Project financed by the NCN
The title of the project: Control of electric drives with complex mechanical structure.
Competition: PRELUDIUM 5 - announced 2013-03-15
Principal Investigator: Dominik Łuczak
Registration number: 2013/09/N/ST7/02705
Granted amount: PLN 97 740
Project start: 2014-02-21
Duration of the project: 24 months
Project status: The project has been completed
Summary:
The term machine is generally understood as mechanism for performing useful work for the man. Used in modern industry and science machines are designed as complex mechatronic system. They are composed of a plurality of interconnected smaller mechanisms, components and subsystems. A good example are the manipulators and industrial machines. Such devices must demonstrate not only the appropriate power, sufficient to fulfil the tasks entrusted to them but also the very high precision of the movements and their repeatability. The first structures using direct drive (without gearbox) originated in Japan in the eighties of the twentieth century. It showed its sensitivity control to change the moment of inertia, eccentricity motion mechanisms, the Coriolis forces as well as unpredictable changes in frictional forces. Since then, was started intensive search for methods to control enabling more dynamic and precise control while maintaining uniformity of movement. The studies where mostly focused on adaptive control and robust control methods, in particular using a digital signal analysis. In addition, the drives many mechanisms, such as drives robot arm, feed mechanisms of machine tools and drives construction cranes have complex mechanical systems which are internally connected using elements with limited stiffness. Mentioned systems require high performance from used applications, but the quality depends on two main factors: response and dynamic stiffness of the drive system. Mechanical systems with reduced rigidity are characterized by unwanted vibrations, which are associated with the mechanical resonance phenomena. Appearance of unwanted oscillations are one of the major problems with control of mechanical systems with limited stiffness. The occurrence of oscillations have caused wear of mechanical parts, breakdowns and malfunctions of machines and equipment. Elimination of system vibration can significantly extend the life of the mechanical system and avoids the problems associated with accidents and damage. One of the ways of eliminating the vibration produced is the use of properly tuned digital filter in the control system whose role is to prevent the excitation of oscillations in the control system. Proper selection of the structure of digital filters helped minimize the impact of the limited rigidity of the mechanical system, while maintaining excellent dynamic and static properties of drive. The task of proper avoidance of vibration is particularly challenging for systems with variable parameters, which cause change the oscillation frequency. In such situations, it is necessary to identify the form of its motion if you change the parameters of the working machine. The study shows that use of digital signals analysis in the frequency domain and time-frequency allowed for correct identification of the frequency of vibration in the drive systems of complex mechanical structure for changing the parameters of the work machine. The results of identification allowed for of the correct synthesis of filter directly in the signal processor. Realization of the project allowed to increase the knowledge on the identification of vibration in drive systems and track their changes. New algorithms to search and designation of spectrum for vibration analysis in electric drives were prepared. Novel methods for changing the structure and parameters of the digital filter with a change in the machine parameters were developed. All algorithms were implemented in digital signal processor. Another stage of work was the development of software that integrates methods developed in a modular way. As a result of development work has been developed a software framework structure for controlling the electric drive including the use of advanced techniques of object-oriented programming.
List of publications published as a result of the project implementation
Publications in scientific journals
1. Publication title: Two approaches to speed control for multi-mass system with variable mechanical parameters
Authors: Brock S., Łuczak D., Nowopolski K., Pajchrowski T., Zawirski K.
Journal title: IEEE Transactions on Industrial Electronics
IF: 7,168
Publisher: IEEE
Volume: Volume: 64, Issue: 4
Year: 2017
Pages: 3338 – 3347
DOI: http://doi.org/10.1109/TIE.2016.2598299
2. Publication title: Spectral analysis of digital filter tuned for mechanical resonant frequency reduction in multi-mass mechanical systems in electrical direct drive
Authors: Łuczak D.
Journal title: International Journal of Simulation- Systems, Science and Technology
Publisher: United Kingdom Simulation Society
Volume: Volume: 14, No: 33
Year: 2016
Pages: 11.1-11.8
Link in the case of electronic magazines: http://ijssst.info/Vol-17/No-33/paper11.pdf
Book publications / chapters in book publications / scientific conference
1. Publication title: Speed controller for four-mass mechanical system with two drive units
Authors: Łuczak D., Siwek P., Nowopolski K.
Conference title: 2015 IEEE 2nd International Conference on Cybernetics (CYBCONF)
Publisher: IEEE
Date of conference: 24-26.06.2015
Year: 2015
Pages: 449-454
Conference Location: Gdynia, Poland
Place of publication and DOI: http://doi.org/10.1109/CYBConf.2015.7175976
WoS number: WOS:000373207200079
2. Publication title: Delay of digital filter tuned for mechanical resonant frequency reduction in multi-mass mechanical systems in electrical direct drive
Authors: Łuczak D.
Conference title: 2015 9th IEEE European Modelling Symposium on Mathematical Modelling and Computer Simulation (EMS)
Publisher: IEEE
Date of conference: 6-8.10.2015
Year: 2015
Pages: 195-200
Conference Location: Madrid, Spain
Place of publication and DOI: http://doi.org/10.1109/EMS.2015.38
WoS number: WOS:000411862000018
3. Publication title: Mathematical model of multi-mass electric drive system with flexible connection
Authors: Łuczak D.
Conference title: Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Publisher: IEEE
Date of conference: 2-5.09.2014
Year: 2014
Pages: 590 - 595
Conference Location: Miedzyzdroje, Poland
Place of publication and DOI: http://doi.org/10.1109/MMAR.2014.6957420
WoS number: WOS:000352788900104
4. Publication title: Parametric identification of multi-mass mechanical systems in electrical drives using nonlinear least squares method
Authors: Łuczak D. i Zawirski K.
Conference title: 41st Annual Conference of the IEEE Industrial Electronics Society (IECON2015)
Publisher: IEEE
Date of conference: 9-12.11.2015
Year: 2015
Pages: 004046-004051
Conference Location: Yokohama, Japan
Place of publication and DOI: http://doi.org/10.1109/IECON.2015.7392730
WoS number: WOS:000382950704010
Dissertation
1. Title: The use of digital filters in control systems of electric drives with complex mechanical structure
Author: Łuczak D.
Release date: 11.06.2014
Place of publication: https://sin.put.poznan.pl/dissertations/details/d393
Presentation of the achievements obtained during the project at international scientific conferences:
1) IEEE 19th International Conference on Methods and Models in Automation and Robotics (MMAR), Poland, Międzyzdroje, 2-5 September 2014,
2) IEEE 2nd International Conference on Cybernetics (CYBCONF), Poland, Gdynia, 24-26 June 2015,
3) 9th IEEE European Modelling Symposium on Mathematical Modelling and Computer Simulation (EMS), Madrid, Spain, 6-8 October 2015,
4) 41st Annual Conference of the IEEE Industrial Electronics Society (IECON2015), Yokohama, Japan, 9-12 November 2015.
Chairing of three sessions during international scientific conferences at which papers were presented:
1) Session: Mechatronics Application, conference: IEEE-IECON 2015, Japan.
2) Two sessions during the IEEE-EMS conference 2015, Spain.
Presentation of the paper titled "The use of digital filters in the direct electric drive control system" during the seminar of the Division of Control and Industrial Electronics, Poznan University of Technology, 6.11.2015
Energoelektronika - Zadania 1 , 2 -Prostowniki