Drive Control System Research Articles

Comparison of typical control laws of crushing unit on the example of a jaw crusher

To control the jaw crusher in a constantly changing input conditions, various types of typical regulators are used. It is necessary to take into account the fact that a modern jaw crushing machine is not only an element of the crushing and screening complex, but is also a system per se. Each element of this system has a certain isolation, up to the presence of an independent safety device in each subsystem. Safety devices are, for example, a toggle plate belonging to the protection devices of the mechanical subsystem, or a crusher drive control system based on monitoring the basic parameters of the electric drive belonging to the protection devices of the electrical subsystem. When controlling the mechanical subsystem, the values change proportionally, but in the control system of electric drive parameters their values change according to the type of controller used. When using the P-controller, the amount of correction to the control action is proportional to the deviation. The PI-controller provides a change in the magnitude of the correction to the control action not only in proportion to the magnitude of the deviation, but also depending on the accumulated action of the deviation of the controlled variable. The PID-controller takes into account not only the accumulated value of the controlled variable, but also the rate of its change. The parameters of the regulators were adopted by the method of Ziegler-Nichols. It is shown that each of the model regulators has its drawbacks, which may be insignificant during operation.

Assessment of the influence of interference on the sliding mode observer

The article presents the results of studying the effect of interference on the sliding mode observer. The effect of interference in the lines feeding the engine is evaluated. The measured interference is present in the current signal. The operation of a sliding observer of the position and speed of the rotor of a permanent magnet synchronous motor is described. This observer is used as part of a sensorless vector drive control system. The presented version of the motor state observer is implemented by creating a model in the Matlab Simulink software package and tested on the bench using a 200W motor. The aim of the work is to develop an observer who is resistant to drive parameter changes.

Algorithmic structure of control system of mine winder electric drive with a doubly-fed motor

Usage of doubly-fed electric machine is a promising means to modernize asynchronous electric drives of mine winders based on wound rotor induction motor. To ensure a wide range of speed regulation, typical of mine widers, while maintaining the critical torque of the machine and its overload capacity, it is necessary to control amplitude, frequency and phase shift of the auxiliary voltage on the rotor. Since the frequency and phase shift determine the additional voltage argument, and the amplitude determines its modulus, then the speed control by changing the module and the argument is a non-trivial task requiring a special structure of control system of mine winder electric drive, as well as special regulators, and the system is non-linear. This article discusses the construction of a functional structural diagram of electric drive control system based on a doubly-fed motor, which allows the indicated features of controlling the speed of a doubly-fed machine to be taken into account by changing the parameters of the auxiliary voltage on the rotor.

Algorithms of the Manipulator Drive Control System

Algorithms of the Manipulator Drive Control System

Theoretical background of hydraulic drive control system analysis for testing piston hydraulic cylinders

Introduction. The durability and performance of hydraulic machines is determined through life tests. At that, various braking devices (mechanical, electric, hydraulic, etc.) are used for strength loading of the hydraulic motor, as a result of which a significant amount of energy is lost. This can be avoided if the method of rotational motion with energy recovery is used during life tests. This approach is applicable for hydraulic pumps, motors, and hydraulic cylinders.Materials and Methods. A test bench is presented, the design of which provides recreation of the conditions most appropriate for the field operation of hydraulic cylinders. In this case, energy recovery is possible. To solve the research problems, methods of mathematical modeling were used, the basic functional parameters of the proposed design were calculated. The determination of the pressure increment at various points in the hydraulic system is based on the theory of volumetric rigidity. When modeling the motion of the moving elements of the bench hydraulic system, the laws of rotor motion are used.Research Results. In the structure of the test bench, the cylinders in question are located in the pressure main between the hydraulic pump and the hydraulic motor. This enables to significantly reduce the bench itself and to save a significant amount of energy due to its recovery. A basic hydraulic diagram of the test bench for piston hydraulic cylinders is presented, in which the operation of the moving elements of the system is shown. A mathematical modeling of the hydraulic system of the bench is performed. A kinematic diagram of the mechanism for transmitting motion between test cylinders is shown.Discussion and Conclusions. The system of equations presented in the paper shows how the increment of pressure at the selected nodal points of the energy recovery system is determined (in particular, how the increment depends on time, reduced coefficient of volumetric rigidity, operating fluid consumption, and piston areas). The velocities of the hydraulic pistons are determined according to the kinematic scheme of the mechanical transmission of the bench. Thus it can be argued that, thanks to the solution presented in the paper, the life test results of hydraulic cylinders will adequately reflect their operation under rated duties.

Advanced optimal by PSO-PI for DC motor

<p>Interest in the drive system which used in many applications is increasing day by day. So, many researchers have focused on the analyses, design and control of these systems. In this study, Optimal for Dc motor in drive system control strategy has been proposed for PSO-PI and fuzzy logic controller (FLC) based Dc motor in drive system. In order to test dynamic performance of PSO-PI based drive System, simulation study was carried out by MATLAB/Simulink. The results obtained from the PSO-PI based drive system are not only superior in the rise time, settling time and overshoot but can prevent from voltage and has improved power quality. </p>

Automated control system of electric drive with doubly fed induction motor

The article describes the development of an automated control system for electric drives, which includes a doubly fed induction motor, a digital position sensor and National Instruments equipment, represented by the PXI modular platform and LabVIEW software. The features of the interaction of software and hardware of the electric drive control system are considered. During operation, the system uses various levels of interaction of virtual instruments within one project. Thus, the use of virtual instruments of the project occurs at the level of the personal computer of the workplace, controller and the module with a programmable logic integrated circuit. The method of using a dynamically connected library for the calculation of parameters and state variables of the electric drive in real time is presented.

An Intelligent Wheelset Spinning Detection System in a Direct Current Traction Drive

A spinning detection method of a locomotive wheelset in a dc traction drive and its implementation on the basis of intelligent processing of measuring data of the drive control system is considered. An increase in the amplitudes of the low-frequency harmonics of the voltage sensor output signal on the locomotive power circuit elements is used as a sign of loss of motion stability of the wheelset due to reaching the threshold wheel–rail adhesion. For automatic multilevel identification of spinning modes, a random forest algorithm-based classifier is used. The results of the analysis of the control power circuit parameters preindicated by experts show the high sensitivity and accuracy of the proposed intelligent spinning detection system.

An Automatic Electromechanical Drive for Carriage Doors

This paper considers the application of a carriage door electric drive based on sealed electromechanical ac converters with a linearly moving actuator of the traction gear for protection against unauthorized access to the carriage. Not only does the drive deliver high specific performance, but it also makes possible controlled access to the carriage. It is shown that the sealed electromechanical converters used for these purposes make transport systems more reliable and ergonomic. This article also presents the results of modeling the electric drive control system by fuzzy techniques that make the control process more efficient and improve the resistance to operator-assigned factors.

Solution region-based synthesis methodology for spatial HCCC linkages

This paper proposes a HCCC linkage synthesis theory and methodology for four specified poses. The mechanism consists of one helical joint and three cylindrical joints, and has 1-DOF. Compared with 1-DOF RCCC linkages, HCCC linkages can achieve more motion space. And compared with 2-DOF 4C linkages, HCCC linkages have simply driving control system. Therefore, the synthesis theory and methodology of the motion generation mechanism for spatial HCCC linkages have theoretical significance and may have some application prospects. The synthesis process is divided into two parts. The first part determines the direction vectors of the linkages, the second part determines the position vectors of the linkages. In the second part, the synthesis equations are deduced. Finally, a 7th degree equation is obtained. Using this equation, all the HCCC linkage solutions can be obtained. These solutions can be displayed in a designated plane area. The plane area is called solution region. Defective solutions can be eliminated using a defect analysis method. Consequently, designers can directly select useful linkages from the solution region. Two examples are provided to illustrate that the synthesis method is simple and convenient to design a spatial HCCC linkage for four specified poses.

Система управления электроприводом тянущих роликов машины непрерывного литья заготовок при деформации бочек роликов

Система управления электроприводом тянущих роликов машины непрерывного литья заготовок при деформации бочек роликов

DALI LED Driver Control System for Lighting Operations Based on Raspberry Pi and Kernel Modules

Light emitting diodes (LEDs) as an efficient low-consumption lighting technology are being used increasingly in many applications. The move to LED lighting is also changing the way the lighting control systems are designed. Currently, most electronic ballasts and other digital lighting devices implement the Digital Addressable Lighting Interface (DALI) standard. This paper presents a low-cost, low-power effective DALI LED driver controller, based on open-source Raspberry Pi3 microcontroller prototyping platform. The control software is developed as a Linux kernel module under UBUNTU 18.04.2 LTS patched with PREEMPT_RT (Preemptive Real-time) for real-time processing. This dynamically loaded kernel module performs all the processing, communication and control operations of the Raspberry Pi3-based DALI controller with the DALI LED driver and LED luminaire. Software applications written in C and Python were developed for performance testing purposes. The experimental results showed that the proposed system could efficiently and effectively manage DALI LED drivers and perform lighting operations (e.g. dimming). The system can be used for a variety of purposes from personal lighting control needs and experimental research in control of electronic ballasts and other control gears, devices and sensors, to advanced requirements in professional buildings, including energy management, lighting maintenance and usage.

Improving the dynamics of a synchronous in-phase electric drive in transient modes of synchronization, phasing and control in response of reference signal changes

Synchronous in-phase electric drive is widely used in thermal-imaging and laser scanning systems due to their high accuracy and dynamic characteristics in a wide range of angular velocity control. The purpose of the article is to develop ways to control a synchronous-in-phase electric drive in the modes of synchronization, phasing and control in response of reference signal changes, allowing to improve the dynamic performance of the electric drive and reduce information loss in the scanning system. The method of electric drive phasing that is quasi-optimal in speed has been improved. Recommendations on the organization of transient processes with an abrupt change in the reference signal are formulated. For use in the electric drive control system, a circuit implementation of an impulse frequency-phase discriminator with an extended linear zone in the phase comparison mode has been proposed, it allows to improve the dynamic performance of the electric drive in the modes of synchronization, phasing and control in response of reference signal changes.

Synthesis of energy-efficient agriculture electric drives control system

In this paper the capabilities of the agriculture electric drive with rectangular shape of the phase current were analyzed, the level of pulsations of the electromagnetic torque in synchronous reluctance electric drives was found, the synthesis of the electric drive control system was considered, the characteristics of the electric drive under different control laws were compared. It is found that the use of high-speed current circuits (cutoff frequency = > 200 rad/s) can significantly suppress the level of pulsations of the electromagnetic torque. It is shown that the use of flexible positive current feedback in switching phase currents can be considered as an additional opportunity to improve the performance of the current control circuit, as well as in conjunction with the previous method for suppressing torque pulsations in both static and dynamic modes.

STUDY OF SLIDING MODE CONTROL SYSTEM, SYNTHESIZED BY THE N-i SWITCHING METHOD, FOR ELECTRIC SERVO DRIVE WITH INERTIAL POWER CONVERTER

Electric drives are characterized by the restriction of intermediate coordinates in transient modes. Such restrictions are implemented by a system with cascade controllers. The N-i switching method, which has a relatively simple mathematical apparatus, provides optimization for the speed of cascade sliding mode control systems. In this paper, a comparative study of the typical dynamic modes of such systems with idealized and real control objects is performed. In this case, a cascade of integrators was considered as an idealized control object, and an electric drive with a power section constructed according to the thyristor converter - a DC motor was used as a real one. The speed optimization of both systems is based on the calculated trajectories of the idealized control object. The study of the servo drive control system revealed a slight deviation of the transition trajectory from the calculated one. The cause of this effect is the influence of the internal feedbacks of the electromechanical system, leading to the premature entry of regulators into the sliding mode. The same circumstance contributes to a significant reduction in the duration of shock perturbations compensation by real system compared to the ideal one. The results obtained in the work are supported by specific numerical examples. Due to the simplicity of the computational procedures, the N-i switching method provides real-time adaptation of the control system settings to the shape of the optimal transient trajectory. The results of the research open the prospect on practical realization of adaptive algorithms for the synthesis of cascade sliding mode control systems based on the N-i switching method.

Моделирование системы управления электроприводом подъема экскаватора ЭШ 20.90 при работе в тяжелых горнотехнических условиях

Walking excavators (ESH) are the main mechanization means when developing coal fields in the regions of Siberia. The operational reliability and in-use performance of overburden dragline excavators determine the mining enterprises’ capacity. The previous studies show that a large percentage of the failures of the mechanical equipment used in opencast mining is connected with the draglines. Reduction of the dynamic load in the kinematic elements of the ESH 20.90 lifting drive increases the operational reliability of the excavators operating in arduous conditions. The statistical analysis has shown that most of the excavators’ breakdowns are connected with the failures of their traction and lifting mechanisms. Therefore, to increase the draglines’ reliability, it is necessary to limit the load on the kinematic elements of the mechanical structure in the periods of the year with a significant temperature gradient. For this purpose, a standard closed-loop control system of the lifting electric drive has been modelled. The modelling has shown an unacceptable level of the dynamic loads arising in the kinematic elements of the excavators operating at low temperatures. As a result, an advanced lifting drive control system for the ESH 20.90 excavator has been developed. The system allows to control the engine torque by the speed, and to stabilize the sustained power of the drive. The study has shown that the suggested system significantly reduces the dynamic stress in the mechanical elements and therefore, increases the excavator’s operational reliability. The application of the developed control system for the lifting drives of dragline excavators has been substantiated.

A Traction Electric Drive of for a Gazelle-Next Electric Vehicle

The rated engine speed and torque of an engine are calculated against the criterion of minimum losses and on the basis of the load graph of the traction electric drive of the Gazelle-Next electric vehicle (EV). It is shown that this approach allows making the system more efficient by around 10%. A mathematical model of the system is developed, where the traction torque indirect adjustment loop is approximated by aperiodic first-order links one of which takes into account uncompensated electromagnetic response delays of phase circuits, whereas the other approximately takes into account the restricted response time of the microprocessor control system. The suggested procedure of synthesizing the traction electric drive control system allows reducing the self-oscillations of the object operated in the zone of torque and speed overloads. It is found that the best adjustment figures for traction mechanisms used in complex operating conditions are reached in the structure with an internal corrective loop against the active capacity coordinate. This is due to the possibility of directly measuring the coordinates of phase current and voltage, which ensures the zero lag of the feedback line. The system adjustment quality was evaluated for the “Traction effort-output speed” line, which involved modeling glare ice as the most complicated running mode for the electric drive, when the traction drive changes from peak to zero almost according to the step law. In this case, the speed coordinate was readjusted by no more than 8%.

Design of a Data-Oriented Performance Driven Control System Based on the Generalized Minimum Variance Control Law

In process industries, it is necessary to maintain the user-specified control performance in order to achieve desired productivity. This paper describes a design scheme for control performance eval...

Experimental research characteristics of counterbalance valve for hydraulic drive control system of mobile machine

Experimental research characteristics of counterbalance valve for hydraulic drive control system of mobile machine

Development of system of automatic control of robotic arm drive

Currently, the scope of application of robotic systems and complexes is expanding significantly. The introduction of industrial robots is one of the most promising areas of complex automation of production processes, which will significantly increase labor productivity and save people from monotonous, difficult and harmful work. Many tasks are solved by facilitating robotic manipulators to facilitate human performance and to achieve higher quality and accuracy of production. Thus, thanks to the development of automatic control systems, information technologies and their application in the creation of modern robotic systems, the opportunity has emerged to release a person from work that poses a threat to his life and health. When using manipulator robots, an important task is to develop a control system that provides positioned movement of the links of the manipulator. The main task of the automatic drive control system is to form and implement a set of control effects, in accordance with technological requirements. In this work we propose a system of automatic control of the actuator of the manipulator, which provides positioned movement of the manipulator link along a given trajectory. Using the tables of originals and images of typical functions for which continuous Laplace transforms and Z-transforms are calculated, a discrete linear steady-state mathematical model of the robot-manipulator automatic control system is constructed. The parameters of the corrective devices of the system of automatic control of the electric actuator of the robot manipulator were made, which allowed to improve the characteristics of the transient process, namely: to reduce the time of over-regulation and the duration of the transient. The obtained results of the simulation of transients allow to confirm that the synthesized parameters of the corrective devices for the analog automatic control system can be used in the digital automatic control system of the electric actuator of the robot manipulator.