Metaheuristic Parameter Identification of Motors Using Dynamic Response Relations

This article presents the use of the equations of the dynamic response to a step input in metaheuristic algorithm for the parametric estimation of a motor model. The model equations are analyzed, and the relations in steady-state and transient-state are used as delimiters in the search. These relations reduce the number of random parameters in algorithm search and reduce the iterations to find an acceptable result. The tests were implemented in two motors of known parameters to estimate the performance of the modifications in the algorithms. Tests were carried out with three algorithms (Gray Wolf Optimizer, Jaya Algorithm, and Cuckoo Search Algorithm) to prove that the benefits can be extended to various metaheuristics. The search parameters were also varied, and tests were developed with different iterations and populations. The results show an improvement for all the algorithms used, achieving the same error as the original method but with 10 to 50% fewer iterationsThis research received no external funding. Partial funding for open access charge: Universidad de Málag

IMPLEMENTACIÓN Y CO-SIMULACIÓN DE UN CONTROLADOR PID EN TIEMPO REAL CON FPGA DE BAJO COSTO Y CÓDIGO LIBRE (IMPLEMENTATION AND CO-SIMULATION OF PID CONTROLLER RT BASED ON FPGA OF LOW COST AND OPEN SOURCE)

Los FPGA’s (Field Programmable Gate Array) son dispositivos que tienen un gran número de elementos lógicos programables, por medio de lenguaje descripción de hardware (HDL) es posible desarrollar aplicaciones de nivel industrial. La disponibilidad de éstas en el mercado y la tendencia de herramientas libres han hecho que su uso prolifere en distintas áreas de la industria, aeronáutica, robótica, automatización. Los FPGA a través de HDL se convierten en verdadero hardware y esto se transforma en alta velocidad de procesamiento. La inclusión de dispositivos FPGA a procesos de automatización tiene sus razones en la capacidad del dispositivo en atender de forma paralela distintos procesos. El artículo presenta el diseño, implementación y validación de una plataforma de bajo costo para control de un motor CD (corriente directa) basado en FPGA. La plataforma permite desarrollar de control de velocidad y posición con controladores PID (Proporcional Integral Derivativo) industriales. En este trabajo se abordan la identificación y diseño controlador a través de un código libre desarrollado en Python. La co-simulación de realiza por medio del software MATLAB®.Palabras Clave: Código libre, Co-simulación, FPGA, Modelación PID.AbstractThe FPGA (Field Programmable Gate Array) are devices with a large number of programmable logic elements, using language hardware description (HDL) it is possible to develop applications of industrial level. The availability of these in the market have made their use proliferate in different areas of industry, aeronautics, robotics, automation. FPGA devices using HDL are now hardware with high processing speed. The inclusion of FPGA devices to automation processes has its reasons in the ability of the device to attend different processes in parallel. This paper presents the design, implementation and validation of a low cost platform for the control of a cd (direct current) motor based on FPGA. The platform allows the development of speed and position control with industrial PID (Proportional Integral Derivative) controllers. In this work the identification, control design and simulation were programming into MATLAB® software.Keywords: Co-simulation, FPGA, Modelling Open source, PID

Isolated Converter for Power Factor Improvement in a Brushless DC Motor Driver

Las principales ventajas de un motor de CD sin escobillas son su alta efi ciencia, poco mantenimiento, larga vida útil, bajo ruido, simplicidad en el control, bajo peso y una construcción compacta. Sin embargo, el controlador tradicional tiene problemas de calidad de la energía relacionados con la inyección de corrientes armónicas y pobre factor de potencia. Este artículo presenta una alternativa para mejorar este aspecto y reducir el contenido armónico mediante un convertidor aislado que alimenta un inversor de voltaje CD-CA de un controlador tradicional para un BLDCM; el convertidor propuesto opera en modo de conducción discontinuo.El diseño y rendimiento del controlador se validan experimentalmente en un prototipo, a fi n de cumplir con el estándar internacional IEC 61000-3-2.The main advantages of the Brushless Direct Current Motor (BLDCM) are high efficiency, low maintenance, long life, low noise, control simplicity, low weight, and compact construction. However, the traditional driver has power quality issues related to harmonic current injection and poor power factor. This paper presents an alternative for power factor improvement and harmonic content reduction, by means of an isolated converter that supplies the DC-AC voltage source inverter of a traditional BLDCM driver. The proposed converter operates in discontinuous-conduction mode. The design and performance of the driver are validated experimentally in a prototype, in order to comply with the IEC 61000-3-2 international standard

Motion Control with FPGA

The aim of this chapter is to provide an introduction to the field programmable gate array (FPGA)‐based digital control system design for motion control. It is intended as a reference for the undergraduate students in science and engineering, professionals, and enthusiastic people who have a basic knowledge in discrete control theory and digital systems using reconfigurable logic. The scope of this chapter includes the analysis, simulation, and implementation of classic control algorithms. The presented topics serve as a foundation for the implementation of more complex systems. An experimental section is provided, which validates the proposed digital design

A Novel RC-Based Architecture for Cell Equalization in Electric Vehicles

Nowadays, research on electric vehicles is increasing because they have the potential to decrease greenhouse-gas emissions dramatically in the transport sector. For these types of vehicles, the battery is one of the main components. The traction system needs a cell series connection to fulfill the energy requirements. Nevertheless, batteries differ from each other due to a normal dispersion in their capacity, internal resistance, and self-discharge rate. This paper presents a novel battery equalizer circuit using an RC-based topology to equalize two adjacent cells of a battery pack. It has the advantage of merging a resistor-based equalizer, a capacitor-based equalizer, and an RC-based equalizer in one circuit. In this way, it is possible to limit the current stress in the components of the circuit. The proposed method increases the equalization time by 35% for a threshold current of 4 A. However, it is possible design the system for another threshold current. Finally, the complexity of the controller is not compromised in the proposed architecture. The operation, analysis, and design of the architecture are presented and compared to the classic schemes. The theoretical analysis is validated through simulation results. Document type: Articl

PID-like Fuzzy Controller Design for Anti-Slip System in Quarter-Car Robot

The design strategy of an adaptive Proportional-Integral-Derivative (PID)-like fuzzy controller for an anti-slip Quarter-Car robotic system is proposed. The proposed control system is constructed by two loops, an external one for lineal speed control and an internal loop for current control. A motion profile is used to follow a trajectory. The slip is computed, such as the difference between the linear velocity given by an S-curve velocity profile and the longitudinal speed calculated according to the rotational speed of the Quarter-Car tire. This difference is the input of the external control loop. Whether the slip is significant, the slave controller must do that both velocities go at the same speed controlling the current of the direct current (DC) motor. On the other hand, the mathematical model of a tire coupled to the DC-motor model is presented to simulate the system and controller response. To test the robustness of the system, different scenarios are presented where the slip coefficient varies depending on the work surface. Three surfaces were selected to test the performance of the controller, dry, wet, and icy surfaces, while the system had a trajectory

Optimizing EMG Classification through Metaheuristic Algorithms

This work proposes a metaheuristic-based approach to hyperparameter selection in a multilayer perceptron to classify EMG signals. The main goal of the study is to improve the performance of the model by optimizing four important hyperparameters: the number of neurons, the learning rate, the epochs, and the training batches. The approach proposed in this work shows that hyperparameter optimization using particle swarm optimization and the gray wolf optimizer significantly improves the performance of a multilayer perceptron in classifying EMG motion signals. The final model achieves an average classification rate of 93% for the validation phase. The results obtained are promising and suggest that the proposed approach may be helpful for the optimization of deep learning models in other signal processing applications

The Impact of the Test Dissociation on the Binocular Balance of Children

Purpose: this research compared the dissociated phoria at near and distance fixation in free space using the Howell test, alternate Cover test, and Thorington test. Methods: 220 healthy Mexican children (mean age 8.3±2.5 years) participated in this study. Phorias were quantified at both distances using each test, from the least to the most disruptive. The stereopsis degree and near point of convergence (break/recovery) were analyzed to understand their role in the visual system’s sensorimotor balance. Results: statistically significant differences were found among techniques, with a higher congruence for the EF. However, only the Howell and Thorington tests can be interchanged. The break value and near exophoria relate to each other and affect the stereopsis degree, whereas age is associated with the stereopsis degree and break value. Conclusions: the three techniques cannot be interchanged except for the Howell and Thorington test for the EF at far. The differences in the mode of dissociation could relate to the results

Differences in the Visual Performances of Patients with Strabismus, Amblyopia, and Healthy Controls

The aim of this paper is to use the new definition of amblyopia and to define the overall visual performance of healthy controls (HCs), patients with strabismus (PS), and patients with refractive amblyopia (PRA), based on the interaction of selected visual abilities. Method: A total of 398 participants were divided in three groups: HCs, PRA, and PS. Variables such as visual acuity, refractive state, degree of stereopsis, phoria state, magnitude, and type of deviation were analyzed using parametric and non-parametric tests. Results: Binocular visual acuity at near is the unique predictor factor for stereopsis in PRA and PS, while age relates to the amount of binocular visual acuity at near, only for PS with stereopsis. Binocular visual acuity at near and phoria states relate to each other in PRA. Binocular visual acuity at near and far in PS is better than PRA, with no differences in the degree of stereopsis. Stereoblind patients were only found among PS (36%). Only (44.9%) of PS had amblyopia. Exophoria predominated among PRA (69.72%) and HCs (78.87%), while exotropia was the predominant deviation in PS (60.54%). Hyperopia was the predominate refractive error among the groups, HCs (74.65%), PRA (79.82%), and PS (59.85%), followed by astigmatism. Interpretation: HCs perform better than PS and PRA. The visual performance of PS with stereopsis and PRA is similar. Binocular visual acuity at near can predict the degree of stereopsis, and stereoblind patients are exclusively related to strabismus