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EPE-PEMC 2008 - Topic: Motion Control, Robotics, Adjustable Speed Drives
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2008 - Conference > EPE-PEMC 2008 - Topic: Motion Control, Robotics, Adjustable Speed Drives
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	A Linear Switched Reluctance Motor Based Position Tracking System   By S. W. Zhao	[View]   [Download]
Abstract: A Linear Switched Reluctance Motor (LSRM) based position tracking system and its control aspect are presented in this paper. Based on modeling analysis of the drive system, two reduced order controlled models are developed with different time scales, referred as mechanical subsystem and electrical subsystem. Two controllers are respectively designed for the two subsystems. Simulation results demonstrate the effectiveness of this control scheme.
	A Simplified Model for Induction Machines with Faults to Aid the Development of Fault Tolerant Drives   By O. Jasim	[View]   [Download]
Abstract: A new mathematical model of a three-phase induction machine, suitable for the simulation of machine behaviour under fault conditions is presented. The model employs a simple state space equivalent circuit based model of the induction machine, which is enhanced to include space harmonics and main flux saturation effects. The model has been improved by including a variation of machine inductances with rotor and flux position, and creates a simulation with reasonable accuracy and fast computation time. For healthy and fault conditions, comparisons show that the simulated saturation and space harmonic frequencies and magnitudes match those obtained from experiment. This model can be used to develop and optimise control strategies for fault ride through.
	About the Experimental Results of an Electric Driving System Based on Asynchronous Motor and PWM Converter   By Petre-Marian Nicolae	[View]   [Download]
Abstract: The paper deals with special features related to the a.c. electric driving system of a trolley-bus. One presents the driving system consisting of an asynchronous motor and inverter and some aspects regarding the PWM inverter control. The tests over the manufactured asynchronous motor were performed at a frequency equal to 50 Hz (for the rated speed) and a frequency equal to 106.6 Hz corresponding to a synchronous speed equal to 3200 rpm. The inverter was separately tested, before its inclusion in the driving system and some of the tests results presented (heating tests for the main components, the behavior at the discontinuous variation of line voltage, a.o.). Some tests concerning the behavior of the entire system at forward and backward running regimes are also presented.
	Adaptive Back EMF Parameer Adjustment of Simplified Vector Control for Position Sensorless Permanent Magnet Synchronous Motors   By Kiyoshi Sakamoto	[View]   [Download]
Abstract: A previously reported simplified vector control for position-sensorless permanent magnet synchronous motors can be affected by errors in setting the motor parameters, because no feedback compensator is used. We examine the effects of errors on the steady-state performance of these motors in this paper. It was found that the current amplitude increases when a parameter error is given and the effect of a back EMF parameter error is especially large. We propose a new back EMF parameter adjustment method based on these results. We determined from our simulation and experimental results that the proposed method can compensate for the current increase caused by the parameter error. A theoretical analysis showed that the proposed method is affected by only the daxis inductance parameter Ld. Therefore, even if there are errors in the other motor parameters, the motor current of the constant load condition is minimized by using the proposed method.
	An Optimal Control for Saturated Interior Permanent Magnet Linear Synchronous Motors Incorporating Field Weakening   By Mohammad Abroshan, Jafar Milimonfared, Kaveh Malekian and Arash Rahnamaee	[View]   [Download]
Abstract: In this paper, the maximum thrust force per ampere (MTPA) strategy for saturated permanent magnet linear synchronous motors over the entire field weakening region is presented. In other words, influence of magnetic saturation on the MTPA and field weakening strategies as well as motor-inverter limitations is considered. Using the modified MTPA strategy leads to minimized copper losses, and so maximum capacity of motor is utilized. The proposed scheme incorporates all optimal strategies and operates the drive within the voltage and current limits of the motor/inverter. Simulation results for a prototype interior permanent magnet linear synchronous motor demonstrate that the MTPA and field weakening strategies can be successfully implemented for vector controlled saturated permanent magnet linear synchronous motor drives.
	Analysis of Combustion Engine - Electric Linear Generator Set Operation   By Jiří Pavelka	[View]   [Download]
Abstract: This paper analyses a power system formed by a combustion engine and an electric linear generator. Such system allows to transmit the power from a combustion engine directly to an electric generator without a crank mechanism and a fly wheel. The classical solution is compared with new system. Results of calculations are presented. They show that some optimum speed exists for the concrete aggregate and that increasing of speed requires uneconomic increasing of the linear generator size. The prototype of such aggregate was designed, constructed and is now tested.
	Application of Fuzzy Logic Techniques To Robust Speed Control of PMSM   By Tomasz Pajchrowski and Krzysztof Zawirski	[View]   [Download]
Abstract: The paper deals with the problem of robust speed control of electrical servodrives. A robust controller is developed using a nonlinear IP controller. The controller nonlinear characteristic is obtained due to fuzzy logic technique application. An original method of controller settings adjustment is presented. The use of this adjustment procedure ensures robust speed control against the variations of the moment of inertia and a step change of load torque. Simulations and laboratory results validate the robustness of the servodrive with Permanent Magnet Synchronous Motor.
	Comparison Between Direct Torque Control and Vector Control of a Permanent Magnet Synchronous Motor Drive   By Rafa Souad	[View]   [Download]
Abstract: This paper presents a comprehensive comparison between two speed control techniques for permanent magnet synchronous machine using vector control (VC) and direct torque control (DTC). The main characteristics of vector control and direct torque control are studied by simulation emphasizing their advantages and disadvantages. The performances of the two control techniques are evaluated in terms of torque and current ripples, and transient responses to load toque variation. The simulation results show that the two control schemes provide in their basic configuration, comparable performances regarding the torque control, however the choice for the DTC appears advantageous in many respects, and presents a low cost solution for applications where low torque ripple is not a major issue.
	Control of SR Motor EV by Instantaneous Torque Control Using Flux Based Commutation and Phase Torque Distribution Technique   By Ayumu Nishimiya	[View]   [Download]
Abstract: Switched reluctance motors (SR motors) have many advantages such as simple and solid construction, low-cost manufacturing, excellent reliability at high temperatures, and large torque density. However, the higher torque ripple from magnetic saliency is a serious problem preventing its applications from being expanded. To reduce torque ripple, we propose an instantaneous torque control method using flux-based commutation and phase-torque distribution. It provides efficient driving for SR motors with limited torque ripple. In this paper, we consider the application of this method to control torque of the SR motors for an electric vehicle (EV).
	Control System with the Set Point Observation   By Algirdas Baskys, Vitoldas Gobis and Valerijus Zlosnikas	[View]   [Download]
Abstract: The closed-loop control system structure, in which the controller is provided with the information that allows the controller to know if the control system was disturbed by the set point change or not and enables it to operate with different parameters during the set point change response and the load disturbance response, has been presented. The proposed control system structure with the set point observation allows us to achieve good transient performance of the set point change response and good load disturbance rejection using the PID controller. The results of simulation, experimental investigation and industrial application of the developed control system structure have been presented.
	Design and Implementation of High Performance Full-Digital Spindle Drives   By Liu Yang and Zhao Jin	[View]   [Download]
Abstract: In this paper, a sort of design scheme for full-digital spindle machine drives based on DSP is presented and a series of optimizing strategies are also proposed to improve its performance. To guarantee the rapid response and the steady operation of the spindle machine, an indirect vector control strategy is used in the system. For the sake of facilitating the implementation of the full-digital system and to increase the utilization ratio of busbar voltage, an improved space vector pulse width modulation control strategy is adopted in the system. To enhance the load capability of the motor in flux-weakening region and to spread the operating interval of the motor under constant power, an optimized flux-weakening control strategy with maximized utilization of voltage is taken. At last, the experimental results of the spindle drives show the scheme is feasible and the required performance can be achieved.
	Detection and Self-Tuning Compensation of Periodic Disturbances by the Control of DC Motor   By Michael Ruderman, Frank Hoffmann, Johannes Krettek and Torsten Bertram	[View]   [Download]
Abstract: The accuracy with which a DC motor and drive system track a reference velocity profile is limited by periodic torque disturbances. The cogging and ripples torques, and constructive imperfections in the mechanical assembly of the drive cause disturbance pulsation harmonics with a base frequency dictated by the rotational velocity. This paper describes a novel compensation technique based on disturbance observation and a self-tuning feed-forward compensation algorithm. The DC motor is modeled as a linear system augmented by the nonlinear Coulomb friction and is experimentally identified from a set of the system responses. The disturbance harmonics are detected by means of the fast Fourier transformation (FFT) and analytically described by a spatial Fourier transform with respect to the angular position of the rotor. The online algorithm tunes the parameters of the feed-forward compensator using the recursive estimation technique. The proposed self-tuning compensator is experimentally verified as part of an open control loop at different level of the rotational velocity and system load.
	Digital Controlled High Speed Synchronous Motor   By Zdenĕk Čeřovský	[View]   [Download]
Abstract: Contribution deals with predictive torque control of the high speed permanent magnet synchronous motor. Such motors are used for electrically driven compressors (E-booster) on turbocharged gasoline or diesel engines. Theory and experimental results from the laboratory are revealed.
	Electropneumatic Servo System with Adaptive Force Controller   By Arunas Grigaitis and Vilius Antanas Gelezevicius	[View]   [Download]
Abstract: Due to good environmental security nature, pneumatic system attracts interest of industrial field. This requires development of modern control methods especially when pneumatic cylinders are used as force generating actuators. Dynamics of pneumatic cylinder manifests itself by essential nonlinear features defined by initial starting position and pressure values in the working chambers of the cylinder and flow transfer characteristics of the directional valve. These nonlinearities directly influence the force generation process of the pneumatic cylinder. To ensure required control quality of electropneumatic servo system the multiloop control system method with reference model based signal adaptive force controller is proposed and investigated in this paper. The strategies of design of the controllers such as velocity and position are presented. The investigation results on changing initial conditions of the electropneumatic servo drive are given.
	Extended Back EMF Model for PM Synchronous Machines with Different Inductances in d- and q-axis   By Andreas Eilenberger	[View]   [Download]
Abstract: This paper discusses a reluctance-dependent back electromotive force (EMF) model for encoderless vector driven permanent magnet synchronous machines (PMSM) compared to well known, non reluctance-dependent back EMF models. Established PMSM could have considerable varieties in direct and quadrature inductances. So it makes sense to consider this behaviour in an extended back EMF model. On closer examination it will turn out that a reluctance dependent EMF model has a better behaviour at low speed as the standard model. Also the derivation of the extended model will be illustrated. Furthermore some simulation results and practical measurements will be discussed.
	Gait Generation of a Two-Legged Robot by Using Adaptive Network Based Fuzzy Logic Control   By Umit Onen	[View]   [Download]
Abstract: In this paper, a control strategy is proposed for gait generation for a two-legged humanoid robot. The two-legged robot is assumed as a 3-dimensional robot with 5-links. Gait generation is performed by assuming motions in the saggital and lateral planes. Dynamic model of the robot is obtained by using MATLAB®/SimMechanics Toolbox. A fuzzy logic controller (FLC) is established for gait generation. The rule-base of the controller is optimized offline by using artificial neural network (NN). The neural networks are trained by using the reference joint trajectories obtained from clinical gait analysis (CGA) [13].
	Hierarchical Adaptive Network Based Fuzzy Logic Controller Design for a Single Flexible Link Robot Manipulator   By Mete Kalyoncu	[View]   [Download]
Abstract: In this study, hierarchical adaptive network based fuzzy logic controller for a single flexible link robot manipulator is designed. This study is aimed to get the end of the flexible robot manipulator to desired position and terminate vibrations on arm while it moves under the action of an external driving torque. The proposed controller has two subsystems. The fast-subsystem reduces the vibration of the flexible robot manipulator end point, and the other slow-subsystem controller controls the desired position. The performance of the proposed control system is evaluated on the basis of the experimental results.
	Identification and Control of Precision XY Stages with Active Vibration Suppression System   By Mayumi Nitta	[View]   [Download]
Abstract: In this paper, a design method of the reaction force control system for ultra-precision stage which equips vibration control system, is proposed. Taking the application to semiconductor manufacturing into consideration, the designed system deals with both the reaction force due to the stage movement and the vibration from the external environment. The experimental setup for a 6-degree of freedom (DOF) motion control system is firstly designed. The system is controlled by two counter weights that are placed eccentric from the center of gravity, i.e. two weights are not co-axial. Next, the system identification experiments based on a subspace method are performed to build the multi-input multi-output state-space model. The reaction force and vibration control systems are designed using the identified model based on bilateral control strategies. The main advantages of the proposed identification and control approach are that the experimental time for accurate identification is quite short and the control system can be systematically designed. Finally, the effectiveness of the proposed control system is verified through the vibration control experiments.
	Improved Direct Torque Control for Induction Machine Drives using Fuzzy Logic and Particle Swarm Optimization   By Mohammad Mehdi Rezaei	[View]   [Download]
Abstract: Here, a new fuzzy direct torque control algorithm for induction motors is proposed. As in the classical direct torque control, the inverter gate control signals directly come from the optimum switching voltage vector look-up table, the best voltage space vector selection is a key factor to obtain minimum torque and flux ripples. In the proposed approach the best voltage space vector is selected using a new fuzzy method. A simulation model is built up and the torque and flux ripples of basic direct torque control and the proposed method are compared. The simulation results show that the torque and flux ripples are significantly decreased and in addition, the switching frequency can be fixed.
	Intelligent Adaptive Control and Monitoring of Band Sawing   By İlhan Asiltürk	[View]   [Download]
Abstract: In this paper, we propose that a neuro-fuzzy based adaptive controller for control of band sawing process. The system composed of two different kinds of back propagation networks and a fuzzy logic controller. The first network accomplishes the reference forces that are compared with the measured cutting force values in the real time. The required feed rate and cutting speed are adjusted by the proposed controller. The cutting parameters are continuously updated by a secondary neural network model to compensate the disturbances. The system provides that possibility of identification of material to be cut. Material identification is determined by the measured cutting forces while cutting operation. Experimental results show that the performance of the proposed controller is very well as adaptation of the cutting speed and feed rate during band sawing in the real time.
	Mobile Robot Navigation with Obstacle Avoidance Capability   By Anca Sorana Popa	[View]   [Download]
Abstract: Mobile robots are a very dynamic part of the robotics domain. Their navigation requires solutions for: establishment of the current position, motion planning and avoidance of obstacles. The paper describes a solution for mobile robot navigation with obstacle avoidance capability based on the X80 robot from Dr. Robot. The map and the trajectory are computed on a PC which will wirelessly control the motion of the robot. The robot senses the obstacles using its sensors, sends the information to the PC and a new trajectory is computed avoiding the obstacles. The algorithm was based on the odometry method.
	Motion Control of Steel Sheet Shears with Rocking Knife Mechanism   By Jan Fetyko	[View]   [Download]
Abstract: The paper deals with development and realisation of the motion control for a very precise mechanism of a rocking knife driven by an electrical drive. The rocking knife provides transversal cutting of a moving steel strip into flat sheets of various, adjustable lengths. After development of mathematical model of the controlled mechanism there is designed the trajectory of the mechanism and based on this, a control law for the electrical drive is derived. The correctness of the design has been verified on a real mechanism in a hot rolling mill plant.
	New Fault Tolerant DTC Control for Induction Machine Drives   By A. Ben Abdelghani Bennani	[View]   [Download]
Abstract: Fault tolerant control for induction machine drives is an interesting issue since it enhances the reliability of the drive without inducing high-cost investment. In this paper, a new induction motor drive control strategy based on DTC approach is proposed. It allows a continuous free operation of the drive even if one inverter leg is completely lost. Simulation results prove the good performances of the proposed drive, not only for the machine variables (flux and torque) but also for the converter power module ratings (voltage, current and switching frequency).
	Optimal Control of Current Commutation of High Speed SRM Drive   By Jan Deskur	[View]   [Download]
Abstract: The problem of optimal current commutation control, which bases on optimal off-line selection of switching angles, was investigated in the paper. Two different criteria of optimal control were taken into account: the maximum electromagnetic torque for given current and the minimum electromagnetic torque ripples. Optimization process was provided on base of computer model of SRM drive. Obtained simulation results were validated by experimental investigations.
	Optimal Control of Electrical Drives with Induction Motors for Variable Torques   By Corneliu Botan	[View]   [Download]
Abstract: The optimal control from the energetic point of view of the transient state of electrical drive systems with induction motors is presented. The performance criteria consider only Joule losses, since they significantly overcome other ones in the transient state. The paper refers to variable imposed electromagnetic or load torques.
	Real-World Force Feedback Control for Mobile-Hapto   By Wataru Yamanouchi	[View]   [Download]
Abstract: Recently, communication tools such as the portable telephone and Internet spread all over the world. These devices substitute human eye and ear. Haptic information has paid attention as the third multimedia information. This paper proposes a transmission technique of real world haptic information. This paper proposes a novel haptic transmission in different motion area, named mobile-hapto. The mobile-hapto consists of a mobile robot and a joystick. Intuitive manipulation results become possible by using mobile-hapto. Effectiveness of this proposition method is verified by driving experimental.
	Semi Hierarchical Adaptive Network Based Fuzzy Logic Controller Design for a Multi-Straight-Line Path Tracing Flexible Robot Manipulator with Rotating-Prismatic   By Mete Kalyoncu	[View]   [Download]
Abstract: In this study, a semi-hierarchical adaptive network based fuzzy logic controller for a flexible robot manipulator with rotating-prismatic joint is designed. The proposed controller is aimed to get the end of the robot manipulator to the desired multi-straight-line path and terminate vibrations on arm while it moves. The controller is divided into two parts. First part is for rotation control of the arm. Second part has also two subsystems. The slow-subsystem provides desired extension and the fast-subsystem controller controls change in extension. The performance of the adaptive hierarchical control system is evaluated on the basis of the simulation results.
	Sensitivity of the Current Input-Output Decoupling Vector Control of the DFIM versus Current Sensor Faults   By Meriem Abdellatif	[View]   [Download]
Abstract: The goal of this paper is a Doubly Fed Induction Machine (DFIM) working in motor mode and supplied by two voltages PWM inverters, in the stator and rotor sides. Effects of current sensor faults on the current input-output decoupling in the Stator Flux Oriented Vector Control (SFOVC) are analyzed. A sensitivity study is carried out considering both stator and rotor current sensor failure, under different working conditions and a large speed range. Stator flux coefficient sensitivities emphasize the required accuracy of the current sensors to guarantee the correct angle orientation and the required level of control performance. Matlab-Simulink simulation results are given and illustrate this sensitivity analysis.
	Simulation of IPM Motor by Nonlinear Magnetic Circuit Model for Comparing Direct Torque Control with Current Vector Control   By Hiroki Goto	[View]   [Download]
Abstract: Interior Permanent Magnet (IPM) motor has high efficiency and large torque because the motor utilizes both magnet torque and reluctance torque depending on magnetic saliency. Most common methods used in control of IPM motor are current vector control and Direct Torque Control (DTC). However, it is too difficult to simulation these control methods including nonlinearity and space harmonics. In this paper, a nonlinear magnetic circuit model of the IPM motor considering space harmonics with current vector control and/or DTC is simulated and the two control methods are compared in the simulations.
	Simulation Study on Control of Ultrahigh Speed Drives in Waste Energy Recovery Systems   By Péter Stumpf, Miklós G. Simon, Rafael K. Járdán and István Nagy	[View]   [Download]
Abstract: Special problem arising from the unique characteristics of the ultrahigh-speed induction generator applied in a system developed to generate electric power by utilizing waste and/or renewable energy sources. The studied system is built up from a high-speed turbine coupled to a three-phase induction generator, an AC/AC converter and a supervisory control unit. The purpose of the system is to utilize the energy content of a working medium by the help of a special high-speed turbine converting the energy content of the medium into electric energy with a generator and an AC/AC converter. Many different energy sources can be used with the application of the system, e.g. the energy resulting from the process of pressure reduction in steam, gas or fluid networks. The generated electric power can be fed to the utility mains or it can be used in standalone mode. The special properties of the system are studied only in respect of the unusual behavior of the ultrahigh-speed induction generator.
	Stability Analysis of the Natural Field Orientation Controlled Induction Machine Drive   By G. Mirzaevay	[View]   [Download]
Abstract: Natural Field Orientation (NFO) Control proposed in the 1980's is an alternative low cost control method for induction machines. The NFO Control has shown to have some stability issues in regeneration which have been partially addressed in the previous papers. In the present paper a linearised stability analysis is presented for the motor/drive system based on both the non-augmented and the augmented versions of the NFO control. Based on the results of this analysis, the limitations of the augmentation strategy are explored and conditions are identified when it does not ensure stability. Theoretical results are confirmed by simulations and experiments. Directions of further improvement of the NFO stability are outlined.
	The New Numerical Integration Routine Applied in Sensorless Drives   By Arkadiusz Gardecki	[View]   [Download]
Abstract: The paper presents a new numerical integration routine BGKODE\_DSP. This routine is based on BGKODE routine, which forms a practical application of the Krogh's algorithm. BGKODE\_DSP routine realizes the predictorcorrector method and has been simplified to ensure its applicability in real time systems. The results of the comparison between the selected common numerical integration methods and the new routine is presented. The scope of this research also involves the range of accuracy of the solution resulting from the shorter computation time. Experiments have been carried out on experimental drive system with induction motor with the use of DTC method.
	Walking Robot HEXOR II - A Versatile Platform for Engineering Education   By M. Sajkowski	[View]   [Download]
Abstract: The paper describes walking robot Hexor\textregisteredII that has been designed as versatile platform for engineering education. It was designed, manufactured, tested and introduced for teaching process by Silesian University of Technology and Stenzel Ltd. The project of robot was undertaken basing on the previous long experience of above partners in the field of advanced power electronics. The robot allows for teaching the knowledge that embraces many fields such as mechanical engineering, electrical engineering, electronics, power electronics, control engineering, microprocessor technique, elements of telecommunications, mechatronics and even also a certain knowledge of biology (use of biological prototypes). Four years of experience proved that described robot is extremely useful teaching aid, giving student great amount of interdisciplinary knowledge that reaches far beyond accepted standards.