Search results

Filters

  • Journals
  • Authors
  • Keywords
  • Date
  • Type

Search results

Number of results: 63
items per page: 25 50 75
Sort by:
Download PDF Download RIS Download Bibtex

Abstract

A brushless direct-current (BLDC) and permanent-magnet synchronous motors (PMSMs) with permanent magnets are characterised by the highest operating parameters among all electric motors. High dynamics and the possibility of controlling their work improves the operating parameters of the drive system and reduces the operating costs of such a device. The high cost of these machines associated with the complexity of their construction is a serious barrier to increasing their range in small propulsion systems, where lower energy consumption does not give such spectacular financial profits. To reduce costs, manufacturers often limit the variety of manufactured engines so that by increasing the volume, the unit cost of the device can be minimised. This is often hindered by the implementation of projects deviating from standards where it is necessary to use drive systems of different power. The solution to this problem could be the use of two independent drive systems working in strict correlation to ensure sufficient operating parameters of the device. The article presents a method of controlling a drive system in which two propulsion systems with PMSM engines were used. These devices are communicated with each other by a serial bus, by means of which data necessary for the correct operation of motors connected by a drive belt are transmitted. Since these machines affect both the working machine and each other, it is necessary to optimise such a system so as to avoid excessive oscillation of the drive torque in the system.

Go to article

Authors and Affiliations

Krzysztof Jakub Kolano
Download PDF Download RIS Download Bibtex

Abstract

This paper presents a computationally efficient method for modelling an impact of the converter drive on the power grid. The formalized variable structure method (FVSM) allows for comprehensive studies of the effect on the power grid and examining the relation between this effect and the number of drive and feeding line parameters. In order to obtain a comprehensive model along with the model of the power grid, the parameters that are applied originate from a drive of a coal-fired power station. These parameters have been determined based on assessment and estimation. The estimation process was conducted with the aid of a model that allows for the commutation of power electronic elements. The authors confirmed that the model was correct by comparing empirical and theoretical voltage and current waveforms. Harmonic content of the voltage and current in the power grid which feeds the drive are considered to be the measure of the converter drive impact on the power grid. The standard method for the reduction of a harmonic content in the voltage and current involves the application of line reactors and distribution or converter transformers. As an example, the authors determine the impact of the drive on the power grid with respect to the adopted parameters of the line reactor. This example presents FVSM abilities with regard to simulation of complex systems that contain power grid components and converter drives.

Go to article

Authors and Affiliations

Ryszard Beniak
Arkadiusz Gardecki
Download PDF Download RIS Download Bibtex

Abstract

The paper treats of correcting calculation errors of the BLDC motor speed, based on the time elapsed between successive changes in the shaft position sensor signal. The developed method enables correction of errors of the deployment of sensors as well as rotating elements of the observation system of the motor shaft position. The correction algorithm performance was analysed with the aid of a model implemented in Matlab-Simulink environment. After confirming usefulness of the developed method through simulation, its usefulness was verified in real closed-loop feedback systems with a BLDC motor. The results of measurements carried out at the developed laboratory station are presented.
Go to article

Authors and Affiliations

Krzysztof Kolano
Download PDF Download RIS Download Bibtex

Abstract

A fractional-order control strategy for a pneumatic position servo-system is presented in this paper. The idea of the fractional calculus application to control theory was introduced in many works, and its advantages were proved. This paper deals with the design of fractional order PIλ controllers, in which the orders of the integral and derivative parts, λ and µ, respectively, are fractional. Experiments with fractional-order controller are performed under various conditions, which include position signal with different frequencies and amplitudes or a step position signal. The results show the effectiveness of the proposed schemes and verify their fine control performance for a pneumatic position servo-system.

Go to article

Authors and Affiliations

P.A. Laski
Download PDF Download RIS Download Bibtex

Abstract

Current drive control systems tend to push control loops to the limits of their performance. One of the ways of doing so is to use advanced optimization algorithms, usually related to model-based off-line calculations, such as genetic algorithms, the particle swarmoptimisation or the others. There is, however, a simpler way, namely to use predictive control formalism and by formulation of a simple linear programming problem which is easy to solve using powerful solvers, without excessive computational burden, what is a reliable solution, as whenever the optimization problem has a feasible solution, a global minimizer can be efficiently found. This approach has been deployed for a servo drive system operated by a real-time sampled-data controller, verified between model-in-the-loop and hardwarein- the-loop configurations, for a range of prediction horizons, as an attractive alternative to classical quadratic programming-related formulation of predictive control task.
Go to article

Authors and Affiliations

Dariusz Horla
1
ORCID: ORCID
Piotr Pinczewski
2

  1. Institute of Robotics and Machine Intelligence, Poznan University of Technology, Piotrowo 3a Str., 60-965 Poznan, Poland
  2. IT.integro sp. z o.o. Zabkowicka 12 Str., 60-166 Poznan, Poland
Download PDF Download RIS Download Bibtex

Abstract

The paper presents a methodology for creating dynamic characteristics of fuel consumption and intensity of emission of toxic components of exhaust gas. The source of data is the result of modal analysis of fuel consumption and emission intensity obtained from experimental drive tests. Two certified tests have been used: European NEDC and American Ff P- 75. A general algorithm for obtaining dynamic characteristics in the form of approximated functions is formulated on the basis of measured data. Examples of characteristics obtained for a real car with spark ignition engine are presented. The results obtained from experimental measurements and numerical simulations are compared and discussed.
Go to article

Authors and Affiliations

Krzysztof Brzozowski
Kazimierz Romaniszyn
Download PDF Download RIS Download Bibtex

Abstract

The paper presents a model of a car with special attention given to the drive system. Two possible drive systems were considered: with standard differential and independent drive of each wheel by means of an electric motor. In both cases, flexibilities of live axle shafts have been taken into consideration. A 3D model of the car was assumed. The model consists of a system of rigid bodies connected one with another by means of elastic-damping elements. The phases of static and kinetic friction were considered in the steering and drive systems. The method of homogenous transformations was used in the mathematical description. The results of computer simulations are presented.
Go to article

Authors and Affiliations

Marek Szczotka
Stanisław Wojciech
Download PDF Download RIS Download Bibtex

Abstract

Humans vary in many aspects of their psychology with differences routinely found in patterns of thoughts, feelings, and behaviours, setting individuals apart across time and place. Though many psychologists have attempted to account for these individual differences, one area that has continued to generate interest and disagreement is the concept of motivation. Today, understanding behavioural motivation remains one of the most important questions facing personality theorists. In an attempt to better account for human motivation, the present exploration reviews seminal theoretical positions put forward by Sigmund Freud from a Psychoanalytical perspective and contrastingly, that of Carl Rogers from the Humanistic approach. Critical consideration is specifically applied to how verifiable each perspective may be and the degree of empirical support either account has attained to date. Whilst understanding human motivation is not a new endeavour, the present exploration provides a contemporary critical assessment of traditional psychological explanations.
Go to article

Authors and Affiliations

Dominic Willmott
Saskia Ryan
Nicole Sherretts
Russell Woodfield
Danielle McDermott
Download PDF Download RIS Download Bibtex

Abstract

The paper presents the results of research work on the development of a rapidprototyping test stand for testing: servo control algorithms, trajectory generation, algorithms for increasing overall quality of the feed-drive modules within two axis (X-Y) table of the milling machine. Open architecture interface of the prepared control system lets the potential user test functionality of integration of diagnostic tools within the motion controller - directly, without taking into account communication with top-level CNC system.

Go to article

Authors and Affiliations

Krzysztof Pietrusewicz
Michał Bonisławski
Rafał Pajdzik
Download PDF Download RIS Download Bibtex

Abstract

Total Artificial Hearts (TAHs) are required for the therapy of terminal heart diseases as heart transplants are only a limited option due to the available number of donor hearts. For implantation TAHs have to meet constraints regarding its dimensions, weight, perfusions and electrical losses. An innovative linear driven TAH is presented, which meets all constraints except weight. Therefore the geometry of the linear drive is optimised to reduce its weights while simultaneously limiting the electrical losses as much as possible. In order to calculate the losses, this paper introduced a combined calculation chain consisting of FEM simulations and analytical equations. Based on this chain the linear drive is optmised by the method of parameter variations. The results yield a hierachic order of parameters which are most suitable for the weight reduction of the drive for low losses. By this the weight of the linear drive is reduced by 25%. As the allowable loss limit is not exceeded yet, room for further weight reduction achieved by an optimisation of the axial geomtry parameters is given.
Go to article

Authors and Affiliations

André Pohlmann
Thomas Schmitz-Rode
Marc Lessmann
Thomas Finocchiaro
Andreas Fritschi
Ulrich Steinseifer
Kay Hameyer
Download PDF Download RIS Download Bibtex

Abstract

Modern electronics systems consist of not only with the power electronics converters, but also with the friendly user interface which allow you to read the operating parameters and change them. The simplest solution of the user interface is to use alphanumeric display which displays information about the state of the converter. With a few additional buttons you can change the settings. This solution is simple, inexpensive but allows only local control (within walking distance from the system) and the number of displayed information is low. You can create extensive menu, but it causes problems with access to information. This paper presents the example of a rotating energy storage universal solution which is lack of the above mentioned disadvantages.
Go to article

Authors and Affiliations

Marcin Baszyński
Tomasz Siostrzonek
Download PDF Download RIS Download Bibtex

Abstract

In the paper issues related to the design of a robust adaptive fuzzy estimator for a drive system with a flexible joint is presented. The proposed estimator ensures variable Kalman gain (based on the Mahalanobis distance) as well as the estimation of the system parameters (based on the fuzzy system). The obtained value of the time constant of the load machine is used to change the values in the system state matrix and to retune the parameters of the state controller. The proposed control structure (fuzzy Kalman filter and adaptive state controller) is investigated in simulation and experimental tests.

Go to article

Authors and Affiliations

Piotr J. Serkies
Krzysztof Szabat
Download PDF Download RIS Download Bibtex

Abstract

Mitigation of electromagnetic inference (EMI) is currently a challenge for scientists and designers in order to cope with electromagnetic compatibility (EMC) compliance in switching mode power supply (SMPS) and ensure the reliability of the whole system. Standard filtering techniques: passive and active ones present some insufficiency in terms of performance at high frequencies (HF) because analog components would no longer be controllable and this is mainly due to their parasitic elements. So developing EMI digital filters is very interesting, especially with the embedment of a machine control system on a field programmable gate array (FPGA) chip. In this paper, we present a design of an active digital EMI filter (ADF) to be integrated in a drive train system of an electric vehicle (EV). Hardware design as well as FPGA implementation issues have been presented to prove the efficiency of the developed digital filtering structure.

Go to article

Authors and Affiliations

Yosr Bchir
Soufien Gdaim
Hamza Djilali
Abdellatif Mtibaa
Download PDF Download RIS Download Bibtex

Abstract

Department of Electrical Drive and Industrial Equipment University of Science and Technology (AGH) The article describes the method of determining mechanical losses and electromagnetic motor torque on the example of a flywheel energy storage system utilizing BLDC motor. The description of the test stand contains: the topology of power factor correction boost rectifier, an inverter supplying the BLDC motor, and the measuring system. The detailed experimental results are included in the paper.

Go to article

Authors and Affiliations

Stanisław Piróg
Marcin Baszyński
Download PDF Download RIS Download Bibtex

Abstract

The paper presents results of studies on linear synchronous motors controlled in CNC feed axes through an intelligent digital servodrive. The research includes a conceptual design of an open servodrive control system and identification of dynamic models of a test stand with an open CNC system. Advantages of robust control over the classic one are discussed. A hybrid predictive approach to robust control of milling machine X-Y table velocity is proposed and results of simulation tests are presented. Was prepared during the work for the Ministry of Science and Higher Education grant number N N502 336936, (acronym for this project is M.A.R.I.N.E. multivariable hybryd ModulAR motIon coNtrollEr), while its main purpose is the development of new rob ust position/velocity model-based control system, as well as to introduce the measurement of the actual state into the switching algorithm between the locally synthesized controllers. Such switching increases the overall robustness of the machine tool feed-drive module. The paper is the extended version of material proposed in [10].

Go to article

Authors and Affiliations

Krzysztof Pietrusewicz
Download PDF Download RIS Download Bibtex

Abstract

This paper focuses on the design and control of an active suspension system, where a tubular linear motor is integrated into a spring damper system of a vehicle. The spring takes up the weight of the vehicle. Therefore the electric linear motor can be designed very compact as it has to provide forces to adjust the damping characteristic only. Design and construction of the active suspension system, a control strategy and validation measurements at a test bench are presented.
Go to article

Authors and Affiliations

Andreas Thul
Daniel Eggers
Björn Riemer
Kay Hameyer
Download PDF Download RIS Download Bibtex

Abstract

Reliable estimation of longitudinal force and sideslip angle is essential for vehicle stability and active safety control. This paper presents a novel longitudinal force and sideslip angle estimation method for four-wheel independent-drive electric vehicles in which the cascaded multi-Kalman filters are applied. Also, a modified tire model is proposed to improve the accuracy and reliability of sideslip angle estimation. In the design of longitudinal force observer, considering that the longitudinal force is the unknown input of the electric driving wheel model, an expanded electric driving wheel model is presented and the longitudinal force is obtained by a strong tracking filter. Based on the longitudinal force observer, taking into consideration uncertain interferences of the vehicle dynamic model, a sideslip angle estimation method is designed using the robust Kalman filter and a novel modified tire model is proposed to correct the original tire model using the estimation results of longitudinal tire forces. Simulations and experiments were carried out, and effectiveness of the proposed estimation method was verified.

Go to article

Authors and Affiliations

Long Chen
Te Chen
Xing Xu
Yingfeng Cai
Haobin Jiang
Xiaoqiang Sun
Download PDF Download RIS Download Bibtex

Abstract

The paper presents the idea of a system for controlling the movement of a flowmeter for air velocity profile measurement. In such a system, due to massive amount of data and limitations of the Data Acquisition Equipment, it is necessary to use moveable sensors. The flowmeter sensor is moved with the use of a linear module with a stepper motor and a tooth-belt drive. The location and speed of the sensor are controlled by a program based on the idea of virtual instrument. The proposed structure allows the user to control operation of the stand and provides automatic measurement. A wide range of velocity and step increments of the stepper motor drive, and flexibility of the virtual instrument software, allow one to create effective measurement systems ensuring sufficiently precise location with optimal time duration of measurement. It is shown that the linear module with tooth-belt is an effective alternative for similar modules with micro-screw drives.

Go to article

Authors and Affiliations

Mirosław Kabacinski
Roland Pawliczek
Download PDF Download RIS Download Bibtex

Abstract

Contemporary research on mobile robotics aims at designing robots that will be able to traverse an extremely varied environment. One of the most universal modes of locomotion is the serpentine movement. A majority of modern snake-like robots use electric drives. This study presents a snake-like robot made out of McKibben muscles. Using a pneumatic cable with muscles arranged in series, it is possible to create a robot of any length, limited only by the length of the muscle cables. Because the control system and the body of the robot are separate, the robot can be used for rescue missions involving high risk of explosion of flammable substances and for missions taking place on extremely difficult terrain.

Go to article

Bibliography

[1] S. Hirose. Biologically Inspired Robots: Snake-Like Locomotors and Manipulators. Oxford University Press, Oxford, 1993.
[2] R.S. Desai, C.J. Rosenberg, and J.L. Jones. Kaa: An autonomous serpentine robot utilizes behavior control. In Proceedings of 1995 International Conference on Intelligent Robots and Systems, IROS ’95, pages 250–255, Pittsburgh, USA, 5-9 August 1995, 1995. doi: 10.1109/IROS.1995.525891.
[3] S. Ma, Y. Ohmameuda, K. Inoue, and B. Li. Control of a 3-dimensional snakelike robot. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2067–2072, Taipei, Taiwan, 14–19 September 2003. doi: 10.1109/ROBOT.2003.1241898.
[4] S. Ma, Y. Ohmameuda, and K. Inoue. Dynamic analysis of 3-dimensional snake robots. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 767–772, Sendai, Japan, 28 Sept. – 2 Oct. 2004. doi: 10.1109/IROS.2004.1389445.
[5] Z. Zuo, Z. Wang, B. Li, and S. Ma. Serpentine locomotion of a snake-like robot in water environment. In 2008 IEEE International Conference on Robotics and Biomimetics, pages 25–30, Bangkok, Thailand, 21–26 February, 2009. doi: 10.1109/ROBIO.2009.4912974.
[6] A. Shapiro, A. Greenfield, and H. Choset. Frictional compliance model development and experiments for snake robot climbing. In Proceedings of IEEE International Conference on Robotics and Automation, pages 574–579, Rome, Italy, 10-14 April 2007. doi: 10.1109/ROBOT.2007.363048.
[7] H. Yamada, S. Chigisaki, M. Mori, K. Takita, K. Ogami, and S. Hirose. Development of amphibious snake-like robot ACM-R5. In: Proceedings of 36th International Symposium on Robotics, Tokyo, Japan, 2005.
[8] C. Wright, A. Johnson, A. Peck, Z. McCord, A. Naaktgeboren, P. Gianfortoni, M. Gonzalez-Rivero, R. Hatton, and H. Choset. Design of a modular snake robot. In Proceedings of the 2007 IEEE/RSJ International Conference of Intelligent Robots and Systems, pages 2609–2614, San Diego, USA, 29 Oct.-2 Nov. 2007. doi: 10.1109/IROS.2007.4399617.
[9] P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl, and J.T. Gravdahl. A review on modelling, implementation, and control of snake robots. Robotics and Autonomous Systems, 60(1):29–40, 2012. doi: 10.1016/j.robot.2011.08.010.
[10] K.Y. Pettersen. Snake robots. Annual Reviews in Control, 44:19–44, 2017. doi: 10.1016/j.arcontrol.2017.09.006.
[11] J. Gao, X. Gao, W. Zhu, J. Zhu, and B. Wei. Design and research of a new structure rescue snake robot with all body drive system. In Proceedings of 2008 IEEE International Conference Mechatronics and Automation, pages 119–124, Takamatsu, Japan, 5–8 August, 2008. doi: 10.1109/ICMA.2008.4798737.
[12] G. Granosik, J. Borenstein, and M.G. Hansen. Serpentine Robots for Industrial Inspection and Surveillance. In K.-H. Low (ed.), Industrial Robotics: Programming, Simulation and Applications, Chapter 33, pages 633–662. Pro Literatur Verlag, Germany, ARS, Austria, 2006. doi: 10.5772/4921.
[13] P. Liljebäck, Ø. Stavdahl, and K.Y. Pettersen. Modular pneumatic snake robot: 3D modelling, implementation and control. IFAC Proceedings Volumes, 38(1):19–24, 2005. doi: 10.3182/20050703-6-CZ-1902.01274.
[14] K. Koter, L. Fracczak, A. Wojtczak, B. Bryl-Nagorska, A. Mizejewski, and A. Sawicki. Static and dynamic properties investigation of new generation of Transversal Artificial Muscle. In Proceedings of 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), pages 711–716, Miedzyzdroje, Poland, 28–31 August 2017. doi: 10.1109/MMAR.2017.8046915.
Go to article

Authors and Affiliations

Łukasz Frącczak
1
Michał Olejniczak
1
Leszek Podsędkowski
1

  1. Lodz University of Technology, Institute of Machine Tools and Production Engineering, Lodz, Poland.
Download PDF Download RIS Download Bibtex

Abstract

The Variable Frequency Drive (VFD) is used to control the speed of the pumpmotor to attain the desired flow rate and fluid level in a fluid system. An AC drive provides efficient flow control by varying the pump-motor speed. The comparison of energy requirements and costs in a system where a throttling device is used for flow control on a centrifugal pump with the power used when an variable frequency drive (VFD) is used to control the same flow, evidently shows potential savings. In this system, AC Motor Frequency drive and static pressure transmitter, turbine type flowmeter and Analog/Digital cards, micro-control unit and computer connection are designed specially to control flow rate, fluid flow type (turbulence or laminar) and water level at the different conditions with different PID parameters.

Go to article

Authors and Affiliations

Riza Gürbüz
Download PDF Download RIS Download Bibtex

Abstract

Acoustical Driving Forces (ADF), induced by propagating waves in a homogeneous and inhomogeneous lossy fluid (suspension), are determined and compared depending on the concentration of suspended particles. Using integral equations of the scattering theory, the single particle (inclusion) ADF was calculated as the integral of the flux of the momentum density tensor components over the heterogeneity surface. The possibility of negative ADF was indicated. Originally derived, the total ADF acting on inclusions only, stochastically distributed in ambient fluid, was determined as a function of its concentration. The formula for the relative increase in ADF, resulting from increased concentration was derived. Numerical ADF calculations are presented. In experiments the streaming velocities in a blood-mimicking starch suspension (2 μm radius) in water and Bracco BR14 contrast agent (SF6 gas capsules, 1 μm radius) were measured as the function of different inclusions concentration. The source of the streaming and ADF was a plane 2 mm diameter 20 MHz ultrasonic transducer. Velocity was estimated from the averaged Doppler spectrum obtained from originally developed pulsed Doppler flowmeter. Numerical calculations of the theoretically derived formula showed very good agreement with the experimental results.

Go to article

Authors and Affiliations

Janusz Wójcik
Wojciech Secomski
Download PDF Download RIS Download Bibtex

Abstract

This paper investigates the application of a novel Model Predictive Control structure for the drive system with an induction motor. The proposed controller has a cascade-free structure that consists of a vector of electromagnetics (torque, flux) and mechanical (speed) states of the system. The long-horizon version of the MPC is investigated in the paper. In order to reduce the computational complexity of the algorithm, an explicit version is applied. The influence of different factors (length of the control and predictive horizon, values of weights) on the performance of the drive system is investigated. The effectiveness of the proposed approach is validated by some experimental tests.

Go to article

Authors and Affiliations

Karol Tomasz Wróbel
Krzysztof Szabat
ORCID: ORCID
Piotr Serkies
Download PDF Download RIS Download Bibtex

Abstract

In this paper, we propose sensorless backstepping control of a double-star induction machine (DSIM). First, the backstepping approach is designed to steer the flux and speed variables to their references and to compensate uncertainties. Lyapunov”s theory is used and it demonstrates that the dynamic tracking of trajectories tracking is asymptotically stable. Second, unfortunately, this law control called sophisticated is a major problem which leads to the necessity of using a mechanical sensor (speed, load torque). This imposes an additional cost and increases the complexity of the montage. In practice, this variable is unknown and its measurement is expensive. To restrain this problem we estimate speed and load torque by using a Luenberger observer (LO). Simulation results are provided to illustrate the performance of the proposed approach in high and low variable speeds and load torque disturbance.

Go to article

Authors and Affiliations

Hadji Chaabane
Khodja Djalal Eddine
Chakroune Salim
Download PDF Download RIS Download Bibtex

Abstract

The purpose of this paper is to show possibility and advantages of initial control plane reproduction for an adaptive fuzzy controller. Usually the fuzzy control is used when the object is not very well known. Yet the truth is, however, that some, at least general information about the object, is available. Usually, in such a case, optimization algorithms are used to tune the control structure. The purpose of this article is to show how to find a starting point that is closer to optimum than a statistically random point, and this way to obtain better results in a shorter time.

Go to article

Authors and Affiliations

Piotr Derugo
Mateusz Żychlewicz

This page uses 'cookies'. Learn more