EPE Association: EPE 2017 - DS1h: Motion Control, Robotics, Special Drives

EPE 2017 - DS1h: Motion Control, Robotics, Special Drives
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2017 ECCE Europe - Conference > EPE 2017 - Topic 04: Electrical Machines and Drive Systems > EPE 2017 - DS1h: Motion Control, Robotics, Special Drives

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   Application of Neural Networks for Compensation of Torque Ripple in High Performance PMSM Motor
By Tomasz PAJCHROWSKI [View]
[Download]

Abstract: In this paper an application of artificial neural controller for compensation of torque ripple in electrical drive with PMSM (Permanent Magnet Synchronous Motor) is presented. Due to cogging torque, electromagnetic torque ripple and also, current measurement error of the motor, are created a ripple of angular velocity, finally. This parasite phenomenon influence on the precision of control, especially in machine tool drives and robots. Therefore, in the drive systems the aim is to ensure a smooth electromagnetic torque in the motor. These unfavorable phenomenon can be successfully compensated by an artificial neural networks, what is presented in the article. In the work, the structure of the neural network was proposed and its learning method in order to reduce the torque ripple. The collected the results of simulation and experimental tests are confirmed by proper operation of the control system

   Current Injection Solutions for Active Suspension in Bearingless Motors
By Rafal JASTRZEBSKI [View]
[Download]

Abstract: Traditionally, active magnetic levitation systems in rotor applications comprise separate motor for torque production, two or more radial active magnetic bearings (AMBs) and one axial AMB. Such an arrangement produces long rotors. Resulting AMB-rotor systems are often supercritical making the levitation control challenging. The centralization of the torque and force producing actuators shortens the rotor and allows for better control of unbalance magnetic pull from the rotor eccentricity. However, traditional bearingless motors employ separate windings for torque and for force production using a single actuator. This in turn lengthens the motor flux paths, increases the stator diameters, and reduces efficiency. This work studies performance and limitations of three current injection methods applied for active levitation control where the same winding is used for torque and for levitation force production. The FEM time stepping simulation results are presented and quantitative comparison is given. The case study bearingless motor system is of considerable power and high speed ratings. The use of the single winding system with the current injection control is suitable for the high-power and high-speed bearingless motor applications.

   Impact of Industrial Robot Tool Mass on Regenerative Energy
By Arturs PAUGURS [View]
[Download]

Abstract: Recent research has shown great potential in energy efficiency optimization by harvestingregenerative energy of industrial robots. This paper presents further insight into how dependentregenerative energy is on the mass of the robot tool, as well as how the total regenerative energy isdistributed between various robot links.

   Multi-mode SHEPWM with low switch frequency for Traction Application
By Guibin LI [View]
[Download]

Abstract: To eliminate current harmonics and improve voltage utilization. When traction motor was run in high speed area, a new method is proposed that solve the the harmonics component is high and transition which from SPWM to SHEPWM then to six-step mode on the condition of low switch frequency. The method was introduced, principles were analyzed and formulas were derived in this paper. The validity of the proposed method has been verified by simulation and experiments. The advantages of this strategy are it not only reduced the harmonics and torque ripple but also achieved transition from SPWM to six -mode on the condition of the switch frequency. It is no more than 1 kHz.

   Novel in-wheel axial-flux segmented switched reluctance motor
By Pere ANDRADA [View]
[Download]

Abstract: In this paper a novel axial-flux segmented rotor switched reluctance motor (AFSSRM) with a stator sandwiched by two rotors with a particular form of the segments is presented. The machine has magnetic short paths with no flux reversal and the active magnetic parts are made of soft magnetic composites. An in-wheel AFSSRM, specially intended for direct drive of light motorcycles, is designed. Electromagnetic analysis of the AFSSRM is carried out using 3D finite element. Matlab-Simulink simulations of the whole in-wheel AFSSRM drive are used to verify its behavior.

   Parametric Identification of Electrical Drive with Complex Mechanical Structure Utilizing Particle Swarm Optimization Method
By Krzysztof NOWOPOLSKI [View]
[Download]

Abstract: The article presents results of parametric identification of mechanical part of drive system with permanent magnet synchronous motor by means of heuristic method of Particle Swarm Optimization (PSO). The assumed mechanical part has a complex structure, consisting of two-mass connected by an elastic joint with backlash. The optimization process was designed to find model parameters that assure the smallest difference between model and object response, by means of multiple simulations ran with different values of parameters. In the presented comparison, two versions of cost function and three different excitation signals were examined.

   Speed Sensor Fault Detection Algorithm for Vector Control Methods Based on the Parity Relations
By Mateusz DYBKOWSKI [View]
[Download]

Abstract: In the paper the analysis of the Fault Tolerant Control (FTC) of Induction Motor drive system is presented. TheDirect Field Oriented Control was used for analysis the speed sensor faults detection systems based on the simple mathematical relationship with two types of the rotor speed estimators. In the diagnostic systems and in the post faulted conditions the MRASCC and NFO observers were used. Simulation and experimental results during different drive conditions are presented.

   The study of neural estimator structure influence on the estimation quality of selected state variables of the complex mechanical part of electric drive
By Adrian WÓJCIK [View]
[Download]

Abstract: This paper presents results of simulation research of off-line trained, feedforward neural-network-based state estimator. The investigated system is the mechanical part of electrical drive characterized by elastic coupling with working machine, modeled as dual-mass system. The aim of the research was to find a set of neural networks structures giving useful and repeatable results of the estimation. Mechanical resonance frequency of the system has been adopted at the level of 9.3 Hz to 10.3 Hz. Selected state variables of the mechanical system are load speed and stiffness torque of the shaft.

EPE 2017 - DS1h: Motion Control, Robotics, Special Drives
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2017 ECCE Europe - Conference > EPE 2017 - Topic 04: Electrical Machines and Drive Systems > EPE 2017 - DS1h: Motion Control, Robotics, Special Drives
	[return to parent folder]

	Application of Neural Networks for Compensation of Torque Ripple in High Performance PMSM Motor By Tomasz PAJCHROWSKI	[View] [Download]
Abstract: In this paper an application of artificial neural controller for compensation of torque ripple in electrical drive with PMSM (Permanent Magnet Synchronous Motor) is presented. Due to cogging torque, electromagnetic torque ripple and also, current measurement error of the motor, are created a ripple of angular velocity, finally. This parasite phenomenon influence on the precision of control, especially in machine tool drives and robots. Therefore, in the drive systems the aim is to ensure a smooth electromagnetic torque in the motor. These unfavorable phenomenon can be successfully compensated by an artificial neural networks, what is presented in the article. In the work, the structure of the neural network was proposed and its learning method in order to reduce the torque ripple. The collected the results of simulation and experimental tests are confirmed by proper operation of the control system

	Current Injection Solutions for Active Suspension in Bearingless Motors By Rafal JASTRZEBSKI	[View] [Download]
Abstract: Traditionally, active magnetic levitation systems in rotor applications comprise separate motor for torque production, two or more radial active magnetic bearings (AMBs) and one axial AMB. Such an arrangement produces long rotors. Resulting AMB-rotor systems are often supercritical making the levitation control challenging. The centralization of the torque and force producing actuators shortens the rotor and allows for better control of unbalance magnetic pull from the rotor eccentricity. However, traditional bearingless motors employ separate windings for torque and for force production using a single actuator. This in turn lengthens the motor flux paths, increases the stator diameters, and reduces efficiency. This work studies performance and limitations of three current injection methods applied for active levitation control where the same winding is used for torque and for levitation force production. The FEM time stepping simulation results are presented and quantitative comparison is given. The case study bearingless motor system is of considerable power and high speed ratings. The use of the single winding system with the current injection control is suitable for the high-power and high-speed bearingless motor applications.

	Impact of Industrial Robot Tool Mass on Regenerative Energy By Arturs PAUGURS	[View] [Download]
Abstract: Recent research has shown great potential in energy efficiency optimization by harvestingregenerative energy of industrial robots. This paper presents further insight into how dependentregenerative energy is on the mass of the robot tool, as well as how the total regenerative energy isdistributed between various robot links.

	Multi-mode SHEPWM with low switch frequency for Traction Application By Guibin LI	[View] [Download]
Abstract: To eliminate current harmonics and improve voltage utilization. When traction motor was run in high speed area, a new method is proposed that solve the the harmonics component is high and transition which from SPWM to SHEPWM then to six-step mode on the condition of low switch frequency. The method was introduced, principles were analyzed and formulas were derived in this paper. The validity of the proposed method has been verified by simulation and experiments. The advantages of this strategy are it not only reduced the harmonics and torque ripple but also achieved transition from SPWM to six -mode on the condition of the switch frequency. It is no more than 1 kHz.

	Novel in-wheel axial-flux segmented switched reluctance motor By Pere ANDRADA	[View] [Download]
Abstract: In this paper a novel axial-flux segmented rotor switched reluctance motor (AFSSRM) with a stator sandwiched by two rotors with a particular form of the segments is presented. The machine has magnetic short paths with no flux reversal and the active magnetic parts are made of soft magnetic composites. An in-wheel AFSSRM, specially intended for direct drive of light motorcycles, is designed. Electromagnetic analysis of the AFSSRM is carried out using 3D finite element. Matlab-Simulink simulations of the whole in-wheel AFSSRM drive are used to verify its behavior.

	Parametric Identification of Electrical Drive with Complex Mechanical Structure Utilizing Particle Swarm Optimization Method By Krzysztof NOWOPOLSKI	[View] [Download]
Abstract: The article presents results of parametric identification of mechanical part of drive system with permanent magnet synchronous motor by means of heuristic method of Particle Swarm Optimization (PSO). The assumed mechanical part has a complex structure, consisting of two-mass connected by an elastic joint with backlash. The optimization process was designed to find model parameters that assure the smallest difference between model and object response, by means of multiple simulations ran with different values of parameters. In the presented comparison, two versions of cost function and three different excitation signals were examined.

	Speed Sensor Fault Detection Algorithm for Vector Control Methods Based on the Parity Relations By Mateusz DYBKOWSKI	[View] [Download]
Abstract: In the paper the analysis of the Fault Tolerant Control (FTC) of Induction Motor drive system is presented. TheDirect Field Oriented Control was used for analysis the speed sensor faults detection systems based on the simple mathematical relationship with two types of the rotor speed estimators. In the diagnostic systems and in the post faulted conditions the MRASCC and NFO observers were used. Simulation and experimental results during different drive conditions are presented.

	The study of neural estimator structure influence on the estimation quality of selected state variables of the complex mechanical part of electric drive By Adrian WÓJCIK	[View] [Download]
Abstract: This paper presents results of simulation research of off-line trained, feedforward neural-network-based state estimator. The investigated system is the mechanical part of electrical drive characterized by elastic coupling with working machine, modeled as dual-mass system. The aim of the research was to find a set of neural networks structures giving useful and repeatable results of the estimation. Mechanical resonance frequency of the system has been adopted at the level of 9.3 Hz to 10.3 Hz. Selected state variables of the mechanical system are load speed and stiffness torque of the shaft.