We consider and resolved the problem of constructing the control algorithms to implement the movement of the workers of 3D- printer prescribed spatial trajectory. Due to the prevalence of stepper motors (SM) in 3Dprinters, in article is reviewed the technique of algorithms synthesis for actuators control with SM. The prescribed trajectory in this work is given by the tabular method, on the basis of job control points applied to spatial models manufactured parts. It is obvious that the greater the number of reference points will be taken, the better will be reproduced form of detail at the 3D- printer. The paper presents original mathematical model of the SD as a controled object. On the basis of the mathematical model and the table of prescribed movements is determined algorithm of SM control. Authors are reviewed technical realization questions of the synthesized control algorithm, given the structural and functional schemes and principal electrical schemes of functional elements. Also are analyzed the problems of SM positioning errors, as well as SD angular velocity choice questions.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Karakuri based dolly frames unstacking systemAnshumanRaj8
The document describes the design of a low-cost Karakuri-based dolly frame stacking and unstacking system. The aims are to improve efficiency and ergonomics at the workstation. A CAD model and simulation are designed in Solidworks. Stress analysis determines the stopper gate can withstand the force of rolling frames. An electronic counting unit using an Arduino, sensors and display is designed to count frames. Components include conveyor rails, wheels, and profiles from the Minitec catalog. The minimum conveyor inclination angle is calculated to be 9 degrees.
This document summarizes a study on using gyroscopes and differential wheel speeds for land vehicle navigation. It examines four different sensor data fusion filters that integrate GPS, gyroscope, and odometry sensors. The filters estimate vehicle position, heading, wheel radii, and other parameters. Test data is collected from a vehicle equipped with these three sensors. The filters are evaluated based on their ability to estimate states like position and heading during GPS outages. Key findings include that integrating gyroscope and odometry data can enable continued navigation when GPS is unavailable, with errors accumulating over time without correction from GPS.
This document is a manual for the CNC lab at B.L.D.E.A’S S S M Polytechnic in Vijayapur, compiled by S.D. Patil. It introduces numerical control and CNC machines, describes coordinate systems for drilling, milling, and turning operations. It also covers dimensioning systems, preparatory functions (G-codes), miscellaneous functions (M-codes), and provides examples of turning programs for operations like simple turning, step turning, and taper turning.
This document provides information about numerical control (NC) and computer numerical control (CNC) systems. It discusses the basic components and types of NC systems, as well as differences between conventional NC and CNC. Programming methods like incremental vs absolute positioning and point-to-point vs continuous path machining are summarized. Common machine tools used with CNC like lathes and milling machines are described along with their basic axes of motion. Interpolation types including linear and circular are also covered at a high level. The document serves as a lab sheet outlining key concepts for a CNC laboratory course.
The document discusses various interpolation methods used in CNC machining, including linear, circular, and parametric interpolation. It notes that while linear interpolation is simple, it results in faceted tool paths and reduced accuracy. Circular interpolation allows curved tool paths but is limited to 2 axes. Parametric interpolation, including NURBS, generates points directly on the desired curve, avoiding segmentation issues and allowing higher speeds and accuracy. NURBS interpolation in particular allows more efficient representation of complex geometries.
Cyclic Life Establishment of First Stage Compressor Blade - Aircraft Jet EngineIJERA Editor
In this project an attempt is made to identify the cyclic life, modal efficacies for assessing the life that is declared
by the Original Engine Manufacturer. Using the Goodman diagram and knowing the mean stress of the blade for
all rpm conditions.
This document describes a contouring control method for CNC machine tools using a linear parameter-varying (LPV) controller. It involves transforming the axis coordinates into a task frame defined by the toolpath direction and velocity. An LPV feedback controller is designed as a function of the toolpath trajectory direction and velocity to minimize estimated contouring error while suppressing vibration. Weighting functions in the controller design are tuned to improve contouring accuracy and bandwidth by adjusting parameters like gains and crossover frequencies.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Karakuri based dolly frames unstacking systemAnshumanRaj8
The document describes the design of a low-cost Karakuri-based dolly frame stacking and unstacking system. The aims are to improve efficiency and ergonomics at the workstation. A CAD model and simulation are designed in Solidworks. Stress analysis determines the stopper gate can withstand the force of rolling frames. An electronic counting unit using an Arduino, sensors and display is designed to count frames. Components include conveyor rails, wheels, and profiles from the Minitec catalog. The minimum conveyor inclination angle is calculated to be 9 degrees.
This document summarizes a study on using gyroscopes and differential wheel speeds for land vehicle navigation. It examines four different sensor data fusion filters that integrate GPS, gyroscope, and odometry sensors. The filters estimate vehicle position, heading, wheel radii, and other parameters. Test data is collected from a vehicle equipped with these three sensors. The filters are evaluated based on their ability to estimate states like position and heading during GPS outages. Key findings include that integrating gyroscope and odometry data can enable continued navigation when GPS is unavailable, with errors accumulating over time without correction from GPS.
This document is a manual for the CNC lab at B.L.D.E.A’S S S M Polytechnic in Vijayapur, compiled by S.D. Patil. It introduces numerical control and CNC machines, describes coordinate systems for drilling, milling, and turning operations. It also covers dimensioning systems, preparatory functions (G-codes), miscellaneous functions (M-codes), and provides examples of turning programs for operations like simple turning, step turning, and taper turning.
This document provides information about numerical control (NC) and computer numerical control (CNC) systems. It discusses the basic components and types of NC systems, as well as differences between conventional NC and CNC. Programming methods like incremental vs absolute positioning and point-to-point vs continuous path machining are summarized. Common machine tools used with CNC like lathes and milling machines are described along with their basic axes of motion. Interpolation types including linear and circular are also covered at a high level. The document serves as a lab sheet outlining key concepts for a CNC laboratory course.
The document discusses various interpolation methods used in CNC machining, including linear, circular, and parametric interpolation. It notes that while linear interpolation is simple, it results in faceted tool paths and reduced accuracy. Circular interpolation allows curved tool paths but is limited to 2 axes. Parametric interpolation, including NURBS, generates points directly on the desired curve, avoiding segmentation issues and allowing higher speeds and accuracy. NURBS interpolation in particular allows more efficient representation of complex geometries.
Cyclic Life Establishment of First Stage Compressor Blade - Aircraft Jet EngineIJERA Editor
In this project an attempt is made to identify the cyclic life, modal efficacies for assessing the life that is declared
by the Original Engine Manufacturer. Using the Goodman diagram and knowing the mean stress of the blade for
all rpm conditions.
This document describes a contouring control method for CNC machine tools using a linear parameter-varying (LPV) controller. It involves transforming the axis coordinates into a task frame defined by the toolpath direction and velocity. An LPV feedback controller is designed as a function of the toolpath trajectory direction and velocity to minimize estimated contouring error while suppressing vibration. Weighting functions in the controller design are tuned to improve contouring accuracy and bandwidth by adjusting parameters like gains and crossover frequencies.
Comparative Analysis of PID, SMC, SMC with PID Controller for Speed Control o...IJMTST Journal
In this thesis, sliding mode control (SMC) technique is used to control the speed of DC motor. The performance of the SMC is judged via MATLAB simulations using linear model of the DC motor and known disturbance. SMC is then compared with PID controller. The simulation result shows that the sliding mode controller (SMC) is superior controller than PID for the speed control of DC motor. Since the SMC is robust in presence of disturbances, the desired speed is perfectly tracked. The sliding mode control (SMC)can adapt itself to the parameter variations and external disturbances, problem of chattering parameter, resulting from discontinuous controller, is handled by sliding with smooth control action
This document discusses parameter estimation and controller design for an optical encoder. It describes using MATLAB to estimate parameters of an optical encoder and a gyroscope from experimental data. It also discusses tuning a PID controller using pole placement and references related work on optical encoders, gyroscopes, and parameter estimation techniques.
This document is the thesis of Dmitriy Rivkin submitted in partial fulfillment of the requirements for a Master of Science degree in Computer Engineering from the University of California, Santa Cruz. The thesis investigates optimal control techniques for minimum energy attitude maneuvers of CubeSats using reaction wheels. It formulates the optimal control problem, develops algorithms to solve for optimal trajectories, and analyzes the performance of the optimal trajectories through simulations and hardware experiments on a CubeSat testbed. The thesis contributes to advancing optimal control methods for efficient attitude control of small satellites.
This document discusses different modes and control systems for CNC machines. It describes point-to-point control which involves individual axis motions like drilling. Continuous-path control allows simultaneous multi-axis motion for contouring. Interpolation methods compute intermediate positions to smoothly connect points, including linear, circular, helical, parabolic and cubic forms. Open-loop systems use stepper motors while closed-loop systems add feedback control for greater accuracy.
Design and Simulation of Different Controllers for Stabilizing Inverted Pendu...IJERA Editor
The Inverted Pendulum system has been identified for implementing controllers as it is an inherently unstable system having nonlinear dynamics. The system has fewer control inputs than degrees of freedom which makes it fall under the class of under-actuated systems. It makes the control task more challenging making the inverted pendulum system a classical benchmark for the design, testing, evaluating and comparing. The inverted pendulum to be discussed in this paper is an inverted pendulum mounted on a motor driven cart. The aim is to stabilize the system such that the position of the cart on the track is controlled quickly and accurately so that the pendulum is always erected in its vertical position. In this paper the linearized model was obtained by Jacobian matrix method. The Matlab-Simulink models have been developed for simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using different control methods. The methods discussed in this paper are a double Proportional-Integral-Derivative (PID) control method, a modern Linear Quadratic Regulator (LQR) control method and a combination of PID and Linear Quadratic Regulator (LQR) control methods. The dynamic and steady state performance are investigated and compared for the above controllers.
1. The document describes a study to reduce stress concentration between a cam and roller follower by rounding the edges.
2. A cam and follower system is designed to provide simple harmonic motion, and CAD models are created of the system with both flat and rounded edges.
3. Finite element analysis shows that the maximum equivalent stress is reduced from 4.1684e8 Pa for the flat edge model to 1.8839e8 Pa for the rounded edge model, demonstrating that rounding the edges is effective at reducing stress concentration.
Dynamic modelling and optimal controlscheme of wheel inverted pendulum for mo...ijctcm
Unstable wheel inverted pendulum is modelled and controlled deploying Kane’s method and optimal
partial-state PID control scheme. A correct derivation of nonlinear mathematical model of a wheel inverted
pendulum is obtained using a proper definition of the geometric context of active and inertia forces. Then
the model is decoupled to two linear subsystems namely balancing and heading subsystems. Afterward
partial-state PID controller is proposed and formulated to quadratic optimal regulation tuning method. It
enables partial-state PID to be optimally tuned and guarantees a satisfactory level of states error and a
realistic utilization of torque energy. Simulation and numerical analyses are carried out to analyse
system’s stability and to determine the performance of the proposed controller for mobile wheel inverted
pendulum application.
This document is a thesis submitted by Salih Baris Ozturk to Texas A&M University in partial fulfillment of the requirements for a Master of Science degree in Electrical Engineering. The thesis focuses on developing a novel direct torque control scheme for permanent magnet synchronous motors using cost-effective Hall-effect sensors. It presents the basic theory, mathematical model, and simulation results of the proposed direct torque control topology. The mathematical model can simulate steady-state and dynamic responses, including under heavy load conditions. The proposed drive is then applied to the agitation part of a laundry washing machine for speed performance comparison with current control techniques.
Troubleshooting and Enhancement of Inverted Pendulum System Controlled by DSP...Thomas Templin
An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is often implemented with the pivot point mounted on a cart that can move horizontally and may be called a cart-and-pole system. A normal pendulum is always stable since the pendulum hangs downward, whereas the inverted pendulum is inherently unstable and trivially underactuated (because the number of actuators is less than the degrees of freedom). For these reasons, the inverted pendulum has become one of the most important classical problems of control engineering. Since the 1950s, the inverted-pendulum benchmark, especially the cart version, has been used for the teaching and understanding of the use of linear-feedback control theory to stabilize an open-loop unstable system.
The objectives of this project are to:
• Focus on hardware and software troubleshooting and enhancement of an inverted-pendulum system controlled by a DSP28355 microprocessor and CCSv7.1 software.
• Use the swing-up strategy to move the pendulum into the unstable upward position (‘saddle’). The cart/pole system employs linear bearings for back-and-forward motion. The motor shaft has a pinion gear that rides on a track permitting the cart to move in a linear fashion. Both rack and pinion are made of hardened steel and mesh with a tight tolerance. The rack-and-pinion mechanism eliminates undesirable effects found in belt-driven and free-wheel systems, such as slippage or belt stretching, ensuring consistent and continuous traction.
• The motor shaft is coupled to a high-resolution optical encoder that accurately measures the position of the cart. The angle of the pendulum is also measured by an optical encoder, and the system employs an LQR controller to stabilize the pendulum rod at the unstable-equilibrium position.
• Addition of real-time status reporting and visualization of the system.
For the project, the Quanser High Frequency Linear Cart (HFLC) was used. The HFLC system consists of a precisely machined solid aluminum cart driven by a high-power 3-phase brushless DC motor. The cart slides along two high-precision, ground-hardened stainless steel guide rails, allowing for multiple turns and continuous measurement over the entire range of motion.
Our team implemented a control strategy that consists of a linear stabilizing LQR controller, proportional-integral swing-up control, and a supervisory coordinator that determines the control strategy (LQR or swing-up) to be used at any given time. The function of the linear stabilizer is to stabilize the system when it is in the vicinity of the unstable equilibrium. When the pendulum is in its natural state (straight-down stable-equilibrium node), the swing-up controller provides the cart/pendulum system with adequate energy to move the pendulum to the unstable equilibrium inside the “region of attraction” in which the linearized LQR controller is functional.
This document describes a thesis submitted by Vishal K Gawade and Aayush Garg for their Bachelor's degree. The thesis focuses on modeling and simulation of induction motors and wind turbines. It provides background on vector control of induction motors and describes the mathematical modeling of induction motors. It also covers topics related to wind turbine design such as blade element momentum theory and pitch control. The document includes MATLAB code examples and Simulink models developed as part of the thesis work.
This document describes simulation of non-linear computed torque control for a two link SCARA type manipulator in Simulink. It begins with an introduction to SCARA manipulators and computed torque control. It then provides the inverse kinematics equations to transform between Cartesian and joint space for the manipulator. It derives the equations of motion using Lagrange's equations. It describes a pick and place task and generates trajectories between points using a third order polynomial. Finally, it introduces computed torque control which uses feedback linearization to calculate the required joint torques to control the nonlinear manipulator.
Finite Element Analysis of Shaft of Centrifugal PumpIOSR Journals
Centrifugal pump is world one of the oldest water pumping devises. The current work deals study
Shaft of centrifugal pump for static and dynamic analysis. As we know rotodynamic machineries are designed
keenly as there is lot of fluctuation in the loads and speeds. The shaft is analyzed by using finite element analysis
technique for stresses and deflections. The total work is carried out in two stages first stage is static analysis. In
this stage pump shaft is analyzed for stresses and deflection and same results are verified using graphical
integration method. And second for dynamic analysis, in this stage result obtained by static analysis are used to
calculate dynamic forces coming in pump shaft. Again shaft is analyzed in dynamic input condition and results
are verified by using graphical integration method. The software used for the finite element meshing is
HYPERMESH and solver used is RADIOSS. Result values obtained for deflection and stresses are compared in
both cases. Result obtained by graphical method and FEA are nearly similar and are in acceptable limits.
This document analyzes an axial-flux permanent magnet synchronous machine with contra-rotating rotors under unbalanced load conditions using 3D finite element analysis. It discusses how the back electromotive force (EMF) produced by each rotor combines to produce a distorted total back EMF when the rotors are at different angular positions. 3D FEA is used to model the machine and simulate its operation under unbalanced loads to obtain characteristics of the back EMF and torque production. The analysis aims to better understand performance issues like torque ripple and current oscillation that occur under unbalanced loads.
KINEMATICS, TRAJECTORY PLANNING AND DYNAMICS OF A PUMA 560 - Mazzali A., Patr...AlessandroMazzali
Mechanics of Robot Manipulators course project
The manipulator's model (graphical and mathematical) was implemented via self-written Matlab scripts.
-Analytic model of the robot
-Direct and inverse kinematics solution
-Direct and inverse dynamics solution
-Trajectory planning
An additional Simulink model was implemented to solve the inverse dynamics problem.
This document discusses circular interpolation in CNC machining. It describes how circular interpolation directs CNC machines to cut circular paths by moving the tool simultaneously in the X and Y directions in short linear segments that approximate an arc. It discusses cutting direction, the G02 and G03 commands used to specify clockwise or counterclockwise motion, and programming arcs using radius or center point vectors. Examples are provided of programming arcs using absolute and incremental coordinates.
Designing the virtual model of a mechatronic micro positioning and micro-meas...eSAT Journals
Abstract This paper aims is to present the realization of a virtual model, as well as the experimental model for a mechatronic micro-positioning and micro-measuring system on two axes, OX, and OZ respectively. The paper also includes experimental results on measuring the gripping force developed between the fingers of an electrical micro-gripper, with two fingers, incorporated into the experimental model of a mechatronic micro-positioning system. Index Terms: flexible mechatronic system, micro-positioning, micro-gripper
This document describes a suspension system model for a heavy vehicle and the design of an active suspension controller. The model includes two masses connected by a spring and damper to represent the vehicle body and wheel. Transfer functions are derived relating the output displacement to control input and road disturbance. Simulation in MATLAB shows the open-loop system has an unacceptable overshoot and settling time. A PID controller is designed and tested, showing improved but still not ideal performance. Gains are increased further resulting in a system meeting requirements of less than 5% overshoot and 5 second settling time.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
This document discusses the design and optimization of the roll cage for a single-seated all-terrain vehicle (ATV). The authors designed the roll cage in CATIA and analyzed it using finite element analysis in Altair HyperWorks to evaluate stresses and deformations under various loading conditions like frontal impact, torsion, and roll over. They identified two dimensions, the radius of the front impact member and side impact member, that were not directly constrained. Through repeated analysis while varying these radii, they determined the optimum radii that resulted in minimum deformation for the given loads. The final roll cage design met all constraints in the BAJA rulebook and provided adequate protection for the driver.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
El capítulo describe cómo la mente funciona para crear nuestra realidad a través de imágenes y palabras. Las imágenes juegan un papel importante en el logro de metas y en los comportamientos de autodesabotaje. El cerebro piensa principalmente en imágenes en lugar de palabras, por lo que la visualización es clave para lograr objetivos. Los pensamientos negativos conducen al fracaso, mientras que mantener una mentalidad positiva y creer en uno mismo es fundamental para tener éxito.
Comparative Analysis of PID, SMC, SMC with PID Controller for Speed Control o...IJMTST Journal
In this thesis, sliding mode control (SMC) technique is used to control the speed of DC motor. The performance of the SMC is judged via MATLAB simulations using linear model of the DC motor and known disturbance. SMC is then compared with PID controller. The simulation result shows that the sliding mode controller (SMC) is superior controller than PID for the speed control of DC motor. Since the SMC is robust in presence of disturbances, the desired speed is perfectly tracked. The sliding mode control (SMC)can adapt itself to the parameter variations and external disturbances, problem of chattering parameter, resulting from discontinuous controller, is handled by sliding with smooth control action
This document discusses parameter estimation and controller design for an optical encoder. It describes using MATLAB to estimate parameters of an optical encoder and a gyroscope from experimental data. It also discusses tuning a PID controller using pole placement and references related work on optical encoders, gyroscopes, and parameter estimation techniques.
This document is the thesis of Dmitriy Rivkin submitted in partial fulfillment of the requirements for a Master of Science degree in Computer Engineering from the University of California, Santa Cruz. The thesis investigates optimal control techniques for minimum energy attitude maneuvers of CubeSats using reaction wheels. It formulates the optimal control problem, develops algorithms to solve for optimal trajectories, and analyzes the performance of the optimal trajectories through simulations and hardware experiments on a CubeSat testbed. The thesis contributes to advancing optimal control methods for efficient attitude control of small satellites.
This document discusses different modes and control systems for CNC machines. It describes point-to-point control which involves individual axis motions like drilling. Continuous-path control allows simultaneous multi-axis motion for contouring. Interpolation methods compute intermediate positions to smoothly connect points, including linear, circular, helical, parabolic and cubic forms. Open-loop systems use stepper motors while closed-loop systems add feedback control for greater accuracy.
Design and Simulation of Different Controllers for Stabilizing Inverted Pendu...IJERA Editor
The Inverted Pendulum system has been identified for implementing controllers as it is an inherently unstable system having nonlinear dynamics. The system has fewer control inputs than degrees of freedom which makes it fall under the class of under-actuated systems. It makes the control task more challenging making the inverted pendulum system a classical benchmark for the design, testing, evaluating and comparing. The inverted pendulum to be discussed in this paper is an inverted pendulum mounted on a motor driven cart. The aim is to stabilize the system such that the position of the cart on the track is controlled quickly and accurately so that the pendulum is always erected in its vertical position. In this paper the linearized model was obtained by Jacobian matrix method. The Matlab-Simulink models have been developed for simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using different control methods. The methods discussed in this paper are a double Proportional-Integral-Derivative (PID) control method, a modern Linear Quadratic Regulator (LQR) control method and a combination of PID and Linear Quadratic Regulator (LQR) control methods. The dynamic and steady state performance are investigated and compared for the above controllers.
1. The document describes a study to reduce stress concentration between a cam and roller follower by rounding the edges.
2. A cam and follower system is designed to provide simple harmonic motion, and CAD models are created of the system with both flat and rounded edges.
3. Finite element analysis shows that the maximum equivalent stress is reduced from 4.1684e8 Pa for the flat edge model to 1.8839e8 Pa for the rounded edge model, demonstrating that rounding the edges is effective at reducing stress concentration.
Dynamic modelling and optimal controlscheme of wheel inverted pendulum for mo...ijctcm
Unstable wheel inverted pendulum is modelled and controlled deploying Kane’s method and optimal
partial-state PID control scheme. A correct derivation of nonlinear mathematical model of a wheel inverted
pendulum is obtained using a proper definition of the geometric context of active and inertia forces. Then
the model is decoupled to two linear subsystems namely balancing and heading subsystems. Afterward
partial-state PID controller is proposed and formulated to quadratic optimal regulation tuning method. It
enables partial-state PID to be optimally tuned and guarantees a satisfactory level of states error and a
realistic utilization of torque energy. Simulation and numerical analyses are carried out to analyse
system’s stability and to determine the performance of the proposed controller for mobile wheel inverted
pendulum application.
This document is a thesis submitted by Salih Baris Ozturk to Texas A&M University in partial fulfillment of the requirements for a Master of Science degree in Electrical Engineering. The thesis focuses on developing a novel direct torque control scheme for permanent magnet synchronous motors using cost-effective Hall-effect sensors. It presents the basic theory, mathematical model, and simulation results of the proposed direct torque control topology. The mathematical model can simulate steady-state and dynamic responses, including under heavy load conditions. The proposed drive is then applied to the agitation part of a laundry washing machine for speed performance comparison with current control techniques.
Troubleshooting and Enhancement of Inverted Pendulum System Controlled by DSP...Thomas Templin
An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is often implemented with the pivot point mounted on a cart that can move horizontally and may be called a cart-and-pole system. A normal pendulum is always stable since the pendulum hangs downward, whereas the inverted pendulum is inherently unstable and trivially underactuated (because the number of actuators is less than the degrees of freedom). For these reasons, the inverted pendulum has become one of the most important classical problems of control engineering. Since the 1950s, the inverted-pendulum benchmark, especially the cart version, has been used for the teaching and understanding of the use of linear-feedback control theory to stabilize an open-loop unstable system.
The objectives of this project are to:
• Focus on hardware and software troubleshooting and enhancement of an inverted-pendulum system controlled by a DSP28355 microprocessor and CCSv7.1 software.
• Use the swing-up strategy to move the pendulum into the unstable upward position (‘saddle’). The cart/pole system employs linear bearings for back-and-forward motion. The motor shaft has a pinion gear that rides on a track permitting the cart to move in a linear fashion. Both rack and pinion are made of hardened steel and mesh with a tight tolerance. The rack-and-pinion mechanism eliminates undesirable effects found in belt-driven and free-wheel systems, such as slippage or belt stretching, ensuring consistent and continuous traction.
• The motor shaft is coupled to a high-resolution optical encoder that accurately measures the position of the cart. The angle of the pendulum is also measured by an optical encoder, and the system employs an LQR controller to stabilize the pendulum rod at the unstable-equilibrium position.
• Addition of real-time status reporting and visualization of the system.
For the project, the Quanser High Frequency Linear Cart (HFLC) was used. The HFLC system consists of a precisely machined solid aluminum cart driven by a high-power 3-phase brushless DC motor. The cart slides along two high-precision, ground-hardened stainless steel guide rails, allowing for multiple turns and continuous measurement over the entire range of motion.
Our team implemented a control strategy that consists of a linear stabilizing LQR controller, proportional-integral swing-up control, and a supervisory coordinator that determines the control strategy (LQR or swing-up) to be used at any given time. The function of the linear stabilizer is to stabilize the system when it is in the vicinity of the unstable equilibrium. When the pendulum is in its natural state (straight-down stable-equilibrium node), the swing-up controller provides the cart/pendulum system with adequate energy to move the pendulum to the unstable equilibrium inside the “region of attraction” in which the linearized LQR controller is functional.
This document describes a thesis submitted by Vishal K Gawade and Aayush Garg for their Bachelor's degree. The thesis focuses on modeling and simulation of induction motors and wind turbines. It provides background on vector control of induction motors and describes the mathematical modeling of induction motors. It also covers topics related to wind turbine design such as blade element momentum theory and pitch control. The document includes MATLAB code examples and Simulink models developed as part of the thesis work.
This document describes simulation of non-linear computed torque control for a two link SCARA type manipulator in Simulink. It begins with an introduction to SCARA manipulators and computed torque control. It then provides the inverse kinematics equations to transform between Cartesian and joint space for the manipulator. It derives the equations of motion using Lagrange's equations. It describes a pick and place task and generates trajectories between points using a third order polynomial. Finally, it introduces computed torque control which uses feedback linearization to calculate the required joint torques to control the nonlinear manipulator.
Finite Element Analysis of Shaft of Centrifugal PumpIOSR Journals
Centrifugal pump is world one of the oldest water pumping devises. The current work deals study
Shaft of centrifugal pump for static and dynamic analysis. As we know rotodynamic machineries are designed
keenly as there is lot of fluctuation in the loads and speeds. The shaft is analyzed by using finite element analysis
technique for stresses and deflections. The total work is carried out in two stages first stage is static analysis. In
this stage pump shaft is analyzed for stresses and deflection and same results are verified using graphical
integration method. And second for dynamic analysis, in this stage result obtained by static analysis are used to
calculate dynamic forces coming in pump shaft. Again shaft is analyzed in dynamic input condition and results
are verified by using graphical integration method. The software used for the finite element meshing is
HYPERMESH and solver used is RADIOSS. Result values obtained for deflection and stresses are compared in
both cases. Result obtained by graphical method and FEA are nearly similar and are in acceptable limits.
This document analyzes an axial-flux permanent magnet synchronous machine with contra-rotating rotors under unbalanced load conditions using 3D finite element analysis. It discusses how the back electromotive force (EMF) produced by each rotor combines to produce a distorted total back EMF when the rotors are at different angular positions. 3D FEA is used to model the machine and simulate its operation under unbalanced loads to obtain characteristics of the back EMF and torque production. The analysis aims to better understand performance issues like torque ripple and current oscillation that occur under unbalanced loads.
KINEMATICS, TRAJECTORY PLANNING AND DYNAMICS OF A PUMA 560 - Mazzali A., Patr...AlessandroMazzali
Mechanics of Robot Manipulators course project
The manipulator's model (graphical and mathematical) was implemented via self-written Matlab scripts.
-Analytic model of the robot
-Direct and inverse kinematics solution
-Direct and inverse dynamics solution
-Trajectory planning
An additional Simulink model was implemented to solve the inverse dynamics problem.
This document discusses circular interpolation in CNC machining. It describes how circular interpolation directs CNC machines to cut circular paths by moving the tool simultaneously in the X and Y directions in short linear segments that approximate an arc. It discusses cutting direction, the G02 and G03 commands used to specify clockwise or counterclockwise motion, and programming arcs using radius or center point vectors. Examples are provided of programming arcs using absolute and incremental coordinates.
Designing the virtual model of a mechatronic micro positioning and micro-meas...eSAT Journals
Abstract This paper aims is to present the realization of a virtual model, as well as the experimental model for a mechatronic micro-positioning and micro-measuring system on two axes, OX, and OZ respectively. The paper also includes experimental results on measuring the gripping force developed between the fingers of an electrical micro-gripper, with two fingers, incorporated into the experimental model of a mechatronic micro-positioning system. Index Terms: flexible mechatronic system, micro-positioning, micro-gripper
This document describes a suspension system model for a heavy vehicle and the design of an active suspension controller. The model includes two masses connected by a spring and damper to represent the vehicle body and wheel. Transfer functions are derived relating the output displacement to control input and road disturbance. Simulation in MATLAB shows the open-loop system has an unacceptable overshoot and settling time. A PID controller is designed and tested, showing improved but still not ideal performance. Gains are increased further resulting in a system meeting requirements of less than 5% overshoot and 5 second settling time.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
This document discusses the design and optimization of the roll cage for a single-seated all-terrain vehicle (ATV). The authors designed the roll cage in CATIA and analyzed it using finite element analysis in Altair HyperWorks to evaluate stresses and deformations under various loading conditions like frontal impact, torsion, and roll over. They identified two dimensions, the radius of the front impact member and side impact member, that were not directly constrained. Through repeated analysis while varying these radii, they determined the optimum radii that resulted in minimum deformation for the given loads. The final roll cage design met all constraints in the BAJA rulebook and provided adequate protection for the driver.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
El capítulo describe cómo la mente funciona para crear nuestra realidad a través de imágenes y palabras. Las imágenes juegan un papel importante en el logro de metas y en los comportamientos de autodesabotaje. El cerebro piensa principalmente en imágenes en lugar de palabras, por lo que la visualización es clave para lograr objetivos. Los pensamientos negativos conducen al fracaso, mientras que mantener una mentalidad positiva y creer en uno mismo es fundamental para tener éxito.
Introducing Cause Genesis for Non-Profit OrganizationsCause Genesis
Re-imagining the way non-profits raise money and nurture donor relationships. We help non-profits innovate their way to organizational success and prosperity.
La escuela número 15 ofrece cursos gratuitos de danzas folklóricas argentinas para niños, jóvenes y adultos los martes y jueves de 17:30 a 19:30. Para más información e inscripción se puede llamar al 4308-6567.
El documento describe las funciones y estructura del sistema esquelético. El sistema esquelético cumple funciones de sostén, protección y movimiento. Está formado por huesos que contienen médula ósea, diáfisis, epífisis y cartílagos. Los huesos están compuestos de tejido óseo compacto y esponjoso, formado por osteoblastos, osteocitos y osteoclastos.
This document provides information about a wet plan building project. It indicates that the project involves 110 tons of material and uses Tekla17 software for modeling. In a concise manner, the document specifies the scope and tools used for a wet plan building project.
مشروم کا زیرالا پن اور تاریخ A Lecture By Mr Allah Dad Khan Former DG Agric...Mr.Allah Dad Khan
مشروم کا زیرالا پن اور تاریخ A Lecture By Mr Allah Dad Khan Former DG Agriculture Extension Khyber Pakhtun Khwa Province & Visiting Professor Agriculture University Peshawar Pakistan
Copa do Nordeste Guarany de Sobral 2x1 Botafogo-PBBotashow
O documento resume um jogo de futebol entre os times Guarany/CE e Botafogo/PB pela Copa do Nordeste de 2014. O jogo terminou em 2-1 para o Guarany/CE, com gols de Juliano Gimenes e Rodrigo Vitor para o Guarany e Francisco Hercules para o Botafogo. O jogador Francisco Hercules foi expulso do Botafogo no segundo tempo.
El documento ofrece consejos sobre cómo mantener una buena amistad. Recomienda ayudar y comprender a los amigos cuando tienen problemas en lugar de rechazarlos, valorar la riqueza interior de los amigos más que su apariencia exterior, y estar presente para escucharlos cuando pasan por malos momentos como una forma de reconfortarlos. También sugiere aceptar tanto las virtudes como los defectos de los amigos, ser sincero y leal, y recordar que para tener amigos uno mismo debe ser un amigo.
Field Effect Transistors Based on Composite Films of poly (4 vinyl phenol) wi...theijes
In order to adjust the characteristic of pentacene thin film transistor we modified the dielectric properties of the gate insulator: the poly(4-vinylphenol) (PVP). PVP is an organic polymer with a low dielectric constant, limiting the performance of organic thin film transistor. To increase the dielectric constant of PVP controlled amount of ZnO nanoparticles have been homogeneously dispersed in the dielectric layer. The effect of the concentration of ZnO on the relative permittivity of PVP is measured using impedance spectroscopy it has been demonstrated that the permittivity increase (from 3.6 to 5.5), with no percolation phenomenon even at concentration of 50 vol%. The performance of the OTFT in terms of charge carrier mobility, threshold voltage and linkage current is evaluated. It results in a dramatic increase in both the field effect mobility and the linkage current by a factor of 10. It has been demonstrated that the threshold voltage can be adjusted it shifts from 8 to 0 when the volume concentration of ZnO varied from 0 to 50 vol%.
This document discusses computer numeric control (CNC) systems. It begins by defining CNC as a system that controls actions through direct insertion of numerical data that is automatically interpreted. It then covers advantages and disadvantages of CNC, open and closed loop control systems, elements of a CNC system including input devices, the CPU, machine tool, and feedback devices. Precision measurements and interpolation methods for CNC are also summarized.
Welcome to International Journal of Engineering Research and Development (IJERD)IJERD Editor
call for paper 2012, hard copy of journal, research paper publishing, where to publish research paper,
journal publishing, how to publish research paper, Call For research paper, international journal, publishing a paper, IJERD, journal of science and technology, how to get a research paper published, publishing a paper, publishing of journal, publishing of research paper, reserach and review articles, IJERD Journal, How to publish your research paper, publish research paper, open access engineering journal, Engineering journal, Mathemetics journal, Physics journal, Chemistry journal, Computer Engineering, Computer Science journal, how to submit your paper, peer reviw journal, indexed journal, reserach and review articles, engineering journal, www.ijerd.com, research journals
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Performance Analysis of a DTC and SVM Based Field- Orientation Control Induct...IJPEDS-IAES
This study presents a performance analysis of two most popular control strategies for Induction Motor (IM) drives: direct torque control (DTC) and space vector modulation (SVM) strategies. The performance analysis is done by applying field-orientation control (FOC) technique because of its good dynamic response. The theoretical principle, simulation results are discussed to study the dynamic performances of the drive system for individual control strategies using actual parameters of induction motor. A closed loop PI controller scheme has been used. The main purpose of this study is to minimize ripple in torque response curve and to achieve quick speed response as well as to investigate the condition for optimum performance of induction motor drive. Depending on the simulation results this study also presents a detailed comparison between direct torque control and space vector modulation based field-orientation control method for the induction motor drive.
Modeling & Simulation of PMSM Drives with Fuzzy Logic ControllerIJMER
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
International Journal of Modern Engineering Research (IJMER) covers all the fields of engineering and science: Electrical Engineering, Mechanical Engineering, Civil Engineering, Chemical Engineering, Computer Engineering, Agricultural Engineering, Aerospace Engineering, Thermodynamics, Structural Engineering, Control Engineering, Robotics, Mechatronics, Fluid Mechanics, Nanotechnology, Simulators, Web-based Learning, Remote Laboratories, Engineering Design Methods, Education Research, Students' Satisfaction and Motivation, Global Projects, and Assessment…. And many more.
This document provides an introduction and overview of computer numerical control (CNC) machines. It discusses the history and development of CNC machines, comparing them to conventional machines. The key components of CNC machines are described, including the feed drive, measuring system, tool turret, and coordinate system. Different types of CNC machines are classified based on their motion, control loops, number of axes, and power supply. Programming codes for CNC machines are introduced, including G codes for preparatory functions and M codes for miscellaneous functions. Examples of basic CNC programs for turning, milling, and drilling operations are provided.
This document reports on the development of a self-balancing robot. It describes the key modules of the robot's mechanical and electronic systems. The mechanical system uses a wooden structure and two wheels. The electronic system includes a processor module using an Arduino Mega, sensor modules consisting of an IMU and quadrature encoders, actuator modules with DC motors and motor drivers, and a communication module using Zigbee wireless. It then discusses modeling the dynamics of the DC motors and robot, and designing control systems using PID and state space control approaches.
Today human-machine interaction is moving away from mouse and pen and is becoming pervasive and much more compatible with the physical world. With each passing day the gap between machines and humans is being reduced with the introduction of new technologies to ease the standard of living. In this paper, a rigorous analysis of different techniques of “Human-Machine Interaction” using gestures has been presented using accelerometer. Gestures can originate from any bodily motion or state but commonly originate from the face or hand. Robotics is the branch of engineering that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing we have implemented a system through which the user can give commands to a wireless robot using gestures. Through this method, the user can control or navigate the robot by using gestures of his/her palm, thereby interacting with the robotic system. The command signals are generated from these gestures using accelerometer sensing [1]. These signals are then passed to the robot to navigate it in the specified directions.
This document summarizes a research paper on sensorless speed control of a permanent magnet synchronous motor (PMSM) using direct torque control (DTC) with a model reference adaptive system (MRAS). It first describes the structure and equations of a PMSM and provides an overview of DTC. It then introduces MRAS for sensorless speed estimation. Simulation results using MATLAB show that the proposed DTC method with MRAS provides precise estimated speed, fast torque response, and good dynamic performance under sudden load changes.
IRJET- Self-Tuning PID Controller with Genetic Algorithm Based Sliding Mo...IRJET Journal
This document presents a self-tuning PID controller with a genetic algorithm for sensorless induction motor drives. A model reference adaptive system estimator is proposed that uses a sliding mode technique for robustness. The estimator reduces chattering while maintaining sliding mode properties. Additionally, an auxiliary variable is used to improve stability in regenerating mode operation. Simulation results demonstrate the performance of the proposed estimator for speed estimation during rapid speed reversal and in regenerating mode. Parameter estimation is also achieved using adaptive mechanisms to estimate rotor resistance and mutual inductance.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
In this study, a control strategy is presented to control the position and the feed rate of a table of a milling
machine powered by three-phase induction motor, when machining pieces constituted by different types of
materials: steel, brass and nylon. For development of the control strategy, the vector control technique was
applied to drive the three-phase induction machines. The estimation of the electromagnetic torque of the
motor was used to determine the machining feed rate for each type of material. The speed control was
developed using fuzzy logic Takagi-Sugeno (TS) model and the estimation of the electromagnetic torque
using the artificial neural network (ANN) of the least mean square (LMS) algorithm type. The induction
motor was fed by a three-phase voltage inverter hardware driven by a digital signal processor (DSP).
Experimental results are presented.
Designing of 3D Printer Based on Polar Coordinate SystemIRJET Journal
This document describes the design of a 3D printer that uses a polar coordinate system to control axis movement. Some key points:
- The printer uses polar coordinates (r, θ, φ) rather than Cartesian coordinates (x,y,z) to potentially reduce the number of parts needed in the machine and make it more compact.
- It has three main axes of movement - the theta axis controls rotation of the print bed, the radius axis controls the distance of the print head from the center, and the z-axis controls print head height.
- The design was created using CAD software and the axes will be controlled by G-code from the CAD model.
- Using polar coordinates allows converting
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
This document describes modeling and simulation of a brushless DC motor using PWM control. It presents the mathematical model of a BLDC motor and discusses speed control techniques using a closed loop system with a PI controller. Simulation results in Simulink show the motor maintaining a set speed of 1650 rpm even when a load torque is applied, demonstrating effective speed regulation. Back EMF, phase voltages, phase currents, speed, and torque waveforms are presented. The paper concludes the PWM control method provides high accuracy speed control of the PMBLDC motor.
This document proposes a method for estimating torque in a sensorless brushless DC motor (BLDC) using a sliding mode observer combined with an extended Kalman filter. BLDC motors are commonly used in applications that require fast torque response and high efficiency. However, torque pulsations in BLDC motors can cause noise and vibration issues. The proposed method uses a sliding mode observer to estimate the non-sinusoidal back-EMF waveform and an extended Kalman filter to estimate the rotor speed. Both estimates are then used to calculate the instantaneous electromagnetic torque. Simulation results show the estimated outputs are accurate, though there is some chattering effect. The proposed technique is shown to effectively minimize torque pulsations when applied to sensorless direct
This document is a lab manual for a Power System Modeling and Simulation course. It contains instructions for 6 experiments involving modeling synchronous machines, induction machines, and FACTS devices in MATLAB/Simulink. The first experiment provides the swing equation that governs rotor motion of a synchronous machine and guides students in simulating it in Simulink. Subsequent experiments instruct students on modeling synchronous machines, induction machines, and implementing various FACTS controllers for a single-machine infinite-bus system.
The document discusses numerical control (NC) and computer numerical control (CNC) machine tools. It describes the basic components and functions of NC machines, including different types of NC machines classified by the type of machine path (point-to-point, straight-cut, continuous path) and programming method (absolute, incremental). The document also covers the specification and components of NC machines, including programming instructions, the machine control unit, and the machine tool. It discusses the construction details and design considerations for CNC machine tools.
Embedded machine learning-based road conditions and driving behavior monitoringIJECEIAES
Car accident rates have increased in recent years, resulting in losses in human lives, properties, and other financial costs. An embedded machine learning-based system is developed to address this critical issue. The system can monitor road conditions, detect driving patterns, and identify aggressive driving behaviors. The system is based on neural networks trained on a comprehensive dataset of driving events, driving styles, and road conditions. The system effectively detects potential risks and helps mitigate the frequency and impact of accidents. The primary goal is to ensure the safety of drivers and vehicles. Collecting data involved gathering information on three key road events: normal street and normal drive, speed bumps, circular yellow speed bumps, and three aggressive driving actions: sudden start, sudden stop, and sudden entry. The gathered data is processed and analyzed using a machine learning system designed for limited power and memory devices. The developed system resulted in 91.9% accuracy, 93.6% precision, and 92% recall. The achieved inference time on an Arduino Nano 33 BLE Sense with a 32-bit CPU running at 64 MHz is 34 ms and requires 2.6 kB peak RAM and 139.9 kB program flash memory, making it suitable for resource-constrained embedded systems.
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
Batteries -Introduction – Types of Batteries – discharging and charging of battery - characteristics of battery –battery rating- various tests on battery- – Primary battery: silver button cell- Secondary battery :Ni-Cd battery-modern battery: lithium ion battery-maintenance of batteries-choices of batteries for electric vehicle applications.
Fuel Cells: Introduction- importance and classification of fuel cells - description, principle, components, applications of fuel cells: H2-O2 fuel cell, alkaline fuel cell, molten carbonate fuel cell and direct methanol fuel cells.
Advanced control scheme of doubly fed induction generator for wind turbine us...IJECEIAES
This paper describes a speed control device for generating electrical energy on an electricity network based on the doubly fed induction generator (DFIG) used for wind power conversion systems. At first, a double-fed induction generator model was constructed. A control law is formulated to govern the flow of energy between the stator of a DFIG and the energy network using three types of controllers: proportional integral (PI), sliding mode controller (SMC) and second order sliding mode controller (SOSMC). Their different results in terms of power reference tracking, reaction to unexpected speed fluctuations, sensitivity to perturbations, and resilience against machine parameter alterations are compared. MATLAB/Simulink was used to conduct the simulations for the preceding study. Multiple simulations have shown very satisfying results, and the investigations demonstrate the efficacy and power-enhancing capabilities of the suggested control system.
Design and optimization of ion propulsion dronebjmsejournal
Electric propulsion technology is widely used in many kinds of vehicles in recent years, and aircrafts are no exception. Technically, UAVs are electrically propelled but tend to produce a significant amount of noise and vibrations. Ion propulsion technology for drones is a potential solution to this problem. Ion propulsion technology is proven to be feasible in the earth’s atmosphere. The study presented in this article shows the design of EHD thrusters and power supply for ion propulsion drones along with performance optimization of high-voltage power supply for endurance in earth’s atmosphere.
Null Bangalore | Pentesters Approach to AWS IAMDivyanshu
#Abstract:
- Learn more about the real-world methods for auditing AWS IAM (Identity and Access Management) as a pentester. So let us proceed with a brief discussion of IAM as well as some typical misconfigurations and their potential exploits in order to reinforce the understanding of IAM security best practices.
- Gain actionable insights into AWS IAM policies and roles, using hands on approach.
#Prerequisites:
- Basic understanding of AWS services and architecture
- Familiarity with cloud security concepts
- Experience using the AWS Management Console or AWS CLI.
- For hands on lab create account on [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
# Scenario Covered:
- Basics of IAM in AWS
- Implementing IAM Policies with Least Privilege to Manage S3 Bucket
- Objective: Create an S3 bucket with least privilege IAM policy and validate access.
- Steps:
- Create S3 bucket.
- Attach least privilege policy to IAM user.
- Validate access.
- Exploiting IAM PassRole Misconfiguration
-Allows a user to pass a specific IAM role to an AWS service (ec2), typically used for service access delegation. Then exploit PassRole Misconfiguration granting unauthorized access to sensitive resources.
- Objective: Demonstrate how a PassRole misconfiguration can grant unauthorized access.
- Steps:
- Allow user to pass IAM role to EC2.
- Exploit misconfiguration for unauthorized access.
- Access sensitive resources.
- Exploiting IAM AssumeRole Misconfiguration with Overly Permissive Role
- An overly permissive IAM role configuration can lead to privilege escalation by creating a role with administrative privileges and allow a user to assume this role.
- Objective: Show how overly permissive IAM roles can lead to privilege escalation.
- Steps:
- Create role with administrative privileges.
- Allow user to assume the role.
- Perform administrative actions.
- Differentiation between PassRole vs AssumeRole
Try at [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
Discover the latest insights on Data Driven Maintenance with our comprehensive webinar presentation. Learn about traditional maintenance challenges, the right approach to utilizing data, and the benefits of adopting a Data Driven Maintenance strategy. Explore real-world examples, industry best practices, and innovative solutions like FMECA and the D3M model. This presentation, led by expert Jules Oudmans, is essential for asset owners looking to optimize their maintenance processes and leverage digital technologies for improved efficiency and performance. Download now to stay ahead in the evolving maintenance landscape.
1. The International Journal Of Engineering And Science (IJES)
|| Volume || 5 || Issue || 11 || Pages || PP 16-21 || 2016 ||
ISSN (e): 2319 – 1813 ISSN (p): 2319 – 1805
www.theijes.com The IJES Page 16
Management Stepper of 3d - Printer
BatyrkanovZhenish I1
, KadyrkulovaKyial K2
, BelialovShaibek A3
1
Professor, Doctor of Technical Science, Kyrgyz Technical University named after I.Razzakov, 66Mira Avenue,
Bishkek, 720044, Kyrgyz Republic,
2
senior teacher, Kyrgyz Technical University named after I.Razzakov, 66 Mira Avenue, Bishkek, 720044, Kyrgyz
Republic
3
post-graduate student, Kyrgyz Technical University named after I.Razzakov, 66 Mira Avenue, Bishkek, 720044,
Kyrgyz Republic
--------------------------------------------------------ABSTRACT-------------------------------------------------------------
We consider and resolved the problem of constructing the control algorithms to implement the movement of the
workers of 3D- printer prescribed spatial trajectory. Due to the prevalence of stepper motors (SM) in 3D-
printers, in article is reviewed the technique of algorithms synthesis for actuators control with SM. The
prescribed trajectory in this work is given by the tabular method, on the basis of job control points applied to
spatial models manufactured parts. It is obvious that the greater the number of reference points will be taken,
the better will be reproduced form of detail at the 3D- printer. The paper presents original mathematical model
of the SD as a controled object. On the basis of the mathematical model and the table of prescribed movements
is determined algorithm of SM control. Authors are reviewed technical realization questions of the synthesized
control algorithm, given the structural and functional schemes and principal electrical schemes of functional
elements. Also are analyzed the problems of SM positioning errors, as well as SD angular velocity choice
questions.
Keywords: 3D-printer, stepper motor, stepper drive, the prescribed spatial trajectory, movement control,
single step, driver, number of phases
---------------------------------------------------------------------------------------------------------------------------------------
Date of Submission: 25 October 2016 Date of Accepted: 22 November 2016
--------------------------------------------------------------------------------------------------------------------------------------
I. INTRODUCTION
The use of devices for rapid prototyping (known as 3D-printers), allows you to turn designed in 3D-
model real-world objects in CAD-systems. Such devices allow get a prototype in development "material form"
in a short time and at low cost. Application of 3D-printers can save a considerable amount of time and money
during the development phase as compared with use for prototyping a specially designed tooling, machining and
so on. At this point, she RP-technology (rapid prototyping) has developed to such an extent that prototypes in
their physical properties are close to the objects (objects), created using traditional techniques.
In the design and development of 3D-printers, particularly important place is occupied with questions
of development of drive control systems of working bodies of 3D-printers. To date, as many wires of 3D-
printers types used drives built on the stepper motors (SM). The control system must provide, in the end, the
feasibility of movement of working bodies of 3D-printers for a predetermined prescribed trajectory movements.
The trajectory of movement determined by the given geometric shapes and manufactured products. For the
synthesis of the required drive motion control algorithms for prescribed programs (paths) in the first place
requires a mathematical model of the dynamics of a stepper motor, a control object. As far as we know, in the
description of commercially available of 3D-printers, a mathematical model of the information is not given
(silenced). And besides, are not given in the open information about specific control algorithms stepper drives.
In connection with the foregoing, the aim of this work were as follows: for of 3D-printers using the method of
fusing layering (FDM) to develop a method for the synthesis of control algorithms to implement the movement
of stepper drives on the prescribed program.
2. Management Stepper of 3d - Printer
www.theijes.com The IJES Page 17
Fig. 1. Simplified model 3D- printer employing layered fusing method (FDM)
Development of mathematical models of the dynamics of SM as a control object.
First of all, we give "basic" information about SM.
For all types of stepper motor with an electronic switch, voltage pulses are generated, which are fed to
the control windings arranged on the stator SM. With each pulse allows the rotor turn at a certain angle
depending on the stepper motor designs. Currently, the most widely used high-torque two-phase hybrid stepper
motors with angular displacement 1.8 ° / step (200 steps / rev) or 0.9 ° / step (400 steps / rev) in the field of
mechanical engineering.
The time act of rotation of the rotor is determined by the SD sequence, duty cycle and frequency of
admission to his control pulses, as well as the type and design parameters of SM. The main such parameters are
the following: the number of phases (the number of windings and the control circuit of the connection) -
distinguish between single- and multi-phase motors; SD type - the active or passive rotor; single rotor pitch
(angle of rotation of the rotor when applying a single pulse); rated supply voltage; rated torque, etc. Stepper
motor control is provided with a special electronic control unit.
Because of the stepper motor to the questions they "play" of the rotor [3] during the rotation, are not
relevant. But accuracy is important the rotor installed in another predetermined position, the speed of rotation
(installation) of the rotor in this position, and so forth. Insufficient installation speed stepper motor in the
process of 3D-printers can lead to errors in reproduction form (surface) items.
For the synthesis of control laws consider stepper motor with a gear transmission mechanism on the motor shaft.
Through this mechanism, the rotational motion of the rotor motor is converted into linear motion mechanisms
(in the long run - the printhead) 3D- printer.
Let a rotary stepper motor shaft is planted (set) gear with a radius R and the angular distance between the two
teeth degrees , the angle of rotation of the rotor SD, under the action of a single pulse of degrees. In the
future, you want to be represented in radians. Translation from degrees to radians by the following formula
град
градрад
рад
180
)(14.3
(1)
The action of a single pulse to the stepper motor with its rotor planted on the gear shaft with the radius R, a
single angular step of rotor rotation is converted into linear motion of the pinion by a distance equal to
RL ш
(2)
where, - step stepper motor rotor rotation when applying a single pulse (degrees); ø
L - Size of the linear
gear step by the action of a single pulse on SD.
Since the stepper motor steps are carried out at discrete points in time, the mathematical model (MM) SM, as a
control object is described using a finite-difference expression
)(1
kkk
n (3)
k
- current where the angular position of the rotor on the SD, k
t - th point of time; k
n - the number of control
pulses applied to the stepper motor for the length of time 1
, kk
tt ; 1k
- The angular position of the rotor in a
stepper motor 1k
t - the first time.
3. Management Stepper of 3d - Printer
www.theijes.com The IJES Page 18
Equation (3) is used when the required movement of working bodies of 3D-printers are described in the angular
coordinates. However, in most cases, the necessary movements are described in linear coordinates. This is
similar to (3), the following MM control movement of the working bodies of 3D-printers
шzkzkk
шуkykk
шхkxkk
ln
ln
lnX
1
1
1
(4)
Where, kkk
,, - the current coordinates of the working bodies of the axes ,, of the printer in -
time; 111
,,
kkk
- Coordinates of the working bodies of the axes ,, at a 1k time;
kzkykx
nnn ,, - The number of pulses are applied to the stepper motor axes drives for a specified period of time;
шzшyшx
lll ,, - The value of the working body of linear steps along the axes ,, of action of single pulses
on the corresponding SD.
Synthesis stepper drive control algorithm on the basis of tabular given prescribed trajectory
Consider the problem when working bodies of 3D-printers (print head) perform movements according tabular
representation of control points in the manufactured products.
To accomplish this task, the mathematical model of the dynamics of a stepper motor is provided in the form of
(4).
Thus, in practical terms, stepper motor control problem is reduced to finding the number of control pulses
kzkykx
nnn ,, from the formulas (4) and applying them to the appropriate length of time 1
, kk
tt for the SD. The
values 111
,,
kkk
are taken from the table of prescribed (target) control points of the spatial trajectory of
working bodies of 3D-printers (Table 1).
Illustration of the prescribed spatial trajectory movement of working bodies of 3D-printers with the help of
Figure 2.
Fig. 2.Prostranstvennaya model parts coated with acontrol points.
According to the desired three-dimensional model of the object coated with a build test points table for the
prescribed trajectory of the working body of the 3D- printer (Table 1).
Table 1
s
t 1
t 2
t
…
k
t 1k
t
…
L
t 1L
t
s
x 1
x 2
x
…
k
x 1k
x
…
L
x 1L
x
s
y 1
y 2
y
…
k
y 1k
y
…
L
y 1L
y
s
z 1
z 2
z
…
k
z 1k
z
…
L
z 1L
z
4. Management Stepper of 3d - Printer
www.theijes.com The IJES Page 19
Start movement of the print head is carried out from the time 1
t and the initial position ),,( 111
ZYX .
Then, the jump to the position ),,( 222
ZYX corresponding point in time 2
t . Further movement is carried out
similarly and at the end of the first cycle corresponding to the "first layer" of the object being played, the print
head comes to the initial position, ),,( 111
ZYX . From this position, a transition to the position ),( , NNN
ZYX
and then the movement is performed on the second layer of the object reproduced by 3-D printer.
Further movement is performed on the third layer, etc. Thus, layers can be applied sequentially, each other. At
the end of a transition to the end position ),( , LLL
ZYX .
To determine шzшyшx
lll ,, the system (4) specific information need of the stepping motor and the gearbox shaft
connected to the engine.
Taken DS4-6V SM brand and helical gear reducer with long screws 74mm diameter and 3 mm. This
experimentally determined that for a single pulse helical gear reducer moves the load by 1.6 mm. so
ммlll шzшyшx
6,1
Note that the number of required pulses counted by the formulas (4) to allow displacement given by Table 1,
may lead to the fact that the calculated number of pulses (to be specific - by "X - axis")
шkkk
ln /)( 1
(5)
It will not be expressed as an integer. In this case, it takes the nearest integer (the standard rules of rounding),
and the maximum positioning error will be SD
ммlll шzшyшx
6,1 (6)
Therefore, to reduce the error of positioning stepper motor must be reduced ш
l . And this, in turn, reduce the step
size of the unit (rotor rotation) , which is achieved by selecting a stepper motor the required number of
poles (including - equivalent poles). The required speed stepper motor movement is achieved by reducing or
increasing the value of the segment at the time 1
, kk
tt - at a fixed number of pulses, which must be submitted
to the SM for this segment. Reducing the length of time increases the speed of movement (movement) and SD,
as a result, the print head.
Technical realization of the stepper motor control system for a prototype 3D- printer
The expediency of self-development and prototyping of 3D-printers is determined by the following
circumstances: not all series being released 3D-printers are suitable for solving specific research problems -
including because of the "closeness" of the software; the market value on the market of 3D-printers are still too
high for their purchase to implement low-cost research projects, the educational process, etc .; itself to provide
such a device is useful in terms of development of engineering skills of students and undergraduates, as well as
the skills of their team work on projects with the division of roles.
Therefore, we present solutions for the model of the device, which is designed and used by the authors
at the Department of "Automatic Control" KSTU named after I.Razzakova for educational purposes. It can be
seen as a prototype 3D- printer.
To control the stepper motor using a computer (PC), where a pre-recorded information on all parameters of SM;
table of prescribed movements working bodies of 3D-printers. The computer system of equations (4) and a
predetermined value of time 1
, kk
tt interval is performed by counting the required number of control pulses
for supply to the stepper motor winding during each time interval.
Structural - functional stepper motor control system is shown in Figure 3. It includes such objects: LPT
port (due to the traditional use of the LPT port for transmitting control pulses to the control unit and the
corresponding ease of circuit solutions); control lines; controller; three electronic driver and stepper motor itself.
From LPT interface on the computer receives signals from the first four data buses to control the
stepper motor windings of the motor; on three tires are transmitted control signals SM choice. These signals are
sent to the controller. It happens the engine selection, which should work at a time - by submitting a sample of
the signal on the corresponding channel stepper motor. Then, the control pulses are applied to the electronic
driver - there are worse in the current and voltage. In the end, the converted pulses are transmitted to the
respective winding stepper motor, which provides direct control of the engine operating condition.
5. Management Stepper of 3d - Printer
www.theijes.com The IJES Page 20
Fig. 3. Structural - functional diagram of a typical stepper motor control system.
The electric circuit of the controller is shown in Figure 4. SD Controller assembled on the three series
chips 555TM7 (fairly common product that is included in the base elements of many CAD systems) and does
not require firmware. Each chip has four D - trigger a latch mode. With the arrival of the control signals on the
inputs D1-D4 are stored in flip-flops, but transferred to the chip outputs Q1- Q4 only when the arrival of the
pulse at the inputs EI12 and EI34 latch. Thus, you can control the stepper motor driver a choice that should be
involved in a particular time.
Note that currently using modern microprocessors and other possible circuit solutions.
Stepper motor driver. For the described design, it is a four-channel amplifier or four keys (Fig. 4). Driver
collected on four transistors CT 972 (also fairly common product). When a positive pulse at the base of the
transistor is its opening at the same time providing the voltage to the motor winding. Diodes are needed to
extinguish the self-induction electromotive force occurring in the windings, and a parallel filter (consisting of a
resistor and a capacitor) is used to "cut" high-frequency components. The circuit is powered by a DC voltage of
12 volts. As a programming language to create a program that provides control of the layout work has been
selected Pascal language in Delphi 7. C environment, the use of this language has developed a special program,
there are about 600 lines of code and is intended for use on the control PC. Type of operating system used - is
not critical. The peculiarity of the use of the program is that it works in real time. In this case the execution of
lines of program code in parallel worked through the layout of 3D-printers.
We emphasize that the authors of this article do not set themselves the aim of developing a prototype
device intended for mass industrial production. Therefore, the construction described above should be
considered as a kind of base, which can be further modified in various ways - including and within the
framework of the educational process.
Fig. 4. A typical electrical circuit of the controller, used to control the stepper motor.
6. Management Stepper of 3d - Printer
www.theijes.com The IJES Page 21
Figure 5 and Figure 6 shows part of the layout designed for the manufacture of that part of the
decommissioned matrix printers were used. The ability to use these parts is particularly important for schools
because they usually do not have a fleet of machine tools needed to make all the necessary components and
units, and their order in the external organization requires a significant investment.
Fig.5. Stepper motor driver circuitry
II. CONCLUSIONS
1. Mathematical models of SD as a control object.
2. Consider the resolution of certain issues of technical implementation of the stepper drive control system.
REFERENCES
[1]. Bolshakov V., Bochkov A. i.dr. Osnovy 3D - modelirovaniya. [Basesof 3D - modelling]/ Sankt- Peterburg 2012. 304p.
[2]. Karpenko B.K., Larchenko V.I., ProkofevYu.A. Shagovyeelektrodvigateli – [Stepping electric motors] -Kiev: Izd-vo «Tekhnika»,
1972. 216p.
[3]. Aaron Council, Michael Petch.3D Printing: Rise of the Third Industrial Revolution, Publisher: gyges3d.com; 2014 edition,
2014.116p.
[4]. Canessa E, Fonda C, Zennaro M. Low-cost 3D Printing for Science, Education and Sustainable Development, Publisher: ICTP—
The Abdus Salam International Centre for Theoretical Physics 2013. 119p.
[5]. Jacobs P.F. Rapid Prototyping and Manufacturing: Fundamentals of Stereolithography. - Publisher: Society of Manufacturing
Engineers, 1992 . 434p.