EPE Association: EPE-PEMC 2002 - Topic 10: Mechatronic Systems

EPE-PEMC 2002 - Topic 10: Mechatronic Systems
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2002 - Conference > EPE-PEMC 2002 - Topic 10: Mechatronic Systems

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   Bearingless Electromechanical Actuator
By J. Wagner; T. Boros; A. Dubcek; J. Lorenc [View]
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Abstract: This paper deals with a bearingless rotary machine which is capable of stable controlling the levitated position of a rotor of an induction motor with a squirrel-cage type rotor under loaded conditions. This bearingless induction machine is capable to serve as an electric motor and also as a magnetic bearing for magnetically levitating and supporting the rotor of the machine. The stator has winding for rotating the rotor and winding for positional control of the rotor in a given radial position. The paper deals with the field oriented control of the bearingless induction machine. Simulations were done with parameters of designed machine based on classical induction motor with mechanical bearings. Designed machine has four-pole drive winding and additional winding to centre the rotor in the machine. Both windings are distributed in the stator slots. Power and voltage rating of the four-pole winding is 3kW/220V and of the two-pole winding for levitation is 250W/30V. Simulation results of the whole system are presented.

   Identification and Control of a Nonlinear Mechatronic System
By C. Hintz; B. Angerer; D. Schroeder [View]
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Abstract: In this paper an identification algorithm and a nonlinear control strategy for a mechatronic system is presented. In order to achieve accurate control results all linear parameters (e.g. iner- tia) and nonlinear characteristics (e.g. friction) have to be known. To illustrate the theoretical investigations a throttle is identified and controlled. In the first part of this paper the identification algorithm is presented. The throttle is hereby modelled as a two mass system (TMS) [8]. All linear parameters (inertias of the DC-Motor and the throttle, spring- and damping-constant of the mechanical connection including the gear) and nonlinear characteristics (friction and reset spring) are identified by a structured recurrent neural network (SRNN). Based on the identification results an adaptive PI-State-Space-Controller with a nonlinear observer is developed. This PI-State-Space-Controller is compared with a state of the art PID- Single-Loop-Controller regarding control accuracy, control response time and noise behavior. Measurement results show the capabilities of the presented identification and control concept.

   Implementation of CAN communication protocol in autonomous mobile robot control
By S. Szabo; V. Singule [View]
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Abstract: The present technological trends in microelectronic, sensor and computing techniques make possible intensive research and development in the large area of applications. One of the most progressive area is the development of autonomous mobile robots. Recently, there is an effort to convert the academic development of the individual prototypes into the serially produced mobile systems, which are widely used in practice. These systems are more and more used in different areas of infrastructure (cleaning mobile systems, mobile systems in hospitals, etc.), in the civil engineering and the machine-building. The presented paper deals with the CAN communication protocol implementation into autonomous mobile robot control system for automatic attendance of manufacturing system.

   Silicon Electrostatic Micromotor
By S. Wiak; P. Dumania; Z. Lisik; Z. Szczepaniak [View]
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Abstract: The paper deals with a new construction of electrostatic micromotors manufactured with the use of microlectronics technology. Two solutions of such a motor are considered theoretically and the procedure to design them is presented. The manufactured examples of such motors manufactured on silicon platform together with the appropriate control unit are presented as well.

EPE-PEMC 2002 - Topic 10: Mechatronic Systems
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2002 - Conference > EPE-PEMC 2002 - Topic 10: Mechatronic Systems
	[return to parent folder]

	Bearingless Electromechanical Actuator By J. Wagner; T. Boros; A. Dubcek; J. Lorenc	[View] [Download]
Abstract: This paper deals with a bearingless rotary machine which is capable of stable controlling the levitated position of a rotor of an induction motor with a squirrel-cage type rotor under loaded conditions. This bearingless induction machine is capable to serve as an electric motor and also as a magnetic bearing for magnetically levitating and supporting the rotor of the machine. The stator has winding for rotating the rotor and winding for positional control of the rotor in a given radial position. The paper deals with the field oriented control of the bearingless induction machine. Simulations were done with parameters of designed machine based on classical induction motor with mechanical bearings. Designed machine has four-pole drive winding and additional winding to centre the rotor in the machine. Both windings are distributed in the stator slots. Power and voltage rating of the four-pole winding is 3kW/220V and of the two-pole winding for levitation is 250W/30V. Simulation results of the whole system are presented.

	Identification and Control of a Nonlinear Mechatronic System By C. Hintz; B. Angerer; D. Schroeder	[View] [Download]
Abstract: In this paper an identification algorithm and a nonlinear control strategy for a mechatronic system is presented. In order to achieve accurate control results all linear parameters (e.g. iner- tia) and nonlinear characteristics (e.g. friction) have to be known. To illustrate the theoretical investigations a throttle is identified and controlled. In the first part of this paper the identification algorithm is presented. The throttle is hereby modelled as a two mass system (TMS) [8]. All linear parameters (inertias of the DC-Motor and the throttle, spring- and damping-constant of the mechanical connection including the gear) and nonlinear characteristics (friction and reset spring) are identified by a structured recurrent neural network (SRNN). Based on the identification results an adaptive PI-State-Space-Controller with a nonlinear observer is developed. This PI-State-Space-Controller is compared with a state of the art PID- Single-Loop-Controller regarding control accuracy, control response time and noise behavior. Measurement results show the capabilities of the presented identification and control concept.

	Implementation of CAN communication protocol in autonomous mobile robot control By S. Szabo; V. Singule	[View] [Download]
Abstract: The present technological trends in microelectronic, sensor and computing techniques make possible intensive research and development in the large area of applications. One of the most progressive area is the development of autonomous mobile robots. Recently, there is an effort to convert the academic development of the individual prototypes into the serially produced mobile systems, which are widely used in practice. These systems are more and more used in different areas of infrastructure (cleaning mobile systems, mobile systems in hospitals, etc.), in the civil engineering and the machine-building. The presented paper deals with the CAN communication protocol implementation into autonomous mobile robot control system for automatic attendance of manufacturing system.

	Silicon Electrostatic Micromotor By S. Wiak; P. Dumania; Z. Lisik; Z. Szczepaniak	[View] [Download]
Abstract: The paper deals with a new construction of electrostatic micromotors manufactured with the use of microlectronics technology. Two solutions of such a motor are considered theoretically and the procedure to design them is presented. The manufactured examples of such motors manufactured on silicon platform together with the appropriate control unit are presented as well.