Ripple reduction at speed and torque of step motors used on a two-axis robot arm

Rüstemli, Sabir; Yılmaz, Murat; Demirtaş, Metin

doi:10.1016/j.rcim.2010.05.003

Cited by 7 publications

(7 citation statements)

References 13 publications

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“…From Eqs. (17) and 18, the PI controller will be tuned according to expressions (19) and 20Despite the fact that in simulation this approach performs as intended, once it is implemented it underperforms and eventually, when increasing the BW, it may become unstable. The reason for this is the fact that the delays are neither modelled nor considered when designing and tuning the PI controller.…”

Section: Pi Controller Tuned In Z Domain System_3 and System_4mentioning

confidence: 99%

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Moving towards the maximum speed in stepping motors by means of enlarging the bandwidth of the current controller

2016

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This paper pursues to maximise the mechanical speed when using stepping motors (SM) without position sensors in order to achieve a rapid-response manufacturing whenever any equipment based on such electrical machines is involved. The novelty of this paper is the fact that not only the bandwidth of the current controllers is improved for such maximization of the SM mechanical speed, as traditionally done in previous works, but also a comprehensive approach has been addressed. Such global approach starts justifying why the traditional PI controller is not sufficient and it includes the analytical tuning of the current controllers, considering implementation tiny issues (but of paramount importance) such as the delays caused by the processor and the sample and hold current measurements. It is proved and justified that this previously mentioned issues, which are often omitted, play a crucial role when trying to maximise the speed of the SM, since the electrical fundamental frequencies of the SM move close to the sampling frequency. Therefore, the analytical process to tune and implement the current controllers will have to be done in discrete-time domain, i.e. using the Z transform and treating the SM drive as a sampled data system. Experimental waveforms and results based on real prototypes will prove the validity of the entire research. Finally, a real case-study based on Printed Circuit Board (PCB) prototyping machine which is composed by two stepper machines, is fully reported. Such PCB prototype is the fruitful collaboration between the University (research institution) and a private company (industry). © 2016 Elsevier LtdPeer ReviewedPostprint (author's final draft

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Section: Pi Controller Tuned In Z Domain System_3 and System_4mentioning

confidence: 99%

“…Still, SMs have torque and speed ripples problems which have driven the research attention [18][19][20] sometimes even using artificial intelligent techniques such as neural networks [21,22].…”

Section: Introductionmentioning

confidence: 99%

Moving towards the maximum speed in stepping motors by means of enlarging the bandwidth of the current controller

2016

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“…It is pointed out that more than 95% of the controllers used in process control applications are of PID-type. Here, P, I, and D are controller's gains [34,35].…”

Section: Pid Controlmentioning

confidence: 99%

Virtual laboratory for sliding mode and PID control of rotary inverted pendulum

Demirtaş

Altun

İstanbullu

2010

Comp Applic In Engineering

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This paper presents a new virtual laboratory tool which teaches sliding mode control (SMC) and proportional-integral-derivative (PID) control to graduate students. Additionally, it describes performance differences between two control methods graphically. This educational virtual laboratory tool contains the control of rotary inverted pendulum. This system is a typical example of nonlinear and under-actuated systems and also well-known in control engineering for practicing different control theories. At first, the nonlinear dynamic equations of the inverted pendulum are presented. Then a virtual laboratory tool is designed for SMC and PID. After that, the results are analyzed. The validity of designed tool is verified by an experiment.

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“…Serial robotic arms generally have merits of larger workspace and more flexibility. [1][2][3][4][5][6][7] Parallel robotic arms have merits of higher stiffness and greater load-to-weight ratio. [8][9][10][11][12][13] In general, both serial robotic arms and parallel robotic arms have some limitations in their applications, and their merits are mutually beneficial for designing robotic arms.…”

Section: Introductionmentioning

confidence: 99%

“…In the aspect of robotic arms, Zacharias et al 2 analyzed robotic arm workspaces. Roy, 3 De, 4 and Rustemli et al 5 designed different serial robot arms and analyzed their performances. Bahadir 6 proposed a methodology based on axiomatic design principles for the decision of the appropriate robotic arm.…”

Section: Introductionmentioning

confidence: 99%

Dynamics analysis of novel hybrid robotic arm with three fingers

Lü

Dai

2015

Robotica

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SUMMARYA novel hybrid robotic arm with three fingers is proposed for assembly, operation and rescue. It is composed of an upper 3RPS-type parallel manipulator, a lower 3SPR-type parallel manipulator and three fingers. Its dynamics are studied and analyzed systematically. First, the kinematics formulae of the moving links at their mass centers in the hybrid robotic arm with three fingers are established. Second, the formulae for solving the inertial wrench of the moving links at their mass centers are derived. Third, a dynamics formula is established for solving the dynamic active/constrained forces of the hybrid robotic arm and the fingers. Finally, an analytic example is given for solving the kinematics and dynamics of the hybrid robotic arm with three fingers and the analytic solved solutions are verified by a simulation mechanism.

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Ripple reduction at speed and torque of step motors used on a two-axis robot arm

Cited by 7 publications

References 13 publications

Moving towards the maximum speed in stepping motors by means of enlarging the bandwidth of the current controller

Moving towards the maximum speed in stepping motors by means of enlarging the bandwidth of the current controller

Virtual laboratory for sliding mode and PID control of rotary inverted pendulum

Dynamics analysis of novel hybrid robotic arm with three fingers

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