Motion Control System Research Articles

BIZON–UGV for Airport Pavement Testing: Mechanics and Control

The paper presents a study of the performance and development of unmanned ground vehicles (UGVs), establishing mathematical and numerical models of the chassis system. The model analysis is performed by 3D software package SolidWorks 2018 with finite element discretization. The mesh modelling and analysis are focused on studying the strength and stiffness of the robotic platform chassis and the distribution of stress and deformation in the extremal condition. The paper also presents an autopilot design with a new cascade control system for the autonomous motion of an unmanned ground vehicle based on proportional–integral–derivative (PID) and feedforward (FF) control. The PID-FF controller is part of a UGV used in a hybrid control system for precise control and stabilization, which is necessary to increase the vehicle motion stability and maneuver precision. The hybrid PID-FF control system proposed for the ground vehicle model gives satisfactory control quality while maintaining the simplicity of the control system. The presented tests performed in mechanical design and control analysis give good results and prove the usefulness of the designed unmanned device.

Design and Implementation of Improved Gate Driver Circuit for Sensorless Permanent Magnet Synchronous Motor Control

Reliable motor control is important for electric vehicle applications. The control process requires accurate measurements of the current and rotor position information to establish correct motor control design, particularly in sensorless permanent magnet synchronous motor control systems. Practical issues regarding the motor control circuit, such as the effects of parasitic element behavior on the switching components in the insulated gate bipolar transistor-driven inverter, were discussed in this study. It analyzed the effects of parasitic elements that can cause the ringing of switching losses and affect the spike of the signal in the motor current, which must be avoided in the implementation of motor control. The gate driver circuit topology was improved to reduce this effect in motor control devices. The proposed gate driver circuit design with the ringing suppression circuit configuration achieved good performance by keeping the signal spike at less than 10% in the motor current. Furthermore, a signal spike or noise was not observed in the estimation results of rotor position when using current information as the parameter control process. Both conditions were verified by experiments on the designed motor control devices. Under these conditions, signal precision can be achieved in motor control.

DYNAMIC CHARACTERISTICS OF TIME-VARYING CONTROL SYSTEM OF THE ROCKET’S ROTATIONAL MOVEMENT

The rocket motion control system is time-varying, because its parameters during flight depend on the trajectory point and fuel consumptions. In the available sources, due attention is not paid to the development of a mathematical apparatus of an applied value for the quan- titative assessment of the dynamic characteristics of a time-varying system.
 The purpose of the work is to justify the possibility of an algorithm building for calcu- lating the parameters of a link with constant parameters, which is equivalent to a time- varying system in terms of dynamic characteristics at the selected trajectory section.
 The link’s parameters are found by using the criterion of equivalence of the array of values of the motion model’soutput signal and the analytical solution of the link’s differential equation for a given sequence of input signals. This makes it possible to use the mathematical apparatus of stationary systems to determine the indicators of the disturbances compensation.
 The model of the control system of the rocket’s rotational movement in one plane is taken as a linear differential equation with time-varying parameters without taking into ac- count the executive device inertia and other disturbances. The link with constant parameters is a fractional-rational function of the second order, for the determination of which a se- quence of signals is applied to the input of the system model, the duration of which depends on the desired stability margin on the roots plane of the characteristic polynomial.
 Using the example of a time-varying system for controlling the rocket’srotational movement in the yaw plane, the possibility of determining the parameters of the transition process of compensation for the disturbances characteristic of it is shown for the selected tra- jectory section.
 The obtained results can be used in the design of a motion control system with time- varying parameters.
 The next stage of the research is an assessment of the complexity level of the calcula- tion algorithm when increasing the order of the system’smathematical model.

Position Sensorless Vector Control System for Lawnmower Permanent Magnet Synchronous Motor Based on Extended Kalman Filter

In this paper, we describe a position sensorless vector control system for a permanent magnet synchronous motor (PMSM) for a lawnmower in order to solve the problems of inferior dynamic performance and insufficient load resistance in the control process of lawnmower motors. A speed–current double-closed-loop vector control strategy was adopted to control the motor speed; an extended Kalman filter (EKF) was constructed to track the motor rotor position. STM32F407 was selected as the main control chip to establish the hardware experimental platform, and the performance of the control system was evaluated. The experimental results demonstrate that the control system accurately regulates motor speed, has good dynamic response characteristics, and can maintain stability under various loads; therefore, it meets the performance requirements of lawnmower motors in practical operation.

Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion.

This study explores the kinematic model of the popular RHex hexapod robots which have garnered considerable interest for their locomotion capabilities. We study the influence of tripod trajectory parameters on the RHex robot's movement, aiming to craft a precise kinematic model that enhances walking mechanisms. This model serves as a cornerstone for refining robot control strategies, enabling tailored performance enhancements or specific motion patterns. Validation conducted on a bespoke test bed confirms the model's efficacy in predicting spatial movements, albeit with minor deviations due to motor load variations and control system dynamics. In particular, the derived kinematic framework offers valuable insights for advancing control logic, particularly navigating in flat terrains, thereby broadening the RHex robot's application spectrum.

Research on intelligent control system of permanent magnet motor for high-speed flywheel energy storage system based on deep learning

With the continuous development of society, more and more people pay attention to energy issues, and the realization of energy storage has become a hot research direction today. Despite advancements, the control system of the high-speed flywheel energy storage system’s permanent magnet motor still encounters issues in effectively regulating the magnetic suspension bearing and motor speed. In addressing this issue, a technical solution involves the implementation of an intelligent control system for the high-speed flywheel energy storage system’s permanent magnet motor, utilizing deep learning principles. This innovative approach employs deep neural networks to model, optimize, and regulate the flywheel energy storage system. The essence of flywheel energy storage lies in the conversion of electrical energy into mechanical energy, followed by its reconversion into electrical energy during output. It has the advantages of high energy density, high power density, long cycle life, fast charging and discharging, maintenance-free and environmental protection. A permanent magnet motor is a motor that uses permanent magnets to generate a magnetic field. It has the characteristics of high efficiency, high power density, and low rotor loss. It remains the most widely utilized motor in flywheel energy storage systems. An intelligent control system is characterized by its use of artificial intelligence technology to adapt, self-learn, and self-organize complex systems. This system is distinguished by its robust nonlinear processing capabilities and resilience to faults. The high-speed flywheel energy storage system permanent magnet motor intelligent control system based on deep learning can improve the performance, efficiency and reliability of the flywheel energy storage system, reduce costs and risks, and is suitable for electric vehicles, rail transit, power grid frequency regulation and other fields. In this paper, the convolutional neural network and PSO algorithm are used to obtain the PSNN neural network structure to predict the speed of the motor, so as to achieve its control. And the reliability of the structure is verified by experiments.

Configuration of memory-oriented motion control system

Configuration of memory-oriented motion control system

Practical Finite-Time Command Filtered Backstepping With its Application to DC Motor Control Systems

Practical Finite-Time Command Filtered Backstepping With its Application to DC Motor Control Systems

Delay estimation for cortical-muscular interaction with wavelet coherence time lag

BackgroundCortico-muscular coherence (CMC) between the cerebral cortex and muscle activity is an effective tool for studying neural communication in the motor control system. To accurately evaluate the coherence between electroencephalogram (EEG) and electromyogram (EMG) signals, it is necessary to accurately calculate the time delay between physiological signals to ensure signal synchronization. New methodWe proposed a new delay estimation method, named wavelet coherence time lag (WCTL) and the significant increase areas (SIA) index as a measure of the specific region enhancement effect of the magnitude squared coherence (MSC) image. ResultsThe grip strength level had a small effect on the information transmission time from the cortex to the muscles, while the transmission time from the cortex to different muscle channels was different for the same task. A positive correlation was found between the grip strength level and the SIA index on the β band of C3-B and the α and β bands of C3-FDS.Comparison with Existing Method: The WCTL method was found to accurately calculate the delay time even when the number of repeated segments was low in a simple motor control model, and the results were more accurate than the rate of voxels change (RVC) and CMC with time lag (CMCTL) methods. ConclusionsThe WCTL is an effective method for detecting the transmission time of information between the cortex and muscles, laying the foundation for future rehabilitation treatment for stroke patients.

Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels

The article discusses the issue of controlling a four-wheeled mobile robot with omnidirectional wheelsof the mecanum type. An analysis of the rotational motion of the omnidirectional mecanum wheel was carriedout, based on its kinematics. For a specific robot with certain overall parameters, a graph of changes in the radiusof the mecanum wheel depending on the angle of its rotation was constructed. Kinematic and dynamic modelsof a mobile four-wheeled robot have been compiled, taking into account its geometric characteristics. The presented expressions are a mathematical description of the behavior of a mobile robot in statics and dynamics. Basedon the obtained models, the principles of operation of the motion control system for a four-wheeled mobile roboton omnidirectional wheels of the mecanum type are formed.

Development of a Position Control System for Wheeled Humanoid Robot Movement Using the Swerve Drive Method Based on Fuzzy Logic Type-2

A humanoid robot is capable of mimicking human movements, which poses a challenge for researchers. This has led some to utilise wheels to facilitate its motion. However, achieving smooth and accurate movements at desired positions remains a challenge, necessitating the development of an optimal control system and movement method. In this study, solutions to address these challenges include the use of type-2 fuzzy logic controller (FLC) and the swerve drive method. During the steering rotation movement testing, type-1 FLC exhibits the fastest response time of 0.8 seconds, but oscillations occur, reaching up to 117 degrees to achieve the set point of 90 degrees. Additionally, type-1 FLC cannot reach the set point of -90 degrees. On the contrary, type-2 FLC aligns successfully with both set points of 90 and -90 degrees. In coordinate movement testing, type-1 FLC still shows an error between 1 cm and 2 cm compared to type-2 FLC, particularly with 3 and 5 members, which are equal to the given set point. The results of the tests indicate that type-2 FLC is reliable, showing a small steady-state error, stability, and no overshoot, despite its longer response time and processing duration compared to type-1 FLC.

Motor 3 Fasa Star Delta Menggunakan Outseal PLC (Programmable Logic Control)

With the development of science and technology, the use of electrical energy will continue to increase in households and industry. One of them is the use of a three-phase induction motor which is often used in industry in the production process. The many types of induction motors used require the selection of a more efficient system. The induction motor regulation system can be done manually or automatically. To automatically regulate the system, it can be done by applying programmable logic control (PLC). The aim of this research is to develop an automatic 3-phase electric motor control system using Outseal Programmable Logic Control (PLC).

A Calibration Facility for Hot-Wire Anemometers in Extremely Low Speed with Air Temperature and Humidity Variable and Controllable

Aimed at addressing the difficult problems existing in extremely low speed calibration facilities for hot-wire anemometers, where calibration accuracy is often insufficient and vulnerable to the contamination from temperature and humidity discrepancies between the calibration environment and the application environment, a calibration rig with a velocity range from 0.10 m/s to 1.0 m/s, an air temperature range from ambient temperature to 60 °C, and a humidity range from 20%RH to 80%RH was designed, developed, and constructed. The overall layout arrangement and the mechanical structure of the facility are illustrated. The master control system, the motion control system, the temperature and humidity control system are designed, tested and adjusted. The adjustment results are demonstrated and discussed. The analysis of the results reveals that the maximum velocity control error is 0.000989 m/s, satisfying the design target of 0.003 m/s; the corresponding maximum relative error is 0.241%, which is less than the design target of 0.4%; the maximum temperature control error is 0.9 °C, meeting the design target accuracy of 1 °C; the maximum humidity control error is 2.9%RH, which is below the design target of 4%RH. When the facility is applied to the calibration of a hot-wire anemometer, the maximum error of the fitting curves in modified King’s law is 0.02236 m/s, while that in Van der Hegge Zijnen’s formula is 0.023217 m/s, both of which satisfy the design target accuracy of 0.03 m/s. The maximum relative errors of fitting curves using the two formulas are 5.214% and 8.527%, respectively. Analysis of calibration data reveals that the discrepancy in temperature and humidity between application site and calibration site may bring errors that can reach up to 1.2676% per unit relative humidity discrepancy, and 5.672% per degree Celsius of temperature deviation, respectively.

Design of Lumped Disturbance Observer in Current Loop of IPMSM Based on Recursive Integral Sliding Mode Surface

To overcome the problem of current control effect being reduced by unideal factors in a motor control system, such as motor parameter variation, inverter dead time, nonlinearity of the system, etc., a sliding mode disturbance observer for an interior permanent magnet synchronous motor is proposed in this paper. The model of an interior permanent magnet synchronous motor with unideal factors is designed, and the unideal factors are unified into lumped disturbances of motor stator voltage. Then, the observer for lumped disturbance is designed. A recursive integral sliding surface is used to replace the terminal sliding surface to avoid the noise sensitivity and singularity problem of the traditional terminal sliding mode observer. The observer can estimate the lumped disturbance of the current loop without relying on the accurate system model in finite time. Moreover, the structure of the current loop does not need to be adjusted while using the observer to observe and compensate for disturbances. Experiments are carried out to verify the effectiveness of the proposed observer.

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.