Construction of an Instrumentation Kit for Identification and Control of DC Motors

This paper presents the development of an instrumentation kit of voltage and current measurement for identification of the dynamic model and control of direct current (DC) motors. In the methodology for the parameters identification is used the responses of input voltage and current, and angular velocity of the DC motor. The validation of the obtained dynamic model is done through the comparison of the simulated and experimental responses, and the application of a control system based on state feedback and complete eigenstructure assignment (tracking system). The responses are compared through the normalized root-mean-square error criterion

Control of a Modified Ball and Beam System Using Tracking System in Real Time with a DC Motor as an Actuator

This paper presents amodified ball and beam system, with the intention of realizing a test bed, to study new control techniques in real-time.The ball and beam system consists of a ball over a long beam where the control objective is to stabilizethe position of the ball on the beam by changing the angular position of the beam.In this paper, the ball of the conventional system is replaced by a cart with an embedded microcontroller, enabling the use of a linear encoder as position sensor and allowing to transmit the position via RF (Radio Frequency). The mathematical model of the ball and beam is obtained through the equations of Newton-Euler and the equations were linearized. The system is controlled using the hardware-in-the-loop technique with MATLAB/Simulink.It is applied a tracking control system with entire eigenstructure assignment to control the position of the cart. The actuator used is a DC motor, and a PID(proportional, integral and derivative) control is used to perform the angular position control of beam.The simulation results and the experimental results are compared to validate the mathematical model. The results obtained were satisfactory with adequate accuracy

Parameters Identification of a Direct Current Motor Using the Trust Region Algorithm

In this paper, the trust region algorithm was used to identify the parameters of the dynamic model of a permanent magnet direct current (PMDC) motor, using the MATLAB/Simulink Parameter Estimation tool. The objective was to estimate the parameters applying the square wave, pseudo-random binary sequence (PRBS) and random signals in the motor excitation. The obtained models were evaluated in open and closed loop, where a speed control project was applied using the entire eigenstructure assignment. The error between the simulated and real curves of velocity and current were evaluated by means of the normalized root mean squared error (NRMSE)

Virtual Prototyping, Identification and Control of a Twin Rotor with 3DOF

This paper presents a methodology for identification of the physical characteristics, generation of the mathematical model through virtual prototyping and control of the didactic plant of a twin rotor. In the identification of the physical characteristics, the centers of mass and moments of inertia of the twin rotor parts were identified separately, by means of an easel designed for such task. Still in the identification of the physical characteristics, the equation that relates the applied voltage in the direct current motor with the thrust force produced by the propellers was obtained. The mathematical model of the twin rotor was obtained by means of the identification of the physical characteristics allied to the virtual prototyping with the aid of ADAMS and SolidWorks software. The implemented control system uses state feedback and complete eigenstructure assignment. The ease and usefulness of the proposed methodology was presented through the plant instrumentation, simulation and control in MATLAB/Simulink environment

Biocompatibility of subretinal parylene-based Ti/Pt microelectrode array in rabbit for further artificial vision studies

To evaluate the biocompatibility of subretinal implanted parylene-based Ti/Pt microelectrode arrays (MEA). Eyes were enucleated 3 months after MEAs were implanted into the subretinal space of rabbits. Morphological changes of the retinas were investigated by H&E staining. Immunohistochemical staining for glial fibrillary acidic protein and opsin were performed to evaluate changes in Muller cells and photoreceptors in the retinas. Retina tissue around the array remained intact. Photoreceptor degeneration and glial cell activation were observed in the retina overlaying the MEA implant. However, the cells in the inner retinal layers were preserved. Photoreceptor degeneration and glial cell activation at the MEA–retina interface are expected to be a normal reaction to implantation. Material used in this experiment has good biocompatibility within the subretinal environment and is expected to be promising in the further retinal prosthesis studies