Abstract: In the actual start-up process of DC motors, the DC drive system often faces a conflict between energy consumption and acceleration performance. To resolve the conflict, this paper proposes a comprehensive performance index that energy consumption index is added on the basis of classical control performance index in the DC motor starting process. Taking the comprehensive performance index as the cost function, particle swarm optimization algorithm is designed to optimize the comprehensive performance. Then it conducts simulations on the optimization of the comprehensive performance of the DC motor on condition that the weight coefficient of the energy consumption index should be properly designed. The simulation results show that as the weight of energy consumption increased, the energy efficiency was significantly improved at the expense of a slight sacrifice of fastness indicators with the comprehensive performance index method. The energy efficiency was increased from 63.18% to 68.48% and the response time reduced from 0.2875s to 0.1736s simultaneously compared with traditional proportion integrals differential controller in energy saving.
Abstract: Two-wheel inverted pendulum robot (TWIPR) is designed with two-hub DC motors for human riding and motion control evaluation. In order to measure the tilt angle and angular velocity of the inverted pendulum robot, accelerometer and gyroscope sensors are chosen. The mobile robot’s moving position and velocity were estimated based on DC motor built in hall sensors. The control kernel of this electric mobile robot is designed with embedded Arduino Nano microprocessor. A handle bar was designed to work as steering mechanism. The intelligent model-free fuzzy sliding mode control (FSMC) was employed as the main control algorithm for this mobile robot motion monitoring with different control purpose adjustment. The intelligent controllers were designed for balance control, and moving speed control purposes of this robot under different operation conditions and the control performance were evaluated based on experimental results.
Abstract: This paper presents the two loop proportional integral (PI) controller for speed control of permanent magnet DC motor (PMDC) motor drive with H-bridge DC chopper. PMDC motors are widely used in many applications because of having a good performance and it is easy to apply the speed control. The speed can be adjusted by using armature voltage control as it had only the armature circuit. H-bridge DC chopper circuit is used to obtain the desired speed in any direction. In this system, the two loop PI controller is designed by using pole-zero cancellation method. The speed and current controller gains are considered depending on the sampling frequency of the microcontroller. An Arduino IO package is used to implement the control algorithm. Both simulation and experimental results are presented to prove the correctness of the mathematical model.
Abstract: This paper presents an innovative method to control the rotational speed of a satellite solar panel during its deployment phase. A brushed DC motor has been utilized in the passive spring driven deployment mechanism to reduce the deployment speed. In order to use the DC motor as a damper, its connector terminals have been connected with an external resistance in a closed circuit. It means that, in this approach, there is no external power supply in the circuit. The working principle of this method is based on the back electromotive force (or back EMF) of the DC motor when an external torque (here the torque produced by the torsional springs) is coupled to the DC motor’s shaft. In fact, the DC motor converts to an electric generator and the current flows into the circuit and then produces the back EMF. Based on Lenz’s law, the generated current produced a torque which acts opposite to the applied external torque, and as a result, the deployment speed of the solar panel decreases. The main advantage of this method is to set an intended damping coefficient to the system via changing the external resistance. To produce the sufficient current, a gearbox has been assembled to the DC motor which magnifies the number of turns experienced by the DC motor. The coupled electro-mechanical equations of the system have been derived and solved, then, the obtained results have been presented. A full-scale prototype of the deployment mechanism has been built and tested. The potential application of brushed DC motors as a rotational speed damper has been successfully demonstrated.
Abstract: A two wheel inverted pendulum (TWIP) vehicle is built with two hub DC motors for motion control evaluation. Arduino Nano micro-processor is chosen as the control kernel for this electric test plant. Accelerometer and gyroscope sensors are built in to measure the tilt angle and angular velocity of the inverted pendulum vehicle. Since the TWIP has significantly hub motor dead zone and nonlinear system dynamics characteristics, the vehicle system is difficult to control by traditional model based controller. The intelligent model-free fuzzy sliding mode controller (FSMC) was employed as the main control algorithm. Then, intelligent controllers are designed for TWIP balance control, and two wheels synchronization control purposes.
Abstract: Brushless DC motors (BLDC) are widely used in
industrial areas. The BLDC motors are driven either by indirect ACAC
converters or by direct AC-AC converters. Direct AC-AC
converters i.e. matrix converters are used in this paper to drive the
three phase BLDC motor and it eliminates the bulky DC link energy
storage element. A matrix converter converts the AC power supply to
an AC voltage of variable amplitude and variable frequency. A
control technique is designed to generate the switching pulses for the
three phase matrix converter. For the control of speed of the BLDC
motor a separate PI controller and Fuzzy Logic Controller (FLC) are
designed and a hysteresis current controller is also designed for the
control of motor torque. The control schemes are designed and tested
separately. The simulation results of both the schemes are compared
and contrasted in this paper. The results show that the fuzzy logic
control scheme outperforms the PI control scheme in terms of
dynamic performance of the BLDC motor. Simulation results are
validated with the experimental results.
Abstract: DC motors have been widely used in the past
centuries which are proudly known as the workhorse of industrial
systems until the invention of the AC induction motors which makes
a huge revolution in industries. Since then, the use of DC machines
has been decreased due to enormous factors such as reliability,
robustness and complexity but it lost its fame due to the losses. In this
paper a new methodology is proposed to construct a DC motor
through the simulation in LabVIEW to get an idea about its real time
performances, if a change in parameter might have bigger
improvement in losses and reliability.
Abstract: A robust control approach is proposed for a high speed manipulator using a hybrid computed torque control approach in the state space. The high-speed manipulator is driven by permanent magnet dc motors to track a trajectory in the joint space in the presence of disturbances. Tracking problem is analyzed in the state space where the completed models are considered for actuators. The proposed control approach can guarantee the stability and a satisfactory tracking performance. A two-link elbow manipulator driven by electrical actuators is simulated and results are shown to satisfy conditions under technical specifications.
Abstract: A model based fault detection and diagnosis
technique for DC motor is proposed in this paper. Fault detection
using Kalman filter and its different variants are compared. Only
incipient faults are considered for the study. The Kalman Filter
iterations and all the related computations required for fault detection
and fault confirmation are presented. A second order linear state
space model of DC motor is used for this work. A comparative
assessment of the estimates computed from four different observers
and their relative performance is evaluated.
Abstract: A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control approach. The proposed control approach can guarantee the robustness of control system. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a satisfactory performance for control system under technical specifications. KeywordsModel-free, robust control, position control, PUMA 560.
Abstract: A new and cost effective robotic device was designed
for remote tele surgery using dual tone multi frequency technology
(DTMF). Tele system with Dual Tone Multiple Frequency has a large
capability in sending and receiving of data in hardware and software.
The robot consists of DC motors for arm movements and it is
controlled manually through a mobile phone through DTMF
Technology. The system enables the surgeon from base station to
send commands through mobile phone to the patient’s robotic system
which includes two robotic arms that translate the input into actual
instrument manipulation. A mobile phone attached to the
microcontroller 8051 which can activate robot through relays. The
Remote robot-assisted tele surgery eliminates geographic constraints
for getting surgical expertise where it is needed and allows an expert
surgeon to teach or proctor the performance of surgical technique by
real-time intervention.
Abstract: The main objective of this project is to build an
autonomous microcontroller-based mobile robot for a local robot
soccer competition. The black competition field is equipped with
white lines to serve as the guidance path for competing robots. Two
prototypes of soccer robot embedded with the Basic Stamp II
microcontroller have been developed. Two servo motors are used as
the drive train for the first prototype whereas the second prototype
uses two DC motors as its drive train. To sense the lines, lightdependent
resistors (LDRs) supply the analog inputs for the
microcontroller. The performances of both prototypes are evaluated.
The DC motor-driven robot has produced better trajectory control
over the one using servo motors and has brought the team into the
final round.
Abstract: This document describes an electronic speed control designed to drive two DC motors from a 6 V battery pack to be controlled by a commercial universal infrared remote control hand set. Conceived for a tank-like vehicle, one motor drives the left side wheels or tracks and the other motor drives the right side. As it is shown here, there is a left-right steering input and a forward– backward throttles input, like would be used on a model car. It is designed using a microcontroller PIC16F873A.
Abstract: Wheeled Mobile Robots (WMRs) are built with their
Wheels- drive machine, Motors. Depend on their desire design of
WMR, Technicians made used of DC Motors for motion control. In
this paper, the author would like to analyze how to choose DC motor
to be balance with their applications of especially for WMR.
Specification of DC Motor that can be used with desire WMR is to
be determined by using MATLAB Simulink model. Therefore, this
paper is mainly focus on software application of MATLAB and
Control Technology. As the driving system of DC motor, a
Peripheral Interface Controller (PIC) based control system is
designed including the assembly software technology and H-bridge
control circuit. This Driving system is used to drive two DC gear
motors which are used to control the motion of WMR. In this
analyzing process, the author mainly focus the drive system on
driving two DC gear motors that will control with Differential Drive
technique to the Wheeled Mobile Robot . For the design analysis of
Motor Driving System, PIC16F84A is used and five inputs of sensors
detected data are tested with five ON/OFF switches. The outputs of
PIC are the commands to drive two DC gear motors, inputs of Hbridge
circuit .In this paper, Control techniques of PIC
microcontroller and H-bridge circuit, Mechanism assignments of
WMR are combined and analyzed by mainly focusing with the
“Modeling and Simulink of DC Motor using MATLAB".
Abstract: A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.