Improvement of Tuning Fork Gyroscope Drive-mode Oscillation Matched using a Differential Driving Suspension Frame

This paper presents a novel design of a vibration tuning fork gyroscope (TFG) based on a differential driving suspension coupling spring between two gyroscopes. The proposed TFG is equivalent to a transistor differential amplifier circuit. The mechanical vibrations of driving frames are, therefore, well matched. The matching level depends on stiffness of spring. When three various TFG structures respond to differential stiffness of spring, their the driving frame mechanical vibration is well matched in case the input excitation driving differential phase is less than 3.5°, 2.5°, and 4°, respectively. The fabricated tuning fork gyroscope linearly operates in the range from -200 to +200 degree/s with the resolution of about 0.45 mV/degree/s

Síntesis de interpolación de los controladores para un sistema de accionamiento eléctrico multimotor que contiene un elemento enlazado elásticamente

Partial differential equations, integral, differential, or other equations describe multi-motor automatic electric drive systems containing elastic conveyor belts. Because of the elastic and distributive nature of the system parameters, the transfer function describing them is often a complex expression, containing not only the arguments as a linear system but also the inertial and transcendental components. This makes the precise control of tension and speed synchronously much more complicated than the centralized parameter system. A promising numerical solution based on the real interpolation method will simplify the procedure for synthesizing control loops while preserving the characteristic properties of objects with distributed parameters. The objective of the study is to propose a feasible solution for synthesizing the regulators based on the real interpolation method; it allows direct operation with the original transfer function containing the inertial and transcendental components. In this paper, we proposed an approach to synthesize the control system for objects with distributed parameters using the real interpolation method to reduce computational capacity and synthesis error while preserving the properties of this object class. Building an experimental model of the two-motor electric drive system containing an elastic conveyor to verify the effectiveness of the proposed algorithm. The simulation and experimental results indicate that the control system with the received regulators operating stably and meets the required quality criteria. It proves the efficiency of the synthesis algorithm based on the real interpolation method.Introducción: los sistemas de accionamiento eléctrico multimotor que incluyen transportadores elásticos son un ejemplo de sistemas típicos con parámetros distribuidos descritos por ecuaciones complejas. Debido a la naturaleza elástica y distributiva de los parámetros del sistema, la función de transferencia que los describe suele ser una expresión compleja que contiene los componentes inercial y trascendental. Problema: la naturaleza elástica y distributiva de los parámetros del sistema hace que el control preciso de la tensión y la velocidad sincrónicamente sea mucho más complicado que el sistema de parámetros centralizados. Metodología: se propone una solución numérica para sintetizar los reguladores basada en el método de interpolación real para reducir la capacidad computacional y el error de síntesis preservando las propiedades características de los objetos con parámetros distribuidos. Conclusión: la eficacia del algoritmo propuesto se verifica mediante un modelo experimental del sistema de accionamiento eléctrico de dos motores que contiene un transportador elástico. Los resultados de simulación y experimentales indican que el sistema de control con los reguladores recibidos opera de manera estable y cumple con los criterios de calidad requeridos. Originalidad: los resultados de la investigación se pueden aplicar en el desarrollo de sistemas centrales de control y monitoreo para líneas de producción automáticas con sistemas de accionamiento multimotor que incluyen transportadores

Torque Ripple Eliminations for Multiphase Nonsinusoidal Permanent Magnet Synchronous Machines

This paper is to propose a control scheme, a combination of the classical field-oriented control (FOC) technique and artificial intelligence (AI), to obtain constant torques in multiphase non-sinusoidal permanent magnet synchronous machine (PMSM) drives. Higher torque density, easier fabrication, and lower costs are several advantages of non-sinusoidal back electromotive force (back-EMF) machines over sinusoidal ones. However, multi-harmonics existing in back-EMFs possibly generate torque ripples, reducing torque quality of the drive. Therefore, in this paper, an adaptive linear neuron (ADALINE), a simple type of AI, is combined with the classical FOC technique to eliminate these torque ripples. The proposed control scheme is validated by numerical results with a seven-phase PMSM. In addition, these results are compared with an existing strategy to prove its effectiveness.This work has been achieved within the framework of CE2I project. CE2I is co-financed by European Union with the financial support of European Regional Development Fund (ERDF), French State and the French Region of Hauts-de-France

Position control for haptic device based on discrete-time proportional integral derivative controller

Haptic devices had known as advanced technology with the goal is creating the experiences of touch by applying forces and motions to the operator based on force feedback. Especially in unmanned aerial vehicle (UAV) applications, the position of the end-effector Falcon haptic sets the velocity command for the UAV. And the operator can feel the experience vibration of the vehicle as to the acceleration or collision with other objects through a forces feedback to the haptic device. In some emergency cases, the haptic can report to the user the dangerous situation of the UAV by changing the position of the end-effector which is be obtained by changing the angle of the motor using the inverse kinematic equation. But this solution may not accurate due to the disturbance of the system. Therefore, we proposed a position controller for the haptic based on a discrete-time proportional integral derivative (PID) controller. A Novint Falcon haptic is used to demonstrate our proposal. From hardware parameters, a Jacobian matrix is calculated, which combines with the force output from the PID controller to make the torque for the motors of the haptic. The experiment was shown that the PID has high accuracy and a small error position

Eliminations of Low-frequency Current Harmonics for Five-phase Open-end Winding Non-sinusoidal Machine Drives applying Neural Networks

This study aims at eliminating unwanted harmonics in current control of a five-phase non-sinusoidal permanent magnet synchronous machine (PMSM) in an open-end winding configuration. The machine is supplied by two voltage source inverters (VSIs) using a single DC-bus voltage. High-frequency harmonics, caused by the zero-sequence current with the inverter switching frequency, have been significantly reduced by using a proper pulse width modulation (PWM) strategy. Meanwhile, low-frequency current harmonics are generated by unwanted harmonics of the back electromotive force (back-EMF) and by the inverter nonlinearity. In this study, the low-frequency current harmonics are nullified by simple adaptive linear neural networks (ADALINEs) in rotor reference frames combined with the back-EMF compensation. As a result, the quality of current control is improved. The effectiveness of the proposed strategies is verified by numerical resultsThis work has been achieved within the framework of CE2I project. CE2I is co-financed by European Union with the financial support of European Regional Development Fund (ERDF), French State and the French Region of Hauts-de-France

Fault-tolerant Control for Non-sinusoidal Multiphase Drives with Minimum Torque Ripple

For non-sinusoidal electromotive force (NS-EMF) multiphase machines, this paper proposes a new strategy and control scheme to guarantee smooth torque under an open-phase fault. Notably, the conventional proportional-integral (PI) controllers implemented for vector control in healthy mode can be used in the faulty mode. The strategy is based on reduced-order transformations while the control scheme applies a simple artificial intelligence algorithm using a specific online-trained Adaptive Linear Neuron (ADALINE). Indeed, the inputs of ADALINE require the knowledge of rotor position and NS-EMF harmonic rank to optimize the learning time. The proposed strategy and control scheme are tested on a seven-phase machine with a strong Total Harmonic Distortion (THD) of NS-EMFs, containing numerous harmonics Hk (THD=38% with 100% H1, 32.3% H3, 9.4% H7, 12.5% H9, 10.3% H11). Numerical and experimental results are presented in this paper. This paper is accompanied by a video demonstrating the experimental results.This research was funded by CE2I project. CE2I is co-financed by European Union with 573 the financial support of European Regional Development Fund (ERDF), French State and the French 574 Region of Hauts-de-France

An Overview of Methods using Reduced-Ordered Transformation Matrices for Fault-Tolerant Control of 5-phase Machines with an Open Phase

This paper studies control strategies using modified transformation matrices when five-phase machines operate in oneopen-phase faults. The basic idea of these methods is to maintain the rotating field under asymmetrical conditions as the same as in healthy condition by determining new transformation matrices. The dimension of the new matrices is equal to the number of remaining healthy phases in post-fault conditions. There have been different ways to determine the new transformation matrices applied for different types of five-phase machines in recent decades. In this study, an overview and analyses on these methods will be presented. In addition, advantages and drawbacks of these control strategies are clarified by numerical results

Sensitivity of Torque Control for Seven-phase BLDC Machine with One Opened Phase under Constraints on Voltage and Current

This paper deals with control strategies when a sevenphase axial-flux brushless DC machine operates in one opencircuited phase fault by considering constraints on voltage and current. The constraints are related to the converter and machine design in terms of peak values of non-sinusoidal voltage and current. In addition, the sensitivity of the torque control on parameters of new imposed current references under the base speed and in the flux-weakening region is analyzed. The current references taking into account only first and third harmonics in healthy phases are proposed to ensure the torque optimization while phase currents and voltages are within their limits. The usefulness of the control strategies and the parameter analyses are verified by numerical results