There are two main reasons for torque ripple effect when stepping motor with permanent magnet is considered. First is the non-sinusoidal flux distribution and the second is so-called cogging torque. This paper present...
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Digital implementation of algorithms, designed for speed sensorless control is accounted for in the control design. For that reason, the transformation from rotating to stationary frame is achieved using rotor flux it...
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This paper presents rapid prototyping approach for control devices in mechatronics with special attention paid to the unified description and interaction of continuous and discrete-event processes. Traditionally, diff...
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This paper presents a new approach to the rapid prototyping of mechatronic control devices. The mechatronic control device as found in practice can be considered as a hybrid system: it is composed of a time-driven sub...
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A mathematical model and control for autonomous small size helicopters were analyzed, which were equipped with different sensors, and can be used in many practical applications. Based on the derived model, a control f...
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A mathematical model and control for autonomous small size helicopters were analyzed, which were equipped with different sensors, and can be used in many practical applications. Based on the derived model, a control for the basic helicopter and one for the helicopter with heavy or bulky load rigidly attached to the fuselage are designed and tested in laboratory flight experiments. The main rotor was modeled as a separate rigid body as a result of the contribution estimation. The demonstration of good match between model and flight experiment dynamics were analyzed. A controller was designed, and its good performance was demonstrated by using the derived model.
This paper presents rapid prototyping approach for control devices in mechatronics with special attention paid to the unified description and interaction of continuous and discrete-event processes. Traditionally, diff...
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This paper presents rapid prototyping approach for control devices in mechatronics with special attention paid to the unified description and interaction of continuous and discrete-event processes. Traditionally, different dynamics of continuous processes one hand, and logical discrete event processes on the other hand, requires a different theoretical approaches for the description of both kind of processes. However, a complete functionality of the mechatronic system is achieved by settling interaction between both kinds of processes. In this paper, the idea of well known state space description of continuous systems is widened to the field of event driven systems, which results in a unified recursive modeling approach for both kinds of processes. The interaction between the continuous and event-driven processes is introduced by converting continuous values into the logical conditions on one side, and by converting discrete logic states into the appropriate continuous reference values on the other side. The interaction process is illustrated on the single axis drive position initialization procedure. The experiment is implemented using a high performance DSP/FPGA experimental board, supported with graphical programming environment
Digital implementation of algorithms, designed for speed sensorless control is accounted for in the control design. For that reason, the transformation from rotating to stationary frame is achieved using rotor flux it...
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Digital implementation of algorithms, designed for speed sensorless control is accounted for in the control design. For that reason, the transformation from rotating to stationary frame is achieved using rotor flux itself instead of rotor flux angle. The stability of presented model based rotor flux observer is proved by Lyapunov stability criteria. Both, the observer and the control system is tested especially at low speed with simulations and experiments
This paper presents a new approach to the rapid prototyping of mechatronic control devices. The mechatronic control device as found in practice can be considered as a hybrid system: it is composed of a time-driven sub...
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This paper presents a new approach to the rapid prototyping of mechatronic control devices. The mechatronic control device as found in practice can be considered as a hybrid system: it is composed of a time-driven subsystem and an event-driven subsystem. For modeling of such a system a unified recursive approach is presented in this paper. The rapid logic control prototyping paradigm is illustrated by a simple case study that involves implementation on an in-house developed high-performance DSP/FPGA experimental platform
A new robust adaptive control design synthesis, which employs both high-order neural networks and math-analytical results, for a class of complex nonlinear mechatronic systems possessing similarity property has been d...
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The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control d...
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