EPE Association: EPE 2013 - LS9g: Motion Control, Robotics, Special Drives, Haptics

EPE 2013 - LS9g: Motion Control, Robotics, Special Drives, Haptics
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2013 ECCE Europe - Conference > EPE 2013 - Topic 09: Motion control, robotics, special drives, haptics, communication in drive systems > EPE 2013 - LS9g: Motion Control, Robotics, Special Drives, Haptics

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   A method to HARvest energy from a hapTIC display in a handheld device: a preliminary study
By Frederic GIRAUD, Francis DAWSON, Christophe GIRAUD-AUDINE, Michel AMBERG, Betty LEMAIRE-SEMAIL [View]
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Abstract: This paper deals with the control of a haptic device which is used in a generator mode to produce electricity from a user’s walking movements in a handheld device, like a mobile phone for instance. We first present the design principle of such a device. Then, a design is presented, which allows haptic feedback and energy harvesting to be produced with a same device. It is based on a piezoelectric plate actuator. A causal modelling of the system is then developed, and inverted in order to obtain the key control algorithms. Compared to other energy harvesting system, HarTic is characterized by some interesting features like the accelerometer which is now embedded into most mobile phones, and its measurement can be used in the energy harvesting strategy. Our simulations show that 2mW can be harversted in our case study.

   Application of NN-based and MRAS-basedFFC to Electromechanical Motion Systems
By Nguyen Duy CUONG, T.J.A. DE VRIES, Jan VAN AMERONGEN [View]
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Abstract: Neural Network (NN) based Learning Feed-Forward Control (LFFC) is an attractive control paradigm for motion systems. The use of LFFC can improve not only the disturbance rejection, but also the stability robustness of the controlled system. One of the main drawbacks of the NN-based LFFC is the requirement that the training motions have to be chosen carefully, such that all possibly relevant input combinations are covered. This requirement may be quite restrictive in practical applications. But Model Reference Adaptive Systems (MRAS)-based LFFC can be used to overcome such problem. We address the problem relating to the precision control of permanent magnet linear motors to track random motion trajectories. By implementing both controllers on a ‘Tripod’ setup, the performances of both methods are compared. Also the combination of the two is considered. The simulation and experimental results show that both control algorithms reach almost the same tracking error after convergence and are superior to the classic PD controller. However, after convergence the MRAS-based LFFC is able to generate a much better feed-forward control and hence obtain about a 5 times smaller maximum tracking error than the NN-based with an untrained reference motion. Moreover, MRAS-based LFFC is simpler to implement. The resulting control laws are simple and thus interesting for practical use.

   Ripple Free Fault Tolerant Control of Five Phase Permanent Magnet Machines
By Ramin SALEHI ARASHLOO, Mehdi SALEHIFAR, Jose Luis ROMERAL MARTINEZ, Vicent SALA [View]
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Abstract: This study is dealt with fault tolerant control of five phase permanent magnet (PM) machines. The main objectives are to increase the output power while eliminating the generated torque ripples. As a new aspect, the effect of available neutral connection is evaluated on the output power and torque ripples.

EPE 2013 - LS9g: Motion Control, Robotics, Special Drives, Haptics
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2013 ECCE Europe - Conference > EPE 2013 - Topic 09: Motion control, robotics, special drives, haptics, communication in drive systems > EPE 2013 - LS9g: Motion Control, Robotics, Special Drives, Haptics
	[return to parent folder]

	A method to HARvest energy from a hapTIC display in a handheld device: a preliminary study By Frederic GIRAUD, Francis DAWSON, Christophe GIRAUD-AUDINE, Michel AMBERG, Betty LEMAIRE-SEMAIL	[View] [Download]
Abstract: This paper deals with the control of a haptic device which is used in a generator mode to produce electricity from a user’s walking movements in a handheld device, like a mobile phone for instance. We first present the design principle of such a device. Then, a design is presented, which allows haptic feedback and energy harvesting to be produced with a same device. It is based on a piezoelectric plate actuator. A causal modelling of the system is then developed, and inverted in order to obtain the key control algorithms. Compared to other energy harvesting system, HarTic is characterized by some interesting features like the accelerometer which is now embedded into most mobile phones, and its measurement can be used in the energy harvesting strategy. Our simulations show that 2mW can be harversted in our case study.

	Application of NN-based and MRAS-basedFFC to Electromechanical Motion Systems By Nguyen Duy CUONG, T.J.A. DE VRIES, Jan VAN AMERONGEN	[View] [Download]
Abstract: Neural Network (NN) based Learning Feed-Forward Control (LFFC) is an attractive control paradigm for motion systems. The use of LFFC can improve not only the disturbance rejection, but also the stability robustness of the controlled system. One of the main drawbacks of the NN-based LFFC is the requirement that the training motions have to be chosen carefully, such that all possibly relevant input combinations are covered. This requirement may be quite restrictive in practical applications. But Model Reference Adaptive Systems (MRAS)-based LFFC can be used to overcome such problem. We address the problem relating to the precision control of permanent magnet linear motors to track random motion trajectories. By implementing both controllers on a ‘Tripod’ setup, the performances of both methods are compared. Also the combination of the two is considered. The simulation and experimental results show that both control algorithms reach almost the same tracking error after convergence and are superior to the classic PD controller. However, after convergence the MRAS-based LFFC is able to generate a much better feed-forward control and hence obtain about a 5 times smaller maximum tracking error than the NN-based with an untrained reference motion. Moreover, MRAS-based LFFC is simpler to implement. The resulting control laws are simple and thus interesting for practical use.

	Ripple Free Fault Tolerant Control of Five Phase Permanent Magnet Machines By Ramin SALEHI ARASHLOO, Mehdi SALEHIFAR, Jose Luis ROMERAL MARTINEZ, Vicent SALA	[View] [Download]
Abstract: This study is dealt with fault tolerant control of five phase permanent magnet (PM) machines. The main objectives are to increase the output power while eliminating the generated torque ripples. As a new aspect, the effect of available neutral connection is evaluated on the output power and torque ripples.