EPE Association: EPE 2011 - DS3e: Topic 09: Motion Control, Robotics, Special Drives, Haptics, Communication in Drive Systems

EPE 2011 - DS3e: Topic 09: Motion Control, Robotics, Special Drives, Haptics, Communication in Drive Systems
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2011 ECCE Europe - Conference > EPE 2011 - Topic 09: Motion control, robotics, special drives, haptics, communication in drive systems > EPE 2011 - DS3e: Topic 09: Motion Control, Robotics, Special Drives, Haptics, Communication in Drive Systems

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   Dynamic emulation of multi-mass mechanical loads in electric drives
By Seppo SAARAKKALA, Antti ALAHÄIVÄLÄ, Marko HINKKANEN, Jorma LUOMI [View]
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Abstract: This paper presents a straightforward method for dynamic emulation of multi-mass systems. The test bench consists of a driving motor coupled rigidly to a load servo motor, and the torque reference of the servo motor is controlled based on the dynamic model to be emulated. No additional measurements are needed, but the mechanical parameters of the test bench and the torque estimate of the driving motor have to be known. The use of the torque estimate makes it possible to avoid using any differentiations or controller compensation terms in the emulator. The experimental results show that the emulator can model the dynamics of the multi-mass mechanical load with a good accuracy. In addition, the robustness against the mechanical parameter inaccuracies is good.

   Motor Condition Monitoring of Induction Motor with Programmable Logic Controller and Industrial Network
By Ruben PUCHE-PANADERO, M. PINEDA-SANCHEZ, M. RIERA-GUASP, A. SAPENA-BANO, J. ROGER-FOLCH, J. PEREZ-CRUZ [View]
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Abstract: This paper presents an open, multilevel condition monitoring system for induction motors (IMs). The current, voltage, speed and temperature values of the IM are measured with commercial, industrial equipment (power analyzer, temperature relay), and transmitted to a programmable logic controller (PLC) through a MODBUS industrial network. The PLC program, developed under the IEC-61131-3 standard, performs protection logic and transmits the data to a supervision computer using an OPC (Ole for Process Control) data communications server. An OPC client component has been inserted into a SCADA program, which displays the motor status and stores it to perform trend analysis. The use of open specifications for data communications and PLC software development has allowed the construction of the proposed system using industrial, commercially available components, instead of requiring custom developed equipment. This approach also facilitates its integration into information networks at the enterprise level. Experimental results with a commercial 1.1 three-phase IM show the feasibility of the proposed system

   Online Parameter-Estimation of Feedforward Gains in cascaded control structures for Servo Drives
By Ingo PLETSCHEN, Stephan ROHR, Guenther HERRMANN, Ralph KENNEL [View]
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Abstract: High running comfort and precise positioning in elevators needs well adjusted feedforward gains in the cascaded control structure for servo drives. For avoidance of the start jerk, the machine has to be energized before the mechanical brake opens. The energizing current has to be in accordance with the load difference between the cabin’s and the counterweight’s side, which depends on the payload and the position. In addition, the torque needed for acceleration of the elevator inertia is also being feed-forwarded to ensure a dynamic response and precise positioning. The manual adjustment of the feedforward gains is time consuming, expensive and not done satisfyingly all the time and thus an automatic adjustment is proposed in this paper. Also, as existing procedures need additional test weights for the calibration, this paper proposes an estimation procedure which runs during the travel and does not need additional excitation which would annoy the passengers. An online estimation method is resented which allows an automated starting up without manual adjustments or the need additional weights for calibration. Simulations, as well as measurements at a test elevator, show good and robust performance of the algorithm. Already after the first run no start jerk occurs and the parameters are optimized further as soon as the first time passengers travel with the elevator. Also, as the algorithm runs during the travel, an additional parametrization of the inertia caused by the passengers is possible.

   Preliminary feasibility study of a speed estimator for piezoelectric actuators used in forging processes
By Christophe GIRAUD-AUDINE, Frederic GIRAUD [View]
[Download]

Abstract: In this paper the feasibility of a speed estimator for a piezoelectric actuator used in a forging process is studied. It is based on a simplified linear model and its robustness is tested using a more complex modelthat include the hysteresis effects. The preliminary results proves that the concept is feasible despite thenon-linearities, provided that some parameters of the actuator are known.

EPE 2011 - DS3e: Topic 09: Motion Control, Robotics, Special Drives, Haptics, Communication in Drive Systems
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2011 ECCE Europe - Conference > EPE 2011 - Topic 09: Motion control, robotics, special drives, haptics, communication in drive systems > EPE 2011 - DS3e: Topic 09: Motion Control, Robotics, Special Drives, Haptics, Communication in Drive Systems
	[return to parent folder]

	Dynamic emulation of multi-mass mechanical loads in electric drives By Seppo SAARAKKALA, Antti ALAHÄIVÄLÄ, Marko HINKKANEN, Jorma LUOMI	[View] [Download]
Abstract: This paper presents a straightforward method for dynamic emulation of multi-mass systems. The test bench consists of a driving motor coupled rigidly to a load servo motor, and the torque reference of the servo motor is controlled based on the dynamic model to be emulated. No additional measurements are needed, but the mechanical parameters of the test bench and the torque estimate of the driving motor have to be known. The use of the torque estimate makes it possible to avoid using any differentiations or controller compensation terms in the emulator. The experimental results show that the emulator can model the dynamics of the multi-mass mechanical load with a good accuracy. In addition, the robustness against the mechanical parameter inaccuracies is good.

	Motor Condition Monitoring of Induction Motor with Programmable Logic Controller and Industrial Network By Ruben PUCHE-PANADERO, M. PINEDA-SANCHEZ, M. RIERA-GUASP, A. SAPENA-BANO, J. ROGER-FOLCH, J. PEREZ-CRUZ	[View] [Download]
Abstract: This paper presents an open, multilevel condition monitoring system for induction motors (IMs). The current, voltage, speed and temperature values of the IM are measured with commercial, industrial equipment (power analyzer, temperature relay), and transmitted to a programmable logic controller (PLC) through a MODBUS industrial network. The PLC program, developed under the IEC-61131-3 standard, performs protection logic and transmits the data to a supervision computer using an OPC (Ole for Process Control) data communications server. An OPC client component has been inserted into a SCADA program, which displays the motor status and stores it to perform trend analysis. The use of open specifications for data communications and PLC software development has allowed the construction of the proposed system using industrial, commercially available components, instead of requiring custom developed equipment. This approach also facilitates its integration into information networks at the enterprise level. Experimental results with a commercial 1.1 three-phase IM show the feasibility of the proposed system

	Online Parameter-Estimation of Feedforward Gains in cascaded control structures for Servo Drives By Ingo PLETSCHEN, Stephan ROHR, Guenther HERRMANN, Ralph KENNEL	[View] [Download]
Abstract: High running comfort and precise positioning in elevators needs well adjusted feedforward gains in the cascaded control structure for servo drives. For avoidance of the start jerk, the machine has to be energized before the mechanical brake opens. The energizing current has to be in accordance with the load difference between the cabin’s and the counterweight’s side, which depends on the payload and the position. In addition, the torque needed for acceleration of the elevator inertia is also being feed-forwarded to ensure a dynamic response and precise positioning. The manual adjustment of the feedforward gains is time consuming, expensive and not done satisfyingly all the time and thus an automatic adjustment is proposed in this paper. Also, as existing procedures need additional test weights for the calibration, this paper proposes an estimation procedure which runs during the travel and does not need additional excitation which would annoy the passengers. An online estimation method is resented which allows an automated starting up without manual adjustments or the need additional weights for calibration. Simulations, as well as measurements at a test elevator, show good and robust performance of the algorithm. Already after the first run no start jerk occurs and the parameters are optimized further as soon as the first time passengers travel with the elevator. Also, as the algorithm runs during the travel, an additional parametrization of the inertia caused by the passengers is possible.

	Preliminary feasibility study of a speed estimator for piezoelectric actuators used in forging processes By Christophe GIRAUD-AUDINE, Frederic GIRAUD	[View] [Download]
Abstract: In this paper the feasibility of a speed estimator for a piezoelectric actuator used in a forging process is studied. It is based on a simplified linear model and its robustness is tested using a more complex modelthat include the hysteresis effects. The preliminary results proves that the concept is feasible despite thenon-linearities, provided that some parameters of the actuator are known.