Design and Position Control of Overhang-Type Rail Mover Using Dual BLAC Motor

Kiwan Cho,Dong-Hee Lee

doi:10.3390/en14041000

Abstract

This paper presents the design and position control scheme of an overhang-type rail mover system driven by a dual Brushless AC (BLAC) motor with a simple Hall position sensor inside each motor. The overhang-type roller is chosen to reduce the slip between the roller and rail surface due to gravity. The BLAC motors are used to provide smooth translation along the rail and effective turning. Imbalances on any part of the motor and the simplicity of the Hall position sensor can create additional disturbance load, unsteady movement, and position errors. To reduce the sudden moving position error between the two motors, a balancing compensator with a Proportional-Differential (PD) position controller, which is based on the instantaneous speed and position trajectories, is presented. Furthermore, speed and position reference models are designed to compensate for the low Hall sensor resolution in the low-speed range. Therefore, steady-state position errors can then be regulated simply by using the instantaneous speed and position information. Experiments were performed to verify the viability of the proposed system and control. The results show a significant improvement in roller translation along the rail and stopping position accuracy.

Highlights

In the last decade, the demand for high-performance, unmanned surveillance equipment has increased due to the increase in unmanned facilities
An overhang-type rail mover system, using rollers which are driven with BLAC (Brushless AC) motors combined with a simple Hall position sensor, is presented
The mover is driven by two BLAC motors with simple Hall sensors attached to detect the rotor position

Summary

Introduction

The demand for high-performance, unmanned surveillance equipment has increased due to the increase in unmanned facilities. In the case of magnetic levitation systems, a specially designed guide rail, to suspend the mover body in the air, must be installed It requires a complex control system with a levitation controller. The overhang configuration is easy to implement; only some tension adjustments are required to compensate for the friction between the roller and rail because the tension tends to change according to mechanical vibrations and the downward force due to the weight and gravity of the mover. An absolute position sensor cannot be installed on the rail to detect the actual translational moving length of the mover, which is normally estimated indirectly through rotation of the roller and traction motor. An overhang-type rail mover system, using rollers which are driven with BLAC (Brushless AC) motors combined with a simple Hall position sensor, is presented. 3.1.FFMoorercshsttaaanbbilcleealooAppneeraralayttisioiosnnofaantnhdde PeearaosspyyoasaessdsseSemmtrbublclytyu,, rtthehee mmeecchhaanniiccaall ssttrruuccttuurree ooff tthhee pprrooppoosseedd ssyysstteemmFoiissrffisirtrsastbtalaennaoallpyyezzreeaddtiuousnsiinnaggndFFEEeMMasy((FFaiinnsisitteeemEEblleelymm, eetnhntet MMmeeettchhhooaddn))i..cal structure of the proposed systTTehmheeimsmfeeicrcshhtaaannniicacalayllzaaenndaalulyysssiinissgrreFesEsuuMllttss(FaairnreeitssehhEoolwwemnneiinntFFMiiggeuuthrreeod66)...TThhee wweeiigghhtt ooff tthhee bbooddyy iiss aassssuummTeedhdettomobebeceh1a10n0kickgag.l.TahTnehalemysmeicsehcrahensaiunclaitclsaslatrsetsrsehsasonwadnnddinsdpiFslaipgcleuamcreeemn6.et nTothf eothfwethecieognhcnotenocnfteintchgteinpbgaorpdtayorftis tohafestsrhuoelmlreoerdlalentrodambnedo1tmo0rokftrgoa.rmTfhreaeamrmeeeaacnrhaealyanzniceaadllybzsyterdAesbNsySaYAndSNtdSoiYoslSpsl.taTocohelems.meTnahtxeiomfmutahmxeimmcoeuncmnheamcntiecncaghl asptnarierctsasol f isstt1hre6esMrsoiPlslae1ra6atMnthdPemafiaoxttaottirhofenrafirmxinaegtiaobrnetawrinneagelnybzteehtdewbmeyeonAtotNrhSaenYmdSomttooorvlsae.nrTdbhoemdmoyv.aTxerihmebuomdmayx.miTmehcuehmamnmaicxeaiclmhsaturnme-ss imciasel1cdh6isaMpnlPiacacaelamtdtiehsnpetlfiaisxc0ae.tm2io5enμnmrtiin,swg0bh.2eic5thwμmiese,cnawtuhhseiecdmhboiytsoscrtarauenssdsedamnbodyvwesretrbiegoshdstyaa.ntTtdhewmseaiamgxheimtfaiuxtamtthimoenesrcaihmnagensfihixcoaawtlidnoinsinprilFnaigcgeusmhreonw6tbni,scin.0.H2F5iogμwumerev, we6rbh,,ciac.lhuHmiosiwcnaeuuvmseerdm, abalyutemsrtiiraneluscsmaannmdyaiwetelderiiagulhpctataont t2yh8iee0lsdMamuPpea,tfoisxo2a8tih0oeMndrPeina-,g ssisoghntohewde ndoevisneirgFhniagenudgro-etvy6epbreh,car.anHiglo-mtwyopevveeerrra,cilalnmubmoeviencrouncmasnidmbeaerteecdroinmasleicdcahenraenydicemaldlelycuhspatantobicl2ea.8ll0y MstaPbal,es.o the designed overhang-type rail mover can be considered mechanically stable

Position Control of Dual BLAC Motor Drives

Experimental Results

Conclusions