EPE Association: EPE 2013 - DS3c: Motion Control, Robotics, Special Drives, Haptics, Communication in Drive Systems

EPE 2013 - DS3c: Motion Control, Robotics, Special Drives, Haptics, Communication in Drive Systems
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 - DS3c: Motion Control, Robotics, Special Drives, Haptics, Communication in Drive Systems

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   A simplified power supply for piezoelectric actuators used in forging processes
By Christophe GIRAUD-AUDINE, Michel AMBERG, Frederic GIRAUD, Betty LEMAIRE-SEMAIL [View]
[Download]

Abstract: In this paper, we propose a power supply for piezoelectric actuators that can generate arbitrary waveforms at frequencies ranging from low to medium frequency. The actuators are used in a forging process and require high voltage. The converter is based on an original combination of a boost DC-DC converter and a rectifier circuit, thus reducing the number of components needed. Moreover, no transformer is required. Experimental results on a single and three phase version are presented and validate the proposed converter.

   An Improved Method of Interior Permanent Magnet Synchronous Motor (IPMSM) Parameter Identification Based on Particle Swarm Optimization (PSO)
By Xi XIAO, Qingsong XU, Jun TAO, Peigen TIAN, Guohong WANG [View]
[Download]

Abstract: On account of the reverse salient pole characteristic and defects of the traditional parameter identification method, this article put forward a parameter identification method based on particle swarm optimization(PSO) combine with the mathematical model of the motor. And even made an improvement of PSO. The improvement of PSO can identify the four parameters in same time such as the stator resistance, the d-axis inductance, the q-axis inductance and the permanent magnet flux. The signal used in the method are all can be directly detected the state variables so it can reduce the influence of the other disturbance on the motor parameters identification and improve the accuracy of the parameter identification. Simulation and experimental results shows that the PSO to identify the parameters has a strong robustness and convergence. Four pending identification parameters can converge to the true value in a relatively short time and has a high accuracy no matter in the different speed, load and control strategy. It also overcomes the drawback of high requirements in the initial parameter values which in the basic PSO to identify and the improvement of PSO is better.

   Motion Synchronization of Two Linear Tooth Belt Drives Using Cross-Coupled Controller
By Jukka PARKKINEN, Markku JOKINEN, Markku NIEMELA, Tuomo LINDH, Juha PYRHONEN [View]
[Download]

Abstract: Different assembly, printing and cutting applications demand often fully synchronized movement of multiple actuators. The linear tooth belt drive offers an inexpensive and fast solution for linear movement applications. In this paper the cross-coupled controller is implemented and tested with biaxial linear tooth belt drive system for motion synchronization. The elastic tooth belt set uncertainty in the system parameters and the quantitative feedback theory is applied to design controllers for the biaxial system. Due to an elastic belt stretching phenomena system accuracy is analyzed using two different feedbacks with cross-coupled controller - firstly values are measured from driving motors’ encoders and secondly from belt drives’ load carts.

   Position Controller tuning of an Intermittent Web Transport System using Off-line Identification
By Niko NEVARANTA, Tuomo LINDH, Markku NIEMELA, Olli PYRHONEN, Juha PYRHONEN [View]
[Download]

Abstract: Mathematical modeling as well as design of proper process controllers for web handling systems requires knowledge of the system dynamics or observations from an actual system. The dynamic behaviour of a web handling system is defined by the interactions between a flexible web, rollers and electric drives. In this paper, offline-identification of a web transport subsystem is considered. The identification of the system is carried out by exciting the controlled system with a pseudo-random binary signal (PRBS) as torque reference. A discrete time polynomial model with an Output-Error (OE) structure is used in the time-domain identification process. Moreover, this paper investigates the tension and position controls of an intermittent web transport system. The position controller of the system is designed for the identified and reference system model with H∞-loop shaping. Validation of the controller design and the influence of the model improvement are verified through experimental tests.

   Robust Motion-Tracking Control for Multilateral Systems
By Ayaka MATSUI, Kazumasa MIURA, Seiichiro KATSURA [View]
[Download]

Abstract: This paper proposes a robust motion-tracking control for multilateral systems. The multilateral systems have been proposed as the system of acquiring and transmitting the haptic information between some systems. In the multilateral systems which this paper addresses, the operator manipulates one master robot and some slave robots work toward objects as following the operator's motion. Since the operator can work toward some objects at one time, this system leads to better productivity. In the conventional method, however, the reproduced motion is different from the operator's motion when something inputs an unexpected force into the system. As a result, the conventional system may cause the destruction of the objects. This research aims to improve the performance of slave robots and to reproduce the operator's motion accurately in real time. By using the proposed method, the risk of destroying the objects are decreased. The validity of the proposed method is confirmed through the experiments.

   Simultaneous Propulsion and Levitation Control of Linear Induction Motor in Maglev System Driven by Power Source with Frequency Component Synchronous with Motor
By Yasuhiro KOTANI, Toshimitsu MORIZANE, Kosuke TSUJIKAWA, Noriyuki KIMURA, Hideki OMORI [View]
[Download]

Abstract: Linear Induction Motors (LIMs) are used to control the propulsion of maglev transportation and carrier system. In the usual maglev transportation system using LIM, the levitation of the carrier are controlled by the levitation magnets. It has problem that the controls of the LIM and of the levitation magnets interfere each other because the attractive force generated by the LIM affects the levitation control of the levitation magnets. We propose to use the attractive force generated by LIM in order to control the levitation instead of the attractive force generated by the levitation magnets. In this novel maglev carrier system, it is able to control thrust propulsion and levitation by only LIMs. We propose the control method of LIM by the two different frequency components to achieve the simultaneous and independent control of the propulsion and levitation. The thrust force of LIM is controlled by the drive frequency component. The attractive force is controlled by the frequency component synchronous with motor speed. It is able to design the controller more easily since the frequency components synchronous with motor speed cannot generate the thrust force. In this paper, we measure the dynamic characteristics of LIM and the controller is designed using the measured parameters of LIM. We use the experimental equipment of LIM with the disc-shaped secondary side. It is verified that both the propulsion and levitation control are achieved by the simulation and the experiment.

EPE 2013 - DS3c: Motion Control, Robotics, Special Drives, Haptics, Communication in Drive Systems
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 - DS3c: Motion Control, Robotics, Special Drives, Haptics, Communication in Drive Systems
	[return to parent folder]

	A simplified power supply for piezoelectric actuators used in forging processes By Christophe GIRAUD-AUDINE, Michel AMBERG, Frederic GIRAUD, Betty LEMAIRE-SEMAIL	[View] [Download]
Abstract: In this paper, we propose a power supply for piezoelectric actuators that can generate arbitrary waveforms at frequencies ranging from low to medium frequency. The actuators are used in a forging process and require high voltage. The converter is based on an original combination of a boost DC-DC converter and a rectifier circuit, thus reducing the number of components needed. Moreover, no transformer is required. Experimental results on a single and three phase version are presented and validate the proposed converter.

	An Improved Method of Interior Permanent Magnet Synchronous Motor (IPMSM) Parameter Identification Based on Particle Swarm Optimization (PSO) By Xi XIAO, Qingsong XU, Jun TAO, Peigen TIAN, Guohong WANG	[View] [Download]
Abstract: On account of the reverse salient pole characteristic and defects of the traditional parameter identification method, this article put forward a parameter identification method based on particle swarm optimization(PSO) combine with the mathematical model of the motor. And even made an improvement of PSO. The improvement of PSO can identify the four parameters in same time such as the stator resistance, the d-axis inductance, the q-axis inductance and the permanent magnet flux. The signal used in the method are all can be directly detected the state variables so it can reduce the influence of the other disturbance on the motor parameters identification and improve the accuracy of the parameter identification. Simulation and experimental results shows that the PSO to identify the parameters has a strong robustness and convergence. Four pending identification parameters can converge to the true value in a relatively short time and has a high accuracy no matter in the different speed, load and control strategy. It also overcomes the drawback of high requirements in the initial parameter values which in the basic PSO to identify and the improvement of PSO is better.

	Motion Synchronization of Two Linear Tooth Belt Drives Using Cross-Coupled Controller By Jukka PARKKINEN, Markku JOKINEN, Markku NIEMELA, Tuomo LINDH, Juha PYRHONEN	[View] [Download]
Abstract: Different assembly, printing and cutting applications demand often fully synchronized movement of multiple actuators. The linear tooth belt drive offers an inexpensive and fast solution for linear movement applications. In this paper the cross-coupled controller is implemented and tested with biaxial linear tooth belt drive system for motion synchronization. The elastic tooth belt set uncertainty in the system parameters and the quantitative feedback theory is applied to design controllers for the biaxial system. Due to an elastic belt stretching phenomena system accuracy is analyzed using two different feedbacks with cross-coupled controller - firstly values are measured from driving motors’ encoders and secondly from belt drives’ load carts.

	Position Controller tuning of an Intermittent Web Transport System using Off-line Identification By Niko NEVARANTA, Tuomo LINDH, Markku NIEMELA, Olli PYRHONEN, Juha PYRHONEN	[View] [Download]
Abstract: Mathematical modeling as well as design of proper process controllers for web handling systems requires knowledge of the system dynamics or observations from an actual system. The dynamic behaviour of a web handling system is defined by the interactions between a flexible web, rollers and electric drives. In this paper, offline-identification of a web transport subsystem is considered. The identification of the system is carried out by exciting the controlled system with a pseudo-random binary signal (PRBS) as torque reference. A discrete time polynomial model with an Output-Error (OE) structure is used in the time-domain identification process. Moreover, this paper investigates the tension and position controls of an intermittent web transport system. The position controller of the system is designed for the identified and reference system model with H∞-loop shaping. Validation of the controller design and the influence of the model improvement are verified through experimental tests.

	Robust Motion-Tracking Control for Multilateral Systems By Ayaka MATSUI, Kazumasa MIURA, Seiichiro KATSURA	[View] [Download]
Abstract: This paper proposes a robust motion-tracking control for multilateral systems. The multilateral systems have been proposed as the system of acquiring and transmitting the haptic information between some systems. In the multilateral systems which this paper addresses, the operator manipulates one master robot and some slave robots work toward objects as following the operator's motion. Since the operator can work toward some objects at one time, this system leads to better productivity. In the conventional method, however, the reproduced motion is different from the operator's motion when something inputs an unexpected force into the system. As a result, the conventional system may cause the destruction of the objects. This research aims to improve the performance of slave robots and to reproduce the operator's motion accurately in real time. By using the proposed method, the risk of destroying the objects are decreased. The validity of the proposed method is confirmed through the experiments.

	Simultaneous Propulsion and Levitation Control of Linear Induction Motor in Maglev System Driven by Power Source with Frequency Component Synchronous with Motor By Yasuhiro KOTANI, Toshimitsu MORIZANE, Kosuke TSUJIKAWA, Noriyuki KIMURA, Hideki OMORI	[View] [Download]
Abstract: Linear Induction Motors (LIMs) are used to control the propulsion of maglev transportation and carrier system. In the usual maglev transportation system using LIM, the levitation of the carrier are controlled by the levitation magnets. It has problem that the controls of the LIM and of the levitation magnets interfere each other because the attractive force generated by the LIM affects the levitation control of the levitation magnets. We propose to use the attractive force generated by LIM in order to control the levitation instead of the attractive force generated by the levitation magnets. In this novel maglev carrier system, it is able to control thrust propulsion and levitation by only LIMs. We propose the control method of LIM by the two different frequency components to achieve the simultaneous and independent control of the propulsion and levitation. The thrust force of LIM is controlled by the drive frequency component. The attractive force is controlled by the frequency component synchronous with motor speed. It is able to design the controller more easily since the frequency components synchronous with motor speed cannot generate the thrust force. In this paper, we measure the dynamic characteristics of LIM and the controller is designed using the measured parameters of LIM. We use the experimental equipment of LIM with the disc-shaped secondary side. It is verified that both the propulsion and levitation control are achieved by the simulation and the experiment.