DC Servo Motor Research Articles

A bio-inspired climbing robot: design, simulation, and experiments

The application of bio-inspired robots on various engineering problem has become a fascinating subject. In this field, locomotion pattern of various insects has already been implemented in a notable way. The purpose of this paper is to add the magnetic adhesion principle with a bio-inspired modular robot which mimics the motion of an inchworm. This paper confines the climbing environment in a flat plane and describes a suitable climbing gait for the robot. The robot is modelled as a 4-link planar mechanism with three revolute joints actuated by DC servo motors. A 3D model is prepared and simulated in multi-body dynamics solver to investigate the kinematic and dynamic behaviour of the system. The simulated results provide an idea about the selection of servo motor specifications required to build the prototype.

English

An automated single-line table egg sorting machine that integrates machine vision and mechatronics principles was developed in this study. The machine was fabricated using low cost and locally available materials. The developed machine was composed of the feeding unit, computing unit and the sorting unit. The conveyor was powered by a 12V DC geared motor, and the sorting arm was actuated by a DC servo motor which positions the arm. A machine vision software, EGGSoTiC, was used in the sorting of the table eggs – moving through a conveyor at 13 cm-s-1. Test for similarity of readings revealed that the developed machine is capable of yielding consistent results with low values of coefficient of variation ranging from 0.38 to 0.85 mm2 and 0.42 to 0.94 g for the projected area and estimated weight, respectively. Results of dynamic test for 100 table egg samples indicated that the machine could sort table eggs with an accuracy of 91% at 2.52 seconds per sample, yielding a projected capacity of 1,426 eggs per hour. Results also indicated that there were no large errors in the estimation of weights yielding a root mean square error of 1.90 g which is not significantly higher than the bias of 0.93 g. Key words: Machine vision, table eggs, sorting, mechatronics.

DESIGN AND IMPLEMENTATION OF HIGH POWER DENSITY MOTOR DRIVE

Based on the demand of low-voltage, small-size and high-current motor drive in the vehicle-mounted servo system, the low-voltage and high power density motor drive, which used TMS320F2812 of TI as the control unit, Incremental encoder and small-value, high-power sensor resistor as motor speed and current acquisition unit, low-voltage and high power density MOSFET as driving unit, was designed and implemented. The hardware of driving system was introduced in details, and then the designs of high-density PCB, structure and technology, with relevant speed control of nested segment and parameters testing procedures, were employed to improve the driver integration and reliability. A DC servo motor with a rated current of 20 amps is used as a test motor. The experimental results indicate that the driving system has the advantages of high steady-state accuracy and stable load response.

Tuning of a PID Controller by Bacterial Foraging Algorithm for Position Control of DC Servo Motor

Controlling the position of Direct Current servo motor is the first aim of this paper, by Bacterial Foraging Algorithm (BFA), the best Proportional – Integral - Derivative (PID) controller parameters were obtained through Mat-Lab application, including the simulation and modeling of Direct Current servo motor, BFA controller and conventional PID Controller as benchmark to the performance of BFA. Proportional – Integral - Derivative controller is a closed loop system, the error made by the Direct Current motor was corrected and determine the correct position to the desired point were controlled By integrating the Proportional – Integral - Derivative controller. Kp, Ki and Kd parameters was tuned to the find best values, which make the Direct Current Motor reached quickly the accurate position without any mistake.

Influence of Moment of Inertia on Dynamic Characteristics of Permanent Magnet Brushless DC Motor

AbstractThe mechanical performance of permanent magnet brushless DC motor (BLDCM) servo system is affected by the moment of inertia. In order to obtain the load moment of inertia effect on the motor dynamic performance, based on the time stepping finite element method (FEM), a two-dimensional finite element model of the BLDCM is established, and the motor drive circuit is built. The motor running state under different load moment of inertia is simulated. The motor dynamic characteristics and the output performance are studied. The influence of the moment of inertia on the starting characteristics and the load sudden change characteristics is obtained. The influence mechanism of the load moment of inertia on the motor output speed and torque is revealed. Finally, a prototype platform is built to test the motor no-load EMF. The correctness of the model is verified and the correctness of the research is proved indirectly. This research is of great significance to the research of the BLDCM servo control system.

Speed Performance Analysis and Control of DC Servomotor Using Linear & Nonlinear Controller

Speed Performance Analysis and Control of DC Servomotor Using Linear & Nonlinear Controller

Design of prototype dual axis tracker solar panel controlled by geared dc servo motors

Sunlight sensing for maximum illumination, providing initial position and delays of PV panel, design of an adequate control unit for minimal consuming servo motors are the main challenges of solar tracking systems. That is the objective of this paper to design and implement an automatic control for directing maximum solar illumination to a photovoltaic (PV) panel. The proposed prototype dual axis solar tracker panel is used to optimize the conversion of solar energy into electricity by orienting the panel toward the real position of the sun, at a cost of mechanical complexity and maintenance need, for the best efficiency. In hardware development, two geared DC servo motors are pulse width modulation (PWM) controlled by a drive unit moving the panel using four light dependant resistors (LDR) to provide analog signals processed by a simple and low energy ATMEGA328P microcontroller with Arduino. For the software part, after data processing, a C++ programming controls two DC servo motors to position light sensors in the most favorable direction, where solar panel and sensors will be perpendicular to the sunlight

Sliding-Mode-Based Observer–Controller Structure for Fault-Resilient Control in DC Servomotors

This paper presents a robust observer–controller scheme for sensor fault-resilient control in dc servomotor drive-based applications (such as antennae control for satellite tracking, radio telescopes, and conveyor belt systems). In contrast to the earlier works on abrupt faults, this paper considers incipient sensor faults and detects using the higher order sliding mode (HOSM) observer, followed by a tracking controller, which maintains the acceptable drive performance. A robust output tracking controller based on fractional integral terminal sliding mode surface with HOSM terms is developed to ensure faster and finite-time convergence of the error trajectory. Moreover, various slopes of incipient faults are considered to analyze the detection delay, and switching strategy reconfigures the system with the estimated speed whenever the residual crosses the threshold. The closed-loop performance in the presence of most common faults (abrupt, incipient, and intermittent) is experimentally validated on a dc motor-based industrial mechatronic drives unit with belt-drive inertial load (which exhibits nonlinear friction, torque variations, and other disturbances).

Design and Validation of Fractional-Order Control Scheme for DC Servomotor via Internal Model Control Approach

ABSTRACTThis paper proposes a robust fractional-order controller for DC servomotor using internal model control and CRONE (Commande Robuste d'Ordre Non Entier) principle. The controller acquires a PID (proportional-integral-derivative) form followed by a fractional-order integrator. Unlike the conventional fractional-order PID controller which demands five tuning parameters, the proposed scheme has only two tuning parameters which can be obtained on the basis of desired gain crossover frequency and phase margin. For speed control problem, the performance of the proposed controller is studied on hardware set up called precision modular servo system. The proposed controller outperforms in terms of robustness and optimality when compared with controllers designed by integer-order technique. Furthermore, the proposed scheme is applied for position control problem and validated on QUBE-Servo 2 set up.

DC servo motor positioning with anti-windup implementation using C2000 ARM-Texas Instrument

One of the most important topics in control system is DC Motor. At this research, a positioning control system for a DC motor is investigated. Firstly, the DC Motor will be paramaterized to get the transfer function model, in order to be simulated in Matlab, and then implemented in a C2000-ARM microcontroller from TI (Texas Instrument). With this investigation, students in control system theory will be able to understand the importance of classical control theories, in relation to the real world implementation of the position control for the DC Motor, escpecially the importance of Anti-Windup technique in real-world implementation.

Super twisting observer based repetitive control for aperiodic disturbance rejection in a brushless DC servo motor

This paper presents a super twisting observer based repetitive control (STORC), which can not only track the periodic signals precisely, but also reject aperiodic disturbances. Firstly, a stable repetitive control (RC) is designed based on the small gain theorem to track the periodic references, and compensate the periodic disturbances. Secondly, a robust exact differentiator is employed to estimate the velocity required by the disturbance observer. Finally, the super twisting observer (STO) is constructed to reject aperiodic disturbances, and input unmatched periodic disturbances with reduced chattering. The stability analysis is conducted and the design conditions are derived for a stable system. The proposed algorithm is simulated in MATLAB Simulink, and verified on a brushless DC servo motor in real time to demonstrate the effectiveness. The comparison studies highlight the advantages of the proposed algorithm.

Robotic Leg Design to Analysis the Human Leg Swing from Motion Capture

In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.

Design and Implementation of Ball and Beam System Using PID Controller

The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design Proportional Integral Derivative (PID) controller to control the ball position. The system consists of an Arduino microcontroller. It receives the ball position from ultrasonic distance sensor and compares it with the desired distance which can be set by the user. PID algorithm has built in Arduino to process the difference in signal between desired and real position into control signal. Arduino sends control signal to the DC servomotor which rotate to change the ball position and meet the desired distance. MATLAB software program has been used to plot instant system response by interfacing Arduino with computer to determine the system characteristics with different values of controller parameters in order to choose parameters values which obtained best performance for the system.

A quadratic boundedness approach to robust DC motor fault estimation

In the paper, a novel methodology of actuator fault estimation for linear discrete-time systems is proposed. To solve such a challenging problem, a quadratic boundedness approach is used to guarantee the convergence of the proposed state and actuator fault estimation method. In the proposed methodology, the robustness is achieved through the unknown input decoupling while an unappealing effect of the undecoupled disturbances is minimized. Moreover, the developed approach enables to obtain a feasible set of joint system state and fault estimation error. Based on this knowledge, a novel methodology of calculating the uncertainty intervals of the system state and actuator fault is proposed. The illustrative part of the paper presents results obtained for the laboratory DC servo-motor and compares the proposed approach with two alternative methods. Based on this real-data example, the efficiency of the developed methodology is clearly exposed.

Study on the control of variable resistance for isokinetic muscle training system.

Isokinetic muscle strength training is presently the most advanced method of muscle strength training. However, the existing control schemes of the training equipment are usually limited to the structure of the brake. In order to solve this problem, this paper presents a solution to an isokinetic system based on the force control of a DC servomotor. A new fuzzy impedance nonlinear controller is designed by analyzing the relevant requirements of isokinetic motion. A series of force tracking comparison experiments between a fuzzy PI controller and a classical PI controller are studied. In addition, some strength training experiments employing different driving forces and target speeds are also conducted. The results demonstrate the effectiveness of this fuzzy impedance force tracking control strategy. Using the aforementioned methods, a comprehensive motion algorithm was designed.

Mechanical design of EFW Exo II: A hybrid exoskeleton for elbow-forearm-wrist rehabilitation.

The use of rehabilitation exoskeleton has become an important means for the treatment of stroke patients. A hybrid exoskeleton named EFW Exo II is developed for the motor function rehabilitation of elbow, forearm and wrist. The EFW Exo II is based on a parallel 2-URR/RRS mechanism and a serial R mechanism. It could fit both left and right arms for the symmetrical and open structure, and the distance between the elbow and wrist could automatically adjust for different forearm length. Details of the mechanical design are introduced. Brushless DC servo motors with planetary gear reducer are used as the actuators of the exoskeleton. Gear drive and belt drive are used for power transmission. A three dimensional force sensor is mounted in the handle to regulate the interaction between the exoskeleton and patient. The EFW Exo II can realize rehabilitation exercise for each joint and the ranges of motion meet the rehabilitation demands of daily living.

Tuning of PID Controller for DC Servo Motor Using Improved Cuckoo Search Algorithm

Tuning of PID Controller for DC Servo Motor Using Improved Cuckoo Search Algorithm

REAL-TIME IMPLEMENTATION OF FEED RATE ACTIVE FORCE CONTROL OF A SYRINGE FLUID DISPENSER

For precise application, it is imperative to provide accurate and stable performance. The feed flow rate of a syringe fluid dispensing system is regulated through a Proportional- Integral-Derivative (PID) and Active Force Control (AFC) control scheme that was actuated using a DC servo motor considering a real-time implementation. The focus of this study is to control the speed of a DC motor by implementing an AFC strategy in rejecting the disturbance in the system. The AFC is implemented by cascading its control loop with the outer PID controller loop to form a two degree-of-freedom (DOF) controller. The performance of the proposed PID with AFC control scheme was investigated considering both the theoretical simulation and experimental works. The simulation was performed in MATLAB/Simulink computing platform while the real-time experimentation was done by utilising the Arduino MEGA 2560 microcontroller with MATLAB/Simulink driver for the data acquisition, interface and control implementation. The results implies the robustness of the AFC-based system in controlling the feed flow rate of the fluid in the dispenser. The best performance is obtained for 100% AFC with the disturbance due to vibration almost completely compensated via the proposed scheme in comparison to the PID counterpart.

Robust Tracking Control of Networked Control Systems With Communication Constraints and External Disturbance

This paper addresses the problem of robust tracking control of networked control systems with communication constraints (network-induced delay, packet dropouts, and packet disorder) and external disturbance. A novel networked predictive control algorithm based on k -order adaptive discrete-time sliding-mode control ( k -ADSMC) is proposed. The ADSMC, which can self-adapting adjust sliding-mode parameters and ensure faster convergence, is designed based on the error and error difference of tracking output. Furthermore, k -ADSMC is designed, which uses the estimated disturbance as weight factors and synthesizes the sliding- mode values of all k times, in order to improve the robust of tracking control. Finally, the stability of the system is proved, and a dc motor servo system is utilized to verify the effectiveness of the proposed method.

The IOPT-Flow Modeling Framework Applied to Power Electronics Controllers

The input–output place-transition (IOPT)-flow modeling framework was created to support the design of mixed embedded system controllers containing both reactive and data-driven parts, combining Petri net and dataflow elements. The reactive parts, whose evolution depends on external events, are modeled using Petri nets. Data manipulation operations that process input signals and events are expressed using dataflows. The framework is composed by a Web-based tool-chain including a graphical editor, a simulator, and automatic code generation tools to produce C and VHDL controller implementations. To demonstrate the language and the related tools, an example of a closed-loop brushless dc servo motor controller is presented. A prototype using the automatic generated VHDL code was implemented on a field-programmable gate array (FPGA) board.