karel jezernik

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Implementation and usage of a freely available real-time operating system on an embedded robot controller

Povzetek. V članku sta predstavljeni implementacija in uporaba p rosto dostopnega operacijskega s... more Povzetek. V članku sta predstavljeni implementacija in uporaba p rosto dostopnega operacijskega sistema realnega čas na robotskem krmilniku DSP-2. Vgrajeni robotski krmiln ik, ki je bil razvit na Fakulteti za elektrotehniko računalništvo in informatiko Univerze v Mariboru, se uporablja prete žno v pedagoškem procesu za vodenje ve čosnih mehanizmov. Dodatno je bila k sami implementaciji operacijskega sistema re ln ga časa FreeRTOS realizirana podpora za programski jezi k MATLAB/Simulink. Ta programska podpora omogo ča preprosto kreiranje ve č opravilnih algoritmov v blokovno orientiranem programu Simulink ter hitro implementacijo in verif ikacijo zasnovanih algoritmov vodenja na vgrajenem robotskem krmilniku. Članek je podkrepljen z opisom primera uporabe imple entiranega operacijskega sistema realnega čas pri vodenju dvoosnega mehanizma.

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Control Design in Mechatronic Systems Using Dynamic Emulation of Mechanical Loads

Proceedings of the IEEE International Symposium on Industrial Electronics, 2005. ISIE 2005., 2005

The paper presents and analyses rapid prototyping methods for the dynamic emulation of mechanical... more The paper presents and analyses rapid prototyping methods for the dynamic emulation of mechanical loads. Approaches can be applied in design, testing and validation of the mechatronic systems propelled by electric drives. Actual system (prototype) is replaced by the torque controlled electromechanical load, for which the required torque is calculated through the closed-loop control algorithm. The active load is connected mechanically to the drive shaft, using the clutch. Also possible applications in the control design for variable speed and torque drives are described. For the illustration of the method emulation of the pump mechanism is given.

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Vodenje robota v drsnem reimu z adaptivno mehko estimacijo dinamike

Članek opisuje razvoj in implementacijo položajnega vodenja za večosnega direktno gnanega robota.... more Članek opisuje razvoj in implementacijo položajnega vodenja za večosnega direktno gnanega robota. Za vodenje je uporabljena kombinacija robustnega in adaptivnega pristopa, ki omogoča dobro sledenje kljub izrazito nelinearni dinamiki direktno gnanega mehanizma. Decentralno vodenje z drsnim režimu z zveznimi navornimi signali je dopolnjeno z estimatorjem dinamike, izvedenim s sistemom mehke logike z adaptivnimi parametri. Z upoštevanjem lastnosti dinamike robota je sistem mehke logike razdeljen na podsisteme, kar omogoča redukcijo števila pravil in sistematično vključitev razpoložljivega lingvističnega znanja. Poskusi, izvedeni na triosnemu robotu potrjujejo dobro sledenje referenčni trajektoriji in robustnost predlaganega načina vodenja.

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Mechatronic Systems' Control Design Using Dynamic Emulation of Mechanical Loads

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Experimentally oriented remote motion control course for mechatronic students

2008 34th Annual Conference of IEEE Industrial Electronics, 2008

ABSTRACT This paper presents experimentally oriented remote control course for mechatronics stude... more ABSTRACT This paper presents experimentally oriented remote control course for mechatronics students that is available to the engineering students from 11 European countries. The course aim is to give students theoretical knowledge as well as necessary experience and practical skills for designing of the motion controllers for mechatronics devices. In the course all phases of the motion control design including modeling, simulations, and applied motion control design for linear and nonlinear controllers are given. Course is supported with e-materials and remote experiments. It is available as a part of international collaborative remote laboratory for E-learning Distance Interactive Practical Education project of Leonardo da Vinci program. In the paper the organization of the course as well its contents are described. Studentspsila feedback obtained by anonymous questionnaire is also discussed.

Sliding-mode neural network robot controller

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

The theoretical development of a trajectory tracking neural network controller based on the theor... more The theoretical development of a trajectory tracking neural network controller based on the theory of sliding-mode controllers is shown in the paper. Derived equations of the neural network controller were verified on a direct drive 2-DOF SCARA mechanism model. The new neural network controller was compared with a neural network controller based on the computed torque method. At last we made an application on a real 2-DOF SCARA robot mechanism by the neural network controller based on the computed torque method and a sliding-mode neural network controller on a real single axis direct drive robotic manipulator driven by an induction motor

Safety control of teleoperation system under time varying communication delay

International Workshop on Advanced Motion Control, 2004

This paper describes the safe control method on bilateral control system. The control stability i... more This paper describes the safe control method on bilateral control system. The control stability in bilateral control under time variance communication delay does not always stand for operation safety. Local controller is needed to secure the safety when communication delay becomes large. A novel method to change over the local controller and global bilateral controller due to communication delay is

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Parameters identification of the dynamics model of a stepping motor with permanent magnet

2007 IEEE/ASME international conference on advanced intelligent mechatronics, 2007

In this paper the offline procedure for parameter identification of the dynamical model of a step... more In this paper the offline procedure for parameter identification of the dynamical model of a stepping motor with a permanent magnet is presented. In the process of parameters identification of the dynamics model of a stepping motor the key problem is related to nonsinusoidal flux distribution generated by the permanent magnet. The proposed procedure estimates the higher harmonics in back EMF, cogging torque harmonics and viscous friction coefficient under assumption that other parameters are known and that measured data for the phase currents, rotor speed and rotor position are available. The procedure is theoretically developed and verified by the simulations.

Greatly Improved Small Inductance Measurement Using Quartz Crystal Parasitic Capacitance Compensation

Sensors, 2010

Generally, quartz crystal inductance frequency pulling in oscillators is very low and therefore i... more Generally, quartz crystal inductance frequency pulling in oscillators is very low and therefore is not often used in practice. The new method of improving frequency pullability uses inductance to compensate for quartz stray capacitances. To this end, a special AT fundamental quartz crystal working near the antiresonance frequency is selected. By modifying its equivalent circuit with load inductance and series tuning capacitance, the magnetic sensing of the circuit can be highly improved. The experimental results show that the new approach using the quartz crystal stray capacitance compensation method increases the frequency pulling range (from  2 kHz/H to  600 kHz/H) by × 300 depending on the type of oscillator, making possible the measurement of nano-magnetic changes.

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Robust bilateral control with internet communication

30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004

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A new method for uncalibrated visual servoing

9th IEEE International Workshop on Advanced Motion Control, 2006., 2006

The paper introduces a novel method for visual servoing based on the generalization of quasi-Newt... more The paper introduces a novel method for visual servoing based on the generalization of quasi-Newton methods for nonlinear optimization. The method calibrates a linear model based on several previous iterates. The difference with existing approaches is that we do not impose the linear model to interpolate the function. Instead, we prefer to identify the linear model which is as close as possible to the nonlinear function, in the least squares sense. The new system has shown to be less sensitive to noise and exhibits a faster convergence than conventional quasi-Newton methods. The theoretical results are verified experimentally.

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Bilateral Teleoperation by Sliding Mode Control Design Approach

International Journal of Online Engineering (iJOE), 2008

SDRAM (Synchronous Dynamic Random Access Memory) demand has grown exponentially since the 1980s, ... more SDRAM (Synchronous Dynamic Random Access Memory) demand has grown exponentially since the 1980s, as a result of technological factors and new areas of application, particularly concerning communication and consumer electronics. The SDRAM market represented in 2007 c. 20% of the total semiconductor business and is seen as a strategic area, justifying private and public investment in the western and far-eastern economic communities. SDRAM test education is therefore an important subject, but very high purchase and maintenance costs keep test equipment beyond reach of most university test courses. This paper presents a pilot project addressing an SDRAM test education course developed jointly by Qimonda and the University of Porto (FEUP), where the company offers remote access to one if its Advantest SDRAM automatic test equipments. Access to this remote tester was embedded into the Moodle e-learning server that supports a new course entitled Electronic Systems Testing (TSEL), which is part of the Integrated Masters degree on Electrical and Computer Engineering at FEUP. The excellent feedback received from students encouraged us to extend this cooperation into an educational network, which is also introduced in this paper.

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Torque trajectory controller for induction motor

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)

ABSTRACT This paper presents a new control scheme of the torque trajectory-tracking controller fo... more ABSTRACT This paper presents a new control scheme of the torque trajectory-tracking controller for induction motors. The proposed approach addresses the problem of torque control of speed sensorless drives at both low and high speed, where rapid speed changes can occur. The scheme allows the precise and quick control of the induction motor flux and torque. A closed-loop rotor flux observer using sliding mode controller and a nonlinear stator frequency dependent gain is presented. The effect of stator resistance estimation quality is discussed. Sliding mode controllers are used as the stator flux controller and in the rotor flux observer. Nonlinear stator frequency dependent gain used in the rotor flux observer enables the operation at low and high speed. Thus at low speed observer turns into the closed-loop observer using stator current, stator voltage and desired rotor flux values as inputs. At high speed the information from desired rotor flux is disconnected and classical voltage model is used. The nonlinear gain is used as the transfer function in order to enable smooth transfer between the schemes. The conventional model of induction motor using rotor and stator flux in stator coordinates is used for the design of the control scheme. Stability and dynamics are described with the use of transfer functions. Also the possibility of a certain rate of decoupling between the stator and rotor fluxes is shown

Dynamic emulation of mechanical loads - approach based on nonlinear control

2005 European Conference on Power Electronics and Applications, 2005

ABSTRACT A method for the dynamic emulation of mechanical loads is presented and analyzed in the ... more ABSTRACT A method for the dynamic emulation of mechanical loads is presented and analyzed in the paper. Actual system (prototype) is replaced by the torque controlled electromechanical load, for which the required torque is calculated through the closed-loop nonlinear control algorithm using PI estimator. Also applications in the control design for variable speed and torque drives are presented

New Quartz Oscillator Switching Method for Nano-Henry Range Inductance Measurements

Sensors, 2012

This article introduces a new method for nano-Henry inductance measurements at the frequency of 4... more This article introduces a new method for nano-Henry inductance measurements at the frequency of 4.999 MHz with a single quartz crystal oscillating in the switching oscillating circuit. The real novelty of this method, however, lies in a considerable reduction of the temperature influence of AT-cut crystal frequency change in the temperature range between 0 °C and 50 °C through a switching method which compensates for the crystal's natural temperature characteristics. This allows for the compensation of any influences on the crystal such as the compensation of the non-linear temperature characteristics and the ageing of both the crystal and other oscillating circuit elements, as well as the reduction of the output frequency measurement errors with the help of an additional reference frequency. The experimental results show that the switching method greatly improves the measurement of small inductance changes in the range between μH and nH, allowing as a result high-precision measurements (~0.35 fH) in this range.

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A DSP-Based Remote Control Laboratory

IEEE Transactions on Industrial Electronics, 2007

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Sliding mode control with perturbation estimation: application to motion control of parallel manipulator

Control Engineering Practice, 1998

... of the conventional SMC, and show-ing that there is no control chattering in the control inpu... more

Embedded platform for rapid implementation of local and remote motion control experiments

Przegląd Elektrotechniczny, 2011

This paper presents hardware and software solution that enables rapid implementation of motion co... more This paper presents hardware and software solution that enables rapid implementation of motion control algorithms. Presented solution enables control design in MATLAB/Simulink and rapid transition from model-based design to real-time operation on DSP-based target hardware. In addition to rapid control prototyping, presented solution enables data visualization, parameter tuning and remote control by using LabVIEW. Streszczenie. Artykuł przedstawia rozwiązanie hardware'owe i software'owe. Umożliwiające szybką implementację algorytmów sterowania ruchem. Zaprezentowane rozwiązanie wykorzystuje platform MATLAB/Simulink i szybkie przejście z projektu opartego na modelu do celowego urządzenia, bazującego na DSP i działającego w czasie rzeczywistym. Poza tym szybkie sterowanie prototypowe daje możliwość wizualizacji. Dopasowania parametrów oraz zdalnego sterowania przy użyciu Lab-View. (Aplikacja platformy dla szybkiej implementacji eksperymentów w zakresie lokalnego i zdalnego srerowanie

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Sensorless control of induction motor based on estimation of an electromotive force

IEEE International Electric Machines and Drives Conference, 2003. IEMDC'03.

ABSTRACT Induction motor speed sensorless torque control, which allows operation at low and zero ... more ABSTRACT Induction motor speed sensorless torque control, which allows operation at low and zero speed, optimizing both torque response and efficiency, is proposed. The produced torque is a continuous output variable of control. The magnitude and orientation angle of the rotor flux of the induction motor are determined by the output of the closed-loop rotor flux observer based on estimation of the extended electromotive force of a machine. A smooth transition into the field weakening region and the full utilization of the inverter current and voltage capability are thus made possible. The reference tracking performance of torque, speed, and rotor flux is demonstrated in a series of transient characteristics by simulation and experimental results.

等価入力推定によるスライディングモード制御について

Transactions of the Society of Instrument and Control Engineers, 1995

In this paper Sliding Mode Control (SMC) with estimated equivalent control is presented. A equiva... more In this paper Sliding Mode Control (SMC) with estimated equivalent control is presented. A equivalent control in SMC is a continuous control which is introduced to analyze the sliding mode motion on the manifolds. Using a equivalent control as a control input after reaching manifolds is very useful method from a view point of eliminating chattering and analyzing of sliding mode motion on the manifolds. We presents a design method of on-line estimator which estimates a part of equivalent control containing a system's nonlinear term by use of one of a Neural Network's most powerful ability, that is, function approximation. This control algorithm doesn't require abundant information about controlled plant to calculate a equivalent control. The controller is designed to provide sliding mode motion on the selected manifolds in the state space and to satisfy selected Lyapunov function and stability criteria. This resulting control is continuous, so chattering is eliminated. Under the condition of estimation of on-line estimator converging to real value, the motion of sliding mode is equal to that one of SMC with discontinous control.

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