One chip solution for low-cost active magnetic bearing system

In this work the implementation of the active magnetic bearing control system in a single FPGA is studied. Requirements for the full magnetic bearing control system are reviewed. Different control methods for active magnetic bearings are described shortly. Flux and the current base controllers are implemented in a FPGA. Suitability of the con-trollers for a low-cost magnetic bearing application is studied. Floating-point arithmetic’s are used in the controllers to ease designing burden and improve calculation precision. Per-formance of the flux controller is verified with simulations.

Sähkömoottorin etäohjausjärjestelmän suunnittelu ja testaus

Tämä kandityön aihe liittyy LUT Energialla lukuvuonna 2012 – 2013 käynnissä olevaan tutkimukseen, jossa tutkitaan sähkömoottorin laakerivirtojen syntyä. Tätä tutkimusta varten tarvittiin sähkömoottorin etäohjausjärjestelmä, jonka avulla tutkimuksessa käytettävän sähkömoottorin käyttäytymistä voitaisiin tutkia erilaisien käyttöprofiileiden funktiona. Tässä kandityössä suunnitellaan ja toteutetaan edellä kuvattu järjestelmä. Toteutuksessa hyödynnetään nykyaikaista automaatiotekniikkaa, joka yhdessä Ethernet-lähiverkkotekniikan kanssa mahdollistaa etäohjauksen. Valmiin etäohjausjärjestelmän avulla käyttäjä pystyy sekä käynnistämään että sammuttamaan sähkömoottorin, ja määrittämään käyttöprofiilin ON- ja OFF-tilojen ajalliset kestot sekä käyntinopeudet.

Kaksisuuntaisen DC/DC-hakkurin virtasäätö polttokennosovelluksessa

Ilmastonmuutos ja fossiilisten polttoaineiden ehtyminen ovat edesauttaneet uusiutuvien energialähteiden tutkimusta huomattavasti. Lisäksi alati kasvava sähköenergian tarve lisää hajautetun sähköntuotannon ja vaihtoehtoisten energialähteiden kiinnostavuutta. Yleisimpiä hajautetun sähköntuotannon energialähteitä ovat tuulivoima, aurinkovoima ja uutena tulokkaana polttokennot. Polttokennon kytkeminen sähköverkkoon vaatii tehoelektroniikkaa, ja yleensä yksinkertaisessa polttokennosovelluksessa polttokenno kytketään galvaanisesti erottavan yksisuuntaisen DC/DC-hakkurin ja vaihtosuuntaajan kanssa sarjaan. Polttokennon rinnalla voidaan käyttää akkua tasaamaan polttokennon syöttämää jännitettä, jolloin akun ja polttokennon väliin tarvitaan kaksisuuntainen DC/DC-hakkuri, joka pystyy siirtämään energiaa molempiin suuntiin. Tässä diplomityössä on esitetty kaksisuuntaisen DC/DC-hakkurin tilayhtälökeskiarvoistusmenetelmään perustuva malli sekä mallin perusteella toteutettu virtasäätö. Tutkittava hakkuritopologia on kokosilta-tyyppinen boost-hakkuri, ja säätömenetelmä keskiarvovirtasäätö. Työn tuloksena syntyi tilayhtälömalli kaksisuuntaiselle FB boost -hakkurille sekä sen tulokelan virran säätämiseen soveltuva säädin. Säädin toimii normaalitilanteissa hyvin, mutta erikoistilanteissa, kuten hakkurin tulojännitteen äkillisessä muutostilanteessa, vaadittaisiin tehokkaampi säädin, jolla saavutettaisiin nopeampi nousuaika ilman ylitystä ja oskillointia.

Ammonia regeneration in nickel matte chloride leaching

Ammonia can be used as a pH controller in chloride-based metal recovery processes. In chloride conditions, ammonia reacts to ammonium chloride which can be regenerated back to ammonia with lime. Although the regeneration process itself has been known for a long time, the concentrations, non-reacting species, conditions, and even goals are different when comparing the ammonia regeneration process in different industries. The main objective of this thesis was to study the phenomena, equipment, and challenges in ammonia regeneration in the nickel process and to make a preliminary process design. The study concentrated on the regeneration and recovery units. The thesis was made by process simulation and laboratory tests using the current processes as initial information. The results were combined from all of the information obtained during the studies to provide a total process solution, which can be used as a basis when designing an ammonia regeneration process to be used in industry. In particular, it was possible to determine ammonia recovery with a stripping column and the achievement of the desired ammonia water product within the scope of this thesis. The required mass flows and process conditions were also determined. The possible challenges and solutions or further studies to overcome them were provided as well to ease the prediction and design of the ammonia regeneration process in the future. On the basis of the results of this thesis, the ammonia regeneration process can be developed further and implemented in the nickel chloride leaching process.

Virtual technology and haptic interface solutions for design and control of mobile working machines

Commercially available haptic interfaces are usable for many purposes. However, as generic devices they are not the most suitable for the control of heavy duty mobile working machines like mining machines, container handling equipment and excavators. Alternative mechanical constructions for a haptic controller are presented and analysed. A virtual reality environment (VRE) was built to test the proposed haptic controller mechanisms. Verification of an electric motor emulating a hydraulic pump in the electro-hydraulic system of a mobile working machine is carried out. A real-time simulator using multi-body-dynamics based software with hardware-in-loop (HIL) setup was used for the tests. Recommendations for further development of a haptic controller and emulator electric motor are given.

Taajuusmuuttaja aktiivisesti säädetyn magneettilaakerin virtalähteenä

Työssä tutkitaan mahdollisuutta hyödyntää sähkömoottorien nopeudensäätöön suunniteltuja kaupallisia taajuusmuuttajia osana aktiivisesti säädetyn magneettilaakeroinnin säätöjärjestelmää. Magneettilaakerijärjestelmän ohjaamiseksi tarvitaan vahvistin, jonka tehtävänä on muuntaa paikkasäätöjärjestelmältä tuleva ohjearvo virraksi, jännitteeksi tai magneettivuoksi voiman tuottamiseksi laakerikäämityksellä. Nykyaikaiset modernit taajuusmuuttajat mahdollistavat säätöalgoritmien suorittamisen sekä liitynnän muuhun automaatiojärjestelmään kenttäväylien kautta. Tämän järjestelmäintegraation myötä olisi mahdollista rakentaa modulaarinen säätöjärjestelmä hyödyntäen luotettavaksi todettuja teollisuusautomaatiotuotteita vain muutamalla itse magneettilaakerijärjestelmään liittyvällä tuotteella. Haluttaessa hyödyntää kolmivaiheinen taajuusmuuttaja mahdollisimman tehokkaasti magneettilaakerin teholähteenä tulee laakerikäämityksien kytkeytymistä taajuusmuuttajaan tarkastella tarkemmin. Kirjallisuustutkimuksessa keskitytään taajuusmuuttajan tehokytkimien muodostaman vaihtosuuntaajan eri rakennevaihtoehtojen sekä virtasäädön dynaamisten ominaisuuksien tarkasteluun. Soveltuvien rakennevaihtoehtojen sekä virtasäädön suorituskyky todennetaan simuloinnein ja lopuksi todellisella koelaitteistolla. Magneettilaakeroinnilla varustetun sähkökoneen roottorin onnistunut leijuttaminen viiden vapausasteen suhteen paikkasäädettynä sekä mittauksien tulokset osoittavat, ettei taajuusmuuttajien järjestelmäarkkitehtuurista löydy merkittäviä esteitä muuttajien hyödyntämiseksi magneettilaakerisovelluksissa.

Curving simulation and stability of a creep-controlled wheelset for high speed rail-vehicles

Higher travel speeds of rail vehicles will be possible by developing sophisticated top performance bogies having creep-controlled wheelsets. In this case the torque transmission between the right and the left wheel is realized by an actively controlled creep coupling. To investigate hunting stability and curving capability the linear equations of motion are written in state space notation. Simulation results are obtained with realistic system parameters from industry and various controller gains. The advantage of the „creep-controlled wheelset" is discussed by comparison the simulation results with the dynamic behaviour of the special cases „solid-axle wheelset" and „loose wheelset" (independent rotation of the wheels). The stability is also investigated with a root-locus analysis.

Advances in modelling of mechatronic systems: the toolset FASIM_C++ for the simulation of vehicle dynamics

The increasing complexity of controller systems, applied in modern passenger cars, requires adequate simulation tools. The toolset FASIM_C++, described in the following, uses complex vehicle models in three-dimensional vehicle dynamics simulation. The structure of the implemented dynamic models and the generation of the equations of motion applying the method of kinematic differentials is explained briefly. After a short introduction in methods of event handling, several vehicle models and applications like controller development, roll-over simulation and real-time-simulation are explained. Finally some simulation results are presented.

Telerobotics: Methodology for the Development of a Through-the-Internet Robotic Teleoperated System

This work presents a methodology for the development of Teleoperated Robotic Systems through the Internet. Initially, it is presented a bibliographical review of the Telerobotic systems that uses Internet as way of control. The methodology is implemented and tested through the development of two systems. The first is a manipulator with two degrees of freedom commanded remotely through the Internet denominated RobWebCam (http://www.graco.unb.br/robwebcam). The second is a system which teleoperates an ABB (Asea Brown Boveri) Industrial Robot of six degrees of freedom denominated RobWebLink (http://webrobot.graco.unb.br). RobWebCam is composed of a manipulator with two degrees of freedom, a video camera, Internet, computers and communication driver between the manipulator and the Unix system; and RobWebLink composed of the same components plus the Industrial Robot. With the use of this technology, it is possible to move far distant positioning objects minimizing transport costs, materials and people; acting in real time in the process that is wanted to be controller. This work demonstrates that the teleoperating via Internet of robotic systems and other equipments is viable, in spite of using rate transmission data with low bandwidth. Possible applications include remote surveillance, control and remote diagnosis and maintenance of machines and equipments.

Simulation of Active Control Using Fuzzy Logic Applied to a Pulse Combustor

This work analyzes an active fuzzy logic control system in a Rijke type pulse combustor. During the system development, a study of the existing types of control for pulse combustion was carried out and a simulation model was implemented to be used with the package Matlab and Simulink. Blocks which were not available in the simulator library were developed. A fuzzy controller was developed and its membership functions and inference rules were established. The obtained simulation showed that fuzzy logic is viable in the control of combustion instabilities. The obtained results indicated that the control system responded to pulses in an efficient and desirable way. It was verified that the system needed approximately 0.2 s to increase the tube internal pressure from 30 to 90 mbar, with an assumed total delay of 2 ms. The effects of delay variation were studied. Convergence was always obtained and general performance was not affected by the delay. The controller sends a pressure signal in phase with the Rijke tube internal pressure signal, through the speakers, when an increase the oscillations pressure amplitude is desired. On the other hand, when a decrease of the tube internal pressure amplitude is desired, the controller sends a signal 180º out of phase.

Variable structure position control of an industrial robotic manipulator

The use of a robust position controller for a robotic manipulator moving in free space is presented. The aim is to implement in practice a controller that is robust to uncertainties in the model of the system, as well as being inexpensive from a computational point of view. Variable structure theory provides the technique for the design of such controller. The design steps are presented, first from a theoretical perspective and then applied to the control of a two degree-of-freedom manipulator. Simulation results that backed the implementation are presented, followed by the experiments conducted and the results that were obtained. The conclusion is that variable structure control is readily applicable to industrial robots for the robust control of positions.

Proposal of methodology for the modeling and control of manipulators

Industrial applications demand that robots operate in agreement with the position and orientation of their end effector. It is necessary to solve the kinematics inverse problem. This allows the displacement of the joints of the manipulator to be determined, to accomplish a given objective. Complete studies of dynamical control of joint robotics are also necessary. Initially, this article focuses on the implementation of numerical algorithms for the solution of the kinematics inverse problem and the modeling and simulation of dynamic systems. This is done using real time implementation. The modeling and simulation of dynamic systems are performed emphasizing off-line programming. In sequence, a complete study of the control strategies is carried out through the study of several elements of a robotic joint, such as: DC motor, inertia, and gearbox. Finally a trajectory generator, used as input for a generic group of joints, is developed and a proposal of the controller's implementation of joints, using EPLD development system, is presented.

Control of transients in water distribution networks by H¥ Control

In this work, a controller for regulating the transients in water distribution networks is established. The control technique is the H¥ Control. The developed controller is applied to a water distribution network and the results of this application demonstrate that the technique allowed the establishment of a robust controller, capable of attenuating the disturbances in a suitable way, being effective in controlling the oscillations of the state variables in question.

Experimental study applied to an industrial robot by using variable structure controllers and friction compensation

Control of an industrial robot is mainly a problem of dynamics. It includes non-linearities, uncertainties and external perturbations that should be considered in the design of control laws. In this work, two control strategies based on variable structure controllers (VSC) and a PD control algorithm are compared in relation to the tracking errors considering friction. The controller's performances are evaluated by adding an static friction model. Simulations and experimental results show it is possible to diminish tracking errors by using a model based friction compensation scheme. A SCARA robot is used to illustrate the conclusions of this paper.

Development of nano-meter motion control in Japan

Production machines for next generation LSIs such as 4G-DRAMs and for large liquid crystal displays such as 0.5mx0.5m size, and information equipment such as magnetic hard disks and DVDs must have the positioning accuracy of a nano-meter order. To realize such a high degree of the positioning accuracy, not only precision machine elements and mechanisms but also high precision sensors, actuators and controller design techniques becomes crucial. This paper introduces recent topics of precision positioning and motion control technology in Japan.