Dissertations / Theses: 'Servomotors'

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Poláčková, Kateřina. "Racionalizace výroby servomotoru v AVEKO." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229898.

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The aim of this work is to rationalize the production process of the components produced by the actuator AVEKO Ltd. By analyzing the current state of identified weaknesses and proposals for amendments were made to increase volume and production efficiency. The following amendment has been prepared an economic evaluation and overall evaluation of the work.

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da, Silva Helder Sá Alves. "Design for manufacture of brushless permanent magnet synchronous servomotors." Thesis, University of East London, 2014. http://roar.uel.ac.uk/4620/.

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This thesis presents research into the design of brushless permanent magnet (BPM) interior rotor synchronous servomotor for both performance and manufacturability. The investigation has been supported by experimental evidence gathered with the aid of two prototype servomotors, having the same frame sizes and stator stack lengths, designed by the author and manufactured by the sponsoring company, Control Techniques Dynamics (CTD) Ltd. One servomotor, upon which the research is focussed, has the relatively new segmented stator structure containing concentrated windings. The other servomotor has a conventional structure with a solid stator containing distributed windings and this has provided the means of assessing the degree of improvement attainable with the new structure. It has been established that the new structure enables more cost-effective manufacture than attainable with the conventional structure. A significant contribution of the research programme is the special notch for retention of the surface mounted permanent magnets in the rotor. This innovation enables a more uniform and smaller air gap, which greatly improves the dynamic and thermal performance for a given frame size and stator stack length, thereby advancing the state of the art. This, together with the greatly reduced stator winding overhang in the new structure, enables a physically smaller motor for a given application, thereby reducing active material usage. Also the design methodology has focused on reducing energy and eliminating waste in the manufacturing process. Regarding the thermal aspects, only natural cooling has been considered. Conduction, convection and radiation heat transfer in the servomotor has been investigated theoretically, by simulation and by experiments to identify where design improvements can be made. The most critical area identified is the paper wall insulation and comprehensive experiments have been carried out to identify the commercially available material with the highest thermal conductivity to maximise the removal of heat from the stator windings. An array of strategically located thermocouples was used to obtain temperature distributions. The performance indicators for comparison of the new and conventional servomotors are cogging torque, iron loss and dynamic torque. The cogging torque proved to iii increase with the permanent magnet retaining feature for the new servomotor and becomes unpredictable but this disadvantage was offset by material saving and its maximum torque being approximately 40% greater than that of the conventional servomotor. The iron losses have been measured at speeds ranging from 500 r/m to 6000 r/m and at surface housing reference temperatures approximately 810C. At maximum reference winding temperature ranging from 1000C and 1250C, the dynamic torque rating performances of the new and conventional servomotor prototypes have been compared, the torque/speed characteristics being generated from a near stall speed of 50 r/m to the rated 3000 r/m. The contributions of this research programme may be summarised as follows: 1. Above all this thesis provides valuable design steps for permanent magnet synchronous servomotors using three world leading software packages (OPERA_2D, SPEED and Motor-CAD) for machine design and will therefore be a useful reference for electrical machine designers, especially beginners. 2. Material saving and simplified BPM synchronous servomotor manufacturing process for segmented stator, concentrated winding configuration. 3. Novel permanent magnet retaining method permitting more uniform and smaller air gap giving performance enhancement. 4. Systematic finite element analysis (FEA) based optimisation is applied to implement a new design principle for BPM synchronous servomotors regarding the stator parameters. 5. A simplified frequency dependent equation for open-circuit iron loss calculation. 6. Experimental and theoretical investigation of thermal impact of stator wall paper insulation entailing comparison of several different materials. 7. Direct benefit to industry through adoption of the new servomotor design by the company who supported the research.

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Brada, Michal. "Polohovací jednotka pro laserovou spektroskopii." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230385.

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This diploma thesis deals with design of positioning unit for laser spectroscopy and its realization to shape of prototype. The design of positioning unit is based on the analysis of the current state of knowledge in the field of remote laser spectroscopy systems. Precise harmonic drive and worm drive with stepper motors are used to drive. The main parts of positioning unit are designed primarily from duraluminium. The positioning unit will be used for experimental measurements at the Institute of Physical Engineering Faculty of Mechanical Engineering Brno University of Technology. 3D digital prototype and technical drawings were created in Autodesk Inventor 2010.

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Hynčica, Tomáš. "Příprava scény pro detekci elektronických součástek." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2010. http://www.nusl.cz/ntk/nusl-218586.

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This work describes development of control hardware and software for automatic production of tuning fork with tip for atomic force microscopy (AFM). A specialized device implementing the problem is developed and tested. The advantage of the proposed solution is the ability to produce the tuning forks with constant parameters, which is an important condition for successful work with the microscope.

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Mamani, A., G. Quispe, and C. Raymundo-Ibañeez. "Electromechanical Device for Temperature Control of Internal Combustion Engines." IOP Publishing Ltd, 2019. http://hdl.handle.net/10757/656303.

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Internal combustion engines are the most commonly used engines in the automotive world. However, these engines lack an overheating prevention system against cooling system failures when they exceed their normal operating temperature. Less experienced drivers (users) usually do not notice overheating until the engine stops, generating economic expenses in engine repairs. As such, this paper describes the design and construction of an electromechanical device to prevent engine overheating. This device is installed in a vehicle and operates independently from the electronic control unit (ECU); it records the coolant temperature and controls air admission to the engine of the vehicle in which it is installed. In addition, a new Arduino-based card will receive signals from a temperature sensor as input and process them according to its programming. Then, it will send signal outputs to the actuators: A servomotor, monitor, LED display, and buzzer. To control the intake flow, a butterfly valve is used with the servomotor. This valve partially or totally restricts the engine airflow, based on the temperature programmed for the Arduino, thus protecting the engine from overheating.

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Rybnikář, Petr. "Matematický model zátěžového pracoviště točivých elektrických strojů." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-449715.

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This work deals with the creation of a mathematical model of load workplace for rotating electrical machines. The first part provides a general description of servomotors and their mathematical equations. The second part describes the commissioning and connection of the PLC to the inverter and the subsequent creation of PLC programs. The last part describes the creation of the PMSM model with its control and then verified the validity of the model and the real machine.

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Ekström, Sebastian. "Bärbar sensorhandske med force feedback för manövrering av en humanoid robothand - : Implementering med monterade sensorer och motorer för styrning och känsel." Thesis, Linnéuniversitetet, Institutionen för fysik och elektroteknik (IFE), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-86116.

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The goal of this thesis was to create a sensors glove with force feedback feeling when operating a humanoid robot hand. The development covered multiple areas such as mechanics, electronics and programming. The final product gave the user control over three fingers of a humanoid robotic hand. In the case where the robotic hand comes in contact with an object the user's finger movement is limited according to the pressure the robotic hands fingers exposes the object to.
Rapporten beskriver arbetet för framtagandet och skapandet av en sensorhandske med inbyggd force feedback funktion som därmed ska möjliggöra styrning över en mekanisk gripare med hög finmotorik. Detta för att kunna få en mer realistisk manövrering över griparen. Projektet är uppdelat i två system. Ett system för sensorhand som med en Arduino Uno Rev 3 styr servomotorer som används för att återskapa force feedbacken. Utöver det sker även mätning och analys av användarens fingerposition genom potentiometrar. Det andra systemet är för en humanoid robothand som även den använder sig av en Arduino Uno Rev 3 för att manövrera de servomotorer som handen använder för att flytta fingrarna. Mätning och analys av trycksensorer på robothandens fingertoppar genomförs för att möjliggör återskapandet av force feedback till användaren efter det tryck robothanden utsätter ett objekt för. De två systemen använder sig av ett I2C protokoll i form av multimaster and slave struktur för att kommunicera mellan det två mikrokontrollerna samt deras respektive servomotordrivarkretsar (Adafruit- PCA9685). För att undvika krockar i kommunikationen då mer än en master använder I2C linorna skapades en ovanpåliggande struktur för att upprätta regler för hur kommunikationen ska genomföras. All datahantering och kommunikation programmeras i C++. Programmeringskoden är skapad så att utbytet av robothanden och dess servodrivarkrets är möjligt. Sensorhandsken kan därmed implementeras till vad användaren väljer att använda den till, så länge kommunikationen sker med samma regler och struktur som upprättats. Utöver elektronik och programmering har även mycket mekanik tillämpats då olika delar av elektroniken ska byggas in och kunna fungera korrekt med rörliga mekaniska delar. Detta har bland annat använts i skapandet för fingerpositionsmätningen där trimpotentiometrar har byggts in och rörliga delar kan ändra på det resistiva motståndet i komponenten. Trots projektets begränsning till tre fingrar tyder projektet på att det framtagna konceptet av en sensorhandske med force feedback är fullt möjligt och genomförbart.

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Železný, Lukáš. "Rozbor výroby hřídelí přesných servomotorů." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229761.

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The thesis is focused on making the most efficient actuator shaft, using machinery company. Using Fanuc's control system on all machines with examples of their use in practice. Production and integration of a special holder for the drill stage.

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Štencl, Michal. "Bezpečnostní parkovací brzdy pro servomotory." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2017. http://www.nusl.cz/ntk/nusl-318158.

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This Master thesis is focused on electromagnetic brakes for servomotors. In the first chapter is described principle of operation, later then design and main parameters are explained. The main part of thesis is focused on calculation of dynamic parameters of electromagnetic brakes. Calculations are solved first by analytic method in Matlab–Simulink, then by finite element analysis. Results are compared with measurements on prototype brake.

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Macek, Daniel. "CompactRIO modul pro řízení servomotoru." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2019. http://www.nusl.cz/ntk/nusl-400633.

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The thesis deals with the description of PMSM and BLDC motors as well as the way of their control. In addition, the thesis deals with the description of the instruments of National Instruments, DAQ, CompactRIO and PXI. The details of the user module's production in the CompactRIO device, both hardware and software, are specified in the paper. The following is a description of the proposed CompactRIO module.

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Perout, Miroslav. "Třífázový měnič pro synchronní servomotory." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2020. http://www.nusl.cz/ntk/nusl-413149.

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This diploma thesis is dealing with the design of a DC / AC converter for the control of PMSM motors. In the first step, the type of motor and the possibilities of sensing the position of the rotor are described. Subsequently, the power section is designed and the losses, heating, and approximate efficiency of the inverter are calculated. In the following step, the processor is selected and individual communication and protection circuits are designed. At the same time, control algorithms are analyzed. The last part is describing the implementation of the PCB and the inverter as a whole.

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Skoupý, Jiří. "Pohon regulačního kruhu PVE Merkersbach." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2008. http://www.nusl.cz/ntk/nusl-228065.

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This thesis is focused on determination of forces acting to regulation ring of water power plant Markersbach (Germany). Solution of the problem is realized for two variants of servomotors – with and without servomotors acting surfaces balancing. Next topics of this thesis are strenght calculation of piston rod and bottom of the servomotors. Minimalization of the size of servomotors plungers by change of regulation kinematics has been done and minimal pressure in the pressure tank is determined. At the conclusion of this thesis received results are mentioned and its interpretation has been done. This thesis is provided for company Litostroj Power, ČKD Blansko Engineering, a.s.

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Sjunnesson, Markus. "Diagnostikmetoder för ångreglerventil med servomotor." Thesis, Linköping University, Linköping University, Machine Design, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-17570.

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In this bachelor thesis, diagnostic methods for one of Siemens stem inlet control valves have been developed. The work has taken place during ten weeks at Siemens Industrial Turbomachinery AB in Finspång. The company produce steam- and gas turbines and also provides service and maintenance.

The purpose with this project has been to develop diagnostic methods that oversee the health of the control valves. By using the developed methods you will know when it’s time for maintenance. With these diagnostic methods it’s possible to some degree leave the predetermined maintenance that Siemens uses today on their control valves.

The project has been limited to involve just one of Siemens control valves. The report describes the control valve’s function and the components included in the valve structure. It describes the problems that can occur with the valve and what could be done monitoring it to detect potential failures before they develop into functional failures.

A short description of different measuring equipment and how they work is also included.

Interviews have been conducted at Siemens, at Linköpings University and also with companies that delivers measuring devises. A visit to follow a vibration measurement of a control valve at Idbäcksverket in Nyköping has also taken place. Another tool that has been used in this work is an FMECA that describes errors that may occur with the control valve and what caused them. Books and the internet have also provided necessary facts.

This report presents some recommendations on what to do to monitor health of the control valve and equipment to prevent functional failures. The intention with the report has been to show that the equipment presented here can be used in the future to avoid unnecessary preventive maintenance and eliminate the use of corrective maintenance.

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Koňarik, Roman. "Řízení synchronního servomotoru v klouzavém režimu." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-217751.

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The goal of this diploma work is to design a control for permanent magnet synchronous motor in sliding mode. The introduction describes a synchronous motor, sensors which are used in the control process as well as power devices. Further, there is description of mathematical model for the synchronous motor. Another part of the diploma work deals with classic vector control for this kind of motor followed by the sliding mode control for the motor. At the end, there is presented an algorithm which has been implemented in the processor designed for this equipment. All the controllers used in the equipment have been tested on motor simulations. In conclusion, there is a target analysis and facts finding.

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Kohnheiser, Jan. "Synchronní řízení servomotorů po sběrnici CAN." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2014. http://www.nusl.cz/ntk/nusl-220576.

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This master's thesis is focused to engine control by CAN bus. Theoretical part describes industrial control buses, servo-traction engines and their application. There are mentioned principal and basic parameters of common control buses and their comparison. Each engine type is described in side of construction and control requirements. Practical part of of this paper works on servo-engines in metal cutting machine applications.

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Fergütz, Marcos. "Controle em modos deslizantes do servomotor C.A." Universidade do Estado de Santa Catarina, 2001. http://tede.udesc.br/handle/handle/1808.

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Made available in DSpace on 2016-12-12T17:29:56Z (GMT). No. of bitstreams: 1 Marcos Fergutz.pdf: 1088145 bytes, checksum: b042c03b46b3888415df29325800ed23 (MD5) Previous issue date: 2001-05-18
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This work presents a study about non-continuous sliding modes control applied to Permanent Magnetic AC motor (PMAC), also called AC Servomotor. The two main objectives of this work are: to analise the robustness of the technique related to load disturbance and variations in the windings resistance; and to study alternative ways to reduce chattering. The first part includes a study about the modeling of conventional synchronous motors and PMAC motors, both with salient poles. The aim is to study the models used in the movement control of the referred motors in the synchronous reference frame. The second part presents a study about first order sliding modes control, including a method of high frequency switching (chattering)minimization. Simulation results are presented that confirm the efficiency of the techniques applied. Finally, in the third part we study higher order sliding modes control, aiming at chattering minimization. The concepts developed are those for a 2nd order control. Again, simulation results are presented that confirm the efficiency of the techniques applied.
Este trabalho apresenta um estudo sobre o controle descontínuo por modos deslizantes aplicado ao motor síncrono de ímã permanente, também denominado de servo motor C.A.. Os objetivos maiores do trabalho são dois: o primeiro é analisar a robustez da técnica frente à perturbações de carga e nas resistências estatóricas; o segundo objetivo, é o estudo de alternativas para a redução do "chattering". A primeira parte do trabalho inclui um estudo sobre a modelagem do motor síncrono convencional e do motor à ímã permanente, ambos de pólos salientes. Os objetivos buscados são o estudo de modelos utilizados para o controle do movimento das referidas máquinas no referencial síncrono ortogonal. Na segunda parte desenvolvemos um estudo sobre o controle por modos deslizantes de primeira ordem, incluindo o método de minimização do chaveamento em alta freqüência ("chattering"). Apresentamos resultados de simulação que comprovam a eficiência das técnicas aplicadas. Na terceira parte estudamos o controle por modos deslizantes de ordem superior, objetivando minimização do chattering". São desenvolvidos os conceitos para um controlador de 2a. ordem. Apresentamos resultados de simulação que comprovam a eficiência do controlador.

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Davídek, Daniel. "Systém pro pokročilou vizuální teleprezenci." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2015. http://www.nusl.cz/ntk/nusl-221115.

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The introduction of this document presents some basic principles of visual telepresence with analysis of important aspects of the design. Afterwards there is a brief ovrewview of some of the applications of telepresence systems. Subsequently there is a description of the basic parameters and functions of the human visual perception system including the head motion parameters. This document examines the creation of telepresence apparatus through which is the user able to percieve visual stimuli accross distance. The device consist of camera with wide FOV positioned on the last link of the servo-motor chain with 3 DOF. Camera view is projected into scene in position read from actual motor posture. The scene is perceived through the HMD Oculus Rift (DK1, DK2) where the actual head-orientation read from the HMD inertial sensors is the entered end value for the rotation angles of the servomotors. A \csharp (WPF) program was developed for the controling and setting of motors which handles the byte communication through RS485-USB converter and also configures and starts the telepresence mode. The telepresence scene is drawn with help of SharpDX and SharpOVR - the \csharp wrappers of DirectX and LibOVR.

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Andersson, Sam, and Carl Svantesson. "Styrning av servomotor med LabVIEW och DAQ-kort." Thesis, KTH, Hållbar produktionsutveckling (ML), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-300187.

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På KTH-Södertälje finns laborationsutrustning som inte har använts på länge. Utrustningen som behandlats i detta examensarbete är ett antal servobord. Ett servobord har en servomotor som roterar en cirkulär platta. Plattan är försedd med vita fält och en visare, och på utsidan av plattans omkrets finns markörer för olika vinklar. Detta tillåter att motorns vridningsvinkel går att avläsa. De vita fälten på plattan kan avläsas med optiska sensorer och möjliggör att motorn kan styras med hjälp av pulser. Motorn på servobordet är även sammanlänkad med en potentiometer. Potentiometern tillåter att spänningsnivåer, som står i relation till motorns vridningsvinkel, kan utläsas. Ett önskemål fanns om att denna utrustning ska kunna används i en laboration. Målet meddetta arbete är att programmera system för styrning av motorn till en önskad position. Därefter ska dessa system kunna ligga till grund för en laboration. De olika positionerna som motorn önskas styras till betraktades som våningsplan i ett hissystem. Visaren på den cirkulära plattan betraktades som en hisskorg. I LabVIEW skapades det användargränssnitt som tillåter att en användare bestämmer vilket våningsplan hissen ska åka till. För att skapa laborationen var nästa steg i arbetet att ta bort delar av programmeringen för att låta studenterna komplettera programkoden. Slutligen skrevs en laborationsinstruktion.
At KTH Södertälje there is laboratory equipment that has not been used for a long time. The equipment that was used in this project is several servo boards. A servo board is equipped with a servo motor that rotates a circular plate that has white fields and a pointer, and on the outside of the plate´s perimeter there are markings that indicate different angles. This allows reading of the motor´s angular position. The white fields on the plate can be detected by optical sensors and enables the use of pulses to control the motor. The motoron the servo board is also connected to a potentiometer. The potentiometer allows reading of the voltage that correlates to the angular position of the motor. A request was made about using this equipment in a laboratory exercise. The objective of this project is to program a system to allow control of the motor to a desired position. These systems will then be the basis of a laboratory exercise. The different desired positions of the motor were regarded as floors in an elevator system. The pointer on the circular plate was regarded as the elevator cage. A user interface was created in LabVIEW that allows a user to decide which floor the elevator should go to. To make the laboratory exercise, the next step was to remove parts of the program that the students then must complete. The last part of the project was to write an instruction for the laboratory exercise.

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Schmied, Miloš. "Servomotor s elektronickou komutací, jeho řízení a nastavování." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-218212.

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This thesis deals with the analysis of the actuator ACOPOS and its accessories. There are described the cascaded control loop concept and the setting servomechanism from B&R Automation with the important parameters. We follow the draft a speed controller servomotor with a load with the regards to knowledge of the control system. We compare the different methods of labor control actuator at last. There are implemented laboratory tasks of Position servomechanism and speed servo controller-on-load as a demonstration of our achieved results.

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Fassnacht, Jochen. "Schwingungsbedämpfung in Servosystemen mit der direkten Drehmomentmittelwertregelung." [S.l. : s.n.], 2002. http://elib.tu-darmstadt.de/diss/000273.

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Blomqvist, Michael, and Andreas Tunemar. "Modernisering av ångventil : Prestandaförbättring av spindelavtätning och hydraulisk servomotor." Thesis, Linköping University, Department of Mechanical Engineering, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-5563.

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Examensarbetet har genomförts på Siemens Industrial Turbomachinery AB i Finspång. Arbetet innebär modernisering av ventiler till ångturbiner. Uppgiften består av två delar, där den första delen är att modernisera dagens tätningar i spindelgenomföringen. Syftet är att finna en mer vibrationstålig, driftsäker och mindre utrymmeskrävande lösning. Det andra delprojektet är att finna alternativ till dagens tallriksfjädrar i de servomotorer som reglerar ventilen. Anledningen till att nya fjädrar skall tas fram är att öka livslängden, minska slitaget och utrymmesbehovet på servomotorerna.

För att kunna genomföra uppgiften på ett effektivt och strukturerat sätt har en metodik för systematisk konceptutvecklings används. Denna metodik har varit hjälpfull för att finna nytänkande lösningar. För att kunna dimensionera komponenterna har beräkningsmodeller tagits fram för de ångkrafter som verkar i en ångventil samt för olika typer av packboxar och fjädrar.

Arbetet med moderniseringen av spindeltätningar har resulterat i att en ny typ av packbox har valts som minskar friktionen samt behovet av efterdragning. Två olika lösningar har tagits fram för att skapa den förspänningskraft som gör att packningen tätar. Båda lösningar minskar behovet av underhållsarbete samt underlättar monteringen. En indikation ges även när rätt kraft är uppnådd, vilket minimerar risken för läckage eller att ventilen inte går att manövrera.

Analysen av servomotorer resulterade i att inga möjliga alternativ till tallriksfjädrar hittades. Modifieringar har därför tagits fram för att förbättra dagens tallriksfjädrar. Dessa ändringar innebär att slitaget minskas och livslängden ökas betydligt.

This thesis was preformed at Siemens Industrial Turbomachinery AB in Finspång. The work is to make modernizations of steam turbine valves. The first part of the project is to modernize stem packing with the purpose to find a more reliable and space-saving solution that is less sensitive to vibrations. The second part is to find an alternative solution for cup springs in servomotors. A new spring type is desirable to increase the lifetime, lower the wear on stem shafts and to make it more space-saving.

To be able to perform the task efficiently and organized a method for systematic design has been used. This method has turned out to be quite useful tool in order to find new approaches to problems. Calculations of steam forces in a valve together with different types of box packing and springs have been done.

The modernization of stem packing has resulted in a new type of box packing. The winnings of changing packing are lowered friction and need of maintenance. Two solutions of live load systems have been created. Both solutions minimize the need of maintenance and make the mount and dismount easier. An indication makes sure that a sufficient force is applied on the box packing.

An analysis shows no alternative to replace the existing cup springs. The main goal was changed and modifications were made to improve the cup springs. The modifications results in a lowered wear and a significant increase of cup spring lifetime.

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URIBE, FLORES ROBERTO 481855, and FLORES ROBERTO URIBE. "Sintonización automática de velocidad y posición para servomotores utilizando control difuso." Tesis de maestría, Universidad Autónoma del Estado de México, 2015. http://hdl.handle.net/20.500.11799/49974.

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T E SI S QUE PARA OBTENER EL GRADO DE MAESTRO EN CIENCIAS DE LA COMPUTACIÓN
El presente trabajo de investigación, consiste en el desarrollo de un controlador para servomotor, utilizando lógica difusa para controlar velocidad y posición. Los servomotores tienen una gran cantidad de aplicaciones de tipo industrial, principalmente en la fabricación de robots industriales, máquinas de control numérico y procesos que requieren control de movimiento preciso. La incorporación de los controladores de lógica difusa para procesos complejos permite al sistema, trabajar más cercano a la forma en que el cerebro humano funciona. La implementación de este sistema en lugar de uno lineal (PID) proporciona robustez y fiabilidad. Como ya se ha mencionado anteriormente el control de servomotores se lleva a cabo mediante algoritmos de control de tipo lineal, dentro de los que pueden resaltarse, el Proporcional (P), Integral (I), y Derivativo (D), todos estos aplicados de manera independiente según sean los requerimientos del proceso a controlar, o bien; pueden funcionar de manera combinada como el PI, el PD, o el PID, sin embargo ante cambios no lineales, su funcionamiento se ve afectado, pues dejan de trabajar eficazmente. Tomando como base de conocimiento lo anterior, se diseñó un controlador lógico difuso (fuzzy), de tipo Mamdani, que funciona con dos variables lingüísticas de entrada (velocidad y posición), un motor de inferencia difuso compuesto por un conjunto de reglas de tipo IF, THEN, ELSE, conocido como etapa de fuzzificación. A la salida del controlador se tiene una señal defuzzificada misma que se bifurca para retroalimentar al sistema, cerrando así, su lazo de control. La construcción del controlador se realizó en Matlab, utilizando para ello su módulo de edición de lógica difusa (Fuzzy Logic Designer), en un ambiente de programación gráfico e intuitivo. Por otra parte la implementación, se realizó en Labview, debido a su facilidad y rapidez para construir la interfaz gráfica y los modelos lineales que se usaron como referencia. Por lo anterior, el diseño de controladores PID basados en lógica difusa, es motivado por la habilidad de estos de capturar estrategias cualitativas de control y ofrecer un comportamiento altamente flexible.

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Antunes, Ricardo Luis Coltro. "Modelagem pelo método de elementos finitos de servomotor CC sem escovas e seu acionamento." Florianópolis, SC, 2002. http://repositorio.ufsc.br/xmlui/handle/123456789/83202.

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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico. Programa de Pós-Graduação em Engenharia Elétrica.
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O presente trabalho aborda o estudo e a implementação da equação mecânica a um método de análise de máquinas elétricas associadas a circuitos elétricos externos. A máquina é modelada pelo Método de Elementos Finitos em duas dimensões. O equacionamento do circuitoé feito em variáveis de espaço de estados. Um acoplamento forte entre os dois sistemas de equações é obtido utilizando-se as grandezas comuns a ambos, isto é, as correntes e as tensões nos enrolamentos do dispositivo eletromagnético. A fim de validar o método proposto, foi desenvolvida uma Bancada Experimental.

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de, Vasconcelos Oliveira Aline Maria. "Robotgripdon för kartongsortering." Thesis, KTH, Industriell produktion, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-257877.

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Gripdon är vanliga i många branscher. De kan exempelvis lyfta och transportera föremål såsom lådor och bilar. Gripdon kan hittas i olika storlekar, tillräckligt stora för att transportera en bil eller tillräckligt små för att sortera även piller. Normalt är gripdon anpassade till en specifik uppgift. Gripdonets form är beroende av föremålet som det ska hantera. Normalt är föremålet enhetligt i form och vikt. Utmaningen här är att projekts gripdon ska kunna hantera föremål av olika storlekar och vikter. Gripdonet som utvecklades för detta projekt kommer att transportera föremål som väger någonstans från 3 kg till 28 kg. Det erforderliga omfånget av dimensioner är som följer: höjd 200–600 mm, djup 300–1 000 mm och längd 300–1 000 mm. Förutom de olika storlekarna krävdes även att gripdonet ska förflytta föremål med tillfredställande hastighet. Initialt skulle griparen vara fäst vid manipulatorn ABB IRB 4600. Denna modell kan transportera upp till 40 kg, därför borde det utvecklade gripdonet ha en viktgräns på 12 kg. Många olika lösningar studerades för att hantera utmaningen. Den valda lösningen baserades på att ha två linjära enheter drivna av servomotorer. De linjära enheterna är synkroniserade och rör sig i motsatta riktningar. Det finns linjära enheter som möjliggör synkroniserad motsatt rörelse men de tillgängliga modellerna skulle avsevärt sakta ned och skulle inte vara väsentligt olika i vikt eller pris jämfört med den konstruerade enheten. Griparens konstruktion är baserad på det maximala kontaktområdet med lådan för att öka friktionen mellan gripdon och kartongen. Griparens form är utformad för att undvika att deformera metallen och att gripdonet inte behövs repareras under lång tid. Konstruktionens kanter är konstruerade med plåtfästen för att försäkra att gripdonet inte böjer sig. Griparens uppskattade vikt är betydligt högre än de ursprungliga förväntningarna. Därför skulle IRB 4600, 40 kg manipulatorn behöva ersättas av en modell som kan bära den uppskattade vikten (cirka 250 kg=).
Gripers are common in many industries; they can lift and transport a variety of objects such as boxes and cars, for example. Gripers can be found in a full spectrum of sizes; large enough to transport a car or small enough to sort the smallest of pills. Grippers are typically customized for a specific task; the shape of the griper is dependent on the object it will carry. Normally, the object is uniform in its shape and weight. This project required the griper to handle multiple objects of various sizes and weights, presenting a particular challenge. The griper that was developed for this project will transport objects weighing anywhere from 3 to 28 kg. The required range of dimensions are as follows; height from 200 to 600 mm, depth of 300 to 1000 mm, and length from 300 to 1000 mm. In addition to the variety of sizes, the griper was also required to move objects with speed. Initially, the griper would be attached to the manipulator ABB IRB 4600. This model can transport up to 40 kg, therefore the developed griper should have a weight limit of 12 kg. Many different solutions were studied in order to solve the challenge of multiple size and weight variations. The chosen solution was based on having two linear units driven by servo motors. The linear units are synchronized and move in opposite directions. There are linear units that allow for synchronized, opposed movement but the models available would significantly slow the movement and would not be materially different in weight or price compared to the designed unit. The design of the griper is based on allowing the maximum contact area with the box to increase friction between the gripper and cardboard. The shape of the griper is designed to avoid deforming the metal and ensuring the griper will not need to have it's parts repaired for a long time. The edges of the structure are constructed with bent sheet metal brackets, to assure the griper will not bend. The estimated weight of the griper is significantly heavier than the original expectations. Consequently, the IRB 4600,40 kg manipulator would need to be replaced with a model that can carry the estimated weight of approximately 250 kg.

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Unibaso, Eguzkitza Beñat, and Dobón Ismael Ismail. "Development of a flexible test platform utilizing gearbox simulators through programming." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-12415.

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A gearbox simulator is developed as platform for testing and demonstrating purposes. For that, a rig composed by a mechanical system and electronic equipment for controlling two servomotors is used. The objective of this equipment is to simulate the forces that the gearbox would transmit to the gear lever when the gear change operation is being carried-out. To reach this goal, a program is developed in LabVIEW to command the servomotors, emulating the forces by controlling the output torque and transmitting them to the gear stick as it would be in a real gearbox, taking into account real force-angle curves. Also, a graphical user interface is developed in order to monitor the simulator performance ad ease the way the data is chosen and introduced into the software.As seen in the experiment results, the graphs present similarities in shape and magnitude, which is important in regards of feeling; a better performance could be reach suppressing some system constraints.

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Gücker, Jan Ulrich. "Experimentelle Identifikation und nichtlineare Regelung eines einachsigen servohydraulischen Antriebs." Kassel : Kassel Univ. Press, 2005. http://deposit.d-nb.de/cgi-bin/dokserv?idn=981992501.

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Ollé, Larry Fiori. "Estudo e realização de um conversor direto à transistor para acionamento de servomotores de corrente contínua." Florianópolis, SC, 1986. http://repositorio.ufsc.br/xmlui/handle/123456789/75305.

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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico. Programa de Pós-Graduação em Engenharia Elétrica.
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Blauth, Yeddo Braga. "Acionamento elétrico em quatro quadrantes com servomotor sincrono a imãs e inversor a fets de potência." reponame:Repositório Institucional da UFSC, 1988. https://repositorio.ufsc.br/handle/123456789/111712.

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Alvarado, Cristian, and Ayad Ibrahim. "Fjärrstyrning av videokamera." Thesis, Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-17489.

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On some occasions it may be inappropriate with a cameraman behind the camera. In somecases there is no cameraman available or it is a smaller event, like a family celebration, to befilmed. It can also be difficult for a cameraman to shoot from certain angles. One solution forthis kind of situations can be to remotely control the camera movements. There are thosekinds of solutions on the market today but they either address professional filmmakers or thefunctionality is limited, for example by the absence of wireless remote control.This project aims to develop a solution to the problem with absence of wireless remote controland also a solution with more flexibility and less complexity than today’s solutions. The maindifference between this and existing solutions is the use of Bluetooth technology ascommunication between the devices. The project resulted in a solution consisting of twounits; one operating unit where the camera is mounted and a remote unit for control of theoperating unit. The remote unit is managed by the filmmaker. The remote unit consist of anAndroid application on a smart and which communicates with the control unit via Bluetooth.

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Gutemann, Mathias. "Lageregelung für eine reaktionsschnelle Aktoreinheit mit elastischem Antriebsstrang." Aachen Shaker, 2008. http://d-nb.info/987900749/04.

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31

Werner, Uwe. "Optimierung der Betriebseigenschaften permanenterregter Transversalflussmaschinen als Servo-Direktantriebe /." Düsseldorf : VDI-Verl, 2008. http://d-nb.info/991644093/04.

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32

Moghaddam, Butzberger Fariba. "Etude et comparaison de différentes stratégies de réglage et de commande de servomoteurs asynchrones /." [S.l.] : [s.n.], 1995. http://library.epfl.ch/theses/?nr=1414.

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33

ACAR, DELAL, and KARIN SVENSSON. "The Claw Machine Tivoliautomaten." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279813.

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Claw machines have been around for about a century spreading joy and entertainment to people of all ages. They are usually seen in amusement parks and malls. In this Bachelors Thesis, one version of a claw machine will be constructed. Different constructing solutions and motors will be discussed for an easy and optimal claw machine that meet all the requirements given in the project. This report is divided into four parts, consisting of introduction, theory, construction of the machine and results. The first part is an introduction where some background information and delimitations of the project are presented. The second part of the report deals with the theory behind various selectable motors for this project as well as solutions for the design itself. The third part of the dissertation gives a detailed overview of how this particular Claw Machine was designed. Selection of materials, motors and how everything is connected and how the various parts harmonize with each other are also presented in this part. In the fourth and final part, the results are presented and a discussion of future improvements is provided.
Tivoliautomater har snart funnits i ett århundrade och har under flera årtionden varit en stor nöjesattraktion för såväl gammal som ung. De är vanligt förekommande i nöjesparker och köpcentrum. I detta kandidatexamensarbete kommer en sådan tivoliautomat att konstrueras. Diskussioner kring olika motorer och konstruktionslösningar kommer att föras, för att slutligen uppnå en konstruktion som uppfyller de givna direktiven för projektet. Denna rapport är uppdelad i fyra delar, bestående av introduktion, teori, byggandet av maskinen och resultat. Första delen är en introduktion där grundläggande fakta samt avgränsningar för projektet presenteras. Andra delen av rapporten behandlar teorin bakom olika valbara motorer för detta projekt samt lösningar för själva konstruktionen. I avhandlingens tredje del ges en detaljerad genomgång av hur just denna tivoliautomat konstruerats. Val av material, motorer samt hur allt är sammankopplat och hur de olika delarna harmoniserar med varandra presenteras även i denna del. I den fjärde och sista delen presenteras resultatet och en diskussion kring framtida förbättringar tillhandahålls.

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34

Mihajlov, Miroslav. "Modelling and control strategies for inherently compliant fluidic mechatronic actuators with rotary elastic chambers /." Aachen : Shaker, 2008. http://d-nb.info/989018253/04.

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35

Hildebrandt, Alexander. "Regelung und Auslegung servopneumatischer Aktuatorsysteme." Aachen Shaker, 2009. http://d-nb.info/998626961/04.

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36

Cheparukhina, Anna. "Ověření biologických parametrů člověka pro robotickou vizuální teleprezenci." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2015. http://www.nusl.cz/ntk/nusl-221324.

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This work presents a research in the field of robotic visual telepresence. At the beginning explains the principle of teleprezence and it makes classification of robots according to their properties and concepts. Furthermore, there is a review of modern existing robots. The following chapter discusses the human visual system, the basic parameters and functions including parameters of head movements. Subsequently have been selected critical parameters for visual telepresence. At the conclusion of the theoretical part were designed some experiments to validation of human body biological parameters. In the practical part was conducted measuring the extent and speed of head movements, eye distinction depending on the lighting and measurement of visual field man. Also, a series of experiments was performed for practical technical embodiment of the telepresence system rescue robot for class Orpheus.

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Music, Muhamed. "Hastighetsmätning i produktion." Thesis, Linköpings universitet, Institutionen för systemteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-70966.

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Sedan urminnes tid har folk sysslat med mätning av olika slag. Tid, längd, höjd, area, energi, volym och styrka är några exempel på vad som behövde mättas. Att mäta är att jämföra verklighet med en fördefinierad enhet. En sekund, en meter, ett watt är några exempel på enheter som brukas för att kunna definiera en mätning. I dagens samhälle är det viktigt med exakt mätning för att kunna till exempel producera rätt tjänst i rätt tid, just in time, för att kunna utnyttja sina resurser effektivt. Detta innebär högre förtjänst med minimal insats, vilket gagnar både producent och konsument som använder denna tjänst.
Since time immemorial, people have been involved with the measurement of various kinds. Time, length, height, area, energy, volume and strength are some examples of what needed to be saturated. To measure is to compare the reality with a predefined unit. One second, one meter, a watt is a few examples of devices that used to define a measurement. In today's society, it is important to have accurate measurements to be able, for example, produce the right services at the right time, just in time, to utilize their resources effectively. This means higher profits with minimal effort, which will benefit both producers and consumers who use this service.

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38

Callesen, Matthias. "Der Antrieb ungleichmässiger übersetzender Getriebe durch Motion-control-Syteme Nutzungsaspekte, Betriebsverhalten und Bewegungsoptimierung." Düsseldorf VDI-Verl, 2008. http://d-nb.info/990321401/04.

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39

Herranz, Gracia Mercedes. "Methoden zum Entwurf von robusten Stellantrieben unter Berücksichtigung fertigungsbedingter Abweichungen." Aachen Shaker, 2008. http://d-nb.info/993157114/04.

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40

Goureau, Pascal. "Études sur la commande numérique directe des servomoteurs synchrones à aimants : traitements des signaux, modélisations, simulations." Paris 11, 1989. http://www.theses.fr/1989PA112345.

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Cette thèse traite du développement d'une commande numérique complète d'un moteur synchrone à aimants permanents. La commande est obtenue par un fonctionnement du convertisseur statique en modulation de largeur d'impulsions, ce qui permet d'obtenir des courants sinusoïdaux dans les phases du moteur. De plus, cette commande est bien adaptée a l'implantation de boucles de régulation de vitesse et position. Il est également facile d'établir un dialogue avec un ordinateur superviseur qui peut directement imposer des consignes de couple, vitesse et position. Comme la boucle de courant est la plus rapide, donc la critique, elle a été modélisée de manière précise et ensuite simulee pour choisir un correcteur. Les deux autres boucles ont été déterminées de façon externe et le choix des correcteurs a été effectue en utilisant un logiciel spécifique de simulation. Ce logiciel est construit de manière modulaire et interactive et inclue certains points précis : le modèle de la machine avec ses équations différentielles electromagnetiques couplées, les plages de fonctionnement du convertisseur statique, les retards dus aux mesures. Quelques essais ont été réalises permettant de visualiser les courants statoriques, leurs composantes de park et le couple. Cette simulation montre que l'ondulation du couple peut avoir plusieurs causes. La concordance entre les résultats de simulation et les essais expérimentaux montre bien la validité du modèle choisi et le bon choix des correcteurs.

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41

Mareček, Vojtěch. "Otočný polohovací stůl." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2008. http://www.nusl.cz/ntk/nusl-264921.

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This diploma thesis deals with projection and general design of rotary indexing table for dedicated machine tools. The major attention is given to substitution of hydraulic drive table by table driven by servomotor, namely double axis its positions in vertical and horizontal directions. The total configuration of rotary table is solved as a construction kit, user can used any servomotor and additive gearbox. The work is concentrated to the optimization of table construction for this new designed conception. The positioning and fixing of table plate is solved by couple of Hirth couplings with central hydraulic motor. The computational part of work includes calculations of dynamic of rotary motion of the table and hydraulic system. All important screw connection, gear wheels and Hirth couplings were verified by calculations. Also working lifetime of bearings and strength deformation of major constructional sections of rotary table verification were controlled. Inherent part of work is security analysis, economics analysis, patent search and analysis of construction identity. Presented work contains three-dimensional model, drawing documentation of both variants of configurations and production drawing of major section parts of rotary table.

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42

Gauchel, Wolfgang. "Entwicklung und Regelung eines integrierten und flexiblen servopneumatischen 2-Backengreifers /." Aachen : Shaker, 2006. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=016153292&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.

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43

Le, Pioufle Bruno. "Comparaison de strategies pour la commande numerique de servomoteurs synchrones algorithmes lineaires et non lineaires robustesse implantation." Paris 11, 1991. http://www.theses.fr/1991PA112043.

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Une etude comparative des methodes de commande d'un servomoteur synchrone est proposee dans cet ouvrage. Nous traitons le cas d'un moteur a repartition spatiale sinusoidale, alimente par un onduleur triphase utilise en modulation de largeur d'impulsions. En premier lieu les commandes en couple dans les referentiels abc ou dq sont comparees, a l'aide du modele d'etat du systeme. Il en resulte que seules les commandes dans le referentiel dq ont une caracteristique couple-vitesse satisfaisante. Puis une etude analytique, validee par des essais experimentaux, montre que l'acceleration du moteur interfere grandement sur la boucle de couple. Deux solutions sont proposees pour pallier cet inconvenient: 1) le correcteur compensation totale, dont le principe consiste a compenser les perturbations liees a la vitesse ou a sa dynamique; 2) la commande non lineaire en vitesse, s'appuyant sur un modele non lineaire ou la vitesse est une variable d'etat. Des solutions pour ameliorer la robustesse de ces correcteurs sont presentees. Leurs simulations ainsi que leurs experimentations donnent des resultats tres prometteurs

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Paccioni, Anthony. "Studio e progetto di un dispositivo per la replica in playback di vibrazioni meccaniche." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amslaurea.unibo.it/9488/.

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Il lavoro presentato ha avuto l’obiettivo, attraverso lo studio dei più comuni servomotori stepper, di replicare profili di accelerazione registrati o definiti con l’utilizzo di una piattaforma hardware Arduino in grado di salvare ed elaborare dati. Per raggiungere tale risultato è stato realizzato un braccio meccanico in grado di replicare l’accelerazione su un singolo asse di interesse. L’intento del progetto è fungere da base per l’elaborazione di un dispositivo a tre assi utilizzabile in maniera estesa nei diversi campi in cui i fenomeni vibrazionali possono essere di rilievo.

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45

Orolin, Jakub. "Systém pre sledovanie pohybujúcich sa objektov." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2019. http://www.nusl.cz/ntk/nusl-399481.

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The presented thesis deals with the design of a system capable of tracking the moving objects. The output of the thesis is the prototype layout of the device. Facility will be physically placed between the camera and the tripod in the dissertation and tested in real conditions. The role of this system is to automatically rolling the camera up the selected moving object.

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AKKILA, MARCUS, and BIX ERIKSSON. "Self-Stabilizing Platform." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279840.

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This project explores the possibility to stabilize a hand held serving-tray using a micro-controller, two servomotors and an inertial measurement unit (IMU). It is heavily focused on control theory, specifically using a PID controller. Stabilization of an object using a PID controller have many applications such as drones, camera stabilizers and flight simulators. The report covers the theory necessary to construct a self stabilizing platform and describes involving components in the prototype and how they cooperate. With the gyroscopes and accelerometers involved in the IMU it is possible to determine orientation and rotation of the tray. The construction enables rotation about the x-axis (roll) and y-axis (pitch) but not the z-axis (yaw). The readings from the gyroscopes and the accelerometers are combined and filtered through a complementary filter to estimate the rotations. The servomotors compensate disturbance in keeping the platform horizontal through PID regulation. The PID constants are tuned through tilting the platform at a specific angle and plotting the step response in MATLAB.
Detta projekt utforskar möjligheten att stabilisera en handhållen serveringsbricka med hjälp av en mikrokontroller, två servomotorer och en tröghetssensor (IMU). Projektet lägger mycket fokus på reglerteknik, specifikt att använda en PID-regulator. Stabilisering genom PID-reglering är användbart i många olika produkter, exempelvis drönare, kamerastabiliserare och flygsimulatorer. Rapporten täcker relevant teori för att konstruera en självstabiliserande plattform och beskriver ingående komponenter i prototypen samt hur de samverkar. Med gyroskopen och accelerometrarna som finns i IMU:n är det möjligt att uppskatta position och rotation för ett objekt. Konstruktionen tillåter rotation kring x-axeln (roll) och y-axeln (pitch) men inte zaxeln (yaw). Mätningarna från gyroskopen och accelerometrarna kombineras och filtreras med hjälp av ett s.k. complementary filter för att uppskatta rotationen av objektet. Servomotorerna används i sin tur till att hålla plattan horisontell genom att kompensera störningar från omgivningen. Detta görs genom PID-reglering. Konstanterna i PID-regulatorn är framtagna genom tester där plattformen lutas ett bestämt antal grader och stegsvaret plottas i MATLAB.

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Síla, Vladimír. "Robotická stavebnice Bioloid Comprehensive Kit." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-217755.

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Thist thesis deals with smart servomotor control. The aim of thist project is to create own control system, implementig communication protocol with smart servos from Bioloid Comprehensive Kit. Communication. The deal also deals with communication with smart sensoring element.

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Mendes, Eduardo. "Contribution a l'etude de servomoteurs a induction, etude et mise en uvre de commandes numeriques a flux oriente et adaptatives." Paris 6, 1993. http://www.theses.fr/1993PA066426.

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Le travail a consiste en la realisation d'un actionneur asynchrone a commande entierement numerique ayant de grandes performances dynamiques. Les variations des caracteristiques du systeme sont considerees par des algorithmes de commande adaptatifs. L'efficacite de la commande basee sur la methode du flux oriente est fortement liee a la bonne connaissance de la constante de temps rotorique (t#r, rapport entre inductance et resistance rotoriques) de la machine a induction. Apres avoir demontre la stabilite absolue de cette methode, nous avons etudie et mis en uvre un algorithme d'identification en temps reel de t#r afin de suivre ses variations: l'estimation du flux rotorique est alors amelioree. Il a ete mis en evidence qu'un fonctionnement a niveau de flux variable permet en regime permanent d'optimiser le fonctionnement: augmentation du facteur de puissance, du rendement ou encore diminution du courant absorbe. Ceci sans affecter de maniere significative les performances dynamiques. Afin de remedier aux consequences nefastes de la mauvaise connaissance des parametres de l'actionneur (autres que t#r), des correcteurs adaptatifs simples et robustes ont ete introduits au niveau des boucles d'asservissements des courants et de la vitesse. Dans le but d'ameliorer l'estimation de la vitesse a partir de la mesure de la position, un nouvel algorithme d'estimation a ete propose minimisant l'erreur depuis les tres basses vitesses. Enfin, l'influence des trajectoires de vitesse sur le couple delivre par la machine et sur l'erreur d'estimation de la vitesse a ete analysee

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Paula, Sérgio Eduardo Alves de. "Estudo do ganho de energia elétrica em painéis fotovoltaicos usando rastreamento solar baseado em sistemas embarcados." Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/3/3140/tde-21072016-094218/.

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A geração de energia solar fotovoltaica tem crescido anualmente em utilização. Com o aumento dos custos de geração de energia elétrica, fontes renováveis de energia como essa crescem em interesse, até mesmo em aplicações residenciais de microgeração. Este trabalho apresenta o projeto, construção e ensaios de um rastreador solar autônomo, com controle e aquisição de dados de sensoriamento baseado em sistemas embarcados totalmente projetados e produzidos no país, com o objetivo de se aumentar o ganho de energia elétrica gerada a partir de painéis solares de mercado. O projeto do firmware de controle e os algoritmos utilizados foram adaptados continuamente até se atingir os melhores resultados. Foi utilizado um painel solar comum de mercado para realizar os testes, e as placas de circuito impresso projetadas foram confeccionadas localmente. A tomada de dados em diferentes ensaios mostrou que o rastreamento solar de fato aumentou o ganho de energia elétrica com um painel solar comum de mercado, mesmo com alguns problemas a serem corrigidos em uma próxima pesquisa. Assim, a pesquisa realizada confirmou o ganho de energia elétrica para o painel solar escolhido.
Photovoltaic solar generators have grown annually in use. With the increase in electricity generation costs, renewable sources of energy like that grow in interest, even in residential microgeneration applications. This work presents the design, construction and testing of a standalone solar tracker, with control and acquisition of sensors data based on embedded systems totally designed and produced in the country, aiming to increase the power generated from retail solar panels. The firmware design and used algorithms have been continuously adapted to achieve the best results. It was used a standard solar panel to perform the tests, and the designed printed circuit boards were manufactured locally. The data taken in different tests showed that the solar tracking actually increased the power generated with a standard solar panel, even with some problems in the design that have to be corrected in a future implementation. So the project was validated and can be used, including microgeneration in ordinary houses.

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Heinrich, Martin. "Řízení pohonů průmyslového robotu pomocí systémů KEBA." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-318725.

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This diploma thesis deals with the implementation of the KeMotion control system of KEBA company for industrial robot KUKA KR 15/2. It gets to work original robot's drives KUKA with this new system. There was a communication network built up to operate the system itself. It was created between driving system component. Next step was a creation of the connection between control case and a new control system especially robot link up feedback. Later on there was a control programme for PLC created and adjusted including configuration of drives and converter. There was a need to find out the resolver parametr to this settings That one is used to the indirect measurement.

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Dissertations / Theses on the topic 'Servomotors'

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