MACCCS Center Review Presentation. Xinyan Deng Bio-Robotics Laboratory School of Mechanical Engineering Purdue University

Save this PDF as:
 WORD  PNG  TXT  JPG

Size: px
Start display at page:

Download "MACCCS Center Review Presentation. Xinyan Deng Bio-Robotics Laboratory School of Mechanical Engineering Purdue University"

Transcription

1 MACCCS Center Review Presentation Xinyan Deng Bio-Robotics Laboratory School of Mechanical Engineering Purdue University

2 Lab Experimental Facilities Tow tank PIV systems Wind tunnel

3 Lab Related Work Aerodynamics of Flapping Flight Zhao et al Figure 6 A 60o Experimental fluid dynamics 20o 40o B CL Polyes (No veins) Polyes degree degree 60 degree PET-G CD Flight dynamics, stability and control Dynamics & Control theories Robotic prototypes Mechanical Design Biological systems Sensor model Experiments and Measurements on real and Robotic insects Theoretical and experimental tools

4 Work From Past Year on MACCCS Work from Past Year on MACCCS grant I. Split cycle control experiments II. New electromagnetic actuator III. Direct drive control

5 Split-Cycle Constant-Period Frequency Modulation* *Drs. Michael Oppenheimer, David Doman and David Sigthorsson Split-Cycle enables independent control of 2 forces and 2 moments with 2 actuators Temporal asymmetry in wingbeat profile produces non-zero cycle-averaged aerodynamic forces and moments Air table experiment to test viability of split-cycle control strategy which allows isolation of motion controlled by split-cycle Yaw & Horizontal Translation Intermediate step between bench test and free flight Split-Cycle & Symmetric Waveform Roll Yaw Horizontal Vertical

6 I. Split Cycle Control Experimental Setup *Flapper mechanism and control board provided by AFRL Flapper Mechanism Two independent fourbar linkages actuated by DC motors Composite wings (carbon fiber frame and mylar membrane) PID Controller Controller based on encoder counts PWM signal varied to change effective voltage to the motor

7 Split Cycle Force Measurements Split Cycle Effects Instantaneous force peaks occur during faster cycle Peak force magnitude increases with increase in split cycle Maximum peak magnitudes: 10g average force difference in X direction 3g average force difference in Y direction 3g average force difference in Z direction Force peak in Z direction (Lift) always positive J. Roll, M. Oppenheimer, D. Doman, D. Sigthorsson, and X. Deng, Trajectory Tracking and Force Control Based on Split Cycle Algorithm on Flapping Wings, in preparation.

8 II. Electromagnetic Actuator Design Total Weight ~ 2.40 grams FRAME PIVOT PIN COIL SPRING MAGNET ROTOR Electromagnetic Coil 40 AWG copper wire Rotor 6 - N52 Neodymium magnets Wedge shaped providing 120º stroke angle Passive wing rotation using AOA stoppers

9 Operation Principle Driving Torque ±16 Volt alternating square applied across coil Restoring Torque 2 N52 neodymium spring magnet pairs Resonate frequency adjusted by changing effective spring stiffness

10 Single Degree of Freedom System EOM Actuator Dynamics 2 ( ) & & ( ) ( ) Ιtotψ& + c1 α ψψ + k1ψ+ k2ψψ = τm 1+ amψ sgn sin ωt Coil and spring magnet torque models derived from experimental data Primary Mode of Resonance ω = 1 ( k I ) tot Approximate Amplitude Ψ m = 2c1k 1 3πτ mi ( 3a 16) m tot πτ I m tot 1 2 J. Roll, B. Cheng and X. Deng, Design, Fabrication and Experiments of an Electromagnetic Actuator for Flapping Wing Micro Air Vehicles, B. Cheng, J. Roll and X. Deng, Modeling and Optimization of an Electromagnetic Actuator for Flapping Wing Micro Air Vehicles, submitted to IEEE International Conference on Robotics and Automation (ICRA 13)

11 Test Wings Construction 1.5 mm wide unidirectional carbon fiber used to form wing structure 3 µm mylar formed wing membrane 0.8mm dia. half round carbon fiber rod Wing Parameters 4, 5, 6 cm wing length 0.50, 0.55, 0.60 radius of second moment of wing area Wing shape generated from statistical Beta function scaled with area Total of 16 test wings

12 Frequency Response 40 Hz 50 Hz 60 Hz 70 Hz 80 Hz Test Frequencies Coarse tuning from 10Hz to 80Hz at 5Hz increments Fine tuning over resonance band at 1Hz increments Observations Non-uniformities at subharmonics Up to 110º peak-peak amplitude at resonance Model Accuracy 4.3% average modeling error in resonance frequency predictions 7.2% average modeling error in stroke amplitude predictions Validates use of models in future work

13 Wing Kinematics and Force Measurements Wing Kinematics Symmetric half cycles in stroke kinematics Slight asymmetry in rotation kinematics 90º phase shift indicative of resonance Vertical Force Measurements 1.10g, 1.87g, and 2.61g mean lift at 16V, 20V, & 24V Up to 1.10 lift-to-weight ratio at 24V Force signal with slight asymmetry between up and downstroke

14 III. Direct Drive Control Design Brushless DC motor with encoder Direct gear drive transmission 2 Torsional springs Carbon fiber and mylar test wing Objectives Resonate frequency tuned by proper spring stiffness Implement and evaluate PID controller for trajectory tracking Implement and evaluate Linear-quadratic regulator (LQR) for trajectory tracking Generate roll and pitch torques by tracking trajectories of varying amplitude and midstroke bias

15 System Dynamics Single Degree of Freedom System EOM EMF Damping Spring Stiffness ( α) θθ + k θ + d K u J S θ + BS1θ + B S2 1 = u Total Inertial Moment Aero Damping Where d is disturbance to the system Input Spring Constant Theoretical spring stiffness calculated from Hooke s Law K S 4 Ed = 64Dn = Stiffness determined from experimental data (linear) J. Zhang, B. Cheng and X. Deng, Resonant Drive of Flapping Wing with Closed-loop Motor Control, submitted to IEEE International Conference on Robotics and Automation (ICRA 13)

16 Wing Trajectory Tracking: PID Control Controller Performance Accurate trajectory tracking with slight phase lag Motor voltage draw approaching levels near 60% of saturation to accurately track command Stroke Amplitude and Encoder Feedback Wing amplitude measurements shown to accurately follow encoder measurements

17 Wing Trajectory Tracking: LQR Control Cost Function J T T T ( u) = ( x Qx + u Ru 2x Nu 0 ) + Controller Performance Accurate tracking of stroke amplitude Constant phase lag between input and output Force Measurements Average lift measurement of 2.43g at 24Hz and 150º pk-pk stroke amplitude Some asymmetry between up- and downstroke dt

18 Summary and Future Work Summary Lab facilities and related work Work from the past year on MACCCS grant Split cycle control experiments Electromagnetic actuator development and analysis Direct drive mechanism and control results On-going and Future Work Split cycle control Vacuum chamber test to isolate aerodynamic forces Tests on a pair of wings for coupled effects Electromagnetic and direct drive actuated flyers Lift control Roll, pitch and yaw stabilization Controlled hovering experiments

Active Vibration Isolation of an Unbalanced Machine Spindle

Active Vibration Isolation of an Unbalanced Machine Spindle UCRL-CONF-206108 Active Vibration Isolation of an Unbalanced Machine Spindle D. J. Hopkins, P. Geraghty August 18, 2004 American Society of Precision Engineering Annual Conference Orlando, FL, United States

More information

Manufacturing Equipment Modeling

Manufacturing Equipment Modeling QUESTION 1 For a linear axis actuated by an electric motor complete the following: a. Derive a differential equation for the linear axis velocity assuming viscous friction acts on the DC motor shaft, leadscrew,

More information

Current Loop Tuning Procedure. Servo Drive Current Loop Tuning Procedure (intended for Analog input PWM output servo drives) General Procedure AN-015

Current Loop Tuning Procedure. Servo Drive Current Loop Tuning Procedure (intended for Analog input PWM output servo drives) General Procedure AN-015 Servo Drive Current Loop Tuning Procedure (intended for Analog input PWM output servo drives) The standard tuning values used in ADVANCED Motion Controls drives are conservative and work well in over 90%

More information

BRUSHLESS DC MOTOR FAMILY

BRUSHLESS DC MOTOR FAMILY BRUSHLESS DC MOTOR FAMILY Series NT DYNAMO Geared Brushless DC Permanent Magnet Motor Spur Up to 600:1 Gear Ratio Up to 200 oz-in [1412 mn-m] of Torque AGMA 7 Gear Quality Planetary Wide Selection of Gear

More information

The HMK guide to Sizing of Servo Motors and Amplifier

The HMK guide to Sizing of Servo Motors and Amplifier The HMK guide to Sizing of Servo Motors and Amplifier Edition 2-08/02 Author C. Krajewski Drive Sizing Page 1 of 23 1. Introduction... 3 2. Torque... 4 2.1 Load Torque... 4 2.1.1 Pulley, Pinion or Sprocket...

More information

Mathematical Modeling and Dynamic Simulation of a Class of Drive Systems with Permanent Magnet Synchronous Motors

Mathematical Modeling and Dynamic Simulation of a Class of Drive Systems with Permanent Magnet Synchronous Motors Applied and Computational Mechanics 3 (2009) 331 338 Mathematical Modeling and Dynamic Simulation of a Class of Drive Systems with Permanent Magnet Synchronous Motors M. Mikhov a, a Faculty of Automatics,

More information

Simple Analysis for Brushless DC Motors Case Study: Razor Scooter Wheel Motor

Simple Analysis for Brushless DC Motors Case Study: Razor Scooter Wheel Motor Simple Analysis for Brushless DC Motors Case Study: Razor Scooter Wheel Motor At first glance, a brushless direct-current (BLDC) motor might seem more complicated than a permanent magnet brushed DC motor,

More information

Assignment 1: System Modeling

Assignment 1: System Modeling Assignment 1: System Modeling Problem 1. (10 pts.) Consider a biological control system consisting of a human reaching for an object. Below is a list of general block diagram elements (on the left, labeled

More information

Harmonics and Noise in Photovoltaic (PV) Inverter and the Mitigation Strategies

Harmonics and Noise in Photovoltaic (PV) Inverter and the Mitigation Strategies Soonwook Hong, Ph. D. Michael Zuercher Martinson Harmonics and Noise in Photovoltaic (PV) Inverter and the Mitigation Strategies 1. Introduction PV inverters use semiconductor devices to transform the

More information

Inductive and Magnetic Sensors

Inductive and Magnetic Sensors Chapter 12 Inductive and Magnetic Sensors 12.1 Inductive Sensors A number of the actuators developed in previous chapters depend on the variation of reluctance with changes in angle or displacement. Since

More information

What is Field Oriented Control and what good is it?

What is Field Oriented Control and what good is it? What is Field Oriented Control and what good is it? Using brushless servo motors and drives in your next new product? You have probably seen the buzzwords: 'Trapezoidal', 'Sinusoidal', and 'Field Oriented

More information

Development of Knowledge-Based Software for UAV Autopilot Design

Development of Knowledge-Based Software for UAV Autopilot Design Development of Knowledge-Based Software for UAV Autopilot Design George Tarrant Director CLOSED LOOP SYSTEMS Health Warning Autopilot design is a technical subject. In this paper, I have tried to translate

More information

Team 12 Final Design Presentation: Designing a Pick and Place Robotic Arm Manipulator Brett Keeble, Jacob Pierce, Jose Posada, Shao Zhonghua

Team 12 Final Design Presentation: Designing a Pick and Place Robotic Arm Manipulator Brett Keeble, Jacob Pierce, Jose Posada, Shao Zhonghua Team 12 Final Design Presentation: Designing a Pick and Place Robotic Arm Manipulator Brett Keeble, Jacob Pierce, Jose Posada, Shao Zhonghua 1 Advisor/Client: Dr. Bauer Outline Background and Scope Final

More information

2. A conductor of length 2m moves at 4m/s at 30 to a uniform magnetic field of 0.1T. Which one of the following gives the e.m.f. generated?

2. A conductor of length 2m moves at 4m/s at 30 to a uniform magnetic field of 0.1T. Which one of the following gives the e.m.f. generated? Extra Questions - 2 1. A straight length of wire moves through a uniform magnetic field. The e.m.f. produced across the ends of the wire will be maximum if it moves: a) along the lines of magnetic flux

More information

Stepper motor I/O. Application Note DK9222-0410-0014 Motion Control. A General information on stepper motors

Stepper motor I/O. Application Note DK9222-0410-0014 Motion Control. A General information on stepper motors Stepper motor Keywords Stepper motor Fieldbus Microstepping Encoder Phase current Travel distance control Speed interface KL2531 KL2541 Part A of this Application Example provides general information on

More information

Brush DC Motor Basics. by Simon Pata Business Unit Manager, Brushless DC

Brush DC Motor Basics. by Simon Pata Business Unit Manager, Brushless DC thinkmotion Brush DC Motor Basics by Simon Pata Business Unit Manager, Brushless DC Ironless DC Motor Basics Technical Note Brushed DC ironless motors are found in a large variety of products and applications

More information

AC vs DC Brushless Servo Motor. By John Mazurkiewicz, Baldor Electric

AC vs DC Brushless Servo Motor. By John Mazurkiewicz, Baldor Electric AC vs DC Brushless Servo Motor By John Mazurkiewicz, Baldor Electric Brushless motors are similar to AC motors since a moving magnet field causes rotor movement. Brushless motors are also similar to PM

More information

DCMS DC MOTOR SYSTEM User Manual

DCMS DC MOTOR SYSTEM User Manual DCMS DC MOTOR SYSTEM User Manual release 1.3 March 3, 2011 Disclaimer The developers of the DC Motor System (hardware and software) have used their best efforts in the development. The developers make

More information

2. Dynamics, Control and Trajectory Following

2. Dynamics, Control and Trajectory Following 2. Dynamics, Control and Trajectory Following This module Flying vehicles: how do they work? Quick refresher on aircraft dynamics with reference to the magical flying space potato How I learned to stop

More information

DE Actuated Automotive HVAC Louvers

DE Actuated Automotive HVAC Louvers DE Actuated Automotive HVAC Louvers Nick M Manzek Tizoc Cruz-Gonzalez Jonathan Luntz GM/UM Smart Materials and Structures Collaborative Research Lab Diann Brei ABSTRACT Automotive manufacturers are always

More information

Motion Analysis of Pitch Rotation Mechanism for Posture Control of Butterfly-style Flapping Robot

Motion Analysis of Pitch Rotation Mechanism for Posture Control of Butterfly-style Flapping Robot The 3rd International Conference on Design Engineering and Science, ICDES 2014 Pilsen, Czech Republic, August 31 September 3, 2014 Motion Analysis of Pitch Rotation Mechanism for Posture Control of Butterfly-style

More information

AG Matrix Series Product Guide

AG Matrix Series Product Guide AG Matrix Series Product Guide A complete line of alternators for: Auxiliary power generation Wind energy Onboard power generation for manned and unmanned vehicles Moog Components Group www.moog.com/components

More information

Torsion Pendulum. Life swings like a pendulum backward and forward between pain and boredom. Arthur Schopenhauer

Torsion Pendulum. Life swings like a pendulum backward and forward between pain and boredom. Arthur Schopenhauer Torsion Pendulum Life swings like a pendulum backward and forward between pain and boredom. Arthur Schopenhauer 1 Introduction Oscillations show up throughout physics. From simple spring systems in mechanics

More information

Magnetic Field of a Circular Coil Lab 12

Magnetic Field of a Circular Coil Lab 12 HB 11-26-07 Magnetic Field of a Circular Coil Lab 12 1 Magnetic Field of a Circular Coil Lab 12 Equipment- coil apparatus, BK Precision 2120B oscilloscope, Fluke multimeter, Wavetek FG3C function generator,

More information

Principles of Adjustable Frequency Drives

Principles of Adjustable Frequency Drives What is an Adjustable Frequency Drive? An adjustable frequency drive is a system for controlling the speed of an AC motor by controlling the frequency of the power supplied to the motor. A basic adjustable

More information

Physics 2305 Lab 11: Torsion Pendulum

Physics 2305 Lab 11: Torsion Pendulum Name ID number Date Lab CRN Lab partner Lab instructor Physics 2305 Lab 11: Torsion Pendulum Objective 1. To demonstrate that the motion of the torsion pendulum satisfies the simple harmonic form in equation

More information

Quadcopter Dynamics, Simulation, and Control Introduction

Quadcopter Dynamics, Simulation, and Control Introduction Quadcopter Dynamics, Simulation, and Control Introduction A helicopter is a flying vehicle which uses rapidly spinning rotors to push air downwards, thus creating a thrust force keeping the helicopter

More information

PHYS 2426 Engineering Physics II (Revised July 7, 2011) AC CIRCUITS: RLC SERIES CIRCUIT

PHYS 2426 Engineering Physics II (Revised July 7, 2011) AC CIRCUITS: RLC SERIES CIRCUIT PHYS 2426 Engineering Physics II (Revised July 7, 2011) AC CIRCUITS: RLC SERIES CIRCUIT INTRODUCTION The objective of this experiment is to study the behavior of an RLC series circuit subject to an AC

More information

ELECTRON SPIN RESONANCE Last Revised: July 2007

ELECTRON SPIN RESONANCE Last Revised: July 2007 QUESTION TO BE INVESTIGATED ELECTRON SPIN RESONANCE Last Revised: July 2007 How can we measure the Landé g factor for the free electron in DPPH as predicted by quantum mechanics? INTRODUCTION Electron

More information

EDUMECH Mechatronic Instructional Systems. Ball on Beam System

EDUMECH Mechatronic Instructional Systems. Ball on Beam System EDUMECH Mechatronic Instructional Systems Ball on Beam System Product of Shandor Motion Systems Written by Robert Hirsch Ph.D. 998-9 All Rights Reserved. 999 Shandor Motion Systems, Ball on Beam Instructional

More information

Digital vs. Analogue Control Systems

Digital vs. Analogue Control Systems Digital vs. Analogue Control Systems Presented at the 2011 Annual Meeting of the American College of Medical Physics, Chattanooga, TN, May 1, 2011 Ivan A. Brezovich, PhD, Dept. of Rad Onc, Univ of Alabama

More information

Switched Reluctance Machine (SRM)

Switched Reluctance Machine (SRM) Switched Reluctance Machine (SRM) 3D FEA Analysis using MagNet Jerry Foshage - RCT Systems 1 Wind and Water Power Technologies Office eere.energy.gov Acknowledgment & Disclaimer Acknowledgment This material

More information

Chapter 11 SERVO VALVES. Fluid Power Circuits and Controls, John S.Cundiff, 2001

Chapter 11 SERVO VALVES. Fluid Power Circuits and Controls, John S.Cundiff, 2001 Chapter 11 SERVO VALVES Fluid Power Circuits and Controls, John S.Cundiff, 2001 Servo valves were developed to facilitate the adjustment of fluid flow based on the changes in the load motion. 1 Typical

More information

Lecture 8 : Dynamic Stability

Lecture 8 : Dynamic Stability Lecture 8 : Dynamic Stability Or what happens to small disturbances about a trim condition 1.0 : Dynamic Stability Static stability refers to the tendency of the aircraft to counter a disturbance. Dynamic

More information

Understanding Inertia Ratio in Synchronous Motor Control

Understanding Inertia Ratio in Synchronous Motor Control Understanding Inertia Ratio in Synchronous otor Control Executive summary When sizing a motor for a particular application, the general rule of thumb is to keep the inertia ration below : meaning the motor

More information

Intelligent Robotics Lab.

Intelligent Robotics Lab. 1 Variable Stiffness Actuation based on Dual Actuators Connected in Series and Parallel Prof. Jae-Bok Song (jbsong@korea.ac.kr ). (http://robotics.korea.ac.kr) ti k Depart. of Mechanical Engineering, Korea

More information

The DC Motor. Physics 1051 Laboratory #5 The DC Motor

The DC Motor. Physics 1051 Laboratory #5 The DC Motor The DC Motor Physics 1051 Laboratory #5 The DC Motor Contents Part I: Objective Part II: Introduction Magnetic Force Right Hand Rule Force on a Loop Magnetic Dipole Moment Torque Part II: Predictions Force

More information

SCOTT DRIVE 100. Features. Features

SCOTT DRIVE 100. Features. Features Features Features + 100 kw Output Power (150kW Peak) + Integrated Pre-charge Circuit + Integrated LEV200 Contactor + External Coolant / Motor Temperature Monitoring + Four 12V (10A) DC Motor Outputs +

More information

Research Methodology Part III: Thesis Proposal. Dr. Tarek A. Tutunji Mechatronics Engineering Department Philadelphia University - Jordan

Research Methodology Part III: Thesis Proposal. Dr. Tarek A. Tutunji Mechatronics Engineering Department Philadelphia University - Jordan Research Methodology Part III: Thesis Proposal Dr. Tarek A. Tutunji Mechatronics Engineering Department Philadelphia University - Jordan Outline Thesis Phases Thesis Proposal Sections Thesis Flow Chart

More information

104 Practice Exam 2-3/21/02

104 Practice Exam 2-3/21/02 104 Practice Exam 2-3/21/02 1. Two electrons are located in a region of space where the magnetic field is zero. Electron A is at rest; and electron B is moving westward with a constant velocity. A non-zero

More information

EE 402 RECITATION #13 REPORT

EE 402 RECITATION #13 REPORT MIDDLE EAST TECHNICAL UNIVERSITY EE 402 RECITATION #13 REPORT LEAD-LAG COMPENSATOR DESIGN F. Kağan İPEK Utku KIRAN Ç. Berkan Şahin 5/16/2013 Contents INTRODUCTION... 3 MODELLING... 3 OBTAINING PTF of OPEN

More information

5. Measurement of a magnetic field

5. Measurement of a magnetic field H 5. Measurement of a magnetic field 5.1 Introduction Magnetic fields play an important role in physics and engineering. In this experiment, three different methods are examined for the measurement of

More information

Vibration Torque Measurement and Mechanism Analysis of Rotary Stepping Motor

Vibration Torque Measurement and Mechanism Analysis of Rotary Stepping Motor Vibration Torque Measurement and Mechanism Analysis of Rotary Stepping Motor Hao Zhao VIBRATION TORQUE MEASUREMENT AND MECHANISM ANALYSIS OF ROTARY STEPPING MOTOR. Hao Zhao 1 Jiaxing University, Jiaxing

More information

Lecture 6 : Aircraft orientation in 3 dimensions

Lecture 6 : Aircraft orientation in 3 dimensions Lecture 6 : Aircraft orientation in 3 dimensions Or describing simultaneous roll, pitch and yaw 1.0 Flight Dynamics Model For flight dynamics & control, the reference frame is aligned with the aircraft

More information

Mechanics lecture 7 Moment of a force, torque, equilibrium of a body

Mechanics lecture 7 Moment of a force, torque, equilibrium of a body G.1 EE1.el3 (EEE1023): Electronics III Mechanics lecture 7 Moment of a force, torque, equilibrium of a body Dr Philip Jackson http://www.ee.surrey.ac.uk/teaching/courses/ee1.el3/ G.2 Moments, torque and

More information

Onboard electronics of UAVs

Onboard electronics of UAVs AARMS Vol. 5, No. 2 (2006) 237 243 TECHNOLOGY Onboard electronics of UAVs ANTAL TURÓCZI, IMRE MAKKAY Department of Electronic Warfare, Miklós Zrínyi National Defence University, Budapest, Hungary Recent

More information

E. K. A. ADVANCED PHYSICS LABORATORY PHYSICS 3081, 4051 NUCLEAR MAGNETIC RESONANCE

E. K. A. ADVANCED PHYSICS LABORATORY PHYSICS 3081, 4051 NUCLEAR MAGNETIC RESONANCE E. K. A. ADVANCED PHYSICS LABORATORY PHYSICS 3081, 4051 NUCLEAR MAGNETIC RESONANCE References for Nuclear Magnetic Resonance 1. Slichter, Principles of Magnetic Resonance, Harper and Row, 1963. chapter

More information

NUCLEAR MAGNETIC RESONANCE. Advanced Laboratory, Physics 407, University of Wisconsin Madison, Wisconsin 53706

NUCLEAR MAGNETIC RESONANCE. Advanced Laboratory, Physics 407, University of Wisconsin Madison, Wisconsin 53706 (revised 4/21/03) NUCLEAR MAGNETIC RESONANCE Advanced Laboratory, Physics 407, University of Wisconsin Madison, Wisconsin 53706 Abstract This experiment studies the Nuclear Magnetic Resonance of protons

More information

Lab 9 Magnetic Interactions

Lab 9 Magnetic Interactions Lab 9 Magnetic nteractions Physics 6 Lab What You Need To Know: The Physics Electricity and magnetism are intrinsically linked and not separate phenomena. Most of the electrical devices you will encounter

More information

How to Turn an AC Induction Motor Into a DC Motor (A Matter of Perspective) Steve Bowling Application Segments Engineer Microchip Technology, Inc.

How to Turn an AC Induction Motor Into a DC Motor (A Matter of Perspective) Steve Bowling Application Segments Engineer Microchip Technology, Inc. 1 How to Turn an AC Induction Motor Into a DC Motor (A Matter of Perspective) Steve Bowling Application Segments Engineer Microchip Technology, Inc. The territory of high-performance motor control has

More information

DC motors: dynamic model and control techniques

DC motors: dynamic model and control techniques DC motors: dynamic model and control techniques Luca Zaccarian Contents 1 Magnetic considerations on rotating coils 1 1.1 Magnetic field and conductors.......................... 1 1.2 The magneto-motive

More information

Response to Harmonic Excitation

Response to Harmonic Excitation Response to Harmonic Excitation Part 1 : Undamped Systems Harmonic excitation refers to a sinusoidal external force of a certain frequency applied to a system. The response of a system to harmonic excitation

More information

PLG210 Linear Stage PLG210. XYT stack of PLG160 and PLG210 Frameless Motor Stages on PLR350. XY stack of PLG210x300mm with in-line motor mount

PLG210 Linear Stage PLG210. XYT stack of PLG160 and PLG210 Frameless Motor Stages on PLR350. XY stack of PLG210x300mm with in-line motor mount XYT stack of PLG160 and Frameless Motor Stages on PLR350 XY stack of x300mm with in-line motor mount Features Travel to 600mm Loads up to 100kg Precision Ballscrew Drive Integrated Frameless Servo Motor

More information

RC Circuits. 1 Introduction. 2 Capacitors

RC Circuits. 1 Introduction. 2 Capacitors 1 RC Circuits Equipment DataStudio with 750 interface, RLC circuit board, 2 voltage sensors (no alligator clips), 2x35 in. leads, 12 in. lead Reading Review operation of DataStudio oscilloscope. Review

More information

Technical Memo. Theory Of Operation OVERVIEW ACTUATOR

Technical Memo. Theory Of Operation OVERVIEW ACTUATOR Electraulic Actuators & Drives Theory Of Operation Technical Memo REXA 4 Manley Street W. Bridgewater, MA 02379 Tel: 508.584.1199 Fax: 508.584.2525 OVERVIEW The REXA Xpac is a microprocessor controlled,

More information

EFFICIENCY COMPARISON OF MODERN VARIABLE SPEED DRIVE TECHNOLOGIES

EFFICIENCY COMPARISON OF MODERN VARIABLE SPEED DRIVE TECHNOLOGIES EFFICIENCY COMPARISON OF MODERN VARIABLE SPEED DRIVE TECHNOLOGIES JUNE 1993 BY EDWARD C. LEE POWERTEC INDUSTRIAL CORPORATION Abstract: Brushless D.C. technology is new to the general industrial maketplace

More information

DEVELOPMENT AND APPLICATIONS OF TUNED/HYBRID MASS DAMPERS USING MULTI-STAGE RUBBER BEARINGS FOR VIBRATION CONTROL OF STRUCTURES

DEVELOPMENT AND APPLICATIONS OF TUNED/HYBRID MASS DAMPERS USING MULTI-STAGE RUBBER BEARINGS FOR VIBRATION CONTROL OF STRUCTURES 13 th World Conference on Earthquake Engineering Vancouver, B.C., Canada August 1-6, 2004 Paper No. 2243 DEVELOPMENT AND APPLICATIONS OF TUNED/HYBRID MASS DAMPERS USING MULTI-STAGE RUBBER BEARINGS FOR

More information

BRIEF INFORMATION Angular Position Sensors Single and double sensors

BRIEF INFORMATION Angular Position Sensors Single and double sensors BRIEF INFORMATION Angular Position Sensors Single and double sensors Single or redundant sensors High precision due to internal 14 bit resolution High thermal stability and linearity High insensitivity

More information

INTRODUCTION SELF INDUCTANCE. Introduction. Self inductance. Mutual inductance. Transformer. RLC circuits. AC circuits

INTRODUCTION SELF INDUCTANCE. Introduction. Self inductance. Mutual inductance. Transformer. RLC circuits. AC circuits Chapter 13 INDUCTANCE Introduction Self inductance Mutual inductance Transformer RLC circuits AC circuits Magnetic energy Summary INTRODUCTION Faraday s important contribution was his discovery that achangingmagneticflux

More information

Unit - 6 Vibrations of Two Degree of Freedom Systems

Unit - 6 Vibrations of Two Degree of Freedom Systems Unit - 6 Vibrations of Two Degree of Freedom Systems Dr. T. Jagadish. Professor for Post Graduation, Department of Mechanical Engineering, Bangalore Institute of Technology, Bangalore Introduction A two

More information

Experimental Evaluation of Cruise Flap Deflection on Total Aircraft Drag using the NLF(1)-0215F. C. Zavatson

Experimental Evaluation of Cruise Flap Deflection on Total Aircraft Drag using the NLF(1)-0215F. C. Zavatson Experimental Evaluation of Cruise Flap Deflection on Total Aircraft Drag using the NLF(1)-0215F C. Zavatson 3-16-2013 Table of Contents Introduction... 3 Objective and Testing Approach... 3 The Test Aircraft...

More information

Alternative Linear Motion Systems. Iron Core Linear Motors

Alternative Linear Motion Systems. Iron Core Linear Motors Alternative Linear Motion Systems ME EN 7960 Precision Machine Design Topic 5 ME EN 7960 Precision Machine Design Alternative Linear Motion Systems 5-1 Iron Core Linear Motors Provide actuation forces

More information

A descriptive definition of valve actuators

A descriptive definition of valve actuators A descriptive definition of valve actuators Abstract A valve actuator is any device that utilizes a source of power to operate a valve. This source of power can be a human being working a manual gearbox

More information

Chen. Vibration Motor. Application note

Chen. Vibration Motor. Application note Vibration Motor Application note Yangyi Chen April 4 th, 2013 1 Table of Contents Pages Executive Summary ---------------------------------------------------------------------------------------- 1 1. Table

More information

D Brushless Motors/ AC Speed Control Motors

D Brushless Motors/ AC Speed Control Motors D / Control 001 / Control D-1 Overview, Product... D-2... D-11 Overview, Product D-18 BMU BLE D-42 BLF D-82 BLE BLF BX D-86 BX BLH D-118 BLH Control... D-135 DSC D-138 Control DSC BHF D-176 BHF Accessories...

More information

USE OF ARNO CONVERTER AND MOTOR-GENERATOR SET TO CONVERT A SINGLE-PHASE AC SUPPLY TO A THREE-PHASE AC FOR CONTROLLING THE SPEED OF A THREE-PHASE INDUCTION MOTOR BY USING A THREE-PHASE TO THREE-PHASE CYCLOCONVERTER

USE OF ARNO CONVERTER AND MOTOR-GENERATOR SET TO CONVERT A SINGLE-PHASE AC SUPPLY TO A THREE-PHASE AC FOR CONTROLLING THE SPEED OF A THREE-PHASE INDUCTION MOTOR BY USING A THREE-PHASE TO THREE-PHASE CYCLOCONVERTER International Journal of Electrical Engineering & Technology (IJEET) Volume 7, Issue 2, March-April, 2016, pp.19-28, Article ID: IJEET_07_02_003 Available online at http:// http://www.iaeme.com/ijeet/issues.asp?jtype=ijeet&vtype=7&itype=2

More information

SOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS - VELOCITY AND ACCELERATION DIAGRAMS

SOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS - VELOCITY AND ACCELERATION DIAGRAMS SOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS - VELOCITY AND ACCELERATION DIAGRAMS This work covers elements of the syllabus for the Engineering Council exams C105 Mechanical and Structural Engineering

More information

APPLICATION NOTE - 017

APPLICATION NOTE - 017 APPLICATION NOTE - 017 PWM Motor Drives Theory and Measurement Considerations Pulse Width Modulated (PWM) power electronic techniques represent a large and increasing proportion of modern power electronics.

More information

Models for DC Motors

Models for DC Motors Models for DC Motors Raul Rojas Free University of Berlin Institute of Computer Science Takustr. 9, 14195 Berlin, Germany http://www.fu-fighters.de Abstract. This document describes how to model a DC motor,

More information

Chapter 8. Introduction to Alternating Current and Voltage. Objectives

Chapter 8. Introduction to Alternating Current and Voltage. Objectives Chapter 8 Introduction to Alternating Current and Voltage Objectives Identify a sinusoidal waveform and measure its characteristics Describe how sine waves are generated Determine the various voltage and

More information

physics 112N electromagnetic induction

physics 112N electromagnetic induction physics 112N electromagnetic induction experimental basis of induction! seems we can induce a current in a loop with a changing magnetic field physics 112N 2 magnetic flux! useful to define a quantity

More information

Data: 2.2 Does an inductive sensor react to non-ferromagnetic materials? 2.3 Does an inductive sensor react to non-conductive materials?

Data: 2.2 Does an inductive sensor react to non-ferromagnetic materials? 2.3 Does an inductive sensor react to non-conductive materials? Lab-exercises Actuators and EMC/Sensory Analysis Faculty of Mechatronics and Electrical Engineering Laboratory of Electrical Drives and Installations Lab-exercise EA - 4 Inductive Position Sensor Data:

More information

QNET Experiment #06: HVAC Proportional- Integral (PI) Temperature Control Heating, Ventilation, and Air Conditioning Trainer (HVACT)

QNET Experiment #06: HVAC Proportional- Integral (PI) Temperature Control Heating, Ventilation, and Air Conditioning Trainer (HVACT) Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #06: HVAC Proportional- Integral (PI) Temperature Control Heating, Ventilation, and Air Conditioning Trainer (HVACT) Student Manual Table of Contents

More information

CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation. Prof. Dr. Hani Hagras

CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation. Prof. Dr. Hani Hagras 1 CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation Prof. Dr. Hani Hagras Robot Locomotion Robots might want to move in water, in the air, on land, in space.. 2 Most of the

More information

Selecting Miniature Motors for your Medical Devices

Selecting Miniature Motors for your Medical Devices thinkmotion Selecting Miniature Motors for your Medical Devices by Dr. Norbert Veignat, Ph.D. VP Technology and Product Development and Claude-Alain Brandt, Sales Manager Europe Selecting Miniature Motors

More information

PLC Line. USER S MANUAL Catalog No Rev. E

PLC Line. USER S MANUAL Catalog No Rev. E PLC Line USER S MANUAL Catalog No. 100125 Rev. E May 2015 Copyright 2015 Intelitek Inc. PLC Line User s Manual Catalog No. 100125 Rev. E May 2015 Every effort has been made to make this technical note

More information

Force on Moving Charges in a Magnetic Field

Force on Moving Charges in a Magnetic Field [ Assignment View ] [ Eðlisfræði 2, vor 2007 27. Magnetic Field and Magnetic Forces Assignment is due at 2:00am on Wednesday, February 28, 2007 Credit for problems submitted late will decrease to 0% after

More information

Drivetech, Inc. Innovations in Motor Control, Drives, and Power Electronics

Drivetech, Inc. Innovations in Motor Control, Drives, and Power Electronics Drivetech, Inc. Innovations in Motor Control, Drives, and Power Electronics Dal Y. Ohm, Ph.D. - President 25492 Carrington Drive, South Riding, Virginia 20152 Ph: (703) 327-2797 Fax: (703) 327-2747 ohm@drivetechinc.com

More information

CNC Machine Control Unit

CNC Machine Control Unit NC Hardware a NC Hardware CNC Machine Control Unit Servo Drive Control Hydraulic Servo Drive Hydraulic power supply unit Servo valve Servo amplifiers Hydraulic motor Hydraulic Servo Valve Hydraulic Servo

More information

maxon sensor maxon sensor

maxon sensor maxon sensor Sensor Spindle drive Gearhead E Motor (BLD Motor) D Motor X Drives (configurable) Motor control obust encoders, D tachometers, and resolvers with high accuracy and high signal resolution. Due to resonance,

More information

Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication

Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication Thomas Reilly Data Physics Corporation 1741 Technology Drive, Suite 260 San Jose, CA 95110 (408) 216-8440 This paper

More information

PIPS A New Technology In Inductive Position Sensing

PIPS A New Technology In Inductive Position Sensing PIPS A New Technology In Inductive Position Sensing Positek Limited L6 The Link Andoversford Industrial Estate Andoversford Cheltenham Gloucestershire GL54 4LB England Telephone (44) (0)1242 820027 Fax:

More information

Servo Info and Centering

Servo Info and Centering Info and Centering A servo is a mechanical motorized device that can be instructed to move the output shaft attached to a servo wheel or arm to a specified position. Inside the servo box is a DC motor

More information

Precise Modelling of a Gantry Crane System Including Friction, 3D Angular Swing and Hoisting Cable Flexibility

Precise Modelling of a Gantry Crane System Including Friction, 3D Angular Swing and Hoisting Cable Flexibility Precise Modelling of a Gantry Crane System Including Friction, 3D Angular Swing and Hoisting Cable Flexibility Renuka V. S. & Abraham T Mathew Electrical Engineering Department, NIT Calicut E-mail : renuka_mee@nitc.ac.in,

More information

Simulation and Analysis of Parameter Identification Techniques for Induction Motor Drive

Simulation and Analysis of Parameter Identification Techniques for Induction Motor Drive International Journal of Electronic and Electrical Engineering. ISSN 0974-2174 Volume 7, Number 10 (2014), pp. 1027-1035 International Research Publication House http://www.irphouse.com Simulation and

More information

Design of an Arm Exoskeleton Controlled by the EMG Signal

Design of an Arm Exoskeleton Controlled by the EMG Signal Design of an Arm Exoskeleton Controlled by the EMG Signal Mark Novak Cornel College PHY312 December 2011 Professor Derin Sherman Introduction An exoskeleton is a supporting structure on the outside of

More information

LINEAR MOTOR CONTROL IN ACTIVE SUSPENSION SYSTEMS

LINEAR MOTOR CONTROL IN ACTIVE SUSPENSION SYSTEMS LINEAR MOTOR CONTROL IN ACTIVE SUSPENSION SYSTEMS HONCŮ JAROSLAV, HYNIOVÁ KATEŘINA, STŘÍBRSKÝ ANTONÍN Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University Karlovo

More information

METEOROLOGICAL INSTRUMENTS

METEOROLOGICAL INSTRUMENTS METEOROLOGICAL INSTRUMENTS INSTRUCTIONS WIND SYSTEM CALIBRATION RECOMMENDED CALIBRATION INTERVAL, PROCEDURE, AND TEST EQUIPMENT MODEL INCLUDES INSTRUCTIONS FOR THE FOLLOWING MODEL 18802/18811 ANEMOMETER

More information

SPEED CONTROL OF INDUCTION MACHINE WITH REDUCTION IN TORQUE RIPPLE USING ROBUST SPACE-VECTOR MODULATION DTC SCHEME

SPEED CONTROL OF INDUCTION MACHINE WITH REDUCTION IN TORQUE RIPPLE USING ROBUST SPACE-VECTOR MODULATION DTC SCHEME International Journal of Advanced Research in Engineering and Technology (IJARET) Volume 7, Issue 2, March-April 2016, pp. 78 90, Article ID: IJARET_07_02_008 Available online at http://www.iaeme.com/ijaret/issues.asp?jtype=ijaret&vtype=7&itype=2

More information

laboratory guide 2 DOF Inverted Pendulum Experiment for MATLAB /Simulink Users

laboratory guide 2 DOF Inverted Pendulum Experiment for MATLAB /Simulink Users laboratory guide 2 DOF Inverted Pendulum Experiment for MATLAB /Simulink Users Developed by: Jacob Apkarian, Ph.D., Quanser Hervé Lacheray, M.A.SC., Quanser Michel Lévis, M.A.SC., Quanser Quanser educational

More information

DIRECT torque control (DTC) of induction motors has

DIRECT torque control (DTC) of induction motors has 76 IEEE POWER ELECTRONICS LETTERS, VOL. 3, NO. 2, JUNE 2005 Constant and High Switching Frequency Torque Controller DTC Drives C. L. Toh, N. R. N. Idris, Senior Member, IEEE, and A. H. M. Yatim, Senior

More information

A METHOD OF CALIBRATING HELMHOLTZ COILS FOR THE MEASUREMENT OF PERMANENT MAGNETS

A METHOD OF CALIBRATING HELMHOLTZ COILS FOR THE MEASUREMENT OF PERMANENT MAGNETS A METHOD OF CALIBRATING HELMHOLTZ COILS FOR THE MEASUREMENT OF PERMANENT MAGNETS Joseph J. Stupak Jr, Oersted Technology Tualatin, Oregon (reprinted from IMCSD 24th Annual Proceedings 1995) ABSTRACT The

More information

Hollow Cylinder Apparatus (GDS SS-HCA)

Hollow Cylinder Apparatus (GDS SS-HCA) HCA:1 Options available for SS-HCA Axial Load/Torque 1kN/1Nm 1kN/2Nm 12kN/2Nm 15kN/4Nm Dynamic upgrade frequencies Hollow Cylinder Apparatus (GDS SS-HCA).5Hz 2Hz 1Hz 5Hz Sample Height/Outer Ø/Inner Ø 2/1/6mm

More information

Lab #4 Capacitors and Inductors. Capacitor and Inductor Transient Response

Lab #4 Capacitors and Inductors. Capacitor and Inductor Transient Response Capacitor and Inductor Transient Response Capacitor Theory Like resistors, capacitors are also basic circuit elements. Capacitors come in a seemingly endless variety of shapes and sizes, and they can all

More information

ELECTRICAL ENGINEERING

ELECTRICAL ENGINEERING EE ELECTRICAL ENGINEERING See beginning of Section H for abbreviations, course numbers and coding. The * denotes labs which are held on alternate weeks. A minimum grade of C is required for all prerequisite

More information

OPTIMAL ANALYSIS, DESIGN AND TESTING OF AN ELEC- TROMAGNETIC DAMPER WITH RESONANT SHUNT CIRCUIT FOR VIBRATION CONTROL OF A CIVIL STRUCTURE

OPTIMAL ANALYSIS, DESIGN AND TESTING OF AN ELEC- TROMAGNETIC DAMPER WITH RESONANT SHUNT CIRCUIT FOR VIBRATION CONTROL OF A CIVIL STRUCTURE OPTIMAL ANALYSIS, DESIGN AND TESTING OF AN ELEC- TROMAGNETIC DAMPER WITH RESONANT SHUNT CIRCUIT FOR VIBRATION CONTROL OF A CIVIL STRUCTURE Wai Kei Ao, Paul Reynolds University of Exeter, Vibration Engineering

More information

INSTRUMENTATION AND CONTROL TUTORIAL 2 ELECTRIC ACTUATORS

INSTRUMENTATION AND CONTROL TUTORIAL 2 ELECTRIC ACTUATORS INSTRUMENTATION AND CONTROL TUTORIAL 2 ELECTRIC ACTUATORS This is a stand alone tutorial on electric motors and actuators. The tutorial is of interest to any student studying control systems and in particular

More information

Physics 126 Practice Exam #3 Professor Siegel

Physics 126 Practice Exam #3 Professor Siegel Physics 126 Practice Exam #3 Professor Siegel Name: Lab Day: 1. Which one of the following statements concerning the magnetic force on a charged particle in a magnetic field is true? A) The magnetic force

More information

Electrical Resonance

Electrical Resonance Electrical Resonance (R-L-C series circuit) APPARATUS 1. R-L-C Circuit board 2. Signal generator 3. Oscilloscope Tektronix TDS1002 with two sets of leads (see Introduction to the Oscilloscope ) INTRODUCTION

More information

Loudspeaker Parameters. D. G. Meyer School of Electrical & Computer Engineering

Loudspeaker Parameters. D. G. Meyer School of Electrical & Computer Engineering Loudspeaker Parameters D. G. Meyer School of Electrical & Computer Engineering Outline Review of How Loudspeakers Work Small Signal Loudspeaker Parameters Effect of Loudspeaker Cable Sample Loudspeaker

More information