Selected aspects of design and modelling of linear actuator based on PM BLDC motor

• Autorzy: Hetmańczyk J. , Stenzel T. , Grzesik B.

Warianty tytułu

PL

Wybrane aspekty projektowania i modelowania siłownika liniowego zrealizowanego na bazie silnika PM BLDC

• Języki publikacji: EN

Abstrakty

EN

The article describes process of design and modeling PM BLDC motor operating in a linear actuator. The actuator drive mechanism is implemented on base of a ball screw. The possibility of applying the simplifications consequent by the need for the implementation of model realtime calculation was considered. The differences in the results generated using such models in comparison to the full model was also taken into account. Furthermore, it was presented the structure of the real actuator control system. The results of computer simulations were compared with the measurements waveforms, obtained on the test bench.

PL

W artykule opisano proces projektowania i modelowania silnika PM BLDC pracującego w siłowniku liniowym. Mechanizm posuwu siłownika realizowany jest na śrubie kulowej. Rozważono możliwości stosowania uproszczeń wynikających z potrzeby realizacji obliczeń w czasie rzeczywistym. W badaniach uwzględniono różnice w wynikach generowanych przy użyciu modeli uproszczonych w porównaniu do modeli pełnych. Ponadto zaprezentowano strukturę układu sterowania rzeczywistym siłownikiem. Uzyskane wyniki symulacji komputerowych zestawiono z przebiegami pomiarowymi otrzymanymi na stanowisku badawczym.

Słowa kluczowe

EN

permanent magnet brushless; electric drive; linear actuator; modeling

PL

bezszczotkowy silnik prądu stałego; napęd elektryczny; siłownik liniowy; projektowanie; modelowanie

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2015
• Tom: R. 91, nr 6
• Strony: 100--107
• Opis fizyczny: Bibliogr. 22 poz., rys., wykr.

Twórcy

autor

Hetmańczyk J.

• Silesian University of Technology, Faculty of Electrical Engineering, Department of Power Electronics, Electrical Drives and Robotics, Bolesława Krzywoustego 2, 44-100 Gliwice, Poland

autor

Stenzel T.

• Silesian University of Technology, Faculty of Electrical Engineering, Department of Power Electronics, Electrical Drives and Robotics, Bolesława Krzywoustego 2, 44-100 Gliwice, Poland

autor

Grzesik B.

• Silesian University of Technology, Faculty of Electrical Engineering, Department of Power Electronics, Electrical Drives and Robotics, Bolesława Krzywoustego 2, 44-100 Gliwice, Poland

Bibliografia

• [1] Bhandari, V. B., Design of Machine Elements, Tata McGraw-Hill Education, (2010).
• [2] Blaise, J., Bonev, I., Monsarrat, B., Briot, S., Lambert, J., Perron C., Kinematic characterisation of hexapods for industry, Industrial Robot: An International Journal, (2010), Vol. 37, Issue 1, pp.79 – 88.
• [3] Březina, L., Andrš, O., and Březina, T., NI LabView – Matlab SimMechanics Stewart platform design, Applied and computational mechanics, (2008), Vol. 2 (1), pp. 235-242.
• [4] Brian, R., Hopkins, Robert, L., and Williams I., Kinematics, design and control of the 6-PSU platform, Industrial Robot: An International Journal, (2002), Vol. 29, Issue 5, pp. 443 – 451.
• [5] Guojun, L., Zhiyong, Q., Junwei, H., and Xiaochu, L., Systematic optimal design procedures for the Gough-Stewart platform used as motion simulators, Industrial Robot: An International Journal, (2013), Vol. 40 Iss: 6, pp.550 – 558.
• [6] Guojun, L., Zhiyong, Q., Xiaochu, L., and Junwei, H., Tracking performance improvements of an electrohydraulic Gough- Stewart platform using a fuzzy incremental controller, Industrial Robot: An International Journal, (2014), Vol. 41, Issue 2, pp.225 – 235
• [7] Hetmańczyk, J., Gawleta, Ł., and Krykowski K., A computer model of a parallel multi-drive manipulator of brushless DC motors” (in Polish), Electrical Machines - Transaction Journal, (2013), No. 98/2013, pp. 159-162.
• [8] Hüseyin, A., Elmas, A., Ibrahim Ö., Neural network algorithm for workspace analysis of a parallel mechanism, Aircraft Engineering and Aerospace Technology, (2007), Vol. 79, Issue 1, pp.35 – 44.
• [9] Jianwei Ch., Xiaoxian Y., Control of Electric Actuator Using Brushless DC Motors and Its Performance Evaluation, IEEE Second International Conference on Intelligent Computation Technology and Automation, (2009). ICICTA '09, pp. 38 – 41.
• [10] Kania, L., Dziurski, A., and Kasprzycki, A. (2012), “The Examples of the calculation of the basics of machine design” (in Polish), WNT Warszawa.
• [11] Krishnan, R., Electric Motor Drives, Modelling, Analysis and Control”, Prentice Hall, New Jersey, (2001) .
• [12] Krykowski, K., PM BLDC motor in electric drive. Analysis, properties, modelling” (in Polish), Silesian University of Technology, (2011) Gliwice.
• [13] Krykowski, K., and Hetmańczyk, J., Constant Current Models of Permanent Magnet Brushless Direct Current Motor, Topical Problems in the Field of Electrical and Power Engineering - Pärnu (2013), Talin – Pärnu Estonia, pp. 175 – 179.
• [14] Krykowski, K., Hetmańczyk, J., and Makieła D., Impact of windings switching on torque-speed curves of PM BLDC motor, COMPEL - The International Journal for Computation and Mathematics in Electrical and Electronic Engineering, (2013), Vol. 32, Issue 4, pp. 1300 – 1314.
• [15] Lopes, A.M. and Almeida, F. G., Acceleration-based forceimpedance control of a six-dof parallel manipulator, Industrial Robot: An International Journal, (2007), Vol. 34, Issue 5, pp.386 – 399.
• [16] Merlet, J.P., Parallel Robots, Springer Science & Business Media, (2006).
• [17] Mutlu, H., Akçali, İ., D., and Gülşen, M., A Mathematical Model for the Use of a Gough-Stewart Platform Mechanism as a Fixator, Journal of Engineering Mathematics, (2006), Vol. 54, Issue 2, February, pp. 119 – 143.
• [18] Qiang Meng, Tao Zhang, Jingfeng He, Jingyan Song, and Xuedong Chen, Improved model-based control of a six-degreeof- freedom Stewart platform driven by permanent magnet synchronous motors, Industrial Robot: An International Journal, (2012), Vol. 39, Issue 1, pp. 47 – 56.
• [19] Sajkowski, M., and Krykowski, K., Control system design using rapid prototyping methods on an examples of voice controlled mobile robot and 6DOF parallel manipulator, XXIII Symposium Electromagnetic Phenomena in Nonlinear Circuits - EPNC, (2014) , Pilsen, Czech Republic, pp. 155-156.
• [20] Sewoong K., Modeling and fault analysis of BLDC motor based servo actuators for manipulators, IEEE International Conference on Robotics and Automation, ICRA, (2008), 19-23 May, pp.767 - 772.
• [21] Stenzel, T., Sajkowski, M., and Grzesik, B., Design and Implementation of 6-DOF Parallel Manipulator Driven by Permanent Magnet Brushless DC Motors, 18th International Conference on Methods and Models in Automation and Robotics, MMAR, (2013), pp. 372 - 377.
• [22] Zawirski K., Control of synchronous motor with permanent magnets” (in Polish), Poznań University of Technology, Poznań, (2005).