EPE Association: EPE 1985 - 22 - Lecture Session 3.08: DC DRIVES AND ROBOT ACTUATORS

EPE 1985 - 22 - Lecture Session 3.08: DC DRIVES AND ROBOT ACTUATORS
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1985 - Conference > EPE 1985 - 22 - Lecture Session 3.08: DC DRIVES AND ROBOT ACTUATORS

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   A LINEAR ACTUATOR FOR ROBOTICS
By E. Olivier; Ph. Parisy; J. P. Yonnet [View]
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Abstract: we present a linear actuator consisting of a permanent magnet located in the electromagnetic field of two coils reversely connected and fed by a DC current. The magnet is submitted to a force along the axis of the coils which is proportional to the current and depends on the magnet position and the geometry of the system; it remains constant regardless the distance from the system center. We also present control schemes we developped for this actuator force control thanks to current control, position control using a linear motion sensor.

   STATE OBSERVERS FOR MULTI-MOTOR-DRIVES IN PROCESSING MACHINES WITH CONTINUOUS MOVING WEBS
By G. Brandenburg; W. Wolfermann [View]
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Abstract: Optimizing the control of multi-motor drives in processing machines with continuous moving webs, normally the influence of the web forces is neglected. Poor dynamic behaviour is observed in the case of unfavourable dimensions of a plant. By solving a Riccati matrix equation a decentral reduced-order state observer is found which reconstructs the web forces. An adaptation to practical demands yields a simplified first-order observer circuit which is able to decouple a drive from the web forces. Its parameters are independent from the speed of the plant. The circuit is robust against large variations of the parameters of the system. Theoretical and experimental investigation has shown that the dynamic performance of a cascade controlled large-scale system can be improved considerably.

   NON-LINEAR AND ADAPTIVE CONTROL OF A DIRECT-DRIVE MOTOR FOR ROBOT APPLlCATIONS
By G. Honderd; B. C. Slegtenhorst, J. Hordijk [View]
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Abstract: The Physics and Electronics Laboratory TNO (FEL/TNO) has developed a robot system that is part of an automatic vehicle test installation. Due to the special demands of the servos, the drives are realised with direct-drive motors. In cooperation with the Control Laboratory of the Delft University of Technology, a combined non-linear and adaptive control for these motors has been designed. The special features of a direct-drive system are:
- a speed-dependent current limitation to protect the direct-drive from sparking;
- variations of the load-inertia which greatly influence the properties of the servosystem.
The design of the control system included an adaptive compensation for variable load-inertia as well as a non-linear compensation network for the speed-dependent current limitation.

   CONTROLLED DC DRIVE SYSTEM WITH A MICROPROCESSOR AND AUTO-COMMISIONING AUTO-OPTIMIZING AND AUTO-MONITORING FEATURES
By R. Joetten; E. Kroth [View]
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Abstract: A controlled d.c. drive with a microprocessor is described which is auto-commissioning, auto-optimizing with regard to the highly sophisticated control system and automonitoring with regard to guidance in the commissioning phase and fault finding. The drive is a reversing drive with speed control in the base speed range and the field weakening range.

   ANALYSIS AND SOME DESIGN CONSIDERATIONS OF A SIMPLE DC SHUNT MOTOR SPEED REGULATOR
By F. Capparelli; F. Piazza [View]
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Abstract: The paper concerns the analysis of the performances of a simple D.C. shunt motor speed regulator obtained by inserting a static D.C. to D.C. current controlled voltage source converter between the field and armature circuits. The scheme of this particular speed control system is first analysed, the steady state and dynamic operations are investigated, and then relevant system design conditions are obtained. Numerical examples illustrate the characteristics of a practical speed regulator.

EPE 1985 - 22 - Lecture Session 3.08: DC DRIVES AND ROBOT ACTUATORS
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1985 - Conference > EPE 1985 - 22 - Lecture Session 3.08: DC DRIVES AND ROBOT ACTUATORS
	[return to parent folder]

	A LINEAR ACTUATOR FOR ROBOTICS By E. Olivier; Ph. Parisy; J. P. Yonnet	[View] [Download]
Abstract: we present a linear actuator consisting of a permanent magnet located in the electromagnetic field of two coils reversely connected and fed by a DC current. The magnet is submitted to a force along the axis of the coils which is proportional to the current and depends on the magnet position and the geometry of the system; it remains constant regardless the distance from the system center. We also present control schemes we developped for this actuator force control thanks to current control, position control using a linear motion sensor.

	STATE OBSERVERS FOR MULTI-MOTOR-DRIVES IN PROCESSING MACHINES WITH CONTINUOUS MOVING WEBS By G. Brandenburg; W. Wolfermann	[View] [Download]
Abstract: Optimizing the control of multi-motor drives in processing machines with continuous moving webs, normally the influence of the web forces is neglected. Poor dynamic behaviour is observed in the case of unfavourable dimensions of a plant. By solving a Riccati matrix equation a decentral reduced-order state observer is found which reconstructs the web forces. An adaptation to practical demands yields a simplified first-order observer circuit which is able to decouple a drive from the web forces. Its parameters are independent from the speed of the plant. The circuit is robust against large variations of the parameters of the system. Theoretical and experimental investigation has shown that the dynamic performance of a cascade controlled large-scale system can be improved considerably.

	NON-LINEAR AND ADAPTIVE CONTROL OF A DIRECT-DRIVE MOTOR FOR ROBOT APPLlCATIONS By G. Honderd; B. C. Slegtenhorst, J. Hordijk	[View] [Download]
Abstract: The Physics and Electronics Laboratory TNO (FEL/TNO) has developed a robot system that is part of an automatic vehicle test installation. Due to the special demands of the servos, the drives are realised with direct-drive motors. In cooperation with the Control Laboratory of the Delft University of Technology, a combined non-linear and adaptive control for these motors has been designed. The special features of a direct-drive system are: - a speed-dependent current limitation to protect the direct-drive from sparking; - variations of the load-inertia which greatly influence the properties of the servosystem. The design of the control system included an adaptive compensation for variable load-inertia as well as a non-linear compensation network for the speed-dependent current limitation.

	CONTROLLED DC DRIVE SYSTEM WITH A MICROPROCESSOR AND AUTO-COMMISIONING AUTO-OPTIMIZING AND AUTO-MONITORING FEATURES By R. Joetten; E. Kroth	[View] [Download]
Abstract: A controlled d.c. drive with a microprocessor is described which is auto-commissioning, auto-optimizing with regard to the highly sophisticated control system and automonitoring with regard to guidance in the commissioning phase and fault finding. The drive is a reversing drive with speed control in the base speed range and the field weakening range.

	ANALYSIS AND SOME DESIGN CONSIDERATIONS OF A SIMPLE DC SHUNT MOTOR SPEED REGULATOR By F. Capparelli; F. Piazza	[View] [Download]
Abstract: The paper concerns the analysis of the performances of a simple D.C. shunt motor speed regulator obtained by inserting a static D.C. to D.C. current controlled voltage source converter between the field and armature circuits. The scheme of this particular speed control system is first analysed, the steady state and dynamic operations are investigated, and then relevant system design conditions are obtained. Numerical examples illustrate the characteristics of a practical speed regulator.