EPE Association: EPE 2009 - subtopic 09-2 - DS: 'Motion Control and Robotics'

EPE 2009 - subtopic 09-2 - DS: 'Motion Control and Robotics'
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2009 - Conference > EPE 2009 - Topic 09: 'Motion Control and Robotics, Communication in Drive Systems' > EPE 2009 - subtopic 09-2 - DS: 'Motion Control and Robotics'

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   Control of a piezoelectric hysteretic actuator
By Oriol GOMIS-BELLMUNT, FAYÃ‡AL IKHOUANE, daniel MONTESINOS-MIRACLE, SAMUEL GALCERAN-ARELLANO, joan RULL-DURAN [View]
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Abstract: The present paper addresses the control of a piezoelectric actuator considering its hysteresis. Hysteresis is represented using the Bouc-Wen model. A time-varying PID controller is designed for micropositionning purpose. The controller is evaluated using numerical simulations based on experimental data obtained from a piezoelectric actuator.

   Design of a pitch control of a wind turbine to improve system frequency response
By Eduard VALSERA, Andreas SUMPER, Oriol GOMIS-BELLMUNT, AdriÃ JUNYENT-FERRÃ‰, Marcela MARTÃNEZ-ROJAS [View]
[Download]

Abstract: The design of a pitch control capable to respond to frequency deviations is presented in this paper. The pitch control method reserves a percentage of power extracted from the wind turbine in order to help to mitigate frequency deviations when an extra power is needed. For the purpose of pitch control design, the transfer function of the whole system and an adjust of a controller is needed. Results show that proposed pitch control can contribute to power stabilisation.

   friction control with a piezo-electric vibrating actuator
By gaston MBOUNGUI, betty LEMAIRE-SEMAIL, frederic GIRAUD [View]
[Download]

Abstract: In this paper, we propose an actuator of 64x38x3 mm comprising polarised piezoceramics glued on a copper-beryllium plate supported by four feet. By controlling the drive voltage, we vary friction force perceived by a user who displaces the device, as he could do with a usual mouse. This adds the possibility to render simulated force from objects manipulated on a PC screen. Results from a psychophysical study conducted as preliminary evaluation demonstrate the availability of the proposed device for force feedback application.

   Optimal current references for torque ripple minimization of a Switched ReluctanceMotor (SRM)
By ARNAU DORIA CEREZO, BalduÃ BLANQUÃ‰ MOLINA [View]
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Abstract: This paper presents the desired current references in order to minimize the torque ripple for a Switched Reluctance Motor. From the torque equation, and using switch on and switch off angles, the desired current waveforms are obtained. Simulations validates the study and are compared with the constant current references case.

   PCâ€“based Feedback Acceleration Control using Linux RTAI
By Giorgio SULLIGOI, Massimiliano CHIANDONE, Stefano CLEVA [View]
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Abstract: Linux operative system, extended with the Real Time Application Interface (RTAI), makes it possible to realize industrial motion controls. This requires General Purpose Processors (GPPs) instead of dedicated DSPs or microcontrollers. RTAI offers the possibility of designing and developing motion controls using high level object languages (i.e., Simulink). The main advantages brought using Linux-RTAI and a PC as a controller platform are: very reduced time for development, diagnostics, design of controls; cost reduction offered by the open-source status of the operating system; high availability of the hardware. This paper shows that such a system offers adequate digital programming and signal processing capabilities to make real time motion control applications.An industrial-PC based acceleration control is presented and points of strength of RTAI solution are shown.

   Selection of Optimal Frequency Band for Motor Cable Communication
By Jero AHOLA, Antti KOSONEN, Tero AHONEN, Jussi TAMMINEN, Tuomo LINDH [View]
[Download]

Abstract: In previous publications [1]-[3] it has been demonstrated that the power line communication (PLC) is a feasible method for data transmission between a LV (Low Voltage) motor and a frequency converter. In this paper, attenuation and noise power spectrum of the motor cable communication channel are analyzed. The analysis is based on a laboratory test setup, laboratory measurements, simulation models, and known PSD (Power Spectral Density) limits for industry standard PLC (Power Line Communication) equipment. The modeling principles, used in simulation models, are presented in [4] and [5]. According to the analysis, in the researched cases, the frequency band 20-30 MHz is feasible for the motor cable communication. In addition, data transmission in the test setup is demonstrated with a low-cost 27 MHz radio transceiver operating at a license free RF band, and using the transmission power of approximately 1 mW.

EPE 2009 - subtopic 09-2 - DS: 'Motion Control and Robotics'
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2009 - Conference > EPE 2009 - Topic 09: 'Motion Control and Robotics, Communication in Drive Systems' > EPE 2009 - subtopic 09-2 - DS: 'Motion Control and Robotics'
	[return to parent folder]

	Control of a piezoelectric hysteretic actuator By Oriol GOMIS-BELLMUNT, FAYÃ‡AL IKHOUANE, daniel MONTESINOS-MIRACLE, SAMUEL GALCERAN-ARELLANO, joan RULL-DURAN	[View] [Download]
Abstract: The present paper addresses the control of a piezoelectric actuator considering its hysteresis. Hysteresis is represented using the Bouc-Wen model. A time-varying PID controller is designed for micropositionning purpose. The controller is evaluated using numerical simulations based on experimental data obtained from a piezoelectric actuator.

	Design of a pitch control of a wind turbine to improve system frequency response By Eduard VALSERA, Andreas SUMPER, Oriol GOMIS-BELLMUNT, AdriÃ JUNYENT-FERRÃ‰, Marcela MARTÃNEZ-ROJAS	[View] [Download]
Abstract: The design of a pitch control capable to respond to frequency deviations is presented in this paper. The pitch control method reserves a percentage of power extracted from the wind turbine in order to help to mitigate frequency deviations when an extra power is needed. For the purpose of pitch control design, the transfer function of the whole system and an adjust of a controller is needed. Results show that proposed pitch control can contribute to power stabilisation.

	friction control with a piezo-electric vibrating actuator By gaston MBOUNGUI, betty LEMAIRE-SEMAIL, frederic GIRAUD	[View] [Download]
Abstract: In this paper, we propose an actuator of 64x38x3 mm comprising polarised piezoceramics glued on a copper-beryllium plate supported by four feet. By controlling the drive voltage, we vary friction force perceived by a user who displaces the device, as he could do with a usual mouse. This adds the possibility to render simulated force from objects manipulated on a PC screen. Results from a psychophysical study conducted as preliminary evaluation demonstrate the availability of the proposed device for force feedback application.

	Optimal current references for torque ripple minimization of a Switched ReluctanceMotor (SRM) By ARNAU DORIA CEREZO, BalduÃ BLANQUÃ‰ MOLINA	[View] [Download]
Abstract: This paper presents the desired current references in order to minimize the torque ripple for a Switched Reluctance Motor. From the torque equation, and using switch on and switch off angles, the desired current waveforms are obtained. Simulations validates the study and are compared with the constant current references case.

	PCâ€“based Feedback Acceleration Control using Linux RTAI By Giorgio SULLIGOI, Massimiliano CHIANDONE, Stefano CLEVA	[View] [Download]
Abstract: Linux operative system, extended with the Real Time Application Interface (RTAI), makes it possible to realize industrial motion controls. This requires General Purpose Processors (GPPs) instead of dedicated DSPs or microcontrollers. RTAI offers the possibility of designing and developing motion controls using high level object languages (i.e., Simulink). The main advantages brought using Linux-RTAI and a PC as a controller platform are: very reduced time for development, diagnostics, design of controls; cost reduction offered by the open-source status of the operating system; high availability of the hardware. This paper shows that such a system offers adequate digital programming and signal processing capabilities to make real time motion control applications.An industrial-PC based acceleration control is presented and points of strength of RTAI solution are shown.

	Selection of Optimal Frequency Band for Motor Cable Communication By Jero AHOLA, Antti KOSONEN, Tero AHONEN, Jussi TAMMINEN, Tuomo LINDH	[View] [Download]
Abstract: In previous publications [1]-[3] it has been demonstrated that the power line communication (PLC) is a feasible method for data transmission between a LV (Low Voltage) motor and a frequency converter. In this paper, attenuation and noise power spectrum of the motor cable communication channel are analyzed. The analysis is based on a laboratory test setup, laboratory measurements, simulation models, and known PSD (Power Spectral Density) limits for industry standard PLC (Power Line Communication) equipment. The modeling principles, used in simulation models, are presented in [4] and [5]. According to the analysis, in the researched cases, the frequency band 20-30 MHz is feasible for the motor cable communication. In addition, data transmission in the test setup is demonstrated with a low-cost 27 MHz radio transceiver operating at a license free RF band, and using the transmission power of approximately 1 mW.