Ersin Yolacan

PID and state feedback control of a single-link flexible joint robot manipulator

In this work, a single - link flexible joint robot manipulator is constructed and controlled using various control techniques. The position and trajectory control is performed by PH) and State Feedback control methods for this system. The purpose of this study is to keep the rotate angle of the link at desired position and to eliminate the oscillation angle of end effectors. The experimental results were compared for each method. The control blocks required for the system are performed on Matlab - SIMULINK and applied dSpace 1103 control board. The experimental results of the system based on Pro and State Feedback controller are quite satisfactory.

Magnet shape optimization of A slotted surface-mounted axial gap PM motor for reducing cogging torque

This paper focuses on magnet shape optimization and its effects for cogging torque minimization of axial-flux PM (AFPM) disc machines. The techniques are briefly reviewed and rotor side cogging torque minimization methods are examined in detail using finite element analysis. The effects of some techniques on the machine output torque and torque ripple are also investigated. Prototype AFPM motor with various rotor structures is built and cogging torque profile of the rotor structures is obtained. Good agreement between the test results and FEA is attained.

Design and validation of a 24-pole coreless axial flux permanent magnet motor for a solar powered vehicle

This paper is about modelling, design and validation of a 24 pole coreless axial flux permanent magnet motor for solar powered vehicle applications. A double-rotor coreless axial flux surface mounted permanent magnet motor is investigated in this study. Coreless axial flux permanent magnet (AFPM) motor is analytically modelled by magnetic equivalent circuit, and the design is finalized by 3-D finite element analyses (FEA). Prototype of coreless AFPM motor is built to validate simulation results. No-load and on-load performance tests for the built motor are performed. Back EMF and initial on-load results obtained from FEA and test set-up are in good agreement.

Design and control of an 8-slot radial flux magnetic bearing

This work presents the design and control of an 8-slot radial flux magnetic bearing. Design of magnetic bearing is carried out with coupled magnetic equivalent circuit model and finite element analysis (FEA). The magnetic design is verified with 2D FEA and good agreement between the two is obtained. Designed magnetic bearing is assembled into a system and fuzzy logic control is applied to the magnetic bearings to adjust the currents in order to balance the system shaft. The control is performed at the equilibrium position under different disturbances and detailed information about the working space of the designed magnetic bearings is provided.

Real time DSP based PID and state feedback control of a brushed DC motor

In this paper, real time position, trajectory and speed controls are implemented for a serial excited brushed DC motor using PID and state feedback control methods. The purpose of this study is to keep the position and speed on desired references. The control blocks are designed on Matlab-Simulink and applied by F28335 DSP control board. The experimental results of PID and state feedback methods are compared and discussed.

Vector based speed control of permanent magnet AC servomotor with FEA and experimental verification

In this paper, real time vector control implementation for an AC servomotor is presented. Matlab-Simulink and dSpace control board were used. Speed control on desired reference using vector control technique is accomplished in the paper. Experimental results are provided for different speed conditions.