Drive Control System Research Articles

Research on adaptive hydraulic drive optimization control of concrete mixing tank truck for open-pit mine.

The non-axisymmetric problem caused by the fluid sloshing in the tank of a mining concrete mixing tank truck during driving is affected by the excitation of complex road surfaces. The fluid sloshing is coupled with the dynamics of the vehicle body due to the excitation of the complex road surface. The traditional hydraulic drive proportional integral differential (PID) control method is not effective in dealing with such problems, which can easily lead to accidents such as overturning. To improve the accuracy and stability of the hydraulic drive control system, this paper proposes an optimized particle filter PID adaptive control method based on the elastic firefly (FA) algorithm to accelerate the convergence speed of control parameter optimization, and then analyzes its hydraulic drive control characteristics and structural applications, and discusses step steering and double lane change modes are simulated under filling rates of 1.5 and 2.0, respectively. The experimental results show that compared with traditional PID control, the proposed adaptive control method can significantly reduce the average speed error of hydraulic drive control to 0.03km/h and the maximum speed error to 0.17km/h. It also improves the control tracking performance and stability. The practicality of the adaptive hydraulic drive is verified in the filling rate experiments under step steering and double-lane shifting conditions. It has important reference value for the practical application of hydraulic drive control optimization of mining concrete mixing transport tank trucks.

METHOD FIRST APPROXIMATION STABILITY ANALYSIS OF ELECTRICAL CONTROL SYSTEMS

This article is devoted to the research and analysis of automated control systems and control of electrical equipment of technological processes of agricultural production. The first approximation method is used for evaluation the stability of the operation of electric drive control systems. Methods for assessing the stability zone of electric drive control systems, determining critical gain coefficients, and optimizing the parameters of electrical circuits included systems, in order to increase the efficiency and reliability of production chains are proposed. To solve the problem of controlling the electric drives of automated systems for harvesting and sorting agricultural crops, the method was tested, a critical gain value of 3.2 was obtained, which allows us to talk about optimizing such systems in terms of speed and load.

Development of intelligent mechatronic motion module of mobile industrial robot

Modern industry is inextricably linked with mobile industrial robots, which plays a key role in production processes and warehouse logistics. The intensive introduction of mobile industrial robots has increased the need to improve the energy efficiency of robotic installations due to their significant impact on overall production costs. At the same time, there is a pressing need to reduce the time required to develop and implement mobile industrial robots. This leads to the need to improve and optimize the properties of all components that make up a mobile industrial robot. Currently, electric drives are most widely used in mobile industrial robots. Research shows that the use of modern high-tech solutions in the construction of electric drive control systems can improve the energy efficiency of mobile industrial robots. In turn, the introduction of an intelligent component into mechatronic motion modules allows to reduce the time required for their construction and integration into mobile industrial robots. The purpose of the study is to increase the energy efficiency of an intelligent mechatronic motion module by using a multi-motor electric drive in the movement system of a mobile industrial robot and to develop a stable and energy-efficient intelligent automatic control system based on a neural network, taking into account the nonlinear properties of the control object under conditions of uncertainty.

Approximate controllability of second-order neutral measure driven systems with state-dependent delay

This article investigates the solvability and approximate controllability of a new class of measure driven control systems with state-dependent delay, which can deal with hybrid system without any restriction Zeno behaviour. By applying fixed point technology and Lebesgue Stieltjes integral, a new set of sufficient conditions is constructed that ensures the existence of mild solution and approximate controllability of the considered system. Lastly, an example is formulated to demonstrate the effectiveness of obtained results.

Critical expert analysis of permanent magnet synchronous motors identification methods and state variable observers

Relevance. In recent years, the oil industry has seen a tendency to transfer low-yield oil wells to intermittent mode. Unregulated electric drive and the open-loop controlled electric drive of electric centrifugal pumping with permanent magnet synchronous motors are typically not suitable for tasks of intermittent operation of wells. Due to objective reasons, there may not be smooth starts and required quality indicators of transient processes, which leads to even more reduction in oil production. The synthesis of a closed-loop electric drive control system of submersible installations is possible only using algorithms for indirect estimation of non-measured mechanical coordinates of the electric drive – state variables identification methods, observers of the rotor angular velocity and the load torque. The installation of sensors of angular velocity and torque on the shaft of the submersible electric motor is associated with technical difficulties, therefore, there is no need for significant modernization of the hardware solutions of the existing electrical equipment system. To date, the theory of identifying non-linear dynamic systems is widely used to derive an indirect estimate of the non-measured state variables of the permanent magnet synchronous motors. The large number of methods presented in scientific sources requires comparative analysis regarding their benefits and disadvantages in order to select the best identification method that meets the requirements of the oil production and takes into account its specificity and features. In this case, identification systems that are focused on minimizing computing power or operating in real time are given priority. Aim. To determine the best in terms of computational complexity and the convenience of practical use method of identifying state variables of permanent magnet synchronous motors operating in submersible oil well pumping units based on comparative analysis of existing methods presented in Russian and foreign sources. Methods. Methods for system analysis and identification of dynamic systems, a method of critical expert analysis. Result and conclusions. The most common methods for identifying and observing the state variables of synchronous motors with permanent magnets have been described in detail, given the general performance of each group of methods, their benefits and disadvantages were reviewed. By comparative critical expert analysis, it was found that for tasks of submersible electric centrifugal pump units electric drive a Luenberger observer, characterized by relatively low computational complexity and ease of setup in engineering practice can be recommended.

Composite predictive trajectory control of HS-PMSM with LCL filter for hydrogen electric vehicle at low fuel condition

Limitations in current fuel cell technology lead to instability in output voltage for hydrogen fuel cells, particularly under the influence of temperature variations and fuel flow fluctuations, thereby affecting the normal operation of hydrogen-powered vehicles. Improving the motor drive control system and optimizing energy management are crucial for enhancing overall vehicle performance. To improve dynamic response speed while suppressing harmonics, this paper proposes a predictive control strategy for high-speed permanent magnet synchronous motors with LCL filter in hydrogen fuel cell electric vehicles. The proposed control strategy suppresses high-frequency current harmonics by sampling only the current on the motor side, enabling fast predictive control of the high-order system motor-side current. Additionally, to mitigate the issue of unstable torque output of the electric motor at low fuel levels, this paper proposes a new composite predictive torque trajectory control strategy based on the previous control strategy. This strategy ensures rapid and accurate tracking of motor output torque, particularly during decreases in fuel cell output voltage. Experimental results validate the feasibility and effectiveness of the proposed control strategies in this paper.

Generalized autoencoder-based fault detection method for traction systems with performance degradation

Fault diagnosis of traction systems is important for the safety operation of high-speed trains. Long-term operation of the trains will degrade the performance of systems, which decreases the fault detection accuracy. To solve this problem, this paper proposes a fault detection method developed by a Generalized Autoencoder (GAE) for systems with performance degradation. The advantage of this method is that it can accurately detect faults when the traction system of high-speed trains is affected by performance degradation. Regardless of the probability distribution, it can handle any data, and the GAE has extremely high sensitivity in anomaly detection. Finally, the effectiveness of this method is verified through the Traction Drive Control System (TDCS) platform. At different performance degradation levels, our method’s experimental results are superior to traditional methods.

Speed synchronization of two DC motors with independent loads based on the higher load torque

Dual-motor and multi-motor electric drive systems have been used in many industrial applications, and speed synchronization of the motors can always get worse by system parameter uncertainties and load torque perturbations. This work focuses on the application of adjustable speed double-direct current (DC) motor drive control systems. In this paper, a system of two DC motors with armature control at different load conditions has been built. The synchronization of these motors was set basing on the higher torque of the two motor shafts. When two DC motors operate at different shafts a challenge appears in synchronization of their speeds, particularly with the existence of load difference allocated on their shafts. This work paid special attention to this problem. It presents a dynamic simulation of speed control and synchronization of dual DC motor drive. The results show the advantages of the used technique in terms of steady-state and transient performance.

Development and trend analysis of the cybertruck

Considering that the popularity of electric vehicle trucks (EVs) is growing, this paper takes Teslas Cybertruck as an example and discusses its power system, autonomous driving system, design concepts and materials. The purpose of this research is to explore the trends of future automobile development that are more environmentally friendly, more capable of living, more intelligent, and more multi-functional. Through the analysis, it can be found that the future automobile technology will develop in the direction of electrification, intelligence, multi-function and multi-modal. First of all, vehicles are more inclined to use battery engines with stronger endurance and faster charging speed to further reduce energy consumption and improve efficiency. Secondly, to improve fully autonomous driving technology, future vehicles tend to combine artificial intelligence (AI) with driving control systems. Moreover, according to the different needs of different models, the most suitable design scheme is combined with aerodynamics, and the materials with stronger strength, lighter weight and easier recycling are selected for the manufacture of the body.

On the Synthesis of Induction Motor Based Traction Electric Drive Control Systems Implemented on a Controller with Limited Computing Resources

On the Synthesis of Induction Motor Based Traction Electric Drive Control Systems Implemented on a Controller with Limited Computing Resources

INVESTIGATION OF THE EFFECTIVENESS OF THE ALGORITHM FOR CONTROLLING THE ACCELERATION AND DECELERATION OF A WHEELED VEHICLE BY MEANS OF A STROKE PEDAL

Justification. Since one of the significant costs of operating vehicles is fuel costs, therefore it is very promising to use machines with electric drives, such as battery electric ones, which reduce these costs. The main key property for them is the amount of autonomous mileage on a single charge. To maximize this value, developers are trying to use more advanced, energy-intensive energy sources and reduce energy costs when converting it on the way from the source to the driving wheels. In this circuit, the traction electric drive is the main source of energy loss. Therefore, it is very important not only to use more advanced electric drives, but also to improve control algorithms. To do this, it is necessary to form the setpoints of the requested engine torque using only the stroke pedal, taking into account the speed of movement, other conditions, and vehicle characteristics. The implementation of such a law allows the driver to reduce energy consumption by controlling the car, allowing it to move by inertia (coasting) and maximize the use of regenerative braking with minimal use of the service braking system.The purpose of the work. Investigation of the functioning and efficiency of the algorithm for determining the torque settings of a traction electric drive using only the stroke pedal, using mathematical modeling methods.Materials and methods. The study was performed in the Matlab Simulink software package.Results. The article presents the theoretical foundations of constructing an algorithm for determining the torque setpoint of a traction electric drive, the results of a virtual efficiency study.Conclusion. The practical value of the study lies in the possibility of using the proposed law for determining the setpoint of the traction and regenerative torque of the traction electric drive, the run-out mode for the development of a traction drive control system for transport vehicles in order to increase their energy efficiency.

Mathematical model for assessing the influence of vibrations for multicopter elements

The article discusses the problem of studying the probabilistic characteristics of vibrations of the propellermotor group of an unmanned aerial vehicle such as a multicopter. The results of the research are presented in the form of quantitative values of the vibration parameters of the propeller-motor group of the agrodrone at given values of the input parameters of the electric drive control system, taking into account the influence of external factors. It is shown that the values of the parameters characterizing the vibrations of the propeller-motor group of the agrodrone can be different depending on the operating modes of the engines and changes in external conditions.Based on the experimental studies carried out, sets of measured random vibration parameters were obtained, which made it possible, based on the application of mathematical statistics methods, to calculate the mathematical expectations and dispersions of the amplitudes and velocities of vibration processes. The obtained probabilistic characteristics make it possible to study emissions (crossing a given level) of processes, to evaluate the intensity and probabilistic characteristics of the process going beyond the given boundaries.A mathematical model of the vibration process is substantiated, which allows, on the basis of the obtained experimental data, to assess the influence of vibrations on the elements of equipment installed on a multicopter, to assess its performance and reliability, and to determine tolerances on equipment parameters. The computer modeling of the probabilistic characteristics of vibration processes clearly demonstrated the efficiency of the proposed research methodology.

Simulation of A Fuzzy Controller for Controlling A Two-Mass Electromechanical System

This study presents a model with a fuzzy logic controller (FLC) for controlling a two-mass electric drive operating with a dynamic load. In the Simulink environment of the MatLab software package, a model of the mechanical part of the electric drive system with a proportional integral differential (PID) controller was built, which was tested for two different characteristics created by the technological mechanism. The low performance of a system with a PID regulator has been proven, especially in electric drive systems operating with a shock load. The expediency of using Fuzzy logic regulators for electric drive systems operating under uncertain conditions is substantiated. To ensure the required efficiency of the electric drive system, a FLC model has been developed in the Fuzzy Logic Toolbox environment of the MatLab software package. To control the mechanical part of the electric drive system 16 laws have been formulated. Tests of the electric drive control system model with a FLC confirm its high efficiency when changing the load torque according to various laws. A hybrid model was synthesized with the help of the ANFIS editor. It has been confirmed that the hybrid network provides satisfactory identification quality.

Design of High-Precision Driving Control System for Charge Management

Due to the interaction of accumulated charges on the surface of a test mass with the surrounding electric and magnetic fields, the performance of inertial sensors is affected, necessitating charge management for the test mass. Discharge technology based on Ultraviolet LEDs is internationally recognized as the optimal solution for charge management. Precision driving of Ultraviolet LEDs is considered a key technology in charge management. This paper presents the driving control system used for Ultraviolet LEDs, achieving precision pulse-width-modulation-type current output with controllable pulse width and amplitude. The system generates the pulse-width-controllable pulse voltage signal via analog pulse-width modulation, and subsequently regulates the amplitude of the PWM signal through range switching. To convert the voltage into the pulse-width-modulation-type driving current, the improved Howland current source is employed. The test results demonstrate that the driving control system can output controllable current in the range of 0.01 mA to 10 mA, with a minimum step of 0.01 mA. The accuracy of the current reaches 1%, the stability within 1 h is better than 1%, and the load regulation is better than 2%. The driving control system provides an important reference for the integration of charge management system and the precision drive control method for LEDs.

The Microchip Laser and Its Drive Control System for Planetary Mass Spectrometry Measurements

To fulfill the requisites of planetary mass spectrometry applications, this paper introduces the creation of a miniaturized, low-power passive Q-switched microchip laser system. The entire system, inclusive of the laser and all electronic components, weighs 106 g, with power consumption below 3 W. The laser output exhibits a pulse duration of 410 ps, accompanied by a single pulse energy of 16.8 μJ. Augmented by the optical focusing system, the system attains a focal spot size of approximately 15 μm and laser irradiance of up to 22 GW/cm2. The driving control system facilitates versatile regulation of parameters such as output current amplitude, pulse duration, and frequency, thereby modulating the laser output frequency and duty cycle. The microchip laser fully meets the power requirements for exciting plasma from planetary rocks and soil.

Multi-motor average deviation coupling control strategy based on hyperbolic convergence law high-order sliding mode control using extended state sliding mode observer

This paper aims to develop a multi-motor synchronous drive control system for the direction of the width of the lifting arm of a catamaran. Firstly, we establish a mathematical model of permanent magnet synchronous motor and introduce the composition of AC servo control systems. We then analyze the sources of control interference in multi-motor drive systems. Based on the mean deviation coupling control strategy of multi-motor synchronous control, we design a speed tracking controller and a speed synchronization controller using hyperbolic convergence law high-order sliding mode control. Then, we design an extended state sliding mode observer to estimate the unmodeled dynamics of the system in real time. We prove the global stability of the controller using Lyapunov stability theory. Finally, the control model is simulated, and the results confirm the effectiveness of the multi-motor synchronization control method based on the hyperbolic convergence law of higher-order sliding mode control. The control method effectively mitigates the jitter associated with traditional sliding mode control and demonstrates improved synchronization and tracking performance.

Optimization method for human-robot command combinations of hexapod robot based on multi-objective constraints.

Due to the heavy burden on human drivers when remotely controlling hexapod robots in complex terrain environments, there is a critical need for robot intelligence to assist in generating control commands. Therefore, this study proposes a mapping process framework that generates a combination of human-robot commands based on decision target values, focusing on the task of robot intelligence assisting drivers in generating human-robot command combinations. Furthermore, human-robot state constraints are quantified as geometric constraints on robot motion and driver fatigue constraints. By optimizing and filtering the feasible set of human-robot commands based on human-robot state constraints, instruction combinations are formed and recommended to the driver in real-time, thereby enhancing the efficiency and safety of human-machine coordination. To validate the effectiveness of the proposed method, a remote human-robot collaborative driving control system based on wearable devices is designed and implemented. Experimental results demonstrate that drivers utilizing the human-robot command recommendation system exhibit significantly improved robot walking stability and reduced collision rates compared to individual driving.

小型农用液压底盘远程驾驶控制系统的设计与试验

Aiming at the adaptability and safety problems of agricultural machinery in hilly and mountainous areas, the remote driving control system of agricultural full hydraulic chassis is designed based on ARM-Linux platform. The whole remote driving system is composed of Web upper computer, server system and chassis drive system. According to the requirements of chassis operation, the STM32F407 is used as the lower computer to realize the running control and motion status monitoring of the chassis. Taking the I.MX6ULL as the hardware platform, the Linux as the software platform, and 4G communications as the Web Server, the remote driving of the chassis is realized through Web pages on the computer. It can be seen from the test results that the minimum RTT delay from the Web page driving to the lower computer is 170 ms; the maximum RTT delay is 1310 ms, and the average RTT delay is 222.75 ms. The real-time interactivity of the control system meets the needs of remote driving of the agricultural machinery. The research provides a theoretical basis and technical reference for the development of the remote driving system of the agricultural machinery.

50 YEARS FIELD ORIENTED CONTROL OF THREE-PHASE AC DRIVES IN THE PRACTICE - THE STATE OF THE ART

From DC motors (DCM) we know, it is possible to independently control the two currents of the flux and torque generating. Because the two DCM circuits are completely isolated, we obtain simple adjustment algorithms that require little computing time on the microprocessor. For this reason, DCM has been at the forefront of the application of digital controls in drive control systems in the early years, especially in high-performance systems. On the contrary, the three-phase AC motor (ACM) has a complex structure due to the winding system and three-phase power supply, and has caused significant difficulties in the mathematical description of the above decoupling characteristics. The purpose of the field-oriented control (FOC) is therefore to create a tool that allows the decoupling control of the flux and torque-producing current components from the three-phase AC currents flowing in the coil. The FOC drive system is a system based on the principle of decoupling the above power components thanks to the stator current feedback control (the innermost circuit of the drive system). The FOC-type control method belongs to the class of vector control methods for electrical machines. On the occasion of the 50th anniversary of FOC, this paper aims to provide an overview of the development status of FOC in industrial practice. The content presented deals mainly with 3-phase induction motors.

Research on the Driving and Control of an Intelligent Book Robot

Based on the theoretical foundation provided by kinematic simulations under various parameter conditions using Adams for robots' control, this paper designs a dual-closed-loop drive control system for the robot. It constructs the drive speed control hardware circuit and simulates the step response of positional PID, incremental PID, and fuzzy PID in Simulink. Positional PID is selected as the velocity control algorithm due to its fast response characteristics and ease of implementation. The drive circuit and control algorithm are jointly simulated using Proteus to verify the speed control effect of the robot's drive.