Detecting the position of the moving-iron solenoid by non-displacement sensor based on parameter identification of flux linkage characteristics

Currently, most researches use signals, such as the coil current or voltage of solenoid, to identify parameters; typically, parameter identification method based on variation rate of coil current is applied for position estimation. The problem exists in these researches that the detected signals are prone to interference and difficult to obtain. This paper proposes a new method for detecting the core position by using flux characteristic quantity, which adds a new group of secondary winding to the coil of the ordinary switching electromagnet. On the basis of electromagnetic coupling theory analysis and simulation research of the magnetic field regarding the primary and secondary winding coils, and in accordance with the fact that under PWM control mode varying core position and operating current of windings produce different characteristic of flux increment of the secondary winding. The flux increment of the electromagnet winding can be obtained by conducting time domain integration for the induced voltage signal of the extracted secondary winding, and the core position from the two-dimensional fitting curve of the operating winding current and flux-linkage characteristic quantity of solenoid are calculated. The detecting and testing system of solenoid core position is developed based on the theoretical research. The testing results show that the flux characteristic quantity of switching electromagnet magnetic circuit is able to effectively show the core position and thus to accomplish the non-displacement transducer detection of the said core position of the switching electromagnet. This paper proposes a new method for detecting the core position by using flux characteristic quantity, which provides a new theory and method for switch solenoid to control the proportional valve.     

Generalized Internal Model Robust Control for Active Front Steering Intervention

Because of the tire nonlinearity and vehicle's parameters'uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system(AFS)controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control.In this paper,a generalized internal model robust control(GIMC)that can overcome the contradiction between performance and stability is used in the AFS control.In GIMC,the Youla parameterization is used in an improved way.And GIMC controller includes two sections:a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters'uncertainties and some external disturbances.Simulations of double lane change(DLC)maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞controller.Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle's parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller.Therefore,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller.     

Novel linear piezoelectric motor for precision position stage

Conventional servomotor and stepping motor face challenges in nanometer positioning stages due to the complex structure, motion transformation mechanism, and slow dynamic response, especially directly driven by linear motor. A new butterfly-shaped linear piezoelectric motor for linear motion is presented. A two-degree precision position stage driven by the proposed linear ultrasonic motor possesses a simple and compact configuration, which makes the system obtain shorter driving chain. Firstly, the working principle of the linear ultrasonic motor is analyzed. The oscillation orbits of two driving feet on the stator are produced successively by using the anti-symmetric and symmetric vibration modes of the piezoelectric composite structure, and the slider pressed on the driving feet can be propelled twice in only one vibration cycle. Then with the derivation of the dynamic equation of the piezoelectric actuator and transient response model, start-upstart-up and settling state characteristics of the proposed linear actuator is investigated theoretically and experimentally, and is applicable to evaluate step resolution of the precision platform driven by the actuator. Moreover the structure of the two-degree position stage system is described and a special precision displacement measurement system is built. Finally, the characteristics of the two-degree position stage are studied. In the closed-loop condition the positioning accuracy of plus or minus 0.5 μm is experimentally obtained for the stage propelled by the piezoelectric motor. A precision position stage based the proposed butterfly-shaped linear piezoelectric is theoretically and experimentally investigated.     

Driving and braking control of PM synchronous motor based on low-resolution hall sensor for battery electric vehicle

Resolvers are normally employed for rotor positioning in motors for electric vehicles,but resolvers are expensive and vulnerable to vibrations.Hall sensors have the advantages of low cost and high reliability,but the positioning accuracy is low.Motors with Hall sensors are typically controlled by six-step commutation algorithm,which brings high torque ripple.This paper studies the high-performance driving and braking control of the in-wheel permanent magnetic synchronous motor(PMSM) based on low-resolution Hall sensors.Field oriented control(FOC) based on Hall-effect sensors is developed to reduce the torque ripple.The positioning accuracy of the Hall sensors is improved by interpolation between two consecutive Hall signals using the estimated motor speed.The position error from the misalignment of the Hall sensors is compensated by the precise calibration of Hall transition timing.The braking control algorithms based on six-step commutation and FOC are studied.Two variants of the six-step commutation braking control,namely,half-bridge commutation and full-bridge commutation,are discussed and compared,which shows that the full-bridge commutation could better explore the potential of the back electro-motive forces(EMF),thus can deliver higher efficiency and smaller current ripple.The FOC braking is analyzed with the phasor diagrams.At a given motor speed,the motor turns from the regenerative braking mode into the plug braking mode if the braking torque exceeds a certain limit,which is proportional to the motor speed.Tests in the dynamometer show that a smooth control could be realized by FOC driving control and the highest efficiency and the smallest current ripple could be achieved by FOC braking control,compared to six-step commutation braking control.Therefore,FOC braking is selected as the braking control algorithm for electric vehicles.The proposed research ensures a good motor control performance while maintaining low cost and high reliability.     

DISCRETIZATION APPROACH USING RAY-TESTING MODEL IN PARTING LINE AND PARTING SURFACE GENERATION

Surface classification, 3D parting line, parting surface generation and demoldability analysis which is helpful to select optimal parting direction and optimal parting line are involved in automatic cavity design based on the ray-testing model. A new ray-testing approach is presented to classify the part surfaces to core/cavity surfaces and undercut surfaces by automatic identifying the visibility of surfaces. A simple, direct and efficient algorithm to identify surface visibility is developed. The algorithm is robust and adapted to rather complicated geometry, so it is valuable in computer-aided mold design systems. To validate the efficiency of the approach, an experimental program is implemented. Case studies show that the approach is practical and valuable in automatic parting line and parting surface generation.     

FUZZY GLOBAL SLIDING MODE CONTROL BASED ON GENETIC ALGORITHM AND ITS APPLICATION FOR FLIGHT SIMULATOR SERVO SYSTEM

To alleviate the chattering problem, a new type of fuzzy global sliding mode controller (FGSMC) is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditions of sliding mode controller(SMC), and genetic algorithm (GA) is used to optimize scaling factor of the switching gain, thus the switch chattering of SMC can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding surface. Simulation and real-time application for flight simulator servo system with Lugre friction are given to indicate that the proposed controller can guarantee high robust performance all the time and can alleviate chattering phenomenon effectively.     

Parallel Distributed Compensation/H_∞ Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

Current research on lane-keeping systems ignores the e ect of the driver and external resistance on the accuracy of tracking the lane centerline. To reduce the lateral deviation of the vehicle, a lane-keeping control method based on the fuzzy Takagi-Sugeno(T-S) model is proposed. The method adopts a driver model based on near and far visual angles, and a driver-road-vehicle closed-loop model based on longitudinal nonlinear velocity variation, obtaining the expected assist torque with a robust H_∞ controller which is designed based on parallel distributed compensation and linear matrix inequality. Considering the external influences of tire adhesion and aligning torque when the vehicle is steering, a feedforward compensation control is designed. The electric power steering system is adopted as the actuator for lane-keeping, and active steering redressing is realized by a control motor. Simulation results based on Carsim/Simulink and real vehicle test results demonstrate that the method helps to maintain the vehicle in the lane centerline and ensures driving safety.     

Adaptive PI control strategy for flat permanent magnet linear synchronous motor vibration suppression

Due to low damping ratio,flat permanent magnet linear synchronous motor’s vibration is difficult to be damped and the accuracy is limited.The vibration suppressing results are not good enough in the existing research because only the longitudinal direction vibration is considered while the normal direction vibration is neglected.The parameters of the direct-axis current controller are set to be the same as those of the quadrature-axis current controller commonly.This causes contradiction between signal noise and response.To suppress the vibration,the electromagnetic force model of the flat permanent magnet synchronous linear motor is formulated first.Through the analysis of the effect that direct-axis current noise and quadrature-axis current noise have on both direction vibration,it can be declared that the conclusion that longitudinal direction vibration is only related to the quadrature-axis current noise while the normal direction vibration is related to both the quadrature-axis current noise and direct-axis current noise.Then,the simulation test on current loop with a low-pass filter is conducted and the results show that the low-pass filter can not suppress the vibration but makes the vibration more severe.So a vibration suppressing strategy that the proportional gain of direct-axis current controller adapted according to quadrature-axis reference current is proposed.This control strategy can suppress motor vibration by suppressing direct-axis current noise.The experiments results about the effect of K p and T i on normal direction vibration,longitudinal vibration and the position step response show that this strategy suppresses vibration effectively while the motor’s motion performance is not affected.The maximum reduction of vibration can be up to 40%.In addition,current test under rated load condition is also conducted and the results show that the control strategy can avoid the conflict between the direct-axis current and the quadrature-axis current under typical load.Adaptive PI control strategy can effectively suppress the flat permanent magnet linear synchronous motor’s vibration without affecting the motor’s performance.     

Tracking Performance of Electric Power Steering System Based on the Mixed H_2/H_∞ Strategy

The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering (EPS) system. Bad tracking performance will cause assistant torque delay, and make road feeling bad, and is influenced by the input steering torque and system measuring noise. However the existing methods have some shortages on system's robust dynamic performance and robust stability. The mixed H2/H∞ strategy for recirculating ball-type EPS system in a pure electric bus is proposed,...     

Development of a miniature permanent magnetic circuit for nuclear magnetic resonance chip

The existing researches of miniature magnetic circuits focus on the single-sided permanent magnetic circuits and the Halbach permanent magnetic circuits. In the single-sided permanent magnetic circuits, the magnetic flux density is always very low in the work region. In the Halbach permanent magnetic circuits, there are always great difficulties in the manufacturing and assembly process. The static magnetic flux density required for nuclear magnetic resonance(NMR) chip is analyzed based on the signal noise ratio(SNR) calculation model, and then a miniature C-shaped permanent magnetic circuit is designed as the required magnetic flux density. Based on Kirchhoff’s law and magnetic flux refraction principle, the concept of a single shimming ring is proposed to improve the performance of the designed magnetic circuit. Using the finite element method, a comparative calculation is conducted. The calculation results demonstrate that the magnetic circuit improved with a single shimming has higher magnetic flux density and better magnetic field homogeneity than the one improved with no shimming ring or double shimming rings. The proposed magnetic circuit is manufactured and its experimental test platform is also built. The magnetic flux density measured in the work region is 0.7 T, which is well coincided with the theoretical design. The spatial variation of the magnetic field is within the range of the instrument error. At last, the temperature dependence of the magnetic flux density produced by the proposed magnetic circuit is investigated through both theoretical analysis and experimental study, and a linear functional model is obtained. The proposed research is crucial for solving the problem in the application of NMR-chip under different environmental temperatures.     

Unbalance vibratory displacement compensation for active magnetic bearings

As the dynamic stiffness of radial magnetic bearings is not big enough,when the rotor spins at high speed,unbalance displacement vibration phenomenon will be produced.The most effective way for reducing the displacement vibration is to enhance the radial magnetic bearing stiffness through increasing the control currents,but the suitable control currents are not easy to be provided,especially,to be provided in real time.To implement real time unbalance displacement vibration compensation,through analyzing active magnetic bearings(AMB) mathematical model,the existence of radial displacement runout is demonstrated.To restrain the runout,a new control scheme-adaptive iterative learning control(AILC) is proposed in view of rotor frequency periodic uncertainties during the startup process.The previous error signal is added into AILC learning law to enhance the convergence speed,and an impacting factor influenced by the rotor rotating frequency is introduced as learning output coefficient to improve the rotor control effects.As a feed-forward compensation controller,AILC can provide one unknown and perfect compensatory signal to make the rotor rotate around its geometric axis through power amplifier and radial magnetic bearings.To improve AMB closed-loop control system robust stability,one kind of incomplete differential PID feedback controller is adopted.The correctness of the AILC algorithm is validated by the simulation of AMB mathematical model adding AILC compensation algorithm through MATLAB soft.And the compensation for fixed rotational frequency is implemented in the actual AMB system.The simulation and experiment results show that the compensation scheme based on AILC algorithm as feed-forward compensation and PID algorithm as close-loop control can realize AMB system displacement minimum compensation at one fixed frequency,and improve the stability of the control system.The proposed research provides a new adaptive iterative learning control algorithm and control strategy for AMB displacement minimum compensation,and provides some references for time-varied displacement minimum compensation.     

PRINCIPLES AND PARAMETER DESIGN FOR AC-DC THREE-DEGREE FREEDOM HYBRID MAGNETIC BEARINGS

To simplify the mechanical structure, decrease the overall system size of the 3-degree freedom axial-radial magnetic bearings and reduce the manufacturing costs as well as operating costs, an innovated AC-DC 3-degree freedom hybrid magnetic bearing is proposed, which is driven by a DC amplifier in axial direction and a 3-phase power converter in radial directions respectively, and the axial and radial bias magnetic fluxes are provided with a common radial polarized permanent magnet ring. The principle producing magnetic suspension forces is introduced. By using equivalent magnetic circuit method, the calculation formulas of magnetic suspension forces and the mathematics models of the system are deduced. Nonlinearities of suspension forces and cross coupling between different degree freedoms are studied further by calculating the suspension forces at different displacements and control currents to validate the feasibility of the mathematics model. Then based on the mathematics models of the bearing, a control method of this novel bearing is designed. Lastly, the methods on parameter design and calculations of the bearing are presented, and an applicable prototype is simulated to analyze the magnetic path by using finite element analysis. The theory analysis and simulation results have shown that this magnetic bearing incorporates the merits of 3-phase AC drive, permanent magnet flux biased and axial-radial combined control, and reduces overall system size and has higher efficiency and lower cost. This innovated magnetic bearing has a wide application in super-speed and super-precision numerical control machine tools, bearingless motors, high-speed flywheels, satellites, etc.     

GA-BASED PID NEURAL NETWORK CONTROL FOR MAGNETIC BEARING SYSTEMS

In order to overcome the system non-linearity and uncertainty inherent in magnetic bear-ing systems,a GA(genetic algorithm)-based PID neural network controller is designed and trained to emulate the operation of a complete system (magnetic bearing,controller,and power amplifiers). The feasibility of using a neural network to control nonlinear magnetic bearing systems with un-known dynamics is demonstrated. The key concept of the control scheme is to use GA to evaluate the candidate solutions (chromosomes),increase the generalization ability of PID neural network and avoid suffering from the local minima problem in network learning due to the use of gradient descent learning method. The simulation results show that the proposed architecture provides well robust performance and better reinforcement learning capability in controlling magnetic bearing systems.     

H∞ SYNCHRONIZATION CONTROL OF LINEAR SYSTEMS AND ITS APPLICATION TO WAFER-RETICAL STAGE

For the outputs of two nth-order linear control systems to work in synchronization and meanwhile to track their commands, a H∞ synchronization control scheme is presented. In terms of two uncoupled single variable linear systems, a multivariable coupled system is established by choosing one output and the difference of the two outputs as a new output vector, so that both command tracking and synchronization properties can be demonstrated by a H∞ performance index. To improve the synchronization and tracking performance and to guarantee the system robust stability, the mixed sensitivity H∞ design methodology is adopted, The presented synchronization scheme is then extended to the case where one of the two systems include two input variables, and then applied to the position synchronization control of a waferoretical stage. The wafer-reticle stage consists of a wafer stage, a reticle coarse stage, and a reticle fine stage. The reticle coarse stage picks up the reticle fine stage. The three stages ought to tack their commands, but synchronization between the wafer stage and the reticle fine stage must be stressed in the tracking process. In the application, by appropriately determining the weighting matrices for the sensitivity function and the complementary sensitivity function, a satisfactory H∞ synchronization controller is obtained to realize highly accurate position synchronization,and to guarantee tracking performance. The above results are verified by simulation experiments.     

Principle and experimental verification of novel dual driving face rotary ultrasonic motor

Existing rotary ultrasonic motors operating in extreme environments cannot meet the requirements of good environmental adaptability and compact structure at same time,and existing ultrasonic motors with Langevin transducers show better environmental adaptability,but size of these motors are usually big due to the radial arrangement of the Langevin transducers.A novel dual driving face rotary ultrasonic motor is proposed,and its working principle is experimentally verified.The working principle of the novel ultrasonic motor is firstly proposed.The 5th in-plane flexural vibration travelling wave,excited by the Langevin transducers around the stator ring,is used to drive the rotors.Then the finite element method is used in the determination of dimensions of the prototype motor,and the confirmation of its working principle.After that,a laser Doppler vibrometer system is used for measuring the resonance frequency and vibration amplitude of the stator.At last,output characteristics of the prototype motor are measured,environmental adaptability is tested and performance for driving a metal ball is also investigated.At room temperature and 200 V(zero to peak) driving voltage,the motor’s no-load speed is 80 r/min,the stalling torque is 0.35 N·m and the maximum output power is 0.85 W.The response time of this motor is 0.96 ms at the room temperature,and it decreases or increases little in cold environment.A metal ball driven by the motor can rotate at 210 r/min with the driving voltage 300 V(zero to peak).Results indicate that the prototype motor has a large output torque and good environmental adaptability.A rotary ultrasonic motor owning compact structure and good environmental adaptability is proposed,and lays the foundations of ultrasonic motors’ applications in extreme environments.     

DYNAMIC CHARACTERISTIC ANALYSIS OF PRECISE LONG STROKE LINEAR MOTOR WITH AIR-BEARING IN OPTICAL LITHOGRAPHY

Dynamic characteristic is presented by identifying the model and the dynamic parameters of a precise long stroke linear motor （PLSLM） with the air-bearing in optical lithography. The PLSLM is supported by air-bearing on the stator, and is driven by on-board two large linear motors in a cross-configuration. Firstly, a model of the PLSLM is established by finite element method （FEM）. Secondly, based on the model, the natural frequencies and model shapes are discusse＆ And the contribution of each active mode is evaluated by computing the modal participation factors （MPF）, which indicates the major vibration direction. Furthermore, by the experimental modal analysis, the experimental results are in agreement with simulation results, which it is sure that the FEM is reasonable. What＇s more, comparing with the effects on the frequency due to the air-bearing stiffness, the relations of the natural frequencies with the air-bearing stiffness are found. It is found that the frequency response curve is fluctuant with the air-bearing stiffness in each direction. Finally, it is conclusion that the natural frequency of the PLSLM is largely affected by the air-bearing stiffness variety. This research is contributed to the dynamic characteristics resulted from the air-beating stiffness. Further work will include better optimization on the dynamic parameter in the controller design through the control algorithm for the precise long stroke motor.     

ROBUST CONTROL OF AN ELECTRO- HYDRAULIC PROPORTIONAL SPEED CONTROL SYSTEM WITH A SINGLE- ROD HYDRAULIC ACTUATOR

A robust control algorithm is proposed to focus on the non-linearity and parameters' uncertainties of an electro-hydraulic proportional speed control system (EHPSCS) with a single-rod hydraulic actuator.The robust controller proposed does not need to design stable compensator in advance,is simple in design and has large scope of uncertainty applications.The feedback gains of the robust controller proposed are small,so it is easily implemented in engineering applications. Experimental research on the speed control under the different conditions is carried out for an EHPSCS.Experimental results show that the robust controller proposed has better robustness subject to parametric uncertainties,and adaptability of parameters' variation of control system itself and plant parameter variation.     

HYBRID CONTROL OF HYDRAULIC PRESS MACHINE BASED ON ROBUST CONTROL

A robust control algorithm is proposed to focus on the non-linearity and variables of the hydraulic press machine with the proportional vatve. The proposed robust controller does not need to design stable compensator in advance, which is simple in design and has large scope of uncertainty applications. The feedback gains of the proposed robust controller are small, so it is easily implemented in engineering applications. The theoretical and experimental research on the position and speed control of the hydraulic press machine is carried out. The control requirements of the hydraulic press machine during the working process are met in the position and speed at the same time. Experimental results show that the proposed controller has better robustness subject to load variables and adaptability of parameter variations of the hydraulic press machine with the proportional valve.     

Development of High-Thrust and Double-Sided Linear Synchronous Motor Module For Liquid Crystal Display Equipment

<正>Recently,there is an increasing requirement for controlling linear motion up to a few hundred of millimeter strokes in the area of the liquid crystal display(LCD) production equipment.The requirements of the motion system for LCD production equipment are high acceleration and high velocity with positioning accuracy.To satisfy these requirements,it has to be designed with the high-thrust force and low velocity ripple.In this work, high-thrust and double-sided linear synchronous motor (LSM)module is proposed and the developed high-thrust and double-sided LSM module is verified by performance test.     

AUTOMATIC SEAM TRACKING SYSTEM OF SUBMERGED ARC WELDING BASED ON FUZZY-P CONTROLLER

An automatic seam tracking system used in submerged arc welding is presented. In the system, the linear CCD vision sensor is installed in front of the welding torch. Laser structure light emitted by the semiconductor laser irradiates on a slant to work-piece surface and forms a structure light strip on work-piece surface. Scatter light of the strip is received by linear CCD on top of the seam and the image information of seam can be obtained. By way of image processing and applying Fuzzy-P controller in tracking process, automatic seam tracking has been realized accurately. Anti-disturbing ability of the system to work-piece surface status has been enhanced largely by classified microadjus-tment of torch height.