EPE Association: EPE-PEMC 2008 - Topic: Mechatronic Systems

EPE-PEMC 2008 - Topic: Mechatronic Systems
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2008 - Conference > EPE-PEMC 2008 - Topic: Mechatronic Systems

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   Adaptive Fuzzy Control of magnetically suspended Rotary Table
By Thomas Schallschmidt [View]
[Download]

Abstract: The paper deals with an axial magnetic bearing system for a rotary table. The table is supported by 16 current controlled magnets. Special emphasis is laid on control system design. Here, a neuro-fuzzy based approach is analyzed and experimentally investigated. High performance of observer based cascade structure control systems in connection with an Adaptive Neural Fuzzy Inference System is shown.

   Analysis and Position Control of a Linear Switched Reluctance Actuator Based on Sliding Mode Control
By António Espírito Santo [View]
[Download]

Abstract: This paper presents the finite elements analysis and the control of a linear switched reluctance actuator (LSRA). The energy conversion process is described, and based on a finite elements analysis, both traction and attraction maps are derived. This information is useful to understand the device working principle and its performance for different excitation and position conditions. The proposed control strategy, based on sliding mode control techniques, and the electronics used to proper drive the actuator are described and implemented with the TMS320F2812 eZdsp Start Kit. Control implementation takes advantage of the microprocessor internal peripherals and resources. Finally, experimental results are presented and discussed for the validation of proposed control strategy.

   Control of a Linear Switched Reluctance Motor as a Propulsion System for Autonomous Railway Vehicles
By L. Kolomeitsev [View]
[Download]

Abstract: A linear switched reluctance drive with large airgap was developed and manufactured for a test track of autonomous railway vehicles (RailCab). Control structure and current shaping algorithms are presented providing smooth transitions between the motoring and dynamic braking operation modes at low switching losses. In both modes low force and torque ripples are maintained with reasonable efficiency. The control is tested on the rotational variant of the motor. Details of the test bench and measurements of phase currents, force or torque, respectively, and efficiency are presented.

   Control of Bouc-Wen hysteretic systems: Application to a piezoelectric actuator
By Oriol Gomis-Bellmunt [View]
[Download]

Abstract: This paper deals with the control of hysteretic systems. The hysteretic nonlinearity is represented in this paper using the Bouc-Wen model and a time-varying PID controller is designed for micropositionning purpose. The performance of the controller is tested using numerical simulations of experimental data obtained from a piezoelectric actuator.

   Design of Energy Harvesting Generator Base on Rapid Prototyping Parts
By Zdenek Hadas [View]
[Download]

Abstract: This paper deals with an alternative design of an electromagnetic energy harvesting generator for supplying wireless sensors with energy. The developed device is complex mechatronics system which generates an electrical power from an ambient mechanical vibration by use of a suitable construction of electromagnetic generator. The developed design of generator has immobile parts base on rapid prototyping parts from ABS plastic material. It is suitable for product of device and it provides lightweight device with sufficient durability. As this device is excited by ambient mechanical vibration, it harvests electrical energy due to Faraday's law.

   Development and Control for a Reaction Wheel System Driven by Permanent Magnet Synchronous Motor
By Ming-Chang Chou [View]
[Download]

Abstract: This paper presents the robust current and torque controls for a satellite reaction wheel driven by permanent magnet synchronous motor (PMSM). First, the motor nominal key parameters are estimated, and the DSP-based motor drive is established. Then a winding current control scheme is proposed, wherein a traditional two-degrees-of-freedom controller (2DOFC) is augmented by an internal model feedback controller or a robust tracking error cancellation controller. Good sine-wave current tracking and back electromotive force (EMF) rejection performances are obtained. The similar robust control approach is also applied to perform the motor observed torque control with quick and close tracking response.

   Dynamical Torque-Speed-Curve Adaption to Damp Load Peaks Occuring in Drive Trains of Shredding Plants
By Constantinos Sourkounis [View]
[Download]

Abstract: Comminuting processes, which provide the required mechanical power for the process cause stochastical loads with high amplitudes in the electromechanical drive train. In the long run, peak loads cause premature material fatigue of the drive components alongside high thermal loads in the asynchronous machine. A new drive train with a novel non-linear speed control was developed based on the operating performance of commercial comminuting units. The non-linear speed control realises a rotational speed-flexible operation so that the rotating masses' kinetic energy is used to smooth the load peaks from the process. In this way, it was possible to reduce the cumulative load in the drive train achieving high process performance.

   Electric Drive for Carding Machine Draft Device
By Martin Diblík [View]
[Download]

Abstract: Drafting of textile sliver is very important technology step in textile production. The draft device is equipped with speed-controlled electric drives and its high-dynamic response is necessary to obtain high-quality sliver. The article is focused on techniques and procedures that improve dynamic responses of controlled electric drives with synchronous machines with permanent magnets in rotor (PMSM). Significant place is dedicated to study current-feedforward control structure characteristics. Next part describes PMSM servodrive application to control the speed of carding machine draft device. According to the simulation, above-mentioned method of dynamics improvement leads into quality increase of output sliver in consequence.

   Motion Copying System Based on Real-World Haptics in Variable Speed
By Yuki Yokokura [View]
[Download]

Abstract: The paper proposes a novel motion copying system considering variable reproduction velocity. The motion copying system consists of motion saving system and a motion loading system. The motion saving system preserves a motion of a human operator to a motion data memory. The motion loading system operates according to saved position and force in the motion data memory, and reproduces saved motion. The reproduced position and force corresponds to stored position and force. The proposed motion copying system in this paper is able to vary the reproduction velocity. By the experiment, the paper confirmed that a reproduction velocity can be freely changed, when the motion loading system reproduces motion.

   Nonlinear Control Design for Magnetic Bearings Via Automatic Differentiation
By Stefan Palis [View]
[Download]

Abstract: The presented paper shows how nonlinear control theory can be applied to magnetic bearings with permanent magnetic force. Because of the difficult expression for the magnetic force symbolic computation of Lie derivatives becomes unhandy. Therefore the Lie derivatives will be calculated applying automatic differentiation.

   On the Development of BLDC Motor Control Run-Up Algorithms for Aerospace Application
By Vladimir Hubik [View]
[Download]

Abstract: Recent developments in aviation systems are leading to implementation of Power Optimized Aircraft by means of FBW and PBW technologies. Effort is being aimed at replacement of existing hydraulic actuators by intelligent EHA/EMA actuators. A fundamental element that drives the EHA/EMA actuator is the BLDC motor. In critical applications, it is necessary to ensure correct start-up of the motor. This article deals with the analysis and simulation of the start-up phase of the BLDC motor and summarises first results obtained during development of control algorithms.

   Rotor Levitation by Active Magnetic Bearing Using Digital State Controller
By Chip Rinaldi Sabirin [View]
[Download]

Abstract: Active magnetic bearings (AMB) find extended application in high-speed rotating electrical machines due to the contact-free operation, which reduces the overall machine wear. Previous research on the control system for the AMB dealt mostly with PID controller, with its advantage of simple design. Improvements using faster control access to the plant can be realized by state-space control. Additionally, the magnetic bearing as a MIMO (multiple-input multiple-output) system can be better described by the state-space equations. A digital state controller is applied to levitate a rotor of a 40-kW 40000-rpm PM synchronous machine. Simulation and measurement results are given for zero speed operation at an AMB test-rig.

   Traction Vehicle Distributed Control Computer System Architecture with Auto Reconfiguration Features and Extended DMA Support
By Jiri Zdenek [View]
[Download]

Abstract: The system design principles and hardware and software architecture of the distributed network control computer (DNCC) of a traction vehicle are presented. The system design is based on such criteria as functionality, reliability and maintainability. The number of computer network node types is minimized. Network node scans its physical position inside the network and automatically reconfigures itself to the required function using correct software to configure FPGA based hardware parts and to run correct control algorithms on the host processors. To get these properties special emphasis is placed on correct and optimal system function partition among distributed computer nodes to minimize the overall communication overhead and to minimize the hardware parts of the system and to move maximum of functions into the software. As an example of such design task the DNCC of an electric locomotive is presented. The vehicle DNCC is organized as a local computer network with master-slave node access method with the dual serial bus. The network communication services are uniformly used in all nodes to support reliable transfer of the process data. The communication overhead is minimized using exclusively DMA transfer method. DMA support is utilized to be the time information captured precisely (averaging ADCs) too. User task in the DNCC nodes are scheduled by the preemptive real time operation system with dynamic planning or by the simple static executive in the nodes with extra high requirements on the fast interrupt response.

   Wideband Force Sensing for Haptic Energy Transmission Utilizing FPGA
By Seiichiro Katsura, Masaki Kondo [View]
[Download]

Abstract: Haptic and/or tactile information has been paid attention as the third multimedia information. An electric motor with the disturbance observer is a good candidate to achieve haptic ability because it is possible to match actuation and sensation. Furthermore, it is possible to convert haptic energy into electric energy. The paper discusses necessity for the framework of haptic energy transmission. Especially, the paper proposes both theory and implementation method. To enlarge the bandwidth of a disturbance observer, the paper proposes super wideband force sensing using a field-programmable gate array (FPGA). Since an FPGA is implemented in it, the control performance is superior to human's sensation. The experimental results show viability of the proposed method.

EPE-PEMC 2008 - Topic: Mechatronic Systems
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2008 - Conference > EPE-PEMC 2008 - Topic: Mechatronic Systems
	[return to parent folder]

	Adaptive Fuzzy Control of magnetically suspended Rotary Table By Thomas Schallschmidt	[View] [Download]
Abstract: The paper deals with an axial magnetic bearing system for a rotary table. The table is supported by 16 current controlled magnets. Special emphasis is laid on control system design. Here, a neuro-fuzzy based approach is analyzed and experimentally investigated. High performance of observer based cascade structure control systems in connection with an Adaptive Neural Fuzzy Inference System is shown.

	Analysis and Position Control of a Linear Switched Reluctance Actuator Based on Sliding Mode Control By António Espírito Santo	[View] [Download]
Abstract: This paper presents the finite elements analysis and the control of a linear switched reluctance actuator (LSRA). The energy conversion process is described, and based on a finite elements analysis, both traction and attraction maps are derived. This information is useful to understand the device working principle and its performance for different excitation and position conditions. The proposed control strategy, based on sliding mode control techniques, and the electronics used to proper drive the actuator are described and implemented with the TMS320F2812 eZdsp Start Kit. Control implementation takes advantage of the microprocessor internal peripherals and resources. Finally, experimental results are presented and discussed for the validation of proposed control strategy.

	Control of a Linear Switched Reluctance Motor as a Propulsion System for Autonomous Railway Vehicles By L. Kolomeitsev	[View] [Download]
Abstract: A linear switched reluctance drive with large airgap was developed and manufactured for a test track of autonomous railway vehicles (RailCab). Control structure and current shaping algorithms are presented providing smooth transitions between the motoring and dynamic braking operation modes at low switching losses. In both modes low force and torque ripples are maintained with reasonable efficiency. The control is tested on the rotational variant of the motor. Details of the test bench and measurements of phase currents, force or torque, respectively, and efficiency are presented.

	Control of Bouc-Wen hysteretic systems: Application to a piezoelectric actuator By Oriol Gomis-Bellmunt	[View] [Download]
Abstract: This paper deals with the control of hysteretic systems. The hysteretic nonlinearity is represented in this paper using the Bouc-Wen model and a time-varying PID controller is designed for micropositionning purpose. The performance of the controller is tested using numerical simulations of experimental data obtained from a piezoelectric actuator.

	Design of Energy Harvesting Generator Base on Rapid Prototyping Parts By Zdenek Hadas	[View] [Download]
Abstract: This paper deals with an alternative design of an electromagnetic energy harvesting generator for supplying wireless sensors with energy. The developed device is complex mechatronics system which generates an electrical power from an ambient mechanical vibration by use of a suitable construction of electromagnetic generator. The developed design of generator has immobile parts base on rapid prototyping parts from ABS plastic material. It is suitable for product of device and it provides lightweight device with sufficient durability. As this device is excited by ambient mechanical vibration, it harvests electrical energy due to Faraday's law.

	Development and Control for a Reaction Wheel System Driven by Permanent Magnet Synchronous Motor By Ming-Chang Chou	[View] [Download]
Abstract: This paper presents the robust current and torque controls for a satellite reaction wheel driven by permanent magnet synchronous motor (PMSM). First, the motor nominal key parameters are estimated, and the DSP-based motor drive is established. Then a winding current control scheme is proposed, wherein a traditional two-degrees-of-freedom controller (2DOFC) is augmented by an internal model feedback controller or a robust tracking error cancellation controller. Good sine-wave current tracking and back electromotive force (EMF) rejection performances are obtained. The similar robust control approach is also applied to perform the motor observed torque control with quick and close tracking response.

	Dynamical Torque-Speed-Curve Adaption to Damp Load Peaks Occuring in Drive Trains of Shredding Plants By Constantinos Sourkounis	[View] [Download]
Abstract: Comminuting processes, which provide the required mechanical power for the process cause stochastical loads with high amplitudes in the electromechanical drive train. In the long run, peak loads cause premature material fatigue of the drive components alongside high thermal loads in the asynchronous machine. A new drive train with a novel non-linear speed control was developed based on the operating performance of commercial comminuting units. The non-linear speed control realises a rotational speed-flexible operation so that the rotating masses' kinetic energy is used to smooth the load peaks from the process. In this way, it was possible to reduce the cumulative load in the drive train achieving high process performance.

	Electric Drive for Carding Machine Draft Device By Martin Diblík	[View] [Download]
Abstract: Drafting of textile sliver is very important technology step in textile production. The draft device is equipped with speed-controlled electric drives and its high-dynamic response is necessary to obtain high-quality sliver. The article is focused on techniques and procedures that improve dynamic responses of controlled electric drives with synchronous machines with permanent magnets in rotor (PMSM). Significant place is dedicated to study current-feedforward control structure characteristics. Next part describes PMSM servodrive application to control the speed of carding machine draft device. According to the simulation, above-mentioned method of dynamics improvement leads into quality increase of output sliver in consequence.

	Motion Copying System Based on Real-World Haptics in Variable Speed By Yuki Yokokura	[View] [Download]
Abstract: The paper proposes a novel motion copying system considering variable reproduction velocity. The motion copying system consists of motion saving system and a motion loading system. The motion saving system preserves a motion of a human operator to a motion data memory. The motion loading system operates according to saved position and force in the motion data memory, and reproduces saved motion. The reproduced position and force corresponds to stored position and force. The proposed motion copying system in this paper is able to vary the reproduction velocity. By the experiment, the paper confirmed that a reproduction velocity can be freely changed, when the motion loading system reproduces motion.

	Nonlinear Control Design for Magnetic Bearings Via Automatic Differentiation By Stefan Palis	[View] [Download]
Abstract: The presented paper shows how nonlinear control theory can be applied to magnetic bearings with permanent magnetic force. Because of the difficult expression for the magnetic force symbolic computation of Lie derivatives becomes unhandy. Therefore the Lie derivatives will be calculated applying automatic differentiation.

	On the Development of BLDC Motor Control Run-Up Algorithms for Aerospace Application By Vladimir Hubik	[View] [Download]
Abstract: Recent developments in aviation systems are leading to implementation of Power Optimized Aircraft by means of FBW and PBW technologies. Effort is being aimed at replacement of existing hydraulic actuators by intelligent EHA/EMA actuators. A fundamental element that drives the EHA/EMA actuator is the BLDC motor. In critical applications, it is necessary to ensure correct start-up of the motor. This article deals with the analysis and simulation of the start-up phase of the BLDC motor and summarises first results obtained during development of control algorithms.

	Rotor Levitation by Active Magnetic Bearing Using Digital State Controller By Chip Rinaldi Sabirin	[View] [Download]
Abstract: Active magnetic bearings (AMB) find extended application in high-speed rotating electrical machines due to the contact-free operation, which reduces the overall machine wear. Previous research on the control system for the AMB dealt mostly with PID controller, with its advantage of simple design. Improvements using faster control access to the plant can be realized by state-space control. Additionally, the magnetic bearing as a MIMO (multiple-input multiple-output) system can be better described by the state-space equations. A digital state controller is applied to levitate a rotor of a 40-kW 40000-rpm PM synchronous machine. Simulation and measurement results are given for zero speed operation at an AMB test-rig.

	Traction Vehicle Distributed Control Computer System Architecture with Auto Reconfiguration Features and Extended DMA Support By Jiri Zdenek	[View] [Download]
Abstract: The system design principles and hardware and software architecture of the distributed network control computer (DNCC) of a traction vehicle are presented. The system design is based on such criteria as functionality, reliability and maintainability. The number of computer network node types is minimized. Network node scans its physical position inside the network and automatically reconfigures itself to the required function using correct software to configure FPGA based hardware parts and to run correct control algorithms on the host processors. To get these properties special emphasis is placed on correct and optimal system function partition among distributed computer nodes to minimize the overall communication overhead and to minimize the hardware parts of the system and to move maximum of functions into the software. As an example of such design task the DNCC of an electric locomotive is presented. The vehicle DNCC is organized as a local computer network with master-slave node access method with the dual serial bus. The network communication services are uniformly used in all nodes to support reliable transfer of the process data. The communication overhead is minimized using exclusively DMA transfer method. DMA support is utilized to be the time information captured precisely (averaging ADCs) too. User task in the DNCC nodes are scheduled by the preemptive real time operation system with dynamic planning or by the simple static executive in the nodes with extra high requirements on the fast interrupt response.

	Wideband Force Sensing for Haptic Energy Transmission Utilizing FPGA By Seiichiro Katsura, Masaki Kondo	[View] [Download]
Abstract: Haptic and/or tactile information has been paid attention as the third multimedia information. An electric motor with the disturbance observer is a good candidate to achieve haptic ability because it is possible to match actuation and sensation. Furthermore, it is possible to convert haptic energy into electric energy. The paper discusses necessity for the framework of haptic energy transmission. Especially, the paper proposes both theory and implementation method. To enlarge the bandwidth of a disturbance observer, the paper proposes super wideband force sensing using a field-programmable gate array (FPGA). Since an FPGA is implemented in it, the control performance is superior to human's sensation. The experimental results show viability of the proposed method.