twin builderby 杨帆Robotic Arm Motion Control Simulation - Presentation

1、Robotic Arm Motion Control Simulation,Robotic System,Power electronics and Actuators (servos) that drive the arms motion Controllers comprises control subsystem (Embedded), ensuring that the arm moves as required Assembly of rigid bodies linked by joints (a rigid body dynamics subsystem).,Three key

2、subsystems in a robotic arm system,Robotics Architecture,Actuator,Controller,Rigid Body Dynamics,Physics and System Domain,Power Electronics,Actuator (Electric Machine),Robotic Actuator Configurations,PMDC,DC Motor,BLDC/ PMSM,Axial Flux,Linear Motor,Integrated Electric Machine Design,Robotic Motor :

3、 PMDC,Current vs Speed,Power vs Speed,Torque vs Speed,Sensors,Hall Sensor,VR Sensor,Power Converter (Power Electronics),Inverter Driven Electric Actuator,Parasitic LCR,Device Characterization,Switching loss in device,Characterization of Switch,Component creation from a datasheet IGBTs MOSFETs Power

4、Diodes,Power Converters,Forward Motion,Backward Motion,MOSFET,Diode Bridge,Power Converter,Voltage Across Actuator,Power Converter,Capacitor Voltage,Impact of increasing capacitance,Optimize Components and Performance,Control System,Electrical Magnetic Fluid Mechanical Thermal Acoustic,Physics to Sy

5、stem,Sub-System,System,Component,System Environment : Simplorer,SIMPLORER Simulation,Circuit Simulator,Block Diagram,State Machine,Simulink,Mathcad,ANSYS Cosimulation,C / C+ Interface,Model Database Electrical, Blocks, States, Machines, Automotive, Hydraulic, Mechanics, Power, Semiconductors,VHDL-AM

6、S Simulator,ANSYS ROM,Electric Actuator Sub System Simulation,Algorithm, Logic, Embedded SW,Signal Flow Modeling, causal,Physical Modeling acausal,Geometry Modeling,CAD,Simplorer,Simulink,Co-simulation with Simulink,Stability Analysis with Average Models,System Simulation for Robotics,Co-simulation

7、of ANSYS RBD and Simplorer coupling through Workbench Torque requirement from RBD acts a motor load in Simplorer Position of arm is commanded from Simplorer,Command Signals,Position command defined through data table,Actual Position of PMDC rotor,Desired Position (Reference) / Command,System Paramet

8、ers Interaction,Torque / load requirement from MBD,Actual position and reference position compared Error signal commands to move rotor back and forth New Position is commanded to RBD Arm,Control Simulation,Ringing,Simple control creates the ringing resulting in vibration Tuned PID would help to redu

9、ce ringing,Ringing Effect : Vibration,Hysteresis Control,PID Implementation : Simplorer,Gains tuned using optimization (optimetrics) With TPH control implemented for motor,PID Implementation : Simplorer,Robot_avec_moteur_final,PID Implementation : Simplorer,Ringing is reduced,PID Implementation with

10、 SCADE (Embedded),PID,TPH,Comparator,PID Implementation using Embedded Tool (SCADE),Controller Implementation using SCADE,Import Controller using FMU : Simplorer,Set PID Parameters for FMU (Controller),Motion Control with Embedded Control,Test1.wbpj,Motion Control,Embedded Software,Battery CFD,IGBT

11、CFD,Electric Motor CEM,Sensor CEM,A to D VHDL-AMS,L,R,C,Mechanical FEA,Temperature profile,Current profile,Multi Domain Simulation,ANSYS Simplorer System Design,ANSYS Maxwell / HFSS/ SI Generator 3D FEA Analysis,RMxprt/ PExprt Generator Design,HF / SI / RF HFSS, Q3D, SIWave RLCG Parasitics,ANSYS Mechanical Thermal/Stress,ANSYS CFD/ ICEPAK Thermal,Model order Reduction,Co-simulation,Field Solution,Mode