This paper deals with torque reduction control for an electro-pneumatic hybrid vertical positioning system composed of a servomotor a pneumatic and a mechanical driving sub-system. The servomotor, coupled with a ball screw connected to the load by nut, enables to position a load vertically. The servomotor with small capacity, as well as energy saving, is required for cost down. To realize its s...

Control of a servomotor is a challenging real-time problem. The embedded microcontroller is responsible for fast and precise actuation of the motor shaft, and must handle communication with a master controller as well. If additional tasks such as temperature monitoring are desirable, they must take place often enough to be useful, but not so frequently that they interfere with the operation of ...

A torque control system is an important process in industries. The value of torque which is generated by DC servomotor depends upon a motor current. Since the torque control system uses the estimated current from an observer, it will receive an effect from torque disturbance (load torque) during an operation. The incorrect estimated current from the observer affects a current feedback signal. T...

Accurate measurements of muscle length changes are essential for understanding the biomechanics of musculoskeletal systems, and can provide insights into muscular work, force, and power. Muscle length has typically been measured in vivo using sonomicrometry, a method that measures distances by sending and receiving sound pulses between piezoelectric crystals. Here, we evaluate an alternative me...

A DC servomotor position control system using a Fuzzy Logic Sliding mode Model Following Control or FLSMFC approach is presented. The FLSMFC structure consists of an integrator and variable structure system. The integral control is introduced into it in order to eliminated steady state error due to step and ramp command inputs and improve control precision, while the fuzzy control would maintai...

This paper presents a Xilinx Field Programmable Gate Array (FPGA) based speed control of AC Servomotor using sinusoidal PWM technique. Xilinx FPGA is a programmable logic device developed by Xilinx which is considered as an efficient hardware for rapid prototyping. It is used to generate 50 Hz sine wave, the triangular wave and the sinusoidal PWM signals. The sinusoidal pulse width controls the...

Servomotors have already been around for some decades and they are extremely popular among roboticists due to their simple control technique, reliability and low-cost. They are usually controlled by using Pulse Width Modulation (PWM) and this paper aims to keep the idea of simplicity and low-cost, while introducing a new control technique: Pulse Frequency Modulation (PFM). The objective of this...

The ostraciiform swimming mode utilizes the caudal fin flapping to achieve piscine propulsion with turning maneuverability. Mechanism can be mimicked and implemented in underwater vehicles and it is necessary to know the energy efficiency of this swimming mode for durability consideration. Present study consists the energy efficiency of a servomotor actuated ostraciiform fish robot through powe...

A nonlinear servomotor model with friction, saturation, backlash and motor starting voltage is presented in this paper. Fuzzy control and nonlinear PID control are compared using numerous computer simulations. A systematical method for tuning a PD-type fuzzy controller with training data is introduced. 1.0 Introduction Actual servomotors always have nonlinearities that have to be considered in ...