EPE Association: EPE 1999 - Topic 06: MOTION CONTROL AND ROBOTICS

EPE 1999 - Topic 06: MOTION CONTROL AND ROBOTICS
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1999 - Conference > EPE 1999 - Topic 06: MOTION CONTROL AND ROBOTICS

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   EPE 1999 - Topic 06a: Servo Drives; Stepping, Linear and Brushless Drives

In this category, the user will find the papers which were presented during the EPE 1999 Conference, related to "Servo Drives; Stepping, Linear and Brushless Drives"

   EPE 1999 - Topic 06b: Actuators, Transducers

In this category, the user will find the papers which were presented during the EPE 1999 Conference, related to "Actuators, Transducers"

   EPE 1999 - Topic 06c: Piezo and Electrostatic Actuators

In this category, the user will find the papers which were presented during the EPE 1999 Conference, related to "Piezo and Electrostatic Actuators"

   EPE 1999 - Topic 06e: Applications

In this category, the user will find the papers which were presented during the EPE 1999 Conference, related to "Applications"

   EPE 1999 - Topic 06f: Modelling and Simulation

In this category, the user will find the papers which were presented during the EPE 1999 Conference, related to "Modelling and Simulation"

   Asynchronous Machine Global Dynamic Control Law
By P.Ph. Robet; M. Gautier; C. Bergmann [View]
[Download]

Abstract: The good results obtained with the synchronous machine global dynamic control law associated with the parameters identification of the asynchronous machine lead us naturally to discuss the design of a robot arm dynamic controller which includes the control of the current dynamics of an asynchronous driver. The method is implemented on an experimental robot joint so that tracking position and velocity errors can validate our simulation model.

   Brushless DC Motor for Antenna Scanning Mechanism
By P. Murali Krishna; N. Kannan [View]
[Download]

Abstract: The spacecraft mechanisms always demand special configuration of the drive motors to fit into the constraints of the mechanisms and to accomplish the required functions with at most reliability. A special type of brushless d.c motor is developed at ISRO Inertial Systems Unit as drive motor for Antenna Scanning Mechanism (ASM) of Multi frequency Scanning Microwave Radiometer (MSMR) for Indian Remote Sensing satellite IRS-P4. This paper briefly describes the design and development of an efficient brushless d.c motor for Spacecraft Antenna Scanning Mechanism. The performance tests for characterisation were carried out and the results are presented.

   Design of Polynomial Speed Controller for Electrical Drives with Elastic Transformation
By J. Deur; N. Peric [View]
[Download]

Abstract: A procedure of polynomial speed controller design for electrical drives with considerable transmission elasticity is presented. The design and comparative analysis of the speed control system are carried out with respect to the speed reference and the load torque for a wide range of process parameters, motor and load speed feedback and different sampling times, taking into account speed control loop sensitivity to inner current control loop modeling errors. The behavior of the designed speed control loop is experimentally examined at a laboratory model of electrical drive.

   Digital Control of Industrial Servo Drives for Machine Tools
By R. Kennel; G. Kobs; R. Weber [View]
[Download]

Abstract: After completing the development of industrial servo drives with complete digital control further improvements are to be expected in the field of smooth operation, EMC and safe operation. This paper shows the state of the art concerning these issues and indicates the directions of further developments.

   FPGA Implementation of a Digital Tachometer for Angular Position and Speed Measurement
By F. Barrero; J. L. Mora; E. Galván; R. Millán; J. V. Torrellas; L. G. Franquelo [View]
[Download]

Abstract: A common method for angular position and speed estimation, in adjustable speed drives, uses an incremental shaft encoder and an electronic circuit. This paper presents a high precision electronic conditioning of a biphase incremental encoder generated signal. A digital tachometer, for angular position and speed measurement, is implemented using two simple FPGAs. One FPGA, based on the multirange CET method, is applied to measure the angular speed with a relative error lower than 500ppm. A second FPGA implements a high precision pseudo-absolute angular position sensor. To prove and evaluate the abilities of the proposed measurement system, a PC-AT board has been designed and a 2000 pulses per revolution commercial biphase incremental encoder has been used. Experimental results exhibit an excellent behaviour of the proposed measurement system.

   Optimisation of a Servo Motor for an Industrial Robot Application
By S. Andersson; M. Alakula; T. Lejonberg [View]
[Download]

Abstract: A new servomotor has been optimized to replace a existing servomotor in an industrial robot. The material cost of a machine, which is able to perform a specific task, is minimized. The optimization routine utilizes information about the drive-cycle and the load is thereby able to include the inertia of the machine in the optimization. The finite element method is used to optimize the magnet geometry. The result is a machine design with has a 35% shorter stator, 50% lower inertia (active part) and a 41% reduction in material cost as compared to its predecessor. A prototype has been built. Initial test results indicates that the prototype has the predicted torque constant, but can only produce 94% of the desired torque at 100°C average temperature rise in the windings.

   Performance Analysis of a Fieldbus Protocol for Electrical Drives
By F. Benzi; E. Bassi; M. Pizzochero [View]
[Download]

Abstract: Advantages and shortcomings of using a low-level fieldbus protocol for the control of a system with a standard electrical drive are presented in this paper. A transmission protocol model applied to the issue of data exchange among electrical variable speed drives is presented and discussed. The fieldbus performance is investigated by considering the set of data and parameters to be sent on a fieldbus, together with an information related to their relevance and priority. The data flow analysis is reported in different cases which include a single drive controller and a multiple drive system, and also the data error management has been considered and discussed.

   Robust position control of stepping motors using sliding mode approach
By F. Betin; D. Pinchon [View]
[Download]

Abstract: Use of stepping motors in open loop has its drawbacks since they tend to loose synchronism due to their large overshoot and longer settling tine. For this reason, stepping motors are more and more being implemented in closed loop schemes. Also, we propose in this paper to apply the sliding mode control in order to obtain a high precision positioning of the rotor whatever the mechanical configuration of the drive.

   Robust Speed and Position Control of PMSM using Slide Mode Controller with Fuzzy Interface
By S. Brock; J. Deskur; K. Zawirski [View]
[Download]

Abstract: In the paper a problem of robust speed and position control of permanent magnet synchronous motor is discussed. Basic idea of the proposed approach consists in statement that gained robustness of speed control guarantees robust position control even if position controller has simple structure. The proposed robust speed control algorithm bases on modified sliding mode controller equipped with a fuzzy adaptive mechanism. Presented computer simulation study and experimental results show clearly the advantages of elaborated control method.

EPE 1999 - Topic 06: MOTION CONTROL AND ROBOTICS
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1999 - Conference > EPE 1999 - Topic 06: MOTION CONTROL AND ROBOTICS
	[return to parent folder]

	EPE 1999 - Topic 06a: Servo Drives; Stepping, Linear and Brushless Drives
In this category, the user will find the papers which were presented during the EPE 1999 Conference, related to "Servo Drives; Stepping, Linear and Brushless Drives"
	EPE 1999 - Topic 06b: Actuators, Transducers
In this category, the user will find the papers which were presented during the EPE 1999 Conference, related to "Actuators, Transducers"
	EPE 1999 - Topic 06c: Piezo and Electrostatic Actuators
In this category, the user will find the papers which were presented during the EPE 1999 Conference, related to "Piezo and Electrostatic Actuators"
	EPE 1999 - Topic 06e: Applications
In this category, the user will find the papers which were presented during the EPE 1999 Conference, related to "Applications"
	EPE 1999 - Topic 06f: Modelling and Simulation
In this category, the user will find the papers which were presented during the EPE 1999 Conference, related to "Modelling and Simulation"

	Asynchronous Machine Global Dynamic Control Law By P.Ph. Robet; M. Gautier; C. Bergmann	[View] [Download]
Abstract: The good results obtained with the synchronous machine global dynamic control law associated with the parameters identification of the asynchronous machine lead us naturally to discuss the design of a robot arm dynamic controller which includes the control of the current dynamics of an asynchronous driver. The method is implemented on an experimental robot joint so that tracking position and velocity errors can validate our simulation model.

	Brushless DC Motor for Antenna Scanning Mechanism By P. Murali Krishna; N. Kannan	[View] [Download]
Abstract: The spacecraft mechanisms always demand special configuration of the drive motors to fit into the constraints of the mechanisms and to accomplish the required functions with at most reliability. A special type of brushless d.c motor is developed at ISRO Inertial Systems Unit as drive motor for Antenna Scanning Mechanism (ASM) of Multi frequency Scanning Microwave Radiometer (MSMR) for Indian Remote Sensing satellite IRS-P4. This paper briefly describes the design and development of an efficient brushless d.c motor for Spacecraft Antenna Scanning Mechanism. The performance tests for characterisation were carried out and the results are presented.

	Design of Polynomial Speed Controller for Electrical Drives with Elastic Transformation By J. Deur; N. Peric	[View] [Download]
Abstract: A procedure of polynomial speed controller design for electrical drives with considerable transmission elasticity is presented. The design and comparative analysis of the speed control system are carried out with respect to the speed reference and the load torque for a wide range of process parameters, motor and load speed feedback and different sampling times, taking into account speed control loop sensitivity to inner current control loop modeling errors. The behavior of the designed speed control loop is experimentally examined at a laboratory model of electrical drive.

	Digital Control of Industrial Servo Drives for Machine Tools By R. Kennel; G. Kobs; R. Weber	[View] [Download]
Abstract: After completing the development of industrial servo drives with complete digital control further improvements are to be expected in the field of smooth operation, EMC and safe operation. This paper shows the state of the art concerning these issues and indicates the directions of further developments.

	FPGA Implementation of a Digital Tachometer for Angular Position and Speed Measurement By F. Barrero; J. L. Mora; E. Galván; R. Millán; J. V. Torrellas; L. G. Franquelo	[View] [Download]
Abstract: A common method for angular position and speed estimation, in adjustable speed drives, uses an incremental shaft encoder and an electronic circuit. This paper presents a high precision electronic conditioning of a biphase incremental encoder generated signal. A digital tachometer, for angular position and speed measurement, is implemented using two simple FPGAs. One FPGA, based on the multirange CET method, is applied to measure the angular speed with a relative error lower than 500ppm. A second FPGA implements a high precision pseudo-absolute angular position sensor. To prove and evaluate the abilities of the proposed measurement system, a PC-AT board has been designed and a 2000 pulses per revolution commercial biphase incremental encoder has been used. Experimental results exhibit an excellent behaviour of the proposed measurement system.

	Optimisation of a Servo Motor for an Industrial Robot Application By S. Andersson; M. Alakula; T. Lejonberg	[View] [Download]
Abstract: A new servomotor has been optimized to replace a existing servomotor in an industrial robot. The material cost of a machine, which is able to perform a specific task, is minimized. The optimization routine utilizes information about the drive-cycle and the load is thereby able to include the inertia of the machine in the optimization. The finite element method is used to optimize the magnet geometry. The result is a machine design with has a 35% shorter stator, 50% lower inertia (active part) and a 41% reduction in material cost as compared to its predecessor. A prototype has been built. Initial test results indicates that the prototype has the predicted torque constant, but can only produce 94% of the desired torque at 100°C average temperature rise in the windings.

	Performance Analysis of a Fieldbus Protocol for Electrical Drives By F. Benzi; E. Bassi; M. Pizzochero	[View] [Download]
Abstract: Advantages and shortcomings of using a low-level fieldbus protocol for the control of a system with a standard electrical drive are presented in this paper. A transmission protocol model applied to the issue of data exchange among electrical variable speed drives is presented and discussed. The fieldbus performance is investigated by considering the set of data and parameters to be sent on a fieldbus, together with an information related to their relevance and priority. The data flow analysis is reported in different cases which include a single drive controller and a multiple drive system, and also the data error management has been considered and discussed.

	Robust position control of stepping motors using sliding mode approach By F. Betin; D. Pinchon	[View] [Download]
Abstract: Use of stepping motors in open loop has its drawbacks since they tend to loose synchronism due to their large overshoot and longer settling tine. For this reason, stepping motors are more and more being implemented in closed loop schemes. Also, we propose in this paper to apply the sliding mode control in order to obtain a high precision positioning of the rotor whatever the mechanical configuration of the drive.

	Robust Speed and Position Control of PMSM using Slide Mode Controller with Fuzzy Interface By S. Brock; J. Deskur; K. Zawirski	[View] [Download]
Abstract: In the paper a problem of robust speed and position control of permanent magnet synchronous motor is discussed. Basic idea of the proposed approach consists in statement that gained robustness of speed control guarantees robust position control even if position controller has simple structure. The proposed robust speed control algorithm bases on modified sliding mode controller equipped with a fuzzy adaptive mechanism. Presented computer simulation study and experimental results show clearly the advantages of elaborated control method.