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The article presents results of parametric identification of mechanical part of drive system with permanent magnet synchronous motor by means of heuristic method of Particle Swarm Optimization (PSO). The assumed mechanical part has a complex structure, consisting of two-mass connected by an elastic joint with backlash. The optimization process was designed to find model parameters that assure the...
The article presents simulation research concerning speed control of two mass system with elastic joint and backlash utilizing the ADRC method. The model of the plant and the structure of the ADRC speed controller are presented together with mathematical formulas allowing to determine the observer and controller gains. Proper quality indicator of control process is defined and also sample scenario...
In the paper, an adaptive structure for two-sided electrical drive is presented. The control object has a multiple-input multiple output structure, since two input signals (motor torques) are available for the controller. The assumed model of the plant is non-linear (presence of backlash) and reveals resonant nature (elasticity in the mechanical structure). The controller is a two-layer recursive...
The article presents the system of ergonomic angular distribution of torque on the pedals in the pedaling-by-wire driven electric vehicle. The work is an attempt to make cycling feelings close to the natural in the presented prototype — as in the typical bicycle. Ergonomic distribution of torque results also in speed fluctuations reducing. The model of pedaling process is shown with introduction of...
This paper presents results of simulation research on fuzzy speed controller in application of an electrical drive with complex mechanical structure. Presence of elasticity and backlash were assumed in the modeled mechanical construction. These features, related with phenomena of resonance and non-linear character of the system make the design of proper speed control solution very complex. Particle...
The paper presents laboratory tests of two selected structures of speed controller utilized in two mass system with elastic joint and backlash between motor and load. Theoretical model of the mechanical system has been derived and tested by simulation in previously published research. The aim of the article is to compare the best structure obtained by simulation with the conventional PI controller,...
A novel, homogeneous and continuous analytical model of cyclist pedaling torque angular distribution is presented in the article. The model is dedicated for use in an unique pedaling-by-wire system. The motivation to the research is to obtain a model for use in control system with compensation. Applying nonlinear compensation of cyclist load torque results in pedals speed ripples reduction — particularly...
In this paper, an analysis of various control structures for two-mass drive system with backlash are presented. Theoretical model of this complex mechanical system is derived and presented. Conventional PI speed controller is compared with 2DOF-PID controller considering delays in control path and location of resonances, PID controller with additional feedback signals and fuzzy PD-I controller. The...
This paper presents design, structure and experimental tests of a laboratory stand for the investigation on advanced control algorithms for electrical drive. The main propulsion unit is a permanent magnet synchronous motor, which is connected with a brushless DC motor operating as a dynamically adjustable load. System is controlled by a DSP with the dedicated speed and position measurement extension...
The paper presents mathematical model of absolute optical encoder with parallel gray output where various parameters of the transducer can be modified (ex. number of bits, asymmetry in output waveforms, lack of signals from selected bits). The model of the non - ideal encoder substitutes the model of ideal position sensor implemented in Matlab/Simulink model of three phase PMSM (Permanent Magnet Synchronous...
The paper presents a concept, development and comparison of selected control algorithms used in distributed control system of a three wheeled vehicle. First simulations are carried out, then the selected algorithms are tested on a real vehicle. The article includes the description of the mathematical model of the tricycle: kinematics, dynamics, motor drives, central control system, communication network...
The article presents a synthesis of tricycle model with a unique concept of electric power. Conventional, mechanical coupling of a drive wheel with pedals has been replaced by the use of generator and independent motor drives. The essence of the model includes a distributed form of control system. The paper shows the genesis of the project and the motivation that results from the need to verify the...
In this paper three methods of electric motor angular speed calculation are compared. The source of the measurement signal is a 14-bit absolute encoder. The authors compared the well-known classic methods M with more advanced approaches. First of the complex methods is based on utilization of phase loop lock system in an estimation process using on-line system model. The third method discussed in...
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