Designing an Embedded Motion Controller Using a 16-Bit Microprocessor Motion Chip and ARM

2012 ◽  
Vol 468-471 ◽  
pp. 418-421 ◽  
Author(s):  
Shi Chun Chi ◽  
Ming Yang Zhao
Keyword(s):  
Communication Networks ◽  
High Efficiency ◽  
Position Control ◽  
Design Method ◽  
Low Cost ◽  
Flow Diagram ◽  
Motion Controller ◽  
Design And Implementation ◽  
Host Machine ◽  
Position Controller

This paper describes the design and implementation of a high efficiency motion controller system consisting of host machine and teach pendant. The host machine performs some of the position control processing tasks and receives the processed data from Teach Pendant. Starting with introduction to existing excellent 4-axismotion controller PCL6045B, It describes the overall structure of the system and the hardware that make up the motion controller. Then, this paper discusses the design method of software system, and the motion control chip PCL6045B driver in WindowsCE. Besides, the flow diagram of the use of industrial communication networks transmission about CC_LINK is showed in detail. After testing the system, it has implemented the high precision position controller. Moreover, it has the advantages of low cost, easy use.

scholarly journals A Design Method for Fault Reconfiguration and Fault-Tolerant Control of a Servo Motor

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Jing He ◽  
Changfan Zhang
Keyword(s):  
Position Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Design Method ◽  
Fault Tolerant Control ◽  
Friction Torque ◽  
Position Controller ◽  
Linear Friction ◽  
Hardware In Loop ◽  
Hardware In Loop Simulation

A design scheme that integrates fault reconfiguration and fault-tolerant position control is proposed for a nonlinear servo system with friction. Analysis of the non-linear friction torque and fault in the system is used to guide design of a sliding mode position controller. A sliding mode observer is designed to achieve fault reconfiguration based on the equivalence principle. Thus, active fault-tolerant position control of the system can be realized. A real-time simulation experiment is performed on a hardware-in-loop simulation platform. The results show that the system reconfigures well for both incipient and abrupt faults. Under the fault-tolerant control mechanism, the output signal for the system position can rapidly track given values without being influenced by faults.

SOFT FOOD ROBOTIC PICK AND PLACE OPERATION WITH EMBEDDED CONTROL STRUCTURE

2013 ◽  
Vol 37 (3) ◽  
pp. 273-282
Author(s):  
Shiuh-Jer Huang ◽  
Wei-Han Chang ◽  
Janq-Yann Lin
Keyword(s):  
Position Control ◽  
Control Structure ◽  
Sliding Mode ◽  
Low Cost ◽  
Embedded Control ◽  
Model Free ◽  
Pick And Place ◽  
Position Controller ◽  
Soft Objects ◽  
Pick And Place Operation

Robotic pick-and-place operation is planned for handling hard objects with on-off control gripper. It does not have force monitoring capability for safe grasping soft objects. Current force/torque sensor is too expensive and difficult to implement. Here, a low cost embedded control structure is designed with distributed FPGA robotic position control and gripper Arduino force control kernels. A model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each robotic joint and gripper force controller. Experimental results show that the position and force tracking control errors of this robotic system are less than 1 mm and 0.1 N, respectively for pick-and-place different soft foods.

scholarly journals Low Cost Position Controller for EGR Valve System

2018 ◽  
Author(s):  
Habib Bhuiyan ◽  
Jung-Hyo Lee
Keyword(s):  
Coulomb Friction ◽  
Position Control ◽  
Control Method ◽  
Low Cost ◽  
Static Friction ◽  
Automotive Application ◽  
Valve System ◽  
Linear Controller ◽  
Position Controller ◽  
Position Control System

This paper proposes a position control method for low cost EGR valve system in automotive application. Generally, position control system using in automotive application has many restrictions such as cost and space, the mechanical structure of actuator implies high friction and large difference between static friction and coulomb friction. This large friction difference occurs the vibrated position control result when the controller uses conventional linear controller such as P, PI. In this paper, low cost position control method which can apply under the condition of high difference friction mechanical system. Proposed method is verified by comparing conventional control result of experiments.

scholarly journals Strain-enabled ultra-broadband Ge-based photonic devices for low-cost integration in PICs

2020 ◽  
Author(s):  
Yiding Lin ◽  
Danhao Ma ◽  
Rui-Tao Wen ◽  
Kwang Hong Lee ◽  
Govindo Syaranamual ◽  
...  
Keyword(s):  
Integrated Circuits ◽  
Communication Networks ◽  
High Efficiency ◽  
Low Cost ◽  
Data Communication ◽  
Cost Effective ◽  
Photonic Devices ◽  
Single Step ◽  
High Data ◽  
Data Capacity

Abstract Photonic-integrated circuits (PICs) have become one of the most promising solutions to the burgeoning global data communication and are being envisioned to have revolutionary impact in many other emerging fields. This outlook requires future PICs to be significantly more broadband and cost-effective. The current germanium (Ge)-based active photonic devices in PICs are thus facing a new bandwidth-cost trade-off. Here, we demonstrate ultra-broadband, high-efficiency Ge photodetectors up to 1,630 nm operation wavelength and Ge0.99Si0.01 electro-absorption (EA) modulator arrays with an operating range of ~100 nm from 1,525 to 1,620 nm, using a CMOS-compatible recess-type silicon nitride (SiNx) stressor. The broadband operation could facilitate a wide (>100 nm) window for low-cost Ge modulator-detector co-integration, requiring only a single step of Ge epitaxy and two different SiNx depositions. The broad modulation and co-integration coverage can be entirely shifted to shorter (~1,300 nm) and longer (>1,700 nm) wavelengths with small amounts of Si or tin (Sn) alloying. This proof-of-concept work provides a pathway for PICs towards future low-cost and high-data-capacity communication networks, immediately accessible by designers through foundries.

Study of the Multi-Axis Motion Controller Based on DSP

2012 ◽  
Vol 220-223 ◽  
pp. 1048-1051
Author(s):  
Jia Jia ◽  
Shu Kun Cao ◽  
Shang Wei Yang
Keyword(s):  
High Speed ◽  
Position Control ◽  
Design Method ◽  
Digital Signal ◽  
Linear Interpolation ◽  
Numerical Control ◽  
Motion Coordination ◽  
Motion Controller ◽  
Control Precision ◽  
Continuous Interpolation

According to the development and current situation of DSP (Digital Signal Processing) at home and abroad, using high-speed computation ability and rich resources of TMS320F28335 chip to achieve higher real-time demand motion control in numerical control system (linear interpolation, continuous interpolation, position control, Serial communication, etc). On that basis, this paper discusses realization of hardware and software design method of this controller. Such movement controller has the perfect function and excellent performance, it often provides the multi-axis motion coordination control on the plate, and has higher control precision.

Review of Sliding Mode Observers for Sensorless Control of Permanent Magnet Synchronous Motor Drives

2018 ◽  
Vol 9 (1) ◽  
pp. 46
Author(s):  
Ganapathy Ram ◽  
Santha K R
Keyword(s):  
Permanent Magnet ◽  
High Performance ◽  
High Efficiency ◽  
Position Control ◽  
Sliding Mode ◽  
Sensorless Control ◽  
Low Cost ◽  
Permanent Magnet Synchronous Motor ◽  
Industrial Applications ◽  
Hardware Complexity

Permanent magnet synchronous motors (PMSMs) are increasingly used in high performance variable speed drives of many industrial applications. PMSM has many features, like high efficiency, compactness, high torque to inertia ratio, rapid dynamic response, simple modeling and control, and maintenance free operation. Presence of position sensors presents several disadvantages, such as reduced reliability, susceptibility to noise, additional cost and weight and increased complexity of the drive system. For these reasons, the development of alternative indirect methods for speed and position control becomes an important research topic. Advantages of sensorless control are reduced hardware complexity, low cost, reduced size, cable elimination, increased noise immunity, increased reliability and decreased maintenance. The key problem in sensorless vector control of ac drives is the accurate dynamic estimation of the stator flux vector over a wide speed range using only terminal variables (currents and voltages). The difficulty comprises state estimation at very low speeds where the fundamental excitation is low and the observer performance tends to be poor. Moreover, the noises of system and measurements are considered other main problems. This paper presents a comprehensive study of the different sliding mode observer methods of speed and position estimations for sensorless control of PMSM drives.

scholarly journals Development of Model Predictive Controller for a Tail-Sitter VTOL UAV in Hover Flight

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2859 ◽  
Author(s):  
Boyang Li ◽  
Weifeng Zhou ◽  
Jingxuan Sun ◽  
Chih-Yung Wen ◽  
Chih-Keng Chen
Keyword(s):  
High Efficiency ◽  
Position Control ◽  
State Space Model ◽  
Nonlinear Dynamic Model ◽  
Model Predictive Controller ◽  
Position Controller ◽  
Predictive Controller ◽  
Hover Flight ◽  
Disturbance Model ◽  
Six Degree Of Freedom

This paper presents a model predictive controller (MPC) for position control of a vertical take-off and landing (VTOL) tail-sitter unmanned aerial vehicle (UAV) in hover flight. A ‘cross’ configuration quad-rotor tail-sitter UAV is designed with the capabilities for both hover and high efficiency level flight. The six-degree-of-freedom (DOF) nonlinear dynamic model of the UAV is built based on aerodynamic data obtained from wind tunnel experiments. The model predictive position controller is then developed with the augmented linearized state-space model. Measured and unmeasured disturbance model are introduced into the modeling and optimization process to improve disturbance rejection ability. The MPC controller is first verified and tuned in the hardware-in-loop (HIL) simulation environment and then implemented in an on-board flight computer for real-time indoor experiments. The simulation and experimental results show that the proposed MPC position controller has good trajectory tracking performance and robust position holding capability under the conditions of prevailing and gusty winds.

Research on the CAD/CAM Integrated Technique of Superhard Grinding Tools Based on PDM

2009 ◽  
Vol 416 ◽  
pp. 108-112
Author(s):  
Nan Bo Liu ◽  
Hong Bin Niu ◽  
Zhong Ming Cui
Keyword(s):  
High Efficiency ◽  
Design Method ◽  
Low Cost ◽  
Integrated System ◽  
Cad Cam ◽  
Grinding Tool ◽  
Integrated Technique ◽  
Organic Combination ◽  
Design And Manufacture ◽  
Information Database

. Grinding of Superhard grinding tool has the properties of high efficiency, high precision and low cost. In this paper, grinding process of superhard grinding tools was analyzed, and the design method of PDA and the development of CAD/CAM integrated system were discussed. The key technologies of information database, eigen information extracting and output of process results are settled by establishing the superhard grinding tool integrated system, and organic combination between design and manufacture of tools and PDM system. The whole program and system are practicable and universal.

scholarly journals Low Cost Position Controller for Exhaust Gas Recirculation Valve System

Energies ◽  
2018 ◽  
Vol 11 (8) ◽  
pp. 2171 ◽  
Author(s):  
Habib Bhuiyan ◽  
Jung-Hyo Lee
Keyword(s):  
Position Control ◽  
Control Method ◽  
Low Cost ◽  
Static Friction ◽  
Exhaust Gas Recirculation ◽  
Exhaust Gas ◽  
Automotive Applications ◽  
Valve System ◽  
Position Controller ◽  
Gas Recirculation

This paper proposes a position control method for a low-cost exhaust gas recirculation (EGR) valve system for automotive applications. Generally, position control systems used in automotive applications have many restrictions, such as cost and space. The mechanical structure of the actuator causes high friction and large differences between static friction and coulomb friction. When this large friction difference occurs, the position control vibrates when the controller uses a conventional linear controller such as the P or PI controller. In this paper, we introduce an inexpensive position control method that can be applied under the high-difference-friction mechanical systems. The proposed method is verified through the use of experiments by comparing it with the results obtained when using a conventional control system.

Influence of MBE Growth Conditions on Dislocation Densities of GaAs/Ge Epilayers Grown on Silicon Substrates

1985 ◽  
Vol 43 ◽  
pp. 364-365
Author(s):  
K.M. Hones ◽  
P. Sheldon ◽  
B.G. Yacobi ◽  
A. Mason
Keyword(s):  
High Efficiency ◽  
Lattice Mismatch ◽  
Low Cost ◽  
Growth Conditions ◽  
Nonradiative Recombination ◽  
Device Structure ◽  
Si Substrates ◽  
Transmission Electron ◽  
Dislocation Densities ◽  
Dislocation Type

There is increasing interest in growing epitaxial GaAs on Si substrates. Such a device structure would allow low-cost substrates to be used for high-efficiency cascade- junction solar cells. However, high-defect densities may result from the large lattice mismatch (∼4%) between the GaAs epilayer and the silicon substrate. These defects can act as nonradiative recombination centers that can degrade the optical and electrical properties of the epitaxially grown GaAs. For this reason, it is important to optimize epilayer growth conditions in order to minimize resulting dislocation densities. The purpose of this paper is to provide an indication of the quality of the epitaxially grown GaAs layers by using transmission electron microscopy (TEM) to examine dislocation type and density as a function of various growth conditions. In this study an intermediate Ge layer was used to avoid nucleation difficulties observed for GaAs growth directly on Si substrates. GaAs/Ge epilayers were grown by molecular beam epitaxy (MBE) on Si substrates in a manner similar to that described previously.

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