The aim of this paper is to investigate the effects of the bearing faults on the stator current a... more The aim of this paper is to investigate the effects of the bearing faults on the stator current and on the efficiency of the induction motors, in order to verify the effectiveness of the analysis of these variables for diagnostic purposes. The paper reports the experimental results on four different types of bearing faults.
ABSTRACT This paper outlines the steps in designing an electrical drive with a brushless motor fo... more ABSTRACT This paper outlines the steps in designing an electrical drive with a brushless motor for home automation. Two purposes have been taken into account. First is the need of effective integration among the involved fields, i.e. motor design, control algorithm evaluation,. data transfer requirements, component integration in a domestic network. Second is the accurate choice of solutions compatible with low-cost technologies. The drive here considered is based on an axial flux brushless motor and emphasis is put on position and speed transducers, which constitute elements of weakness into the drive and contribute significantly to the total cost of low power applications. The key section in the control algorithm is the angular position detection and angular speed estimation. This is based on a set of three Hall effect sensors which seems to be a very low cost solution, offering, a good start point for more precise position reconstruction. The drive connection to a commercial communication network is finally discussed and proposed.
The paper presents the theoretical background and the actual results of both linear and nonlinear... more The paper presents the theoretical background and the actual results of both linear and nonlinear identification procedures for the links of an industrial 6-axes articulated robot. The identification results are aimed at developing a position controller for repetitive trajectory displacements by implementing and comparing a linear (ARMAX) and a nonlinear neural network based (NARX) technique. Theoretical aspects and realization of
This paper describes a wireless temperature measurement system, aimed to thermal analyses of rota... more This paper describes a wireless temperature measurement system, aimed to thermal analyses of rotating parts of electrical machines. The device was designed and manufactured in small dimensions, feasible for installations in small-size machines (less than 15 kW). The temperature of rotating parts is measured through thermocouples, whose signal is properly conditioned and then sent to PC through XBee wireless modules. The sensor has been successfully tested on a 13 kW electric motor.
The Industrial Internet of Thing (IIoT) approach to an Industry plant design, devises a comprehen... more The Industrial Internet of Thing (IIoT) approach to an Industry plant design, devises a comprehensive interconnection of the system components, from sections up to single devices, in order to get a general and punctual understanding of the process. Such an intelligent network, mostly based on Ethernet layers, when properly conceived, should be able to add relevant value to the plant operation. In industrial economy, the more significant implementation of IIoT comes with the Industry 4.0 (I4) principles. This paper shows how, within the I4 and IIoT frame, the plant efficiency can be addressed and bring relevant improvement. The reason is that measured or calculated variables, directly related to the energy consumption, such as current, electric power, actuator and motor torque, speed, etc., can be timely and easily monitored in the entire plant, since they are already conveyed on the communication network, due to real time control and diagnostics purpose. The paper, after a general discussion, proves it with practical examples based on Intralogistics applications: a Gantry robot and the stacker cranes of an automated warehouse, both driven in an EtherCAT based automation network.
This paper addresses the problem of enhancing the performance capabilities of position-controlled... more This paper addresses the problem of enhancing the performance capabilities of position-controlled robot manipulators. The proposed strategy aims at adaptively generating the position set-points for the standard position controller of the robot, so that the desired behavior is obtained even in the presence of system uncertainty. This algorithm is computationally simple, does not require knowledge of both manipulator payload model
In full electric (EV) or hybrid electric (HEV) vehicles the onboard communication is a crucial is... more In full electric (EV) or hybrid electric (HEV) vehicles the onboard communication is a crucial issue, that can take advantage from a reliable and robust interaction among the embedded units (ECUs) providing among others the power and batteries management, services, accessories and supervision; an updated global view of the system under control (the car) can improve the quality of control,
The aim of this paper is to verify the effectiveness of the stator current analysis for the detec... more The aim of this paper is to verify the effectiveness of the stator current analysis for the detection of bearing problems. The paper reports the experimental results on four different types of bearing faults.
2021 International Conference on Electromechanical and Energy Systems (SIELMEN), Oct 6, 2021
The aim of this study is to evaluate the potential of Synchronous Reluctance Motors for lift syst... more The aim of this study is to evaluate the potential of Synchronous Reluctance Motors for lift systems, by also considering the vibro-acoustic behaviour of the motor. Two types of synchronous machines are here designed, analysed and compared with an equivalent induction motor, which is the more common solution in such gearbox applications. The machine performance are further improved with optimization procedures based on a Multiobjectives Optimization Genetic Algorithm (MOGA). The difference between the two types of synchronous motors consists in the rotor geometry: a symmetric and an asymmetric rotor design were investigated. The evaluation of the vibro-acoustic performance has been conducted with a multi-variable model and finite element software taking into account electromagnetic, mechanical and thermal features of the motor, therefore carrying out a multi-physics analysis of the electrical machine
The results are reported of simulation work performed to test a modified field orientation algori... more The results are reported of simulation work performed to test a modified field orientation algorithm that takes into account the capacitors connected to an induction motor fed by a current source GTO inverter. The algorithm was tested first in an ideal case with sinusoidal current waveforms proving its effectiveness. Then it was applied to different current waveforms: the usual quasi-square
The aim of this paper is to investigate the effects of the bearing faults on the stator current a... more The aim of this paper is to investigate the effects of the bearing faults on the stator current and on the efficiency of the induction motors, in order to verify the effectiveness of the analysis of these variables for diagnostic purposes. The paper reports the experimental results on four different types of bearing faults.
ABSTRACT This paper outlines the steps in designing an electrical drive with a brushless motor fo... more ABSTRACT This paper outlines the steps in designing an electrical drive with a brushless motor for home automation. Two purposes have been taken into account. First is the need of effective integration among the involved fields, i.e. motor design, control algorithm evaluation,. data transfer requirements, component integration in a domestic network. Second is the accurate choice of solutions compatible with low-cost technologies. The drive here considered is based on an axial flux brushless motor and emphasis is put on position and speed transducers, which constitute elements of weakness into the drive and contribute significantly to the total cost of low power applications. The key section in the control algorithm is the angular position detection and angular speed estimation. This is based on a set of three Hall effect sensors which seems to be a very low cost solution, offering, a good start point for more precise position reconstruction. The drive connection to a commercial communication network is finally discussed and proposed.
The paper presents the theoretical background and the actual results of both linear and nonlinear... more The paper presents the theoretical background and the actual results of both linear and nonlinear identification procedures for the links of an industrial 6-axes articulated robot. The identification results are aimed at developing a position controller for repetitive trajectory displacements by implementing and comparing a linear (ARMAX) and a nonlinear neural network based (NARX) technique. Theoretical aspects and realization of
This paper describes a wireless temperature measurement system, aimed to thermal analyses of rota... more This paper describes a wireless temperature measurement system, aimed to thermal analyses of rotating parts of electrical machines. The device was designed and manufactured in small dimensions, feasible for installations in small-size machines (less than 15 kW). The temperature of rotating parts is measured through thermocouples, whose signal is properly conditioned and then sent to PC through XBee wireless modules. The sensor has been successfully tested on a 13 kW electric motor.
The Industrial Internet of Thing (IIoT) approach to an Industry plant design, devises a comprehen... more The Industrial Internet of Thing (IIoT) approach to an Industry plant design, devises a comprehensive interconnection of the system components, from sections up to single devices, in order to get a general and punctual understanding of the process. Such an intelligent network, mostly based on Ethernet layers, when properly conceived, should be able to add relevant value to the plant operation. In industrial economy, the more significant implementation of IIoT comes with the Industry 4.0 (I4) principles. This paper shows how, within the I4 and IIoT frame, the plant efficiency can be addressed and bring relevant improvement. The reason is that measured or calculated variables, directly related to the energy consumption, such as current, electric power, actuator and motor torque, speed, etc., can be timely and easily monitored in the entire plant, since they are already conveyed on the communication network, due to real time control and diagnostics purpose. The paper, after a general discussion, proves it with practical examples based on Intralogistics applications: a Gantry robot and the stacker cranes of an automated warehouse, both driven in an EtherCAT based automation network.
This paper addresses the problem of enhancing the performance capabilities of position-controlled... more This paper addresses the problem of enhancing the performance capabilities of position-controlled robot manipulators. The proposed strategy aims at adaptively generating the position set-points for the standard position controller of the robot, so that the desired behavior is obtained even in the presence of system uncertainty. This algorithm is computationally simple, does not require knowledge of both manipulator payload model
In full electric (EV) or hybrid electric (HEV) vehicles the onboard communication is a crucial is... more In full electric (EV) or hybrid electric (HEV) vehicles the onboard communication is a crucial issue, that can take advantage from a reliable and robust interaction among the embedded units (ECUs) providing among others the power and batteries management, services, accessories and supervision; an updated global view of the system under control (the car) can improve the quality of control,
The aim of this paper is to verify the effectiveness of the stator current analysis for the detec... more The aim of this paper is to verify the effectiveness of the stator current analysis for the detection of bearing problems. The paper reports the experimental results on four different types of bearing faults.
2021 International Conference on Electromechanical and Energy Systems (SIELMEN), Oct 6, 2021
The aim of this study is to evaluate the potential of Synchronous Reluctance Motors for lift syst... more The aim of this study is to evaluate the potential of Synchronous Reluctance Motors for lift systems, by also considering the vibro-acoustic behaviour of the motor. Two types of synchronous machines are here designed, analysed and compared with an equivalent induction motor, which is the more common solution in such gearbox applications. The machine performance are further improved with optimization procedures based on a Multiobjectives Optimization Genetic Algorithm (MOGA). The difference between the two types of synchronous motors consists in the rotor geometry: a symmetric and an asymmetric rotor design were investigated. The evaluation of the vibro-acoustic performance has been conducted with a multi-variable model and finite element software taking into account electromagnetic, mechanical and thermal features of the motor, therefore carrying out a multi-physics analysis of the electrical machine
The results are reported of simulation work performed to test a modified field orientation algori... more The results are reported of simulation work performed to test a modified field orientation algorithm that takes into account the capacitors connected to an induction motor fed by a current source GTO inverter. The algorithm was tested first in an ideal case with sinusoidal current waveforms proving its effectiveness. Then it was applied to different current waveforms: the usual quasi-square
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