Departamento de Engenharia Electrotécnica e Automação ISEL - Instituto Superior de Engenharia de Lisboa Rua Conselheiro Emídio Navarro, 1 1959-007 Lisboa Portugal
Abstract: The usage of linear permanent-magnet (PM) actuators, and their associated controllers, increases in a wide variety of applications, due to the exhibited high force density, robustness, and accuracy. The s-curve motion profiling is the motion trajectory usually employed in common industrial applications. In this control scheme, the trajectory shape is determined by maximum acceleration, maximum speed, and the target distance. The values of speed and acceleration must be chosen carefully. If they are chosen excessively large or very small, it may not be possible for the system to track the generated trajectory with good accuracy. This paper, considers the control of a single degree-of-freedom (DOF) mechanical system, in which a PM Tubular Linear Synchronous Motor (PM-TLSM) is used as the actuator. Since the fuzzy logic control controllers are based on heuristics are therefore able to incorporate human intuition and experience. The resulting motion trajectory obtained from the fuzzy logic is particularly suited to high accuracy applications such as parallels manipulators, robotics systems and factory automation. Computer simulation results verify the effectiveness of the proposed scheme.
Abstract: In this paper a new approach is made on PM tubular linear synchronous motor (PM-TLSM) modelling, considering a non linear model. This model allows the incorporation of PM elements characteristics. The straight forward approach induces robust simulation results for tubular linear machines, without resorting to complex variable transformations.
Abstract: (Conference Abstract)
This paper describes the development of a methodology to synthesize a fuzzy controller to correct the tracking dynamics of the electromechanical positioning drive trajectory.
A general framework about topologies in the field of linear electromechanical drives is presented. Special focus is made on parallel manipulators using tubular linear synchronous permanent magnet motors, where computer simulations confirmed large amplitude variations of load forces applied to linear actuators of the six degrees of freedom (6 DOF) parallel manipulator. The 6 DOF parallel manipulators are wide used for the support of the flight simulators, and are projected to emulate the aeronautic motions. The commercial 6 DOF parallel manipulators usually employ hydraulic linear actuators.
The hydraulic linear actuators have bigger volume/power ratio than tubular linear synchronous motors and an expensive maintenance cost. The difficulties of these applications are in the absence of the trajectory planning, which is common in parallel manipulator applications.
The fuzzy controller synthesis for the linear position drive is described. Its main goal is to perform the automatic adjustment of the tubular linear motor positioning trajectory, by changing its speed and acceleration references. The resulting motion trajectory obtained from the fuzzy controller is particularly suited to high accuracy applications such as parallels manipulators, robotics systems and factory automation.
The electromechanical position drive present in this paper is based on Permanent Magnet Tubular Linear Synchronous Motor (PM-TLSM) as the electromechanical linear actuator fed by a position drive controller and a linear encoder as feedback device of the system. The structure of the laboratory prototype of the fuzzy controller coupled to the electromechanical linear position drive is presented.
The experimental results demonstrate that the trajectory correction is made lower than 1s. Comparing the experimental results with different loads, it is verified that the position errors values does not depend of the load force applied to the tubular linear motor shaft.
The experimental results obtained are used to evaluate the performance of the fuzzy controller, which was able to reduce the positioning errors from 40% to 10%.
Abstract: This paper describes the study of Permanent Magnet Tubular Linear Synchronous Motor (PM-TLSM) as the electromechanical linear actuator of a Six Degree of Freedom (6 DOF) Parallel Manipulator. The dynamic models of the PM-TLSM and the position drive controller are derived and implemented in Matlab in order to obtain simulation results to evaluate the dynamic response. The experimental results of the electromechanical linear positioning drive are presented and discussed to validate the mathematical model.
Abstract: The usage of linear permanent-magnet (PM) actuators, and their associated controllers, increases in a wide variety of applications, due to the exhibited high force density, robustness, and accuracy. The s-curve motion profiling is the motion trajectory usually employed in common industrial applications. In this control scheme, the trajectory shape is determined by maximum acceleration, maximum speed, and the target distance. The values of speed and acceleration must be chosen carefully. If they are chosen excessively large or very small, it may not be possible for the system to track the generated trajectory with good accuracy. This paper, considers the control of a single degree-of-freedom (DOF) mechanical system, in which a PM Tubular Linear Synchronous Motor (PM-TLSM) is used as the actuator. Since the fuzzy logic control controllers are based on heuristics are therefore able to incorporate human intuition and experience. The resulting motion trajectory obtained from the fuzzy logic is particularly suited to high accuracy applications such as parallels manipulators, robotics systems and factory automation. Computer simulation results verify the effectiveness of the proposed scheme.
Abstract: In this paper a new approach is made on PM tubular linear synchronous motor (PM-TLSM) modelling, considering a non linear model. This model allows the incorporation of PM elements characteristics. The straight forward approach induces robust simulation results for tubular linear machines, without resorting to complex variable transformations.
Notes: [related papers] (2004) "On PM Tubular Linear Synchronous Motor Modelling"; (2005) "Reference Variables Generation Using a Fuzzy Trajectory Controller for PM Tubular Linear Synchronous Motor Drive"; (2007) "Application of PM Tubular Linear Motor Drive as the Electromechanical Linear Actuator of a 6 DOF Parallel Manipulator"; (2007) "Fuzzy Controller For Automatic Adjustement Of The Electromechanical Position Drive Trajectory"
Notes: [Related papers] F. Barata, R. LuÃs, R. Pereira, J.C. Quadrado, âSistema Electromecânico de Emulação de
um Sistema de Vooâ, CCTEâ 2002. Conferência CientÃfica e Tecnológica em Engenharia â O saber do passado e o desafio do futuro, ISEL, Maio 2002.
