EPE Association: EPE-PEMC 2004 - Topic 07-5: Servo drives, stepping, linear and brushless drives

EPE-PEMC 2004 - Topic 07-5: Servo drives, stepping, linear and brushless drives
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2004 - Conference > EPE-PEMC 2004 - Topic 07: MOTION CONTROL, ROBOTICS AND ADJUSTABLE SPEED DRIVES > EPE-PEMC 2004 - Topic 07-5: Servo drives, stepping, linear and brushless drives

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   Current Control Of Sensorless Brushless DC Motor On The Basis Of A Common DC Signal - Computer Simulation Results
By Stanislaw Pirog, Tomasz Siostrzonek [View]
[Download]

Abstract: This paper presents the first results of a computer simulation in IsSpice of sensorless drives with brushless DC motor, where current control is based on the signal proportional to the current module of DC voltage source. Equivalent scheme of machine disregards dynamic interdependences (inductance, speed, rotor position).

   Discrete Optimal Control With Fixed End-Point For An Electrical Drive System
By C. Botan, F. Ostafi, A. Onea [View]
[Download]

Abstract: The paper presents a fixed end-point linear quadratic problem for a drive system with a brushless or a d.c. motor. The optimal control law is derived in a convenient form, based on previous results of the authors. The main advantage of the proposed method consists in a simple implementation of the control law that avoid laborious real-time computation. Another advantage of the optimal control is a reduced energy consumption of the drive system. The experimental results obtained by simulation are presented in the last section and show the effectiveness of the proposed optimal control method.

   Experimental Study Of New Direct Sine-Driving Method For BLDCM Based On Internal Model Principle
By Hai-Jiao Guo, Kento Mochizuki, Li Su, Osamu Ichinokura [View]
[Download]

Abstract: Using coordinate transformations technique is a conventional method in BLDCM drives, but the amount of calculation increased in coordinates conversion. This paper presents experimental results using our proposed simple direct sine-driving method of brushless dc motors (BLDCMs) based on internal model principle (IMP). Considering the desired current in driving BLDCM is sinusoidal waveform, it is possible directly using IMP in current control. First, we introduce a control strategy based on IMP and verify that the current steady-state error can be completely eliminated. Then the design method of the current controller parameters is discussed. Some considerations compared with conventional driving method will be point out from experimental results. The priority in memory resource and executing speed will be discussed, many interesting results have been obtained, and new features will be pointed out.

   Initial Rotor Position Detection Of PM Motors
By A. N. Dianov, A. S. Anuchin, V. F. Kozachenko [View]
[Download]

Abstract: This paper presents new methods to detect the rotor position of PM motors at standstill. It is necessary to avoid reverse rotation at the start-up or starting failure. All the algorithms use a well-known approach - the inductance variation as a function of the rotor position and saturation effect to detect the polarity of the rotor.

   Modelling And Dynamic Simulation Of Mechanical Systems Driven By Stepper Motors
By P. Righettini, R. Strada, V. Lorenzi, B. Zappa [View]
[Download]

Abstract: A dynamic simulation of the behaviour of an hybrid stepper motor is performed making use of an electromechanical model, which allows to investigate, besides the motor’s regular running conditions, also the failure ones. Afterwards the model is implemented in simulation programs developed in order to investigate the dynamic behaviour of mechanical systems like mobile robots and SCARA robots. Moreover, preliminary experiments have been carried out on prototypes in order to test the model’s suitability.

   New Method For Pitching Motion Control In Attractive Mode Of Underwater LSM Vehicle ME02 Using An Air-Core Electromagnet
By Kinjiro Yoshida, Abderrahmane Nafa [View]
[Download]

Abstract: When a marine express is levitated or attracted at standstill and then propelled underwater, a pitching motion is caused inevitably due to a torque produced by thrust force around the center of gravity. In addition, some other disturbances such as the water flow or undersea currents may also cause this undesirable motion. In this paper, we will show that using an air-core electromagnet the pitching is actively and effectively damped in the highly unstable attractive mode, when the water buoyancy is larger than the vehicle’s weight, which is likely the case for a real marine express.

   Operating Point Assignment Of A Linear Motor Driven Vehicle Using Multiobjective Optimization Methods
By A. Pottharst, K. Baptist, O. Schuetze, J. Boecker, N. Froehlecke, M. Dellnitz [View]
[Download]

Abstract: A test track of 530 m length for linear motor driven railway vehicles in scale of 1:2.5 was built at the University of Paderborn in 2002. A doubly-fed long stator linear motor does not only drive the vehicles, but offers the opportunity of a contactless energy transmission into the vehicle’s on-board supply system, too. In this pape, the motion control structure is presented comprising an operating point assignment of the linear motor optimized by a multiobjective optimization method.

   Parameter Independent Sensorless Speed / Position Control Of Servo Motors Without Voltage Sensors
By Pawel Szczupak, Ralph Kennel [View]
[Download]

Abstract: A lot of interesting papers have already been published on sensorless control for synchronous as well as for asynchronous machines. High frequency carrier injection is a promising approach for position control even at zero speed because it does not refer to the fundamental machine model which fails at standstill of the magnetic field. Industry, however, is hesitating to apply these concepts – on the one hand many published concepts depend on physical parameters of the machine and on the other hand many sensorless control schemes require voltage sensors in addition to the standard equipment of an industrial drive. Both demands cannot be accepted by industry, because they result in additional costs and mean a step-back in comparison to existing industrial drives. Recently a modified sensorless control scheme for synchronous machines was published, which does not need any sensor to measure voltage(s). As this concept is based on a tracking scheme, it is also not depending on any physical parameter of the drive or its components. The paper presented here discusses the application of similar ideas on the line side of the drive. The proposed method is applicable on pulsewidth modulated (PWM) power supply rectifiers and neither needs voltage sensors on the line side nor accurate parameters to adjust the algorithms. New European (EU) Directives enforce the manufacturers of power electronic products to reduce the harmonics in the mains significantly. With respect to this development the use of controlled PWM rectifiers will increase in the future, because they provide very low harmonics. This paper is a contribution to combine industry needs for cheap solutions (no additional hardware components and no additional installation effort) with the increase of technical and legal requirements.

EPE-PEMC 2004 - Topic 07-5: Servo drives, stepping, linear and brushless drives
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2004 - Conference > EPE-PEMC 2004 - Topic 07: MOTION CONTROL, ROBOTICS AND ADJUSTABLE SPEED DRIVES > EPE-PEMC 2004 - Topic 07-5: Servo drives, stepping, linear and brushless drives
	[return to parent folder]

	Current Control Of Sensorless Brushless DC Motor On The Basis Of A Common DC Signal - Computer Simulation Results By Stanislaw Pirog, Tomasz Siostrzonek	[View] [Download]
Abstract: This paper presents the first results of a computer simulation in IsSpice of sensorless drives with brushless DC motor, where current control is based on the signal proportional to the current module of DC voltage source. Equivalent scheme of machine disregards dynamic interdependences (inductance, speed, rotor position).

	Discrete Optimal Control With Fixed End-Point For An Electrical Drive System By C. Botan, F. Ostafi, A. Onea	[View] [Download]
Abstract: The paper presents a fixed end-point linear quadratic problem for a drive system with a brushless or a d.c. motor. The optimal control law is derived in a convenient form, based on previous results of the authors. The main advantage of the proposed method consists in a simple implementation of the control law that avoid laborious real-time computation. Another advantage of the optimal control is a reduced energy consumption of the drive system. The experimental results obtained by simulation are presented in the last section and show the effectiveness of the proposed optimal control method.

	Experimental Study Of New Direct Sine-Driving Method For BLDCM Based On Internal Model Principle By Hai-Jiao Guo, Kento Mochizuki, Li Su, Osamu Ichinokura	[View] [Download]
Abstract: Using coordinate transformations technique is a conventional method in BLDCM drives, but the amount of calculation increased in coordinates conversion. This paper presents experimental results using our proposed simple direct sine-driving method of brushless dc motors (BLDCMs) based on internal model principle (IMP). Considering the desired current in driving BLDCM is sinusoidal waveform, it is possible directly using IMP in current control. First, we introduce a control strategy based on IMP and verify that the current steady-state error can be completely eliminated. Then the design method of the current controller parameters is discussed. Some considerations compared with conventional driving method will be point out from experimental results. The priority in memory resource and executing speed will be discussed, many interesting results have been obtained, and new features will be pointed out.

	Initial Rotor Position Detection Of PM Motors By A. N. Dianov, A. S. Anuchin, V. F. Kozachenko	[View] [Download]
Abstract: This paper presents new methods to detect the rotor position of PM motors at standstill. It is necessary to avoid reverse rotation at the start-up or starting failure. All the algorithms use a well-known approach - the inductance variation as a function of the rotor position and saturation effect to detect the polarity of the rotor.

	Modelling And Dynamic Simulation Of Mechanical Systems Driven By Stepper Motors By P. Righettini, R. Strada, V. Lorenzi, B. Zappa	[View] [Download]
Abstract: A dynamic simulation of the behaviour of an hybrid stepper motor is performed making use of an electromechanical model, which allows to investigate, besides the motor’s regular running conditions, also the failure ones. Afterwards the model is implemented in simulation programs developed in order to investigate the dynamic behaviour of mechanical systems like mobile robots and SCARA robots. Moreover, preliminary experiments have been carried out on prototypes in order to test the model’s suitability.

	New Method For Pitching Motion Control In Attractive Mode Of Underwater LSM Vehicle ME02 Using An Air-Core Electromagnet By Kinjiro Yoshida, Abderrahmane Nafa	[View] [Download]
Abstract: When a marine express is levitated or attracted at standstill and then propelled underwater, a pitching motion is caused inevitably due to a torque produced by thrust force around the center of gravity. In addition, some other disturbances such as the water flow or undersea currents may also cause this undesirable motion. In this paper, we will show that using an air-core electromagnet the pitching is actively and effectively damped in the highly unstable attractive mode, when the water buoyancy is larger than the vehicle’s weight, which is likely the case for a real marine express.

	Operating Point Assignment Of A Linear Motor Driven Vehicle Using Multiobjective Optimization Methods By A. Pottharst, K. Baptist, O. Schuetze, J. Boecker, N. Froehlecke, M. Dellnitz	[View] [Download]
Abstract: A test track of 530 m length for linear motor driven railway vehicles in scale of 1:2.5 was built at the University of Paderborn in 2002. A doubly-fed long stator linear motor does not only drive the vehicles, but offers the opportunity of a contactless energy transmission into the vehicle’s on-board supply system, too. In this pape, the motion control structure is presented comprising an operating point assignment of the linear motor optimized by a multiobjective optimization method.

	Parameter Independent Sensorless Speed / Position Control Of Servo Motors Without Voltage Sensors By Pawel Szczupak, Ralph Kennel	[View] [Download]
Abstract: A lot of interesting papers have already been published on sensorless control for synchronous as well as for asynchronous machines. High frequency carrier injection is a promising approach for position control even at zero speed because it does not refer to the fundamental machine model which fails at standstill of the magnetic field. Industry, however, is hesitating to apply these concepts – on the one hand many published concepts depend on physical parameters of the machine and on the other hand many sensorless control schemes require voltage sensors in addition to the standard equipment of an industrial drive. Both demands cannot be accepted by industry, because they result in additional costs and mean a step-back in comparison to existing industrial drives. Recently a modified sensorless control scheme for synchronous machines was published, which does not need any sensor to measure voltage(s). As this concept is based on a tracking scheme, it is also not depending on any physical parameter of the drive or its components. The paper presented here discusses the application of similar ideas on the line side of the drive. The proposed method is applicable on pulsewidth modulated (PWM) power supply rectifiers and neither needs voltage sensors on the line side nor accurate parameters to adjust the algorithms. New European (EU) Directives enforce the manufacturers of power electronic products to reduce the harmonics in the mains significantly. With respect to this development the use of controlled PWM rectifiers will increase in the future, because they provide very low harmonics. This paper is a contribution to combine industry needs for cheap solutions (no additional hardware components and no additional installation effort) with the increase of technical and legal requirements.