electric motor drives modeling analysis and control 2001 r krishnan pdf

... ~ ~ = + −                 =       − ˆˆ ˆˆ ,, ˙˙ . 12 12 3 3 2 2 2 223 2 2 m L L T 0 0 K 00 0qqI r ~ r r = ~ = − − −                     0 0 0 32 31 21 1 2 3 rr rr rr r r r , r ~2 = −− −− −−           r r rr rr rr r r rr rr rr r r 2 2 3 2 12 13 21 ... 21 1 12 2 11 1 2 ,,,, ,, , ,,,, , KKK K ll dnmnmnmdnm =∈∈∈ +× Rq R R q R R (+) ,,,, ()24 3 12 12 24 3 R R RR RRR RRR RR R RR RR RR R EE E EEE =                       ∈∈ = ×× 0 11 ... symmetric matrix formed from the elements of r: and the square of this matrix is The matrix elements r 1 , r 2 , r 3 , q 1, q 2, q 3, etc. are to be interpreted as the measure numbers of...

Ngày tải lên: 18/10/2013, 09:15

... actuators. For instance, DC motors, stepper motors, and hydraulic actuators require different hardware and software solutions. The problem 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...

Ngày tải lên: 25/10/2013, 13:15

... 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 is eliminated ... 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 by the force sensor and a force error is computed. This error is further multiplied with inertia...

Ngày tải lên: 29/10/2013, 20:15

... 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 DSP board in direct ... some specific robot applications. For many robot controllers there are currently no systematic approaches to choose controller parameters to obtain desired performance. Controller parameters are usually determined ... position error e = q – q 0 , ∆E represents error change, and U represents control action. The upper level is responsible for evaluating controller performance and modifying FIGURE 24.18 Self-organizing...

Ngày tải lên: 29/10/2013, 20:15

... chassis motors are current-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. One or more processors or microcontrollers process the sensor signals. The processors provide commu- nication and control...

Ngày tải lên: 09/11/2013, 05:15

... Monitoring and Control 6.5 Other Process Phenomena 6.6 Future Direction and Efforts Acknowledgments References 7 Forming Processes: Monitoring and Control 7.1 Introduction: Process and Control ... Summary References 8 Assembly and Welding Processes and Their Monitoring and Control 8.1 Assembly Processes 8.2 Monitoring and Control of Resistance Welding Process 8.3 Monitoring and Control ... Edition, Richard C. Dorf The Electric Power Engineering Handbook, Leo L. Grigsby The Electronics Handbook, Jerry C. Whitaker The Engineering Handbook, Richard C. Dorf The Handbook of Formulas and Tables...

Ngày tải lên: 17/12/2013, 13:15

... 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 arm forms ... coordinate systems for the handling task and the robot. © 2002 by CRC Press LLC An automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes (in three ... configuration and its link 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...

Ngày tải lên: 17/12/2013, 13:15

... servo-controlled six-DOF arm, a computer control, and a graphical workstation for visualization and programming. It carries a surgical microscope. Movements follow preprogrammed paths or are generated ... as Figure 28.28 depicts. These data are transferred into a standard robot motion program. Since all trajectories and goal frames correspond to the car’s reference frame, its location relative to ... along normal corridors. Clear and simple user interfaces, robust robot navigation, and ability to open doors and operate elevators by remote control make it a pioneering system in terms of technology...

Ngày tải lên: 17/12/2013, 13:15

... of a prototype installation at Fraunhofer IPA. A car being refueled by a robot (left) and a touch-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 harsh conditions. 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 island is guaranteed at all times. Figure 28.33 depicts a refilling station in operation since September 1995 at Fraunhofer IPA. For...

Ngày tải lên: 17/12/2013, 13:15

... second and third terms to match the following transform pairs from Table 2.1: e kt + + e kt (s + + + The result of the rearrangement gives 1 1 = (s + + (s + + We see from the quadratic terms ... the next few paragraphs, the motivation will become clear. It will be shown that the transform has the remarkable property of transforming the operation of differentiation with respect to 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 or subtraction is the logarithm of the desired...

Ngày tải lên: 22/12/2013, 21:18

... of the 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, chemical engineering laboratory, applied mathematics, and process dynamics and control. At Purdue, he developed a new course and laboratory in process control...

Ngày tải lên: 22/12/2013, 21:18

Ngày tải lên: 01/01/2014, 18:38

... communication between CNC controller/PLC (programmable logic controllers) or PLC/PLC, have been through proprietary networks (similar situation as with controllers); i.e., related control systems, communication ... Market Advantages Product Functions and Performance Improve Product Quality Reconfigurable Software Reconfigurable Machines w. Reconfigurable Controllers No Software Fixed Software Reconfigurable Hardware Fixed Hardware Manual ... Therefore, the structure and functionality of the control software are very critical and directly affect the performance of the entire system. The controllers of the machines, networking and data...

Ngày tải lên: 23/01/2014, 06:20

... Transfer (3rd Lift) Raise Transfer (4th Lift) Advance Transfer Lower Transfer (1st Lower) Lower Transfer (2nd Lower) Lower Transfer (3rd Lower) Lower Transfer (4th Lower) Return Transfer OPERATION ... 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...

Ngày tải lên: 23/01/2014, 06:20

... simpler and more straightforward. However, the empirical values are only suitable for particular operations and cannot be extrapolated to others. To provide a representative sample of approaches used ... forces and tool breakage in milling from feed drive current measurements, 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 this purpose, a process variable or a set of variables...

Ngày tải lên: 23/01/2014, 06:20

... 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 6.1 Comparison of Drilling Control Strategies 41 No Controller Feed/Speed Controller Torque/Speed Controller Supervisory Controller Machining time (s)...

Ngày tải lên: 23/01/2014, 06:20

Ngày tải lên: 23/01/2014, 06:20

Ngày tải lên: 23/01/2014, 06:20

Ngày tải lên: 27/01/2014, 15:20

Ngày tải lên: 27/01/2014, 15:20