Papers by Keyword: Torque Control

Abstract: In this paper we propose the gripper handle real-time based embedded system for operating robot manipulator. The general gripper has only a simple function and has also I/O module. Thus general gripper and position based robot controller combination is not suitable for precision process operation, IT assembly process. In order to give various functions and intelligence to the gripper, it is necessary to have an embedded controller that real-time guarantees. The proposed embedded system have five component that handle the pose of the gripper, measure the pose and translation of gripper, motoring the gripping tip, operate the stiffness of the gripper and communicate with Ethernet interface to the external robot controller. The external robot interface parts are supported to communicate with various external robot maker, KUKA, DENSO, ROBOSTAR etc. The validation and functional ability is tested on the LAB environment.

Abstract: In order to suppress the torque ripple of the BLDC motor, at the same time considering the nonlinear and uncertainty of the BLDC motor, this paper mainly proposes a self-tuning PID fuzzy algorithm to control the torque ripple. Self-tuning PID fuzzy control is integrating the advantages of PID control system and fuzzy control system, using the error and change of error as inputs, and adjustment of PID parameter on-line by fuzzy control rules. Self-tuning PID fuzzy has the advantages of flexible and adaptable, and also have the characteristics of traditional PID control system such as broad applicability and high control precision. The results of simulation show that the self-tuning PID fuzzy control can suppress the torque ripple of BLDC motor effectively, the optimization of the dynamic and static characteristic of the system, satisfying the requirements of system performance, the superiority and reliability of the control strategy was verified.

Abstract: For general dynamic pick and place tasks that the objects are transferred with high speed by the conveyor belt, the capability of a delta robot to track the traveling objects is very important for the efficiency. To meet the needs of precision and smooth control, a computed-torque control scheme for conveyor tracking is implemented in this paper. For higher efficiency and accuracy, computer vision system, encoder and conveyor belt region are incorporated into the control scheme. Dividing the conveyor belt into three regions, the robot is commanded to track, pick and give up according to the subregions. Conveyor belt is equipped with an encoder that provides the controller with real-time position and speed of the belt. Based upon those informations, the controller automatically compensates the end positions with respect to the belt to adjust for the position of the conveyor. Then, the conveyor tracking problem is converted to a subregional tracking problem.

Abstract: In order to adjust the working points of the engine for a full hybrid bus, this paper proposed a set of optimization control method. In speed adjustment process, the rate of change was optimized and limited to avoid rapid and frequent change along with power required by the driver. Allow for complex engine model, fuzzy control method was introduced to regulate the torque response rate. Furthermore, dynamic amplitude upper and lower bound were limited to prevent system overshoot and oscillation. Nowadays, there are hundreds of busses operates in several public transport lines. Vast statistic data and experimental results verify the feasibility and effectiveness of the proposed control method in this paper. The vehicle has good fuel economy compared to the counterpart one, and the dynamic performance is also greatly improved.

Abstract: Through the way of imposing sinusoidal torques of certain frequencies and amplitudes on the steering engines in servo state, and at the same time, measuring the changes of steering engines’ shaft angle, the system measures the steering engines’ stiffness. In the design of its structure, a frameless direct drive torque motor is used to provide loading torque, while with the aim of improving the torque loading performance and simplifying the control model, a spring beam is used to transfer torque. A control mode of three close-loop including torque, position and current is applied and a kind of explicit torque control based on position inner loop is achieved. The simulation results show that the desired goal can be achieved, which means that the amplitude and phase errors of the loading torque can both meet the requirement.

Abstract: This paper focuses on designing a controller to enhance the traction and handling of an Independent-Wheel-Drive Electric Vehicle (IWD-EV). It presents a traction torque distribution controller for an IWD-EV in order to maintain vehicle handling and stability during critical maneuvers. The proposed controller is based on the Direct Yaw-moment Control (DYC) and Active Front Steering control (AFS) which intended to increase the handling and stability of the vehicle respectively by applying the yaw rate and the lateral acceleration as the control variables. The performance of the controller is evaluated by numerical simulations of two standard high speed maneuvers which are the double lane change (DLC) and J-Curve. The proposed scheme presents a new controller design for IWD-EV which can effectively improved the vehicle handling and stability.

Abstract: A current controlled switched reluctance motor (SRM) drive for variable speed applications with efficiency optimization is presented. A robust, modular and flexible prototyping SRM drives is proposed. It is composed of a power electronic block, a driver board, a measurement and interface board and a DSP controller board. Firing angles are computed online, the turn-on is calculated by means of the Boses rule, and the turn-off is calculated using the general theory of the optimal turn-off angle proposed by Gribble. In steady state operation, tie initial selection of firing angles is fine-tuned by means of an algorithm that minimizes the input power of the drive. A 6/4 switched reluctance motor drive prototype was tested and the experimental results show an improvement in online efficiency, a good steady-state performance and no deterioration in the dynamic response. An efficiency comparison with a commercial vector-controlled induction motor drive of the same size is also included.

Abstract: The component of drive system for Electric vehicle is analyzed,and torque control strategy of motor is proposed. The design scheme of controller based on brushless direct current motor and dedicated control chip of motor TMS320LF2407A is presented. The main controller and hardware circuits of driving part is designed,and software control program is proposed,The test result shows that the design scheme proposed has high feasibility.

Abstract: The paper presents a technological review of modern motion control systems. Existing solutions are discussed and analyzed based on their topologies, limitations, and control techniques. A special attention is given to the servo control and variable frequency control systems, their comparison and applications. The paper also presents future trends in motion control systems.

Abstract: The paper presents an analysis of a novel multilevel inverter that can be used in the power modules of motion control systems for soft starting and speed control of high power medium voltage synchronous and induction motors. The inverter is constructed from hybrid cascaded H-bridge cells. The advantages of the proposed inverter upon standard topologies are significant reduction of electrical components and as a result, smaller size and weight. The proposed approach can be extended to any desired number of voltage levels. Extensive simulation results validate the practicability of the proposed inverter. Several aspects, such as Total Harmonic Distortion Factor of the inverter output currents and voltages, harmonic content, and frequency spectrum distribution are studied.