EPE Association: EPE 2005 - Topic 08-2 - DS: Motion control and robotics, communication in drive systems

EPE 2005 - Topic 08-2 - DS: Motion control and robotics, communication in drive systems
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2005 - Conference > EPE 2005 - Topic 08: MOTION CONTROL AND ROBOTICS, COMMUNICATION IN DRIVE SYSTEMS > EPE 2005 - Topic 08-2 - DS: Motion control and robotics, communication in drive systems

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   3D Torques, Translational Forces and Induced Voltage Determination in an Ironless Biomedical Actuator
By STEFANINI Igor; PERRIARD Yves; MARKOVIC Miroslav [View]
[Download]

Abstract: We present an analysis of an electromechanical implantable glucose sensor for continuous glucose monitoring. An efficient 3D numerical model to accurately compute the torques, forces and the induced voltages for ironless actuators of any geometrical form is developed. The algorithm is based on the generalized Biot-Savart law and the permanent magnet equivalent current density model.

   A Novel Simulation Method for Coupled Electromagnetic Field and Circuit Problems Applied to Highly Dynamic Drive Systems
By SCHUNK Holger; HAEDRICH Olaf; ZHOU Ping [View]
[Download]

Abstract: The proposed method couples a time-domain finite element with a time-domain circuit and system simulator. The approach is based on multi-rate simulation using equivalent Norton parameter exchange. Advantages comprise generality of applications, flexibility to operate both simulators independently preserving accuracy and speed of individual simulators, ability to operate each simulator at its optimum scheme and simulation parameters. Highly dynamic drive applications show how to combine field and system simulation for optimum analysis.

   All-digital resolver-to-digital conversion
By TEIXIDO Miquel; GROSS Gabriel; SUDRIA Toni; BERGAS Joan [View]
[Download]

Abstract: In this paper, an All-digital resolver-to-digital converter is presented. Using Oversampling and frequency shifts techniques, along with a synchronous rotating reference frame based PLL, an accurate and fast tracking resolver-to-digital converter is presented. With the use of all these combined techniques, and using a standard DSP with a 10 bits ADC, resolutions of up to 12 bits are feasible. This paper presents the main techniques, simulation and experimental results.

   Control of a piezoelectric actuator for adjustable brake in haptic devices
By BOUSCAYROL Alain; PIGACHE FrançOis; GIRAUD FreDeRic; LEMAIR [View]
[Download]

Abstract: Within the framework of force feedback for Human Computer Interface, piezoelectric actuators present interests thanks to their simplicity of implementation and high forces. This paper deals with a standing wave ultrasonic motor used to obtain an adjustable brake, able to oppose a resistance force to the user. First of all, the ultrasonic actuator and its principle are introduced. The ability to produce an adjustable friction force and the modelling are presented. Finally, a control structure is described.

   Design of Current Control of Fully Integrated Surface-mounted Permanent Magnet Synchronous Motor Drive Servo Actuators
By XU Xiaofeng [View]
[Download]

Abstract: A stationary frame-based synchronous digital current control for a Surface Mounted Permanent Magnet Synchronous Motor (PMSM) drive of integrated servo actuators is considered. A two phase stator stationary coordinate frame realization synchronous current controller with the anti-windup is presented. A simple implementation of Space Vector PWM algorithms which provide continuous transition from sinusoidal PWM to six-step operation PWM mode is developed to enhance the current dynamic performance.

   Dynamic emulation of mechanical loads – approach based on nonlinear control
By TRLEP Mladen; JEZERNIK Karel; RODIC Miran [View]
[Download]

Abstract: A method for the dynamic emulation of mechanical loads is presented and analyzed in the paper. Actual system (prototype) is replaced by the torque controlled electromechanical load, for which the required torque is calculated through the closed-loop nonlinear control algorithm using PI estimator. Also applications in the control design for variable speed and torque drives are presented.

   Minimizing Power Pulsations in a Free Piston Energy Converter
By CARLSSON Fredrik; LEKSELL Mats; HANSSON JOeRgen [View]
[Download]

Abstract: A Free Piston Energy Converter (FPEC) is a combination of a linear combustion engine and a linear electrical machine. This type of converter has many potential advantages like high efficiency, low fuel consumption and low emissions, which make it suitable for a series hybrid vehicle. However, the generated power pulsates due to the reciprocating motion of the translator.This paper presents a comparative study on how different generator force profiles affect the electric power pulsations produced by the FPEC. In addition, the influence of these profiles on translator motion and the needed power converter current is investigated.A dynamic free piston model is used for the investigation. Results show that the generator force profile has a major impact on the power pulsation amplitude and peak current demand. Thus the chosen force profile will affect dimensioning of power converter, electrical machine and energy storage. Furthermore, loading thetranslator heavily in the beginning or end of the stroke seems to affect the peak translator velocity more than evenly distributed load profiles.

   Modelling and sizing of an electrical drive with a voltage inverter and an induction machine
By VERDIERE Franck; SCHANEN Jea; GERBAUD Laurent [View]
[Download]

Abstract: The paper deals with the modelling of an induction machine with its associated voltage inverter in order to size the whole system on several operating points. The paper focuses on the modelling of the losses in the voltage inverter and in the electrical machine, in order to size the entire electrical drive using an optimisation under constraints.

   Modelling of the Power Electronic Converters using Functional Models of Power Semiconductor Devices in PSPICE
By PILACINSKI Jan; DESKUR Jan [View]
[Download]

Abstract: In the paper, a method of modelling of the power electronic converters using the PSpice functional models of the Power Semiconductor Devices (PSD) is presented. The structure, characteristics and the applications of the mutli-variant PSD models are described. Simple, fast and reliable models useful for system level simulation as well as more sophisticated models, dealing also with the dynamics of switching processes are discussed. These models include a digitally controlled resistor, which can indirectly map the current and voltage across the device’s terminals under both the static and the transient conditions. Examples of modelling the various types of converters and complex systems are presented.

   Numerical coupled analysis of DC motors including saturation and commutation effects
By JUNAK Jacek; ACKVA Ansgar; OMBACH Grzegorz [View]
[Download]

Abstract: The paper presents a numerical design procedure of DC brush motors. The numerical design can be a time consuming process mainly due to saturation of magnetic materials, a non steady-state thermal operation and 3-dimesnional effects (overhangs of magnets and frame). The aim of the work is to combine the numerical approaches efficiently. The equivalent electro-thermal circuit model of motor is combined with modified 2-dimensional magnetic finite element model. The presented method ensures the fast developing time and good accuracy. Such procedure is especially effective for numerical optimization and robust design. The optimization schemes are described in the paper.

   On-line Simplex-Genetic Algorithm for Self-Commissioning of Electric Drives
By SALVATORE Luigi; SUMNER Mark; CASCELLA Giuseppe Leonardo; SALVATORE Nadia [View]
[Download]

Abstract: This paper deals with the self-commissioning of electric drives. To improve the performance of self-commissioning on currently available on industrial drives, an on-line auto-tuning based on a hybrid genetic algorithm is proposed. This strategy integrates the simplex method, local searcher, in a genetic framework, global searcher, in order to speed up the convergence. Moreover it is very reliable because experimentally tests each possible solution, consequently the final result is not affected by the accuracy of the motor model. Finally, the proposed on-line hybrid optimization can be embedded as a fully-automated tool without any extra-hardware on industrial drives. Extensive experimental results prove the effectiveness of the proposed approach not only in comparison with conventional commissioning, but also when compared with further accurate hand-calibration.

   Real-Time HIL Simulation of a Complete PMSM Drive at 10 us Time Step
By DUFOUR Christian; BELANGER Jean; ABOURIDA Simon [View]
[Download]

Abstract: This paper presents the fastest-ever-reported, real-time (RT) simulation of an AC drive on PC-cluster. The RT simulator is used to simulate a complete PMSM drive circuit in a Hardware-In-The-Loop (HIL) application. It consists of a PMSM fed by a 3-phase IGBT inverter, a DC link capacitor and a 3-phase diode bridge. This drive model runs in RT and is connected to an external controller by analog and digital inputs and outputs for closed loop operation.The main innovation in this work is that the real-time simulation cycle is as low as 10 µs, which constitutes to our knowledge- the shortest RT simulation time step ever reported for electric drives with this level of details in modeling the drive circuit.

   Thermal Aspects of Field Weakening Implementation for Robotics Applications
By ZELAYA DE LA PARRA Hector [View]
[Download]

Abstract: The paper describes the implementation and tests of the field weakening algorithm for robotics applications. The tests have been done both in a test bench as well as in a robot prototype. The emphasis on the analysis has been put on the thermal behaviour of the motor at higher speeds, as this is an important limiting factor when operating in a manipulator. The field weakening region is kept under 20 \% of the based speed, where the motor losses are the same or lower when compared to the normal operation

EPE 2005 - Topic 08-2 - DS: Motion control and robotics, communication in drive systems
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2005 - Conference > EPE 2005 - Topic 08: MOTION CONTROL AND ROBOTICS, COMMUNICATION IN DRIVE SYSTEMS > EPE 2005 - Topic 08-2 - DS: Motion control and robotics, communication in drive systems
	[return to parent folder]

	3D Torques, Translational Forces and Induced Voltage Determination in an Ironless Biomedical Actuator By STEFANINI Igor; PERRIARD Yves; MARKOVIC Miroslav	[View] [Download]
Abstract: We present an analysis of an electromechanical implantable glucose sensor for continuous glucose monitoring. An efficient 3D numerical model to accurately compute the torques, forces and the induced voltages for ironless actuators of any geometrical form is developed. The algorithm is based on the generalized Biot-Savart law and the permanent magnet equivalent current density model.

	A Novel Simulation Method for Coupled Electromagnetic Field and Circuit Problems Applied to Highly Dynamic Drive Systems By SCHUNK Holger; HAEDRICH Olaf; ZHOU Ping	[View] [Download]
Abstract: The proposed method couples a time-domain finite element with a time-domain circuit and system simulator. The approach is based on multi-rate simulation using equivalent Norton parameter exchange. Advantages comprise generality of applications, flexibility to operate both simulators independently preserving accuracy and speed of individual simulators, ability to operate each simulator at its optimum scheme and simulation parameters. Highly dynamic drive applications show how to combine field and system simulation for optimum analysis.

	All-digital resolver-to-digital conversion By TEIXIDO Miquel; GROSS Gabriel; SUDRIA Toni; BERGAS Joan	[View] [Download]
Abstract: In this paper, an All-digital resolver-to-digital converter is presented. Using Oversampling and frequency shifts techniques, along with a synchronous rotating reference frame based PLL, an accurate and fast tracking resolver-to-digital converter is presented. With the use of all these combined techniques, and using a standard DSP with a 10 bits ADC, resolutions of up to 12 bits are feasible. This paper presents the main techniques, simulation and experimental results.

	Control of a piezoelectric actuator for adjustable brake in haptic devices By BOUSCAYROL Alain; PIGACHE FrançOis; GIRAUD FreDeRic; LEMAIR	[View] [Download]
Abstract: Within the framework of force feedback for Human Computer Interface, piezoelectric actuators present interests thanks to their simplicity of implementation and high forces. This paper deals with a standing wave ultrasonic motor used to obtain an adjustable brake, able to oppose a resistance force to the user. First of all, the ultrasonic actuator and its principle are introduced. The ability to produce an adjustable friction force and the modelling are presented. Finally, a control structure is described.

	Design of Current Control of Fully Integrated Surface-mounted Permanent Magnet Synchronous Motor Drive Servo Actuators By XU Xiaofeng	[View] [Download]
Abstract: A stationary frame-based synchronous digital current control for a Surface Mounted Permanent Magnet Synchronous Motor (PMSM) drive of integrated servo actuators is considered. A two phase stator stationary coordinate frame realization synchronous current controller with the anti-windup is presented. A simple implementation of Space Vector PWM algorithms which provide continuous transition from sinusoidal PWM to six-step operation PWM mode is developed to enhance the current dynamic performance.

	Dynamic emulation of mechanical loads – approach based on nonlinear control By TRLEP Mladen; JEZERNIK Karel; RODIC Miran	[View] [Download]
Abstract: A method for the dynamic emulation of mechanical loads is presented and analyzed in the paper. Actual system (prototype) is replaced by the torque controlled electromechanical load, for which the required torque is calculated through the closed-loop nonlinear control algorithm using PI estimator. Also applications in the control design for variable speed and torque drives are presented.

	Minimizing Power Pulsations in a Free Piston Energy Converter By CARLSSON Fredrik; LEKSELL Mats; HANSSON JOeRgen	[View] [Download]
Abstract: A Free Piston Energy Converter (FPEC) is a combination of a linear combustion engine and a linear electrical machine. This type of converter has many potential advantages like high efficiency, low fuel consumption and low emissions, which make it suitable for a series hybrid vehicle. However, the generated power pulsates due to the reciprocating motion of the translator.This paper presents a comparative study on how different generator force profiles affect the electric power pulsations produced by the FPEC. In addition, the influence of these profiles on translator motion and the needed power converter current is investigated.A dynamic free piston model is used for the investigation. Results show that the generator force profile has a major impact on the power pulsation amplitude and peak current demand. Thus the chosen force profile will affect dimensioning of power converter, electrical machine and energy storage. Furthermore, loading thetranslator heavily in the beginning or end of the stroke seems to affect the peak translator velocity more than evenly distributed load profiles.

	Modelling and sizing of an electrical drive with a voltage inverter and an induction machine By VERDIERE Franck; SCHANEN Jea; GERBAUD Laurent	[View] [Download]
Abstract: The paper deals with the modelling of an induction machine with its associated voltage inverter in order to size the whole system on several operating points. The paper focuses on the modelling of the losses in the voltage inverter and in the electrical machine, in order to size the entire electrical drive using an optimisation under constraints.

	Modelling of the Power Electronic Converters using Functional Models of Power Semiconductor Devices in PSPICE By PILACINSKI Jan; DESKUR Jan	[View] [Download]
Abstract: In the paper, a method of modelling of the power electronic converters using the PSpice functional models of the Power Semiconductor Devices (PSD) is presented. The structure, characteristics and the applications of the mutli-variant PSD models are described. Simple, fast and reliable models useful for system level simulation as well as more sophisticated models, dealing also with the dynamics of switching processes are discussed. These models include a digitally controlled resistor, which can indirectly map the current and voltage across the device’s terminals under both the static and the transient conditions. Examples of modelling the various types of converters and complex systems are presented.

	Numerical coupled analysis of DC motors including saturation and commutation effects By JUNAK Jacek; ACKVA Ansgar; OMBACH Grzegorz	[View] [Download]
Abstract: The paper presents a numerical design procedure of DC brush motors. The numerical design can be a time consuming process mainly due to saturation of magnetic materials, a non steady-state thermal operation and 3-dimesnional effects (overhangs of magnets and frame). The aim of the work is to combine the numerical approaches efficiently. The equivalent electro-thermal circuit model of motor is combined with modified 2-dimensional magnetic finite element model. The presented method ensures the fast developing time and good accuracy. Such procedure is especially effective for numerical optimization and robust design. The optimization schemes are described in the paper.

	On-line Simplex-Genetic Algorithm for Self-Commissioning of Electric Drives By SALVATORE Luigi; SUMNER Mark; CASCELLA Giuseppe Leonardo; SALVATORE Nadia	[View] [Download]
Abstract: This paper deals with the self-commissioning of electric drives. To improve the performance of self-commissioning on currently available on industrial drives, an on-line auto-tuning based on a hybrid genetic algorithm is proposed. This strategy integrates the simplex method, local searcher, in a genetic framework, global searcher, in order to speed up the convergence. Moreover it is very reliable because experimentally tests each possible solution, consequently the final result is not affected by the accuracy of the motor model. Finally, the proposed on-line hybrid optimization can be embedded as a fully-automated tool without any extra-hardware on industrial drives. Extensive experimental results prove the effectiveness of the proposed approach not only in comparison with conventional commissioning, but also when compared with further accurate hand-calibration.

	Real-Time HIL Simulation of a Complete PMSM Drive at 10 us Time Step By DUFOUR Christian; BELANGER Jean; ABOURIDA Simon	[View] [Download]
Abstract: This paper presents the fastest-ever-reported, real-time (RT) simulation of an AC drive on PC-cluster. The RT simulator is used to simulate a complete PMSM drive circuit in a Hardware-In-The-Loop (HIL) application. It consists of a PMSM fed by a 3-phase IGBT inverter, a DC link capacitor and a 3-phase diode bridge. This drive model runs in RT and is connected to an external controller by analog and digital inputs and outputs for closed loop operation.The main innovation in this work is that the real-time simulation cycle is as low as 10 µs, which constitutes to our knowledge- the shortest RT simulation time step ever reported for electric drives with this level of details in modeling the drive circuit.

	Thermal Aspects of Field Weakening Implementation for Robotics Applications By ZELAYA DE LA PARRA Hector	[View] [Download]
Abstract: The paper describes the implementation and tests of the field weakening algorithm for robotics applications. The tests have been done both in a test bench as well as in a robot prototype. The emphasis on the analysis has been put on the thermal behaviour of the motor at higher speeds, as this is an important limiting factor when operating in a manipulator. The field weakening region is kept under 20 \% of the based speed, where the motor losses are the same or lower when compared to the normal operation