Rotor Control System Research Articles

Prototipe Sistem Monitoring, Proteksi, dan Kontrol Putaran pada Mesin Emergency Generator Menggunakan Lora untuk Mencegah Kerusakan pada Sistem di Kapal

In ship operations, the existence of a reliable emergency generator system is a critical factor to ensure continuity of electricity supply in emergency situations. Damage to the generator engine can cause significant disruption and even safety risks. To overcome this problem, a prototype monitoring, protection and rotation control system for emergency generator machines was developed using LoRa (Long Range) technology. This system is designed to monitor critical engine parameters, including speed, temperature and other operational conditions in real-time. Data collected from sensors is sent over a LoRa network that has wide coverage and low power consumption, enabling remote and continuous monitoring of Blynk's Internet of Think (IoT). This system is equipped with a protection algorithm that can detect anomalies and automatically activate corrective action or provide early warning to engineers and electricians. By implementing this prototype, it is hoped that it can reduce the risk of damage to the emergency generator engine and increase the reliability of the ship's electrical system, thereby supporting safer and more efficient operations.

Summary to the article ”Complications that arise when sidetracking at the Gunashli field and ways to solve them”

As it is not economically feasible to construct gravity based fixed offshore platform (FOP) for drilling new wells in the “Guneshli” field, the sidetracking using the wells that have stopped producing is important. In this regard, it is necessary to examine the well stock at the field, select unproductive wells, and when using their bores, it is important to continue and increase with sidetracking. For a faster and easier result, first of all it is necessary to choose wells, the production casing which are equipped with diameters of 168 or 178 mm. In such wells, it will be possible to reach the design horizon with a smaller drilling passage by performing cutting operations at lower intervals. As a result, such wells are cheaper and more economically efficient. When performing cutting work on casing with 178 mm diameter, it is possible to drill and expand wells with a relatively large diameter, that is, with a diameter of 127 mm. This, in turn, made it possible to carry out major workover and well remedial work in the future. To eliminate failures and complications that arose during the drilling process, specific conclusions were drawn and it was proposed that when choosing an interval for opening a window, it was necessary to clarify the well configuration.The window opening should be smooth, and after cutting the casings, the cut part should be smoothed out by processing several times. Considering the limited productivity and large pressure losses when drilling small-diameter wells, drilling should be carried out not using a downhole drilling motor, but using a Rotor control system (RCS), one of the latest achievements of new technology. In order to prevent possible absorption and contamination of the well layers, wells should be drilled with solutions based on hydrocarbons or polymer potassium with the addition of necessary materials. If intensive absorption often occurs during drilling, the effectiveness of the measures taken is unsatisfactory, only in such cases should drilling be carried out with a bit with a diameter of 142.9 mm with the addition of materials that prevent absorption, without expanding the wellbore.

Modelling, control and simulation of a single rotor UAV with swashplateless torque modulation

Single rotor-base unmanned aerial vehicles (UAVs) represent the most minimalistic design to implement an aerial vehicle. We describe here a mono-rotor UAV, also named mono-spinner, that uses torque modulation (also called swashplateless mechanism) to provide roll and pitch control without the need of a complicated swashplate mechanism. A full non-linear model of the mono-spinner based on the Euler-Poincaré theoretical framework is given including a description of the structure of the drone and its rotor control system. Mechanical properties, kinetic energy and all of the external forces of interest to derive the equations of motion are described. A novel, Lyapunov-stable, quaternion-based nonlinear control law based on the decomposition of the orientation quaternion into a spin component and a reduced orientation component is provided. Finally, simulation results based on parameters measured from a real implementation of a mono-spinner are produced.

Deep optimization design of 2D repetitive control systems with saturating actuators: An adaptive multi-population PSO algorithm

This paper presents an optimization design method for a two-dimensional (2D) modified repetitive control system (MRCS) with an anti-windup compensator. Using lifting technology, a 2D hybrid model of the MRCS considering actuator saturation is established to describe the control and learning of the repetitive control. A linear-matrix-inequality (LMI)-based sufficient condition is derived to ensure the stability of the MRCS. Two tuning parameters, the selection of which is critical to the system design, are used in the LMI to adjust the control and learning, and hence the reference-tracking performance. A new cost function, developed through time domain analysis, directly evaluates the control performance of the system without calculating control errors, thus reducing the optimization time. Based on this cost function, an adaptive multi-population particle swarm optimization algorithm is presented to select an optimal pair of tuning parameters in which multiple populations cooperatively search in non-intersecting search intervals. An anti-windup term is added between the low-pass filter and the time delay in the modified repetitive controller to mitigate the undesirable effect of actuator saturation on system performance and stability. Simulations and experiments on the speed control of a rotation control system demonstrate the validity of the approach.

Disturbance Rejection and Control System Design Based on an Improved Equivalent-Input-Disturbance Approach

This article presents an improved equivalent-input-disturbance (EID) approach to actively rejecting exogenous disturbances for a plant. A control system based on the approach includes a new EID estimator constructed by embedding integrals to the conventional EID estimator. These integrals enable the estimator to improve the disturbance-estimation precision without amplifying the effect of measurement noise. Stability conditions of the control system are obtained using separation theorem. The system design ensures that the control system satisfies the stability conditions. Experiments of a rotational control system demonstrate the validity of the approach.

A New Algorithm on Automatic Trimming for Helicopter Rotor Aerodynamic Loads

In order to simulate the flight state of the helicopter effectively, it is necessary to trim the helicopter during the forward flight in a wind tunnel test. Previously, due to the lack of an internal-control closed loop in the test rig, the helicopter-wind-tunnel-test trimming was carried out manually, with low test efficiency, unstable data quality, and high labor intensity. With the continuous development of computer technology and automatic control technology, the helicopter-wind-tunnel-test trimming technology has been developing in the direction of automation and intelligence. The helicopter wind tunnel test automatic trimming system is a typical multi-input–multi-output (MIMO), strongly coupled, and complex nonlinear system, involving data acquisition and a processing system, rotor control system, tail-supported mechanism control system, wind-tunnel-speed pressure control system, and other subsystems, which is difficult to describe with an accurate mathematical model. Therefore, in order to meet the needs of a 3 m diameter rotor model aerodynamic performance evaluation and noise characteristics research wind tunnel test, an error feedback variable step automatic trimming algorithm is proposed based on the fuzzy-control principle to realize automatic trimming of aerodynamic loads of rotor model in the forward flight state. To verify the effectiveness and reliability of the trimming strategy, a series of wind tunnel tests on a 3 m diameter scaled rotor model of a helicopter were conducted in the FL-17 aeroacoustics wind tunnel of China Aerodynamics Research and Development Center (CARDC) based on the Φ3m tail-supported helicopter rotor model wind tunnel test rig. The wind tunnel test’s results show that the proposed automatic trimming algorithm has the characteristics of fast trimming speed and high efficiency, which can realize the automatic trimming of rotor model aerodynamic loads under different test states in the wind tunnel test effectively and reliably and greatly improve the intelligence level of helicopter wind tunnel test.

Study on Actuator Performance Evaluation of Aerial Water-Powered System for Firefighting Applications

In this study, we propose and analyze three designs of a novel aerial system that aims for autonomous firefighting missions in the body or border of water areas. In such areas, it is difficult and even dangerous for human firefighters, and firefighting robots, to approach and put out the fire. Thus, the systems proposed in this paper make use of the available water source not only for suppressing the fire, but also for propelling and maneuvering themselves. The three designs are different in their ways of actuating, namely flow rate control, nozzle rotation control, and weight distribution control. The designs are first introduced. Then, mathematical models are formulated and reveal the motion characteristics of each system. A linear control framework is developed and implemented for all of them. Simulation studies were conducted to verify their motion performance and subsequently, to select the best solution. The results indicate that the weight distribution control system struggled to follow the required reference while the two other designs both provided adequate maneuverability. The nozzle rotation control system is the better one, with greater tracking results of the head part and smaller fluctuations of the water hose.

Pipe Welding Machine Modernization

There are the results of pipelines rolled joints welding machine modernization. The machine is designed using a welding rotator, linear electric drives, stepper motors, CNC system. The machine is controlled by a CNC system according to ISO 6983-1: 2009. The machine consists of: stepping rotary device, welding torch stepping device, controlled TIG welding power source, controlled welding wire feeder, welding current control system, workpiece rotation control system and welding torch. The welding torch movement trajectory controlling software has been created. It allows to weld by any type of welding torch recommended movements. The modernizing machine allows welding the pipelines rolled joints in automatic mode both in one pass and in multi-pass. The machine can be used for industrial pipeline elements welding, for welding modes testing, for studying the effect of welding modes on the quality of pipeline welds. The results can be adapted for sheet structures welding using the standard commands of the ISO 6983-1: 2009 standard. The results can be adapted to industrial welding robots control. The welding machine can be used for MIG / MAG welding and surfacing.

Design and Fabrication of CLYC-Based Rotational Modulation Collimator (RMC) System for Gamma-Ray/Neutron Dual-Particle Imager

Background: This work aims to develop a new imaging system based on a pulse shape discrimination-capable Cs2LiYCl6:Ce (CLYC) scintillation detector combined with the rotational modulation collimator (RMC) technique for dual-particle imaging.Materials and Methods: In this study, a CLYC-based RMC system was designed based on Monte Carlo simulations, and a prototype was fabricated. Therein, a rotation control system was developed to rotate the RMC unit precisely, and a graphical user interface-based software was also developed to operate the data acquisition with RMC rotation. The RMC system was developed to allow combining various types of collimator masks and detectors interchangeably, making the imaging system more versatile for various applications and conditions.Results and Discussion: Operational performance of the fabricated system was studied by checking the accuracy and precision of the collimator rotation and obtaining modulation patterns from a gamma-ray source repeatedly.Conclusion: The prototype RMC system showed reliability in its mechanical properties and reproducibility in the acquisition of modulation patterns, and it will be further investigated for its dual-particle imaging capability with various complex radioactive source conditions.

Disturbance rejection and control system design based on a high-order equivalent-input-disturbance estimator

This paper presents an improved equivalent-input-disturbance (EID) approach to deal with exogenous disturbances. A high-order filter is newly used to construct an improved EID estimator. The parameters of the filter are selected to improve the disturbance-rejection performance without changing the bandwidth of an EID-based control system. The stability and disturbance-rejection mechanism of the system are analyzed using the transfer function from the EID to the output. The high-order filter is designed using the loop-shaping method. Simulation results of a rotational control system demonstrate the validity of the approach and superiority over other methods.

Параметрическая оптимизация системы автоматического регулирования частоты вращения вала двигателя постоянного тока судна

DC motor speed control can be done either manually or by using an automatic controlling tool. In order to perform parametric optimization of a DC motor rotational speed automatic control system, we have developed a simplified methodology. The said methodology is able to obtain a transfer function for an automatic control system being based on several initially given system parameters. It is a tree-step way according to the research goals. We offer model patterns where parameters can be designated. Time constant for a PI controller is being presented by a process time constant for a controlled DC motor for the purpose of this particular research.

Hybrid gas-magnetic bearings: An overview

This paper presents a state-of-the-art survey on the development of the hybrid gas-magnetic bearing (HGMB) technology. HGMBs are proposed to complement the advantages of gas bearings and magnetic bearings for enhanced bearing performance. Nevertheless, there are a number of inherent challenges in their designs, analyses, and performance characteristics that must be taken into account for proper functionality and reliable operation. For this purpose, substantial results in theory, numerical simulations, and experiments concerning rotor dynamics, mechanical structures, control systems, and operation modes are discussed to help further investigation and implementation of HGMBs. In addition, future developments of HGMBs in industries and remaining challenges are discussed.

Application of Multislice Spiral CT in Diagnosis of Ankle Joint Sports Injury

In recent years, with the continuous improvement of medical treatment at home and abroad, computerized tomography (CT) technology has developed rapidly. The market competition at home and abroad is becoming increasingly fierce. The manufacturing cost of CT machines is highly valued by manufacturers. Reducing the manufacturing costs of CT machines is of great significance to medical equipment companies. The CT host is composed of a fixed control system and a rotation control system. Based on the analysis of the existing CT host system structure, this paper designs and implements a set of low-cost asynchronous variable-frequency rotation control systems based on the unchanged control interface of the existing main rotation servo control system, improving the market competitiveness of the product. Based on the constant structure of the rotating machine of the CT machine, the simulation analysis of asynchronous variable frequency control is carried out. A set of asynchronous variable frequency control design schemes and multi-stage speed curve control methods compatible with the original system structure are obtained. The verification and analysis of the functions of acceleration and deceleration control, rotation positioning, fault protection, electromagnetic radiation and other functions at the highest speed meet the system’s main performance requirements, such as acceleration and deceleration time at the highest speed, positioning accuracy, and speed stability. Through internal system verification, testing and clinical verification, the control system designed in this paper meets the design requirements. According to experimental data, the system is fully compatible with a running accuracy of 0.3%. The main performance indicators such as acceleration time and positioning accuracy have been improved. The acceleration time from static acceleration to the maximum speed of 0.39 seconds per revolution increases from 21 seconds to 19.9 seconds, and the positioning accuracy was improved from 0.3° to 0.24°. Finally, this study explores the diagnostic value of multislice spiral CT (MSCT) in ankle trauma.

Active balancing control for time-delay rotor via linear-quadratic regulator

Many imaging platforms, e.g., robotic devices and autonomous systems, require timely reaction to external events. The active balancing control is important to suppress rotor vibration and hence acquire stable videos and imagery. However, there is an inevitable delay in active balancing control of the high-speed, time-delay rotor systems. Eliminating this delay is crucial in real-world applications. The integral transformation term is introduced to transform the dynamic model of the time-delay rotor system into a dynamic model of the rotor system without time delay. Based on the linear-quadratic optimal control method, the influence of weight matrix is discussed. Moreover, an active balancing control strategy of the time-delay rotor is designed. The simulation model of the time-delay rotor control system is implemented with MATLAB, and a real device is fabricated to conduct both simulations and real-world experiments. Our results demonstrate that our proposed online active balancing control method effectively suppresses the vibration of the time-delay rotor system under different time-delay. The convergence time is short, and the system is agile.

Marine main engine speed of rotation energy-saving control solution based on artificial neural network application

During operation and maintenance marine main engine is subjected to great variety of different impacts: climatic, operational, load impacts and others. Thus, object efficiency, being directly dependant on impacts overcome ability is known to be able to affect the major part of financial costs, related to the marine transport processes. Therefore, the marine shipping efficiency provision goal can be stated as vessel main engine propulsion plant reliability and operational condition maintenance together with external impacts influences minimization. One of the most significant marine propulsion plant influences is known to be sea water surface swell. However, it is known to be complicated in measurement as it requires some number of complicated devices to be installed outside the ships’ hull. Such impacts are known to significantly affect object efficiency, leading to the list of undesirable results, such as speed of rotation fluctuations, increased fuel consumptions, increased vibrations and so on. This article gives an overview of one of the methods of combating significant speed of rotation fluctuations whilst ship rough sea navigation. The suggested algorithm is based on neural network structure integration as well as fuzzy logic controller integration into additional speed of rotation control system feedback link and can save up to 53,5 thousands of USD per year for the ship owner.

Reduction of the High-Speed Magnetically Suspended Centrifugal Compressor Harmonic Vibration Using Cascaded Phase-Shifted Notch Filters

In the active magnetic bearing (AMB)-rotor control system, rotor mass unbalance and displacement sensors runout will bring about harmonic current, which would further result in vibration force transmitted to machine housing. The undesired machine vibration would pose a potential threat to system stability and performance degradation. In order to attenuate harmonic current, this work has proposed a scheme of control system with cascaded mode phase-shift notch filters, and the system stability has been analysed. The harmonic current reduction performances of the system with cascaded mode notch filters are compared with that with parallel mode notch filters. Theoretical analysis has demonstrated that the proposed cascaded mode control system could achieve the same suppression performance as the commonly used parallel mode control system, which is also verified by simulation results. Experiments carried out on a high-speed magnetically suspended centrifugal compressor have validated that the proposed method is effective for harmonic current reduction.

Robust controller design for nonlinear twin rotor control system using quantitative feedback theory

This paper presents a robust controller for twin rotor control system (TRCS) subject to parametric uncertainty. TRCS exemplifies a class of multiple-input-multiple-output (MIMO) system having complex nonlinearity and cross-coupling effects. The linearised form of TRCS model is decoupled into two single-input-single-output (SISO) systems. Using quantitative feedback theory (QFT), the robust controller and pre-filter are designed for the two SISO subsystems to satisfy minimum gain and phase margin, tracking specifications for robust performance, actuator saturation, fast convergence, input and output disturbance rejection and sensor noise attenuation. QFT is a new and innovative robust technique based on Nichols chart in frequency domain. This approach achieves desired robust controller design over a specified range of system parametric uncertainty in spite of input and output disturbances and noise. QFT-based controller and pre-filter are designed for the required specifications of robust stability and robust tracking. Additionally, a proportional-integral-derivative (PID) controller is augmented for the nonlinear model of TRCS to compare the results of the two controllers. A detailed comparative evaluation has been worked out between the two controllers applied to the nonlinear model of the TRCS with the help of simulation studies.

The motion control of three-phase motor using wireless communication: design and experimental works

This study presents an investigation on the motion control of 3 phase motor using wireless communication. The wireless communication network used is Bluetooth which supports Arduino Uno, so that the motor rotation can be controlled via a smartphone. Control system is used to adjust 3 phase motor rotation. The method used in the development of 3 phase motor rotation control system are analysis of needs, control system design, development of systems, testing and performance measurement, and improvement the system. The results of this study indicate that the 3 phase motor rotation control system can work according to the design. When Bluetooth HC-06 module receives a signal from a smartphone via Bluetooth Electronics, then the signal is sent to Arduino Uno and forwarded to DC Relay and proceed to Omron MKP3-I Relay. When using 3.0 version of bluetooth, the farthest distance that can be received by the Bluetooth HC-06 module without an obstacle is 21 m, whereas if there is an obstacle, the signal can only be received in 16 m. Meanwhile, when using 4.1 version bluetooth, the farthest distance that can be received by the Bluetooth HC-06 module without an obstacle is 26 m, whereas if there is an obstacle, the signal can only be received in 19 m.

A Sensorless Rotational Speed-Based Control System for Continuous Flow Left Ventricular Assist Devices

Continuous Flow Left Ventricular Assist Devices (CFLVAD) are circulatory support devices that are implanted in patients with end-stage heart failure. We developed a novel control algorithm for CFLVAD to maintain physiologic perfusion while avoiding ventricular suction using only the intrinsic pump measurement of pump speed and without utilizing model-based estimation. The controller objective is to maintain a differential pump speed setpoint. A mathematical model of the circulatory system coupled with a model of a CFLVAD was used to test the control algorithm in silico. Robustness and efficacy were evaluated by comparing the proposed control algorithm to constant speed control, differential pump pressure control, mean aortic pressure control, and ventricular end diastolic pressure control during (1) rest and exercise conditions, (2) a rapid eight-fold increase in pulmonary vascular resistance under rest and exercise, (3) transitions from rest to exercise, and exercise to rest, (4) safe mode during left ventricular asystole, and (5) RPM measurement noise of 1% to 10% for (1) to (4). The control algorithm provided adequate perfusion while preventing ventricular suction for all test conditions. Performance did not deteriorate significantly with pump speed measurement noise of up to 6%. The safe mode successfully detected asystole and maintained adequate perfusion to sustain life even when the differential pump speed was low. Maintaining a constant differential pump speed can simultaneously achieve physiologic perfusion and suction prevention without needing unreliable, direct measurements of flow or pressure, or complex parameter or model-based estimation techniques.

Моделирование системы автоматического регулирования частоты вращения дизельного двигателя

In this work, the problem of improving the quality of controlling the diesel engine crankshaft speed is considered. The principles that govern the control of this parameter in internal combustion engines are described. The advantages of the proportional-integral-differential (PID) control principle are shown. Calculations of the influence of the PID controller structure on the dynamic characteristics of the diesel engine rotational speed automatic control system are performed. The transient processes of acceleration–inhibition and load-dropping are investigated using a KamAZ-740 engine of a 100 kW diesel generator. Transient processes are achieved for different values of the proportional, integral and differential components of the PID control law. The influence of these coefficients on the quality indicators of the regulatory process such as the duration of the transient process and overshoot is evaluated.