EPE Association: EPE 2007 - Subtopic 09-2 - DS: Motion control and robotics, communication in drive systems

EPE 2007 - Subtopic 09-2 - DS: Motion control and robotics, communication in drive systems
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2007 - Conference > EPE 2007 - Topic 09: 'Motion control and robotics, communication in drive systems' > EPE 2007 - Subtopic 09-2 - DS: Motion control and robotics, communication in drive systems

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   Accurate Initial Pole-Position Estimation of Surface PM-LSM in the Position Control
By CHOI Jaeho; KIM Tae-Woong; KAWAMURA Atsuo; JEONG Chung-Il; WHEELER P.W. [View]
[Download]

Abstract: This paper proposes a newly developed algorithm for the initial pole-position estimation of a surface (non-salient) permanent magnet linear synchronous motor, which is carried out under the full position closed loop control without any pole sensors and is insensitive to the motor parameters. This is based on the principle that the initial pole-position is simply calculated by the reverse trigonometric function using the two feedback currents in the position closed loop control. The proposed algorithm consists of the predefined reference position profile, the information of feedback currents, speed, and relative position, and the reverse trigonometric function for the initial-pole position estimation. Compared to the published researches, the proposed algorithm is simple in implementation and is more accurate in estimation even close to standstill through the full closed control. This algorithm can be widely applied without any limitations of motor structures. The effectiveness of the proposed algorithm will be verified through mathematical analysis and simulations.

   advantages and drawbacks with regard to electromagnetic actuation
By SEMAIL Betty; GIRAUD FrÃ©dÃ©ric; DAI Zheng [View]
[Download]

Abstract: Haptic feedback is commonly achieved according to electromagnetic actuators. Then, they have to be coupled with mechanical reducers, which leads to large bulk size. To cope with this problem, piezo-actuators are proposed. This paper aims at discussing about the advantages and drawbacks of these actuators for haptic applications, on the point of view of control, stability, and passivity. The discussion will rely on an experimental set-up involving piezo-electric travelling wave actuators.

   Considerations of the Performance Characteristics of the Cableless Micro-actuator by Using Mechanical DC-AC Inverter
By NANJO Yuta; ISHIKAWA Kazumi; YAGUCHI Hiroyuki [View]
[Download]

Abstract: This paper proposes a cableless micro-actuator that exhibits a very high thrusting force and is capable of being adapted to propel a robot within a pipe. This actuator contains a mechanical inverter that directly transforms DC from button batteries into AC. The mechanical DC-AC inverter incorporates double one-degree-of-freedom-model that switches under an electromagnetic force. It is able to move through a pipe of 8 mm inner diameter. Experimental results show that the actuator can move upwards at a speed of 17.3 mm/s. This cableless micro-actuator has many possible applications, including small pipe inspection and maintenance.

   Design of Brushless DC Motor for Air Management System of Fuel Cell Modules
By CHOI Jun-Hyuk; SEO Jung-Moo; SUNG Ha-Gyeong [View]
[Download]

Abstract: This study presents a brushless DC (BLDC) motor for air management system of fuel cell modules. Magnetic equivalent circuit model and finite element analysis are used to design the motor, and an improved structure is considered to reduce a mechanical loss induced from bearing units. Finally, air blower system combined with the motor and an impeller is manufactured and output properties, such as an air pressure and an amount of flowing air, are measured. Through the experimental results, a validity of the simulated one is confirmed.

   Digital Speed Control System for a Motor Using Two Speed Detection Methods of an Incremental Encoder
By OHMAE Tsutomu; HACHIYA Kohei [View]
[Download]

Abstract: A digital speed control system for a motor with an incremental shaft encoder has been used as a basic system that drives various industrial machines. The speed control system using the conventional speed detection method (MT method) has a problem in that the mechanical errors of the encoder slit intervals cause the motor speed fluctuation in the steady state. In this paper, a new speed detection method (SR method) that is not influenced by mechanical errors is proposed. Furthermore, a speed control system that uses the MT method in the transient state and the SR method in the steady state is proposed. Simulation and experimental results show that the proposed speed control system has a fast response and few speed fluctuations. The proposed system can be realized at low cost because it does not require a high-accuracy encoder or any additional hardware.

   Efficient Scheduler-Dispatcher Software Architecture of the Space Power Facility Distributed Control Computer
By ZDENEK Jiri [View]
[Download]

Abstract: The system software architecture of the distributed control computer (computer network) of the mechatronic scientific facility (crystallizer) for automatic high temperature material processing in a orbital space station in micro-gravitation environment is presented in this paper. The scientific facility consists of the multi-zone high temperature furnace with heating system, PWM controlled heating converters, the precise extra low speed vibration-less electric drives to make possible to manipulate the processed material samples during experiments, very precise temperature measurement module, telemetric channel, crew interface computer, free programmable central controller and several further units. Facility computer network nodes have many user tasks (processes) divided into many threads running in real time environment. Using preemptive real time operating system tends to have unacceptable high overhead therefore the system of table driven coroutines with low system resource requirement (overhead, stack space) was designed. Emphasis is given on the design of efficient, reliable and self documented scheduler-dispatcher of the user tasks with minimized overhead and easily extensible descriptors of table driven user finite state automata. Presented scheduler architecture is used in the distributed network control computer of newly designed facility (Advanced TITUS) intended to be placed in the ISS space station. It is advanced version of the proved software utilized in the distributed control computer of the TITUS scientific equipment which was successfully operated several years in the MIR orbital station especially during ESA missions EUROMIR.

   INDUCTION MACHINE MODELLING USING PERMEANCE NETWORK METHOD FOR DYNAMIC SIMULATION OF AIR-GAP ECCENTRICITY
By MAHYOB Amin [View]
[Download]

Abstract: Electrical machines diagnosis needs a modelling approach reliable and as close to the reality as possible. It is shown that by proper modelling of the induction machine it is possible to detect the effect of the different faults on the machine current and vibrations. This paper proposes a model based on Permeance Network Method (PNM) for the simulation of faulty induction machines. The PNM allows the authors to take into account the local magnetic saturation and remains moderately time consuming compared to the finite element method. The developed permeance network of the machine is coupled to the stator phase electrical equations on one side and, on the other side, to the mechanical motion equation in order to simulate variable speed operations. The air-gap eccentricity is then taken into account in the modelling of the air-gap permeance. The effect of the eccentricity on the current and vibration signatures is discussed. Theoretical analysis for the effect of the machine eccentricity is presented.

   Mechanical Resonance Damping in an Industrial Servo Drive
By BAEHR Alexander; BEINEKE Stephan [View]
[Download]

Abstract: This paper presents the application of advanced speed-control structures featuring active vibration damping in industrial drives. A unified control structure of a new servo drive is introduced that allows flexible settings of the control structures and the feedback scheme. Different observer structures and controller structures are outlined as well as their commissioning, which becomes a main issue for the applicability of these advanced methods. The benefits are demonstrated in applications with critical mechanics: a laboratory setup, a mould milling machine and a toll-gate barrier application.

   Modeling of Common Mode Conducted Noise Emissions in PWM Inverter - Fed AC Motor Drive Systems
By JETTANASEN Chaiyan; GENOULAZ JÃ©rÃ´me [View]
[Download]

Abstract: In order to predict the common mode (CM) noise current in large systems, a modeling principle using transfer matrix ([T]) is used. This method is based on specific experimental characterizations and on the modelling of the complete CM circuit considered as a chain of quadripolar matrices. Each part of the system is represented by a two-port network and associated in cascade by using matrix [T]. Two configurations of the system are investigated; system insulated from ground plane, and system taking ground effects on the CM current path into account in the model. The comparison results between calculations and experiments for the both configurations in a variable-speed drive system confirm effectively the validity of the proposed approach.

   New drive concepts reduce power requirements of large servo presses
By SEGURA Marc; BOSGA Sjoerd [View]
[Download]

Abstract: Introduction of servo presses can increase the productivity of large press lines in the automotive industry by 10-30 \%, and improve the quality of the pressed parts. However, a servo press which allows to improve productivity and has full control over the press speed while actually pressing, requires very high peak power. For a large press of 2400 T, required peak power may be more than 5 MW, which is a factor 10 increase compared to a mechanical press of the same tonnage. This paper discusses servo press concepts that require much less peak power. The proposed hybrid servo press requires a peak power of typically only 20\% more than a mechanical press of the same tonnage, while at the same time improving productivity and pressing quality.

   Optimal Sizing of Stand-Alone Hybrid Wind/PV System with Battery Storage
By BELFKIRA Rachid; BARAKAT Georges [View]
[Download]

Abstract: In this paper, a new methodology developed to design a hybrid wind/photovoltaic (wind/PV) system, is presented. Based on an optimization process using a deterministic algorithm, the developed methodology helps the authors to obtain the optimal number and type of PV panels, wind turbines and storage units ensuring that the system total cost is minimized while guaranteeing the permanent availability of energy to cover the load energy requirements. The hybrid system configuration and modeling are presented and the used deterministic algorithm (DIRECT algorithm) is described and implemented in MATLAB environment to optimize the hybrid wind/PV system.

   Servo drives introduce improved synchronization of large presses with robots
By BOSGA Sjoerd; SEGURA Marc [View]
[Download]

Abstract: Productivity of press lines for the automotive industry can be increased by 10-30\% by the introduction of servo drives. Highest productivity is however only obtained by optimally synchronizing presses and loading/unloading equipment (robots). This paper proposes synchronization algorithms which are designed for low-power servo-press drives, in which acceleration and deceleration of the press takes a significant part of the cycle. Deceleration at the end of the cycle is started at a point already taking into account at what moment the loader will have completed its work. During deceleration, the moment at which to re-accelerate for the next cycle is re-calculated based on an actual prediction of loader motion. In a practical implementation, the proposed algorithms for press control are implemented in a robot controller, the same controller which controls the loader robot.

   The Automotive System Simulation by using Multi Domain Modeling Technique
By SEKISUE Takayuki; SHIGEMATSU Koichi; TSUJI Kimitoshi [View]
[Download]

Abstract: The goal of this research is how to realize automotive system simulation by using multi domain simulation technologies. This paper illustrates how to utilize the multi domain simulation model for creating and validating the automotive system simulation. This technique is verified by simulations and experiments

   Use of Dynamic Emulation of Mechanical Loads in the Testing of Electrical Vehicle Driveline Control Algorithms
By TRLEP Mladen; RODIC Miran; JEZERNIK Karel [View]
[Download]

Abstract: An approach using dynamic emulation of mechanical loads for testing and validation of the electrical vehicles' drivelines will be presented in the paper. It has been designed to enable the evaluation of the electric drive behavior also in the case of rapid speed and torque changes. Dynamic emulation of mechanical loads is a Hardware-in-the-loop (HIL) procedure, which can be used as a supplement of the conventional simulations in testing of the operation of algorithms without the need for the prototypes. Parts of actual system are replaced by the mathematical models, which are numerically calculated on-line and connected to the actual components of the system by the use of software and hardware interfaces. The performance of the proposed method is investigated and verified experimentally on dSPACE system.

EPE 2007 - Subtopic 09-2 - DS: Motion control and robotics, communication in drive systems
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2007 - Conference > EPE 2007 - Topic 09: 'Motion control and robotics, communication in drive systems' > EPE 2007 - Subtopic 09-2 - DS: Motion control and robotics, communication in drive systems
	[return to parent folder]

	Accurate Initial Pole-Position Estimation of Surface PM-LSM in the Position Control By CHOI Jaeho; KIM Tae-Woong; KAWAMURA Atsuo; JEONG Chung-Il; WHEELER P.W.	[View] [Download]
Abstract: This paper proposes a newly developed algorithm for the initial pole-position estimation of a surface (non-salient) permanent magnet linear synchronous motor, which is carried out under the full position closed loop control without any pole sensors and is insensitive to the motor parameters. This is based on the principle that the initial pole-position is simply calculated by the reverse trigonometric function using the two feedback currents in the position closed loop control. The proposed algorithm consists of the predefined reference position profile, the information of feedback currents, speed, and relative position, and the reverse trigonometric function for the initial-pole position estimation. Compared to the published researches, the proposed algorithm is simple in implementation and is more accurate in estimation even close to standstill through the full closed control. This algorithm can be widely applied without any limitations of motor structures. The effectiveness of the proposed algorithm will be verified through mathematical analysis and simulations.

	advantages and drawbacks with regard to electromagnetic actuation By SEMAIL Betty; GIRAUD FrÃ©dÃ©ric; DAI Zheng	[View] [Download]
Abstract: Haptic feedback is commonly achieved according to electromagnetic actuators. Then, they have to be coupled with mechanical reducers, which leads to large bulk size. To cope with this problem, piezo-actuators are proposed. This paper aims at discussing about the advantages and drawbacks of these actuators for haptic applications, on the point of view of control, stability, and passivity. The discussion will rely on an experimental set-up involving piezo-electric travelling wave actuators.

	Considerations of the Performance Characteristics of the Cableless Micro-actuator by Using Mechanical DC-AC Inverter By NANJO Yuta; ISHIKAWA Kazumi; YAGUCHI Hiroyuki	[View] [Download]
Abstract: This paper proposes a cableless micro-actuator that exhibits a very high thrusting force and is capable of being adapted to propel a robot within a pipe. This actuator contains a mechanical inverter that directly transforms DC from button batteries into AC. The mechanical DC-AC inverter incorporates double one-degree-of-freedom-model that switches under an electromagnetic force. It is able to move through a pipe of 8 mm inner diameter. Experimental results show that the actuator can move upwards at a speed of 17.3 mm/s. This cableless micro-actuator has many possible applications, including small pipe inspection and maintenance.

	Design of Brushless DC Motor for Air Management System of Fuel Cell Modules By CHOI Jun-Hyuk; SEO Jung-Moo; SUNG Ha-Gyeong	[View] [Download]
Abstract: This study presents a brushless DC (BLDC) motor for air management system of fuel cell modules. Magnetic equivalent circuit model and finite element analysis are used to design the motor, and an improved structure is considered to reduce a mechanical loss induced from bearing units. Finally, air blower system combined with the motor and an impeller is manufactured and output properties, such as an air pressure and an amount of flowing air, are measured. Through the experimental results, a validity of the simulated one is confirmed.

	Digital Speed Control System for a Motor Using Two Speed Detection Methods of an Incremental Encoder By OHMAE Tsutomu; HACHIYA Kohei	[View] [Download]
Abstract: A digital speed control system for a motor with an incremental shaft encoder has been used as a basic system that drives various industrial machines. The speed control system using the conventional speed detection method (MT method) has a problem in that the mechanical errors of the encoder slit intervals cause the motor speed fluctuation in the steady state. In this paper, a new speed detection method (SR method) that is not influenced by mechanical errors is proposed. Furthermore, a speed control system that uses the MT method in the transient state and the SR method in the steady state is proposed. Simulation and experimental results show that the proposed speed control system has a fast response and few speed fluctuations. The proposed system can be realized at low cost because it does not require a high-accuracy encoder or any additional hardware.

	Efficient Scheduler-Dispatcher Software Architecture of the Space Power Facility Distributed Control Computer By ZDENEK Jiri	[View] [Download]
Abstract: The system software architecture of the distributed control computer (computer network) of the mechatronic scientific facility (crystallizer) for automatic high temperature material processing in a orbital space station in micro-gravitation environment is presented in this paper. The scientific facility consists of the multi-zone high temperature furnace with heating system, PWM controlled heating converters, the precise extra low speed vibration-less electric drives to make possible to manipulate the processed material samples during experiments, very precise temperature measurement module, telemetric channel, crew interface computer, free programmable central controller and several further units. Facility computer network nodes have many user tasks (processes) divided into many threads running in real time environment. Using preemptive real time operating system tends to have unacceptable high overhead therefore the system of table driven coroutines with low system resource requirement (overhead, stack space) was designed. Emphasis is given on the design of efficient, reliable and self documented scheduler-dispatcher of the user tasks with minimized overhead and easily extensible descriptors of table driven user finite state automata. Presented scheduler architecture is used in the distributed network control computer of newly designed facility (Advanced TITUS) intended to be placed in the ISS space station. It is advanced version of the proved software utilized in the distributed control computer of the TITUS scientific equipment which was successfully operated several years in the MIR orbital station especially during ESA missions EUROMIR.

	INDUCTION MACHINE MODELLING USING PERMEANCE NETWORK METHOD FOR DYNAMIC SIMULATION OF AIR-GAP ECCENTRICITY By MAHYOB Amin	[View] [Download]
Abstract: Electrical machines diagnosis needs a modelling approach reliable and as close to the reality as possible. It is shown that by proper modelling of the induction machine it is possible to detect the effect of the different faults on the machine current and vibrations. This paper proposes a model based on Permeance Network Method (PNM) for the simulation of faulty induction machines. The PNM allows the authors to take into account the local magnetic saturation and remains moderately time consuming compared to the finite element method. The developed permeance network of the machine is coupled to the stator phase electrical equations on one side and, on the other side, to the mechanical motion equation in order to simulate variable speed operations. The air-gap eccentricity is then taken into account in the modelling of the air-gap permeance. The effect of the eccentricity on the current and vibration signatures is discussed. Theoretical analysis for the effect of the machine eccentricity is presented.

	Mechanical Resonance Damping in an Industrial Servo Drive By BAEHR Alexander; BEINEKE Stephan	[View] [Download]
Abstract: This paper presents the application of advanced speed-control structures featuring active vibration damping in industrial drives. A unified control structure of a new servo drive is introduced that allows flexible settings of the control structures and the feedback scheme. Different observer structures and controller structures are outlined as well as their commissioning, which becomes a main issue for the applicability of these advanced methods. The benefits are demonstrated in applications with critical mechanics: a laboratory setup, a mould milling machine and a toll-gate barrier application.

	Modeling of Common Mode Conducted Noise Emissions in PWM Inverter - Fed AC Motor Drive Systems By JETTANASEN Chaiyan; GENOULAZ JÃ©rÃ´me	[View] [Download]
Abstract: In order to predict the common mode (CM) noise current in large systems, a modeling principle using transfer matrix ([T]) is used. This method is based on specific experimental characterizations and on the modelling of the complete CM circuit considered as a chain of quadripolar matrices. Each part of the system is represented by a two-port network and associated in cascade by using matrix [T]. Two configurations of the system are investigated; system insulated from ground plane, and system taking ground effects on the CM current path into account in the model. The comparison results between calculations and experiments for the both configurations in a variable-speed drive system confirm effectively the validity of the proposed approach.

	New drive concepts reduce power requirements of large servo presses By SEGURA Marc; BOSGA Sjoerd	[View] [Download]
Abstract: Introduction of servo presses can increase the productivity of large press lines in the automotive industry by 10-30 \%, and improve the quality of the pressed parts. However, a servo press which allows to improve productivity and has full control over the press speed while actually pressing, requires very high peak power. For a large press of 2400 T, required peak power may be more than 5 MW, which is a factor 10 increase compared to a mechanical press of the same tonnage. This paper discusses servo press concepts that require much less peak power. The proposed hybrid servo press requires a peak power of typically only 20\% more than a mechanical press of the same tonnage, while at the same time improving productivity and pressing quality.

	Optimal Sizing of Stand-Alone Hybrid Wind/PV System with Battery Storage By BELFKIRA Rachid; BARAKAT Georges	[View] [Download]
Abstract: In this paper, a new methodology developed to design a hybrid wind/photovoltaic (wind/PV) system, is presented. Based on an optimization process using a deterministic algorithm, the developed methodology helps the authors to obtain the optimal number and type of PV panels, wind turbines and storage units ensuring that the system total cost is minimized while guaranteeing the permanent availability of energy to cover the load energy requirements. The hybrid system configuration and modeling are presented and the used deterministic algorithm (DIRECT algorithm) is described and implemented in MATLAB environment to optimize the hybrid wind/PV system.

	Servo drives introduce improved synchronization of large presses with robots By BOSGA Sjoerd; SEGURA Marc	[View] [Download]
Abstract: Productivity of press lines for the automotive industry can be increased by 10-30\% by the introduction of servo drives. Highest productivity is however only obtained by optimally synchronizing presses and loading/unloading equipment (robots). This paper proposes synchronization algorithms which are designed for low-power servo-press drives, in which acceleration and deceleration of the press takes a significant part of the cycle. Deceleration at the end of the cycle is started at a point already taking into account at what moment the loader will have completed its work. During deceleration, the moment at which to re-accelerate for the next cycle is re-calculated based on an actual prediction of loader motion. In a practical implementation, the proposed algorithms for press control are implemented in a robot controller, the same controller which controls the loader robot.

	The Automotive System Simulation by using Multi Domain Modeling Technique By SEKISUE Takayuki; SHIGEMATSU Koichi; TSUJI Kimitoshi	[View] [Download]
Abstract: The goal of this research is how to realize automotive system simulation by using multi domain simulation technologies. This paper illustrates how to utilize the multi domain simulation model for creating and validating the automotive system simulation. This technique is verified by simulations and experiments

	Use of Dynamic Emulation of Mechanical Loads in the Testing of Electrical Vehicle Driveline Control Algorithms By TRLEP Mladen; RODIC Miran; JEZERNIK Karel	[View] [Download]
Abstract: An approach using dynamic emulation of mechanical loads for testing and validation of the electrical vehicles' drivelines will be presented in the paper. It has been designed to enable the evaluation of the electric drive behavior also in the case of rapid speed and torque changes. Dynamic emulation of mechanical loads is a Hardware-in-the-loop (HIL) procedure, which can be used as a supplement of the conventional simulations in testing of the operation of algorithms without the need for the prototypes. Parts of actual system are replaced by the mathematical models, which are numerically calculated on-line and connected to the actual components of the system by the use of software and hardware interfaces. The performance of the proposed method is investigated and verified experimentally on dSPACE system.