Motor Control Applications Research Articles

SISTEM APLIKASI MONITORING RUANGAN BERBASIS WEBCAM

Software design and hardware application system monitoring room webcam based aims to add value to the webcam to be used as part of the security system, implementing the work process of hardware and software monitoring system formed using delphi 7, analyzing the performance o f a stepper motor as the driving platform webcam and documenting object images and sounds in the room activities into a file format AVI (Audio Video Interleave). Webcams are used in this design is equipped with a standard webcam lighting lamps LED (Light Emitting Diode) with a USB data line, while the driver controls the webcam in the design o f this platform using unipolar type stepper motor controlled by a microcontroller, motor drivers and line interface RS232 to USB (Universal Serial Bus) converter. The installation o f the webcam to webcam platform play will lead to the right, left, stop rotating right and or to the left automatically. From the test results it can be concluded that the monitoring system and webcam based indoor stepper motor consists o f webcam applications and motor control applications platform which is separately because both applications use the USB and COM communication channels are opened simultaneously. As for the results o f the motion setting webcam platform proved to have a consistent degree of deviation for the wine and left turn kenanan but still require a series o f additional gears for smooth movement o f the platform and to reduce the effects o f shadow on motion pictures.

AVR Microcontroller-based automated technique for analysis of DC motors

This paper provides essential information on the development of a ‘dc motor test and analysis control card’ using AVR series ATMega32 microcontroller. This card can be interfaced to PC and calculates parameters like motor losses, efficiency and plot characteristics for dc motors. Presently, there are different tests and methods available to evaluate motor parameters, but a single and universal user-friendly automated set-up has been discussed in this paper. It has been accomplished by designing a data acquisition and SCR bridge firing hardware based on AVR ATMega32 microcontroller. This hardware has the capability to drive the phase-controlled rectifiers and acquire real-time values of current, voltage, temperature and speed of motor. Various analyses feasible with the designed hardware are of immense importance for dc motor manufacturers and quality-sensitive users. Authors, through this paper aim to provide details of this AVR-based hardware which can be used for dc motor parameter analysis and also for motor control applications.

Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

Nonlinear dynamical systems have been used in many disciplines to model complex behaviors, including biological motor control, robotics, perception, economics, traffic prediction, and neuroscience. While often the unexpected emergent behavior of nonlinear systems is the focus of investigations, it is of equal importance to create goal-directed behavior (e.g., stable locomotion from a system of coupled oscillators under perceptual guidance). Modeling goal-directed behavior with nonlinear systems is, however, rather difficult due to the parameter sensitivity of these systems, their complex phase transitions in response to subtle parameter changes, and the difficulty of analyzing and predicting their long-term behavior; intuition and time-consuming parameter tuning play a major role. This letter presents and reviews dynamical movement primitives, a line of research for modeling attractor behaviors of autonomous nonlinear dynamical systems with the help of statistical learning techniques. The essence of our approach is to start with a simple dynamical system, such as a set of linear differential equations, and transform those into a weakly nonlinear system with prescribed attractor dynamics by means of a learnable autonomous forcing term. Both point attractors and limit cycle attractors of almost arbitrary complexity can be generated. We explain the design principle of our approach and evaluate its properties in several example applications in motor control and robotics.

Adaptive predictive current control technique for permanent magnet synchronous motors

Producing the required magnitude and shape of reference current is necessary to achieve precise torque control in motor control applications. A deadbeat predictive current controller provides very good dynamic performance. In order to achieve very accurate reference current production, the machine and inverter should be modelled properly with accurate parameters. Parameter changes, especially the back electromagnetic force (bemf) voltages and inverter delay elements, cause deadbeat current regulator performance to deteriorate significantly. This study addresses accurate determination of permanent magnet synchronous machine parameters dynamically online, taking into account the delay elements such as inverter output filters, calculation time steps of the control algorithm within the digital signal processor (DSP) and updating the current regulation accordingly. The new algorithm is simulated and experimentally tested. The simulation and experimental results of the new current regulation technique provide very good dynamic and steady-state results, validating regulator performance.

Functional Electrical Stimulation on Improving Foot Drop Gait in Poststroke Rehabilitation: A Review of its Technology and Clinical Efficacy

This article presents technical developments in and clinical applications of functional electrical stimulation (FES) in the recovery of gait and motor function in poststroke rehabilitation. We review stroke incidence, stimulator design, brain-computer interface-based FES systems, and clinical applications of FES. Developments in different types of foot drop stimulators are reviewed, including hard-wired and microprocessor-based surface stimulator systems. The replacement of the foot switch by using artificial and "natural" sensors as the primary control in foot drop stimulators is reviewed. In addition, this review evaluates the clinical effects of FES applications in gait, motor control, and functional ability compared to conventional therapy alone during poststroke rehabilitation. The literature suggests the combination of FES and a conventional rehabilitation program has a positive therapeutic effect on the recovery of gait, motor function, energy expenditure, and functional ability in stroke patients. On the basis of our review, we recommend using FES therapy along with a conventional rehabilitation program in the poststroke rehabilitation process. In summary, this article describes the need for rigorous technological development, clinical studies, and collaboration between clinicians and engineers for FES systems. Future research would facilitate the design of costeffective FES systems as well as analysis of FES applications in stroke patients to optimize the rehabilitation process.

Combined PWM Motor Control Study and Application in EPS

The power switch circuit of electrical power steering (EPS) is analyzed. A kind of PWM hybrid control algorithm combining the Unipolar reversible PWM mode of brush DC motors with its bipolar reversible PWM mode is put forward in this paper to improve the performance of current EPS system. The basic switch principle between Unipolar and Bipolar PWM mode is that the voltage during the switch process remains constant. The switch process and practical application of DC motor with Uni-Bipolar hybrid control mode in EPS is analyzed. The results show that PWM hybrid mode has exhibited good performance in vehicle electric power steering system.

Spread Spectrum Modulation by Using Asymmetric-Carrier Random PWM

This paper presents a new fixed-carrier-frequency random pulsewidth modulation method, where a new type of carrier wave is proposed for modulation. Based on simulations and experimental measurements, it is shown that the spread effect of the discrete components from the motor current spectra and acoustic spectra is very effective and is independent from the modulation index. The flat motor current spectrum generates an acoustical noise close to the white noise, which improves the acoustical performance of the drive. The new carrier wave is easy to implement digitally, without employing any external circuits. The modulation method can be used in both open- and closed-loop motor control applications.

Design of Field Programmable Gate Array Based Emulators for Motor Control Applications

Problem statement: Field Programmable Gate Array (FPGA) circuits play a significant role in major recent embedded process control designs. However, exploiting these platforms requires deep hardware conception skills and remains an important time consuming stage in a design flow. High Level Synthesis technique avoids this bottleneck and increases design productivity as witnessed by industry specialists. Approach: This study proposes to apply this technique for the conception and implementation of a Real Time Direct Current Machine (RTDCM) emulator for an embedded control application. Results: Several FPGA-based configuration scenarios are studied. A series of tests including design and timing-precision analysis were conducted to discuss and validate the obtained hardware architectures. Conclusion/Recommendations: The proposed methodology has accelerated the design time besides it has provided an extra time to refine the hardware core of the DCM emulator. The high level synthesis technique can be applied to the control field especially to test with low cost and short delays newest algorithms and motor models.

Low distortion three-phase sine PWM using a general purpose micro-controller

Three-phase balanced sine-PWM pulses are required for the purpose of generation of sinusoidal output voltage and/or currents from inverters, used for UPS/motor-control applications. Such pulse-generation is possible using micro-controllers/DSPs with PWM output pins. This paper discusses a simple algorithm to generate low distortion balanced three-phase sine-PWM pulses from a general purpose micro-controller, without using PWM pins. It is shown via simulation and experimentation that such an algorithm is capable of achieving current-distortions well below 5%. An inverter, controlled by such an algorithm, is also tested for three-phase AC induction motor control application in V/f mode, using a feed-forward control-methodology. A performance-comparison is made between a general-purpose micro-controller (using the above strategy) and a micro-controller (used for motor-control applications) for the above application-area.

Simplified Fuzzy Control for Flux-Weakening Speed Control of IPMSM Drive

This paper presents a simplified fuzzy logic-based speed control scheme of an interior permanent magnet synchronous motor (IPMSM) above the base speed using a flux-weakening method. In this work, nonlinear expressions ofd-axis andq-axis currents of the IPMSM have been derived and subsequently incorporated in the control algorithm for the practical purpose in order to implement fuzzy-based flux-weakening strategy to operate the motor above the base speed. The fundamentals of fuzzy logic algorithms as related to motor control applications are also illustrated. A simplified fuzzy speed controller (FLC) for the IPMSM drive has been designed and incorporated in the drive system to maintain high performance standards. The efficacy of the proposed simplified FLC-based IPMSM drive is verified by simulation at various dynamic operating conditions. The simplified FLC is found to be robust and efficient. Laboratory test results of proportional integral (PI) controller-based IPMSM drive have been compared with the simulated results of fuzzy controller-based flux-weakening IPMSM drive system.

Simulation Platform Development for Random Space Vector PWM

The RSVPWM (Random SVPWM) is one key type of technology in the motor control and other electronic power transformation applications because of many advantages. The detailed procedure to build the simulation model of RSVPWM is presented and discussed. The ports and parameters, the program flowchart and the method to realize the randomization are given and illustrated. The built model can simulate random frequency SVPWM, random zero-vector distribution SVPWM and random pulse position SVPWM. The simulation results verify the model.

Implementation of sliding mode controller for linear synchronous motors based on direct thrust control theory

Permanent magnet linear synchronous motors (PMLSMs) are a type of linear synchronous motors that are widely used in motor control applications. However, in PMLSMs, the accuracy of position control is easily affected by variations in its parameters and load disturbances. In this study, the implementation of a direct thrust control (DTC) method by using a modified integrator for flux estimation is proposed. The proposed algorithm can be used to obtain accurate flux magnitudes and phase angles of the controlled motors. The sliding mode control (SMC) method is a well-established control method used in non-linear systems because of its robustness. The authors use DTC along with SMC to construct a motor control system. The advantage of the proposed approach is that the control system behaviour can be tracked easily. The authors conducted simulations and experimental studies, and the results obtained agreed well.

Power Line Communication in Motor Cables of Inverter-Fed Electric Drives

It has been shown that an inverter-fed power line is a feasible medium for the transmission of modulated information. The communication channel includes the feeder cable terminated by two loads: the motor and the inverter. This link is a suitable alternative for the sensor cabling between motors and inverters in motor control and diagnostic applications. The use of the motor power cable in the speed feedback induction motor control application and the modelling of the formed communication channel are presented and discussed in this paper.

New High Temperature Electronic Components for Power Management and Motor Control Applications

This paper presenst CISSOID's new high temperature chips for Power Management and Motor Control in automotive, oil & gas, aerospace and industrial applications. High temperature DC-DC reference designs, called respectively ETNA, VESUVIO™ and EREBUS™, have been announced recently. These Buck (step-down) DC-DC converters are built with proven CISSOID products as active components rated from −55°C up to 225°C. These DC-DC converters can have input voltages from 6V up to 50V. The output voltage can be adjusted from 10% up to 90% of the input voltage. Power efficiencies in excess of 90% above 200°C have been demonstrated. VESUVIO™ and EREBUS™ are based on MAGMA PWM controller, HYPERION half-bridge driver and two power transistors to implement a synchronous Buck converter. For high voltage and power levels, new Silicon-Carbide devices allow operating at high junction temperatures. They enable high power modules with higher densities in terms of size and weight. Having power drivers able to operate very close to these devices allow further integration of power modules while increasing the performances thanks to lower parasitic capacitances and inductances. This will also ease to increase switching frequencies, another key advantage of these new devices. For these applications, CISSOID has released PROMETHEUS I Power Driver reference design that can sink and source currents up to 2Amps at a supply voltage from 11V up to 30V. Recently announced PROMETHEUS II design, based on HYPERION driver, enables rise and fall times of 25ns on a 1nF load.

A New Low-Cost DSP Educational Tool for a Laboratory for Motor Control

There has been an increasing use of modern digital signal processors (DSPs) in industrial control and other applications in the past few years. While courses offered in electrical and computer engineering disciplines cover such topics as mobile and digital communication, image and sound encoding and decoding, few courses focus on the use of DSPs in real-time control of electrical machinery and drives. Therefore, there is a growing need in industry for engineers who can perform control design and system integration for various applications in motor control. This paper describes a course on Control of Electrical Machines offered by the School of Industrial Engineering of Barcelona (ETSEIB), Polytechnic University of Catalonia (UPC), Barcelona, Spain. A description of a hands-on laboratory testbed for motor control. An outline of the course structure, the laboratory setup and the design aspects for implementing modern real-time motor control applications are presented.

Analog Fractional Order Controller in Temperature and Motor Control Applications

An analog fractional order PI λ controller, using a circuit element with fractional order impedance, a Fractor (patent pending), is demonstrated in both a simple temperature control application and a more complex motor controller. The performance improvement over a standard PI controller was notable in both reduction of overshoot and decreased time to stable temperature, while retaining long term stability. In the motor controller, set point accuracy was considerably improved over conventional control. The modification of the standard controller to a fractional order controller was as simple as replacing the integrator capacitor with a Fractor. Mixing (i.e., hybridization) of digital and analog control was demonstrated.

Modeling Effects of Voltage Unbalances in Industrial Distribution Systems With Adjustable-Speed Drives

AC adjustable speed drives (ASDs) have become the primary choice for most new and retrofit precision motor-control applications with increased system efficiencies and reduced system losses. The significant increase in the use of ASDs brings the need for understanding compatibility issues between them and their electrical environment in order to design the electrical systems appropriately. Even though there have been numerous studies on ASD effects on power systems, models for predicting the effect of the source voltage sags or unbalance have been limited. This work is devoted to analyze the characteristics of power quality indices such as input power factor, input current crest factor (CF) and the distribution transformer K-factor for practical ASD systems under input voltage unbalance and sag conditions. The relationships between the unbalanced input voltages and input currents, the input inductance and the input current unbalance, the input inductance and the input power factor, crest factor, transformer K-factor are explored for 5 hp, 100 hp and 600 hp power distribution systems with ASDs. The results can be used as a design guide for power distribution system design with ASDs. Theoretical derivations, simulation and experimental results are presented in this paper.

An Analysis of the Effects of Closed-Loop Commutation Delay on Stepper Motor Control and Application to Parameter Estimation

The purpose of this brief is to call attention to a phenomenon that is observed when a closed-loop commutation delay is present in stepper motor control applications especially involving high-speed precision motors, e.g., precision assembly, wafer probing, coordinate measuring machines. Commutation is a popular technique used to feedback linearize the mechanical dynamics of a stepper motor by generating phase currents based on the sine and cosine of the relative position within a toothpitch. In the presence of a time delay in the closed loop, the feedback linearization is not exact and a residual term depending on incremental position remains in the closed-loop dynamics. In this brief, we show that a time delay in the closed loop results in two dynamical phenomena, viz., introduction of multiple solution trajectories with sensitive dependence on initial conditions (possibly yielding steady-state velocities with opposite signs) and saturation of velocity. We also show that these phenomena can be exploited to estimate parameters such as closed-loop delay, sensor offset, and toothpitch of the motor.

Internal Versus External: Oral-Motor Performance as a Function of Attentional Focus

Previous studies (e.g., G. Wulf, M. Höss, & W. Prinz, 1998; G. Wulf, B. Lauterbach, & T. Toole, 1999; for a review, see G. Wulf & W. Prinz, 2001) have reported that limb motor performance is enhanced when individuals adopt an external focus (focusing on the effect of the movement) versus an internal focus of attention (focusing on body parts such as the muscles of the hand). This study tested the hypothesis that the effects of attentional focus on limb performance would also occur in the oral-facial system. Two groups of 23 participants were administered both hand and tongue impulse force control tasks in which each group was randomly assigned either an internal or an external focus of attention. Participants were required to exert rapid pressure bursts to achieve a target force level of 20% of their maximal strength. Consistent with limb studies, findings revealed a significant advantage of an external focus (greater accuracy, less variability) for both the hand and tongue control tasks, as opposed to an internal focus of attention. Results are discussed relative to a constrained-action theory of motor control and future application to speech motor learning.

Selection, Application, and Interchangeability of Medium-Voltage Power Fuses in Motor Control Centers

Medium-voltage (MV) fuses (1-34.5 kV) of equal ratings are not all created equal. The assumed interchangeability of various vendors' MV fuses may expose the user and the MV control equipment to undue stress and danger. This paper outlines the design characteristics, operating characteristics, selection criteria, and failure modes of the MV power fuses when used in motor control applications (typically 2.4-13 kV). Also covered are application, installation, and special application considerations including MV drives and soft starters. When properly selected and applied, the MV power fuses should provide years of safe and reliable protection