Solid State Phenomena Vol. 198

Abstract: Political pressure on the automotive industry will lead in future to an increasing electrification of the powertrain. The new components require the development of new vehicle control systems and control functions. Due to the high complexity of such systems the mechatronical development process including Model in the Loop (MIL), Software in the Loop (SIL) and Hardware in the Loop (HIL) simulation has been established. In this paper, a HiL test rig is presented, which has high flexibility and supports the model based development of control systems for battery electric vehicles at all levels.

Abstract: The aim of this work is to analyze the influence of bias current value on the active magnetic bearing (AMB) performance. The numerical simulation results were compared with the experimental ones. Two variants were examined. In the first one, the bias current was set to half of its maximal value. In the second case, the bias current was equal to zero. It should be noted, that in both variants of the AMB the simple PID regulator has been assumed as a controller with constant parameters. The transients have been simulated with using field-circuit method. We obtained the characteristics of the magnetic force verso the control current and rotor position. The force has been calculated using the magnetic field analysis method [1, . The transients from the computer simulation were used for determination of the AMB stability. Thus, launch of the machine should be examined against its destruction. Both, the computer simulation results and measurement ones have shown that the AMB system can be controlled by the linear regulator without any bias current. However, lack of the bias current causes higher time of the rotor settling and increases overshoot magnitude.

Abstract: In many automatics and mechatronics systems accurate modeling of several physical processes is needed. In power system, one of these is the process of control of angular velocity of power blocks during their connection to parallel operation. This process is extremely dynamic and the response of control system results from continuous changes in many physical parameters (temperature, pressure and flow of the working medium, etc.). An accuracy of modeling this process influences int. al. on: quality of the automatic synchronizer diagnostic tests in the laboratory, as well as the possibility of evaluation of prospects for connection process in the power system, without the automatic synchronizer [. Automatics systems used for research and diagnosis of automatic synchronizers are known in the literature as and simulators [2, . To impose similar to real working conditions, it is required to implement an appropriate models of control systems. One of such models, representative for the larger population of objects, is model of control systems of angular velocity. Currently used models, e.g. [3, 4, 5, , allow to approximate the response of real object, or to impose higher restricted conditions of work, for example: related to the angular acceleration dω/dt, the size of overshoots and decay time of transitional characteristics, while accurate modeling the real working conditions using them is not possible. Furthermore, their use requires knowledge of the (often difficult to access) object parameters and time-consuming selection of manual procedure of certain substitute settings, occurring in these models. To eliminate inconveniences mentioned above, in the paper the proposal and mathematical modeling procedure is presented, which allow to obtain much more accurate transitional characteristics of real objects.

Abstract: Endless metal belts play an important role in advanced processing lines or belt machines for many production processes. In contrast to standard conveyor lines metal belts must be run over cylindrical return drums due to the high elastic modulus of the belts material and the usually high level of pre-stress. Since cylindrical return drums do not provide passive lateral guidance (self-centering) they have to be actively adjusted by swiveling drum axes. In this work a suitable control scheme is presented to guarantee a set lateral position at the return drums even in the presence of a lateral disturbance force. Since the lateral dynamics of the endless belt show strong coupling between all inputs and all outputs a multivariate control approach with inherent decoupling capabilities is needed. Moreover, a number of technological constraints must be fulfilled for all operating conditions such as limited swivel angles and the maximum allowable tensile stress in the belt. In this research work a constrained model predictive control (MPC) is therefore designed to overcome the aforementioned problems. The model is based on a description in the spatial domain (belt travel) which renders the model independent of operating speed. Using this model a multi-input multi-output (MIMO) MPC-scheme is derived also in state-space representation. Moreover, the control explicitly considers constraints on the control inputs and on the maximum allowable belt stress.

Abstract: For an efficient design process of complex mechatronic systems a continuous and verification-orientated model-based methodology with Model-in-the-Loop (MiL), Software-in-the-Loop (SiL) and Hardware-in-the-Loop (HiL) simulation is suitable. Using such an approach the real-time capable nonlinear multi-body system model of the entire vehicle with the electric power train and the identification of the physical parameters are described. A continuous appliance of the introduced model is a contribution for the frontloading and guarantees a time and cost efficient mechatronic design approach.

Abstract: The paper presents two proposals of models of interaction between a ship and cargo being loaded or discharged by a gantry in port, in terms of heeling and rolling of the vessel. The main purpose of such modelling is the need for improvement of gantry control with regard to faster operations thanks to more accurate estimation of level and moment of cargo release from a gantry hook or spreader. The study may be the contribution to the development of gantry control systems in sea ports.

Abstract: In the paper, a concept and selected procedures of the specialized software using advanced information technology for the diagnostic system dedicated for systems of rotating machines with active magnetic bearings will be presented. It is used in the actual operation of the machine, enabling an increase of its reliability. The paper presents some selected results of control of the proper operation of the mechatronic rotating system, carried out in the automatic mode.

Abstract: This paper presents the linear electromagnetic motor (LEM) which consists of two solenoids and a slide control with neodymium magnet bars placed on its end. The work of the electromagnetic motor is based on the phenomenon of electromagnetic repulsion. The device also includes an electromagnetic brake which allows to stop the slider or to hold the slider in a fixed position, without electricity supply. The range of the slider movement is up to 50mm. The paper deals with the problem of implementation of the Genetic Algorithm GA to calculate Pareto-optimal solutions. In this process, the functions of voltage powering solenoids used to control the position of the linear electromagnetic motor are evaluated. This procedure assumes minimizing two conflicted criteria: the time of movement of the motor and the energy input. In this case the device works in the open-loop system without a feedback loop. The results of the application of the conventional PID controller are also presented, which allows precision positioning up to 1µm. The experimental results are compared with Matlab-Simulink simulations.

Abstract: The problem of ensuring the safe and efficient cranes operations in automated manufacturing processes involves the automation of the operating workspace identification, non-collision and time-optimal path planning, and real-time following a payload along the determined path by crane motion mechanisms with expected precision. The paper describes the stereo vision based system used for identification of workspace of the laboratory scaled overhead travelling crane. The time-optimal trajectory of a payload is determined by using the A-star graph searching algorithm, and next real-time trucking by PLC-based crane control system.

Abstract: Controlled mechanical systems (CMS) are various robotic systems, vehicles/platforms with active suspension, and other engineering structures with active vibration/shape control. CMS have to be considered as functionally directed compositions of mutually influencing subsystems: control, actuator, structural, and sensor subsystems. Such systems have highly complex dynamics and an advanced conceptual framework is needed that considers at the same time the problems of full dynamic modelling, optimal system design, accurate parameter identification, and optimal robust control. There are various design tasks for controlled mechanical systems (CMS), where continuously increasing demands for higher speed, better motion accuracy, and reduced energy consumption are to be satisfied. In order to achieve such complicated performance optimization, it is very important to study their controllability and find efficient solutions for the control-related, design optimization problems. Our intention is to present novel concepts and criteria for design optimization of CMS with decentralized controllers at the lowest (joint) level. The first step is to find a dynamic model relating the control inputs and the controlled outputs which is suitable for both purposes: accurate parameter identification and robust control design. To do that, we can apply the so-called multibody system approach: the mechanical structure of CMS can be approximated by a composition of rigid bodies connected by joints, actuators, springs, and dampers. Then we find explicit necessary and sufficient conditions on the control transfer matrix that can guarantee robust controllability in the face of arbitrary, but bounded disturbances. Thus the design optimization process has to involve, besides the basic strength/load capacity criterion, additional design relations for optimal trade-off between the bounds of disturbances and the control force limits. The proposed approach enables decomposing the complex CMS design task into much simpler optimization problems for the CMS components: mechanical structure, actuators, sensors, and controllers. The new design concepts will be illustrated with several optimization examples of CMS concerning their shape, mass distribution, actuators' sizes and locations, and control functions.