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The University of Arizona Hyperloop Pod Compressor & Air
Bearing System Design
DLN 8/24/15
Team Description & ObjectiveThe University of Arizona Hyperloop Team is a motivated group of three graduate and twenty undergraduate students who have an interest in the Hyperloop concept. Our team represents an engineering club on campus whose aim is to develop research and technical skills while being students at the University of Arizona.
Our team’s objective is to study and optimize the compressor and air bearing systems for a hyperloop pod design. We plan on presenting our design at design weekend but we do not intend to compete with a full pod design.
Team Members:John Donald Mangels, Irene Moreno, Philip Ciuffetelli, Jacob Grendahl, Kevin Sherwood, Mark Ernst, Rohan Mehta, Tristan Roberts, Aaron Kilgallon, Corey Allen Colbert, Jeremy Harrington, Mandy Olmut, Ryan Jensen, James Nguyen, Namrah Habib, Jacob Pavek, Patrick Portier, Harshad Kalyankar, Ryan Petronella, Jonathan Heinkel, Joel Mueting, Sean Gellenback, Ben Kaufman
Faculty Advisor:Dr. Cholik Chan
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DLN 8/24/15
System Level RequirementsName Description
Verification MethodAnalysis Inspection
Pod Constraint Pod mass shall not exceed 11,000 lbm X X
Test Track Interface Pod shall fit within the cross-sectional area of the test track X X
Operational Pod shall be moveable at low speeds when not in operation X
Test Track Interface Pod shall utilize Operational Propulsion Interface X
Operational Pod shall be able to come to a complete stop by use of a braking system X
Operational Pod shall travel along the track in a smooth motion without colliding into the center rail. X
Operational Pod shall be able to travel at Mach 0.3 without inducing a syringe effect X X
Operational Pod shall be able to levitate using air bearings between the end of the acceleration phase and the beginning of the braking maneuver X X
Pod Constraint Pod shall be powered by an onboard power system X
Operational Pod shall be able to operate with an ambient tube pressure between .02 - 14.7 psi X X
Power Constraint Compressor and bearing support subsystems shall not exceed 1082.82 HP of onboard power X X
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DLN 8/24/15
Subsystem Level RequirementsSubsystem Description Verification Method
Analysis Inspection
Bearings Air bearing system shall interface with the test track according to the Hyperloop Tube Specification Document X
Bearings Air bearings shall levitate the pod before the completion of 800 ft acceleration phase X
Bearings Wheels shall support the pod during initial acceleration X X
Bearings Bearings subsystem weight shall not exceed 3700 lbm. X
Bearings Pod shall smoothly transition from wheeled bearings to air bearings during acceleration phase X
Compressor Compressor shall intake air moving between 0 and 334 ft/s X
Compressor Compressor shall supply air pressurized to 3.34 psi for the air bearing subsystem X X
Compressor Compressor diameter shall not exceed 70% of tube diameter X
Compressor Compressor subsystem weight shall not exceed 4700 lbm X
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*Demonstrations and test verification methods were not considered because no physical pod is being built
Air Bearing & Suspension System
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Concept 1
Operation < 100 MPH
• Pod levitated according to wheel requirements• Air bearings float• Hydraulic system activated at 100 MPH
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6
45
12
(1)Nose (2)Hydraulic Actuators (3)Pod (4)Air bearing Platform (5)Wheel (6)Ground
6
Concept 1
ConditionNormal Operation > 100 MPH
• Hydraulic actuators activated• Wheels are retracted• Air bearings fixed• Pod levitated according to air bearing
requirements
23
6
4 5
12
(1)Nose (2)Hydraulic Actuators (3)Pod (4)Air Bearing Platform (5)Wheel (6)Ground
ConditionCompressor Failure
● Air bearings fed from air tank● Pod slows to safe wheel speed● Wheels extend● Pod levitated according to wheel requirements
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Concept 2 (Selected)
Operation < 100 MPH
• Pod levitated according to wheel requirements• Air bearings float• Hydraulic system activated at 100 MPH
122
3
6
4 5
1
(1)Nose (2)Hydraulic actuators (3)Pod (4)Air bearing platform (5)Wheel (6)Ground
8
ConditionNormal operation > 100 MPH
• Hydraulic actuators activated• Air bearings are extended• Wheels float • Pod levitated according to air bearing
requirements
12
3
6
4
2
5
(1)Nose (2)Hydraulic actuators (3)Pod (4)Air bearing platform (5)Wheel (6)Ground
ConditionCompressor failure
● Air bearings fed from air tank● Pod slows to safe wheel speed● Air bearings retract● Pod levitated according to wheel requirements
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Concept 2 (Selected)
Compressor
Wheels
Air Tank
Air Bearing
Air Bearing Platform
LegendAirPhysical Connection
Pushrod Suspension
Pod Frame
Cabin/Thrust
Hydraulic Suspension
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Concept 2 Architecture (Selected)
Trade Studies Air Bearings Linear Actuators Wheels
Trade Circular Ski Hydraulic Pneumatic Solid Pneumatic
Pros -Well Understood Concept-Simplified Flow Analysis -Symmetric-Requires One Orifice
-Utilizes All Available Area-Ideally More Even Pressure Profile
-Durability -Proven Technology-Quick Reaction-Precise Control
-No Associated Fluids-Light -Clean-Small Profile
-Not Concerned With Deflating-Maintenance Free
-Low Maintenance Cost -Light weight-Non flammable gas-Higher Capacity
Cons -Unused Available Bearing Area Due To Geometry
-Requires Numerous Inlet Orifice
-No Available Designs
-Introduces fluid to the system-Large Profile-Requires Fluid Reservoir
-Limited Output Force-Internal Pressure Fluctuations-High Cost
-High Inertia-Heavy-High Replacement Cost
-Routine PressureChecks
Selected Design
Circular Single Orifice Fed Hydraulic Linear Actuators Nitrogen Filled Rubber Wheels
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Concept 2 System Design
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Nominal Operations:Drag force: 107.14 lbfCompensated by exhaust thrust of velocity magnitude X Mach
Kantrowitz Limit Concept 2: Compressor Failure
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Contingency Operations:Drag Force: 543.8 lbfDeceleration 3.15 ft/s^2 for a 551.2 lb podTime to reach < 100 mph: 59.7 secondsDeceleration Distance: 14364 feet
Compressed Air TankAssumption:No pressure loss upstream of the jet
Pressure Needed: 3.34 psiMass Flow Rate from the tank: 1.87 lb/s
Approximate stored air density: 0.161 lb/ft3
● Based on a stored air temperature of 557 K (543 F)
Approximate Volume needed: 348.03 ft3
Material: Aluminium 6061● Density: 168.56 lb/ft3
● Approximate Thickness: 0.20 in - 0.23 in
Emergency Response
Air Tank Cabin/Thrust
Air Bearings
Pressure - 23 kPaMass flow - 0.1984 lb/s
Divert all air to the bearings for the duration of emergency deceleration
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Pod to damper attachment point
Air bearing to damper attachment point
Spring
Piston guide cylinder (hydraulic fluid contained here)
Damper piston
Damper piston guide
Hydraulic fluid line connections
Hydraulic System Components
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Air bearing to damper attachment point
Hollow chamber for air bearing feed tubes
Circular air bearing
Compressor Subsystem
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Power
Tubing
Design Concept 1Legend
Data
Bridged Power
Thrust
Axial Compressor
Storage Tank
Air Bearings
Mechanical Connection
ProcessorControl System
Power
Suspension
Motor
17
Power
Tubing
Design Concept 2 (Selected Design)Legend
Data
Bridged Power
Mechanical Connection
Axial Compressor 1
Axial Compressor 2
Motor 1 Motor 2
ControlSystem
Processor
Storage Tank
Air Bearings
Suspension
Thrust
Power
18
Trade Studies-CompressorTradeoff Matrix
Trade Single Axial Compressor System Two Axial Compressor System
Pros • Simple 1 motor system • Uses less power• Basics compressor• Simplistic design and easier to model
• Can manipulate and change the compressor pressure ratio between the 2 stages
• High compression compared to initial conditions due to the second stage
Cons • Limited rpm movement for the same compressor ratio
• Low compression system• Less efficient
• Two drive shafts and two motors therefore higher power
• High intensity design harder to model
Selected Design Two Axial Compressor System (Design Concept 2)
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DLN 8/24/15
Material Selection• Materials for High Performance Compressor Blades
• Need stable microstructure • Want material that can be directionally solidified or want to be able to use
a single crystal for each turbine blade • Best choice material: Nickel Based Superalloy
• Materials for Stators and Shell • High specific strength • Want rigid material that is resistant to moving• Best choice material: Titanium Alloys
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DLN 8/24/15
Compressor Modeling•All compressor modeling has been done using Laux-C
•Models only design concept #1•Limited by:
•Pressure range < 7.35 psi•Mass flow rate < 110 lb/s•Can’t set constant area of compressor
•Simulations have good theoretical precision to output values
•We want to model the compressor with a specific area and be able to change the blade angle and rotational speed to create a better compression
•Switch to modeling the compressor in SolidWorks & ANSYS
22
DLN 8/24/15
Compressor Model using SolidWorks
23
Estimate Design Dimensions
Tube Pressure .044 Psi
Pod Cross-Sectional Area 8.61 ft2
Diffuser Entrance Cross-Section 2.15 ft2
Compressor Mass-Flow Rate 1.87 lbf/s
Exhaust Velocity 3.5 Mach
Exhaust Mass Flow Rate 0.77 lbf/s
Mass Estimate of Compressor 4629 lb
Item No. Material Description Quantity Total Mass (lbm)1 1060 Al Alloy Circular Air Bearing 15 in diameter 20 33.22 6061 Al Alloy Air Bearing Platform 15 in x 84 in 4 705.723 6061 Al Alloy Hydraulic system 4 165.044
Air bearings/Suspension:
Compressor:
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Table of Analysis
25
Based on requirements, verifications, and sub-system interfaces
Requirement Model Tool
Bearing Pressure ProfilesBearing Mass Flow RateAir Bearing SystemHydraulic SystemWheel SystemEmergency Wheel SpinPod Nose Profile Compressor ModelCompressor Pressure ModelTotal Compressor Design
NumericalNumericalSolidSolidSolidNumericalNumericalSolidNumericalNumerical
ANSYS FLUENTMATLABSolidWorksSolidWorksSolidWorksExcelANSYS FLUENTSolidWorksANSYS FLUENTLUAX-C and ANSYS FLUENT
Risks Identified (R1-R6)
26
Label System Failure Possible Solution(s) Risk Matrix Rating
R1
Hydraulic Suspension
Suspension won't come down/jammed upon reaching
reasonable speeds for air bearings.
Recall the pod for inspection.Minor/Moderate &
Rare
R2 Suspension locked in the "down" position.
Slow the pod down using flaps and have the pod attempt to slow down enough to where it can safely glide on the air
bearings with little to no damage to the parts. Fix upon arrival.Moderate & Rare
R3
Wheels & Wheel Suspension
Broken spring, rocker, damper, torsion bar, etc.
General maintenance inspections Insignificant & Rare
R4Broken spring, rocker,
damper, torsion bar etc. during transit
There should be multiple wheels so not much concern during transit. If this occurs during the beginning of the trip recall the pod and fix. At the end of the trip, decelerate to slower speeds
than what would be normal to pull the air bearings up and gently rest the pod on the remaining wheels. Fix at the end of
trip. Make sure that max weight isn't reached.
Minor & Rare
R5Wheels/tires worn during
transit Decelerate to slower speeds. Minor and Unlikely
R6 Wheels/tires worn General maintenance inspections Insignificant & Rare
Risks Identified (R7-R13)
27
Label System Failure Possible Solution(s) Risk Matrix Rating
R7
Wheel Motor(s)
Motor(s) failure (won't work, turn on, etc.)General maintenance inspections. Before take off,
if not working, delay the schedule to fix. Minor & Unlikely
R8 Motor(s) failure during transitSlow pod down enough to where the weight can
be put on wheels without them being turned/rotated beforehand.
Minor & Unlikely
R9
Air Bearings
Damage to air bearings during transit Maintenance/repair/replacement after pod comes to a stop at the end.
Moderate & Unlikely
R10Loss of pressure to one or multiple bearings
in transit (duct failure or clogged orifice)
Decelerate to slower speeds, retract air bearings to have pod on wheels to reduce damage to the bearings. Try and figure out issue, otherwise roll
on wheels to end of trip.
Moderate & Unlikely
R11 Loss of pressure to all bearings
Pod falls on bearings; bearings will be coated with material with a low coefficient of friction; this will allow the pod slide without causing catastrophic
damage
Major & Rare
R12 Compressor Complete compressor failureCompressed air tank will supply to the bearings
with air until the pod can be slowed to acceptable wheel deployment speed
Major & Rare
Risks Identified (R14-R18)
28No use of hazardous materials in compressor design
Label System Failure Possible Solution(s) Risk Matrix Rating
R13
Compressor
Complete rotor failure Regular metallographic examinationsCompressor Braking mechanism Minor & Unlikely
R14 Duct to storage tank failureAuxiliary duct system.
High strength/reliability ductsRegular inspection of ductwork
Insignificant & Unlikely
R15
Material Failure:• Low/High cycle and thermal fatigue• Environmental exposure and foreign
object debris • Excessive tensile load on blade tip
Regular inspection of high stress partsHigh performance materials Moderate & Rare
R16
Blade Failure• High centripetal forces
• Gas flow induced steady state stress• Foreign object debris
• Thermal stress e.g: nonuniform temperature distribution
Highly accurate, symmetrical blade designHigh performance material composition
Regular blade inspectionPerformance inconsistencies require inspection
Moderate & Unlikely
R17 Entire Pod Weight Overload Check weight before takeoff. Insignificant/Minor & Rare
29
R5 R7R8
R9
R1R3R6 R4
R17
R2R15
R10
R11R12
R16
29
R13R14
Next StepsAir Bearings & Suspension Subsystem:
•Modeling of Nose Cone Profile•Reducing weight required to be lifted by air bearing•Flow analysis for air bearing pressure distribution•Create full model of pod assembly•Stress analysis on suspension components
Compressor Subsystem:• Develop a duct system
•Account for pressure loss due to friction•Account for temperature increase due to friction
• Model the compressor with a better modeling tool such as ANSYS• Verify and clarify tolerance ranges and dimensions of compressor• Model bypass stream of air to cool compressor to prevent overheating of system
30