By Peter Polak (auth.)
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Additional info for A Background to Engineering Design
If we timeaverage this deficiency by integrating the error signal and use the answer to adjust the original set-point accordingly we can cure both these troubles. This facility is built into three-term controllers with a proportional band, a differential action for error rate and integral action for smoothing and reducing the 'offset'. It is emphasised that such a system cannot be designed and made stable by qualitative commonsense alone; a study of control theory is essential. Sometimes instability is useful.
Kinematically a wheel (cylinder) can roll only in a straight line and a cone is needed for curves. Indeed, a wide cylinder has a substantial straightening-up tendency, noticeable in garden rollers. This is called self-aligning torque in the automobile business; some aircraft writers use this term for what would better be called castor-effect; perhaps the toroidal aircraft tyre has less self-aligning torque than a car tyre. For minimum scrub all wheels should be tangential to the curved path, all axles converging on a common point.
Values up to 600 MN/m 2• Suppliers' literature must be consulted for details but it can be said here that heat-treatment is quite different from the usual steel hardening and tempering. Softening is by solution treatment at temperatures approaching melting, so that good temperature control is needed, followed by quenching. A subsequent low-temperature heating produces hardening. Some rivet alloys are arranged to harden at room temperature and have to be kept chilled to keep them soft until use.