Modelling and Optimal Control with Energy Regeneration of a 6DOF Motion Platform with permanent Magnet Linear Actuators

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00315726" target="_blank" >RIV/68407700:21230/17:00315726 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Modelling and Optimal Control with Energy Regeneration of a 6DOF Motion Platform with permanent Magnet Linear Actuators

Original language description

The paper deals with the modelling, simulation and optimal control of parallel robotic structures (in particular those with six degrees of freedom) driven by permanent magnet linear electric motors using energy regeneration and during power outages. By virtue of their kinematic and dynamical properties, these robotic structures can be used for a variety of purposes, for instance in industrial automation or simulation technology, where motion platforms (especially hexapods) are used for motion cueing. Electric drive parallel mechanisms provide several significant benefits, in particular with regard to optimum energy distribution and regeneration options. The main research motivation is the prevailing need to develop a solution ensuring that the parallel mechanism can safely return after a power cut to the default or `park’ position in a fully controlled way (simulators, for instance, have to be capable of sliding back to the boarding position) using solely the energy accumulated in the system. This research goal requires the development of exact and fast simulation models providing insight into transient system behaviour and, subsequently, determining the optimum control strategy. Therefore, the paper will provide a detailed simulation model which can also be used in optimizing the structures of the mechanism and determining the optimum servo drive design.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

20205 - Automation and control systems

Project

<a href="/en/project/TE02000103" target="_blank" >TE02000103: Center for Intelligent Drives and Advanced Machine Control (CIDAM)</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

European Simulation and Modelling Conference 2017

ISBN

9789492859006

ISSN

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e-ISSN

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Number of pages

5

Pages from-to

373-377

Publisher name

EUROSIS - ETI

Place of publication

Ghent

Event location

Lisabon

Event date

Oct 25, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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