Rotation Angle Of Motor Research Articles

STEPPER MOTOR ANALYSIS USING ACCELERATION – DECELARATION METHOD BASED ON PLC (PROGRAMMABLE LOGIC CONTROL)

Stepper motors are one of the motor variants that are widely used in the manufacturing sector. Stepper motors have the characteristic of being able to be controlled both speed and position control in an open loop control system. The method used to control the rotation of the stepper motor is to send a series of electrical pulses with a configuration of frequency values and number of electrical pulses so that the stepper motor can control the rotational speed and angular position of the motor. Acceleration-deceleration control applies a method of gradually changing the frequency of electrical pulses by increasing the frequency every 4mS until it reaches the target frequency value. By applying the acceleration-deceleration method, the stepper motor is capable of rotating at a speed of up to 3000 rpm and the motor rotation angle position is from 10o-360o precisely, this acceleration-deceleration method can rotate the motor at a controlled speed of up to 3000 rpm.

Model Analysis and Experimental Study of Lower Limb Rehabilitation Training Device Based on Gravity Balance

More hemiplegia patients tend to use equipment for rehabilitation training due to the lack of physical therapists and the low effect of manual training. Nowadays, lower limb rehabilitation training devices for patients in grade 2 of the Medical Research Council (MRC-2) scale are still scarce and have some issues of poor autonomy and cannot relieve the muscle weakness of patients. To address these problems, a prototype based on gravity balance was designed with the combination of springs and linkages to enable patients to passively experience the rehabilitation training in the state of balancing the gravity of lower limbs. The motion of the mechanism was analyzed to obtain the functional relation between the motor rotation angle and the joints’ angle. Based on the principle of constant potential energy, a gravity balance mathematical model of the device was established, analyzed, and simulated. Moreover, through the training experiment, the results show that when subjects in three different weights were trained under the rehabilitation device with and without gravity balance, the required torques of the motor and EMG signal strength of the knee and hip joints decreased by a degree of significance, which verified the effectiveness of the device’s gravity balancing characteristics for MRC-2 patients.

Resonant-type rotating piezoelectric motor with inchworm-inertia composite impact.

A resonant-type rotating piezoelectric motor with inchworm-inertia composite impact was designed and manufactured. It mainly comprises a stator, rotor, support shaft, and frame. The motor stator includes a clamp, driver, central connecting block, preload structure, and other auxiliary mechanisms. The clamp and driver of the motor work in a resonant state. The motor structure was optimized by using the finite element software COMSOL 5.2. Through the finite element simulation analysis, the first-order bending vibration of the clamp and the driver was selected as the working mode, and the consistency of the resonance frequency coupling was optimized and adjusted. By coordinating the bending vibration of the clamp and driver in the vertical staggered direction, the clamping foot drives the rotor to realize the unidirectional continuous rotation. The motor prototype was designed and processed, while the experimental device platform was established to verify the working principle of the motor, and the comprehensive performance of the motor was analyzed and tested. When the input driving voltage was 240VP-P, the driving frequency was 161Hz, and the preload torque of the motor was 6.9 N mm, the maximum no-load speed of the motor reached 3.23 rad/s and the maximum load torque reached 10.35 N mm. Under the same conditions, the maximum resolution of the motor rotation angle was 0.69°.

Displacement characteristics hierarchical control of electro-hydraulic compound steering for commercial vehicle

The electro-hydraulic compound steering combines the function of electric power steering and hydraulic power steering, which can reduce the energy consumption of steering, ensure the stability of vehicles, and meet the steering demand under unmanned driving. In order to fully coordinate the steering stability and path tracking requirements in the unmanned steering process, this paper proposes a hierarchical control strategy of displacement characteristics for commercial vehicle electro-hydraulic compound steering. The mixed H2/H∞ controller for the vehicle stability is designed in the upper layer, which takes the vehicle yaw rate as the control variable. Based on the motor model and sliding-mode control theory, the sliding-mode variable structure controller of motor angle is designed in the lower layer, and the hydraulic power distribution is completed by estimating the steering resistance torque. Simulation results show that the designed controller can effectively track the yaw rate on the premise of ensuring path tracking effect. Combined with steering torque estimation and hydraulic power distribution rules, it can effectively realize the coordinated control of hydraulic power and motor rotation angle.

Driver-behavior-based robust steering control of unmanned driving robotic vehicle with modeling uncertainties and external disturbance

In this paper, a steering robust control method based on professional driver behavior with modeling uncertainties and external disturbance is proposed for an unmanned driving robotic vehicle, to realize the accurate and stable steering control like a professional human driver. An unmanned driving robotic vehicle nonlinear dynamics model considering modeling uncertainties and external disturbance is established. A driver behavior model composed of an adaptive preview model, a driver path planning model, and a driver desired yaw rate model is established, with the influences on preview time and driver path planning strategy, respectively. On the basis of this, a robust steering controller based on professional driver behavior is presented, by taking road information, driver reaction delay time, and vehicle driving status as inputs and the servo motor rotation angle of the steering mechanical arm as output. The stability of the control system with modeling uncertainties and external disturbance is proved. A comparison of the analysis results of simulation and experiment among the proposed control method, other existing control methods, and professional human driver demonstrates the effectiveness of the proposed method.

Analysis of Sensor-Based Real-Time Balancing of Humanoid Robots on Inclined Surfaces

An experimental and theoretical study of real-time robot balancing on inclined surfaces with electrical feedback circuitry is presented. Force sensors are experimentally shown to extend the sustainability of a stable robot posture beyond a critical surface inclination. For this purpose, the inclination feedback from the force sensors is used to adjust the robot's ankle-pitch-motor angle above the critical inclination, thus enabling the maintenance of a stable robot posture. Further, the Inverted Pendulum Model (IPM) (Hemami and Golliday, 1977, Hemami et al., 1973, and McGhee and Kuhner, 1969) is extended to the case of inclined surfaces. Through application of this extended IPM it is demonstrated, that simultaneous use of gyro-sensor data can minimize the necessary initial adjustment of the motor angle for controlled robot-body rotation, which additionally has the positive effect of reducing possible overshoots of the motor's rotation angle during feedback. Consequently, the reported feedback control improves the robot-body stability on inclined surfaces. Efficient implementation of the developed control scheme into an existing robot's electrical system is proposed.

Energy consumption analysis of automatic tool change processes

The automatic tool change system was used frequently in numerical control machining processes. Preliminary studies indicate that the power demand of an automatic tool change system is an important part of auxiliary units power demand for numerical control machining processes. Research to date on energy consumption modeling largely focuses on cutting processes while the power demand of automatic tool change processes is treated as a given constant. However, energy consumption modeling of automatic tool change processes is a method that has been overlooked in previous investigations. In fact, the tool change power demand and time vary depending on the turret motor rotation angle for changing tools. Thus, this study aims at solving the above problem by analyzing the power demands of different tool stations for changing tools. The energy consumption modeling method of an umbrella tool changer system was proposed to address the limitations of existing models and validated on a vertical milling machine. In this study, one tool change cycle was divided into five different power demand stages. This is different from the common method where the power demand of one tool change cycle is fixed. The milling case was investigated, and experimental results showed that the proposed modeling method can provide a reliable energy consumption prediction for tool change processes with high accuracy, which can assist manufacturers to develop potential energy saving strategies.

Estimating the angular dynamics of a fan window stroboscope from noisy quantum image measurements

In this paper, we first formulate the dynamics of the fan motor rotation angle $$\theta (t)$$ in terms of a second-order Ito-stochastic differential equation (s.d.e). The aim is to estimate $$\theta (t)$$ on a real-time basis by taking measurements of the transition probability of a quantum system from one state to another when excited by a quantum image field that passes through the fan stroboscopic window. The quantum image field is modeled as a superposition of creation and annihilation operators modulated by appropriate functions of time, dependent upon the quantum electromagnetic field frequency. This field after stroboscopic windowing excites a 3-D quantum oscillator which causes it to make transitions between two oscillator base states with the Quantum field remaining in a coherent state. The dynamics of the transition probability between two fixed oscillator states is shown to be a component of a $$5\times 1$$ vector that satisfies an s.d.e in which the fan window angle and the fan window angular velocity also form some components. Simulation displays the evolution of these transition probabilities as well as of the fan rotation angle. This s.d.e for the $$5\times 1$$ vector when coupled to a measurement model for the 5th component, namely the transition probability, is directly substituted into the equations for an extended Kalman filter (E.K.F), thereby obtaining real-time estimates of the fan angle in terms of the accumulated data of oscillator transition probability.

Free vibration analysis for a non-contact piezoelectric motor modulated by electromagnetic field

For a non-contact piezoelectric motor modulated by electromagnetic field, the equation of the free vibration for the driving system of the motor is given. Using the boundary conditions and continuity conditions, the natural frequencies and mode functions of the driving system are obtained. The vari ation law of the natural frequency is investigated, when the system parameters of the driving system are changed in a certain range. The results show that the change of the system parameters of piezoelectric stacks and driving beams has obvious effects on odd order natural frequencies of the driving system; the change of the system parameters of the center shaft have obvious effects on even order natural frequencies; In the odd order modes, the maximum vibration amplitude of the driving system occurs at the junction of the driving beam and the center shaft. It is conducive to output of the motor rotation angle. All the results are useful for design and control of operating performance of the motor.

剛性可変機構を有する5指ロボットハンドの開発

This study deals with a robot hand based on the original finger mechanism consisting of a planetary gear system and serially connected four bar linkages. It also has a mechanism for adjusting stiffness of fingers (VSM: Variable Stiffness Mechanism), which allows to give passive gripping force to a gripping object according to the object's elasticity. The mechanism is merely driven by mechanical elements without sensory feedback from tactile or force sensors attached to fingertip or sole. The total number of motors for driving the robot hand is six, all of which are equipped in the palm. Rotation angle of motor is detected by optical encoder equipped to each motor. The robot hand achieves soft and adaptive gripping action due to VSM that adjusts the joint stiffness of the fingers by changing tension of the spring attached to the planetary gear system equipped in every finger except the thumb. Driving tests show that it achieves typical gripping and pinching motions of a human hand in daily life without any sensory feedback and also show that the VSM works effectively.

Hybrid-loop servo control system of double toggle mechanical press for flexible forming process based on sliding mode control and neural network techniques

A hybrid-loop servo control system based on sliding-mode control and neural network control is proposed in this article to realize flexible forming process on a double toggle mechanical press. First, kinematics and dynamic analysis of the drive system are conducted to derive the control objective behavior. Then, the structure of the hybrid-loop system is introduced; sliding-mode control is applied to compensate the punch position errors. In the inner loop of the servo motor, complementary sliding-mode control is used to track the motor rotation angle, and a radial basis function neural network estimator is applied to eliminate the considerable load disturbances in the stamping stage. Finally, experimental hardware is constructed and a compound blanking and drawing process is carried out to validate the proposed servo control system in practice. With different materials and drawing depth, high tracking accuracy and robustness are exhibited to realize favorable forming performance.

A video based feedback system for control of an active commutator during behavioral physiology.

BackgroundTo investigate the relationship between neural function and behavior it is necessary to record neuronal activity in the brains of freely behaving animals, a technique that typically involves tethering to a data acquisition system. Optimally this approach allows animals to behave without any interference of movement or task performance. Currently many laboratories in the cognitive and behavioral neuroscience fields employ commercial motorized commutator systems using torque sensors to detect tether movement induced by the trajectory behaviors of animals.ResultsIn this study we describe a novel motorized commutator system which is automatically controlled by video tracking. To obtain accurate head direction data two light emitting diodes were used and video image noise was minimized by physical light source manipulation. The system calculates the rotation of the animal across a single trial by processing head direction data and the software, which calibrates the motor rotation angle, subsequently generates voltage pulses to actively untwist the tether. This system successfully provides a tether twist-free environment for animals performing behavioral tasks and simultaneous neural activity recording.ConclusionsTo the best of our knowledge, it is the first to utilize video tracking generated head direction to detect tether twisting and compensate with a motorized commutator system. Our automatic commutator control system promises an affordable and accessible method to improve behavioral neurophysiology experiments, particularly in mice.Electronic supplementary materialThe online version of this article (doi:10.1186/s13041-015-0152-8) contains supplementary material, which is available to authorized users.

Design of permanent magnet motor actuator used in 550 kV gas-insulated switchgear disconnector

To improve the operating characteristics of disconnector, a limited rotating angle permanent magnet motor actuator is presented in this article. The mathematical relationship between the moving contact stroke and rotation angle of motor is obtained by analyzing the dynamical coordination characteristics of motor actuator used in 550 kV gas-insulated switchgear disconnector. The electromagnetic field equation of motor, motive equation of rotor, and circuit equation of winding are solved simultaneously for acquiring dynamical characteristics of motor. The electromagnetic-mechanical coupled calculating model of motor is established by finite element method, and magnetic saturation of stator tooth is calculated and analyzed. According to the operating principle of motor, the double-closed control system which collects the motor speed and contact stroke signal during the operation of disconnector is developed. The experimental results show that the opening and closing speeds of disconnector are 1.1 and 1.2 m/s, respectively, which meet design requirements. The speed-regulating operation of disconnector is also carried out so that the switching speed of disconnector can adjust by motor actuator and control system.

A Laser Projection Device for Locating Points on the Plane Object

Digital image processing technology can extract the main feature of an image. In order to achieve the interaction between virtual points and plane objects, we propose the equipment for indicating points on the plane object using laser projection. We designed the equipment with a bracket, stepper motor, two-dimensional turntable, PC control unit, and a laser pointer. Next, we analyzed the mathematical model of the equipment and developed an algorithm for solving the motor rotation angle. Finally, we verified our design with an image. Here, we develop a system that can control a laser projection to a specified location by adjusting coordinates of virtual points on a computer.

Cascade fuzzy logic control of a single-link flexible-joint manipulator

This paper presents the design and control of a single-link flexible-joint robot manipulator. A cascade fuzzy logic controller (FLC) was used to remove link vibrations and to obtain fast trajectory tracking performance. The cascade FLC structure includes 3 different FLCs. The input variables of the first and the second FLCs are the motor rotation angle error, its derivative, and the end-point deflection error its derivative, respectively. The outputs of these controllers are the inputs of the third FLC, which yields the control signal to the flexible robot arm. All of the FLCs were embedded in a DS1103 real-time control board. Several experiments were conducted to verify the controller performance. In the step-response experiments, the error of motor rotation angle was obtained as less than 0.12° and there was no steady-state error in the end-point deflection. In trajectory tracking experiments with the same FLC structure, small errors and phase shifts in the system variables occurred. Model parameters of the flexible arm such as link length and spring stiffness were changed to test the robustness of the FLC. It was seen that the FLCs were very robust to internal and external disturbances. Considering the results of the experiments, the proposed FLC structure shows efficient control performance in flexible robot arms.

Control system of stepper motor based on roundness and cylindricity measuring virtual instrument

The control system uses LABVIEW as the software development platform. The system includes ADLINK motion control card PCI-8134, LEETRO stepper motor drivers DMD 402A, and tables with LEETRO DM4240A stepper motors. The system uses ADLINK PCI-8134 to send stepping pulse signal PUL and direction level signal DIR to control the stepper motor's rotation angle and direction, achieving the motor’ positive and negative rotation, acceleration, constant speed and deceleration, then achieving the radial motion of table's Z-axis slider along the surface of the measured part, the axial motion of X-axis slider along the surface of the measured part and the spindle rotation for the measurement of roundness and cylindricity.