Motion Control System Research Articles

Research on the motor control system of electric driven air suction seed dispenser

In order to improve the characteristics of the motor control system of the electric drive type pneumatic PLANTING device, some pneumatic PLANTING devices made by American PrecisionPlanting Company were used to design the motor control system and the drive gear of the motor. On the basis of analyzing the dynamics of brushless DC motor, hysteresis control and sliding mode control strategy are used to control the speed of the motor, and the control system simulation model of the drive motor is established on MATLAB/Simulink software. The simulation results show that the waveform is consistent with the theoretical analysis. When the load is suddenly applied, the speed can respond quickly and become stable quickly. The torque response can follow the change of current well, and the system can run smoothly.

Development of an electric drive for personal light electric vehicles

Problem. The article addresses the challenge of enhancing inclusive mobility and environmental cleanliness by developing a traction electric drive for personal light electric vehicles. A study was conducted on modern electric drive systems for personal light electric vehicles. Goal. The aim is to boost inclusive mobility and environmental cleanliness through the development of a traction electric drive for a personal light electric vehicle, specifically based on a tricycle. Methodology. The methodology involves scientific analysis and synthesis of traction electric drives for electric vehicles. An assessment of the nominal capacity of the battery module from the Nissan Leaf electric car was conducted using both partial discharge procedures and the Leaf Spy Pro program. Results. Based on an analysis of existing electric drive systems, a traction electric drive for a tricycle was developed. A functional diagram of the electric bicycle drive was generated. A control system for a sensorless brushless motor was developed, determining rotor position by measuring EMF in the free phase. This led to the creation of a stable voltage electrical circuit with a virtual midpoint. The tricycle's electric drive utilizes two 10-inch motor wheels on the rear wheels, enabling high speed and efficiency. Controllers specifically designed for electric wheel motors with a power of 350 W were selected to control the traction electric drive. Modules from the 2015 Nissan Leaf electric car's battery, which had depleted 20% of their capacity, were chosen to power the electric drive. The battery health status is 77.95%. A model of the battery's electrical equivalent circuit was constructed, and partial discharge graphs of the Nissan Leaf battery module were analyzed. Originality. The results provide a comprehensive insight into the development of a traction electric drive for personal light electric vehicles, using a tricycle as an example. Practical value. The research led to the development of an electric drive for a three-wheeled vehicle, with two motor wheels of 350 W nominal power each. The power supply voltage ranges from 36 V to 48 V, powered by six battery modules from the Nissan Leaf electric car, totaling 48 V. The energy capacity of one battery module is 0.3898 kWh, resulting in a total energy capacity of 2.3388 kWh for the vehicle's battery. However, the realizable capacity does not exceed 1.871 kWh, providing a travel distance of approximately 75 km on one battery charge. These findings demonstrate the feasibility of reusing batteries from electric cars with diminished capacity to power light electric vehicles. The results are relevant for scientific and technical professionals involved in electric vehicle development.

Development and design approach of an sEMG-based Eye movement control system for paralyzed individuals

Development and design approach of an sEMG-based Eye movement control system for paralyzed individuals

A road surface reconstruction dataset for autonomous driving

Recent developments in intelligent robot systems, especially autonomous vehicles, put forward higher requirements for safety and comfort. Road conditions are crucial factors affecting the comprehensive performance of ground vehicles. Nonetheless, existing environment perception datasets for autonomous driving lack attention to road surface areas. In this paper, we introduce the road surface reconstruction dataset, providing multi-modal, high-resolution, and high-precision data collected by real-vehicle platform in diverse driving conditions. It covers common road types containing approximately 16,000 pairs of stereo images, point clouds, and ground-truth depth/disparity maps, with accurate data processing pipelines to ensure its quality. Preliminary evaluations reveal the effectiveness of our dataset and the challenge of the task, underscoring substantial opportunities of it as a valuable resource for advancing computer vision techniques. The reconstructed road structure and texture contribute to the analysis and prediction of vehicle responses for motion planning and control systems.

Development of undulator motion control system with redundant protections

The undulator is a key luminous component of the Shanghai high repetition rate x-ray free electron laser and extreme light facility, and the motion control system is an important part of the undulator. The main task of the motion control system is to complete the high precision adjustment of the gap and taper between the upper magnetic pole girder and lower magnetic pole girder, so as to adjust the wavelength of the radiation light. According to the development requirements of the motion control system for the U26 undulator, which is a conventional permanent magnet, this paper proposes a new motion control system with double position feedback closed-loop control, including programmable logic controller (PLC) closed-loop control based on position feedback by a linear absolute encoder (LAE) and driver closed-loop control based on position feedback by a rotary absolute encoder (RAE) of a servo motor. Multiple motion tests of the U26 undulator have shown that the repeatability accuracy of the gap is ±50 nm and the gap drive can reach 0.1 µm step size, the error of which is about ±20 nm according to the feedback of the LAE. The conclusion can be drawn that the motion step size and repeatability accuracy of the motion control system for the U26 undulator are improved by one order of magnitude on the basis of meeting all technical requirements. At the same time, motor torque protection, motor temperature protection, and redundant position protection with RAE can further improve the reliability and safety of the motion control system for the U26 undulator.

Free motion characteristics of the ventilated supercavitating vehicles

Supercavitation theory and technology are important methods for reducing the drag of underwater vehicles to achieve motion with high speed. A ventilated supercavitating vehicle can break the limitation of natural supercavitation on speed and ambient pressure and has broad application prospects. The presence of hydrodynamic forces only at the head and tail restricts the significant improvement of the motion performance of the vehicle. Therefore, this study improves the dynamic model of a supercavitating vehicle using a self-developed shear-layer gas loss model and simulates the vehicle’s level-free motions to reveal the motion characteristics and hydrodynamic distribution characteristics. Further, the effects of the cavitator as an important control surface on motion characteristics are analyzed by changing the cavitator diameter in numerical simulations. The results lay a theoretical foundation for designing control surfaces and motion control systems for the vehicle.

Design and experiment of multidimensional and subnanometer stage driven by spatially distributed piezoelectric ceramics.

Multidimensional microdriving stage is one of the key components to realize precision driving and high-precision positioning. To meet nanometer displacement and positioning in the fields of micro-/nano-machining and precision testing, a new six-degree-of-freedom microdriving stage (6-DOF-MDS) of multilayer spatially distributed piezoelectric ceramic actuators (PZTs) is proposed and designed. The interior of the 6-DOF-MDS is a hollow design. The flexure hinge is used as the transmission mechanism, and the series-parallel hybrid driving of the corresponding PZTs achieves the microtranslation in the X, Y, and Z directions and the microrotation around the three axes of the microdriving stage, forming a microdisplacement mechanism with high rigidity and simple structure, which can realize the microfeed of 6-DOF. The force-displacement theory and lug boss structure optimization of the 6-DOF-MDS are analyzed, while the strength checking and natural frequency of the 6-DOF-MDS are also simulated by the finite element method. In addition, the real-time motion control system of the 6-DOF-MDS is designed based on Advanced RISC Machines. Through a series of verification experiments, the stroke and resolution results of the 6-DOF-MDS are obtained, where the displacements in the X, Y, and Z directions are 20.72, 20.02, and 37.60μm, respectively. The resolution is better than 0.68nm. The rotation angles around X, Y, and Z are 38.96″, 33.80″, and 27.87″, respectively, with an angular resolution of 0.063″. Relevant coupling experiments were also performed in this paper; in the full stroke linear running of X-axis, the maximum coupling displacements of the Y- and Z-axes are 1.04 and 0.17μm, respectively, with the corresponding coupling rates of ∼5.0% and 0.8%. The maximum coupling angles for the X-, Y-, and Z-axes are 0.33″, 0.14″, and 2.30″, respectively. Considering the coupling of the 6-DOF-MDS, decoupling measures and specific mathematical models have also been proposed. The proposed multidimensional microdriving stage achieves subnanometer resolution and can be used for the precise positioning and attitude control of precision instruments at the nano-/subnanometer level.

Trajectory optimization of B-splines interpolation based on dynamic error adjustment

In this paper, we propose a motion planning algorithm based on the five-fold B-spline curve for multi-axis motion control systems with non-smooth trajectories, acceleration, plus acceleration over the limit, etc. We construct a smooth transition model for the micro-line segment G3 of the continuous five-fold B-spline curve. A derivation of the corresponding theoretical equation is given. Using the transition model, we propose an optimization method for dynamic adjustment of motion trajectory errors based on the velocity forward planning constraints by smoothing the transition after the trajectory of the micro-line segment for the forward planning velocity. Finally, the design flow for the forward planning of the velocity is given. Finally, the above algorithm is used to perform simulation experiments for the optimization algorithm. Experimental results show that the proposed optimization improves the accuracy of fitting motion trajectories under the constraints of acceleration and deceleration addition, which validates the proposed algorithm.

Comparative Study of In-Wheel Motor Control Systems Based on Multiple Controllers

This paper proposes a comparative study of hub motor control based on multiple control strategies (pi control, direct torque control, model predictive current control) to address the problem of slow dynamic response in traditional vector control of electric vehicle permanent magnet synchronous hub motors. By strictly extracting the mathematical model of the motor, the desired target voltage vector and current vector are derived using three controllers and applied to the controlled object. Finally, experiments are conducted on a simulation platform, and the experimental conclusions are used to compare and analyze the reliability and adaptability of different controllers.

Devising a technique for assessing the accuracy of measuring electric motor torque

The object of this study is a technique for assessing the accuracy of measuring the torques of electric motors. This technique is based on the improvement of dynamic torque measurement processes under transient operating modes. Special attention was paid to devising adaptive methods to normalize the output signal, which take into account vibrations and nonlinearities of the measuring channel. In order to improve the accuracy of measurements under conditions when the controlled parameter has different deviations from its average value, a technique for integrating time measurement intervals was proposed. That has made it possible to generalize parameter fluctuations, providing more stable measurement results. This paper reports the simulation of the process of measuring torques of electric motors under transient operating modes and under vibration conditions. That has made it possible to test the proposed technique for estimating the variance of the methodological error, which includes the integration of measurement time intervals and makes it possible to increase the accuracy of the measurement under the conditions of transient modes in electric motor operation. An algorithm for correcting the error of the dynamic torque of the electric motor has been proposed, which allows it to be corrected. This becomes possible owing to the use of a reference measure and the proposed technique for determining the deviations of the controlled parameter of the measured quantity, as well as the automatic calibration of measuring transducers. The algorithm allows for flexible settings of the corrective action, expanding the potential of electric motor control systems. It can complement soft measurement methods, as well as adjust the threshold values of deviations under different operating modes of electric motors. This allows the measured systems to better adapt to changes in operating conditions, to adjust the specified measurement accuracy under conditions of uncertainty

Leveraging Emerging Technologies for Enhanced Airport Ground Movement Management Efficiency and Reliability

The Executive summary serves to give the highlights of the research paper and an overview of the objectives, methods used, key findings and implications. It is a brief rundown of the whole research document and provides time-pressed readers with some insights onto the study without having to go into deeper details. Introduction: This research paper examines how blockchain, edge computing and autonomous systems can be integrated inside airports in order to enhance performance and reliability of airport ground movement management. There is need for innovative approaches towards optimizing ground movement in highly complex airports to ensure that they operate seamlessly in a growing air traffic scenario. Objectives: The main aim of this study is to explore how blockchain, edge computing and autonomous systems could change airport ground movement management entirely. These technologies will be exploited for improving data sharing, enhancing real-time processing capabilities as well as enabling automatic decision support services on the ground operations. Methodology: In this case a mixed method approach has been used which involves qualitative and quantitative analysis. Qualitative methods like surveys and questionnaires are done so as researchers get insights from different stakeholders, Integrating various stakeholders, including airlines, airports, and regulators, regarding their perspectives on integrating new technologies into ground movement management!!! Quantitative methods involve data analysis to assess the effectiveness and efficiency of proposed technological solutions. Additionally, simulations and case studies are conducted to evaluate the impact of these technologies on ground movement optimization. Key Findings: The research yields promising results, indicating significant improvements in routing efficiency, reduced taxiing times, and increased operational reliability. The integration of blockchain facilitates secure data sharing, while edge computing enables real-time processing, leading to faster decision-making in ground movement management! Autonomous systems contribute to optimizing resource routing and allocation decisions, further enhancing operational efficiency. Implications and Recommendations: The findings of the research carry both theoretical and practical implications. Theoretical implications include advancing knowledge in the field of airport ground movement management by exploring the potential of emerging technologies. On a practical level, the research provides valuable insights for airport stakeholders seeking to modernize their ground movement control systems?? Recommendations include addressing the complexity of integrating multiple emerging technologies and overcoming challenges related to data security and system interoperability. Conclusion: In conclusion, the research underscores the significance of integrating blockchain, edge computing, and autonomous systems into airport traffic management to enhance efficiency and reliability!!! By addressing key challenges in ground movement management, the study paves the way for more streamlined and resilient airport operations, ultimately benefiting the aviation industry as a whole.

Quasi Z-Source Direct Matrix Converter for Enhanced Resilience to Power Grid Faults in Permanent Magnet Synchronous Motor Applications

In this paper, a voltage control system for a PMSM motor based on the QZSDMC converter is proposed, which allows operation in both buck and boost modes as a possible method to make the drive resistant to power grid voltage sags. The authors presented a method for measuring and transforming the output voltage from QZS, enabling the use of a PI controller to control the voltage supplied to the DMC converter. The publication includes simulation and experimental studies comparing the operation of a PMSM motor powered by DMC and the proposed QZSDMC with voltage regulation. Simulation studies confirm the drive with QZSDMC resistance to voltage sags up to 80% of the rated value. Experimental studies demonstrate the correct operation of PMSM even with a power grid voltage amplitude equal to 40% of the rated value.

РОЗРОБКА СИСТЕМИ КЕРУВАННЯ КРОКОВИМ ДВИГУНОМ НАВЧАЛЬНОЇ ТРАНСПОРТНОЇ ЛІНІЇ

Stepper motors have long been successfully used in a variety of industrial and special equipment. The advantage of stepper motors is that a high degree of motion control can be achieved. Stepper motors are controlled using microprocessor systems. However, in this case, the stepper motor is controlled by the program loaded into the microcontroller. There is often a need to dynamically change the operation parameters of the stepper motor - speed of rotation, direction and magnitude of the angle of rotation, etc. The work is devoted to the development of the stepper motor control system of the educational transport line, implemented at the Department of Automation of Production Processes of the Ukrainian State University of Science and Technology. The system allows you to dynamically change system parameters using either a personal computer (PC) by sending the appropriate commands to the system via the COM port, or by using a tablet by sending the appropriate commands to the system via Bluetooth. Such a system can be used both in the educational process to practice standard stepper motor control techniques and microcontroller programming skills, and in industrial systems that require high-precision mechanism position control.

CONCEPT OF IMPLEMENTATION OF PRECISION MICROPROCESSOR CONTROL SYSTEM OF COLLECTOR ENGINE OF CNC MACHINE

An emerging trend in recent decades is the increasing role of CNC equipment, which has already become one of the main types of equipment in significant portions of modern technological lines. This is attributed to both the complication of technological processes and the rising demands for product quality, as well as the increased productivity and functionality of modern microprocessor systems. It is worth noting that the DC motor and its electric drive, which can operate on both direct and alternating current, occupy a significant niche in the social production system and deserve special attention. One of the key features of modern scientific and technological progress is the wide use of microelectronics in various branches of the national economy, which is constantly growing. The role of microelectronics in the development of social production is determined by its versatile capabilities in solving various tasks and its deep influence on culture and everyday life of a person. Currently, special attention is focused on the introduction of microprocessors that solve the tasks of automating the control of mechanisms, devices and equipment. Adaptation of microprocessors to specific tasks is usually carried out by developing appropriate software, which is then loaded into the device's memory. Hardware adaptation, in most cases, is carried out by connecting the necessary integrated circuits and organizing input-output corresponding to the problem being solved. These characteristics ensure high flexibility of such systems, which allows you to quickly adapt production equipment to new technological conditions. The article proposes a concept for implementing a precision microprocessor control system for a CNC machine's DC motor, implemented on the basis of single-chip microcomputers, characterized by increased reliability due to the reduction in the number of serial links. A methodology for implementing a precision microprocessor control system for a CNC machine's DC motor has also been developed, the application of which will significantly simplify the design process and reduce the time required to build such a system.

Robust fuzzy – backstepping mode control of an induction motor

This paper presents a novel control for induction motors using backstepping control and fuzzy logic. The Backstepping control is suggested as a substitute for the conventional PI controller to attain high-performance motion control systems for the speed, flux, and current control loops. Stability analysis, based on Lyapunov theory, is also conducted to guarantee the convergence of the speed tracking error from all possible initial conditions. The speed regulator was changed to a fuzzy logic regulator. The simulation results confirm that the proposed hybrid control fuzzy-backstepping scheme offers improved performance in terms of trajectory tracking ability and robustness against variation when subjected to time-varying reference input.

Design and test of an efficient seedling pick-up device with a combination of air jet ejection and mechanical action

Low degree of transplanting automation will affect production efficiency and planting quality in vegetable cultivation. A new seedling pick-up device was designed and constructed to reduce direct grasping damages to seedlings and improve transplanting efficiency. The pick-up device consists of an air jet loosening device, a flexible pick-up manipulator, a parallel feeding device, and a multi-axis motion control system. Its working principle is to use air jet ejection to assist in loosening of seedling roots from the tray cells, grasp their stems for extracting with the pick-up manipulator, and finally transfer them to the delivery device for feeding into the planting device as needed. The mechanical structure and working parameters of each component were designed, and the control system was constructed according to the working requirements of ejecting, extracting, transferring, and discharging operations. A prototype of the new pick-up device was constructed, and its performance evaluation was conducted using an orthogonal experimental design using cucumber, pepper and caluiflower as test objects. The results showed that the test object, the root lump's moisture content and the loosening way (either as a whole or individual loosening of seedlings) had significant effects on the success ratio in picking up seedlings. Overall, the success in picking up seedlings from the cell was found to be influenced by horticultural and mechanical factors. Under the optimal level group, the maximum success ratio for automatic picking up seedlings was up to 94.49% for pepper while that of cucumber and cauliflower recorded 90.75% and 92.62%, respectively. The seedling pick-up performance was satisfactory for efficient transplanting requirements.

An embedded control system for AC motor drive to reduce energy consumption of evaporative coolers

An embedded control system for AC motor drive to reduce energy consumption of evaporative coolers

Adaptive Quick Sliding Mode Reaching Law and Disturbance Observer for Robust PMSM Control Systems

The permanent magnet synchronous motor (PMSM) has been of interest to eco-friendly industries on account of its advantages such as high performance, efficiency, and precision control. However, perturbations due to PMSM parameter uncertainty, load torque, and external disturbance interfere with the construction of PMSM precision control systems. Therefore, a robust control system is needed to avoid unnecessary system movement caused by perturbations. In this paper, sliding mode control (SMC) is adopted to implement a robust control system for the PMSM. In order to reduce the reaching time from the initial system state to the sliding surface and the chattering phenomenon that can cause the system to malfunction, the adaptive quick sliding mode reaching law based on an exponential function and power equation is proposed. Although the SMC is robust to disturbance and parameter uncertainty, unexpected disturbances can destabilize the system. To estimate the unmatched disturbance in a short time, the second-order fast terminal sliding mode observer (SFTSMO) is proposed. The results show that the motor control system based on the proposed method has a fast convergence speed to an objective value, position tracking performance, and robustness.

DC to DC Boost Converter Optimized Speed Control for BLDC Motor

BLDC motors have the capacity to replace induction motors, but the major setback is the implementation of its drive system which should be efficient as well as low cost and can be implemented easily. Here we try to implement a improved speed control system for a BLDC motor using sensors and easily available controllers which can be utilized for operating under various conditions directly for many applications which will help in the replacement of induction motors with BLDC motor systems. The response of the system has been studied for various speed and load conditions using MATLAB simulation tools.

PROGRESSIVE STEP MAXIMUM POWER TRACKER FOR CASCADED INVERTER INDUCTION MOTOR DRIVE

This paper presents the idea of an isolated photovoltaic (PV) based cascaded two-level inverter (CTLI), driving squirrel cage induction motor (SCIM). The connected non-linear load approximately represents a centrifugal pump. The control system of this drive is based on a motor control system along with a progressive step perturb and observe (PSPnO) maximum power point tracking (MPPT) technique for the PV sources towards better utilization of the source. This PSPnO MPPT system intends to operate the SCIM so that the energy developed by PV is utilized entirely through variation of the dc-link voltages of the CTLI under both uncertain variances of non-linear load torque and unpredictable solar irradiance. This PSPnO MPPT algorithm has been engaged in the control scheme for generating reference dc-link voltage. This motor control system is designed to operate in a rotor-flux-oriented rotating reference frame. As for generating CTLI’s switching pulses, the space vector pulse width modulation (SVPWM) technique has been used for its good dynamic response. The whole system is designed to be deployable on a low-computation device. The simulations conducted by Simulink and the results are furnished considering various operational conditions.