Servo Motor Control Research Articles

Control Circuit design of permanent magnet synchronous motor control system based on DSP

This paper introduces the design and implementation of hardware circuit of permanent magnet synchronous motor Servo Controller Based on DSP.In this scheme,TMS320F28335 is used as the control core, and drv8312 is used as the three-phase motor driver chip. The main control circuit, communication circuit, drive circuit, current feedback circuit and protection circuit are designed in detail. The reliability of the control circuit is verified by experiments, and the servo control of PMSM is realized.

Motor servo control parameter tuning for parallel and hybrid machine tools based on a genetic algorithm

Motor servo control parameter tuning for parallel and hybrid machine tools based on a genetic algorithm

Servo motor sliding mode control based on fuzzy power index method

A servo motor sliding mode control system based on the fuzzy power exponent approach rule is proposed in this paper. The clearance gear of the leaf spring is studied in agreement with the basic configuration of the real servo motor. The definition of the proposed fuzzy power index approach law and the sliding mode theory, the error of two sub motors is established. The control torque is obtained by implementing the sliding film switching function, and the control of the motor sliding mode is done by monitoring the output shaft of the rotor. To check and evaluate the experiment results, MATLAB's simulation platform is used. The proposed control method will better monitor the actual track of disturbance signal shift and achieve reliable servo motor control sliding mode control.

Analogous Research of Classical PI Controller and Fuzzy Logic Controller to Control the Speed of D.C. Servo Motor

Servo motors are widely used in several fields such as industrial, electronics and robotics etc. The precise positioning & speed control of servo motor is compulsory for desired result and output. In this study, the speed control of dc servo motor is compared utilizing two different controllers. First is a classical PI controller while the second one is a fuzzy logic controller (FLC). PI controller and FLC both can be utilized for controlling the speed of servo motor. Both techniques provide good results but the fast response for the proposed calculation is achieved by the fuzzy logic controller. MATLAB/SIMULINK provide the conventional tool to analyze the model precisely so that the performance of servo motor is satisfactory. The performance of both controllers is compared and analyzed on different parameters such as speed, current for DC Servo Motor.

A Design Method for Low-cost and SOPC-based Flexible Lifting Control System

To efficiently reduce the development and production costs of the intelligent lifting control system, we introduce a design method for the intelligent lifting system with client-server architecture. We replace DSP processor core or DSP (Digital Signal processor) core with Nois II soft-core processor so that the design and production costs can be effectively cut. By replacing DSP processor or DSP processor core with Nois II soft-core processor, the design and production costs can be significantly reduced. In our design, loop vector control units work as a server processor, and a central computing unit with four independent multipliers and two adders is employed, with the implementation method based on a state machine. The experimental results prove effective in reducing resource requirements for FPGA (Field Programmable Gate Array), show that the proposed method can be successfully applied to the implementation of a complete intelligent flexible lifting control system on a low-end Altera Cyclone FPGA, and servo motor control achieves better dynamic performance

The Test Device of Three-channel Electric Direct Drive Control System Simulating Automobile Steering System Parts

This paper briefly describes the detection status and existing problems of the current durability test of automobile parts, and designs a set of detection equipment for some parts with more accurate and complex stress structure, mainly through the combination of mechanical structure design driven by servo motor and electronic measurement and control part, so as to realize the mutual cooperative action of three channels including one linear load and two rotating loads. In the fatigue test of the steering system pull rod ball joint assembly and other parts, through the comparative test and uncertainty analysis, it is found that the uncertainty of the single actuating direction of the equipment is 82% lower than that of the traditional hydraulic cylinder actuator. At the same time, the working principle of the equipment determines that its detection energy consumption cost is far lower than that of the traditional hydraulic cylinder actuator.

Power Electronics and Drives: Simulation to Implementation in Minutes: A Novel Implementation Tool for Power Engineers

Power electronics and drives play a crucial role in various industrial applications, and therefore its control systems have become more significant since the turn of this century in the developing world. A power engineer must first control the system, design and simulate its model, and then implement it to verify the simulation results. Lucas Nulle Servo Drive (LNSD) system is a powerful tool for power engineers, researchers, professors, and students to enhance research efficiency. The system comprises self-commuted converter circuits with insulated-gate bipolar transistors (IGBTs), which incorporate control and measurement of power electronics parameters. The operation and recording of measurements can be done using virtual instruments. On the other hand, the system can operate without a computer. It can also be expanded through a MATLAB interface that allows to upload MATLAB projects onto a power electronics system and test them out using real hardware components in minutes. The steps involved in the project are first creating a model using LN MATLAB Toolbox, simulation of the model, generating code for target hardware, and measurement of data using LN scope. The results can then compare with those obtained in the simulation. This article briefly introduces the LNSD system and the two research studies: automatic control and novel model predictive control (NMPC) of variable speed fault-tolerant synchronous servo motor drive using MATLAB/Simulink.

Brush DC Geared Servomotor Control with Microcontroller

The background of this research is to make it easier for young researchers to develop brush control dc geared servomotor with a microcontroller which is part of the overall control system where there are other control parts such as TX commands obtained from sensor devices received through radio communication, conditioning circuits, and transisitor-taransistor logic for the driver for servo-control and other control parts of the bridge brushed dc geared servomotor switching system. Here the research limits itself to the control parts of the dc geared servomotor brush, the control part is in the form of software related to the microcontroller, for the other three parts are discussed in another reset. This limitation only discusses signals from radio, encoder one, encoder two, encoder three, mathematical processing, output command output. The command output is ready to connect to the brush geared dc servomotor.

Speed Control of the Direct Current Servomotor and the Stepper Motor with Arduino UNO Platform

Servomotors are special direct current or alternating current electric machines which have an adjustable rotational speed in a wide range, in both directions and which aim at moving a mechanical system along a trajectory in a prescribed time. Servomotors are used in various applications: robotics, machine tools with numerical control, aerospace technology, medical installations and others. Stepper motors are special synchronous machines that have a different construction than the classic one and are used in precision drive systems, with open loop such as: aircraft on-board equipment, timing and recording systems, electronics, office equipment, robotics industrial, etc. This paper experiences the speed control of a direct current servomotor, type SM-S2309S, with the help of the Arduino UNO platform, which is the simplest solution for the development of electronic applications. The study experiences also speed and step control of a stepper motor, type 28BYJ-48, with the Arduino UNO platform.

Design of the Servo Control System Based on EtherCAT P

EtherCAT is fully compliant with Ethernet standards, with 100Mbps transfer speed and good synchronization. It is widely used in the industrial field, such as the servo control system, robots, and numerical control machine tool. There are still lots of wires for power and communication in these applications, especially in the complex multi-axis system, leading to high installation cost and poor reliability. In this paper, a novel servo control system based on EtherCAT P is proposed. The EtherCAT P technology is an addition to EtherCAT, which can enable the standard 4-wire Ethernet cable to transmit not only data but also two electrically isolated power supplies. The hardware design and software architecture of the servo control system are described including servo motor controller, powered device, and power sourcing devices. A servo control system with one servo slave and TwinCAT master is built and some tests are carried out. The experimental results verify the power supply capacity, stability, and motor control functions.

Development of Multi-Axis Crank Linkage Motion System for Synchronized Flight Simulation with VR Immersion

This paper developed a rotatable multi-axis motion platform combined with virtual reality (VR) immersion for flight simulation purposes. The system could simulate the state of the flight operation. The platform was mainly comprised of three crank linkage mechanisms to replace an expensive six degrees of freedom (DoF) Stewart platform. Then, an independent subsystem which could rotate ±180° was installed at the center of the platform. Therefore, this platform exhibited 4-DoF movement, such as heave, roll, pitch, and yaw. In the servo motor control unit, Visual Studio C# was applied as the software to establish a motion control system to interact with the motion controller and four sets of servo motors. Ethernet Control Automation Technology (EtherCAT) was utilized to communicate the commands and orders between a PC and each servo motor. The optimum controller parameters of this system were obtained using Simulink simulation and verified by experiment. The multiple sets of servo motors and crank linkage mechanisms were synchronized with flight VR imagery. For VR imagery, the software Unity was used to design the flying digital content. The controller was used to transmit the platform’s spatial information to meet the direction of the pilot commands and to compensate the direction of the deviation in spatial coordinates. To achieve synchronized response and motion with respect to the three crank linkage mechanism platform and VR imagery on the tester’s goggle view, the relation of the spatial coordinate of VR imagery and three crank linkage mechanisms was transformed to angular displacement, speed and acceleration which were used to command the motor drive system. As soon as the position of the VR imagery changed, the computer instantly synchronized the VR imagery information to the multi-axis platform and performed multi-axis dynamic motion synchronously according to its commanded information. The testers can thus immerse in the VR image environment by watching the VR content, and obtain a flying experience.

Cascade tracking control of servo motor with robust adaptive fuzzy compensation

Servo motor drive systems with high-accuracy position tracking control suffer from some uncertainties from inherent mechanical friction and varying end-load. In this paper, a novel cascade controller with feedforward robust adaptive fuzzy compensation is proposed to overcome the negative impacts of the uncertainties. An adaptive fuzzy logic system is used to estimate the friction, which is applied for designing a feedforward compensator to improve the tracking performance. Based on Lyapunov stability theory, we show that closed-loop system can ensure the semi-global asymptotic tracking performance. Our proposed compensation strategy takes advantage of utilizing the cascade P/PI controller without changing the original control system structure, which is practical and valuable to industrial applications. Simulation results indicate some merits of the proposed controll scheme in terms of the system stability, adaptivity and robustness with respect to different uncertainties.

Research on servo motor motion control system based on Beckhoff PLC

In order to meet the requirements of high precision, reliability and real-time control of biaxial motion.Taking Beckhoff PLC CX9020 and Yaskawa Σ - 7S series AC servo controller as the control core, using Yaskawa SGM7J series motor and servo driver matching, the X-Y double axis servo motion control system is designed, and the overall hardware design of the control system is carried out. This paper focuses on the parameter setting, analog and digital acquisition, programming and HMI interface setting of servo motor control system. The debugging operation shows that the system runs stably and meets the control requirements of accurate positioning.

Development of a control architecture for a parallel three-axis robotic arm mechanism using CANopen communication protocol

Based upon the CANopen communication protocol and the LabVIEW graphic programing procedures, this paper develops a closed-loop control architecture for a parallel three-axis (Delta) robotic arm mechanism. The accomplishments include prototyping a parallel three-axis robotic arm mechanism, assembling servomotors with associated encoders and gearsets, coding CANopen communication scripts for servomotor controllers and a host supervision GUI, coding forward/inverse kinematics scripts to compute the required servomotor rotations and the coordinates of a movable platform or the mechanism, coding tracking error compensation scripts for effective closed-loop griper control, and coding integration scripts to command and supervise the mechanism motion on the LabVIEW-based host GUI. During the development stage, this research designed and prototyped the parallel three-axis robotic arm mechanism based upon basic Delta robot kinematics. To control the mechanism effectively and accurately, this study implemented the CANopen communication protocol, which characterizes high speed and stable transmission. The protocol applies to the CANopen communication channels among the controllers and the host supervision GUI. On the LabVIEW development platform, the coded supervision GUI performs issuing/receiving messages to the CANopen-based controllers. The controllers excite the servomotors and actuate the parallel mechanism to track prescribed trajectories in a closed-loop control fashion. Meanwhile, an electromagnet attached to the movable platform of the robotic mechanism performs satisfactory picking/placing object actions.

Position and speed optimization of servo motor control through FPGA

We have put our model in this paper in which we will be controlling the speed and direction of the servomotor through FPGA. So, as to guarantee the precision from the check control procedure, we have made a project in which the document provides the control plane associated with servo motor depending on Altera DE1 board gentle primary processor as program controller. The system utilizes FPGA since the primary gadget, as well as within Quartus II 10.0 program atmosphere. The associated control components aremade to type a good executable control program in which speed and direction will be controlled the servo motor performance. The particular handle signs from your handle method are usually separated and amplified which results in the push to appreciate the particular handle with the servo motor. Based on the features associated with Altera, it is expounded through 2 facets of equipment’s hardware as well as a software program that supplies an answer for that style associated with the servo control system. This particular document utilizes the actual PID control formula to manage the actual common screening device to attain versatile as well as precise control reasons. The actual equipment execution from the PID control formula is put in place through FPGA; precise as well as effective control program is built to enhance the speed and performance of the servomotor through FPGA.

EtherCAT slave controller for AC servo motor

The EtherCAT network was developed by Beckhoff Automation and it is considered the fastest technology among industrial Ethernet networks. Thanks to high data transmission rates, flexible connectivity and nanosecond synchronization, EtherCAT networks are becoming more and more popular in industrial applications. AC Servo motors are becoming more and more popular in industrial applications due to their high efficiency, fast dynamic response, low noise and high precision. Servo motor control technology is constantly being developed, one of the trends is integrating real-time network into the motor controller to improve efficiency and reduce hardware costs. This paper presents the design of an AC Servo motor controller with integrated EtherCAT network. The system architecture of the EtherCAT Slave as well as the communication method between the application microcontroller and the EtherCAT Slave device are presented. Peripheral components, processing tasks of EtherCAT network-integrated motor controllers for industrial applications are analyzed in detail. Then, we propose the optimal EtherCAT controller hardware architecture both in terms of motor control and EtherCAT. The controller architecture is a combination of EtherCAT chip, high performance microcontroller and FPGA, optimized for motor control application. In addition, a prototype controller has been designed based on the proposed structure with compact size, integrated Sigma Delta ADC, USB interface, Digital I/O and support for a variety of position feedback sensors. Some important points of the CIA-402 Driver profile standard such as operating structure, state machine management, Cyclic synchronous position control mode are analyzed and applied to closed-loop control of AC servo motor. The controller is connected to the EtherCAT master and operates in a real-time environment. Test results and measurements have been checked to demonstrate the controller's operability in the EtherCAT network as well as AC Servo motor controller responsiveness.

Comparison and Speed Control of DC Motor and DC Servomotor Using IMC Based PID Controller

IMC based PID controllers are being used to speed control of DC motor and DC servomotor in industry. As this controller offer good performance comparitive to conventional controllers like PI, PID and Ziegler Nichols frequency method controllers. This paper presents the speed control of the DC motor and DC servomotor using PI, PID, Ziegler Nichols method and IMC-PID controllers, to realize the optimization of control action. A mathematical calculation of DC motor and DC servomotor has developed and simulations are carried out in MATLAB/ Simulink environment. From the results, it is observed that time domain parameters like rise time 0.6 secs, settling time 2 secs, speed for peak over shoot 1450, peak amplitude 1, with no oscillations using IMC-PID controller on DC motor. And for DC servomotor its rise time is 0.3 seconds, settling time is 1 second, speed for peak overshoot 1450 rpm, peak amplitude 1 with absence of oscillations by using IMC-PID controller

Design, Analysis, and Implementation of a Four-DoF Chair Motion Mechanism

In this study, the proposed design of a motion chair with four degrees of freedom (DoF) provides the pilot with the tactile sensations required by the human body to increase the immersion of flight simulation training. The chair includes a seat pan, a back pad, and a seat height. For the development of the proposed mechanism structure, the modular design is used to achieve the required displacement and acceleration. In addition, inverse kinematics is also constructed to meet the actuation needs. The control system can achieve real-time closed-loop control using an industrial computer, a motion control card, servo motors and drivers. This enables the structure to reach destinations with the shortest motion time and completes the required T-curve motion trajectory. The displacement, velocity, and acceleration of the designed structure are analyzed using SimWise4D software to verify the performance specifications of the structure. The experimental results indicate that the four-DoF control meets requirements of displacement, velocity, and acceleration.

Application and research on digital twin in electronic cam servo motion control system

With the development and extensive applications of big data and artificial intelligence (AI), the manufacturing industry is gradually becoming increasingly intelligent. In the industrial sector, digital twin can greatly promote the innovation of products in the processes of design, production, operation, and maintenance. The traditional cam mechanism in mechanical reciprocating motion is constrained by the profile curve and lacks flexibility, which will be replaced by a new, flexible and controllable electronic cam. This paper designs a digital cam servo motion system based on digital twin. Using the multi-dimensional simulation software and taking advantage of virtual-real interaction ability of digital twin technology, the trajectory planning, state monitoring, and precise control of the electronic cam motion can be realized. The results show that the electronic cam servo motion control driven by digital twins has good observability, robustness, and adaptability. The scheme is feasible and practical, and provides reference for the design, manufacture, and application of electronic cam using digital twin technology.

Development of a Low-Cost Bio-Inspired Swimming Robot (SRob) with IoT

Now-a-days, exploring underwater is a difficult activity to do and requires specialized equipment to explore it. Many studies so far have proven that bio-inspired robotic fish such as stingray robots have many advantages for use as underwater exploration. One of them is the manta ray which can show excellent swimming ability by flapping the pectoral fins with large amplitude. By studying the movement behavior of genus Mobula, the development of biomimetic robots has grown exponentially in recent years. But this technology requires expensive development costs, and the prototypes produced are heavy. Therefore, the development of low-cost bio-inspired Swimming Robot (SRob) using embedded controller with internet of things (IOT) is proposed and presented in this paper. SRob is designed with a small size and lightweight compared to other conventional swimming robots and is well equipped with 6 servo motors, ADXL335 accelerometer 3-axis, 2 Lipo batteries 7.4V, ESP01 Wi-Fi module and Arduino Mega. The RemoteXY app that works like a remote control will be connected to the Arduino Mega using the ESP01 Wi-Fi module to control servo motors and obtain readings of the sensors. Based on the experimental results, the servo motor used to produce flapping motion can be controlled precisely while producing a large amplitude of motion. In addition, the position control for the compact SRob can be realized and determined correctly while swimming in the water.