses (air) associated with pre-regulator assembly
7.5 Hours : 2*1 + 2*1.5 + 2*1 0%
Full air system excluding Air Motor Detection of pressure regulator miss-calibration/erroneous operation
10.5 Hours : 3*2 + 3*0.5 + 3*1 0%
Full Air Assembly, air motor connected to friction assembly
TimingPersonnel: Operators required
Hours: Timerequired to prepare and assemble test
Hours: Timerequired to conduct test
Hours: Timerequired to disassemble test and save results
Multiplier: Repeat test for identical sensor /componentTotal Man Hours: 27
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Phase 3 – Full System Testing
• DriveShaftAlignment• Massflowratetesting• Throttleprofiletesting• Systemstartupandshutdowntesting• Emergencyshutdowntesting• Restartability testing
Fullscaletestingtobeconducted KeyResultstobeobtained
• Determinationofanymisalignmentofmotor/pumpdriveshaft
• Pumpperformance:massflowrate,backpressure,efficiency
• Observationofsystemundernumerousthrottleprofiles
• Iterationonshutdownprocedurestooptimizerestartability
• Iterationoncontrollawtoaccountforunaccountedsystemproperties
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Final Testing
• Throttle profile testing: (10 - 100% Throttle), slew rate testing.
• Quantifying magnitude of outlet pressure fluctuations
• Throttle profile testing (ran through various profiles)
• System startup and shutdown testing, with emergency shutdown and restart-ability
Full scale testing to be conducted Key Results to be obtained• Pump performance: mass flow rate, back
pressure, efficiency • Observation of system under numerous throttle
profiles• Iteration on shutdown procedures to optimize
re-startability• Iteration on control law to account for
unaccounted system properties
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• Pump-Drive system• Control Volume• Flow Bypass system• 3 Team membersmonitoring test
Standard Testing Procedure - Example
1. Pump is started up and commanded to throttle setting
2. The pump is run at throttle setting3. Flow enters control volume for 10 secs4. Flow is diverted back to regular vent5. Pump is shutdown6. Control volume is measured and recorded 7. Test is re-iterated as needed for other throttle
settings
Throttle Calibration Test Critical Test Elements
Key Results to be obtained• Validation of throttle model design• Refinement of throttle model design• Meeting of critical project element
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Safety Set-UpWorst Case Failures1. Drive system flywheel – 225 J 2. Drive system casing – 16 J 3. Pump gears – 36 J
Cinder Block Housing Strength• Chipping - 300 J • Cracking - 600 J • Penetration - 800 J• Failure - 1000 J • Complete destruction - >1300 J
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Analog to Digital Conversions
• Converting from ADC to pressure• Find the MSMT out of the
ADC to get the Voltage into the ADC• Find the pressure out of the
Pressure transducer• Find pressure by dividing it
by the voltage per pressure ratio
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Automatic Pressure Regulator
• Electronic pressure regulators with high volume flow are not found, but manual do exists• Combining a manual pressure regulator with an encoder and
stepper motor• Motor shall have a minimum angular velocity of 300 RPM• No error, and time of settle of less than 1 second
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Automatic Pressure Regulator FBD
• Controlling a stepper motor based on the position• This position will allow the
output pressure
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Automatic Pressure Regulator Diagram• Control points of view for the pressure regulator• Can be simplified by combining both plants • Needs to be tested to find the correlation of angular
position with output RPM
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Automatic Pressure Regulator• This can be simplified by combining • the drive system transfer function and • the motor transfer function
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Automatic Pressure Regulator
• Simplified version of the model• Allows to control the drive system based on the voltage
input
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Signal Processing – Differential Amplifier• Use for creating an offset
and applying a gain to the voltage out of the pressure transducer• This will allow us to look at
a range from 600 – 800 psi a with higher accuracy.
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Signal Processing – Voltage divider
• Being able to from 28 V to .6 V• The output will be used to
provide the offset needed for V1
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Signal Processing – Noise Mitigation
• Easy to make• First order filter• Only one pole
• Harder to make• Second order filter• Two poles
Low pass filter Sallen-key filterVs
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Signal Processing – Noise Mitigation
• Prevents to look at high frequencies that are irrelevant• This will have a cutoff
frequency at 2 kHz
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Signal Processing – Electronic diagram
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Electronic Test