Synchronizing the motion of multiple electric motors — New possibilities for smart motion control

HIL Testbed and Motion Control Strategy for the Hybrid Hydraulic-Electric Architecture (HHEA)

10.1115/fpmc2021-68888 ◽

2021 ◽

Author(s):

Arpan Chatterjee ◽

Perry Y. Li

Keyword(s):

Motion Control ◽

Control Strategy ◽

Control Strategies ◽

Electric Machines ◽

Hardware In The Loop ◽

System Efficiency ◽

Electric Motors ◽

Test Bed ◽

Road Vehicles ◽

Precise Control

Abstract The Hybrid Hydraulic-Electric Architecture (HHEA) was proposed in recent years to increase system efficiency of high power mobile machines and to reap the benefits of electrification without the need for large electric machines. It uses a set of common pressure rails to provide the majority of power hydraulically and small electric motors to modulate that power for precise control. This paper presents the development of a Hardware-in-the-loop (HIL) test-bed for testing motion control strategies for the HHEA. Precise motion control is important for off-road vehicles whose utility requires the machine being dexterous and performing tasks exactly as commanded. Motion control for the HHEA is challenging due to its intrinsic use of discrete pressure rail switches to minimize system efficiency or to keep the system within the torque capabilities of the electric motor. The motion control strategy utilizes two different controllers: a nominal passivity based back-stepping controller used in between pressure rail switches and a transition controller used to handle the event of a pressure rail switch. In this paper, the performance of the nominal control under various nominal and rail switching scenarios is experimentally evaluated on the HIL testbed.

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A New Method for Fault Detection of Rotating Machines in Motion Control Applications Using PROFIdrive Information and Support Vector Machine Classifier

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4048784 ◽

2020 ◽

Vol 143 (4) ◽

Author(s):

Andre Luis Dias ◽

Afonso Celso Turcato ◽

Guilherme Serpa Sestito ◽

Murilo Silveira Rocha ◽

Dennis Brandão ◽

...

Keyword(s):

Support Vector Machine ◽

Motion Control ◽

Diagnostic System ◽

Operating Conditions ◽

Support Vector ◽

Electric Motors ◽

Rotating Machines ◽

Worst Case ◽

Control Applications ◽

Mechanical Faults

Abstract Electric motors are widely used in the industry. Several studies have proposed methods to detect anomalies in their operation, but always using sensors dedicated to this purpose. In this sense, this work aims to fill gaps in related works presenting a method for the detection of faults in rotating machines driven by electric motors in motion control applications using PROFINET network and PROFIdrive profile. The proposed method does not require any additional or dedicated sensors to provide data to the diagnostic system. Instead, the proposed methodology is based on the analysis of data transmitted in the communication network, which already exists for control purposes. Support vector machine (SVM) is used as a classifier of five different mechanical faults. The results provide that the methodology is feasible and efficient under different machine operating conditions, achieving, in the worst case, 97.78% efficiency.

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Performance Testing of Foldable Electric Powered Wheelch

Journal of Innovations in Engineering Education ◽

10.3126/jiee.v3i1.34332 ◽

2020 ◽

Vol 3 (1) ◽

pp. 115-122

Author(s):

Raj Kumar Chaulagain ◽

Gaurav Dahal ◽

Alkesh Nepal ◽

Amrit Tiwari ◽

Pramod Regmi

Keyword(s):

Motion Control ◽

Research Team ◽

Performance Testing ◽

Lithium Ion ◽

Electric Motors ◽

Electric System ◽

System A ◽

Locking Mechanism ◽

Electronic Controller ◽

And Storage

This paper aims to design and test a foldable, lightweight wheelchair propelled by a pair of electric motors. Starting from literature review, the research team carried out the design and solid modeling of proposed wheelchair. Solidworks software was used to make the computer model. The wheelchair frame comprised of a chair like frame with two pairs of wheels on front and back. The defined electric wheelchair is completed with the coordination of manual and electric system. A pair of electric motor is fitted on wheels at backside which are controlled by the electronic controller powered by the battery. The folding mechanism developed on the wheelchair was aimed for ease of transport and storage. The frame material was selected to be aluminum alloy. Lithium ion battery and geared electric motors were used in the prototype and motion control was done by joystick. Locking mechanism was used for frame locking during operation. The prototype was subjected to different tests. The unfolded dimensions of wheelchair were 850mm × 620mm × 1400mm (0.738m3) and whereas the folded dimensions were 1100mm × 620mm × 520mm (0.354m3) that resulted 52.03% reduction in volume. The mass of wheelchair was measured to be 22kg. The tested data of wheelchair was found to be 10 km approximately.

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Motion Control and Design of an Aerial Robotic System

Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2006-99510 ◽

2006 ◽

Author(s):

Mehdi Nikkhah ◽

Hashem Ashrafiuon ◽

Edmond J. Dougherty

Keyword(s):

Motion Control ◽

Vibration Mode ◽

Sliding Mode ◽

Three Dimensional ◽

Robotic System ◽

Electric Motors ◽

Fundamental Vibration ◽

Simultaneous Control ◽

Dynamics And Control ◽

And Control

This research examines the dynamics and control of an aerial robotic system to determine its feasibility and general design features. The robotic system consists of a cable driven trolley and a camera platform suspended and controlled by six cables designed in a configuration similar to the Stewart platform. The camera and trolley cables are driven through winches controlled by electric motors. An algorithm is developed based on the sliding mode approach to simultaneous control the trolley trajectory and the full three-dimensional camera linear and rotational motion. Trolley cable flexibility and fundamental vibration mode is included in the analysis though not directly controlled at this stage. Wind forces are also included in the model as unknown but bound disturbances. A working prototype of the system has also been developed and its general features are introduced in this paper.

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Hybrid actuator: Motion control using genetic algorithms

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1243/09544062jmes1358 ◽

2009 ◽

Vol 223 (7) ◽

pp. 1657-1665 ◽

Cited By ~ 2

Author(s):

S Al ◽

L C Dülger ◽

A Kirecci

Keyword(s):

Genetic Algorithm ◽

Genetic Algorithms ◽

Motion Control ◽

Pid Controller ◽

Position Control ◽

Electric Motors ◽

Link Mechanism ◽

Actuator System ◽

Simulation Results ◽

Hybrid Actuator

A hybrid actuator refers to a configuration combining the motions of two different electric motors with a mechanism to obtain a programmable output. This article presents an application of the genetic algorithm (GA) to determine optimal proportional-plus-integral-plus-derivative (PID) controller parameters to drive a seven link mechanism with an adjustable crank. A previously built model for a hybrid actuator system is used to explore the application. Simulation results are included to show how position control on both servomotors is achieved using GAs in off-line implementation.

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