Difference between revisions of "RC15-FlatSolenoid"

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−
Flat Solenoid w/o Shell (mm/s)                                                 
+
= Theory =
  
−
*8859                    *Including outliers                       
+
January 25th, 2015 members of the Mechanical and Elecetrical team sat down in a classroom to talk about the solenoid development.
  
−
*8651                                                   
+
=== <span class="mw-headline" id="Mechanical_constraints">Mechanical constraints</span> ===
  
−
9122&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
In the beginning of the conversation, some mechanical constraints were applied, such as:
  
−
9236&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Avg:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; *Avg:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
*A, Crossectional area of the armature. This area is set a bit smaller than the crossectional are of the solenoid, leaving as small of a gap between the walls and the armature.
 +
*Solenoid dimensions were set earlier.
  
−
9584&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 9359.375&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 9238.5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
== <span class="mw-headline" id="Models">Models</span> ==
  
−
9097&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
=== <span class="mw-headline" id="Model_.231">Model #1</span> ===
  
−
9304&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
Model #1 is the first model considered to describe and analyze the solenoid behavoiur. The main problem of this model was that the armature was viewed only at the instant, when it is completely encompassed in the solenoid. This is a big flaw due to the fact that this model greately limits the travel distance of the armature.
  
−
9294&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
=== <span class="mw-headline" id="Model_.232">Model #2</span> ===
  
−
9682&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
The main deviation from model #1 is that the armarture starts only partially inside of the solenoid (the initial guess was halfway through). A big assumption made in this model is that the magnetic field outside of the solenoid is negligeble in comparison to the magnetic field inside of the solenoid (in order words, the magnetic fields exists onlt insde of the solenoid). An important face noticed by from this model is that once a long (longer than the solenoid) armature fills the solenoid, it would stop moving.
  
−
9556&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Percent Imp: &nbsp; &nbsp; &nbsp; &nbsp;*Percent Imp:
+
=== <span class="mw-headline" id="Model_.233">Model #3</span> ===
  
−
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0.020153589&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0.024679331
+
Model #3 is the most realistic model among the ones presented. The solenoid has a variating magnetic field inside of it and a decreasing magnetic field outside.
  
−
Flat Solenoid w/ Shell (mm/s)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
=== Model #4 ===
  
−
9579&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
The design was inspired by Mannheim's solenoid, which is very hard to machine using conventional methods. That is why 3D printing was chosen to manufacture this model. The part is structurally sturdy but lacks the smooth finish required to allow for minimal friction with the armature. Measurements were taken to compare the CAD model to the printed part for error analysis:
  
−
9410&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
{| border="1" cellspacing="1" cellpadding="1" style="width:500px;"
 +
|-
 +
! scope="col" | Measured location
 +
! scope="col" | CAD Model (mm)
 +
! scope="col" | Printed Part (mm)
 +
|-
 +
| Side plaque height
 +
| 12.00
 +
| 12.13
 +
|-
 +
| Outside body height
 +
| 5.50
 +
| 4.70
 +
|-
 +
| Inside body height
 +
| 4.00
 +
| 3.60
 +
|-
 +
| Plaque length
 +
| 56.00
 +
| 55.73
 +
|-
 +
| Cutout plaque length
 +
| 47.80
 +
| 47.85
 +
|-
 +
| Inside length
 +
| 38.00
 +
| 37.11
 +
|-
 +
| Body length
 +
| 39.50
 +
| 38.81
 +
|-
 +
| Total width
 +
| 44.50
 +
| 44.72
 +
|}
  
−
*9147&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
>>>>Important to notice that body area had more error than base plaque (due to warping or shrinkage).
  
−
9363&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Avg:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; *Avg:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
== Force Distribution ==
  
−
9753&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 9548&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 9466.5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
Using model #3 described above, the force distribuion from the solenoid is non-linear and very complicated. However, understanding this force distribution is very important in order to determine the characteristics needed for most efficiency. As it can be seen in the picture *, the magnetic field is distributed along the field lines; the density of the magnetic field is proportional to the force applied to a charge in that field.
  
−
9471&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
==  ==
  
−
9685&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
== <span style="line-height: 1.6">Flat Solenoid armature speed '''without '''electrical steel</span><span style="line-height: 1.6">&nbsp;s</span><span style="line-height: 1.6">hell (mm/s)</span> ==
  
−
9646&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"
 +
|-
 +
| style="text-align: center" | <u><span style="line-height: 20.7999992370605px">8859</span></u><br/>
 +
| style="text-align: center" | <u><span style="line-height: 20.7999992370605px">8651</span></u><br/>
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9122</span><br/>
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9236</span><br/>
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9584</span><br/>
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9097</span><br/>
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9304</span><br/>
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9294</span><br/>
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9682</span><br/>
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9556</span><br/>
 +
|}
  
−
9477&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+
*Outliers underlined
  
−
*9134&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;
+
Average Armature Speed (mm/s)
 +
 
 +
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"
 +
|-
 +
| style="text-align: center" | Average (with outliers)
 +
| style="text-align: center" | Average (without outliers)
 +
|-
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9359.375</span><br/>
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9238.5</span><br/>
 +
|}
 +
 
 +
== <span style="line-height: 1.6">Flat Solenoid armature speed '''with''' electrical steel</span><span style="line-height: 1.6">&nbsp;s</span><span style="line-height: 1.6">hell (mm/s)</span> ==
 +
 
 +
{| style="line-height: 20.7999992370605px; width: 500px" border="1" cellpadding="1" cellspacing="1"
 +
|-
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9579</span><br/>
 +
| style="text-align: center" | <span style="line-height: 20.7999992370605px">9410</span><br/>
 +
| style="text-align: center" | <u>9147</u>
 +
| style="text-align: center" | 9363
 +
| style="text-align: center" | 9753
 +
| style="text-align: center" | 9471
 +
| style="text-align: center" | 9685
 +
| style="text-align: center" | 9646
 +
| style="text-align: center" | 9477
 +
| style="text-align: center" | <u>9134</u>
 +
|}
 +
 
 +
*Outliers underlined
 +
 
 +
Average Armature Speed (mm/s)
 +
 
 +
{| style="line-height: 20.7999992370605px; width: 500px" border="1" cellpadding="1" cellspacing="1"
 +
|-
 +
| style="text-align: center" | Average (with outliers)
 +
| style="text-align: center" | Average (without outliers)
 +
|-
 +
| style="text-align: center" | 9548
 +
| style="text-align: center" | 9466.5
 +
|}
  
 
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;
 
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;
 +
 +
[[Category: RoboCup]]
 +
[[Category: 2014-2015]]

Latest revision as of 02:44, 22 May 2020

Theory

January 25th, 2015 members of the Mechanical and Elecetrical team sat down in a classroom to talk about the solenoid development.

Mechanical constraints

In the beginning of the conversation, some mechanical constraints were applied, such as:

  • A, Crossectional area of the armature. This area is set a bit smaller than the crossectional are of the solenoid, leaving as small of a gap between the walls and the armature.
  • Solenoid dimensions were set earlier.

Models

Model #1

Model #1 is the first model considered to describe and analyze the solenoid behavoiur. The main problem of this model was that the armature was viewed only at the instant, when it is completely encompassed in the solenoid. This is a big flaw due to the fact that this model greately limits the travel distance of the armature.

Model #2

The main deviation from model #1 is that the armarture starts only partially inside of the solenoid (the initial guess was halfway through). A big assumption made in this model is that the magnetic field outside of the solenoid is negligeble in comparison to the magnetic field inside of the solenoid (in order words, the magnetic fields exists onlt insde of the solenoid). An important face noticed by from this model is that once a long (longer than the solenoid) armature fills the solenoid, it would stop moving.

Model #3

Model #3 is the most realistic model among the ones presented. The solenoid has a variating magnetic field inside of it and a decreasing magnetic field outside.

Model #4

The design was inspired by Mannheim's solenoid, which is very hard to machine using conventional methods. That is why 3D printing was chosen to manufacture this model. The part is structurally sturdy but lacks the smooth finish required to allow for minimal friction with the armature. Measurements were taken to compare the CAD model to the printed part for error analysis:

Measured location CAD Model (mm) Printed Part (mm)
Side plaque height 12.00 12.13
Outside body height 5.50 4.70
Inside body height 4.00 3.60
Plaque length 56.00 55.73
Cutout plaque length 47.80 47.85
Inside length 38.00 37.11
Body length 39.50 38.81
Total width 44.50 44.72

>>>>Important to notice that body area had more error than base plaque (due to warping or shrinkage).

Force Distribution

Using model #3 described above, the force distribuion from the solenoid is non-linear and very complicated. However, understanding this force distribution is very important in order to determine the characteristics needed for most efficiency. As it can be seen in the picture *, the magnetic field is distributed along the field lines; the density of the magnetic field is proportional to the force applied to a charge in that field.

Flat Solenoid armature speed without electrical steel shell (mm/s)

8859
 8651
 9122
 9236
 9584
 9097
 9304
 9294
 9682
 9556
  • Outliers underlined

Average Armature Speed (mm/s)

Average (with outliers) Average (without outliers)
9359.375
 9238.5

Flat Solenoid armature speed with electrical steel shell (mm/s)

9579
 9410
 9147 9363 9753 9471 9685 9646 9477 9134
  • Outliers underlined

Average Armature Speed (mm/s)

Average (with outliers) Average (without outliers)
9548 9466.5

           

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