scholarly journals RESEARCH AND IMPROVEMENT OF PRECISE ANGLE CONTROL SYSTEM

2010 ◽  
Vol 2 (1) ◽  
pp. 95-98
Author(s):  
Sigitas Šakalinis
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Controller Design ◽  
Stepper Motor ◽  
Main Task ◽  
Test Rig ◽  
Positioning Accuracy ◽  
Technical University

The main task was investigation and precision improve­ment for a positioning drive, installed in a test rig for testing and calibration of the geodetic instruments at Vilnius Gediminas Technical University, Institute of Geodesy. Replacement of a stepper motor and a microstepping controller design increased positioning accuracy to 0.1''. Vibrations and noise of the test rig were significantly decreased using an optimized control algorithm, where resonating step frequencies were bypassed. The time of scale rotation between measurements (every 30°) achieved less than 1.5 min. Methods of the further precision improvement were selected, and this research is in progress now.

Improvement of Precise Angle Control System

2010 ◽  
Vol 164 ◽  
pp. 91-94
Author(s):  
Sigitas Šakalinis ◽  
Dainius Udris
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Controller Design ◽  
Stepper Motor ◽  
Main Task ◽  
Test Rig ◽  
Positioning Accuracy ◽  
Technical University

The main task of this research was improvement of precision of positioning drive, installed in a test rig for testing and calibration of the geodetic instruments at Institute of Geodesy of Vilnius Gediminas Technical University. Replacement of a stepper motor and a microstepping controller design increased positioning accuracy up to 0.1. Vibrations and noise of the test rig were significantly reduced using an optimized control algorithm, where resonating step frequencies were bypassed. Time of scale rotation between measurements (every 30) reached less than 1.5 min. Methods for further precision improvement were evaluated and this research is currently in progress.

Design of Control System of PMSM Based on STM32

2014 ◽  
Vol 513-517 ◽  
pp. 863-866
Author(s):  
Bo Qu ◽  
Jing Jing Liu
Keyword(s):  
Control System ◽  
Vector Control ◽  
Permanent Magnet ◽  
Control Algorithm ◽  
Controller Design ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Current Loop ◽  
Space Vector ◽  
Motor Controller

This paper designs a permanent magnet synchronous motor controller based on STM32. The space vector control algorithm is introduced. The space vector control algorithm and SVPWM are realized based on STM32. The speed and current loop PID regulator can make the accurate control of permanent magnet synchronous motor. This paper presents the hardware and software design of the control system and software architecture. The result shows that the controller design is feasible and it can be widely applied to various CNS.

Control of Exoskeletons Inspired by Fictitious Variable Gain in Human

2008 ◽  
Author(s):  
Kyoungchul Kong ◽  
Masayoshi Tomizuka
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Controller Design ◽  
Assistive Device ◽  
Single Input Single Output ◽  
Variable Gain ◽  
Single Output ◽  
Single Input ◽  
Parallel Control ◽  
The Brain

A human wearing an exoskeleton-type assistive device results in a parallel control system that includes two controllers: the human brain and a digital exoskeleton controller. Unknown and complicated characteristics of the brain dynamically interact with the exoskeleton controller which makes the controller design challenging. In this paper, the motion control system of a human is regarded as a feedback control loop that consists of a brain, muscles and the dynamics of the extended human body. The brain is modeled as a control algorithm amplified by a fictitious variable gain. The variable gain compensates for characteristic changes in the muscle and dynamics. If a human is physically impaired or subjected to demanding work, the exoskeleton should generate proper assistive forces, which is equivalent to increasing the variable gain. In this paper, a control algorithm that realizes the fictitious variable gain is designed and its performance and robustness are discussed for single-input single-output cases. The control algorithm is then verified by simulation results.

Discrete Sliding Mode Controller Design Based on the Suboptimal LQR Approach

2003 ◽  
Author(s):  
Wen-Chun Yu ◽  
Gou-Jen Wang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Performance Index ◽  
Control Algorithm ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Loop ◽  
External Loads

A systematic and simple discrete sliding mode controller design scheme based on the suboptimal approach is presented. The behaviors of the control system can be determined through a preferred performance index. The AC servomotor position control is obtained using only the q-axis voltage control loop. The proposed method is simulated and experimented to verify the capability of this new sliding mode control algorithm. Properties such as easy implementation, fast resonse, and robust to external loads are demonstrated.

scholarly journals Stabilisation problem in biaxial platform

2016 ◽  
Vol 36 (1) ◽  
pp. 65-69
Author(s):  
Tymoteusz Lindner ◽  
Dominik Rybarczyk ◽  
Daniel Wyrwał
Keyword(s):  
Image Processing ◽  
Control System ◽  
Control Algorithm ◽  
Control Method ◽  
Digital Camera ◽  
Stepper Motor ◽  
Stabilization Problem ◽  
Rolling Ball ◽  
Cross Platform ◽  
Electronic Controller

Abstract The article describes investigation of rolling ball stabilization problem on a biaxial platform. The aim of the control system proposed here is to stabilize ball moving on a plane in equilibrium point. The authors proposed a control algorithm based on cascade PID and they compared it with another control method. The article shows the results of the accuracy of ball stabilization and influence of applied filter on the signal waveform. The application used to detect the ball position measured by digital camera has been written using a cross platform .Net wrapper to the OpenCV image processing library - EmguCV. The authors used the bipolar stepper motor with dedicated electronic controller. The data between the computer and the designed controller are sent with use of the RS232 standard. The control stand is based on ATmega series microcontroller.

Research of High Performance Closed Loop Control System for Stepper Motor

2013 ◽  
Vol 289 ◽  
pp. 87-92 ◽  
Author(s):  
Zhao Hua Xu ◽  
Xiao Hui Xie ◽  
Cui Ma ◽  
Qiang Sun ◽  
Ru Xu Du
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Closed Loop ◽  
Pulse Width Modulation ◽  
Stepper Motor ◽  
Fuzzy Pid Control ◽  
Space Vector ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System

A control system of double closed-loop for two-phase hybrid stepper motor which includes speed closed-loop and current closed-loop is established on the basis of fuzzy-PID control algorithm, space vector pulse width modulation (SVPWM) method, space vector conversion and mathematical modeling of stepper motor. In the control system, the stepper motor model is established according to the mathematic model; the current and speed of stepper motor are controlled in feedback by the adopting fuzzy-PID control algorithm; the space vector conversion is carried out in the current/voltage conversion section, and the space vector pulse width modulation method is used to produce pwm wave. The performance of the doubled closed-loop control system for stepper motor is analyzed by the powerful modeling and simulation function of MATLAB/Simulink. The simulation results show that the control system has favorable control performance and dynamics characteristics.

scholarly journals Modelling and Parameters Identification of a Quadrotor Using a Custom Test Rig

2018 ◽  
Vol 9 (2) ◽  
pp. 865
Author(s):  
Mohammad Shafiq Mohammad Ashraf ◽  
Mohamad Shukri Zainal Abidin ◽  
Mohd Saiful Azimi Mahmud ◽  
Muhammad Khairie Idham Abd Rahman ◽  
Zakarya Mohammed Nasser Saleh Motea
Keyword(s):  
Control System ◽  
System Identification ◽  
Feedback Control ◽  
Control Algorithm ◽  
Moment Of Inertia ◽  
Unstable System ◽  
Test Rig ◽  
Thrust Coefficient ◽  
Torque Coefficient ◽  
Rotor Model

<span>Quadrotor by nature is a very unstable system and flying it without any feedback control algorithm is deemed impossible. However, before designing the control system, system identification need to be conducted as the accuracy of the control system depends highly on the accuracy of the model. Therefore, this paper explained the design of the quadrotor model with an “X” configuration using the Euler-Newton model. Two types of test rig were designed to measure the thrust coefficient, torque coefficient and throttle command relation parameter needed in the model. Other parameter such as moment of inertia was also being measured by separating the quad rotor model into several sections: Motors, Electronics Speed Controllers (ESC) and Central Hub. All parameters needed in the designed quad rotor model has been successfully identified by measuring the parameters using the custom-built quad rotor and test rigs. The parameters found in this paper will be used in designing the control system for the quadrotor.</span>

Simulation and Implementation of Multiple Unipolar Stepper Motor Position Control in the Three Stepping Modes using Microcontroller

2016 ◽  
Vol 4 (1) ◽  
pp. 29
Author(s):  
Ayman Y. Yousef ◽  
M. H. Mostafa
Keyword(s):  
Control System ◽  
Software Package ◽  
Control Algorithm ◽  
Position Control ◽  
Low Cost ◽  
Open Loop ◽  
Stepper Motor ◽  
Stepper Motors ◽  
Accurate Position ◽  
Position Control System

<p>This paper presents a multiple unipolar stepper motor position control system using microcontroller (MCU) in anticlockwise and clockwise directions. The open loop controller of the implemented position control system for the three stepping modes of operation has been designed and developed with three stepper motors and without position feedback. The MCU is programmed using flowcode software package to generate the pulse signals with the desired stepping sequences and step angles. These pulse signals are necessary to drive the three stepper motors in the three drive modes (wave-step, full-step, and Half-step) according to the control algorithm. Three devices of 8 Channel Darlington Driver (chip ULN2803) are used to drive the three stepper motors and provide them with the sufficient current. The position control system has been simulated using proteus design suite software package and the controller has been implemented using low cost PIC16F877A (MCU). A reliable and accurate position control of the stepper motor is achieved by this position control system. </p>

The Design and Analysis of the Actuator with Long Stroke and Micro-Displacement

2013 ◽  
Vol 389 ◽  
pp. 668-674 ◽  
Author(s):  
Ge Pan ◽  
Ya Nan Zhang ◽  
Lin Zhi Sun ◽  
Lin Yong Shen ◽  
Cheng Gang Wang
Keyword(s):  
Control System ◽  
Pulse Train ◽  
High Reliability ◽  
Low Cost ◽  
Linear Displacement ◽  
Stepper Motor ◽  
Guide Rail ◽  
Positioning Accuracy ◽  
Long Stroke ◽  
Single Power

In this paper, a new actuator with nanoscale micro-displacement is reported. The actuator not only can achieve a large stroke and nanoscale positioning accuracy, but also has the advantages of compact, low cost, high reliability and a single control system. The drive is controlled by a single power, and it consists of stepper motor, harmonic gear reducer, screw and the guide rail. The stepper motor is controlled by the pulse train and the harmonic gear reducer has high precision and small hysteresis. The precision screw converts the rotary motion of the stepper motor into linear displacement, and the plunger pushes the target in nanoscale motion accuracy through the guide rail finally.

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

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