electric motor drives modeling analysis and control 2001 r krishnan pdf
Modeling, Measurement and Control P18
... ~~=+−=−ˆˆˆˆ,,˙˙.12123322222322mLLT00K000qqI r ~ r r = ~=−−−000323121123rrrrrr r r r , r ~2=−−−−−− r r rr rrrr r r rrrr rr r r223212 1321 ... 21 1 12 211 1 2,,,, ,, ,,,,, ,KKKKlldnmnmnmdnm=∈∈∈+×Rq R R q R R(+),,,,()24 3 12 12 24 3 R RRRRRRRRRRR R RRRR RR R EE EEEE=∈∈=××011 ... symmetric matrix formed from the elements of r: and the square of this matrix is The matrix elements r 1, r 2, r 3, q1, q2, q3, etc. are to be interpreted as the measure numbers of...
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Modeling, Measurement and Control P21
... actuators. For instance, DC motors,stepper motors, and hydraulic actuators require different hardware and software solutions. Theproblem of control is closely related to the driving characteristics ... other hand, brushless motors require more complex and expensive control systems.Sensors and switching circuitry are needed for electronic commutation.The synchronous AC motor differs from the ... (better power to weight ratio).However, large currents cause increased brush wear and rapid motor heating.The main drawback of the classical structure comes from commutation. Graphite brushes and...
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Modeling, Measurement and Control P23
... the internal control part in order to regulate this error to zero as time increases. However,different from the position model error control in Figure 23.11, where the position model error iseliminated ... various control strategies. Impedance control represents a strategy for constrained motion rather than a concrete control scheme. Various control concepts and schemes were established for controlling ... position error and target impedance. The expected active force is compared with the actual force sensed bythe force sensor and a force error is computed. This error is further multiplied with inertia...
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Modeling, Measurement and Control P24
... higher control layer and the fuzzy controller at the lower control layer.For this problem there is very interesting hardware solution where the fuzzy controller works on a DSPboard in direct ... somespecific robot applications. For many robot controllers there are currently no systematic approachesto choose controller parameters to obtain desired performance. Controller parameters are usuallydetermined ... position error e = q – q0, ∆E represents error change, and U represents control action. The upper level is responsible for evaluating controller performance and modifyingFIGURE 24.18 Self-organizing...
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Modeling, Measurement and Control P26
... chassis motors arecurrent-mode drivers, that is, motor current is proportional to the input signal. Since the electro-magnetic torque produced by the motor current is proportional to the current, ... for this purpose. Such control architecture has “fine-granularity” so that elementary control tasks are simple. Still, the overall control architecture is very complex and difficult for theoretical ... geographic position of the robot obtained from a satellite by a radio link. Oneor more processors or microcontrollers process the sensor signals. The processors provide commu-nication and control...
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Tài liệu Modeling, Measurement and Control P31 doc
... Monitoring and Control 6.5 Other Process Phenomena6.6 Future Direction and EffortsAcknowledgments References 7 Forming Processes: Monitoring and Control 7.1 Introduction: Process and Control ... SummaryReferences 8 Assembly and Welding Processes and Their Monitoring and Control 8.1 Assembly Processes8.2 Monitoring and Control of Resistance Welding Process8.3 Monitoring and Control ... Edition, Richard C. DorfThe Electric Power Engineering Handbook, Leo L. GrigsbyThe Electronics Handbook, Jerry C. WhitakerThe Engineering Handbook, Richard C. DorfThe Handbook of Formulas and Tables...
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Tài liệu Modeling, Measurement and Control P28 docx
... computer controls cable carriers, grippers, etc. 28.2.2.2 Cylindrical and Spherical Robots Cylindrical and spherical robots have two rotary and one prismatic joint. A cylindrical robot’s armforms ... coordinate systems for the handling task and the robot.© 2002 by CRC Press LLC An automatically controlled, reprogrammable, multipurpose manipulator programmable in threeor more axes (in three ... configuration and itslink and joint parameters.• Power transmission becomes more difficult as the number of axes increases.Industrial robots normally have up to four principal arm axes and three...
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Tài liệu Modeling, Measurement and Control P29 doc
... servo-controlled six-DOF arm, a computer control, and a graphicalworkstation for visualization and programming. It carries a surgical microscope. Movements followpreprogrammed paths or are generated ... as Figure 28.28 depicts. These data aretransferred into a standard robot motion program.Since all trajectories and goal frames correspond to the car’s reference frame, its location relativeto ... along normal corridors.Clear and simple user interfaces, robust robot navigation, and ability to open doors and operateelevators by remote control make it a pioneering system in terms of technology...
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Tài liệu Modeling, Measurement and Control P30 pptx
... of a prototype installation at Fraunhofer IPA. A car being refueled by a robot (left) and atouch-screen terminal for inserting credit card, entering refilling order and printing (right). (From ... IPA.For more than 3 years, the robot has shown its reliability and robustness under even harshconditions. The system is currently undergoing redesign to meet cost and operation requirements.FIGURE ... nothing prevents the car door from opening. Safe access to the refueling islandis guaranteed at all times. Figure 28.33 depicts a refilling station in operation since September 1995at Fraunhofer IPA.For...
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Tài liệu Process Systems Analysis And Control P2 pptx
... second and third terms to match the following transformpairs from Table 2.1:e kt + + e kt (s + + + The result of the rearrangement gives1 1 = (s + + (s + + We see from the quadratic terms ... the next few paragraphs, themotivation will become clear. It will be shown that the transform has theremarkable property of transforming the operation of differentiation with respectto to that ... the pertinent numbers to their logarithms and then adds or subtracts,which is much easier than multiplying or dividing. The result of the addition orsubtraction is the logarithm of the desired...
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Tài liệu Process Systems Analysis And Control P1 docx
... ofthe areas investigated are control, adaptive control, direct digital control, and batch control of He has reported on his research in nu-merous publications and has received support for research ... a mercury thermometer in a beaker of hot water.The thermometer does not instantaneously rise to the water temperature. Rather,it rises in the manner described.Since the controller will receive ... engineering, environmental engineering, chemicalengineering laboratory, applied mathematics, and process dynamics and control. At Purdue, he developed a new course and laboratory in process control...
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Tài liệu Modeling, Measurement and Control P1 pptx
... communication between CNC controller/PLC(programmable logic controllers) or PLC/PLC, have been through proprietary networks (similarsituation as with controllers); i.e., related control systems, communication ... MarketAdvantagesProductFunctions and PerformanceImproveProductQualityReconfigurableSoftwareReconfigurableMachines w.ReconfigurableControllersNoSoftwareFixedSoftwareReconfigurableHardwareFixedHardwareManual ... Therefore, the structure and functionality ofthe control software are very critical and directly affect the performance of the entire system. Thecontrollers of the machines, networking and data...
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Tài liệu Modeling, Measurement and Control P3 pdf
... Transfer (3rd Lift)Raise Transfer (4th Lift)Advance TransferLower Transfer (1st Lower)Lower Transfer (2nd Lower)Lower Transfer (3rd Lower)Lower Transfer (4th Lower)Return TransferOPERATION ... Logic Control Programmer 3.3 Current Industrial Practice Programmable Logic Controllers • Relay Ladder Logic • Sequential Function Charts 3.4 Current Trends Issues with Current Practice ... responsible for specifying the emergency control logic to be wired by an electrician. 3.3 Current Industrial Practice Logic controllers for manufacturing systems run on proprietary control systems...
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Tài liệu Modeling, Measurement and Control P5 pptx
... simpler and more straightforward. However, the empirical values are only suitable for particularoperations and cannot be extrapolated to others. To provide a representative sample of approachesused ... forces and tool breakage in milling from feed drive currentmeasurements, ASME Journal for Manufacturing Scientists and Engineers, 119, 386–392.35. Grieshaber, D., Ramalingam, R. , and Frohrib, ... of various approaches. 5.2 Process Monitoring Process monitoring is generally performed through the analysis of process measurements. For thispurpose, a process variable or a set of variables...
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Tài liệu Modeling, Measurement and Control P6 ppt
... FIGURE 6.5 Force response, an adaptive force controller. (From Landers, R. G., Supervisory Machining Control: A Design Approach Plus Force Control and Chatter Analysis Components, Ph.D. dissertation, ... (6.13) FIGURE 6.4 Force response, nonlinear model-based force controller. (From Landers, R. G., Supervisory Machining Control: A Design Approach Plus Force Control and Chatter Analysis Components, ... in a through-hole drilling operation.TABLE 6.1Comparison of Drilling Control Strategies41No Controller Feed/Speed Controller Torque/Speed Controller Supervisory ControllerMachining time (s)...
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