DC Servo Research Articles

Development of a Parallel-Series Stabilized Platform System

This document designed a stabilized platform of 2-DOF spherical parallel mechanism with 1-DOF in series. DC servo motors are adopted as the driver of the mechanism. The system uses an inertial gyro sensor as the feedback of the angular position. Software and hardware of the platform were developed. The full closed-loops control structure based on Advantech IPC with NI multifunction data acquisition card(PCI-6230), including current loop, velocity loop and angular position loop, gets wide speed range and high precision for angular tracking. Control software was the Matlab with embedded real-time QuaRC. Experiment results meet the technical index and precision requirement, and illustrate the practicability and effectiveness of the scheme.

System Identification and Integration Design of an Air/Electric Motor

This paper presents an integration design and implementation of an air motor and a DC servo motor which utilizes a magnetic powder brake to integrate these two motors together. The dynamic model of the air/electric hybrid system will be derived and eventually leads to successful ECE-40 driving cycle tests with a FPGA-based speed controller. The testing results obtained by using the proposed experimental platform indicate that the total air consumption is about 256 L under air motor mode and the electric charge consumption is about 530 coulombs under DC servo motor mode. In a hybrid mode, the current reduction of the battery is about 18.5%, and then the service life of the battery can be improved. Furthermore, a prototype is built with a proportional-integral (PI) speed controller based on a field-programmable gate array (FPGA) in order to facilitate the entire analysis of the velocity switch experiment. Through the modular methodology of FPGA, the hybrid power platform can successfully operate under ECE-40 driving cycle with the PI speed controller. The experimental data shows that the chattering ranges of the air motor within ±1 km/h and ±0.2 km/h under DC servo motor drive. Therefore, the PI speed controller based on FPGA is successfully actualized.

Fuzzy-neural-network inherited sliding-mode control for robot manipulator including actuator dynamics.

This paper presents the design and analysis of an intelligent control system that inherits the robust properties of sliding-mode control (SMC) for an n-link robot manipulator, including actuator dynamics in order to achieve a high-precision position tracking with a firm robustness. First, the coupled higher order dynamic model of an n-link robot manipulator is briefy introduced. Then, a conventional SMC scheme is developed for the joint position tracking of robot manipulators. Moreover, a fuzzy-neural-network inherited SMC (FNNISMC) scheme is proposed to relax the requirement of detailed system information and deal with chattering control efforts in the SMC system. In the FNNISMC strategy, the FNN framework is designed to mimic the SMC law, and adaptive tuning algorithms for network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance. Numerical simulations and experimental results of a two-link robot manipulator actuated by DC servo motors are provided to justify the claims of the proposed FNNISMC system, and the superiority of the proposed FNNISMC scheme is also evaluated by quantitative comparison with previous intelligent control schemes.

Dynamic Position Control and Dimensional Extension of Dynamics Based on Orbit Attractor

For dynamic control of a robot, a torque/force control will be necessary because the robot model is represented by a dynamic equation. A torque/force control requires a torque/force sensor or a current sensor(for DC servo motor) for feedback loop, however, they occupy large volume and weight or have low precision and time delay. Therefore, the robot system sometimes has a local position control in the motor drivers from the safety point of view. In this paper, we propose a design method of position-based dynamic control using an autonomous control method based on an orbit attractor, which is realized by a simple deformation of the conventional algorithm. In addition, for the orbit attractor control, it is necessary that an orbit of the state variable is not crossing in the state space. When the orbit is very close, vector field of the orbit attractor along the orbit can not be defined correctly. A dimensional expansion of dynamics is also proposed to design a controller. These methods are evaluated by experiments using a two-dimensional biped robot.

Modeling and Backstepping Control of the Electronic Throttle System

Electronic throttle is widely used in modern automotive engines. An electronic throttle system regulates the throttle plate angle by using a DC servo motor to adjust the inlet airflow rate of an internal combustion engine. Its application leads to improvements in vehicle drivability, fuel economy, and emissions. In this paper, by taking into account the dynamical behavior of the electronic throttle, the mechanism model is first built, and then the mechanism model is transformed into the state-space model. Based on the state-space model and using the backstepping design technique, a new backstepping controller is developed for the electronic throttle. The proposed controller can make the actual angle of the electronic throttle track its set point with the satisfactory performance. Finally, a computer simulation is performed, and simulation results verify that the proposed control system can achieve favorable tracking performance.

Development on Simulation System of Virtual DC Servo System

To change the current phenomenon of “being an armchair strategist" in the study of DC servo system, the simulation system of that was developed using virtual reality technology. The principle of pulse width modulation was stated. The development strategy of simulation software was introduced. Some key problems and their solutions in system development were put forward, which includes the formation of triangular-wave modulation, calculation of armature current, assurance of duty ratio with average voltage. Finally, an example was given using the virtual DC servo system simulation. This paper provides an assistive tool for the R&D of DC servo system.

위치제어계에서 응답특성 개선을 위한 PI-PD제어기의 설계

In many control fields high position performance is essentially required in reducing the over-shoot phenomena which is produced by improving the quick response in starting and in minimizing the variation of the response characteristic on disturbance and load variation In this paper, the design method for a position control is suggested for constructing the PI-PD controllers by using an internal PD feedback loop in PI and PD control system. Applying this method to the position control system used a DC servo motor as a driver, the transfer PI and PD controllers are designed simultaneously and the coefficients of these controllers are determined by using the transfer function of a plant and a proportional coefficient from mathematical technique. From the result of computer simulation in PI-PD control system by applying this control technique, we can verify the usefulness of this method in rejecting of over-shoot of starting, compensating of response variation on the load variation, and shorting the settling time.

Fuzzy Control Systems With Reduced Parametric Sensitivity Based on Simulated Annealing

This paper discusses the design of fuzzy control systems (FCSs) with a reduced parametric sensitivity using simulated-annealing (SA) algorithms. Four generic families of objective functions expressed as integral quadratic performance indexes, which depend on the control error and squared output sensitivity functions, are suggested. SA algorithms are employed to minimize the objective functions in the appropriately defined optimization problems. A design method for Takagi-Sugeno proportional-integral fuzzy controllers (PI-FCs) is proposed. The resulting PI-FCs are intended for a class of plants characterized by second-order linearized models with integral component. A case study dealing with the angular position control of a dc servo system is used as test bed to validate the proposed new controller design. Experimental results illustrate the FCS performance.

Control Research of DC Servo System Based on Friction Compensation

In order to realize high precision position tracking control in some dc servo system, aimed at all kinds of uncertainties, a disturbance torque compensation control tactics is put forward. In other words, friction model is approximated online by fuzzy system and identification result is taken as compensation item of control algorithm. Besides, adaptive fuzzy compensation PID algorithm is utilized. Simulation results show that compared with conventinal PID control, this control tactics can enhance dynamic performances and steady-state precision, satisfying performance requests.

The Simulation Study for Auto Electrical Seat Controller Based on Fuzzy Control Technology

Designed the control system policy for automobile electric seat using fuzzy control technology, therefore established its control model by Fuzzy Logic Toolbox, and carried on the off-line simulation to choose controller's optimum control parameters. From the dynamic viewpoint, the auto electric seat adjustment system is not only a complex nonlinear function which includes the location of the DC servo motor and the speed, but also contains serious nonlinear coupling interference, so the system is a highly nonlinear strong coupling, variable multivariable system. Application of traditional control methods (such as traditional PID) is difficult to meet its order requirements, so the research is highly robust method of intelligent control is an effective way to solve the problem. Fuzzy control technology has become the field in which drawn greater attention and researched in recent years. It doesn’t depend on the mathematical model of controlled object, has a good robustness, and nonlinear control characteristics, so it is an effective means to control the object with time-varying, non- linear parameters. In this paper, fuzzy control technology to achieve the orders of auto electric seat adjustment control system functions in the Literature [1], and the tracking of the system was simulated.

Control System Design of the YWZ Multi-Fingered Dexterous Hand

The manipulation abilities of a multi-fingered dexterous hand, such as motion in real-time, flexibility, grasp stability etc., are largely dependent on its control system. This paper developed a control system for the YWZ dexterous hand, which had five fingers and twenty degrees of freedom (DOFs). All of the finger joints of the YWZ dexterous handwere active joints driven by twenty micro-stepper motors respectively. The main contribution of this paper was that we were able to use stepper motor control to actuate the hand's fingers, thus, increasing the hands feasibility. Based the actuators of the YWZ dexterous hand, we firstly developed an integrated circuit board (ICB), which was the communication hardware between the personal computer (PC) and the YWZ dexterous hand. The ICB included a centre controller, twenty driver chips, a USB port and other electrical parts. Then, a communication procedure between the PC and the ICB was developed to send the control commands to actuate the YWZ dexterous hand. Experiment results showed that under this control system, the motion of the YWZ dexterous hand was real-time; both the motion accuracy and the motion stability of the YWZ dexterous hand were reliable. Compared with other types of actuators related to dexterous hands, such as pneumatic servo cylinder, DC servo motor, shape memory alloy etc., experiment results verified that the stepper motors as actuators for the dexterous handswere effective, economical, controllable and stable.

Voice-Based Control of a DC Servo Motor

Voice-Based Control of a DC Servo Motor

1P1-K05 位相シフトシアリング干渉計に用いるDCサーボモータ駆動位相シフト装置(光応用-オプトロニクスの未来-)

A development of a DC servo motor driven phase shifting equipment for a phase shift shearing interferometer is reported. A shearing interferometer is often used for precise surface measurement, optical wave front measurement and so on. In a plane parallel plate type of shearing interferometer, a glass plate makes laterally sheared beam from the induced test beam. Then interferogram which reflects the phase distribution of the wave front of the induced beam is produced. Phase shifting technique is applied to analyze interference fringe. The phase shifting can be induced by tilting shear plate using DC servo motor driven rotational stage. This phase shifting mechanism is much cheaper than usual equipment using PZT actuators. A result of measurement for an aspherical lens is also reported.

FPAA-Based PI controller for DC servo position control system

In this paper, the real-time application is implemented for a DC servo position control system using Field Programmable Analog Array (FPAA) technology. An automatic tuning technique based on relay feedback is successfully implemented for obtaining the dynamics of a plant. A non-iterative tuning formulae is used in order to reduce the control efforts and to obtain the desired position. Results of real-time hardware-in-the-loop evaluation, obtained when running the on-line relay feedback test together with initial PI settings and improved response with updated settings, are reported.

Navigation System of Mobile Platform Based on Open Architecture for Agricultural Machinery

In order to meet the requirements of agricultural production automation, a PC-based opening navigation system for agricultural machinery is designed, which is composed of PC, data acquisition cards, electromagnetic induction sensors, high-frequency electromagnetic generator, DC servo motor and mechanical part. The track of the mobile platform is led by a wire with high-frequency currents laid under the field. The position can be determined by a pair of electromagnetic induction sensors installed in the machine. The traveling path is planed by computer according to information of electromagnetic induction sensor and automatic walking of agricultural machinery is achieved. Based on Visual C + + 6.0 platform, a system software is developed and human-computer interface with good interaction is designed. The results show that, straight navigation accuracy is ± 1.5cm within 10m; the navigation accuracy is ± 3cm when the turning radius is 0.5m. Experiments explain that the system owns high real-time performance and dependability, and that it has a good application prospect.

The Simulation Study for Auto Electrical Seat Controller Based on Fuzzy Control Technology

Designed the control system policy for automobile electric seat using fuzzy control technology, therefore established its control model by Fuzzy Logic Toolbox, and carried on the off-line simulation to choose controller's optimum control parameters. From the dynamic viewpoint, the auto electric seat adjustment system is not only a complex nonlinear function which includes the location of the DC servo motor and the speed, but also contains serious nonlinear coupling interference, so the system is a highly nonlinear strong coupling, variable multivariable system. Application of traditional control methods (such as traditional PID) is difficult to meet its order requirements, so the research is highly robust method of intelligent control is an effective way to solve the problem. Fuzzy control technology has become the field in which drawn greater attention and researched in recent years. It doesn’t depend on the mathematical model of controlled object, has a good robustness, and nonlinear control characteristics, so it is an effective means to control the object with time-varying, non- linear parameters. In this paper, fuzzy control technology to achieve the orders of auto electric seat adjustment control system functions in the Literature [1], and the tracking of the system was simulated.

Design and Fabrication of an Autonomous Mobile Robot for Obstacle Avoidance and Path Planning in Partially Known Environment

In this paper, an autonomous mobile robot has been designed and fabricated which can be used in both indoor and outdoor for industrial and household applications. Here using six servo motors and four DC motors with their controllers (servo controller and L293D DC Motor controller) the mobile robot can pick any object from its workspace and by avoiding collision it can place the object in the desired location. ASCII ultrasonic sensor and motion sensor are used along with ATmega 2560 microcontroller which is programmed to take the sensors output as its input and controls the dc motor and servo motors to pick and place objects and avoid obstacle during motion of the mobile robot. Here low-cost solar panels have been used to recharge the Li-ion batteries used for the motors and microcontroller in case of outdoor environment. The obstacle avoidance and path planning algorithms have been developed and a case study has been presented in this paper.

EXPERIMENTAL SET UP VERIFICATION OF SERVO DC MOTOR POSITION CONTROL BASED ON INTEGRAL SLIDING MODE APPROACH

Abs tract:- In this paper, a novel controller based on the Integral Sliding Mode Controller (ISMC) is proposed and designed for controlling DC motor in a servo drive. The modeling and analysis of the servo DC motor are obtained. To improve the controller performance in steady state (zero error), the integral sliding mode controller (ISMC) is designed and evaluated. Since the main drawback of SMC is a phenomenon, that called chattering resulting from discontinuous controllers. An ISMC with switched gains is used for chattering reduction and controller robustness. For comparison, the proposed ISMC with switched gains is compared with that of a PID controller. Experimental verification and simulations have been carried out in order to validate the effectiveness of the proposed scheme. The proposed controller offers very good tracking, also it is highly robust and controlled plant reached very fast to the final position. Furthermore the application of the SM ensures reduction of the system order by one. Also, quick recovery from matched disturbance in addition to good tracking. Moreover, this scheme is robust against the parameters variations.

A POSITION CONTROL DESIGN MODULE FOR THE CDEN FLEXIBLE CUT-OFF SAW PROJECT

In this paper we provide a summary of our work on one aspect of the CDEN flexible cut-off saw design project. This work focuses on the design and testing of a position control system for DC servo motors. As part of the testing process, a simplified experimental prototype was developed, and the results of the tests with this prototype are described. The paper concludes with a summary of the work that is currently underway on the development of CDEN design modules based on this aspect of the project.

Design of Plasma Cutting Tracking Device for Spiral SAW Pipe

A set of plasma cutting tracking device for spiral SAW pipe was designed. This system is consist of two speed sensors, DC servo motor, gear retarder, a vehicle with plasma torch drove by double screw and nut, speed proportion regulating circuit for vehicle and steel belt based on single chip microprocessor. Tracking and controlling soft ware was programmed in STC12C2052AD.