Motor Drive Research Articles

Wall Painting Robot

Abstract: The automation of wall painting processes has garnered significant attention due to its potential to enhance efficiency, safety, and quality in the construction industry. This project focuses on developing an Automated Wall Painting system for both interior and exterior surfaces. The system employs readily available components such as Arduino Uno, NodeMCU, L293N HBridge Motor Driver, DC Motors, and other essential elements to achieve its objectives. The system comprises two primary components: the base and the support. The support component houses essential elements such as photoelectric seansors, paint spray mechanism, spray motor, and reservoir. Meanwhile, the base component incorporates four wheels, each driven by a DC motor, an obstacle sensor, and a 12V DC lead-acid battery for power supply. Upon activation, the system initiates the stepper motor, which drives the linear motion necessary for the support's back-and-forth movement along the wall surface. Simultaneously, the spray motor activates to ensure synchronized operation with the support motion, facilitating uniform paint application. This project addresses the challenges associated with manual wall painting, including labor intensiveness, safety concerns, and repetitive tasks. By automating the painting process, it aims to streamline operations, reduce labor dependency, and improve overall efficiency in construction projects. The system's simplicity, portability, and predictable performance make it a viable solution for enhancing productivity and safety in wall painting applications.

Artificial Neural Network Accuracy Optimization Using Transfer Function Methods on Various Human Gait Walking Environments

A bionic leg with ergonomic functionality can increase the user’s independence. However, an ergonomic bionic leg can be challenged to be developed. One of its challenges is related to functionality, where the bionic leg motor can be rugged to adapt to the user. One of the solutions for the bionic leg challenge is the application of a motor driver controlled by the user’s muscle signal. EMG signal can be utilized as the user’s signal source. The EMG signal is then fed back into the motor device. EMG signals obtained during a natural walking environment can result in smooth and natural movement. This study classifies EMG signals into 8 classes: a controlled walking environment (treadmill walking with various speeds) and a natural walking environment (ground walking, upstairs and downstairs walking). This research aims to optimize the ANN method using transfer function variations. The best method will be used to train EMG-driven motors for future studies related to bionic legs. The best ANN parameter in this research using Levenberg-Marquardt backpropagation as a training algorithm with transfer function pairing of the exponential function: Hyperbolic tangent sigmoid transfer function and SoftMax transfer function with 98.8% accuracy and 0.036 MSE value. The best method from the experiment and ANN classification can be used as a training method for a bionic leg in future research.

Impact of Variable Speed Drive Jobsheet Integrated with Project-Based Learning Model on Electric Motor Control Skills of Vocational Students

The problem in this study is that many students in the electrical power installation engineering (EPIE) class have not mastered the skills of electric motor control (EMC). This is because the teacher still uses traditional methods in the learning process. Namely, the teacher actively explains the material according to practical experience rather than referring to EMC learning objectives. This study aims to apply a variable speed drive (VSD) jobsheet based on project-based learning (PjBL) in the EMC learning process and measure the effectiveness of the jobsheet applied. The research method used was a pre-experiment with an intact group comparison research design. The research subjects were taken from 11th-grade students of vocational schools majoring in electrical power installation engineering and were assessed using a questionnaire instrument to evaluate students' EMC performance. Data analysis techniques used were independent t-test and effect size test. Based on the independent t-test analysis results, the t-value is larger than the t-table (t = 4.936 > 1.99962), and the significance value is 0.000, which shows a significant difference in skills between the experimental and control classes. Based on the effect size analysis, the value is 1.243, which means the jobsheet can improve students' EMC skills in the large category. Based on these two results, it is known that the PjBL-based VSD jobsheet is effective in the EMC learning process. Thus, it is expected that EPIE vocational high schools can use the PjBL-based VSD Jobsheet in the EMC learning process.

Autonomous Robotic System for Identifying and Extinguishing Fire

Putting out fires is a hazardous profession with a high death rate. The new approach to preserving both the environment and human life is robotics. This work suggests an autonomous robot system that uses a flame sensor to invariably detect and put out fires. The Arduino UNO, water pump, servo motor, motor driver, relay module, Bluetooth HC-06 module, and flame sensor are all part of this project. In addition, the robot's mobility is controlled by commands transmitted to the receiver via the push Bluetooth app on the transmitting end. The robot moves and the fire is doused with water thanks to the motors that are attached to the microcontroller. The robot body has a water pump and tank that are automatically identified by the infrared. The flame sensor and the entire system are managed by a microprocessor from the ATMEGA328 series. The microcontroller and a motor driver integrated circuit (L298N) are interfaced so that the controller may drive the motors. The robot can therefore sense fire at a distance. Around 5.11 cm is the average length for detecting flame, and 300 cm is the typical length for Bluetooth transmission. It might lessen constraints brought on by human mistake and fire extinguishing tasks.

Adaptive predefined-time tracking control of uncertain permanent-magnet synchronous motor drive chaotic system

A predefined-time tracking control algorithm is formulated for the Permanent Magnet Synchronous Motor(PMSM) driver system subjected to chaotic oscillations and undeterministic parameters, which can determine the upper bound of settling-time by controller gains. Radial Basis Function Neural Networks(RBFNNs) are employed to approximate the unknown nonlinear functions as universal approximators. The innovative predefined-time tracking differentiators are constructed to estimate the derivatives of the virtual inputs, resolving “the explosion of complexity” in traditional backstepping method. Then, an adaptive predefined-time controller is proposed in the backstepping framework. Lyapunov’s theoretical analysis proves that all signals in the closed-loop systems are uniformly ultimately bounded and the output tracking errors can converge to a small neighborhood of the origin within the predefined-time. Finally, simulation studies are performed to demonstrate that the proposed control scheme can quash the chaotic behaviors of the PMSM drive system and ensure fast-tracking performance even under unknown parameters.

Wireless Remote Controlled Multi-Purpose Robot using Raspberry PI

Over the past five decades, robotics and associated technologies have evolved into indispensable components across numerous industries, particularly in advanced manufacturing. Moreover, their application has extended beyond production-centric domains to encompass pivotal roles in military and law enforcement sectors, owing to advancements in sophistication, reliability, and compactness. This paper proposes the implementation of a real-time object detection system capable of precisely identifying and locating recognized objects, presenting a significant and practical advancement. Integrating various modules such as GSM and GPS with a Raspberry Pi, along with an array of sensors including metal and flame sensors, an L293 Motor driver, HC-SR04 Ultrasonic sensor, and HC-05 Bluetooth, this system facilitates seamless recognition and localization of objects in real-time. The Bluetooth connectivity feature enables remote control of the device, while a built-in camera captures images of unidentified individuals, thereby enhancing its surveillance capabilities. The incorporation of a motor driver ensures secure and controlled movement of the robot, while the ultrasonic sensor detects obstacles within its proximity. Additionally, the metal sensor swiftly identifies metallic objects, relaying their locations to the administrator, whereas the flame sensor promptly detects fires, enabling the system to dispatch location data for immediate response. This holistic approach renders the proposed system a versatile tool applicable across a spectrum of scenarios, ranging from security and surveillance operations to emergency response initiatives.

PERANGKAT EKSTRAKSI JAHE TERINTEGRASI BERBASIS ARDUINO UNO DENGAN PENGUJIAN METODE SPEKTROFOTOMETRI VISIBEL

The Automatic Ginger Extractor Based on Arduino Uno consists of three main units: the input unit, the processing unit, and the output unit. The input unit is equipped with Up, Down, and Ok buttons for navigation, as well as a phototransistor sensor that detects the presence of ginger samples (ginger simplicia) to be extracted. The processing unit uses an Arduino Uno microcontroller to process signals from the sensor and control the output unit. The output unit includes a motor driver, a power window motor for operating the grinder to crush the samples, a 12V DC motor for operating the stirrer to mix the samples with the solvent, an electric solenoid valve for dispensing the extract, and an LCD to display the process status. The working principle of this device is that when the phototransistor sensor detects a sample, the sensor signal activates the power window motor to grind the ginger. The user can then manually set the dissolution time using the navigation buttons. The longer the dissolution time, the better the extraction result. The final product is a liquid containing curcumin, which is measured using a curcumin content meter to determine its concentration. The device shows an error rate of 2.74% compared to manual methods. With this design, the Arduino Uno-based automatic ginger extractor offers a more efficient and consistent extraction process. The automation system allows for better control and optimal results with minimal manual intervention.

Development of metaheuristic algorithms for efficient path planning of autonomous mobile robots in indoor environments

The application of efficient path planning algorithms for two-wheeled Autonomous Mobile Robots (AMRs) in static environments with obstacles is a significant challenge in robotics research. Existing methods, such as the A star (A*) algorithm utilized in Robot Operating System 2 (ROS2), can provide optimal paths but may have high computational complexity in intricate environments. This study explores the potential of three metaheuristic algorithms - Improved Particle Swarm Optimization (IPSO), Improved Grey Wolf Optimizer (IGWO), and Artificial Bee Colony (ABC) - for planning efficient and smooth paths in static environments. These algorithms are selected due to their ability to efficiently find near-optimal solutions and avoid local minima. In this study, the researchers designed and built a two-wheeled AMR using a Raspberry Pi 4 microcontroller as the main processing unit, working in conjunction with an Arduino Mega for controlling the DC motor drive through an MDD10A motor driver circuit. The robot is equipped with an RPLiDAR A1 sensor to read 360-degree distance values for mapping and obstacle avoidance. The experimental results clearly indicate that the metaheuristic algorithms, especially ABC, can calculate paths up to 7% shorter than A* while requiring only one-tenth of the time. Moreover, ABC demonstrates superior motion smoothness when applied to the actual two-wheeled robot in static environments. This work represents a significant step in developing algorithms for two-wheeled robots that are ready to support real-world operations in industries, logistics, healthcare, or various service sectors, which can help increase efficiency and reduce operating costs in the future.

FIRE FIGHTING ROBOT WITH ALERT SMS

The Arduino-based Fire Fighting Robot with SMS Alert System is a robotic system designed to detect and extinguish fires in indoor environments. The robot uses flame sensors to detect the presence of a fire. Once a fire is detected, the robot moves towards the source of the fire and sprays water to extinguish the flames. The robot is equipped with a GSM module that can send SMS messages to alert the user when a fire is detected. This allows for prompt action to be taken to minimize damage and save lives. The components of the robot include an Arduino board, motor drivers, sensors, and a GSM module. The software code is written in the Arduino IDE and controls the motors, reads sensor data, and communicates with the GSM module. The robot is tested and debugged to ensure that it functions correctly and safely in different scenarios. Overall, the Arduino-based Fire Fighting Robot with SMS Alert provides a reliable and efficient solution for fire detection and suppression with the added benefit of remote communication and control.

Comprehensive Analysis of DC Link Capacitors Used in Cascaded H-Bridge Motor Driver

An essential part of inverter design is selecting direct current-Link Capacitors (DCLC) for Medium-Voltage Cascaded H-bridge motor Drivers (MV-CHBMD). This article analyzes capacitor configuration for MV-CHBMD to improve the quality of driver output and input current depending on an analysis of DCLC current effects. The techniques were employed with two-level converters to find the harmonics, and the root mean square (RMS) value of the capacitor current has been expanded to seven-level MV-CHBMD. Additionally, a novel mathematical technique has been recommended for determining the RMS current and voltage ripple of the DCLC. The proposed MATLAB simulation technique provides a comprehensive analysis of the outcome results. This allows for easy customization to other modulation methods and application to higher-level MV-CHBMD. Specifically, it calculates the worst-case scenario for the DC-link voltage in a 1000-horsepower and 3.3-kV system. The study also presents empirical evidence that specific system components endure excessive stress. This information is valuable for accurately specifying system components and ensuring optimal system design in the MV-CHBMD system. This article examines the potential impact of standard mode voltage on the bearings of medium-voltage motors. In addition, an optimal approach for selecting DCLCs in a multilevel cascaded H-bridge (CHB) motor driver strategy is proposed, effectively eliminating voltage stress on switching devices. The effectiveness of these systems is demonstrated by presenting simulation results. A comprehensive study analyzed the performance of various inverter levels, including total harmonic distortion (THD) and efficiency. The DC link was constructed using the MATLAB platform to conduct a thorough analysis. The proposed approach exhibits superior performance and lower costs compared to traditional methods. The experimental work and test confirm the simulation results. The test result showed that selecting DCLCs in a CHB provides a higher-quality output waveform into CHB, which supports the controlling structure and reduces the probability of malfunctions.

Design and Implementation of an Intelligent Maximum Power Point Tracking Controller for Dual-Axis Solar Tracking Photovoltaic Systems

This research presents the design and implementation of an intelligent maximum power point tracking (MPPT) controller for dual-axis solar tracking photovoltaic (PV) systems. The proposed controller integrates an advanced MPPT algorithm with a dual-axis solar tracker mechanism to optimize energy extraction from PV panels. Sensor data is utilized to dynamically adjust the solar tracker's orientation and the PV array's operating point simultaneously. The system's hardware and software components are developed, including a microcontroller, sensors, motor drivers, and control algorithms. Experimental results demonstrate improved energy yield and efficiency compared to conventional fixed-axis or single-axis tracking systems. Keywords: Maximum Power Point Tracking, Dual-Axis Solar Tracking, Photovoltaic Systems, Intelligent Control, Energy Optimization

Speed Control of a Linear Induction Motor Using V/F Technique

Speed control of single phase Linear Induction Motor using V/F method have been widely used in fans and pumps drives. High-power Linear Induction Motors (LIMs) face challenges in managing speed. Traditional system are ineffective, causing inefficiency and potential damage. To address this, our project proposes a control system for LIM speed control suing V/f method. Currently, linear induction motors (LIMs) are widely used in many industrial applications, including transportation, conveyor systems, actuators, material handling, pumping of liquid metal, sliding-door closers and others, with satisfactory performance. The proposed control system consists of Arduino controller , soft switching for controlling and motor driver board to run Linear induction motor with voltage and frequency monitoring. This control system has almost no effect in normal operation of LIM. Hardware testing results are obtained to verify the valuable operation of proposed circuit in Speed control of LIM. Keywords—Linear Inuction Motor , Speed Control, V/f Method , Arduino Controller , LCD Display etc.

DELIVERY AUTOMATION ROBOT USING ARDUINO MICROCONTROLLER

The Delivery Automation Robot project aims to develop a robust and efficient autonomous delivery robot for last-mile logistics operations. Built upon a foundation of sturdy hardware components including a four-wheel metal chassis and large wheels, the Delivery Automation Robot ensures stability and durability while navigating diverse terrains. Integrated with advanced control systems such as the L298n motor driver shield, NODEMCU, and Arduino Uno, the robot offers precise movement control and data processing capabilities. Equipped with essential sensors like the magnetometer HMC5883 and NEO 6m GPS module, the MDAR achieves accurate localization and navigation, crucial for optimizing delivery routes. Additionally, wireless communication facilitated by the HC06 Bluetooth module enables remote monitoring and control. Overall, the Delivery Automation Robot represents an innovative solution poised to revolutionize last-mile delivery processes, enhancing efficiency and reliability in logistics operations. Keywords: four-wheel chassis, L298n motor driver, NODEMCU, Arduino Uno, magnetometer HMC5883, NEO 6m GPS module, HC06 Bluetooth module.

Digital PID Controller based Speed Control of DC Motor

PID controllers are commonly utilised in industry because of their ease of use and adaptability. To adjust these controllers for desirable responses, a number of tuning rules have been developed. This work aims to regulate a robotic vehicle's speed by utilising a PID controller to adjust the motor speed in reaction to impediments. We offer a technique that uses an Arduino microcontroller to automatically tune the PID controller to control the speed of a DC motor. An Arduino Uno device interfaces the DC motor with Simulink and functions as an affordable data collecting device. In order to maintain the motor speed within setpoint limitations, the PID controller modifies it in response to object distance data obtained from sensors. The study suggests utilising a PID controller to regulate the DC motor's angular speed and a microcontroller to implement it in hardware. The L298 motor controller is utilised, the encoder sensor determines angular speed, while the Arduino Uno is utilised for data processing. The proportional controller affects rising time, overestimation, and steady-state errors in the hardware implementation. Overshoot and undershoot are impacted by the integral controller, although overshoot is very slightly impacted by the derivative controller. Top of Form Keywords— Arduino Controller, LCD Display, PID Controller, DC Motor, Motor Driver etc.

Smart Restaurant Using 3D Holographic Projection Menu and Waiter Robot

This project aims to construct an inventive 3D holographic restaurant system by integrating cutting-edge technology such as Raspberry Pi, LCD monitor, L298N motor driver, keyboard, speaker, DC motor, ESP8266, and IR sensor. The system incorporates a robotic waiter equipped with a holographic display, capable of interacting with customers, taking orders, and serving food. The robot navigates between three tables, displaying holographic menus and confirming orders through a keypad. The system aims to revolutionize the dining experience by combining robotics, holography, and smart technology for an engaging and futuristic restaurant environment. This paper explores the innovative integration of advanced technologies, specifically 3D holographic projection menus and waiter robots, to create a smart restaurant aimed at revolutionizing the traditional dining experience. The incorporation of these cutting-edge technologies offers a unique and immersive approach to menu visualization and customer service. Keyword: 3D Holographic Projection, Robotics, Smart technology, Customer engagement.

FABRICATION AND PERFORMANCE OF AUTONOMOUS VEHICLE

Line following and obstacle avoidance are essential functionalities in robotics. A Line Following Robot utilizes arrays of optical sensors to track and follow lines autonomously. Equipped with four sensors, it ensures precise movement along the line. DC gear motors drive its wheels, controlled by an Arduino Uno interfacing algorithms for speed regulation and steering. Additionally, an LCD interface displays the traveled distance. This versatile robot finds applications in industrial automation, household tasks, and guiding systems in museums. Conversely, an obstacle avoidance robotic vehicle, built with an ATmega328 microcontroller and ultrasonic sensors, demonstrates intelligent navigation. When obstacles are detected, the microcontroller redirects the vehicle by actuating motors through a motor driver. Unlike infrared sensors, the ultrasonic sensors offer compatibility and reliability. This project amalgamates both functionalities to create a comprehensive robotic system capable of navigating along lines while autonomously avoiding obstacles. Key components include the Arduino UNO, motor shield L293d, ultrasonic sensor HC-SR04, DC motors, and servo motor.represents a significant leap towards a future where vehicles navigate with unprecedented efficiency and safety, heralding a new era of transportation. Keywords: Line Following Robot, Optical Sensors, DC Gear Motors, Arduino Uno.

ARUDINO BASED OBSTACLE AVOIDING ROBOT CAR P VAYUNANDA SAI KUMAR

This project involves the design and implementation of an intelligent obstacle-avoiding robot car. The objective of this project is to implement a robot car, which while moving should have the ability to detect obstacles in its path and change direction where obstacles are present without any form of external influence. The new direction to be taken to avoid collision is the direction that has the most distance between the obstacle and the sensor and this is determined by the robot based on sensor inputs. This implementation was done using an ultrasonic wave sensor, which measures distance by sending pulses. Also, the movement of the servo motor (for sensor movement) and the DC motors (for wheel movement) are controlled by the motor driver shield in order to enable the obstacle avoidance function. The commands are sent to the Arduino microcontroller chip which serves as the main control of the robot car, as it controls the sensor and car movement. The implemented robot car was able to successfully detect and avoid obstacles within the line of sight of the Ultrasonic sensor used. Keywords: Arduino UNO, ultrasonic sensor, DC motor, Servo Motor

VOICE CONTROLLED WHEELCHAIR FOR PHYSICALLY DISABLED PEOPLE

As the time being, Technology is growing at a faster rate. Improvement in Technology makes the lives simple. everyone wants to live individually using the technology. However, this is deceptive for physically challenged persons. Majority of people with disabilities having trouble moving various body parts. The only solution is to depend on their family and friends to complete their day to day works. Even for moving from one place to other place the persons must use a wheelchair. For moving the wheelchair, the person should have enough strength in hands or requires other person to assist the wheelchair. The persons having disability are less communicating with the outside world which make them week and reluctant. The proposed machine is a wheelchair- manipulated gadget to help disabled human beings to turn out to be unbiased. The device uses a voice recognition unit which will take human voice as command and control the wheelchair movement based on the command. The device integrates Arduino, HC-05 Bluetooth module, speech-to-text voice recognition android utility, and motor driver through which the customers can perform the wheelchair with the aid of absolutely speaking to the wheelchair microphone. The wheelchair is designed at low cost in such a way that needy users will benefit from the machine. Key Words- voice recognition, HC-05 Bluetooth module, physically challenged persons.

Development and performance evaluation of an electric cabbage harvester with a precise cabbage pushing mechanism

The manual method of harvesting cabbages is common in many Asian countries, which creates a lot of biomechanical problems among farmers. The existing commercial cabbage harvesters being bigger in size are not suitable for small landholdings. To address this, a three-wheeled walk-behind type electric cabbage harvester with a precise cabbage pushing mechanism was developed. It comprised a cutting unit, pushing unit, conveying unit, propelling unit, storage bin and handle. Based on the results obtained from laboratory tests, the cutting speed, forward speed and cutting position of cabbage stem from cabbage head was chosen as 590 rpm, 0.25 m/s and 0.1 cm. For pushing the cut cabbages precisely, a YOLOv8 custom cabbage detection model (mean average precision of 0.938) was developed and deployed in Nvidia Jetson Nano that could detect the cabbages and actuated a pusher via Arduino microcontroller and motor driver to push the cut cabbages to the conveyor belt. In the power supply unit of the harvester, 48 V 12 Ah, 12 V 7 Ah, and 24 V 18 Ah batteries were used for powering the motors for cutting, pushing, and propelling and conveying, respectively. The harvester was tested in a polyhouse for three Indian cabbage varieties. The maximum instantaneous power consumption (IPC) was measured as 948.53 W. Hand vibration and noise at operators’ ear level were 2.098 m/s2 and 78 dB(A), respectively, which confirmed its safety from an ergonomic perspective. The harvester achieved a maximum cutting efficiency of 77.5 % and a minimum damage rate of 7.5 % during polyhouse testing.

Six Steps Commutation Torque and Dynamic Characteristics of Spherical Brushless Direct Current Motor

This paper presents developing a new three-degrees of freedom (DOF) electromagnetic actuator referred to here as a spherical brushless direct current (SBLDC) motor. The SBLDC motor consists of permanent magnets (PMs) in a rotor and three layers of electromagnets (EMs) in a stator. The EMs in the middle layer of the stator generate a spinning torque, and the other two layers, placed symmetrically with respect to the middle, produce a tilting torque. Winding layouts of the EMs in each layer are analytically studied for decoupling between spinning and tilting torque. Furthermore, a six steps commutation is proposed to independently control the tilting torque as well as the spinning torque. The commutation torque model is validated by the moment method based distributed multipoles (MMDMP) according to various tilting angles and directions. Then, the commutation torque model is further utilized to develop open-loop control and analyze stability with respect to equilibria. Finally, the performance of the SBLDC motor and control system is verified experimentally using commercial brushless direct current motor (BLDC) drivers. The results show the substantial potential of the SBLDC motor in automation and mobility applications requiring orientation control with high-speed spinning.