Electronic Speed Controller Research Articles

Экспериментальные исследования системы автоматического регулирования частоты вращения вала тепловозного дизеля

This study addresses the problem of selecting the optimal structure and parameters of an electronic rotational speed controller for the crankshaft of a locomotive engine. An electronic control system of fuel supply ESUVT.01 developed by OOO PPP Dizelavtomatika (Saratov) for the locomotive diesel engine D50 manufactured by OAO Penzadizelmash is presented in the paper. Experimental studies were conducted to evaluate the impact of the structure and parameters of the system on dynamic properties of the engine. Bench tests were conducted on a diesel generator unit 1-PDG4D consisting of a diesel engine D50 and a traction generator MPT-84/39. As the result of the testing, equations describing dependencies of the transient process duration, overspeeding during the transient process and the free period on the parameters of the proportional-and-integral controller were obtained. The study confirmed the need to optimise the values of the coefficients of the proportional and integral components of the proportional-and-integral governing law and adjust them in accordance with the operational mode of the diesel engine. An appropriate optimisation method was proposed. Optimised values of these coefficients for the transient process of the studied diesel engine acceleration with regard to the locomotive characteristic were obtained.

Electronic Differential Control of Independent Wheel Drive NEV using Drive Current Balancing Strategy

This paper presents the design and real-time implementation of an electronic differential speed control system (EDSC) for a neighborhood electric vehicle (NEV) with a decentralized power train configuration. The EDSC supervises the desired speed variation of the drive motors of the vehicle at various turning trajectories. The core focus of this design is to reduce the system complexity, computation delay and design expenses with an aid of a newly proposed drive current balancing algorithm (DCBA). The embedded DCBA based EDSC allocates the necessary torque to each wheel solely depending on the motor current variables. Thus, it eliminates the necessities of typical feedback variables-steering and speed to control the EDSC. The developed system performance is being investigated in situ real time on-board experiment. Results in the context of response time, design simplicity and performance reveal the effectiveness of the proposed framework.

Approaching the Ideal BLDC Motor: A Novel Electronic Speed Controller System for a Generator-Converted BLDC Motor with Field Weakening Feature

The concept of an ideal Brushless DC (BLDC) motor which has adjustable rotor magnetic field offers an opportunity for wider BLDC area of implementation as a very versatile electric powerhouse especially in variable load areas such as on electric vehicle or other people movers. Characterized by its high-efficiency level, low maintenance and long service duration, the lack of physical commutation brush like in regular DC motor dictates the requirement of an electronic control system to regulates its commutation.
 
 An electronic control system equipped with rotor field control capability in a collaboration with an ideal BLDC motor, is believed to offers wider implementation opportunity. Unlike a normal BLDC motor which has a standard power curved characterized with maximum power is only achievable in one specific speed, if properly controlled will have an adjustable maximum power in a wide range of rotational speed. 
 
 This study proposes a novel approach to an ideal BLDC implementation through novel electronic speed controller with rotor field control in addition to normal standard motor power control. As there is no such thing as an ideal BLDC motor at the current moment, an automotive generator which has an electromagnetic rotor is converted to become a BLDC motor as an effort to approach the ideal BLDC motor concept. Field weakening, the term used for adjusting rotor magnetic field in induction motor control, is adopted as the term for adjusting the BLDC rotor field in operation. Further, a novel an electronic control system is developed which special features to also control the rotor magnetic field.
 
 The converted generator has been found to able to function like an ideal BLDC motor, by adjusting the electromagnetic rotor in its operation. It has been found to be able to provides maximum motor power within a wide range of rotational speed. Through rotor field adjustment, the converted generator provides a real-time versatile capability of allocating its power to either the high torque at low motor speed or to a very high speed at minimum torque. 39% to 81% operational efficiency levels have been achieved during the experiment, rendering the performance level of the converted generator and controller way above brushed DC motor and in par with most of standard BLDC motor.
 
 The Field Weakening control has also been found to be useable for speed control. Further, a Proportional – Integral close-loop speed regulation has also been developed for both motor and rotor control and was found to be able to works subsequently with seamless transition between each other.

Development of Open-Source Motor Controller Framework for Robotic Applications

Open-source designs are being increasingly used to develop robot hardware. When motor actuators were used for robot development in the past, it was difficult to find cost-effective commercial products. Open-source motor controllers, recently developed with the collaboration of many people, have exhibited phenomenal growth as their performance is now comparable to those of commercial products and their price is cheaper. In this study, we utilized an open-source Vedder electronic speed controller (VESC), originally developed for electric skateboards, as a general-purpose motor controller for robot control. The high-speed, high-torque, and high-output VESC was hardware-upgraded to enable more accurate current control, and advanced position and speed control algorithms were developed to produce Myongji-VESC (MJ-VESC), a general-purpose motor controller for multiaxis robot systems. To evaluate its current, speed, and position control performances, MJ-VESC was applied to an open-source planetary geared actuator that can be fabricated with a 3D printer. Based on this, we propose an open-source motor controller framework that can be universally used for multiaxis robot systems.

Electronic Speed Controller Based Quad Copter Controlled by Hand Gestures

To control a Quad copter by means of simply the use of hand gestures.It allows us to recommend a way to perform Human computer Interface.The concept is to extract an antique techniques of controlling a Quad copter using joysticks, computer controlled and so on.with more intuitive approach, that is, through controlling the Quad copter with the assist of hand gestures, for the user to make it greater user friendly,this makes the user not to study different instructions to control a Quad copter, where it can simply work on the hand gestures. Here we present an approach to achieve the illustrated idea by employing transmission of instruction through a Bluetooth module. A simple gyroscope helps inhelps in tracking hand gesture illustration. Command dedication corresponding to shown gestures and acting movement respectively.

Design And Implementation Of Gps Based Medical Services Using Drone

This paper is aimed to provide medical assistance to people through the delivery of medical supplies by unmanned drones. The use of unmanned drones’ benefits people in distant areas around the world. The paper gives attentionto the design of a biocompatible payload and a drone to accomplish medical supply delivery. Design of the drone healthcare delivery network isfacilitatingstructured and low-cost delivery of healthcare to save lives. Dronesare capable of sustainable flight, which need not human presence on board, and have enough control for performingnecessary functions. This paper utilizes a range of hardware components and software platforms that were integrated into the overall design of the medical drone. Hardware components includes IMU enabled GPS, ArduCopter 2.6 Flight Controller, Data Transmission and Receiving module, Electronic Speed Control Circuits, DC Motors, Propellers, LiPo battery, Servo Connectors. GPS is used for navigation in betweenground stations that are automated, to deliver necessary medications in locations that lack enough roads. Unmanned aerial vehicle is remotely or automatically controlled. Software platform used is ArduPilot Mission Planner and mobile phone or tabletapps can be used to track and navigate. Network is managed by drone operating system to monitor weather data from every ground stationand it optimizes the drone routes in this proposed approach we are designing a paper which is effective in many applications like transporting blood and small emergency medicines such as first-aid kits. Unmanned Aerial Vehicles can be used in future to provide medical help in field of surveillance and at the time of earthquake, drones help rescuers to locate survivors.The military in combat can use drones, and it can also be used for humanitarian aid.

Padrões e sazonalidade do tráfego viário no município de Balneário Camboriú, SC, Brasil


 A ausência de dados e informações de tráfego urbano constitui um dos principais problemas que as cidades enfrentam para realizar planejamento urbano adequado de longo prazo. O trabalho teve por objetivo investigar os padrões sazonais de deslocamento viário no município de Balneário Camboriú-SC, estabelecendo relação com a dinâmica demográfica do município. O estudo foi desenvolvido por meio de dados históricos de fluxo de veículos monitorados por radares de controle eletrônico de velocidade distribuídos em seis pontos do município. Foram analisadas a variação horária do fluxo ao longo do dia nos pontos analisados, variação diária considerando dias úteis e sazonal, ao longo dos meses e a influência dos fins de semana e feriados no fluxo de veículos. Os resultados das avaliações permitiram identificar a influência dos padrões sazonais nos pontos de estudo, identificar horários e fluxos de pico, dias de maior movimento e a influência de fins de semana e feriados. 

Low-cost quadrotor hardware design with PID control system as flight controller

In designing an Unmanned Aerial Vehicle (UAV), such as quadrotor, sometimes an engineer should consider the required cost that is relatively expensive. As we know, quadrotor is one of robots that very usefull and has several advantages for human needs such as disaster area monitoring, air quality monitoring, area mapping, aerial photography, and surveillance. Thus, designing a rapid quadrotor with low-cost components and simple control system needs to be considered here. This paper presents design and implementation of a quadrotor using relatively low-cost components with Proportional Integral Derivative (PID) control system as its controller. The components used consist of microcontroller, Inertial Measurement Unit (IMU) sensor, Brushless Direct Current (BLDC) motor, Electronic Speed Control (ESC), remote control unit, battery, and frame. These components can be easily found in the electronic markets, especially in Indonesia. As an addition, this paper also describes PID control system as flight controller. A simple economic analysis is presented to clarify the cost in designing this quadrotor. Based on experimental testing result, the quadrotor able to fly stably with PID controller although there still overshoot at the attitude responses.

Garbage Carrier Roboboat Based On Image Processing

This research explain about garbage carrier roboboat. the purpose of making this robot is to reduce the trash found on river surfaces. Indonesia is an archipelagic country, this country dominated by ocean as rives estuary, however many of the resources produced from the sea have been polluted due to dirty and full of garbage from the river. So with the creation of this robot, it is expected to minimize the pollution. The shape of this robot is a boat that can operate in rivers and waters that still allows this robot to operate. This robot uses a brushless motor to move on the surface of the water and electronic speed control to control the brusless motor speed with the PWM setting method, for the navigation system the HC5409 ultrasonic sensor is used to detect any obstacles that avoid collisions, then image processing techniques are applied to detect garbage on the surface of the water, The Matlab R2012a program is an application used to process this image processing technique. In sum, the working process of this boat robot is, first, the navigating robot looks for garbage objects by detecting it using image processing. If garbage is detected, the robot will maneuver and activate brushless motors with garbage manuever algorithms, instructions sent from the microcontroller to Arduino Mega 2560, the robot approaches garbage object and crawl it. There are two garbage objects determined, namely styrefoam and a blue bottle, this boat can execute advanced, right and left maneuvers with the percentage of success reaching 80-90%. The advantage of this boat is that garbage objects can be detected from various directions and operate semi-automatically .
 Keywords :MATLAB, Image processing ,Motor brushless, Arduino Mega 2560 , manuever .

Autonomous “Figure-8” Flights of a Quadcopter: Experimental Datasets

This article describes the data acquired from multiple flights of a custom-built quadcopter. The Quadcopter was programmed to fly a pre-defined “Figure-8” flight path, at a constant altitude. The data set includes flights with a varying number of waypoints (10 and 15 waypoints in each lobe of the “Figure-8”) and at two different velocities (1.5 and 2.5 m/s). The data also contains information on the output of the flight controller in terms of the Pulse Width Modulation (PWM) signals to each of the four Electronic Speed Controllers (ESC) driving the motors, the recorded outputs of the Inertial Measurement Unit (linear accelerations ax, ay, az and angular velocities p, q, r), GPS data (Latitude, Longitude, altitude, Horizontal Dilution of Precision (HDOP) and Vertical Dilution of Precision (VDOP). The data are included as Supplemental Material.

ODAR: Aerial Manipulation Platform Enabling Omnidirectional Wrench Generation

We propose a novel aerial manipulation platform, an omnidirectional aerial robot, that is capable of omnidirectional wrench generation with opportunistically distributed/aligned Sectional rotors. To circumvent the tight thrust margin and weight budget of currently available rotor and battery technologies, we propose a novel design optimization framework, which maximizes the minimum-guaranteed control force/torque for any attitude while incorporating such important and useful aspects as interrotor aerointerference, anisotropic task requirement, gravity compensation, etc. We also provide a closed-form solution of infinity-norm optimal control allocation to avoid rotor saturation with the tight thrust margin. Further, we elaborate the notion of electronic speed controller induced singularity and devise a novel selective mapping algorithm to substantially subdue its destabilizing effect. Experiments are performed to validate the theory, which demonstrate such capabilities not possible with typical aerial manipulation systems, namely, separate translation and attitude control on SE(3), hybrid pose/wrench control with downward force of 60 N much larger than its own weight (2.6 kg), and peg-in-hole teleoperation with a radial tolerance of 0.5 mm.

Distributed Diagnosis of Electric Aircraft Powertrain

Electrically powered autonomous aircraft are being increasingly considered for intra-city short-haul air-taxi services to fly human passengers between different locations. As a result, it is critical to incorporate safety under autonomous operations into system operations by enabling such autonomous aircraft to make accurate estimates of its current health state and take the right decisions to complete its mission successfully. The first step to assess health state of the entire aircraft is for the aircraft to be able to assess the health of its individual critical systems, (e.g electrical powertrain) for it to be able to fly and reach its destination in a safe manner. The fundamental components of a powertrain in an electrically powered aircraft include key electrical components such as batteries, motors, and power electronics (e.g., electronic speed controllers). A model-based diagnosis approach of complex critical systems enables their safe and efficient operation. Typically, such model-based schemes are centralized approaches that suffer from inherent disadvantages such as computational complexity, single point of failure, and scalability issues. Distributing the diagnosis task addresses these issues. To this end, this paper presents the results of implementing a distributed diagnostics approach to a representative electric aircraft powertrain. In particular, we focus on the implementation of a distributed diagnosis framework to a quadrotor vehicle. The simulation experiments demonstrate how the distributed diagnosis algorithm correctly and efficiently diagnose faults in the rotorcraft’s electric powertrain.

An Analysis on Quadcopter Designing and Simulation

The main prospectus of our paper is to analyse the design of a light weight, low cost and more weight loading capability UAV (unmanned aerial vehicle), generally which is also known as quadcopter or multicopter. The designing of quadcopter resides of electromechanical hardware such as brushless DC motors (stepper motors), propellers and electronic speed controller. For reenacting mechanical equipment, attachment programming (Java and C++) and working framework, for example Raspberry Pi, ATmega48PA microcontroller, Arduino UNO (Nano, Mega) are utilised. Controlling of UAV is finished by numerous equipment, for example workstation, cell phones and Radio Frequency RF remote gadgets. The relationship of hardware and the quadcopter should be possible from various perspectives like GPRS, Bluetooth module, Wi-Fi module and numerous applications (Dronefly, Cleanflight, Arducopter and Bluetooth terminal). Quadcopter can be utilised as a part of military observations, contamination acknowledgement, mining location and in film industry.

Improvement of automatic control systems of high-power turbines of PAO tubroatom for nuclear power plants

The main technical solutions applied by PAO Turboatom used as the compensatory measures at the increase of the period of nonstop operation of nuclear power plants' (NPP) turbines with VVER-1000 type reactors up to 18 months are (1) replacing the standard hydraulic speed controller with an electronic one, (2) introduction of overclocking protection, (3) modernization of units of stop-control valves of high pressures, (4) installation of locking dampers on the receiver tubes of turbines of the first and second modification, and (5) improving the quality of repairs by reviewing the requirements for their implementation. The introduction of complex diagnostics of a control system on the basis of automatic treatment of results of registration of working parameters of the turbine is allocated as a separate prospective direction. Using an electronic controller of speed makes it possible to simplify the procedure of its inclusion in work at the failure of an electro-hydraulic system of control and vice versa. The regimes of maintaining the turbine rotor speed, steam pressure on the outlet of turbine, and the positions of main servomotors were introduced into the functions of the electronic controller. An electronic controller of speed includes its own electro-hydraulic transducer, turbine rotor speed sensor, and sensors of the position of main servomotors. Into the functions of electro- hydraulic control system and electronic speed controller, the function of overclocking protection, which determines the formation of commands for stopping the turbine at the exceeding of both the defined level of rotation speed and the defined combination of achieved rotation speed and angular acceleration of rotor, was introduced. To simplify the correction of forces acting on the control valve cups, the design of the cups was changed, and it has the profiled inserts. The solutions proposed were implemented on K-1100-60/1500-2M turbines of Rostov NPP. From the composition of control system of already made turbines, the devices of speed switching of moving of control flaps for opening and hydraulic damper in the servomotors of regulating flaps were excluded; the fists of the control valves providing the increased valve stroke for opening and the construction of filters for regulation, electro-hydraulic converters, oil draining device, etc. was changed.

Research and development of electronic speed control strategies for medium-speed marine diesel engines

Modern diesel engine systems rely more and more on electronic control systems. The benefits of such electronic control systems include reduced fuel consumption, limited emissions and enhanced performance. Following the trend, this article aims to derive an appropriate methodology for improving the performance of the speed regulation by upgrading an existing mechanical governing control system to an electronic one for the marine diesel engine. Hardware-in-loop simulations and the diesel engine test-bed experiments are applied to realize a V-type mode study of the speed control strategies for the marine medium-speed diesel engines. First, the algorithm of the strategies and the functions of the electronic control unit are verified through hardware-in-loop test bench which is established using hardware devices and a software tool chain from ETAS GmbH. Additionally, the specific parameters are modified and calibrated finely on the test bed with an online debugging system. Finally, to demonstrate the performances and the generality of the proposed control strategies, the test-bed results of the two types of marine diesel engines are illustrated. The experimental results indicate that a better performance is achieved by replacing the original controller with the proposed controller. And the methodology of the control strategies development is proven to be efficient.

A Study of the Degradation of Electronic Speed Controllers for Brushless DC Motors

Brushless DC motors are frequently used in electric aircraft and other direct drive applications. As these motors are not actually direct current machines but synchronous alternating current machines; they are electronically commutated by a power inverter. The power inverter for brushless DC motors typically used in small scale UAVs is a semiconductor based electronic commutator that is external to the motor and is referred to as an electronic speed control (ESC). This paper examines the performance changes of a UAV electric propulsion system resulting from ESC degradation. ESC performance is evaluated in simulation and on a new developed testbed featuring propulsion components from a reference UAV. An increase in the rise/fall times of the switched voltages is expected to cause timing issues at high motor speeds. This study paves the way for further development of diagnosticand prognostic methods for inverter circuits which are part of the overall electric UAV system.

A Practical Performance Evaluation Method for Electric Multicopters

Multicopters are attracting more and more attention these years. In the design stage, designers and users wonder if an assembled multicopter can meet their performance requirements, such as hovering endurance, system efficiency, maximum load, maximum pitch, and maximum flight distance. However, in practice, they used to evaluate the performance of a multicopter through lots of flight experiments or by experience, which are normally inefficient and costly. This motivates us to propose a comprehensive offline evaluation algorithm of multicopter performance. The performance indices considered are mainly determined by the propulsion system, including motors, propellers, electronic speed controllers, and batteries. Therefore, in the first stage of this research, models are established for the components of a propulsion system. In order to facilitate the application, only technical specifications of components offered by manufacturers are required as the input of the models. Based on the models and their relationships, equations describing performance indices are established and then solved to perform the evaluation. Finally, several examples are given to demonstrate the efficiency of the proposed evaluation method. As a result, a website ( www.flyeval.com ) is established, which can provide users with the performance evaluation mentioned in this paper.

5-1 適応型広ダイナミックレンジカメラ

5-1 適応型広ダイナミックレンジカメラ

Thrust Control for Multirotor Aerial Vehicles

This paper presents a novel control algorithm to regulate the aerodynamic thrust produced by fixed-pitch rotors commonly used on small-scale electrically powered multirotor aerial vehicles. The proposed controller significantly improves the disturbance rejection and gust tolerance of rotor thrust control compared to state-of-the-art RPM (revolutions per minute) rotor control schemes. The thrust modeling approach taken is based on a model of aerodynamic power generated by a fixed-pitch rotor and computed in real time on the embedded electronic speed controllers using measurements of electrical power and rotor angular velocity. Static and dynamic flight tests were carried out in downdrafts and updrafts of varying strengths to quantify the resulting improvement in maintaining a desired thrust setpoint. The performance of the proposed approach in flight conditions is demonstrated by a path tracking experiment, where a quadrotor was flown through an artificial wind gust and the trajectory tracking error was measured. The proposed approach for thrust control demonstrably reduced the tracking error compared to classical RPM rotor control.

MODELING OF ELECTRONIC SPEED PID-CONTROLLER OF INTERNAL COMBUSTION ENGINE

Describes the structure and working principle of electronic model PID speed controller, in conjunction with diesel fuel pump of high pressure. This model, together with a model of a diesel engine and given external load allows you to explore the influence of PID speed controller parameters for transients and the performance of the engine. Describes the electronic control unit that defines electronic pedal control, actuator, which affects the body dispensing fuel. Model may take into account the different levels of vibration, which are transmitted to the body dispensing fuel.