Dissertations / Theses on the topic 'Motor control'
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Wilson, W. R. "Speech motor control." Thesis, University of Essex, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.376738.
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Hassani, Heshmat. "Drive Train Control of Lithium-Battery Fed BLDC Motor : Motor Control." Thesis, Linköpings universitet, Elektroniska Kretsar och System, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-165282.
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Electrical drive systems are used in various applications and getting more attractive in recent years. When the usage of electric motors increased in different applications then the control model of them has been also demanded. This work is aimed at deeper research to gain a better understanding of three different control models for electric motors, in case of this work a brushless direct current (BLDC) motor. Three different types of control models (6-step, sinusoidal and FOC control) have been investigated and designed using MATLAB/SIMULINK. Then the control models have been implemented in an Arduino Due based BLDC motor and its functionality has been configured. The results show that the FOC control model provided to work better in the simulation while the implementation of the hardware showed that sinusoidal control works a little better and smoother. Making the implementation of the control models to the hardware work better requires more works and this has been left for future work.
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Colton, Shane W. (Shane William). "Design and prototyping methods for brushless motors and motor control." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/61599.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010."June 2010." Cataloged from PDF version of thesis.
Includes bibliographical references (p. 109).
In this report, simple, low-cost design and prototyping methods for custom brushless permanent magnet synchronous motors are explored. Three case-study motors are used to develop, illustrate and validate the methods. Two 500W hub motors are implemented in a direct-drive electric scooter. The third case study, a 10kW axial flux motor, is used to demonstrate the flexibility of the design methods. A variety of ways to predict the motor constant, which relates torque to current and speed to voltage, are presented. The predictions range from first-order DC estimates to full dynamic simulations, yielding increasingly accurate results. Ways to predict winding resistance, as well as other sources of loss in motors, are discussed in the context of the motor's overall power rating. Rapid prototyping methods for brushless motors prove to be useful in the fabrication of the case study motors. Simple no-load evaluation techniques confirm the predicted motor constants without large, expensive test equipment. Methods for brushless motor controller design and prototyping are also presented. The case study, a two channel, 1kW per channel brushless motor controller, is fully developed and used to illustrate these methods. The electrical requirements of the controller (voltage, current, frequency) influence the selection of components, such as power transistors and bus capacitors. Mechanical requirements, such as overall dimensions, heat transfer, and vibration tolerance, also play a large role in the design. With full-system prototyping in mind, the controller integrates wireless data acquisition for debugging. Field-oriented AC control is implemented on low-cost hardware using a novel modification of the standard synchronous current regulator. The controller performance is evaluated under load on two case study systems: On the direct-drive electric scooter, it simultaneously and independently controls the two motors. On a high-performance remote-control car, a more extreme operating point is tested with one motor.
by Shane W. Colton.
S.M.
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Crawford, Douglas Stewart. "Sensor designand feedback motor control for two dimensional linear motors." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/37546.
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Hodson-Tole, Emma Frances. "Motor Control for Dynamic tasks." Thesis, Royal Veterinary College (University of London), 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.498065.
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Rodrigues, Sandra. "Shoulder proprioception and motor control." Thesis, University of Brighton, 2016. https://research.brighton.ac.uk/en/studentTheses/c0d40a83-eb98-4148-ad0e-81a8b1f3a2f5.
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The shoulder is an inherently unstable joint and requires well-coordinated muscle work and an appropriate sensorimotor system for it to remain stable. The sensorimotor system is defined as all the sensory, motor, central integration and processing components involved in maintaining joint stability. Shoulder action involving overhead work places great demands on the shoulder joint and can result in shoulder lesions, such as impingement syndrome. Moreover, activities requiring repetitive arm movements, including high velocity actions, have also been identified as a risk factor for shoulder impingement.
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Dacre, Joshua Rupert Heaton. "Thalamic control of motor behaviour." Thesis, University of Edinburgh, 2017. http://hdl.handle.net/1842/29530.
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The primary motor cortex (M1) is a key brain area for the generation and control of motor behaviour. Output from M1 can be driven in part by long-range inputs from a collection of thalamic nuclei termed the motor thalamus (MTh), but how MTh input shapes activity in M1 and forelimb motor behaviour remains largely unresolved. To address this issue, we first defined the 3D anatomical coordinates of mouse forelimb motor thalamus (MThFL) by employing conventional retrograde and virus-based tracing methods targeted to the forelimb region of M1 (M1FL). These complimentary approaches defined MThFL as a ~0.8 mm wide cluster of neurons with anatomical coordinates 1.1 mm caudal, 0.9 mm lateral to bregma and 3.2 mm below the pial surface. Thus, MThFL incorporates defined areas of the ventrolateral, ventral anterior and anteromedial thalamic nuclei. To investigate the importance of M1FL and MThFL during skilled motor behaviour, we developed and optimised a quantitative behavioural paradigm in which head-restrained mice execute forelimb lever pushes in response to an auditory cue to receive a water reward. Forelimb movement trajectories were mapped using high-speed digital imaging and multi-point kinematic analysis. We inactivated both M1FL and MThFL of mice performing this motor behaviour using a pharmacological strategy, which in both cases resulted in a significant reduction in task performance. Inactivating M1FL significantly affected forelimb coordination and dexterity, resulting in erratic motion and posture. In contrast, mice with MThFL inactivated displayed a reduction in total motor output, although correct posture was maintained. We performed extracellular recordings in MThFL of expert-level mice, demonstrating that motor thalamic output during execution of task was dominated by a robust response to the onset of the auditory cue. Cue-evoked responses were also observed in motor thalamic neurons of naive mice. We have developed a novel solution to the stability problem encountered when performing whole-cell patch-clamp recordings from the motor cortex of head-restrained mice performing forelimb motor behaviour, and present preliminary recordings maintained through the execution of forelimb behaviour.
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Persson, Tobias, and Andreas Fredlund. "Motor control under strong vibrations." Thesis, Uppsala universitet, Fasta tillståndets elektronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-355208.
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Jackson, Carl Patrick Thomas. "Motor learning and predictive control." Thesis, University of Nottingham, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.519400.
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Beall, Jeffery C. "Stored waveform adaptive motor control." Thesis, Virginia Tech, 1986. http://hdl.handle.net/10919/45746.
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This study investigates an adaptive control scheme designed to maintain accurate motor speed control in spite of high-frequency periodic variations in load torque, load inertia, and motor parameters. The
controller adapts, stores and replays a schedule of torques to be delivered at discrete points throughout the periodic load cycle. The controller also adapts to non-periodic changes in load conditions which occur over several load cycles and contains inherent integrator control action to drive speed error to zero. Using computer simulations, the control method was successfully applied to a 3Φ synchronous motor and a permanent magnet D.C. motor. The D.C. motor (or A.C. servo-motor) controller has superior characteristics and this system performance was compared to P, PI and PID control for two severe load cases - a periodic step load and a four-bar linkage load. Simulation studies showed the schedule control method to be stable and in comparison to the PID controller to have 1) nearly the same speed of response but without the overshoot found in PID control, 2) nearly the same mean speed error (~ O), 3) 12-50 times better reduction in speed fluctuation, and 4) the schedule controller gains were much easier to find than PID gains for this low-order, highly responsive system.Master of Science
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Zhang, Pinjia. "Active thermal protection for induction motors fed by motor control devices." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/34811.
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Induction motors are widely used in industrial processes. The malfunction of a motor may not only lead to high repair costs, but also cause immense financial losses due to unexpected process downtime. Since thermal overload is one of the major root causes of stator winding insulation failure, an accurate and reliable monitoring of the stator winding temperature is crucial to increase the mean time to catastrophic motor breakdown, and to reduce the extraordinary financial losses due to unexpected process downtime.
To provide a reliable thermal protection for induction motors fed by motor control devices, a dc signal-injection method is proposed for in-service induction motors fed by soft-starter and variable-frequency drives. The stator winding temperature can be monitored based on the estimated stator winding resistance using the dc model of induction motors. In addition, a cooling capability monitoring technique is proposed to monitor the cooling capability of induction motors and to warn the user for proactive inspection and maintenance in the case of cooling capability deterioration. The proposed cooling capability monitoring technique, combined with the proposed stator winding temperature monitoring technique, can provide a complete thermal protection for in-service induction motors fed by motor control devices.
Aside from online thermal protection during a motor's normal operation, the thermal protection of de-energized motors is also essential to prolong a motor's lifetime. Moisture condensation is one of the major causes to motor degradation especially in high-humidity environments. To prevent moisture condensation, a non-intrusive motor heating technique is proposed by injecting currents into the motor stator winding using soft-starters. A motor's temperature can be kept above the ambient temperature due to the heat dissipation, so that the moisture condensation can be avoided.
To sum up, active stator winding temperature estimation techniques for induction motors under both operating and de-energization conditions are proposed in this dissertation for both thermal protection and optimizing the operation of a motor system. The importance of these proposed techniques lies in their non-intrusive nature: only the existing hardware in a motor control device is required for implementation; a motor's normal operation is not interrupted.
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AVILA, MIRELES EDWIN JOHNATAN. "Motor Learning and Motor Control Mechanisms in an Haptic Dyad." Doctoral thesis, Università degli studi di Genova, 2018. http://hdl.handle.net/11567/929642.
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The word “dyad” defines the interaction between two human or cybernetic organisms. During such interaction, there is an organized flow of information between the two elements of the dyad, in a fully bidirectional manner. With this mutual knowledge they are able to understand the actual state of the dyad as well as the previous states and, in some cases, to predict a response for possible scenarios. In the studies presented in this thesis we aim to understand the kind of information exchanged during dyadic interaction and the way this information is communicated from one individual to another not only in a purely dyadic context but also in a more general social sense, namely dissemination of knowledge via physical and non-physical interpersonal interactions. More specifically, the focus of the experimental activities will be on motor learning and motor control mechanisms, in the general context of embodied motor cognition.
Solving a task promotes the creation of an internal representation of the dynamical characteristics of the working environment. An understanding of the environmental characteristics allows the subjects to become proficient in such task. We also intended to evaluate the application of such a model when it is created and applied under different conditions and using different body parts. For example, we investigated how human subjects can generalize the acquired model of a certain task, carried out by means of the wrist, in the sense of mapping the skill from the distal degrees of freedom of the wrist to the proximal degrees of freedom of the arm (elbow & shoulder), under the same dynamical conditions. In the same line of reasoning, namely that individuals solving a certain task need to develop an internal model of the environment, we investigated in which manner different skill levels of the two partners of a dyad interfere with the overall learning/training process. It is known indeed that internal models are essential for allowing dyadic member to apply different motor control strategies for completing the task. Previous studies have shown that the internal model created in a solo performance can be shared and exploited in a dyadic collaboration to solve the same task. In our study we went a step forward by demonstrating that learning an unstable task in a dyad propitiates the creation of a shared internal model of the task, which includes the representation of the mutual forces applied by the partners. Thus when the partners in the dyad have different knowledge levels of the task, the representation created by the less proficient partner can be mistaken since it may include the proficient partner as part of the dynamical conditions of the task instead of as the assistance helping him to complete the experiments. For this reason we implemented a dyadic learning protocol that allows the naïve subject to explore and create an accurate internal model, while exploiting, at the same time, the advantage of working with an skilled partner.
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Memon, Niaz A. "Four quadrant induction motor controller." Thesis, University of Sussex, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.260798.
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Westad, Christian. "Motor control of the upper trapezius." Doctoral thesis, Norwegian University of Science and Technology, Faculty of Natural Sciences and Technology, 2005. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-776.
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Background The main objective of this thesis was to establish new insight into the motor control of low-threshold motor units in the trapezius muscle. Special attention was given to motor unit recruitment threshold related to firing behavior. The extensive literature on motor control mainly concerns firing behavior of extremity muscles. Motor control of the upper trapezius shows features that indicate deviations from the control scheme generally assumed to apply to muscles of the extremities. Knowledge of motor control of the trapezius is important in a pain development perspective, since shoulder/neck complaints are frequently localized to this muscle.
Methods Constant amplitude contractions of 2 to 30 min duration, with amplitudes between ~2–7% of maximal voluntary contraction (2-7% EMGmax), were used to study time-dependent changes in motor unit firing. Transient force increases reaching 15-20% EMGmax were superimposed on some of these contractions in an attempt to induce motor unit substitution. Sinusoidal contraction profiles were used to study firings in response to dynamic contractions. Motor unit firing was studied in 10 min contractions with vocational (typing) tasks and mental stress. The spike-triggered averaged (STA) technique was used to examine motor unit potentials and their dependence on contraction amplitude and firing history. The individual motor unit firings were recorded by intramuscular fine wire electrodes, while simultaneously recording the surface electromyographic (SEMG) signal. The Precision Decomposition technique was used to identify individual motor units with near 100% accuracy.
Results The results show that some low-threshold motor units stopped firing at the end of the EMG-pulses while motor units with initially higher threshold were recruited or stayed active. The lowest threshold motor units showed only brief silent periods. The mean firing rate increased from 10.5 to 12.5 pulses per second (pps) in response to contraction amplitudes of <2% and >4% EMGmax, but the mean firing rate the same for all motor units regardless of task and recruitment threshold given the SEMG amplitude. There was a strong rate modulation in dynamic contractions. STA-derived motor unit potentials indicated that motor units recruited below EMGmax had similar area at the same contraction amplitude. However, the area increased four-fold when SEMG amplitude increased from 1.5 to 10% EMGmax. Motor unit synchronization showed an average of 2.8% additional firings within of the triggering motor unit, estimated by peristimulus time histograms (PSTHs). A surprising finding was respiratory modulation of the firing rate at low contraction amplitudes. This modulation was attenuated by induced mental stress.
Conclusions Transient force increases promote derecruitment of motor units and may be attributed to inactivation of non-inactivating inward currents (plateau potentials). Silencing of motor units can be considered a protective mechanism to reduce the metabolic load on low-threshold motor units. The similar firing rates in sustained contractions independent of task and recruitment threshold suggest that the duration and pattern of silent periods are the most important variables to investigate in relation to motor unit over-exertion and subsequent pain development. The strong rate modulation in response to dynamic contractions indicates a control strategy resembling that of extremity muscles. STA-derived motor unit potentials indicate that units recruited below 10% EMGmax are of similar size, thus suggesting a deviation from the Henneman size principle. This may be an adaptation to postural functionality. The increase in STAderived potentials is largely due to motor unit synchronization. This points out limitations for this method when quantifying motor unit size, numbers and conduction velocity. Finally, respiratory modulation of firing rate and the attenuation by mental stress suggest at least two different sources of autonomic input that may facilitate motor unit activity.
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Jamal, Omar, Shahnawaz Khan, and Zainul Abideen. "PC Based wireless stepper motor control." Thesis, Blekinge Tekniska Högskola, Sektionen för ingenjörsvetenskap, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-4764.
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This project is about making an embedded system in order to control different functionalities of a stepper motor. The main functions of this stepper motor are to control the speed and direction. The whole hardware consists of two parts. One is the transmitter side and the other side is the receiver side. The transmitter side consists of PC, Encoder, a microcontroller and RF (Radio Frequency) transmitter. On the receiver side there is an RF receiver, a decoder, a microcontroller, a motor driver and a stepper motor. During this project a wireless system is going to be used to enhance the stepper motor operated manually. This system will actually adapt the requirements of the modern technology. With the help of this system one can control the speed of the stepper motor controller from remote sites. It can also control the direction of the stepper motor. In order to make it user friendly we make a GUI for controlling it from the PC. The data is sent and received via transmitter and receiver respectively. This data will be encoded and decoded and sent to the motor driver from where it is sent to the stepper motor in order to perform the operations.0734-954624
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Wann, John P. "The control of fine motor trajectories." Thesis, University of Cambridge, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.257665.
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Miti, Gideon Kalebe. "Control of brushless D.C. motor drives." Thesis, University of Manchester, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.557126.
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Worfolk, Ralph. "Ocular-motor control in congenital nystagmus." Thesis, University of Manchester, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.310353.
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Imani, Nejad Mohammad. "Self-bearing motor design & control." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/79310.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 265-268).
This thesis presents the design, implementation and control of a new class of self-bearing motors. The primary thesis contributions include the design and experimental demonstration of hysteresis self-bearing motors, novel segmented stator structures, MIMO loop shaping control algorithm for levitation and commutation, hysteresis motor analysis including frequency dependency, nonlinear hysteresis model including loop widening, and a novel single-axis self-bearing motor, as well as a zero power configuration for this type of motor. In the late 1980s, the basic concepts of self-bearing motors was proposed. Since then, different types of AC and DC electric machines have been studied as a self-bearing motor. The self-bearing system is a key technology for high efficiency and compact systems with integrated magnetic levitation for high speed and high precision applications. One of the major disadvantages of existing self-bearing motors for high speed application is their rotor mechanical construction. Either the permanent magnet or induction machines rotor has mechanical features that introduces stress concentrations. Permanent magnets have very low mechanical strength and need to be inserted into the rotor. The assembly of magnets makes rotor vulnerable to mechanical failure at high speed. On the other hand, induction motors use soft steel to reduce hysteresis loss. Their rotors are slotted to either carry wires or in case of squirrel cages, having aluminum or copper bars. As a promising alternative, this thesis demonstrates hysteresis self-bearing motors which have a simple construction with a solid and smooth rotor. This is a very important characteristic for some applications. This type of system can also be used as a magnetic bearing that can apply a finite amount of torque. The rotor doesn't have to be laminated and can be made from high strength steel. We designed, built and tested this type of self-bearing motor successfully. In this thesis we also introduced a new type of segmented stator for hysteresis machines. The major advantages of this stator are: easy and low cost manufacturing, higher filling factor and higher motor efficiency. We tested the self-bearing concept successfully with this new configuration. We have also introduced a novel single axis self-bearing motor that is very suitable for rotors with large length to diameter aspect ratio, such as high speed flywheels for energy storage. We implemented a zero power levitation condition along with passive damping for this system that has several advantages for high speed systems. One of the major advantages of zero power systems is the simple and robust touch down bearing design which is a key element for active magnetic bearings and self-bearing motors. This is mainly because the bearings experience minimal load in case of power failure. Hysteresis is a time-rate dependent phenomena which is fundamentally related to eddy current formation in the material and the thermal agitation. Hysteresis loops of materials with large hysteresis are highly frequency dependent. Therefore we added hysteresis frequency dependency to hysteresis motor analysis, which is believed to be a novel contribution . We have also developed linear and nonlinear analyses for the stabilizing forces and moments for hysteresis self-bearing motor. The nonlinear analysis is based on Chua's nonlinear hysteresis model that includes loop widening. The theoretical results were verified by experimental data for three different type motor configurations with good accuracy. Finally, we built two identical induction machines except for the rotor material. One rotor is a commercial squirrel cage and the other one is a simple solid rotor made out of hysteresis material(D2 steel). We ran the IEEE standard tests for these motors and compared their performance under different circumstances.
by Mohammad Imani Nejad.
Ph.D.
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Hadley, Brian M. Mr. "Hybrid Motor Drives: Characterization and Control." FIU Digital Commons, 2011. http://digitalcommons.fiu.edu/etd/458.
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The purpose of this thesis was to explore the behavior in power sharing and control of Hybrid Motor Drives. In this research, a solar-based hybrid adjustable-speed pump, which has been developed in the laboratory, was used to investigate the power-sharing in hybrid (dual-input) motor-drive systems. The laboratory test setup contained a DC-DC module connected to the DC-bus capacitors of a 2.5hp 230V PWM-based adjustable-speed motor-drive. The experimental results demonstrate that the power-sharing of a Photovoltaic (PV) array/DC-DC converter is not a function of motor speed in hybrid solar-based motor-drives, as long as the power contribution of the AC-grid stays above zero. In these conditions, the PV-DC-DC module behaves like a current source, and the dynamic behavior of the motor is decoupled from the dynamic behavior of the AC-grid, given that the PV-DC-DC module can provide the motor load.
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Matsuoka, Yoky 1971. "Models of generalization in motor control." Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/9634.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.Includes bibliographical references (p. 207-215).
Motor learning for humans is based on the capacity of the central nervous system (CNS) to perform computation and build an internal model for a task. This thesis investigates the CNS's ability to generalize a learned motor skill throughout neighboring spatial locations, its ability to divide the spatial generalization with variation of context, and proposes models of how these generalizations might be implemented. The investigation involved human psychophysics and simulations. The experimental paradigm was to study human neuromuscular adaptation to viscous force perturbation. When external perturbations were applied to the hand during a reaching task, the movement became distorted. This distortion motivated the CNS to produce counterbalancing forces, which resulted in the modification of the internal model for the task. Experimental results indicated that the introduction of interfering perturbations near the trained location disturbed the learned skill. In addition, if the same movement was perturbed in two opposite directions in sequence, neither of the forces are learned. Conversely, the adaptation to two opposite forces was possible within the same space when the forces were applied to two contextually distinguished movements. This was possible only when these movements were interleaved fairly regularly. During the adaptation to a difficult task, such as contextual distinction in the same spatial location, humans often used other strategies to avoid learning the actual paradigm. These strategies allowed subjects to perform the task -- without changing their internal models appropriately, and thus this was also investigated as a part of the learning process. Finally, a multiple function model was constructed which allowed multiple contextually dependent functions to co-exist within one state space. The sensory feedback affected all functions, however, only one function was active to output a motor command. This model supported the experimental data presented. The results of the psychophysical experiments as well as an explanation of the simulations and models that were developed will be presented in this thesis.
by Yoky Matsuoka.
Ph.D.
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Zhu, Chaoying. "Induction motor speed sensing and control." Thesis, University of Sussex, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.358985.
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Borges, Cristiane Krás. "Coordenação e controle motor : um estudo sobre a posição de coordenação do método de Piret e Béziers." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2009. http://hdl.handle.net/10183/16638.
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O objetivo principal deste estudo foi investigar o efeito da posição de coordenação, proposta no método da coordenação motora de Piret e Béziers (1992), na resposta de torque em preensão digital. Dezesseis jovens adultos (24,7 ± 2,2 anos de idade) foram solicitados a realizar duas tarefas distintas: produção de torque máximo em preensão digital e controle de torque em preensão digital constante e contínuo. Ambas as tarefas foram avaliadas em quatro diferentes posições do cotovelo (posição livre, em extensão, 45º de flexão e 90º de flexão) e três níveis relativos distintos de torque máximo (20%, 40% e 60%). Pique do torque máximo, variabilidade, irregularidade e precisão da resposta motora foram utilizados como variáveis dependentes. Os resultados não revelaram efeito da posição do cotovelo na produção de torque em preensão digital máximo e nem na resposta de controle de torque em preensão digital. Todavia, a resposta de controle de torque mostrou-se mais variável, mais irregular e menos precisa com o incremento dos níveis relativos de torque máximo. Tais achados não oferecem suporte à premissa do método da coordenação motora, o qual preconiza a existência de uma posição articular ótima do membro superior para a coordenação e controle motor. Além disso, os resultados permitem a constatação de que maiores níveis de torque demandam ajustes neuromotores mais complexos no sistema sensório-motor, todavia a posição do cotovelo parece não caracterizar-se como uma restrição determinante da tarefa de torque em preensão digital.The main aim of this study was to investigate the effect of the coordination position, proposed by the coordination method (Piret & Bézier, 1992), on the thumb-index torque production. Sixteen young adults (24,7 ± 2,2 years old) were asked to perform two different tasks: Maximum thumb-index torque production and constant thumb-index torque. Both tasks were evaluated in four different elbow positions (free position, extension, 45º of flexion and 90º of flexion) and three relative levels of maximum thumb-index torque production (20%, 40% & 60%). Maximum peak torque, variability, irregularity and accuracy were used as dependent variables. The results showed neither effects of the elbow position on the maximum thumb-index torque production nor in the constant thumb-index torque task. However, the constant thumb-index torque responses were more variable, more irregular and less accurate with increased relative levels of the thumb-index torque production. These findings do not support the coordination method premise that we have an optimum upper-limb position which provides a better coordination and motor control. Furthermore, the results allow the interpretation that larger level of the thumb-index torque production demands more complex neuromuscular adjustments of the motor-sensory system; however, the elbow position does not appear to be a determinant constraint during a thumb-index torque task.
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Alves, Priscilla Augusta Monteiro [UNESP]. "Mecanismos de controle durante a manutenção da postura ereta em participantes de 4,8 e 12 anos e adultos." Universidade Estadual Paulista (UNESP), 2005. http://hdl.handle.net/11449/87470.
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alves_pam_me_rcla.pdf: 1414031 bytes, checksum: ec21d74ee8cbd499ab7d2b883caa037d (MD5)Universidade Estadual Paulista (UNESP)
O objetivo deste estudo foi examinar os mecanismos de controle do sistema de controle postural durante a manutenção da postura ereta em participantes de 4, 8 e 12 anos de idade e adultos nas condições com e sem visão. Quarenta e cinco participantes de 4, 8 e 12 anos e 15 adultos jovens permaneceram em pé dentro de uma sala constituída de três paredes, duas laterais e uma frontal, de dimensões 2,2 x 1,2 x 1,2 metros (altura, largura e comprimento). Cada participante se posicionou dentro da sala sobre uma plataforma de força (Kistler, modelo 9286A), com os pés afastados na largura do quadril e realizou 10 tentativas, sorteadas aleatoriamente, sendo 5 com e 5 sem visão com duração de 30 segundos cada uma. A plataforma de força forneceu os dados das forças aplicadas sobre ela, que foram utilizados para cálculo das trajetórias do centro de pressão (CP), perambulação e tremor. Para cada uma das trajetórias foram calculadas a amplitude média e a freqüência predominante de deslocamento para as direções ântero-posterior e médio-lateral. Os resultados revelaram que o deslocamento das trajetórias do CP, perambulação e tremor diminuíram com o aumento da idade para as duas direções. Assim, foi verificado que mesmo aos 12 anos de idade crianças não apresentam a mesma performance que os adultos durante a manutenção da postura ereta. Ainda, na condição sem visão, o deslocamento das três trajetórias aumentou para todos os grupos etários, no entanto, a freqüência de deslocamento das trajetórias foi a mesma para todos os grupos nas duas condições. O maior deslocamento da trajetória de perambulação sugere que mesmo crianças de 12 anos de idade ainda apresentam dificuldades em estimar a posição do corpo no espaço e utilizar essa estimativa para manter a orientação postural desejada. Por outro lado, a similaridade na magnitude de... .
The purpose of this investigation was to examine the functioning of the postural control system in maintaining the upright stance in 4, 8, and 12 year-old children and adults with and without vision. Forty five participants aging 4, 8, and 12 years and 15 adults stood upright inside a room constituted of three walls, two laterals and one frontal, with 2,2 x 1,2 x 1,2 metros (height, breadth and lengh). Each participants was positioned inside the room standing on a force platform (Kistler, model 9286A) with his/her feet parallel and aligned with hip width and performed 10 trials, randomly defined, 5 with and 5 without vision, lasting 30 seconds each. The force measured the applied forces, used to calculate the trajectories of center of pressure, rambling and trembling. For each trajectory, mean amplitude displacement and predominant frequency were calculated for both anterior-posterior and medial-lateral directions. Results revealed that, the displacement of CP, rambling, and trembling trajectories decreased with age for both directions. Therefore, it was observed that even 12-year-old children did not show adults performance in maintaining the upright stance. In the vision condition, the displacement of CP, rambling, and trembling also increased for all groups, however, the frequency was the same for all groups in both conditions. The larger rambling trajectory displacement suggests that even 12-year-old children still show difficulties in estimating the body position and in using this estimation in order to maintain the desired postural orientation. On the other hand, the similar trembling trajectory displacement suggests that the amount of noise due to the muscular commands send to the muscular system in 12-year-old children is similar to the observed in adults. For 10-year-old and younger children, however, this noise is still larger... (Complete abstract, click electronic address below).
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Tokuno, Craig. "Neural control of standing posture." Doctoral thesis, Stockholm : Karolinska institutet, 2007. http://diss.kib.ki.se/2007/978-91-7357-396-2/.
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Bergas, Jané Joan. "Control del motor d'inducció considerant els límits del convertidor i del motor." Doctoral thesis, Universitat Politècnica de Catalunya, 2000. http://hdl.handle.net/10803/6293.
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1.1 Objectius de la tesi.En els últims anys el control del parell i de la velocitat del motor d'inducció ha estat llargament estudiat. Un cop s'ha considerat que les prestacions dinàmiques assolibles eren ja suficientment satisfactòries, els diferents investigadors han reorientat els seus esforços cap a altres enfocs relacionats, ja no únicament amb el MI estrictament parlant, sinó amb tot el sistema que constitueix l'accionament amb si mateix.
L'objectiu principal d'aquesta tesi és posar en evidència, l'existència d'unes idealitzacions i limitacions dels controls tradicionals de parell i velocitat del motor d'inducció (bàsicament del Control Vectorial i del DTC), així com a proposar mètodes i algorismes alternatius que superin a les mateixes.
1.2 Estructura i contingut
El Capítol 1 conté una introducció al treball.
El segon capítol Modelització del motor d'inducció, presenta les principals tècniques i equacions, que porten a descriure d'una forma dinàmica al MI.
El tercer capítol, Control de parell i velocitat del MI, es descriuen els Control Vectorial i el Control Directe de Parell (DTC), ja que són els més estudiats en la literatura.
El quart capítol, Estudi dels bucles de corrent, tracta més en profunditat una de les limitacions que presenta el Control Vectorial, l'estudi de les interaccions que hi ha entre els dos llaços de regulació de les intensitats de l'estator (la seva component directa i en quadratura).
En el cinquè capítol, OSVPWM (Optimized Space Vector PWM), es presenta un estudi detallat dels diferents mètodes d'ondulació (DC/AC) que existeixen. D'entre tots aquests, s'estudia amb molt més deteniment el Space Vector PWM (SVPWM), aportant un nou algorisme d'implementació del mateix (optimitzat per DSP's), així com posant en evidència la negativa influència dels temps morts sobre el mateix.
El sisè capítol presenta l'ODTC (Optimized Direct Torque Control), com a resum de tots els capítols anteriors.
1.3 Aportacions d'aquesta tesi.
En la modelització matemàtica del Motor d'Inducció, s'ha arribat a la formulació d'una equació genèrica, que engloba totes les possibles referències, i totes les definicions d'intensitats magnetitzants.
En l'estudi del DTC s'ha presentat una nova taula de commutació, que permet disminuir l'excessiu arrissat de parell que presenta la taula de commutació tradicional.
En l'estudi del SVPWM s'ha presentat una nova formulació molt més apta per a la seva implementació en DSP (Digital Signal Processor). Igualment, s'ha posat en evidència la important influència dels temps morts dels interruptors, en la THD (Tasa de Distorsió Harmònica) de l'ona de tensió de sortida de l'ondulador proposant un algorisme de compensació (OSVPWM).
S'ha proposat un nou algorisme de control del parell del MI, incorporant les prestacions del DTC en règim transitori (ràpida resposta del parell), i les prestacions del Control Vectorial en règim permanent (petit arrissat de parell), amb la incorporació de l'OSVPWM com a estratègia de modulació.
Finalment destacar, l'aportació d'un equip experimental basat en DSP, de disseny molt versàtil i robust, i que incorpora tota una sèrie d'eines de desenvolupament que el fan molt útil per a l'experimentació de noves lleis de control, referides principalment al motor d'inducció, però que també s'ha demostrat eficient alhora de treballar amb altres plantes com és el cas dels SAI's (Sistemes d'Alimentació Ininterrompuda).
1.4 Futures línies de recerca.
Seguir treballant en l'estudi del OSVPM, però en el cas de la sobremodulació, és a dir, quan la tensió de consigna superi o surti fora dels rangs d'aplicabilitat del mateix.
Amb l'obtenció de l'equació que ens permet estimar l'arrissat màxim de parell, associat al conjunt motor-ondulador, estudiar el disseny de controladors per histèresi de banda d'histèresi variable (funció de l'estat de l'accionament).
Finalment destacar, que amb el constant augment de la potència de càlcul dels DSP, les possibilitats de noves lleis de control del MI ("fuzzy logic" i "passivity control") són cada dia més possibles, i per tant s'han convertit en una línia de treball molt interessant.
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Turl, Gary. "A synchronised multi-motor control system using hybrid sensorless induction motor drives." Thesis, University of Nottingham, 2002. http://eprints.nottingham.ac.uk/29510/.
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The main aim of this project was to research, develop and test an induction motor drive not requiring a speed encoder, but which could be considered commercially viable by motor drives manufacturers, and which should aim to meet the follow requirements: • Dynamic torque performance and steady state speed-holding accuracy to be comparable with encodered vector controlled drives • Extensive and highly accurate knowledge of electrical and mechanical parameters of the motor and load not to be required • Extensive commissioning from an expert engineer not to be necessary • Algorithm not to rely on excessive computational capability being available The drive was to operate, in a stable manner, over speed and load ranges at least comparable with commercially available sensorless induction motor drives. The above requirements were set such that the developed sensorless technique may be considered for synchronised multi-motor process applications, where the advantages of a sensorless system could be exploited for hazardous, damp and hot conditions. The solution developed consists of a leading model-based sensorless method augmented with a speed estimator that tracks harmonics, seen in the stator terminal quantities, due to rotor slotting. The model-based scheme facilitates field-orientated control for dynamic performance. The slot harmonic speed estimator tunes the model for speed accuracy. Slot harmonics are identified using a recursive signal processing method termed the Recursive Maximum Likelihood - Adaptive Tracking Filter. This work is the first example of the method being developed into a practical sensorless drive system and the complete speed identifier is described, including set-up, pre-filtering and the minimal parameter considerations. Being recursive the method is computationally efficient, yet has accuracy comparable with that of FFT identifiers used in other work. The developed sensorless strategy was implemented practically on two motor drive systems. The performance of the scheme is shown to give encoder like speed holding accuracy and field-orientated dynamic performance. The two drives were also configured and tested as a speed synchronised pair, using applicable multi-motor control techniques, themselves compared and contrasted. The sensorless performance is demonstrated, alongside an encodered version acting as a benchmark, and the performance of the two schemes is shown to be highly comparable. The author has found no other example of sensorless techniques considered for use in multi-motor applications. The use of such a technique brings established advantages associated with encoder removal and allows multi-axis electronic synchronisation to be considered for parts of a process where an encoder may not be appropriate.
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Lopez, Gabriel Gallegos. "Sensorless control for switched reluctance motor drives." Thesis, University of Glasgow, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.284639.
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JÃnior, AntÃnio Barbosa de Souza. "Hybrid position controller for an field-oriented induction motor drive." Universidade Federal do CearÃ, 2014. http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=13468.
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CoordenaÃÃo de AperfeÃoamento de Pessoal de NÃvel SuperiorThis work describes the study and implementation of a hybrid control technique applied to the positioning of the rotor shaft in a three-phase induction motor (IM). The machine has been modeled using the field oriented control (FOC) strategy. In additional, it is used three controllers to obtain the design of the position loop, each one with different operating characteristics. Initially, two constant gain controllers are associated with the position loop diagram in the FOC technique in order to obtain a fastest response, with disturbance rejection and without overshoot. Therefore, it used a Proportional (P) controller based on Ziegler-Nichols tuning method so that a faster system response is achieved and a predictive control strategy called Generalized Predictive Control (GPC), based on Proportional â Integral controller tuning form, to smooth the overshoot caused by the P controller. Subsequently, seeking a more efficient performance of the position control in the IM, It used a control strategy based on fuzzy logic that takes into account the weighting of P and GPC controllers together. For purposes of validation, simulations and experimental results of the P, GPC and hybrid control strategies are presented. The simulation was set up in Matlab/Simulink and the experimental plant was implemented with a Digital Signal Controller (DSC), manufactured by Texas Instruments TMS320F2812. Analyzing the results, the Proportional demonstrated the fastest reference tracking, among the others techniques, with a settling time of 0.25 seconds, however with overshoot. The GPC controller presented a longer accommodation time, about 2 seconds and without overshoot. The application of the hybrid proposed technique combine the fast tracking reference of the P controller, about 1 second to reach the reference, and without overshoot as in the GPC controller results. Besides, the robust characteristic of both controllers was maintained in the hybridization proposed technique.
Este trabalho descreve o estudo e implementaÃÃo de uma tÃcnica de controle hÃbrida aplicada ao posicionamento do eixo de um motor de induÃÃo trifÃsico (MIT). O motor de induÃÃo foi modelado usando-se a estratÃgia de controle de campo orientado a fim de projetar para a malha de posiÃÃo trÃs controladores, cada um com diferentes caracterÃsticas de operaÃÃo. Neste caso, incorporou-se inicialmente à malha de posiÃÃo da estratÃgia de controle de campo orientado a aÃÃo de dois controladores de ganho constante com o objetivo de posicionar o eixo de forma rÃpida, com pouco sobressinal e com rejeiÃÃo à perturbaÃÃo. Desta forma, utilizou-se um controlador Proporcional (P) com sintonia baseada em Ziegler-Nichols de modo a se obter uma caracterÃstica mais rÃpida do sistema e, uma estratÃgia de controle preditivo denominada de GPC (Generalized Predictive Control) com o objetivo de suavizar a aÃÃo do controlador P em termos de elevado sobressinal considerando a sintonia do controlador GPC baseada em um controlador Proporcional-Integral (PI). Posteriormente, para se obter um desempenho mais eficiente do controle de posiÃÃo do MIT, utilizou-se uma estratÃgia de controle baseada em lÃgica fuzzy de modo a se levar em conta a ponderaÃÃo dos controladores P e GPC, conjuntamente. Para fins de validaÃÃo sÃo apresentados resultados da aplicaÃÃo das estratÃgias de controle P, GPC e hÃbrida no controle de posiÃÃo do MIT a partir de simulaÃÃes em ambiente Matlab/Simulink e atravÃs da implementaÃÃo do sistema de controle de posiÃÃo utilizando-se um processador digital de sinais, o DSP TMS320F2812 fabricado pela Texas Instruments. A partir dos resultados encontrados, o Proporcional demonstrou um rÃpido seguimento de referÃncia, dentre as tÃcnicas utilizadas, com tempo de acomodaÃÃo experimental de 0,25 segundos, porÃm com sobressinal. O controlador GPC apresentou um tempo de acomodaÃÃo maior, cerca de 2 segundos e sem sobressinal. A aplicaÃÃo da tÃcnica hÃbrida proposta conseguiu combinar o rÃpido seguimento de referÃncia do Proporcional, levando cerca de 1 segundo para alcanÃar a referÃncia, e sem sobressinal como o controlador GPC. AlÃm do que, como os controladores possuem uma caracterÃstica robusta tambÃm se garantiu essa propriedade para o hibridismo proposto.
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Mercadante, Fernanda Aparecida. "Avaliação do controle postural em portadores de hanseníase." Universidade de São Paulo, 2010. http://www.teses.usp.br/teses/disponiveis/47/47135/tde-20012011-111933/.
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A hanseniase e uma doenca endemica no Brasil sendo considerado um problema de saude publica. A hanseniase causa acometimentos oculares, cutaneos, sistemicos e nervosos, sendo este ultimo o mais importante, pois provoca alteracoes de sensibilidade e propriocepcao, que podem afetar o controle da postura. O objetivo principal deste estudo e descrever o controle postural de sujeitos portadores de hanseniase e compara-los com sujeitos saudaveis. Para tanto, tambem serao mensuradas algumas respostas sensorio-motoras possivelmente relacionadas ao controle postural destes sujeitos. Foi avaliado o controle postural por meio do Teste Clinico de Interacao Sensorial no Equilibrio modificado utilizando-se uma plataforma de forca e do BESTest, Balance Evaluation Systems Tests, uma medida funcional do equilibrio. Quanto as respostas sensorio-motoras, foram avaliados os reflexos tendinosos, a forca muscular, a palpacao de dois nervos do membro inferior, a propriocepcao, a sensibilidade cutanea, a acuidade visual, em todos os sujeitos, e o grau de incapacidades fisicas apenas nos sujeitos portadores de hanseniase. De forma geral, todas as respostas sensorio-motoras dos portadores de hanseniase estao prejudicadas. O desempenho no BESTest indica que os portadores de hanseniase apresentam dificuldades em controlar o equilibrio em tarefas tipicas das atividades da vida diaria. O desempenho nas tarefas de equilibrio quantificado pela posturografia indica que os portadores de hanseniase apresentam dificuldades em controlar o equilibrio na postura ereta quieta sem ou com manipulacao da informacao sensorial. Os resultados reportados neste trabalho mostram pela primeira vez que portadores de hanseniase possuem deficits no controle postural relevantes para a manutencao do equilibrio e para execucao de outras tarefas comuns da vida diaria. Estes resultados sugerem que portadores de hanseniase devem receber auxilio especial para que estes deficits possam ser diminuidosHansen\'s disease is an endemic disease in Brazil and it is considered a public health problem. The Hansen\'s disease causes eye, cutaneous, systemic, and nervous problems; being the latter the most important hence affects the sensibility and proprioception and possibly can affect postural control. The main goal of this study is to describe the postural control of individuals with Hansen\'s disease and compare them to healthy individuals. For such, it will also be measured sensory-motor responses possibly related to the postural control of these individuals. The postural control was evaluated employing a modified version of the Clinical Test of Sensory Interaction and Balance using a force plate and the BESTest, Balance Evaluation Systems Tests, a functional measure of the postural control. In regard to the sensory-motor responses, it was evaluated the tendinous reflex, muscle force, palpation of two nerves of the lower limb, proprioception, cutaneous sensibility, visual acuity, in all subjects, and the degree of physical incapacity only of individuals with Hansen\'s disease. In general, all the sensory-motor responses of the individuals with hanseniase are deteriorated. The performance in the BESTest suggests that individuals with Hansen\'s disease have problems in controlling their posture in typical daily living tasks. The performance in the postural control tasks measured by posturography also suggests that the individuals with Hansen\'s disease have problems in controlling their posture with or without the manipulation of the sensory information. These results show by the first time that individuals with Hansen\'s disease have significant postural control deficits that impair their ability to maintain their upright posture and to execute common daily living tasks. These results suggest that individuals with Hansen\'s disease must receive special attention in order to reduce these deficits
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D'Amelio, Jeffrey David. "Development of a Digital Controller for Motor Control Experiments in the EE472 Lab." DigitalCommons@CalPoly, 2014. https://digitalcommons.calpoly.edu/theses/1339.
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A digital motor controller for student lab use is designed, built, and tested. The controller uses an encoder for position measurement, and an H-bridge to drive the electromechanical plant.
A user interface is created to enhance usability of the device. The user interface is able to display key parameters of the control algorithm as well as the state of the system. It is also used to modify the gains and sample rate of the control algorithm.
The design of the system is refined, and 10 units are built for the EE472 Digital Controls Lab. The lab manuals for the first 4 experiments are revised to match and support the new system.
The possible future for the project is described with some suggestions for improving the system.
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Billing, Erik. "Simulation of Corticospinal Interaction for Motor Control." Thesis, Umeå University, Department of Psychology, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-21648.
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Uygur, Serdar. "An Fpga Based Bldc Motor Control System." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614104/index.pdf.
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In this thesis, position and current control systems for a brushless DC (Direct Current) motor
are designed and integrated into one FPGA (Field Programmable Gate Array) chip. Experimental
results are obtained by driving the brushless DC motors of Control Actuation System
of a guided missile. Because of their high performance, brushless DC motors are widely used
in Control Actuation Systems of guided missiles. In order to control the motor torque, current
controller is designed and implemented in the FPGA. Position controller is designed to
fulfill the position commands. A soft processor in the FPGA is used to connect and configure
the current controller, position sensor interfaces and communication modules such as UART
(Universal Asynchronous Receiver Transmitter) and Spacewire. In additionposition controller is implemented in the soft processor in the FPGA. An FPGA based electronic board is designed and manufactured to implement control algorithms, power converter circuitry and to perform other tasks such as communication with PC (Personal Computer). In order to monitor the behavior of the controllers in real time and to achieve performance tests, a graphical user interface is provided.
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Retuerta, Iu. "The interface communicate to DC motor control." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-10425.
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Arkad, Jenny, and Tomas Andersson. "A Control Algorithm for an Ultrasonic Motor." Thesis, Linköpings universitet, Reglerteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-69424.
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This report is the result of a master thesis work where the goal was to develop acontrol system for a type of ultrasonic motor. The ultrasonic motors use ultrasonicvibrations from a piezoelectric material to produce a rotating motion. They arepowered by two sinusoidal voltages and their control signals generally are thevoltages amplitude, frequency and the phase difference between the two voltages.In this work the focus is on control using only amplitude and frequency. A feedbacksignal was provided by an encoder, giving an angular position. The behavior of themotors were investigated for various sets of control signals. From collected data alinearized static model was derived for the motor speed. This derived model wasused to create a two part control system, with an inner control loop to managethe speed of the motors using a PI controller and an outer control loop to managethe position of the motors. A simple algorithm was used for the position controland the result was a control system able to position the motors with a 0.1 degreeaccuracy. The motors show potential for greater accuracy with a position feedback,but the result in this work is limited by the encoder used in the experiments.
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Barclay, Jeffrey William. "Environmentally-induced thermoprotection of insect motor control." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/NQ63403.pdf.
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Mosskull, Henrik. "Robust Control of an Induction Motor Drive." Doctoral thesis, Stockholm : Automatic Control, School of Electrical Engineering, Royal Institute of Technology, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3889.
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Axelson, Hans. "Muscle Thixotropy : Implications for Human Motor Control." Doctoral thesis, Uppsala : Acta Universitatis Upsaliensis : Univ.-bibl. [distributör], 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-5791.
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Johansson, Andreas, and Max Stigborg. "Analogue versus digital solution for motor control." Thesis, Tekniska Högskolan, Högskolan i Jönköping, JTH, Data- och elektroteknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-21574.
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Saab has an analogue solution which is used to drive small motors in aircrafts. The motor is a brushless DC-motor and uses a resolver and hall sensors to control it. As sensorless control is something that has been expanding and attracting more interest over the last decade, Saab is considering the possibility of using a digital sensorless system depending on its performance on the control compared to their analogue system. There is little documentation of performance for a digital sensorless solution compared to an analogue solution. Therefore the question to be answered in this research is: How is the performance of the digital solution compared to the existing analogue solution? It was answered by finding a complete sensorless system on the market and then compare its performance to a digital system with sensors that resembles the analogue solution. Performance wise, InstaSPIN does not perform as well as EPOS2 which represent the sensorless system respective the system with sensors. InstaSPIN needs a startup sequence, can not run at the same low velocities, has a longer rise time, settling time and greater ripple. An examination of the software should be done before using the disadvantages that was found as a reason for not considering a sensorless system. Especially the startup sequence in the software should be examined as it is InstaSPINs greatest weakness compared to EPOS2.Saab använder idag ett analogt system för att driva små motorer i deras flygfarkoster. Det analoga systemet använder en borstlös DC-motor och en resolver för styrning av motorn. Motorstyrning med system som är oberoende av givare är ett område som vuxit och fått ett ökat intresse det senaste decenniet. Saab överväger möjligheten att använda ett givarlöst digitalt system beroende på dess styrprestanda jämfört med deras analoga system. Eftersom det finns lite dokumentation om prestandan så är frågan som ska besvaras i denna rapport: Hur förhåller sig det givarlösa digitala systemet prestandamässigt jämfört med det existerande analoga systemet? Detta besvarades genom att leta upp ett komplett system på marknaden och sedan jämföra dess prestanda mot ett digitalt system som liknar det analoga systemet. Prestandamässigt så fungerar InstaSPIN som representerar det givarlösa systemet inte lika effektivt som EPOS2 som representerar systemet som använder givare. Nackdelarna med InstaSPIN är att den behöver en startsekvens, inte kan köra på lika låga hastigheter, har längre stigtid, insvängningstid och större rippel. Man bör undersöka mjukvaran innan nackdelarna används som en anledning till att inte använda ett givarlöst system. Speciellt startsekvensen bör undersökas eftersom det är IntaSPINs största svaghet jämfört mot EPOS2.
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Pelland, Lucie. "Strategies for motor control analysis in children." Thesis, McGill University, 2000. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=37808.
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The goal of the research described in this thesis is to further our understanding of the motor control strategies that are available to the child when learning to produce meaningful interactions with environmental surfaces. The principal aim is to explore the analytical techniques that could be used to evaluate the range of neuromechanical responses for the lower limb that would provide stability at the limb/environment interface during growth and development. Five studies are presented that provide both experimental data and theoretical perspectives that were coalesced in the formulation of a general model for the control of stability at the limb/environment interface. The first study presents an analytical technique that was devised to classify the spatial-temporal organization of the surface myoelectric activity into one of three distinct patterns: Burst, Tonic, and Tonic Burst. This classification permits the matching between the pattern of muscle activity and the kinematic and kinetic control of the ground contact phase of landing. In the second, and companion paper, different distributions of the Burst, Tonic, and Tonic Burst patterns across the muscles of the lower limb were associated with three mechanical responses of the limb to ground contact. Mechanically, the three limb responses show a progression toward an effective control of stability at the limb/environment interface and it was therefore proposed that the distribution of activity patterns could reflect the priorities of system at different stages of growth and development. The results support our hypothesis that more complex movements can be executed when the limits of stability are maximized. Study three presents a formal model for the control of stability at the limb/environment interface. The model was further applied to propose new theoretical approaches that could be used in the clinical milieu, shifting the focus of the evaluation to the range of feasible movements that would be available
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Clarkson, P. J. "Modelling and control of stepping motor systems." Thesis, University of Cambridge, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.384410.
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Wallace, K. R. "A numerical study of motor control processes." Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.334179.
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Baker, M. R. "Motor pathway control of cerebellar climbing fibres." Thesis, University of Cambridge, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.596281.
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An electrophysiological approach has been employed to achieve a clearer understanding of the descending projections to the mammalian cerebellar climbing fibre (CF) system and of their integration with cutaneous afferent (CUT) information also arriving within the CF system. 1. Throughout the intermediate zone of the cerebellum of both the rat and the ferret CF responses (CFRs) could be evoked from both the medullary pyramid (PT) and CUT. In both species, the axons within the PT that evoked CFRs conduct at approximately a tenth of the velocity of the fastest corticofugal axons and CFRs could be evoked at the level of the cervico-medullary junction. In addition, in the ferret, CFRs could be evoked in the same zones of the cerebellum by stimulating in the region of the parvocellular red nucleus (RN). In the ferret, synaptic input from CST, RN and CUT converges onto single rostral dorsal accessory olive (rDAO) neurones, the origin of these CFs. 2. When the refractoriness of CF single units was explored by delivering test stimuli to heteronymous synaptic inputs, at different time intervals, there was a 10-20% probability of observing responses to both stimuli at intervals of 30-40 ms suggesting that the refractoriness of rDAO neurones, as described previously (approximately 100 ms) by testing homonymous synaptic inputs, is overestimated. 3. Field potential oscillations, in the 8-12 Hz range, recorded from the rDAO of the ferret, and assumed to be representative of the synchronous potential change of individual neurones, influenced the probability of evoking responses from the CST or RN but not from sensory afferents.
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Baker, Matthew A. B. "Temperature control of the bacterial flagellar motor." Thesis, University of Oxford, 2010. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.526566.
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Miller, Paul Ian. "Recurrent neural networks and adaptive motor control." Thesis, University of Stirling, 1997. http://hdl.handle.net/1893/21520.
Full textAbstract:
This thesis is concerned with the use of neural networks for motor control tasks. The main goal of the thesis is to investigate ways in which the biological notions of motor programs and Central Pattern Generators (CPGs) may be implemented in a neural network framework. Biological CPGs can be seen as components within a larger control scheme, which is basically modular in design. In this thesis, these ideas are investigated through the use of modular recurrent networks, which are used in a variety of control tasks. The first experimental chapter deals with learning in recurrent networks, and it is shown that CPGs may be easily implemented using the machinery of backpropagation. The use of these CPGs can aid the learning of pattern generation tasks; they can also mean that the other components in the system can be reduced in complexity, say, to a purely feedforward network. It is also shown that incremental learning, or 'shaping' is an effective method for building CPGs. Genetic algorithms are also used to build CPGs; although computational effort prevents this from being a practical method, it does show that GAs are capable of optimising systems that operate in the context of a larger scheme. One interesting result from the GA is that optimal CPGs tend to have unstable dynamics, which may have implications for building modular neural controllers. The next chapter applies these ideas to some simple control tasks involving a highly redundant simulated robot arm. It was shown that it is relatively straightforward to build CPGs that represent elements of pattern generation, constraint satisfaction. and local feedback. This is indirect control, in which errors are backpropagated through a plant model, as well as the ePG itself, to give errors for the controller. Finally, the third experimental chapter takes an alternative approach, and uses direct control methods, such as reinforcement learning. In reinforcement learning, controller outputs have unmodelled effects; this allows us to build complex control systems, where outputs modulate the couplings between sets of dynamic systems. This was shown for a simple case, involving a system of coupled oscillators. A second set of experiments investigates the use of simplified models of behaviour; this is a reduced form of supervised learning, and the use of such models in control is discussed.
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Brown, Jennifer. "Feedback motor control and the basal ganglia." Thesis, University of Cambridge, 2014. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.648678.
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Gao, Yuan, and 高源. "Control of chaos in advanced motor drives." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2005. http://hub.hku.hk/bib/B45014784.
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Kadhim, Ammar Hadi. "Control of an inverter driven reluctance motor." Thesis, University of Bradford, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.281134.
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Lewin, Paul Leonard. "Microprocessor control of a switched reluctance motor." Thesis, University of Southampton, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.262359.
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Huang, Yao-Ching, and 黃耀慶. "Distributed Motor Control System." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/52796739552019087131.
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