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This paper presents a concept for the nonlinear control design of a 4-axis manipulator arm driven by pneumatic muscle actuators. This arm, named AirArm, was developed within a research project of Festo's Bio Learning Network 2008. The control design is based on a cascade structure with four levels. The upper level generates the reference trajectories for the joints of the arm, in consideration of...
Warp unwinding tension control system for sizing machine lacks a precise mathematical model, and has nonlinear and time-varying characteristics. For tacking above problems, fuzzy control strategy has been proposed in this paper. To enhance control accuracy and disturbance resisting ability, fuzzy-PI controller for the parameter self-adjusting has been adopted in this system. The results of experiment...
This paper presents simulation studies on the optimal energy control of an inverter-fed three-phase induction motor (1 hp). An overview of various controllers: loss model controller, search controller and their hybridization are given. Induction motor parameter variations due to temperature rise and core saturation are considered when loss models are derived. Mine hoist drive of a mineral industry...
Analysis and damping of torsional oscillations in series compensated transmission systems is presented in this paper. Series compensation of transmission lines connected to turbo generators can result in sub synchronous resonance (SSR) leading to adverse torsional oscillations. Use of flexible AC transmission system (FACTS) controllers such as static synchronous compensator (STATCOM) are increasing...
This paper presents Adaptive Neuro-Fuzzy Inference System (ANFIS) based intelligent control of vector controlled induction motor drive. The proposed intelligent control scheme consists of sensorless adaptive neuro-fuzzy speed controller with speed estimation based on adaptive neuro-fuzzy inverse model. The proposed neuro-fuzzy speed controller incorporates fuzzy logic algorithm with a five-layer artificial...
This paper presents the novel robust negative high gain Iterative Learning current controller for PMSM. The conventional Iterative learning current controller is simulated and proof read. High gain controller is designed and PI controller is replaced with High gain controller. Negative gain is introduced in the high gain controller. Due to inverting operation of the controller, the stability can be...
A new direct torque control (DTC) strategy of induction motors based on double-fuzzy space vector modulation (SVM) was proposed. In conventional SVM-DTC, two PI controllers were used to generate reference voltage vector. The parameters of PI controller are difficult to determine. In order to improve away the disadvantages of conventional SVM-DTC system, flux and torque fuzzy controller were designed...
This paper presents an effective method to improve the dynamic performance of permanent magnet synchronous motor(PMSM) servo system which can be implemented via on-line PI self-turning. The algorithm is deduced from the relationship between PI adaptive parameters and the inertia of the PMSM servo system. The proposed method is simple and easy to implement for realtime application. Simulation results...
This paper presents the experimental validation for industrial applications of the new smooth VSC (variable structure control) algorithm with an adaptive gain for the indirect vector control of the induction motor. This control algorithm is used in the speed control loop, while in the current loops incorporates the SVPWM (space vector pulse width modulation) with the PI (proportional integral) controllers,...
This paper presents the application of a sensorless direct torque control (DTC) for an induction motor, using an improved H-Bridge multilevel inverter with 27-Levels. The inverter topology reduces the power sources from nine to only four active sources and three ultracapacitors. The power sources are unidirectional and non-redundant; scaled in power of three to optimize the number of voltage levels...
This paper presents a torque observer design, which can be used to accurately control and estimate impact torque of the automobile wheelchair. The controllers compensate a force for the plant to track up command speed when the plant's torque is accurately observed. This method of observer design is to combine an adaptive observer and a PI controller to accurately control the apparatus. The adaptive...
In this paper, the transfer function of PMSM drives system with feed forward complete decoupling is developed based on the small signal model. According to the transfer function, the stable operation range of system and PI parameter of flux weakening control are analyzed by Routh Stability Criterion. According to the analysis results, the stable operation range of system is to reduce with the speed...
This paper proposes a new speed sensorless direct torque and flux controlled interior permanent magnet synchronous motor (IPMSM) drive. Closed-loop control of both the torque and stator flux linkage are achieved by using two proportional-integral (PI) controllers. The reference voltage vectors are generated by a SVM unit. The drive uses an adaptive sliding mode observer for joint stator flux and rotor...
Based on the redevelopment of control rule base, a modified type PI-like fuzzy logic controller with output scaling factor (SF) self-tuning mechanism is proposed and experimentally testified in this paper for application in the switched reluctance motor (SRM) drive system. This paper aims to simplify the structure hierarchy and computational complexity of the controller by reducing the number of fuzzy...
This paper presents a comprehensive analysis of the direct torque and flux control (DTFC) scheme for interior permanent magnet synchronous motor (IPMSM) drives. Closed-loop regulation of the torque and stator flux linkage are achieved via two independent proportional-integral (PI) controllers. The reference voltage vectors are generated by a space vector modulation (SVM) unit. A mathematical analysis...
A new structure of three degree-of-freedom (3-DOF) spherical motor is presented. The magnetic field of the spherical motor is analyzed by equivalence current method. The torque model of the spherical motor is built according to the interaction of one permanent magnetic (PM) with one electromagnet (EM) derived by Lorentz force method (LFM). The motion singularity is analyzed and the condition number...
This paper proposes a new speed sensorless direct torque and flux controlled interior permanent magnet synchronous motor (IPMSM) drive. Closed-loop control of both the torque and stator flux linkage are achieved by using two proportional-integral (PI) controllers. The reference voltage vectors are generated by a space vector modulation (SVM) unit. The drive uses an adaptive sliding mode observer for...
The paper presents an investigation on the direct instantaneous torque control (DITC) of a 1-hp four-phase 8/6 switched reluctance motor (SRM). In the proposed technique, the instantaneous phase torque was estimated in real-time using a pre-stored look-up table of measured static torque, T(i, ??), where phase current and phase flux linkage were input parameters. Therefore, a high-resolution encoder...
Robots have become an integral part of human life, and the relationship between humans and robots has grown closer. Thus, it is desired that robots have characteristics similar to humans. In this context, we paid attention to an artificial muscle actuator. We used straight-fiber-type artificial muscles, derived from the McKibben type, which have excellent characteristics with respect to the contraction...
The purpose of this paper is to analyse and implement PI control for the permanent magnet DC motor. The control algorithm is realised using Siemens S7-200 programmable logic controller (PLC). The complex motor system is composed of DC motor, driver and tachogenerator. The main objective is to achieve a satisfactory time response of the system output under disturbances like death zone, nonlinearity,...
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