Practical Modeling and Comprehensive System Identification of a BLDC Motor

The aim of this paper is to outline all the steps in a rigorous and simple procedure for system identification of BLDC motor. A practical mathematical model for identification is derived. Frequency domain identification techniques and time domain estimation method are combined to obtain the unknown parameters. The methods in time domain are founded on the least squares approximation method and a disturbance observer. Only the availability of experimental data for rotor speed and armature current are required for identification. The proposed identification method is systematically investigated, and the final identified model is validated by experimental results performed on a typical BLDC motor in UAV

Comparison between Compensated and Uncompensated PD with Cascade Controller Design of PMDC Motor: Real Experiments

In this paper, we compare two different kinds of position controllers, namely PD (both compensated and uncompensated PD) and Cascade controller (both compensated and uncompensated Cascade).  SIMULINK software is used to implement lumped parameters estimation with UKF. The Proportional-Derivative (PD) controller design by root locus and Cascade controller design have been chosen for our feedback system, and coulomb friction as disturbance is taken into account in the estimation model. The aim of this paper is to find out which controller is better (both compensated and uncompensated PD controller vs. both compensated and uncompensated Cascade controller). Therefore, the objective is to show how useful the parameter estimation for controller design with compensation. Through comparing two position controller designs, the experiment results show that both Compensated Proportional Derivative (PD) controller and Cascade controller Design have much better performance than the Uncompensated ones

Zahteve pogonskih aktuatorjev v sodobnih pralnih strojih

Some aspects of drive actuator control in contemporary washing machines The contemporary washing machines have advanced electronic process control, which main boundary limits are main functionality (e.g. washing effect) and process side effects (e.g. stability, vibrations). The washing machine motor control is actually multi-constrain optimization task, which demands profound control knowledge to utilize low-cost hardware in order to achieve a compromise solution. Presented is the state of art about the washing machine motion drives (actuators) and their control regarding the fulfillment main functionalities (e.g. clothes dirtiness, cloth weight, water quantity, time of washing). An automatically controlled washing machine includes a laundry drum and a drive motor which drives the laundry drum at a plurality of different speeds for washing machine processes - washing, rinsing and spinning. The speed of the drive motor is adjustable with a (laundry drum rounds-per-minute) control circuit and is determinable in accordance with set-point and actual rpm values. Main focus will be paid on the optimization of washing machine dynamics, which is considered to be (rigid) multibody system, experimentally monitored with vibrations monitoring for steady-state as well as transient system response

Identification of a Permanent Magnet Direct Current Motor from One Experiment

En este artículo se presenta un procedimiento simple para estimar los parámetros de las funciones de transferencia, basándose en la respuesta al escalón, de un sistema conformado por un driver de velocidad y un motor de corriente directa de imanes permanentes. El proceso de identificación consiste en la selección de los modelos, la adquisición y pre-procesamiento de los datos, la estimación de parámetros y su validación. Los resultados muestran que es posible estimar los parámetros del sistema a partir de la respuesta al escalón, logrando valores de la suma normalizada de los errores cuadráticos menores al 0,5 %.A simple procedure to estimate the transfer function parameters, based on the step response, of a system composed by a speed driver and a permanent magnet direct current motor is presented in this paper. The identification process is composed by the model selection, the acquisition and pre-processing of data, the parameter estimation and its validation. The results show that it is possible to estimate the system parameters from the step response achieving values of the normalized sum of squared errors less than 0.5 %

Research & development of Q-Baller -- a spherical wheeled robot

The Spherical Wheeled Robot (Ball-Bot) is a family of robots that can maintain balance standing on a ball and use it as its wheel to move around. In recent years, there have been several successful Ball-Bot designs. We attempt to develop a new spherical wheeled robot product named "Q-Baller" to study its dynamics and control system. The Q-Baller has been designed to achieve the economic and effective prototyping. A detailed dynamic model of the mechatronic system has been established and analyzed. Control studies have been conducted based on the dynamic models, and new control methods has been proposed to realize continuous gain scheduling. Exclusive simulations have been performed to test the performance of the controllers and reference planning. The Q-Baller hardware has been prototyped and functional. Robotic circuit board, human machine interface and embedded control system have also been developed to make up the full robotic system. The Q-Baller prototype will be tested after the system is fully adjusted, and further researches in control and robotics will be conducted in the future