Speed and position control of AC servomotors A LUNA topic description
Technical abstract: At Odense University College of engineering, we have a number of industrial robots, equiped with obsolete controllers. While the robots are in excellent condition, we are unable to use them, as their controllers are no use to us. As all our robots contain AC servomotors, we would like to gain some experience in controlling this type of motor using other means than the original controller Given one or more AC servomotors with suitable power electronics, we would like to use a computer to control the position and speed of each motor, in order to experiment with different types of control algorithms, to gain experience with precision control of these motors. This topic can be treated without designing and implementing power electronics for AC motors, as we are able to buy appropriate power stages for the motors treated by this topic.
Goals: Analysis and description of the requred control technology for the treated AC motor(s) Design and implementation of a test/demo system Experimentation with one or more control strategies Documentation of results Recommendations for future use of the treated motor(s)
Formalities: Supervisor: Anders Stengaard Sørensen of OUC/IOT will supervise this topic, as main- or co-supervisor, depending on the role this topic will play in your project. Depending on the control strategies chosen for the project, it might be beneficial to involve a control expert as (co) supervisor. Size: The size of this topic is sensitive to the number of cooperating motors, as well as the depth of the analysis and the type of control strategies employed. We estimate the size of this topic from 6ECTS and upwards, depending on the level of ambition. Although a light treatment of this topic could be performed in a small project - like a bachelor project - we recommend that it is treated as a main topic of a final- or masters engineering project. Relations: This topic is quite suited for combination with topics related to: Power electronics (for AC motors) Embedded controllers Robot control System identification System modelling Milestones: Although this topic does not have ties with specific projects, it is critcal for our ability to use many of the robots we have aquired at OUC/IOT, and are planning to use in future LUNA projects. Obviously we would like to begin projects related to this topic as soon as possible Start: 1. february 2005 - or sooner
Community of interest: The primary interest in this project is with OUC/IOT and LUNA, as this topic is directly linked to our ability to utilize many of our robots. As we are planning to use these robots in various external projects later on, there are some secondary interests in this topic as well. Odense University College of engineering - This topic touches upon various interests at OUC: Our ability to control many of the robots we have aquired is linked to our ability to control AC motors The topic is proposed by Anders Stengaard Sørensen of OUC, who offers to supervise it (partially) The topic touches on a number of key areas for OUC, e.g. Control theory, Electrical machines, Power electronics, Digital signal processing, Embedded systems etc. LUNA - As we are planning to use many of our robots in LUNA projects, this topic is offered as part of a LUNA project. It will interact with: LUNA supervisors working on or managing related topics and projects LUNA students working on related topics RoboCluster - RoboCluster has an interest in this topic, both as mother organisation for LUNA, but also because of the potential for using OUC/IOT robots in research and proof-of-concept projects with RoboCluster partners
Contact: If this topic is interesting to you, please contact: Anders Stengaard Sørensen Ingeniørhøjskolen Odense Teknikum Niels Bohrs Allé 1 DK-5230 Odense M Room H-102a

Speed and position control of AC servomotors

A LUNA topic description

Technical abstract:

At Odense University College of engineering, we have a number of industrial robots, equiped with obsolete controllers. While the robots are in excellent condition, we are unable to use them, as their controllers are no use to us. As all our robots contain AC servomotors, we would like to gain some experience in controlling this type of motor using other means than the original controller

Given one or more AC servomotors with suitable power electronics, we would like to use a computer to control the position and speed of each motor, in order to experiment with different types of control algorithms, to gain experience with precision control of these motors.

This topic can be treated without designing and implementing power electronics for AC motors, as we are able to buy appropriate power stages for the motors treated by this topic.

Goals:

Analysis and description of the requred control technology for the treated AC motor(s)
Design and implementation of a test/demo system
Experimentation with one or more control strategies
Documentation of results
Recommendations for future use of the treated motor(s)

Formalities:

Supervisor:
Anders Stengaard Sørensen of OUC/IOT will supervise this topic, as main- or co-supervisor, depending on the role this topic will play in your project. Depending on the control strategies chosen for the project, it might be beneficial to involve a control expert as (co) supervisor.

Size:
The size of this topic is sensitive to the number of cooperating motors, as well as the depth of the analysis and the type of control strategies employed. We estimate the size of this topic from 6ECTS and upwards, depending on the level of ambition. Although a light treatment of this topic could be performed in a small project - like a bachelor project - we recommend that it is treated as a main topic of a final- or masters engineering project.

Relations:
This topic is quite suited for combination with topics related to:

Power electronics (for AC motors)
Embedded controllers
Robot control
System identification
System modelling

Milestones:
Although this topic does not have ties with specific projects, it is critcal for our ability to use many of the robots we have aquired at OUC/IOT, and are planning to use in future LUNA projects. Obviously we would like to begin projects related to this topic as soon as possible

Start: 1. february 2005 - or sooner

Community of interest:

The primary interest in this project is with OUC/IOT and LUNA, as this topic is directly linked to our ability to utilize many of our robots. As we are planning to use these robots in various external projects later on, there are some secondary interests in this topic as well.

Odense University College of engineering - This topic touches upon various interests at OUC:
- Our ability to control many of the robots we have aquired is linked to our ability to control AC motors
- The topic is proposed by Anders Stengaard Sørensen of OUC, who offers to supervise it (partially)
- The topic touches on a number of key areas for OUC, e.g. Control theory, Electrical machines, Power electronics, Digital signal processing, Embedded systems etc.
LUNA - As we are planning to use many of our robots in LUNA projects, this topic is offered as part of a LUNA project. It will interact with:
- LUNA supervisors working on or managing related topics and projects
- LUNA students working on related topics
RoboCluster - RoboCluster has an interest in this topic, both as mother organisation for LUNA, but also because of the potential for using OUC/IOT robots in research and proof-of-concept projects with RoboCluster partners

Contact:

If this topic is interesting to you, please contact:

Anders Stengaard Sørensen
Ingeniørhøjskolen Odense Teknikum
Niels Bohrs Allé 1
DK-5230 Odense M
Room H-102a