Download or read book Direct Field feedback Control for Permanent Magnet Spherical Motors written by Kun Bai and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: There are emerging requirements for high accuracy multi-DOF actuators in numerous applications. As one of the novel motors capable of multi-DOF manipulation, permanent magnet spherical motors (PMSMs) that can provide continuous and dexterous motion in one joint have been widely studied for their advantages in structure and energy efficiency. The demands to bring forward the performance of PMSMs for precision applications have motivated this thesis to develop a closed-loop orientation control system with high accuracy and bandwidth. Unlike traditional control methods for PMSMs, which rely on explicit orientation feedback, a new control method (referred to here as direct field-feedback control or in short DFC) directly utilizing the magnetic fields for feedback have been developed in this thesis. Because magnetic field measurements are almost instantaneous and the need for real-time orientation estimation is eliminated in DFC, the system sampling time is greatly reduced. Meanwhile, several field-based methods have been developed for the major components in the DFC system and each component can be processed independently and concurrently with the magnetic field measurements. The parallel computation further improves the system bandwidth and also reduces accumulated error. The DFC system has been experimentally implemented and evaluated. The results show excellent control performances in terms of accuracy and bandwidth. To facilitate the design and analysis of the DFC system, several new algorithms have been developed, which include the modeling and computing of magnetic fields as well as forces and torques, an analysis of bijective relationship between orientation and magnetic fields, and a method for calibration and reconstruction of the rotor magnetic field in 3 dimensional space. These algorithms not only enable the implementation of the DFC system for a PMSM, but also benefit the PMSM studies in design, modeling and field-based sensing. While the immediate outcome of this research is a control system for PMSMs, this new control method can be applied to a broad spectrum of electromagnetic motion systems.
Download or read book Permanent Magnet Spherical Motors written by Kun Bai and published by Springer. This book was released on 2018-03-20 with total page 170 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents models for establishing the relationships among the magnetic fields, position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors’ compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors’ force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’ hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.
Download or read book Control of Permanent Magnet Synchronous Motors written by Sadegh Vaez-Zadeh and published by Oxford University Press. This book was released on 2018-02-23 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Permanent magnet synchronous (PMS) motors stand at the forefront of electric motor development due to their energy saving capabilities and performance potential. The motors have been developed in response to mounting environmental crises and growing electricity prices, and they have enabled the emergence of motor drive applications like those found in electric and hybrid vehicles, fly by wire, and drones. Control of Permanent Magnet Synchronous Motors is a timely advancement along that path as the first comprehensive, self-contained, and thoroughly up-to-date book devoted solely to the control of PMS motors. It offers a deep and extended analysis, design, implementation, and performance evaluation of major motor control methods, including Vector, Direct Torque, Predictive, Deadbeat, and Combined Control, in a systematic and coherent manner. All major Sensorless Control and Parameter Estimation methods are also studied. The book places great emphasis on energy saving control schemes.
Download or read book Advanced Direct Thrust Force Control of Linear Permanent Magnet Synchronous Motor written by Muhammad Ali Masood Cheema and published by Springer Nature. This book was released on 2020-02-13 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book explores the direct thrust force control (DTFC) of tubular surface-mount linear permanent magnet synchronous motors (linear PMSMs). It presents a detailed account and analysis of several advanced nonlinear control schemes, based on the direct thrust control principle, to achieve a reduction in steady-state ripple in thrust force with faster transient response, and describes their experimental validation. It also provides rigorous details of the dynamic modelling of linear PMSMs from a control system perspective, and demonstrates the superior control performance of the proposed techniques compared to the current state-of-the-art techniques. Lastly, the book proposes and validates a stator flux observer for sensorless speed estimation comprising a linear state observer and an improved sliding mode component.
Download or read book Intelligent Robotics and Applications written by Honghai Liu and published by Springer Nature. This book was released on 2022-08-03 with total page 808 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 4-volume set LNAI 13455 - 13458 constitutes the proceedings of the 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022, which took place in Harbin China, during August 2022. The 284 papers included in these proceedings were carefully reviewed and selected from 442 submissions. They were organized in topical sections as follows: Robotics, Mechatronics, Applications, Robotic Machining, Medical Engineering, Soft and Hybrid Robots, Human-robot Collaboration, Machine Intelligence, and Human Robot Interaction.
Download or read book Position Control of Permanent Magnet Synchronous Motors PMSM for Direct Drive Robotics Applications written by Ali Ahmadi and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Intelligent Backstepping Control for the Alternating Current Drive Systems written by Jinpeng Yu and published by Springer. This book was released on 2021-02-14 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the intelligent control design for both the induction motor (IM) and the permanent magnet synchronous motor (PMSM). Compared with traditional control schemes, such as the field-oriented control (FOC) and the direct torque control (DTC), the intelligent controllers designed in this book could overcome the influence of parameter uncertainty and load torque disturbance. This book is a research monograph, which provides valuable reference material for researchers who wish to explore the area of AC motor. In addition, the main contents of the book are also suitable for a one-semester graduate course.
Download or read book Direct Eigen Control for Induction Machines and Synchronous Motors written by Jean Claude Alacoque and published by John Wiley & Sons. This book was released on 2012-12-17 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Clear presentation of a new control process applied to induction machine (IM), surface mounted permanent magnet synchronous motor (SMPM-SM) and interior permanent magnet synchronous motor (IPM-SM) Direct Eigen Control for Induction Machines and Synchronous Motors provides a clear and consise explanation of a new method in alternating current (AC) motor control. Unlike similar books on the market, it does not present various control algorithms for each type of AC motor but explains one method designed to control all AC motor types: Induction Machine (IM), Surface Mounted Permanent Magnet Synchronous Motor (SMPM-SM) (i.e. Brushless) and Interior Permanent Magnet Synchronous Motor (IPM-SM). This totally new control method can be used not only for AC motor control but also to control input filter current and voltage of an inverter feeding an AC motor. Accessible and clear, describes a new fast type of motor control applied to induction machine (IM), surface mounted permanent magnet synchronous motor (SM-PMSM) and interior permanent magnet synchronous motor (I-PMSM) with various examples Summarizes a method that supersedes the two known direct control solutions – Direct Self Control and Direct Torque Control – to be used for AC motor control and to control input filter current and voltage of an inverter feeding an AC motor Presents comprehensive simulations that are easy for the reader to reproduce on a computer. A control program is hosted on a companion website This book is straight-forward with clear mathematical description. It presents simulations in a way that is easy to understand and to reproduce on a computer, whilst omitting details of practical hardware implementation of control, in order for the main theory to take focus. The book remains concise by leaving out description of sensorless controls for all motor types. The sections on “Control Process”, “Real Time Implementation” and “Kalman Filter Observer and Prediction” in the introductory chapters explain how to practically implement, in real time, the discretized control with all three types of AC motors. In order, this book describes induction machine, SMPM-SM, IPM-SM, and, application to LC filter limitations. The appendixes present: PWM vector calculations; transfer matrix calculation; transfer matrix inversion; Eigen state space vector calculation; and, transition and command matrix calculation. Essential reading for Researchers in the field of drive control; graduate and post-graduate students studying electric machines; electric engineers in the field of railways, electric cars, plane surface control, military applications. The approach is also valuable for Engineers in the field of machine tools, robots and rolling mills.
Download or read book Performance Analysis and Nonlinear Feedback Control of Interior Permanent Magnet Synchronous Motor written by Olufemi A. Osaloni and published by . This book was released on 2003 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Direct Flux Control for Interior Permanent Magnet Synchronous Motor written by and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Direct torque control of permanent magnet synchronous machines written by Julius Luukko and published by . This book was released on 2000 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Direct Torque Control of Permanent Magnet Synchronous Motors written by Selin Ozcira and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Direct Torque Control of Permanent Magnet Synchronous Motors.
Download or read book Feedback Control and Stability Analysis of a Permanent Magnet Levitation System written by Mohammad Reza Shariatmadari and published by . This book was released on 2021 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent advances in non-contact manipulation of magnetic objects by external magnetic fields have made significant impact on the development of new generations of minimally invasive medical procedures in which magnetized objects such as drug carriers, surgical tools, etc., are guided inside the patients' body by precise control of external magnetic fields. The magnetic fields can be generated and controlled by arrays of either electro- or permanent magnets. Such controllable array of electromagnets is called non-contact magnetic manipulator. Although the magnetic fields of electromagnets are easier to control, permanent magnets have a larger magnetic field to size ratio that promotes compactness and/or larger workspace of the manipulator. In a magnetic manipulator with permanent magnets, the generated magnetic field is controlled by changing the translational or rotational position of its magnets by use of mechanical actuators. To stabilize the position of a magnetized object inside magnetic fields, feedback control of these actuators is necessary by the very nature of magnetic fields. The ability of feedback to stabilize the object substantially depends on the bandwidth and rate-of-change (or slew rate) limitations of the utilized actuators, the size of object and the viscosity of the medium it movies in, and the strength of the permanent magnets used. The study of these effects is crucial for the proper design of non-contact manipulation using permanent magnets. This research investigates the impact of bandwidth and rate-of-change limitations on the stability properties of the feedback loop within a magnetic levitation framework. A magnetic levitation system relying on permanent magnets provides an appropriate example while the simple structure of this system provides deeper understanding of the nature of limitations imposed by mechanical actuators. For this system, two controller designs are developed and their stability properties are studied: first, a linear feedback law based on an approximate linearized model of the actual system, and second, a nonlinear feedback law using the concept of feedback linearization. In the latter case, the nonlinear nature of magnetic fields is involved in the control design procedure to improve the close-loop stability. Finally, the region of attraction associated with each controller is constructed for different values of system parameters. These parameters are experimentally extracted from a real-world mechanical actuator (servomotor) and permanent magnet using system identification techniques. The stability properties of developed controllers are examined in terms of the size of constructed region of attraction.
Download or read book Field Oriented Control of Permanent Magnet Synchronous Motors Based on DSP Controller written by Qasim Al azze and published by . This book was released on 2014 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Cascade PI Control for Permanent Magnet Direct Current Motor written by Jenn Hwa Wong and published by . This book was released on 2009 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Sensorless Field Oriented Control of Permanent Magnet Synchronous Motors with Nonlinear Filtering written by Amy Elizabeth Sunderlin and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Position Control of Permanent Magnet Synchronous Motors and Torque Ripple Compensation written by O. Seta Boğasyan and published by . This book was released on 1991 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This study is about the modeling and control of permanent magnet synchronous motors which are prime candidates for direct drive applications, due to their characteristics like high torque over a wide speed range, high acceleration/deceleration and high torqe/intertia ratio. Direct drive applications solve problems like backlash, friction and coupling effects, but as a result the filtering effect on torque ripple is also lost which may give rise to undesirable performance in robotics. Thus initially in this thesis, the modeling of the PMSM is done to include the space harmonics which give rise to torque ripple. First, past studies on torque ripple suppression are reviewed and new and more efficient methods are presented, offering more generality and flexibility of control. Assuming these methods first, the adaptive model folowing control of PMSM is studied and simulated on a single link manipulator to demonstrate theimproved performance of the system in terms of tracking error and torque ripple suppression. Then, simulation results are obtained for an adaptive feedback linearization scheme developed for the smooth motion of a single link manipulator, using parameter identification. Next, experimental results are obtained for the position control of PMSM using conventional PID, optimal and adaptive control. The test stand is arranged to simulate a single link manipulator with varying inertia and it has been noted that the adaptive control method gives the overall best system responses in terms of error convergence. However, with this control scheme no parameter convergence has been achieved. Thus, in the final part of the thesis simulation results are given using the same adaptive control method but for a persistently exciting reference signal instead of the previous critically damped one and parameter convergence is obtained, as expected.
