Design of Pseudoinverse Method for Robotic Arm

Pseudoinverse method for control end-effector movement of a robotic arm is presented in this paper. For that task we used the robotic arm DOBOT. We made simulation model in Matlab environment and SimMechanics toolbox. We described the pseudoinverse method and problem-solving of pseudoinverse for non-square matrices. In the near future we will make implementation of this method to the control end-effector movement of a robotic arm and therefore we created a simulation to how many digits we will need for correct calculating of goniometric functions in DS

Design of goniophotometer with the automated measuring system

Vega- 1/0063/21This paper deals with the design of a goniophotometer which is a device used for measuring the light distribution of luminaire. Light distribution is measured in the way that luminaire changes its position, respectively angle towards to luxmeter which measures light intensity in defined angle. The proposed automated system is used for the control of two motors which are used for positioning the luminaire. The proposed system is used also for automated measuring of luminous intensity at defined angles which can be defined by the user. This can speed up measurement significantly because, if the luminaire is symmetrical so only half of the measurement samples are necessary. The next advantage of the proposed system is that all results of measurements are saved in EULUMDAT which except for values of luminous intensity contains parameters of luminaire and parameters of measurement. Files in this format can be processed directly in some special software for lighting design

Resolver interface comparison

For control of BLDC motor EMRAX 228 with a peak power of 109 kW, it is necessary to know the exact position in time. This electric motor is used as a drive unit for an electric quad bike manufactured at the Department of Mechatronics and Electronics. In this article we will analyze the position sensing of a BLDC motor with an implemented resolver without an external resolver sensor and with a comparison of two types of resolver sensors PGA411-Q1 and AD2S1210

Design of goniophotometer with the automated measuring system

Vega- 1/0063/21This paper deals with the design of a goniophotometer which is a device used for measuring the light distribution of luminaire. Light distribution is measured in the way that luminaire changes its position, respectively angle towards to luxmeter which measures light intensity in defined angle. The proposed automated system is used for the control of two motors which are used for positioning the luminaire. The proposed system is used also for automated measuring of luminous intensity at defined angles which can be defined by the user. This can speed up measurement significantly because, if the luminaire is symmetrical so only half of the measurement samples are necessary. The next advantage of the proposed system is that all results of measurements are saved in EULUMDAT which except for values of luminous intensity contains parameters of luminaire and parameters of measurement. Files in this format can be processed directly in some special software for lighting design

Resolver interface comparison

For control of BLDC motor EMRAX 228 with a peak power of 109 kW, it is necessary to know the exact position in time. This electric motor is used as a drive unit for an electric quad bike manufactured at the Department of Mechatronics and Electronics. In this article we will analyze the position sensing of a BLDC motor with an implemented resolver without an external resolver sensor and with a comparison of two types of resolver sensors PGA411-Q1 and AD2S1210

Control of Current Phase Advancing in Single-Leg Power Converters with the Use of Switched Capacitors

This paper deals with the control of current phase advancing in single-leg voltage source inverters (VSI) and matrix converters with a two-phase output. The phase shift of the current in the auxiliary phase is set with the use of switched capacitors. Two distinctive control methods are used for the current phase advancing, open-loop control and closed-loop control. In addition, a new averaging method is derived for the calculation of the switched capacitance used in the open-loop control. The practical use of the designed control methods with the switched capacitor is shown in simulations and experimental verifications on a single-leg matrix converter with a passive and active load (induction motor)

Stabilization and Control of Single-Wheeled Vehicle with BLDC Motor

To stabilize a single-wheel vehicle is necessary to know the angle of gradient of the platform with respect to the horizontal axis and also the movement of the vehicle. This can be detected in several ways. Accelerometers and gyroscopes are small, accurate and energy-saving today. They provide analogue or digital output. In the introduction we will describe the basic parameters of accelerometer and gyroscope. We will describe the principle of digital signal processing from both sensors. In the next section we look at the effect of dynamic acceleration on the sensors and the elimination of this phenomenon with a complementary filter. We explain, what it is a complementary filter, benefits and internal structure. We will include a short code in the C language for data processing from the output