Please enter the words you want to search for:

EPE 1995 - 48 - Dialogue Session DS6d: Servo Drives and Actuators, Education
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1995 - Conference > EPE 1995 - 48 - Dialogue Session DS6d: Servo Drives and Actuators, Education
	[return to parent folder]
	INVESTIGATION OF SERVO-DRIVE SYSTEM WITH PROGRAMMABLE CONTROLLER   By J. Halamski; R. Muszynski	[View]   [Download]
Abstract: The aim of the paper is ta test the possibility of dynamics improvement for servodrive with permanent magnet synchronous motor (PMSM) supplied from the transistor voltage source inverter (VSI) and with current, speed and position controllers. The system contains the AEG axis module and SAIA programmable position controller. During the motion, the load torque appears and disappears as a function of position. The dependence of dynamic performance of position control on speed feedforward, friction compensation gains, on position and speed regulator parameters are studied. As a criterion the IAE of position for the small distance forward and backward motion is computed. ln order to make the investigations easier, the model of AEG axis module was used instead of original PMSM drive. The results indicate that mostly the position regulator and the speed feedforward loop influence the servo-drive performance. The speed feedforward signal gives the same effect as an increase of the position controller gain. However, it allows to maintain the position loop stability. The influence of speed regulator parameters on position contrai is not considerable. Either the friction compensation loop and load torque are almost insignificant. This is caused by the high overload ability of the investigated PMSM drive. The optimal parameters of control system have been found.
	DESIGN OF SLIDING OBSERVER FOR BACK ELECTROMOTIVE FORCE, POSITION AND SPEED ESTIMATION OF INTERIOR MAGNET MOTORS   By Z. M. A. Peixoto; F. M. F. Sa; P. F. Seixas; B. R. Menezes; P. C. Cortizo	[View]   [Download]
Abstract: This paper presents a sliding mode speed control of permanent magnet synchronous machines (PMSM) including practical sampling and switching frequencies and a method for speed, position and induced e.m.f. estimation also through application of the sliding mode technique. The observer of the induced e.m.f is implemented using analog devices and the estimated speed and position variables are numerically calculated. Information about rotor acceleration is essential in speed sliding mode control implementation and it is obtained by the calculation of the discrete derivative of estimated speed. Simulation results are used to analyze speed control using the estimated signal in the control algorithm. Experimental results already obtained in open loop confirm the good performance of the observer.
	A NEW SENSORLESS SPEED AND TORQUE CONTROL FOR PERMANENT MAGNET SYNCHRONOUS MOTORS: REALISATION AND MODELLING   By J. Barrenscheen; D. Flieller; D. Kalinowski; J.P. Louis	[View]   [Download]
Abstract: This new algorithm of position estimation for a 3-phase synchronous motor delivers a resolution of 30° el. by measuring only two phase currents. The position estimation as well as the sensorless torque and speed control are realised on a standard micro controller. To prove the stability, a small-signal modl has been developed, taking into accoun the PWM and permitting the determination of the system's poles.
	PIEZOELECTRIC MOTOR FED BY A PLL-CONTROLLED SERIES RESONANT CONVERTER   By U. Schaaf; H. van der Broeck	[View]   [Download]
Abstract: A PLL-controlled resonant converter for piezoelectric motor supply is presented which automatically matches its output frequency with the resonant frequency of the motor. The motor speed can be set either by controlling the phase shift between motor voltage and motor current or by controlling the amplitude of the motor voltage by PWM.
	ZERO-RIPPLE TORQUE CONTROL IN BRUSHLESS DC MOTORS: A STRAIGHTFORWARD APPROACH   By Henk Huisman	[View]   [Download]
Abstract: The subject of zero-ripple torque control in Brushless DC Motors (BLDCM's) has gained importance due to the growing popularity of small electric motors in consumer electronic applications. A low number of phases and the occurrence of production tolerances give rise to low-frequency torque errors, which manifest themselves as relatively large position errors due to the low inertia of these small drives. With regard to the tight specifications of the controlled performance, reduction of these low frequent torque errors is desirable. In literature, two main approaches have been demonstrated for the analysis and minimization of torque ripple. One· approach is based on Fourier analysis, while the other uses variation calculus to find optimal current waveforms. In this paper, a new approach for the determination of optimal current waveforms is presented. The approach is based on elementary differential calculus, and can be used even in the case when both the back-emf's and the stator resistances show asymmetry. The new approach is compared to the Fourier method in a test case, and shows significant reduction in RMS and average values of the stator currents needed to generate a desired torque.
	ROBUST CONTINUOUS VSS TRACKING CONTROL OF AN IM DRIVE   By K. Jezernik; A. Hren; D. Drevensek	[View]   [Download]
Abstract: A new discrete-time control algorithm bas been developed by combining variable structure systems and Lyapunov design. It possesses all the good properties of the sliding mode and avoids the unnecessary discontinuity of the control input, thus eliminating chattering which has been considering as serious obstacles for applications of VSS. A unified control approach for current and torque control based on the discrete-time sliding mode for application in indirect vector control of an IM drive is developed. The sliding mode approach can be applied to the control of an IM drive due to the replacement of the hysteresis controller with widely used PWM technique. All the theoretical issues are verified by experiment.
	NEW GENERATION OF DIGITAL CONTROLLING ELECTRICAL DRIVES: HIGH-PRECISION SYNCHRONOUS SERVO DRIVE FOR MACHINE TOOLS AXES - ROBOTICS - MEHATRONIC MODULES   By Yury P. Bogachev; Dmitrii B. Izosimov	[View]   [Download]
Abstract: The unified universal collection of algorithmic modules for high performance vector digital control for variety of A.C. drives is. proposed. One can to choose the set of software program modules in deciding on a particular motor, converter, primary meters and consumer technology. The algorithms permit improving of existing equipment characteristics, achieving new properties of existing equipment without any hardware changing. It seems the proposed method enables both of general-purpose and specialized controllers for electrical drives of different types. As an example of the practical approach the problem of constructing a precise digital synchronous drive intended for "mehatron" joints of machine tools axes - robotics is considered. In addition the new methoc:I of angular position measurements taking by means of a resolver is proposed.
	CONTROL DESIGN WITH TECHNOLOGICAL CONSTRAINTS   By P. Ph. Robet; M.Gautier; C. Bergmann	[View]   [Download]
Abstract: We proposed a mehod based on technological criterion approach and frequency modelization for the design of a DC permanent magnet actuator inner current loop, which is driven by a pulse width modulated (PWM) amplifier. This is an accurate method which takes into account supply amplifier-motor dynamics and saturation. It brings a model which includes the input control voltage sampling effect with a digital controller. We introduced the notion of 'carrier wave', then advantages and limits of two types of carrier and input control waves are discussed with results for a continuous-time control system and with a digital controller. The main results of the « frequency PWM modeliz.ation » (5) are recalled. The model is tested through simulations and experiments with a closed loop system.
	ACTIVE MAGNETIC BEARING: ADVANTAGE OF THE FUNCTIONING WITHOUT PREMAGNETIZATION   By A. Charara; J; De Miras	[View]   [Download]
Abstract: In this paper, we present the nonlinear model of an active magnetic bearing. We use it to propose a nonlinear control based on the input-output linearization. We show with real results that the functioning without premagnetization currents is better with respect to the energy consuption. A complement is given for the control law. We use the sliding mode· method in relation with the input-output linearization to propose a control law capable to generate an·input which uses only two values of voltage as in the pulse with modulation control of the electromagnetic machine.
	3-D FEM ANALYSIS OF A PM ACTUATOR WITH ROTATORY AND LINEAR MOTION   By R. Di Stefano; S. Meo; M. Scarano; M. Villani	[View]   [Download]
Abstract: The 3-D fem analysis of unconventional machine allows to analyse the magnetic path of flux density in order to achieve suitable suggestions for the design and the evaluation of maximum mechanical stress. Furthermore consideration about struçtural arrangement of axial and annular windings will be treated by evaluation the result of the fem analysis.
	OPTIMAL REGULATOR BASED ON RICCATI EQUATION FOR SPEED LOOP BRUSHLESS DC SERVO MOTORS   By R. Magureanu; R. Giuclea; D. Boghiu; L. Kreindler	[View]   [Download]
Abstract: DSP microprocessor control of speed in servosystems with brushless motors allows to obtain maximum performance both on the electrical machine level and on that of the digital regulator developed. A control strategy of optimising the servo motor operation by using a reluctance torque, and the regulator control law when following different reference types, is presented in this paper. The brushless servo motor is supplied through a PWM controlled IGBT static converter at 10 kHz. The digital system is developed around a TMS320C31 DSP microprocessor, being equipped with 4 analogue input and 2 output ports on 12 bits. Excellent experimental results have been obtained, which fully confirms the strategy used for optimising the brushless motor operation and the optimal control technique used for reference tracking.
	ON LINE IDENTIFICATION OF MECHANICAL PARAMETERS OF A STEP MOTOR DRIVE. APPLICATION AT THE ADAPTIVE CONTROL   By F. Betin; L. Nuzzo; C. Goeldel	[View]   [Download]
Abstract: This paper describes an on-line identification of mechanical parameters, inertia and viscous friction, of a step motor drive, based on the knowledge of the variable coefficients of a dynamical model. We use extended least-square algorithms and a knowledge model to determine the inertia. This estimation is used to perfonn an optimal open loop command which takes account of mechanical parameter's variations and also an adaptive command based on a poleplacement technique. The results are quite satisfying.
	INFLUENCE OF THE BRUSHLESS DC MOTOR TORQUE COMPENSATION BY ACTING ON THE CURRENT WAVESHAPES ON THE TORQUE SPEED CHARACTERISTICS   By S. Clénet; J. M. Vinassa; S. Astier; Y. Lefevre; M. Lajoie-Mazenc	[View]   [Download]
Abstract: Two simple methods are proposed to calculate the current waveshapes leading to a rippleless torque for a brushless DC motor. The torque ripple compensation is validated on a special experimental bench. Then, the effect of such a compensation on the torque-speed characteristic is analysed.
	SIMPLIFIED ELECTRONICS BRING THE SWITCHED-RELUCTANCE MOTOR TO THE MASS MARKET   By J. Nicolai	[View]   [Download]
Abstract: Although it has been known since 1838, the switched-reluctance motor has gained little acceptance in high volume markets, despite its potentially lower cost and superior performances. This is mainly due to its reputation of requiring expensive and complicated control circuitry. This paper shows an attempt to reduce the number of components and sensors needed to control a switched reluctance motor, in the case of a low speed drive with regular torque requirement, such as a fan drive. The full schematic is given, along with test results. We then expand the concept to the general case (any speed, any torque) by showing the questions which should be asked before starting a design, and give general rules to find the answers.
	Field Oriented Position Control of a Hybrid Stepper Motor   By H. Kellermann; P. Hildinger; G. Brandenburg; J. Heinzl	[View]   [Download]
Abstract: A field oriented position control of a stepper motor has been developed and implmented on a DSP system. The motor is modelled in the d-q coordinate system. Decoupling of the nonlinear reluctance influence and field orientation enables the design of a linear, completely digital position control. The result, confirmed by simulation and experiments, is a high-dynamic, brushless and robust four-quadrant servo drive of small size for low-speed and high-torque applications.
	A DSP-BASED NON-LINEAR CONTROLLER FOR INDUCTION MOTOR DRIVES   By C. Attaianese; A. Damiano; I. Marongiu; A. Perfetto	[View]   [Download]
Abstract: The synthesis procedure of a non-linear controller for induction motor drives is presented in the paper. It is based on the model reference approach. The reference model is controlled using the field orientation technique. The control algorithm is implemented on a evaluation module of a digital signal processor (fMS320C30) . The CRPWM inverter supplied motor equations are also implemented, allowing the real-time simulation of the controlled drive on the DSP. The drive and the control variables are recorded by means of an oscilloscope interfaced to the DSP. The possibility of using the real-time simulation as a predictive algorithm is finally considered.
	INDEXED POSITIONING OF LOW POWER INDUCTION ACTUATORS   By J. P. Palma	[View]   [Download]
Abstract: The proposed solution of induction motor positioning is based on a simple but reliable field orientation control procedure suitable for fractional horsepower drives. The controller requires a voltage-source inverter, a pulse shaft encoder and no current sensors. Position reference is input as a sequence of pulses and a sense signal, each pulse corresponding to a small fraction of a tum. Considerations are made about error-driven position control design solutions. Experimental results confirm the performance expected by theory and simulation.
	TIME-SUBOPTIMAL MODEL FOLLOWING CONTROL OF MACHINE TOOLS DRIVES   By S. Brock; T. Kaczmarek	[View]   [Download]
Abstract: The paper deals with a time-suboptimal control method for. the machine tool servodrive. For trajectory description the cubic spline interpolation functions are used. The critical value of speed for each trajectory element is computed. The control strategy limits a derivative of acceleration, what increases operation accurracy. The axis controllers action bases on information about state variables of the model. The simulation results are obtained for the laboratory stand containing the microcontrollers and the axis servodrives with permanent magnet synchronous motor.
	USING MULTIMEDIA IN VARIABLE SPEED DRIVE TEACHING   By A. Malfait; K. Matthijs; R. Reekmans; K. Hameyer; R. Belmans	[View]   [Download]
Abstract: The paper provides ideas and practical experiences using multimedia at the electrical engineering department in the field of electrical machines and variable speed drives. Using multimedia developments, it is possible to confront students in a more attractive and efficient way with Electrical Machines and Drives. The paper approaches the term multimedia from different points of view. The definition of a multimedia computer is explained and different authoring systems are presented. A practical example, visualisation of phenomena and construction of a squirrel cage induction machine, is looked at in a closer way. The conclusion is that the undergraduates get more interested and even recommend additional multimedia applications in other topics of electrical engineering education.
	A CAD LABORATORY IN ELECTROMAGNETICS FOR UNDERGRADUATES   By R. Mertens; A. Peytier; K. Hameyer; R. Belmans	[View]   [Download]
Abstract: The CAD laboratory gives the students an idea when to use the different approaches to deal with magnetic circuits. They start with a simplified analytical model and are then confronted with the fi.nite element method, even in three dimensions. Calculations and measurements are compared and discussed.
	SWITCHING DC/DC CONVERTER CONTROL TECHNIQUES WORKBENCH   By J. A. Martinez; J. M. Alonso; E. Lopez; A. J. Calleja	[View]   [Download]
Abstract: A switching DC/DC educational workbench to develop laboratory tests with the typical topologies and control techniques is presented in this paper. The workbench is conceived in a modular way to highlight the different blocks of a DC/DC converter. lts main features are its modular structure, robustness and versatility, which make the system a good tool to carry out practical lessons at the laboratory.
	POWER ELECTRONIC SYSTEM SIMULATOR FOR BASIC EDUCATION   By K. Zawirski	[View]   [Download]
Abstract: In the paper a problem of computer-aided power electronic education on basic level is discussed. For this level of teaching a special approach to the simulation task of power electronics is suggested, different than it is met in available packages. An education program, which fulfill specific requirements is described. Presented simulation results well illustrate program operation and its advantages.
	A SIMULINK APPROACH TO POWER ELECTRONICS SIMULATIONS   By R. Teodorescu; E. Rosu; H. Zelaya dela Parra; K. Bresnahan	[View]   [Download]
Abstract: This paper demonstrates the practicality of SIMULINK (tm) dynamic block-oriented simulation software, from MathWorks. A SIMULINK toolbox comprising the most widely used blocks in power electronics schemes was elaborated. In order to validate the models, the simulation results was compared against experimentation. The case of a Space Vector PWM Induction Machine Drive implemented on a IGBT triphase inverter controlled by SAB 80C166 microcontroller was highlighted.
	TEACHING ROTATING MACHINE AND ELECTRICAL DRIVE PERFORMANCES USING THE ELECTROMAGNETIC TRANSIENTS PROGRAM   By G. A . Capolino; J. A. Martinez-Velasco	[View]   [Download]
Abstract: The aim of this paper is to develop a teaching methodology of electrical drives using the ElectroMagnetic Transients Program (EMTP) which is a standard worldwide recognized for power systems simulation. As the electrical drive is concerned with multi-discipline technology, specific models have been developed in order to simulate all the system in the same environment. For teaching purposes, the electrical network and control system anologies have been introduced to make comprehensive all the sub-system transients. In this way, the so-called micro-model and macro-model for electrical drives have been developed with a simplified approach dedicated to control system taking into account only the electrical machine dynamics and a complete scheme including the power converter transients. The methodology has been presented on the base of the classical indirect field-oriented control of a squirrel-cage induction machine.
	STUDY AND REALISATION OF A THREE-PHASE HARMONIC GENERATOR FOR RESEARCH AND UNIVERSITY LABORATORIES   By S. Tnani; A. Berthon	[View]   [Download]
Abstract: ln this paper, the authors present the study and the realisation of a low cost three-phase harmonic generator. The device is composed of an electronic card which is driven by a micro computer. This system allows the generation of the most common power electronic and electric waves. So, it can be very interesting for teaching purposes and development laboratories.
	A MULTI-DSP SYSTEM FOR REAL-TIME SIMULATION AND CONTROL OF ELECTRIC DRIVE SYSTEMS   By S. G. Bosga; J. J. A. v.d. Burgt; J. L. Duarte; A. J. A. Vandenput	[View]   [Download]
Abstract: In order to perform real-time simulations and control of field-oriented drive systems and converters, a multi-DSP system was developed. Special care was taken to allow students to use this system for short-time projects, as well as to allow demonstrations of control strategies during lectures on electrical drive systems.
	AN UNIVERSAL LABORATORY FOR ELECTRICAL DRIVES AS PART OF AN INTEGRATED AUTOMATION SYSTEM   By R. Schönfeld; G.-H. Geitner	[View]   [Download]
Abstract: An integrated automation system has been set up, which gives the possibility to carry out different experiments by use of the same universal equipment. The main advantages are: - Suitability for self standing work of the students - Close approximation to real drive systems - Effective use of equipment and laboratory-area.
	DESIGN OF A POWER ELECTRONICS LEARNING SYSTEM (PELS)   By H. Fernandez; M. I. Gimenez de Guzman; V. M. Guzman	[View]   [Download]
Abstract: The Power Electronics Learning System (PELS) is a laboratory tool formed by a switching matrix (six IGBTs and six diodes), an interface and a microcontroller. The matrix is configured by software to implement different power converters and the controller supports several control techniques, allowing the students to perform different experiments in a power electronic course.
	POST SIMULATION SOFTWARE: STUDY AND TEACHING OF DIGITAL CONTROL OF STATIC CONVERTER / ELECTRICAL MACHlNE ASSEMBLIES   By B. Dagues; M. Fadel; X. Roboam; P. Azema	[View]   [Download]
Abstract: This paper proposes the presentation of a simulation software package. This software simulates a system including static converters, electrical machines, and digital control in order to study and design control laws. First, the principles on which rely those software will be presented. Then examples will be given to underline their qualities as tools for design help and physics phenomena understanding. Considering the specifications of the torque control of a permanent magnet synchronous drive, phenomena linked to the physical process and to the control implementation will be studied. (dead times, delays, sampling effects, quantization,...)
	A LOW COST PC-BASED USER INTERACTIVE INDUCTION MOTOR DRIVE SYSTEM FOR UNDERGRADUATE LABORATORIES   By P. C. K. Luk; K. Drissi El Khamlichi; P. DiFulvio; R. Fuchey	[View]   [Download]
Abstract: A novel low-cost personal computer (PC) 486-based induction motor drive system featuring real-time control of space vector modulated (SVM) waveforms, on-line motor speed and current measurements, and live innovative mimic displays of basic drive operations has been developed for teaching and training purposes. Front-ended by the ubiquitous PC, the proposed drive system represents a fresh departure from the electrical drive system commonly found in a conventional teaching laboratory in terms of its user-friendliness, and the incorporation of up-to-date technologies including object-oriented programmingand automatic data acquisition. Selected experimental results highlighting the salient features of the system are presented.
	ROTOR FLUX ESTIMATION IN VECTOR CONTROLLED INDUCTION MACHINES INCORPORATING THE IRON LOSS COMPENSATION   By E. Levi; V. Vuckovic; M. Sokola	[View]   [Download]
Abstract: Recent research has indicated that iron loss may play an important role in establishing accurate vector control in both synchronous reluctance and induction machines. However, usual procedures for rotor flux estimation in induction machines ignore the existence of the iron loss. The paper evaluates detuning introduced by iron loss in standard schemes and presents modified schemes for rotor flux computation that include iron loss representation and hence provide compensation of the detuning in steady-state operation, which is otherwise present. The modified estimators, proposed in the paper, are the two common types that rely on measurement of stator currents and rotor speed, and on measurement of stator voltages and stator currents, respectively.
	EFFECT OF PHASE CURRENT WAVEFORMS ON THE CHARACTERISTICS AND ACOUSTIC NOISE OF SWITCHED RELUCTANCE MOTORS   By M. Jufer; M. Crivii	[View]   [Download]
Abstract: The main disadvantages of Switched Reluctance Motor (SRM) are the relatively high acoustic noise and the torque ripple in the steady state operation. One of the techniques which may be used to reduce acoustic noise and torque ripple in SR drives is based on the current control. Different cases have been tested. The analytical and expetjmental results are presented.
	A DEVELOPMENT STRATEGY FOR EDUCATION IN POWER ELECTRONICS   By J. M. Peter; A. K. Wallace	[View]   [Download]
Abstract: The authors propose a revised structure for education in power electronics based on substantial experience in industries and universities in both Europe and North America. Closer ties, based on feedback from industry to undergraduate education and feedforward from universities in postgraduate education, are seen as the keys to implementation. A promotional role for engineering's learned societies is seen as the basic mechanism for implementing the concept as a "win-win" scenario.
	APPLICATION OF MAGNETIC BEARINGS FOR HIGH-SPEED DRIVES   By P.-K. Budig; R. Werner	[View]   [Download]
Abstract: Since modem power-electronics offer the chance to exceed the speed of three phase motors above 3000 rpm there is an interesting field of application for magnetic bearings. They have no wear, no lubricants, lower rate of losses, adjustable stiffness, reduced requirements for balancing and there is the possibility for diagnostic of the revolving shaft. Therefore there are now many activities for the application of magnetic bearings. Speed range of 80000 till even 120000 rpm for small sized machines are as well under consideration as motors of several Megawatts with speed in the range of 9000 till 15000 rpm.