Motion Control Of Motor Research Articles

Design and Application of Intelligent Networking Integration System with CANopen Protocol for Tool Machine Production Line

In this paper, the intelligent networking integration system is designed and constructed by applying the Controller Area Network (CAN)open profiles as communication protocol for tool machine production line. While the basic network management and data transmission is followed by the dictionary objects in CANopen CiA301 protocol, the axial motor of tool machine needs to implement with the motor motion control specification subjected to the CANopen CiA402 protocol. The monitoring supervisory control and data acquisition system communicates with each node with CANopen protocol through CAN Bus to complete the task of constructing and managing the entire network system.

Novel Generalized Predictive Iterative Learning Speed Controller for Ultrasonic Motors

Aiming at the needs of ultrasonic motor's motion control system, generalized predictive iterative learning control (GPILC) strategy is constructed by integrating iterative learning control and generalized predictive control. By designing 2D objective function with the information of the previous control process, it attempts to integrate the generalized predictive control methods such as multi-step predictive and rolling optimization into the iterative learning control law to improve the iterative learning control effect. An effective design method of the iterative learning control law is proposed. Based on 2D prediction model, the differential optimization of the objective function is carried out to derive the GPILC law. Then, based on the nonlinear Hammerstein model of ultrasonic motor, an inverse compensation method for the motor's nonlinearity is designed to realize the effective compensation for motor's nonlinearity. On this basis, a generalized predictive iterative learning speed controller for ultrasonic motors is designed. The results of simulation and experiment indicate that the proposed control strategy and its design method are effective. The iterative learning process of ultrasonic motor's speed response is gradually convergent, and the control performance is good.

The motion control of three-phase motor using wireless communication: design and experimental works

This study presents an investigation on the motion control of 3 phase motor using wireless communication. The wireless communication network used is Bluetooth which supports Arduino Uno, so that the motor rotation can be controlled via a smartphone. Control system is used to adjust 3 phase motor rotation. The method used in the development of 3 phase motor rotation control system are analysis of needs, control system design, development of systems, testing and performance measurement, and improvement the system. The results of this study indicate that the 3 phase motor rotation control system can work according to the design. When Bluetooth HC-06 module receives a signal from a smartphone via Bluetooth Electronics, then the signal is sent to Arduino Uno and forwarded to DC Relay and proceed to Omron MKP3-I Relay. When using 3.0 version of bluetooth, the farthest distance that can be received by the Bluetooth HC-06 module without an obstacle is 21 m, whereas if there is an obstacle, the signal can only be received in 16 m. Meanwhile, when using 4.1 version bluetooth, the farthest distance that can be received by the Bluetooth HC-06 module without an obstacle is 26 m, whereas if there is an obstacle, the signal can only be received in 19 m.

Predictive Iterative Learning Speed Control With On-Line Identification for Ultrasonic Motor

Aiming at the needs of ultrasonic motor motion control, a new two-dimensional (2D) predictive control objective function is proposed. Different from the existing methods, the objective function consists of three terms, including the product of the control quantity and the error of the previous control process. Based on the objective function, the predictive iterative learning control (ILC) law is derived by using the design method of generalized predictive control (GPC) without specifying ILC law form in advance. An on-line identification method for model parameters is given to realize effective identification under a small amount of data circumstances, and therefore, the parameters of controller are adjusted adaptively according to the identification results. The proposed control method is validated both in simulation and experiment. The experimental results show that the proposed predictive iterative learning control strategy can obtain better control effect than GPC, and has more obvious characteristics of iterative learning control. It can maintain the expected performance under the condition of intermittent loading and replacing the motor. It presents strong robustness.

T–S Fuzzy Control of Travelling-Wave Ultrasonic Motor

The operation of ultrasonic motor is characterized by obvious nonlinearity. Appropriate motor control strategy is an important prerequisite for promoting the wider application of ultrasonic motors. PID controller is widely used in motor motion control products. Due to the nonlinearity of the ultrasonic motor, the PID control parameter values that can achieve good performance are very different at different speeds. In this paper, aiming at the application requirements of ultrasonic motor speed control, a fuzzy controller with simple structure is proposed to realize nonlinear variable-parameter PID control by using nonlinear input–output mapping ability of fuzzy logic. The proposed fuzzy controller has only one input variable with three linguistic values. In order to match the nonlinear operating characteristics of the ultrasonic motor and improve the control precision, the fuzzy rule is designed as the Takagi–Sugeno form. Takagi–Sugeno defuzzification method is adopted. The calculation formula of control quantity given by the fuzzy controller is similar to that of the PI controller, but the control parameters are nonlinearly changed. Compared with the traditional fuzzy controller, the structure of the proposed controller is simple and the amount of online computations is greatly reduced. Experimental results under various operating conditions show that the proposed controller has good control effect and it has robustness to disturbances such as drive voltage amplitude and load torque variation.

Precision Position Measurement of Linear Motors Mover Based on Temporal Image Correlation

High-precision position measurement is very important for precision motion control of a linear motor. This paper presents an accurate mover position detection method with high precision stability based on temporal image correlation and fence image for the linear motors. First, sequence fence images with the information of mover position are recorded by a position measurement system for linear motor, and the integer pixel displacement of each image is obtained by image correlation method. Then, according to the continuity of the motion, the subpixel displacement can be extracted by fitting the integer pixel displacement. Finally, the displacement and velocity curves can be calculated according to system calibration. Compared to digital image measurement used in position detection of linear motors, the proposed method can detect mover position accurately with longer measurement range and smaller uncertainty. The moving least square (MLS) algorithm is used to ensure the stability of measurement uncertainty under different motion modes. Simulations and mover position detection experiments with different motion conditions were performed to demonstrate the effectiveness of the proposed method in linear motors. In this paper, the average measurement error of displacement is 0.006 mm with the maximum displacement of 120 mm. The maximum and average relative errors are less than 0.06% and 0.017%, respectively.

Analysis of Direct Torque Control with pace Vector Modulation for Synchronous Reluctance Motor Motion Control Applications and a Comparison with Other Torque-Control Algorithms

Abstract Motion control is facing an increasing popularity in the present research activities. Owing to the expected wide spreading of motion control applications, it can be predicted that the advancements in the field of electric motor drives will have a high level of influence on the new results in the field of motion control. The synchronous reluctance motor drives mean an excellent and yet cost-effective solution for actuators in motion control applications. In this article, the direct torque control with space vector modulation is analysed as a possible candidate for synchronous reluctance motor motion control applications. Its torque-control performance is investigated as a function of torque-control sample time, and a comparison of the torque ripples is made with other torque-control algorithms by an FFT analysis.

Motion control of chaotic permanent-magnet synchronous motor servo system with neural network–based disturbance observer

The permanent-magnet synchronous motor system will display a variety of chaotic phenomenon when its parameters or external inputs satisfy certain condition, and thus its performance would be deteriorated. Therefore, chaos should be suppressed or eliminated. In this article, a practical method which combines adaptive robust control with a single-layer neural network–based disturbance observer is proposed for elimination of the chaos and high-performance motion control of permanent-magnet synchronous motor. The proposed controller not only accounts for the load torque disturbance but also takes the parametric uncertainties into account. A single-layer neural network–based disturbance observer is designed to estimate the disturbance while an adaptive control law is designed to estimate the parameters respectively. Then, all the estimated values are used in the feedforward cancelation item in the controller via a backstepping technique. Lyapunov’s method is used to prove the stability of the novel control scheme. Sufficient comparative simulation results are obtained to validate the effectiveness of the proposed control strategy.

Improving attitude detection performance for spherical motors using a MEMS inertial measurement sensor

A spherical motor has multiple degrees of freedom. Its motion control requires an accurate attitude detection system. This study proposes a low-cost microelectromechanical system (MEMS) inertial measurement sensor to detect the attitude of the spherical motor. The proposed sensor combines a three-axis gyroscope and a three-axis accelerometer to obtain raw position data of spherical motors to estimate rotor's attitude. To improve the accuracy of the estimated attitude from the raw position data, the authors reduce the inclination angle error between the motor's rotor and MEMS sensor's coordinate systems by compensating axial angle error. A high-speed camera that generally provides high accuracy of the attitude is used as a calibration device for comparison and validation. Experimental results show that the MEMS inertial measurement sensor can achieve accurate attitude estimation that is suitable for motion control of a spherical motor.

Note: Performance estimation of a rotary ultrasonic motor based on two-dimensional analytical model.

The comprehension of ultrasonic motor performances as a function of input parameters is a key to intelligent motion control of motor. This paper presents a performance estimation model of a novel rotary ultrasonic motor as a function of input parameters. To evaluate performances of the proposed motor, the finite element software is used to derive the vibration displacements of stator surface points. The output displacements of the points in time domain, which determines the contact state and contact time, are analyzed and compared. Then, a two-dimensional analytical model is constructed. The performances of stead rotation speed and stall torque are deduced. According to the simulated results, a prototype motor is manufactured and tested. The experimental results agree well with the simulation results, which verifies the effectiveness of the presented model.

Motion control of linear induction motor based on optimal recurrent wavelet neural network-PID controller

This paper contains a proposed controller based on optimal recurrent wavelet neural network (RWNN) with PID controller to control the velocity and hence the stator current as well as the developed thrust of three phase linear induction motor (LIM) which consider the end effects. A vector control represented by indirect field oriented control (IFOC) technique is appointed to attain velocity and flux control for different loading conditions. Moreover, a voltage source inverter based on space vector pulse width modulation (SVPWM) is utilized to give the required stator voltage of LIM. A well-known particle swarm optimization (PSO) algorithm is employed for online tuning of the proposed controller. The computer simulation results show that this controller is effective and gives preferable and rigorous performance compared with a results obtained from conventional wavelet neural network (WNN) and PID controllers.

Real time implementation of H-infinity and RST motion control of rotary traveling wave ultrasonic motor

ABSTRACT This paper deals with design, performances comparison and experimental validation of H-infinity (H∞) and discrete time RST position controllers for a Traveling Wave Ultrasonic Motor (TWUM) which is dedicated to robotic applications. The proposed positioning system shows high precision levels of piezoelectric motor without additional hysteresis and dead zone compensation systems. Moreover, the perturbation rejection capability and the robustness to motor parameters variation are guaranteed. The synthesis procedure of robust H∞ and RST position controllers is detailed. The performances of the proposed controllers are validated by simulation and experimental results.

Motion Control and Performance Evaluation of a Magnetic-Geared Dual-Rotor Motor in Hybrid Powertrain

The magnetic-geared dual-rotor motor (MGDRM) has been proposed as a power split device for several years, but there is not an evaluation work for an MGDRM in a real hybrid powertrain so far. As a pilot demo, an MGDRM-based hybrid powertrain with a real engine is built and tested in a real hybrid test bench. The closed-loop speed control is developed for the MGDRM, with which two pragmatic functions of the hybrid powertrain are realized by the MGDRM. First, the engine can be started by the MGDRM outer rotor no matter whether the vehicle is parked or traveling. Second, the torque coordination function of the MGDRM can help the engine to stabilize at a fixed work situation. This feature is the basement to adjust the operation and efficiency of engine. The power conversion efficiency map of the MGDRM is tested, based on which the performance of the power split in different operating situations can be evaluated.

Controlled molecular assembly of self-propelled colloid motors and their biomedical applications

Synthetic colloid motors are the micro-/nanomachines which can harvest different types of energies into mechanical motion in the fluids. Since 2012, it has been one of important strategies for controlled fabrication of colloidal motors to combine effectively controlled molecular assembly (“bottom up”) with top-down approaches. Colloid motors based on controllable molecular assembly possess the advantages of: (1) mass production, (2) response to the external stimuli, and (3) access to multifunctionality. This review will summarize the progress on the controlled preparation, motion control, and biomedical applications of colloid motors through integrating multifunctional building blocks into assemblies. This review will also introduce the controlled preparation of bubble-propelled colloid motors based on layer-by-layer assembled microcapsules, nanotubes, shells, and two-dimensional plates, the fabrication of near-infrared-light-driven colloidal motors based on polyelectrolytic multilayer microcapsules and nanotubes, the controlled fabrication of biointerfacing colloidal motors, the effective control over the movement speeds, directions, and states of motors through integrating functional components, and the applications of motors in biomedical fields including drug targeted delivery, photothermal therapy, and biodetoxification.

Intelligent motion control of voice coil motor using PID-based fuzzy neural network with optimized membership function

Purpose The purpose of this paper is to develop a proportional-integral-derivative-based fuzzy neural network (PIDFNN) with elitist bacterial foraging optimization (EBFO)-based optimal membership functions (PIDFNN-EBFO) position controller to control the voice coil motor (VCM) for tracking reference trajectory accurately. Design/methodology/approach Because the control characteristics of the VCM are highly nonlinear and time varying, a PIDFNN, which integrates adaptive PID control with fuzzy rules, is proposed to control the mover position of the VCM. Moreover, an EBFO algorithm is further proposed to find the initial optimal fuzzy membership functions for the PIDFNN controller. Findings Due to the gradient descent method used in back propagation (BP) to derive the on-line learning algorithm for the PIDFNN, it may reach the local optimal solution due to the inappropriate initial values. Hence, a hybrid learning method, which includes BP and EBFO algorithms, is proposed to improve the learning performance of the PIDFNN controller. Research limitations/implications Future work will consider reducing the computational burden of bacterial foraging optimization algorithm for on-line parameters optimization. Practical implications The real-time control system is implemented on a 32-bit floating-point digital signal processor (DSP). The experimental results demonstrate the favorable effectiveness of the proposed PIDFNN-EBFO controlled VCM system. Originality/value A new PIDFNN-EBFO control scheme is proposed and implemented via DSP for real-time VCM position control. The experimental results show the superior control performance of the proposed PIDFNN-EBFO compared with the other control systems.

Measurement and Control System for Underactuated Manipulator Based on LabVIEW

The paper describes the method which is used to develop measurement and control system for manipulator based on LabVIEW since motion control of servo motors and data acquirement of joints are operating in different programming environment, respectively. The motion control system makes up of two parts: the upper computer for human-computer interface and the lower computer for explanation of program command and analysis and transmission of data. UMAC (Universal Motion and Automation Controller), the lower computer, is programmed to control velocity of servo motors by calling dynamic link library in upper computer. Simultaneously, the real-time data, which includes velocity and position of servo motors and those of joints, can be acquired from UMAC and DAQ and compared with the theory data to achieve the error that can offer some reference for improvement of measuring and controllable precision and mechanism accuracy of manipulator. The experimental result indicates that it is effective and feasible to achieve pickup operation of the five joint manipulator and decrease development threshold of motion control system.

A New 3D Wax Printer and its Control System

The paper introduces a new 3D wax printer, including its technical proposal, integral structure and control system. The raw material of this 3D printer is a mixture which is composed by wax, cyclohexane and alcohol. Raw material is transmitted to nozzle by a transmission device. The raw material which is squeezed out from nozzle deposits into product on the working platform. The paper also introduces the motion control of motor which is the hardcore of control system.

Robust Motion Control of Ultrasonic Motors Under Temperature Disturbance

This paper presents a practical robust controller that solves the problem of accurate motion control of ultrasonic motors (USMs) over prolonged durations, where temperature increases pose a significant challenge. This paper focuses on USMs with driver circuits that have a single user-controllable input. Prior to developing the robust controller, a nonlinear model of the system was identified by experimentally measuring the temporal relationship between motor speed and temperature to the applied input control signal. A linear approximation of this model was used to design two robust inverse dynamic controllers: one used temperature feedback and the other did not. Both control methods were implemented on a custom designed embedded control system and achieved highly consistent and accurate performance while under load over a range of working frequencies. Step-response experiments (1 rad) demonstrated a rise time of 0.1 s without any overshoot or steady-state error. A normalized RMSE below 3% with a delay of 25 ms was achieved for reference inputs with frequencies up to 1 Hz. This performance was maintained during prolonged continuous dynamic operation of several minutes, despite the great variation in the motor’s dynamics due to the temperature effects (over a range of 25 °C–45 °C) and modeling uncertainties.

MODELING AND SIMULATION OF FIELD ORIENTED CONTROL INDUCTION MOTOR DRIVE AND INFLUENCE OF ROTOR RESISTANCE VARIATIONS ON ITS PERFORMANCE

Induction motor with rotor flux based indirect field oriented control is well suited for high performance applications due to its excellent dynamic behavior. The overriding feature of this control method is its ease of implementation and linearity of the torque versus slip characteristics. But, the indirect field oriented controller is sensitive to variations in motor parameters, especially variation in rotor time constant. This paper presents the modeling and analysis of a voltage controlled rotor flux based indirect field oriented control induction motor motion control system. with detailed analysis of controller design in discrete system. The influence of rotor resistance variation on the performance of drive like effect on speed, rotor flux and electromagnetic torque under different operating is also studied.

Electrical method to control the running direction and speed of self-powered tiny liquid metal motors

The motion control of small motors in solution is significant for various applications, ranging from microfluidics, smart machines, to tiny robot. Here, we propose an electrical controlling method to flexibly manipulate liquid metal motors powered with aluminium. It was discovered that adding aluminium to liquid metal droplets would significantly magnify its electric controlling capability, which provides dozens of times' driving force compared to pure GaIn10droplets. After switching on the electrical field, the aluminium powered liquid metal droplet would accelerate its running speed to an extremely high magnitude, e.g. 43 cm s−1under 20 V voltage, as measured in a channel with 1 cm width and filled with aqueous solution. In addition, we also observed that the motion trajectories of the motors in the free space of a Petri dish nearly reflect the electric field lines in the electrolyte, which suggests an important and straightforward way to visualize such complex physical property. Lastly, the oscillating motion behaviour of the motor under a small electrical voltage and its continuous running modality were experimentally discriminated and interpreted. The current findings on the Al–Ga–In motors generate profound impact on developing future microfluidic systems or tiny soft robots that are hard to achieve otherwise through conventional strategies.