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

Kód výsledku v 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>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/TE02000103" target="_blank" >TE02000103: Centrum inteligentních pohonů a pokročilého řízení strojů (CIDAM)</a><br>

Návaznosti

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

Rok uplatnění

2017

Kód důvěrnosti údajů

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

Název statě ve sborníku

European Simulation and Modelling Conference 2017

ISBN

9789492859006

ISSN

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e-ISSN

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Počet stran výsledku

5

Strana od-do

373-377

Název nakladatele

EUROSIS - ETI

Místo vydání

Ghent

Místo konání akce

Lisabon

Datum konání akce

25. 10. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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