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For rapid information gathering in case of disaster, various unmanned search/rescue robots have been developed. It is difficult to respond to complex condition of a field where requires some locomotion strategies for most robots having only one kind of locomotion mechanism. To increase search routes in a such condition to aim gathering information more rapidly, we proposed the legged air vehicle:...
This paper analyzes the characteristics and functions of exoskeleton-based rehabilitation systems, detailing the reasons why a person tends to use prostheses and the risks to which a person is exposed when suffering an amputation in their body. We show the development of an exoskeleton prototype with adjustable measures for children from 2 to 4 years of age, using embedded electronic systems for the...
Servo motors are widely used in many industrial applications. These motors require precise control of acceleration, speed, and position. Different designs can be found in the literature. This paper will compare the response of two of the common types and will propose a new servo motor design that uses a smaller amount of magnet, lowering the price of the motor. The proposed motor would be able to...
The main theme of this paper is to propose a self-commissioning technique for high bandwidth servo drives. The presented self-commissioning technique include auto-identification of servo motor parameters and on-line calculation of controller gains of servo drives. The electrical parameters required for current controller, including stator resistance and inductance are identified under standstill....
In permanent magnet servo motors, each component has a certain temperature limit. For on-machine device with electronic components, like the high resolution optical encoder, the temperature limit is commonly less than 125°C. While for the motor body, the winding and the magnets usually have higher temperature limit. During continuous operation, the encoder temperature, rather than the winding or magnet...
Acquisition of practical skill in control systems development for nonlinear dynamic objects provides an opportunity to significantly improve training level of specialists in the field of controlling in technical systems. In this paper model of laboratory rig for development, investigating and debugging of position-control system of spherical object on a plane is presented. Mathematical representation...
The paper deals with the optimal energy control referring to an electrical servo drive system. The influence of the variable torque is considered. The optimal controller is established for the discrete case. A convenient algorithm for the studied problem is indicated and some simulation results illustrate the behaviour of the system.
This paper mainly focuses on the servo control system of the flying shear. In this paper, we abandoned the previous combination of PLC with a motor controller or a dedicated motion controller. A universal servo controller with electronic cam function is proposed as the main controller. This servo controller directly controls the servo geared motor of the flying shear cutter, and it can also receive...
The servo motion system plays an important role in the position accuracy of the Cartesian picking robot. During the automatic picking process, the nonlinearity of friction will affect position tracking accuracy. In order to improve the position accuracy of Cartesian robot, a mechanical model considering friction is established. Furthermore, fuzzy logic controller based on PID is used to control the...
Hand tremor is a neurological disorder that affects people with Parkinson's disease and elderly affecting day to day activities. Hand vibration is a rhythmic muscle movement that occurs due to disorder in the motor system of human body. There are no permanent treatment options available. The subjects typically do life style modifications to cope up with the disease. In this work, we propose a wearable...
The mathematical models of the permanent magnet synchronous motor (PMSM) are complex systems, characterized by high coupling, nonlinearity, parameter variation and they are highly influenced by disturbances. Conventional PID control method cannot make the system set value tracking and interference suppression both in optimal. In this paper, a two-degree-of-freedom (2DOF) PID controller with a set-valued...
The performance of a gearless servo system is significantly degraded by mechanical resonances present in the system. For applications on a machine the parameters of the mechanical resonances differ from workpiece to workpiece and thus cannot be calculated a priori. Adaptive notch filters can dampen these unknown resonances online. In this paper an online mechanical resonance frequency identification...
With the huge development and the latest technological advancement in mechatronics, prosthetic devices have acquired interest in many different fields such as medical and industrial fields. A prosthetic device can be an external wearable mobile machine that covers the body or part of it. It is generated by pneumatics and electric motors. It can be installed on an upper and lower limb. Moreover, it...
For flight attitude control problem affected by nonlinear property of hypersonic vehicle, the influences of nonlinear factors which are driving space, stiffness, friction torque in the electric servo mechanism are analyzed in this paper, and the definition and generation conditions of limit cycle caused by the backlash are also discussed. For the problems of limit cycle oscillation and the airfoil...
There is a general phenomenon of dynamic disturbances caused by the mechanical resonance caused by the elasticity of the connecting device and the change of the load in the common electric traction mechanism such as rolling mill and robot joint. Aiming at this problem, the two - mass modeling of the rolling mill and other transmission equipment is carried out, and the related mechanism is analyzed...
The principle and application of harmonic motion drive is introduced. Aiming at spacecraft harmonic motion drive mechanism working in space environment, a set of transmission efficiency test and control system is designed. The structure and principle of the whole control system is described. the efficiency test method of a harmonic motion drive is designed. To improve the traditional test device,...
Aiming at the time-varying load torque disturbance in the vibration displacement system of continuous casting mold driven by servo motor, an extended state observer (ESO) based backstepping sliding mode control method is proposed. Firstly, a mapping function is established to deal with the non-uniqueness of the nonlinear inverse relationship from eccentric shaft angle to mold displacement. Secondly,...
This paper concerntrates on the analysis, design and control methodology in the machining servo system. The overall architecture of motion system is investigated to realize the drawbacks of traditional scheme. Then, this research proposes the suitable design of controller due to rapid calculation, high precision and friendly graphical user interface. The diagram of Fuzzy self-tuning PID and feedforward...
Simulation of a permanent magnet synchronous motor (PMSM) servo system which was based on active disturbance rejection controller (ADRC) was presented in this paper. A new Monte-Carlo method for parameter tuning was invented, which was based on different parameter values and their corresponding dynamic performance. What's more, according to the simulation results of the servo system, the ADRC controller...
A parameterized design of speed servo controller for brushless DC motors is presented based on a robust composite nonlinear control framework. The servo controller consists of a linear control part for achieving fast response, a nonlinear feedback part for suppressing the overshoot, and a disturbance compensation mechanism for erasing the steady-state error. A reduced-order extended state observer...
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