Motion Control System Research Articles

Modeling of Control System for Tracked Mobile Robot Taking Into Account Kinematic and Dynamic Parameters

The paper examines the problem of constructing a motion control system for autonomous mobile tracked robots in an informal external environment. Based on the proposed mathematical model of the control system for a tracked mobile robot, which takes into account kinematic and dynamic parameters, simulation modeling of a tracked mobile robot was carried out in the dynamic modeling environments of technical systems MATLAB Simulink and SimInTech, which made it possible to control the coordinates of a tracked mobile robot along a predetermined trajectory with a certain accuracy. To increase the stability of the mobile robot motion control system, a PID controller of the armature current and electromagnetic torque was introduced into it. During the simulation study, graphical dependences on time were obtained: supply voltage; rotation angle of the robot body; track speeds; motor armature current; electromagnetic torque of engines; armature current of motors with PID controller; the path traveled by the caterpillars; electromagnetic torque of motors with a PID controller, and also the center of mass of the robot was set when setting a trajectory with a radius of 10 m for 6.2 s. Models were built in the MATLAB Simulink software package: general simulation, kinematic simulation and dynamic simulation of a tracked mobile robot, simulation subsystem of the electric drive control unit. In the SimInTech software environment, a simulation model of the dynamic part of the right electric drive of a tracked mobile robot was obtained. A comparative analysis of the graphical dependencies of the angular velocity of the roller and armature current of the motor of a tracked mobile robot, obtained in the MATLAB Simulink and SimInTech packages, was carried out, which revealed a number of advantages and disadvantages when testing the operation of the control system of a tracked mobile robot in an unformalized external environment.

Laser Rangefinder Methods: Autonomous-Vehicle Trajectory Control in Horticultural Plantings

This article presents a developed motion control system for a robotic platform based on laser-ranging methods, a graph traversal algorithm and the search for the optimal path. The algorithm was implemented in an agricultural building and in the field. As a result, the most efficient algorithm for finding the optimal path (A*) for the robotic platform was chosen when performing various technological operations. In the Rviz visualization environment, a program code was developed for planning the movement path and setting the points of the movement trajectory in real time. To find the optimal navigation graph in an artificial garden, an application was developed using the C# programming language and Visual Studio 2019. The results of the experiments showed that field conditions can differ significantly from laboratory conditions, while the positioning accuracy is significantly lower. The statistical processing of the experimental data showed that, for the movement of a robotic platform along a given trajectory in the field, the most effective conditions are as follows: speed: 2.5 km/h; illumination: 109,600 lux; distance to the tree: 0.5 m. An analysis of the operating parameters of the LiDAR sensor showed that it provides a high degree of positioning accuracy under various lighting conditions at various speeds in the aisles of a garden 3 m wide with an inter-stem distance of 1.5 m and a tree crown width of 0.5 m. The use of sensors—rangefinders of the optical range—allows for the performance of positional movements of the robotic platform and ensures the autonomous performance of the basic technological operations of the units in intensive gardens with a deviation from the specified trajectory of no more than 8.4 cm, which meets the agrotechnical requirements.

Displacement Self-Sensing Control of Permanent Magnet Assisted Bearingless Synchronous Reluctance Motor Based on Least Square Support Vector Machine Optimized by Improved NSGA-II

In order to solve the problems of low integration, low reliability, and high cost caused by mechanical sensors used in bearingless synchronous reluctance motor (PMa-BSynRM) control system, a novel displacement self-sensing control method using a least square support vector machine (LSSVM) left inverse system is proposed. Firstly, the working principle of the PMa-BSynRM is introduced and the mathematical model of the PMa-BSynRM is derived. Secondly, the observation principle of the left-inverse system of the PMa-BSynRM is explained and the left-invertibility of the displacement subsystem is proved. Thirdly, the improved NSGA-II algorithm is utilized to optimize the the regularization parameter and the bandwidth of LSSVM, and the displacement self-sensing control system is constructed. The simulations of speed variation and anti-interference are performed, which proves the dynamic tracking performance of the displacement. Finally, the static suspension, speed variation and anti-interference experiments are carried out. The feasibility and reliability of the proposed displacement self-sensing method are verified.

Motor control technology based on fractional active disturbance rejection

For non-linear, strongly coupled, multivariable and naturally unstable motor control systems to realize the rapid return of the motor to the original equilibrium point without overshoot, the traditional PID controller algorithm is prone to defects such as large overshoot and long response time. The study proposes fractional order active disturbance rejection control for the motor self-balancing control method. A novel controller composed of a fractional order controller and an active disturbance rejection controller is designed and its control characteristics are analyzed and simulated. The experimental results show that compared with the traditional PID control, the controller has better dynamic performance, steady-state performance and anti-interference ability so that the motor can reach the equilibrium position quickly, stably and accurately. The illustrations of the experimental verification have been modified and explained.

Design of fine motion control system for aerobics athletes based on light imaging equipment detection and image processing technology

Design of fine motion control system for aerobics athletes based on light imaging equipment detection and image processing technology

Autonomous Droid for Terrestrial Research and Intelligence (ATRi)

ATRi (Autonomous droid for Terrestrial Research and Intelligence) is an autonomous and sentient droid designed to assist space crews with various activities and experiments. The artificially intelligent droid autonomously navigates inside crewed space capsules and utilizes voice and visual recognition algorithms to receive commands, record basic readings, and assist the crew in performing various experiments. ATRi's machine learning algorithms can be tailored to the specific astronaut(s) it will accompany in the space capsule. This personalized approach not only assists astronauts but also fosters a sense of companionship. This paper provides details about the physical and algorithmic characteristics of the droid and outlines how it can be trained and deployed in any crewed space capsule. The droid will be powered by a sentient program that incorporates visual recognition (including facial recognition and video recording capabilities), natural language processing, voice recognition, and speech synthesis. Six microphones and two cameras are embedded to capture audio/voice commands and visuals. While the current version of the droid is fixed to the space capsule, future iterations are envisioned to be highly mobile in zero-gravity environments within any crewed space capsule. This mobility is facilitated by a sophisticated motion control system that enables the droid to align in any direction, rotate, and navigate inside the crewed space module. In addition to assisting the crew, ATRi will document all activities inside the capsule through photos and videos. It can process images and videos, automatically categorize them, and periodically communicate the information to ground control.

Retracted: A Research on the Control System of High-Speed Homopolar Motor with Solid Rotor Based on Flywheel Energy Storage

Retracted: A Research on the Control System of High-Speed Homopolar Motor with Solid Rotor Based on Flywheel Energy Storage

W-Band FMCW MIMO System for 3-D Imaging Based on Sparse Array

Multiple-input multiple-output (MIMO) technology is widely used in the field of security imaging. However, existing imaging systems have shortcomings such as numerous array units, high hardware costs, and low imaging resolutions. In this paper, a sparse array-based frequency modulated continuous wave (FMCW) millimeter wave imaging system, operating in the W-band, is presented. In order to reduce the number of transceiver units of the system and lower the hardware cost, a linear sparse array with a periodic structure was designed using the MIMO technique. The system operates at 70~80 GHz, and the high operating frequency band and 10 GHz bandwidth provide good imaging resolution. The system consists of a one-dimensional linear array, a motion control system, and hardware for signal generation and image reconstruction. The channel calibration technique was used to eliminate inherent errors. The system combines mechanical and electrical scanning, and uses FMCW signals to extract distance information. The three-dimensional (3-D) fast imaging algorithm in the wave number domain was utilized to quickly process the detection data. The 3-D imaging of the target in the near-field was obtained, with an imaging resolution of 2 mm. The imaging ability of the system was verified through simulations and experiments.

Influence of Building Layout and Weather Conditions on Air Traffic Services

I Gusti Ngurah Rai International Airport is one of the busiest airports in Indonesia that serves a variety of flights, ranging from scheduled, unscheduled, cargo, and military, to recreational flights. All flights are regulated by the Air Traffic Controller which is divided into two units, namely the Aerodrome Control Tower and Approach Control Surveillance. The Aerodrome Control Tower has the responsibility of regulating flight traffic in the "vicinity of aerodrome" area. From the tower, ATC must be able to monitor all movements of flight operations in the area of responsibility. However, at the I Gusti Ngurah Rai Airport tower, several things can affect ATC's view in monitoring the movement of flight operations, namely airport buildings that block several parking stands, dark night conditions in the maneuvering area, and extreme weather. Of course, these problems will also affect the performance of ATC in providing flight traffic services. In addition, it can cause doubts in ATC in making decisions for aircraft that are being handled. This research aims to analyze the problem of ATC's limited view in monitoring the movement of flight operations in its area of responsibility. The research method used is qualitative with data collection techniques in the form of observation, literature study, interviews, and documentation. The development of Advanced Surface Movement Guidance and Control System that can monitor the movement of flight operations in various conditions can be one solution to the problem. In addition, the installation of CCTV in several areas that are not visible from the tower can also assist ATC in monitoring the movement of flight operations in the area. The results of this study are expected to assist ATC in monitoring the movement of flight operations both in dark night conditions and extreme weather. The author also hopes that the results of this study can be useful in improving organized and efficient flight traffic services at I Gusti Ngurah Rai International Airport.

Simulation Study on Dynamic Characteristics of the Chain Drive System for Mining Scraper Conveyor Driven by the Permanent Magnet Synchronous Motor

The chain drive system represents a critical subsystem within the scraper conveyor. This paper proposes a joint simulation model for the drive system of the scraper conveyor, driven by the permanent magnet synchronous motor, in order to conduct a comprehensive analysis of the dynamic characteristics of the chain drive system during the operational process. Firstly, the dynamic simulation model for the mining scraper conveyor’s chain drive system was established in ADAMS, taking into account its structural characteristics. Then, the mathematical model of the permanent magnet synchronous motor was established using the coordinate transformation theory, and the speed controller based on vector control was designed by using the theory related to sliding mode control. The coupling relationship between the chain drive system of the scraper conveyor and the permanent magnet synchronous motor drive system was investigated. Finally, a joint simulation model of the mechanical system and motor control system was created using ADAMS (View 2019) and MATLAB/Simulink (2020a). The dynamic characteristics of the chain drive system were analyzed, and the three typical working conditions of no load, half load, and rated load were considered. The results show that the contact force between the flat ring and the sprocket undergoes an initial increase, followed by a decrease, and finally another increase. As the load increases from no load to full load, there is a marked increase in the contact force between the loaded side chainrings. Due to the polygon effect, both the speed curve of the permanent magnet drive motor and the contact force curve between the ring chains exhibit periodic fluctuations. The research in this paper provides an idea for the coupling analysis of the scraper conveyor electromechanical system.

Design of PMSM Dual-Loop Control Systems Integrating LADRC and PI Controllers via an Improved PSO Algorithm

This paper is concerned with the design of a dual-loop control system for permanent magnet synchronous motor (PMSM). An improved linear extended state observer (LESO) with excellent estimation capability is employed to develop an improved linear active disturbance rejection control (LADRC) suitable for PMSM speed regulation, achieving outstanding disturbance suppression in PMSM speed control. The use of an internal model control scheme to initialize the parameters of the proportional-integral- (PI-) based current controller simplifies the search space of the control system parameter optimization. An improved particle swarm optimization (PSO) algorithm is applied to optimize the controller parameters, thereby enhancing the overall system performance. Finally, through a series of simulations and experiments, we validate that our proposed controller exhibits superior performance compared to some other control methods.

The advanced motion control system in HEPS beamline

In synchrotron radiation facilities such as the High Energy Photon Source (HEPS), numerous motorized actuators are equipped on the optics devices of HEPS beamline to manipulate the orientation of crystals and mirrors, thereby altering the position and characteristics of X-rays. The motion control system (MCS) plays an important role in the optics devices of HEPS beamlines, such as monochromator, K-B mirror and sample plants. In order to acquire the specify properties of X-ray and satisfy the complex experimental requirements, MCS must have the ability to handle the complicated control demands. Therefore, HEPS has developed a standardized motion control system for synchrotron radiation applications, which is a distributed system based on EtherCAT fieldbus. The hardware of this system consists of the control unit and driver unit, which has the flexibility to suit for different applications. The software of MCS is designed under the Experimental Physics and Industrial Control System (EPICS), which is very popular in synchrotron radiation facilities all over the world. In this paper, the performance tests of IOC software were demonstrated, and a few flyscan applications were given, which include spiral scan, raster scan and position event trigger, to demonstrate the feasibility and effectiveness of this system.

Transient Response Analysis of Reset PID Control Systems

Reset controllers have demonstrated their efficacy in enhancing transient responses, such as the overshoot and response time in motion control systems. Designing these systems to meet specific transient requirements requires a method for analyzing transient responses. However, the inherent nonlinearity of reset control systems presents challenges in this regard, limiting their widespread application. This study introduces a novel method for analyzing the step responses of closed-loop reset control systems. By decomposing the step response of the reset system into piece-wise functions, with each piece-wise function computed based on linear systems, this analysis method offers new insights into understanding reset systems. Experimental validation conducted on eleven reset Proportional-Integral-Derivative (PID) control systems implemented on a precision motion stage confirms the effectiveness of the proposed method. The experimental results also underscore the applicability of the method as a tool for selecting optimized parameters and reset control structures to achieve enhanced transient responses.

Efficient tuning for motion control in diverse systems: a Bayesian framework

Feed-forward control is widely used in motion control systems that involve repetitive tasks, leading to substantial performance improvements. This paper presents a model-free feedforward optimization framework centred around Bayesian Optimization (BO). Bypassing the need for exhaustive system modelling, the method directly optimizes the Iterative Learning Control (ILC) degrees of freedom based on a user-defined parametrization of the feed-forward controller. Experimental results on a motion control application show significant improvements with respect to more classical ILC. A notable advantage emerges when dealing with an industrially relevant case with multiple similar plants; the optimizer is shown to adeptly adjust the feed-forward control to be compliant with the response of the measured system.

Exploration and Practice of Curriculum Reform in Motion Control Systems

Exploration and Practice of Curriculum Reform in Motion Control Systems

A Proposal of a Design for the Bionic Hand: Describing the Integration, Motor Controlling System, Stereognosis, and Proprioception Sensory Feedback Components.

Despite recent advancements in bionic upper limb prostheses technology, the rejection rate by users remains unacceptably high. Various factors contribute to this issue, such as limited functionality, complex control mechanisms, and discomfort, with most of these concerns being documented solely through self-assessment surveys. In this article, we introduce our proposed four components for an integrated bionic hand aimed at making it closely resemble a natural hand. These components include an integrated intramedullary stem, a kineticomyographic motor control system, sensory feedback for stereognosis, and sensory feedback for proprioception.

Direct electromagnetic force control of linear induction motor with end effects using fuzzy controller

In this article is a present dynamic model of a linen induction motor with end effects, occurs when the electromagnetic system of the motor is open. Instead of the angular speed and electromagnetic torque as a rotation motor, in the linear induction motor we have linear speed and linear electromagnetic force, which are sufficiently influenced by the open electromagnetic system of the primary and secondary elements of the linear motor. The choice of an appropriate control system for a linear induction motor is of particular importance considering the use of this type of motor in manufacturing. There are different types of control schemes for standard rotary motors that have their own advantages and disadvantages. When choosing a motor control scheme, we strive to achieve the following parameters, such as smoothness of regulation, ability to regulate in all four quadrants, accuracy of regulation, range of regulation and last but not least, simplicity of regulation. One such method that meets these criteria for rotary motors is the direct torque control method with space vector modulation. The control system of the linear induction motor proposed in this paper is based on this method, taking into account the open electromagnetic system and the occurrence of the end effects of the linear induction motor. Instead of the angular reference velocity as a rotary motor, in this case we have a linear reference velocity to the input, which is compared to the current linear velocity of the motor. The present paper also uses the vector modulation method by analogy with direct torque control with space vector modulation of the rotary motor. For the conversion of a linear velocity to a linear electromagnetic force, instead of a standard PI controller, it is using a fuzzy controller to convert a linear velocity to a reference electromagnetic force.

Preparation and Application of Novel Power Semiconductor Chips

This study aims to improve the triggering current and dynamic characteristics of thyristor chips by designing new gate structures and multilayer semiconductor structures. Thyristor chips are essential components in power electronic devices, widely used in fields such as power transmission, motor control, and energy conversion systems. Trigger current is a key factor in the performance of thyristor chips, which is responsible for initiating the conduction state of the thyristor and carrying high current under high voltage conditions. This study improved the triggering current and dynamic characteristics of thyristor chips by optimizing the chip structure, especially by introducing multilayer P/N semiconductor design and improving the gate structure. The research results provide important guidance for the future development of thyristor chips and also contribute to the advancement of semiconductor technology.

Adaptability Analysis of Distributed Motor Measurement and Control System Based on Electronic Information Technology

Adaptability Analysis of Distributed Motor Measurement and Control System Based on Electronic Information Technology

Virtual reality and serious games in healthcare

This paper covers the uses and remedies of invented games and Virtual Reality (VR) in medical settings, such as exercise therapy for motor rehabilitation and exposure treatment for psychological fears and the alleviation of suffering. This paper examines the cutting-edge interactive gadgets seen in contemporary virtual reality and high-end gaming titles, including data gloves, haptic force feedback devices, and tracking devices based on sensors and cameras. Major ideas and breakthroughs in the discipline of gaming technology are examined, including adaptive games, flow theory, dynamic simulations, and potential uses in serious gaming and medicine. Examples of VR systems and game trials for stroke recovery are presented to illustrate the advantages and effects of these technologies over traditional clinical practices. The paper concludes by outlining potential future directions for the use of emerging gaming technologies in medical services, including augmented realities, the Wii-remote motion control system, and full-body motion capture and controller-free games, which were showcased at E3 2009. These technologies have significant potential for treating motor disorders, preventing obesity, and addressing other medical issues.