Distributed Stepping Motor Control System

The beam diagnostic devices used at RIBLL are driven by stepper motors, which are controlled by I/O modules based on ISA-bus in an industrial computer. The disadvantages of such mode are that a large number of long cables are used and one computer to control is unsafe. We have developed a distributed stepping motor control system for the remote, local and centralized control of the stepping motors. RS-485 bus is used for the connection between the remote control unit and the local control units. The con...

Sliding state stepping algorithm for solving impact problems of multi-rigid-body system with joint friction

Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping algorithm is introduced. This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode. An example is given to describe details using this algorithm.

A hybrid stepping motor system with dual CPU

An indirect method of measuring the rotor position based on the magnetic reluctance variation is presented in the paper. A single-chip microprocessor 80C196KC is utilized to compensate the phase shift produced by the process of position signals. At the same time, a DSP (Data Signal Processor) unit is used to realize the speed and current closed-loops of the hybrid stepping motor system. At last, experimental results show the control system has excellent static and dynamic characteristics.

Research on simulation system of virtual three-phase stepping motor

To change the current phenomenon of ＂Being an armchair strategist＂ in the research of a stepping motor, the virtual simu- lation system of stepping motor was developed using virtual reality technique. The basic principle of stepping motor was expounded. The development strategy of the simulation software is introduced. Some key problems and their solutions, including coordinate transformation of rotor and order of on-off electricity for stator, were put forward in system development. Finally, there are three virtual simulation examples of the on-off electricity way in this paper. This work provides a valuable auxiliary tool for the study of the stepping motor.

Sequential Inverse Optimal Control of Discrete-Time Systems

This paper presents a novel sequential inverse optimal control(SIOC)method for discrete-time systems,which calculates the unknown weight vectors of the cost function in real time using the input and output of an optimally controlled discrete-time system.The proposed method overcomes the limitations of previous approaches by eliminating the need for the invertible Jacobian assumption.It calculates the possible-solution spaces and their intersections sequentially until the dimension of the intersection space decreases to one.The remaining one-dimensional vector of the possible-solution space’s intersection represents the SIOC solution.The paper presents clear conditions for convergence and addresses the issue of noisy data by clarifying the conditions for the singular values of the matrices that relate to the possible-solution space.The effectiveness of the proposed method is demonstrated through simulation results.

Optimized Operation of Park Integrated Energy System with Source-Load Flexible Response Based on Comprehensive Evaluation Index

To better reduce the carbon emissions of a park-integrated energy system(PIES),optimize the comprehensive operating cost,and smooth the load curve,a source-load flexible response model based on the comprehensive evaluation index is proposed.Firstly,a source-load flexible response model is proposed under the stepped carbon trading mechanism;the organic Rankine cycle is introduced into the source-side to construct a flexible response model with traditional combined heat and power(CHP)unit and electric boiler to realize the flexible response of CHP to load;and the load-side categorizes loads into transferable,interruptible,and substitutable loads according to the load characteristics and establishes a comprehensive demand response model.Secondly,the analytic network process(ANP)considers the linkages between indicators and allows decision-makers to consider the interactions of elements in a complex dynamic system,resulting in more realistic indicator assignment values.Considering the economy,energy efficiency,and environment,the PIES optimization operation model based on the ANP comprehensive evaluation index is constructed to optimize the system operation comprehensively.Finally,the CPLEX solver inMATLABwas employed to solve the problem.The results of the example showthat the source-load flexible response model proposed in this paper reduces the operating cost of the system by 29.90%,improves the comprehensive utilization rate by 15.00%,and reduces the carbon emission by 26.98%,which effectively enhances the system’s economy and low carbon,and the comprehensive evaluation index based on the ANP reaches 0.95,which takes into account the economy,energy efficiency,and the environment,and is more superior than the single evaluation index.

Optimal Operation Strategy of Electricity-Hydrogen Regional Energy System under Carbon-Electricity Market Trading

Given the“double carbon”objective and the drive toward low-carbon power,investigating the integration and interaction within the carbon-electricity market can enhance renewable energy utilization and facilitate energy conservation and emission reduction endeavors.However,further research is necessary to explore operational optimization methods for establishing a regional energy system using Power-to-Hydrogen(P2H)technology,focusing on participating in combined carbon-electricity market transactions.This study introduces an innovative Electro-Hydrogen Regional Energy System(EHRES)in this context.This system integrates renewable energy sources,a P2H system,cogeneration units,and energy storage devices.The core purpose of this integration is to optimize renewable energy utilization and minimize carbon emissions.This study aims to formulate an optimal operational strategy for EHRES,enabling its dynamic engagement in carbon-electricity market transactions.The initial phase entails establishing the technological framework of the electricity-hydrogen coupling system integrated with P2H.Subsequently,an analysis is conducted to examine the operational mode of EHRES as it participates in carbon-electricity market transactions.Additionally,the system scheduling model includes a stepped carbon trading price mechanism,considering the combined heat and power generation characteristics of the Hydrogen Fuel Cell(HFC).This facilitates the establishment of an optimal operational model for EHRES,aiming to minimize the overall operating cost.The simulation example illustrates that the coordinated operation of EHRES in carbon-electricity market transactions holds the potential to improve renewable energy utilization and reduce the overall system cost.This result carries significant implications for attaining advantages in both low-carbon and economic aspects.

Contribution to the Full 3D Finite Element Modelling of a Hybrid Stepping Motor with and without Current in the Coils

The paper presents our contribution to the full 3D finite element modelling of a hybrid stepping motor using COMSOL Multiphysics software. This type of four-phase motor has a permanent magnet interposed between the two identical and coaxial half stators. The calculation of the field with or without current in the windings (respectively with or without permanent magnet) is done using a mixed formulation with strong coupling. In addition, the local high saturation of the ferromagnetic material and the radial and axial components of the magnetic flux are taken into account. The results obtained make it possible to clearly observe, as a function of the intensity of the bus current or the remanent induction, the saturation zones, the lines, the orientations and the magnetic flux densities. 3D finite element modelling provide more accurate numerical data on the magnetic field through multiphysics analysis. This analysis considers the actual operating conditions and leads to the design of an optimized machine structure, with or without current in the windings and/or permanent magnet.

ROBUST ADAPTIVE CONTROL SCHEME FOR IMPROVING LOW-SPEED PROFILE TRACKING PERFORMANCE OF HYBRID STEPPING MOTOR SERVO DRIVE

A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precision profile tracking at a low speed. In order to construct a completely integrated control design philosophy to reduce torque ripple and at the same time to enhance tracking performance, the properties of nonlinear uncertainties in the system dynamics are uncovered, and then incorporated into the design of the controller. The system uncertainties concerned with ripple dynamics and other external disturbances are composed of two categories. The first category of uncertainties with linear parameterization arising from the detention effect is dealt with by the wellknown adaptive control method. A robust adaptive method is used to deal with the second category of uncertainties resulting from the non-sinusoidal flux distribution. The μ-modification scheme is used to cease parameter adaptation by the robust adaptive control law, thus ensuring that the trajectory tracking error asymptotically converges to a pre-specified boundary. Experiments are performed with a typical hybrid stepping motor to test its profile tracking accuracy. Results confirm the proposed control scheme.

A STEP Based Integrated System for Assembly Planning and Design

An integrated system for assembly planning and design (INSAPS) is presented in which product data can be exchanged between assembly planning and assembly design on the basis of standard for exchange of product data model (STEP). The system consists of CAD system, product modeling system, assembly planning system. The product model is organized according to the STEP, uses mostly the entities of IR (integrated resources) and partly self defined entities which is necessary for assembly planning. A simple method of assembly sequence generation is presented which is suitable for complex assembly planning. The generated assembly sequences are evaluated considering the optimization of total assembly time. The results of assembly planning are feedback to the stage of assembly design to improve design.

Deep-Hole Inner Diameter Measuring System Based on Non-contact Capacitance Sensor

A precise aperture measuring system of small deep holes with capacitance sensors is presented. Based on the working principle of non-contact capacitance sensors, influence of the edge effect of gauge head is studied, and one capacitance sensor for measuring the aperture of the small blind holes or through holes is introduced. The system is composed of one positioning device, one aperture measuring capacitance sensor, one measuring circuit, and software. This system employs visual CCD and two-dimensional mic...

Dynamic amplification factors for a system with multiple-degrees-of-freedom

It is well-known that the responses of a structure are different when subjected to a static load or a sudden step load.The dynamic amplification factor(DAF),which is defined as the ratio of the amplitude of the vibratory response to the static response,is normally used to depict the dynamic effect.For a single-degree-of-freedom system(SDOF)subjected to a sudden dynamic load,the maximum value of DAF is 2.Many design guidelines therefore use 2 as an upper bound to consider the dynamic effect.For a civil engineering structure,which is normally a multiple-degrees-of-freedom(MDOF)system,the DAF may exceed 2 in certain circumstances.The adoption of 2 as the upper bond as suggested by the design guidelines therefore may lead to unsafe structural design.Very limited studies systematically investigate the DAF of a MDOF sysCorrespondence to:Bi Kaiming,Centre for Infrastructure Monitoring and Protection,School of Civil and Mechanical Engineering,Curtin University,Kent Street,Bentley WA 6102,Australia Tel:(+61)892665139 E-mail:kaiming.bi@curtin.edu.autem.This study theoretically investigates the DAF of a MDOF system when it is subjected to a step load based on the fundamental theory of structural dynamics.The condition on which the DAF may exceed 2 is defined.Two numerical examples and one experimental study of a cable-stayed bridge subjected to sudden cable loss are presented to illustrate the problem.

Particle filter with importance density function generated by updated system equation

The current measurement was exploited in a more efficient way. Firstly, the system equation was updated by introducing a correction term, which depends on the current measurement and can be obtained by running a suboptimal filter. Then, a new importance density function(IDF) was defined by the updated system equation. Particles drawn from the new IDF are more likely to be in the significant region of state space and the estimation accuracy can be improved. By using different suboptimal filter, different particle filters(PFs) can be developed in this framework. Extensions of this idea were also proposed by iteratively updating the system equation using particle filter itself, resulting in the iterated particle filter. Simulation results demonstrate the effectiveness of the proposed IDF.

Three-to-one internal resonance in multiple stepped beam systems

In this study, the vibrations of multiple stepped beams with cubic nonlinearities are considered. A three-to-one internal resonance case is investigated for the system. A general approximate solution to the problem is found using the method of multiple scales （a perturbation technique）. The modulation equations of the amplitudes and the phases are derived for two modes. These equations are utilized to determine steady state solutions and their stabilities. It is assumed that the external forcing frequency is close to the lower frequency. For the numeric part of the study, the three-to-one ratio in natural frequencies is investigated. These values are observed to be between the first and second natural frequencies in the cases of the clamped-clamped and clamped-pinned supports, and between the second and third natural frequencies in the case of the pinned-pinned support. Finally, a numeric algorithm is used to solve the three-to-one internal resonance. The first mode is externally excited for the clamped-clamped and clamped-pinned supports, and the second mode is externally excited for the pinned-pinned support. Then, the amplitudes of the first and second modes are investigated when the first mode is externally excited. The amplitudes of the second and third modes are investigated when the second mode is externally excited. The force-response, damping-response, and .frequency- response curves are plotted for the internal resonance modes of vibrations. The stability analysis is carried out for these plots.

A Proper Time Integration with Split Stepping for the Explicit Free-Surface Modeling

Errors due to split time stepping are discussed for an explicit free–surface ocean model. In commonly used split time stepping, the way of time integration for the barotropic momentum equation is not compatible with that of the baroclinic one. The baroclinic equation has three–time–level structure because of leapfrog scheme. The barotropic one, however, has two–time–level structure when represented in terms of the baroclinic time level, on which the baroclinic one is integrated. This incompatibility results in the splitting errors as shown in this paper. The proper split time stepping is therefore proposed in such a way that the compatibility is kept between the barotropic and baroclinic equations. Its splitting errors are shown extremely small, so that it is particularly relevant to long–term integration for climate studies. It is applied to a free–surface model for the North Pacific Ocean.

Identification and PID Control for a Class of Delay Fractional-order Systems

In this paper, a new model identification method is developed for a class of delay fractional-order system based on the process step response. Four characteristic functions are defined to characterize the features of the normalized fractional-order model. Based on the time scaling technology, two identification schemes are proposed for parameters U+02BC estimation. The scheme one utilizes three exact points on the step response of the process to calculate model parameters directly. The other scheme employs optimal searching method to adjust the fractional order for the best model identification. The proposed two identification schemes are both applicable to any stable complex process, such as higher-order, under-damped U+002F over-damped, and minimum-phase U+002F nonminimum-phase processes. Furthermore, an optimal PID tuning method is proposed for the delay fractional-order systems. The requirements on the stability margins and the negative feedback are cast as real part constraints U+0028 RPC U+0029 and imaginary part constraints U+0028 IPC U+0029. The constraints are implemented by trigonometric inequalities on the phase variable, and the optimal PID controller is obtained by the minimization of the integral of time absolute error U+0028 ITAE U+0029 index. Identification and control of a Titanium billet heating process is given for the illustration. © 2014 Chinese Association of Automation.

Linear Piezoelectric Stepping Motor with Broad Operating Frequency

The existing resonant linear piezoelectric motors must operate with high working voltage in resonant condition,resulting in their narrow operating frequency range and poor running stability.Here,with the large displacement output characteristics of piezoelectric stacks,the trajectory at the drive foot of stator is firstly produced with two space quadrature piezoelectric actuators excited by sawtooth wave and square wave.Secondly,the friction drive principle of motor is used to analyze the working mechanisms of the continuous stepping motion.Finally,the motor prototype is designed and experiments are carried out.The experimental result shows that the motor can stably operate within the scope of 350 Hz to 750 Hz.When the excitation voltage is 30 Vand pre-load is 3Nor10 N,the lateral amplitude of the drive foot is approximately 4μm and the stable average interval ranges from3.1μm to 3.2μm with the error rate of 5%—7.5%.

The Stepping Motion of Brownian Particle Derived by Nonequilibrium Fluctuation

The direct motion of Brownian particle is considered as a result of system derived by external nonequilibriumfluctuating. The cooperative effects caused by asymmetric ratchet potential, external rocking force and additive colorednoise drive a Brownian particle in the directed stepping motion. This provides this kind of motion of kinesin along amicrotubule observed in experiments with a reasonable explanation.

A novel methodology for constructing a multi-wing chaotic and hyperchaotic system with a unified step function switching control

This paper aims at developing a novel method of constructing a class of multi-wing chaotic and hyperchaotic system by introducing a unified step function. In order to overcome the essential difficulties in iteratively adjusting multiple parameters of conventional multi-parameter control, this paper introduces a unified step function controlled by a single parameter for constructing various multi-wing chaotic and hyperchaotic systems. In particular, to the best of the authors＇ knowledge, this is also the first time to find a non-equilibrium multi-wing hyperchaotic system by means of the unified step function control. According to the heteroclinic loop Shilnikov theorem, some properties for multi-wing attractors and its chaos mechanism are further discussed and analyzed. A circuit for multi-wing systems is designed and implemented for demonstration, which verifies the effectiveness of the proposed approach.

Simple PID Parameter Tuning Method Based on Outputs of the Closed Loop System

Most of the existing PID parameters tuning methods are only effective with pre-known accurate system models, which often require some strict identification experiments and thus infeasible for many complicated systems. Actually, in most practical engineering applications, it is desirable for the PID tuning scheme to be directly based on the input-output response of the closed-loop system. Thus, a new parameter tuning scheme for PID controllers without explicit mathematical model is developed in this paper. The paper begins with a new frequency domain properties analysis of the PID controller. After that, the definition of characteristic frequency for the PID controller is given in order to study the mathematical relationship between the PID parameters and the open-loop frequency properties of the controlled system. Then, the concepts of M-field and θ-field are introduced, which are then used to explain how the PID control parameters influence the closed-loop frequency-magnitude property and its time responses. Subsequently, the new PID parameter tuning scheme, i.e., a group of tuning rules, is proposed based on the preceding analysis. Finally, both simulations and experiments are conducted, and the results verify the feasibility and validity of the proposed methods. This research proposes a PID parameter tuning method based on outputs of the closed loop system.