DC Servo Motor Research Articles

Constructing a Deep Image Analysis System Based on Self-Driving and AIoT

This research is based on the system architecture of Edge Computing in the AIoT (Artificial Intelligence & Internet of Things) field. In terms of receiving data, the authors proposed approach employed the camera module as the video source, the ultrasound module as the distance measurement source, and then compile C++ with Raspberry Pi 4B for image lane analysis, while Jetson Nano uses the YOLOv3 algorithm for image object detection. The analysis results of the two single-board computers are transmitted to Motoduino U1 in binary form via GPIO, which is used for data integration and load driving. The load drive has two parts: DC motor (rear wheel drive) and servo motor (front wheel steering). Then the final data of NodeMCU is wirelessly transmitted to the router, and then transmitted to the terminal smart device through the 4G network, thus completing the task of monitoring automatic driving. At present, artificial intelligence, the Internet of Things, and autonomous driving technologies are developing rapidly. The highlights of this research are three parts. The first part is the use of two image analysis methods to complete the automatic driving work, and the second part is the hardware architecture and circuit combination. The third part is that the system of this research is designed based on the Internet of Things architecture. The proposed system is to realize the data integration of various analysis platforms such as Raspberry Pi 4B, Jetson Nano, Motoduino U1, and mobile phone APP. The proposed method can not only realize the driving of an autonomous driving model car through image analysis but also monitor the autonomous driving process.

A New Reduced-Order Implementation of Discrete-Time Fractional-Order PID Controller

This paper presents a new method for computationally effective implementation of a discrete-time fractional-order proportional–integral–derivative (FOPID) controller. The proposed method is based on a unique representation of the FOPID controller, where fractional properties are modeled by a specific finite impulse response (FIR) filter. The balanced truncation model order reduction method is applied in the proposed approach to obtain an effective, low-order model of the FOPID controller. The time-invariant FOPID controller implementation is presented first, and then the methodology is extended to the controller with time-varying gains. A comparative analysis shows that the proposed methodology leads to the effective modeling of discrete-time FOPID controllers. In addition to simulation runs, the effectiveness of the introduced methodology is confirmed in a real-life experiment involving the control of the DC motor servo system. The paper concludes with the implementation tools developed in the Matlab/Simulink environment.

Economic 6-DOF robotic manipulator hardware design for research and education

This work proposes economic design of robotic manipulator hardware for education and laboratory experiment purposes. This prototype can be used for conducting experiments and validation of various control strategies like robust control design, artificial intelligence-based control design, vision-based control, etc. Designed 6-DOF robotic manipulator is connected to the computer system through Arduino board, which acts as a communication device. High torque DC servo motors are used to control each joint of the manipulator. Frame of the manipulator is designed with mild steel brackets. Robot operating system (ROS), an open-source meta operating system is used to control and perform series of operations on a robotic manipulator. Robotic manipulator is configured and controlled using the MoveIt package. MoveIt will plan the trajectory using inverse kinematics for desired goal state and the same can be visualized through Rviz. Experiment results show that robotic manipulator prototype successfully follow the trajectory planned by the MoveIt and reached to the desired goal state. Because of open-source alternatives like ROS, cost of the prototype design is economical and hence, the prototype can be utilized for experimental validation in research and laboratory purpose.

Towards a process fault-tolerant iterative learning control for dynamic systems*

The paper presents further work on combining Iterative Learning Control (ILC) with Fault-Tolerant Control. Main goals here are to drive the considered plant to the prescribed reference with simultaneous elimination of the effect of possible process faults. The first result presented is about designing the fault estimator and linking it with the original plant. Next, for a such an extended system the ILC scheme is provided. Since the system is occupied by the process and measurement uncertainties, the fault observer along with the ILC controller are designed under the H∞ regime. The proposed control strategy is verified with application to the DC servo motor.

Predictive extended state observer-based repetitive controller for uncertain systems with input delay

This article presents a predictive extended state observer-based repetitive controller (PESO-RC) to simultaneously track and reject periodic signals on systems with long input delay and parameter uncertainties. First, a novel extended state observer (ESO) is proposed to tackle periodic signals on processes with input delay. Then a simple low pass filter is incorporated and tuned to improve robustness against modelling errors. Moreover, the modified repetitive controller (MRC) is integrated to enhance the performance when compensating periodic signals without affecting the overall system’s stability. Stability criteria and robust stability analysis under modelling errors are studied to develop tuning guidelines. Furthermore, validation of the proposed controller and comparison studies are simulated in MATLAB and tested on a brushless DC servo motor which highlight the superior performance of PESO-RC.

Sistem Otomatisasi Pengangkat Sampah pada Daerah Aliran Sungai Berbasis Internet of Things (IoT)

Garbage in the watershed of the city of Padang is the cause of flooding every year. The use of the garbage net method that is stretched horizontally in watersheds has so far been considered ineffective, because waste still accumulates and floats in the watershed so that it still causes flooding, so an automatic garbage lifter is needed from the watershed which is directly connected to the watershed. garbage dump. The method used in this automatic garbage lift system is to use a conveyor, as a tool to raise waste from the watershed to the landfill. While the AT Mega328p Microcontroller is used as the brain of the system which will later function to control the work of DC motors and Servo motors. The Esp8266 module is used as a Wifi module to connect equipment components to the internet network then forwarded to an application that is used to control the on/off switch and as a notifier when river water levels rise/fall with the Internet of Things (IoT) concept. The test results prove that the tool can work well.

Modeling and parametric identification of Hammerstein systems with time delay and asymmetric dead-zones using fractional differential equations

The parametric identification of Hammerstein structured nonlinear systems with discontinuous asymmetric (two segment piecewise-linear with a dead-zone) nonlinearity and input time delay is presented using a fractional-order modeling technique. The effect of the unknown dead-zone nonlinearity is separated from the linear dynamics using special excitation signals to simplify the identification process. The use of fractional calculus permits reduced order modeling of the linear dynamics. An interactive block-based strategy is then introduced to simultaneously estimate the separated nonlinear and linear parameters, including the fractional differentiation order(s) and input time delay, which usually require separate algorithms in such cases. The proposed method utilizes block pulse functions to mitigate the computational complexity of fractional differential operations. Numerical examples are provided to validate the efficacy in comparison to existing methods. A DC servo motor application is used to demonstrate the proposed nonlinear modeling approach.

A Comparison of the Probes with a Cantilever Beam and a Double-Sided Beam in the Tool Edge Profiler for On-Machine Measurement of a Precision Cutting Tool

This paper describes a comparison of the mechanical structures (a double-sided beam and a cantilever beam) of a probe in a tool edge profiler for the measurement of a micro-cutting tool. The tool edge profiler consists of a positioning unit having a pair of one-axis DC servo motor stages and a probe unit having a laser displacement sensor and a probe composed of a stylus and a mechanical beam; on-machine measurement of a tool cutting edge can be conducted with a low contact force through measuring the deformation of the probe by the laser displacement sensor while monitoring the tool position. Meanwhile, the mechanical structure of the probe could affect the performance of measurement of the edge profile of a precision cutting tool. In this paper, the measurement principle of the tool edge profile is firstly introduced; after that, slopes and a top-flat of a cutting tool sample are measured by using a cantilever-type probe and a double-sided beam-type probe, respectively. The measurement performances of the two probes are compared through experiments and theoretical measurement uncertainty analysis.

Analysis of fault diagnosis of DC motors by power consumption pattern recognition

Early detection of faults in DC motors extends their life and lowers their power usage. There are a variety of traditional and soft computing techniques for detecting faults in DC motors. Many diagnostic techniques have been developed in the past to detect such fault-related patterns. These methods for detecting the aforementioned potential failures of motors can be utilized in a variety of scientific and technological domains. Motor Power Pattern Analysis (MPPA) is a technology that analyzes the current and voltage provided to an electric motor using particular patterns and protocols to assess the operational status of the motors without disrupting production. Engineers and researchers, particularly in industries, face a difficult challenge in monitoring spinning types of equipment. In this work, we are going to explain how to use the motor power pattern/signature analysis (MPPA) of a power signal driving a servo to find mechanical defects in a gear train. A hardware setup is used to simplify the demonstration of obtaining spectral metrics from the power consumption signals. A DC motor, a set of metal or nylon drive gears, and a control circuit are employed. The speed control circuit was eliminated to allow direct monitoring of the DC motor's current profiles. Infrared (IR) photo-interrupters with a 35 mm diameter, eight-holed, standard servo wheel were employed to gather the tachometer signal at the servo's output. The mean value of the measurements was 318 V for the healthy profile, while it was 330 V for the faulty gears power data. The proposed power consumption profile analysis approach succeeds to recognize the mechanical faults in the gear-box of a DC servomotor via examining the mean level of the power consumption pattern as well as the extraction of the Power Spectral Density (PSD) through comparing faulty and healthy profiles

Design of linear electromechanical actuator for automatic ambulatory Duodopa pump

This paper focuses on the design of a linear electromechanical actuator (EMA) to be used in conjunction with a positive displacement piston-type drug dispensing syringe pump. The motivation behind this work is the development of an automated ambulatory Duodopa pump, which necessitates the design of an EMA to safeguard Parkinson's disease (PD) patients from bradykinesia and dyskinesia problems that occur due to the inability of traditional Duodopa pump in optimal drug delivery. The proposed EMA consists of a lead screw mechanism driven by a DC servo motor coupled with gears. The lead screw is designed in such a way that the rule of thumb and self-locking property are obeyed to avoid the back-driving phenomenon. The overall performance of the proposed EMA is evaluated by in-silico studies, which results in better dynamic response, stability, and reliability. The in-silico analysis of various electrical, as well as mechanical faults that are prone to happen in EMA, is also discussed in this paper. The stability of the proposed system is analyzed via frequency response plots under different load inertia values and system time delays. From the stability analysis, it is perceived that an excessive inertia mismatch or time delay may lead to instability issues in the system, even though stability is guaranteed at present. The proposed methodology emphasizes a crucial condition in the DC motor sizing that the optimum operation requires an inertia ratio as close to 1:1 as possible.

Fault-Tolerant Tracking Control for a Descriptor System under an Unknown Input Disturbances

The paper proposes a fault-tolerant tracking control scheme based on a robust observer for a descriptor system. Thus, it is assumed that the described system can be simultaneously occupied by an unknown input disturbance, along with an actuator and sensor faults. Additionally, it is natural to assume that the unknown input disturbance cannot be estimated, which makes the control process more difficult. Moreover, the proposed descriptor system is also occupied by external disturbances. Thus, the robust stability of the proposed control and estimation scheme was guaranteed by using H∞ performance. Consequently, the DC servo-motor laboratory system was used to confirm the correctness and effectiveness of the proposed fault-tolerant tracking control scheme.

Analogous Research of Classical PI Controller and Fuzzy Logic Controller to Control the Speed of D.C. Servo Motor

Servo motors are widely used in several fields such as industrial, electronics and robotics etc. The precise positioning & speed control of servo motor is compulsory for desired result and output. In this study, the speed control of dc servo motor is compared utilizing two different controllers. First is a classical PI controller while the second one is a fuzzy logic controller (FLC). PI controller and FLC both can be utilized for controlling the speed of servo motor. Both techniques provide good results but the fast response for the proposed calculation is achieved by the fuzzy logic controller. MATLAB/SIMULINK provide the conventional tool to analyze the model precisely so that the performance of servo motor is satisfactory. The performance of both controllers is compared and analyzed on different parameters such as speed, current for DC Servo Motor.

Object Sorting Robotic Arm Based on Colour Sensing

An Object Sorting Robotic Arm Based on Colour Sensing is a technique used to sort and analyse different colours of objects, after that picking up and place on desired area or location. This application improved efficiency as well as reduce the manual workload. In the project, dc servo motors are used which rotate as per the program to complete the task. Total six dc servo motors for different parts of the robotic arm like waist, shoulder, elbow, wrist roll, Wrist, pitch gripper. All motors are connected to Arduino. Also used one colour sensor (TCS 3200)that is also connected to Arduino. The colour sensor used here is to sense red, green, blue colours.

Conventional Switching to Drive A Brush DC Geared Servomotor

Conventional switching can be used to drive a brush dc geared servomotor, in terms of adjusting the position to our liking. For brush geared dc servomotor drivers we use a switching bridge where each arm is used a power transistor, in the process of switching bridge need to be considered the area where the short circuit is likely to occur, to avoid it we use dead time, as well as the possibility of a short circuit due to the upper arm and the lower arm of the bridge turns on at the same time for that it is necessary to make a transistor-transistor logic circuit so that the upper arm will not turn on when the lower arm is on or vice versa. From the results of conventional switching, it is able to drive the DC brush geared servomotor to the desired position.

Brush DC Geared Servomotor Control with Microcontroller

The background of this research is to make it easier for young researchers to develop brush control dc geared servomotor with a microcontroller which is part of the overall control system where there are other control parts such as TX commands obtained from sensor devices received through radio communication, conditioning circuits, and transisitor-taransistor logic for the driver for servo-control and other control parts of the bridge brushed dc geared servomotor switching system. Here the research limits itself to the control parts of the dc geared servomotor brush, the control part is in the form of software related to the microcontroller, for the other three parts are discussed in another reset. This limitation only discusses signals from radio, encoder one, encoder two, encoder three, mathematical processing, output command output. The command output is ready to connect to the brush geared dc servomotor.

Role of flow reversals in transition to turbulence and relaminarization of pulsatile flows

Abstract

Corrigendum: System identification based PSO approach for networked DC servo motor (2021 IOP Conf. Ser.: Mater Sci Eng. 1090 012059)

Corrigendum: System identification based PSO approach for networked DC servo motor (2021 IOP Conf. Ser.: Mater Sci Eng. 1090 012059)

Construction of Mathematical Model of DC Servo Motor Mechanism with PID controller for Electric Wheel Chair Arrangement

Low-level and medium-level leg injury patients can be operated wheelchair independently in the clinical region. The construction of an electric wheelchair is one of the solutions to operate electric wheelchair by the patients themselves. The motor is an essential part of an electrical wheelchair for driving from one place to another place. The response of the system is very important for the optimization of the system. The existing methods fail in gradual sensitivity during motion and lack of response time to the user. This article is consist of a design for optimizing the existing DC motor transfer function for the smart wheelchair. The perfect angular tuning of the derivative controller provides a better executing time for our proposed model. The smoother responses from the smart wheelchair are obtaining by the dynamic response of closed-loop control. The design of DC motors is to drive smart wheelchair as per the needs. Besides, the construction of a mathematical model for proposing a system involves the DC motor drive to the smart wheelchair arrangement. The proposed model gives independent mobility of smart wheelchair with less response time and better sensitivity. Here, the mathematical model provides the details of immediate response to the user and less execution time of the complex system process. Finally, the authors discussed future improvements to the current DC motor design in the proposed system.

System identification based PSO approach for networked DC servo motor

Networked control system (NCS) suffers from inherent time delay and packet loss associated with any communication network. To build a controller that overcomes these issues, we need to know the accurate model of the system a priori. But, unfortunately most of the practical systems faced with lack in available and complete specifications of the physical system that helps in developing accurate mathematical model. This paper provides an experimentally identification method for any system based on Particle Swarm Optimization approach. The objective function to be minimized is based on the integral squared error criterion between the experimental and modeled trajectories. An armature-controlled DC motor with gearbox in lab is examined. The practical system trajectory represents the angular rotation of the output shaft. The DC motor system is modeled and controlled using fuzzy PID controller by the presented approach. Experimental results show that model equation has been successfully found with 94% accuracy. Also, a methodology for modeling the time delay in WNCS is presented.

Obstacle detection using embedded platform – An experimental platform

The research work is about obstacle detection using embedded platform with ultrasonic sensor and servo motor. The working principle of the experimental setup is when embedded board powers then ultrasonic sensor starts detecting the objects which is attached with dc servo motor which is also rotating about 180 degrees. When there is a object or motion caused by any object identified in the path of the ultrasonic sensor vision, it detects the particular object and also calculated the distance in cms and direction view. The embedded board used is arduino controller which controls the ultrasonic sensor and servo motor and the software used to show the graphical representation is Processing IDE which calculates the angle, position of the object, length of the object. The application of this project comes where required different fields of navigation, mapping, positioning the object, and tracking with less cost, more efficient and reliable.