För att kunna framföra ett fordon på ett säkert sätt är vindrutetorkning är en viktig del. Men, bara för att det är en viktig del i användandet innebär det inte att det är en viktig del i utvecklingen. Detta har visat sig genom att funktionen och designen av vindrutetorkare på lastbilar har varit densamma i årtionden. När hytten till Scanias senaste lastbilsmodell designades så minskades tjockleken på torpedväggen för att spara vikt. Detta minskade även styvheten i hytten, vilket fick de vibrationer som inducerades vid körning av vindrutetorkarna att nå en kritisk gräns. Problemställningen för detta exjobb var därför att förstå ursprunget till dessa vibrationer och hur delsystemen interagerar med varandra genom att utföra modellbaserad utveckling (MBD). Uppgiften var att undersöka vilka ändringar som behövde genomföras i styrningen av vindrutetorkarna och systemspecifikationen för den inbyggda styrenheten för att reducera vibrationerna och säkerställa Scanias position som premiummärke även i framtiden. Vindrutetorkarsystemet modellerades i Simulink, med både Simulink-block och Simscapemodeller. En strömberoende spänningskontroller för rörelsestyrning utvecklades för att sedan verifieras på nuvarande hårdvara. Rekommendationer för framtida arbete på ECU gällande systemfrekvens för mätning samt algoritmdesign gjordes, samt helhetstänket vid design av ett nytt system poängterades. Resultaten visar att styrning av en likströmsmotor med ström som ingångsparameter är komplicerat då strömmen varierar kraftigt på grund av störningar. Algoritmen som behandlar mätdatat måste därför vara väldigt robust eftersom filtrering påverkar systemet genom att lägga till fas i kontrollern, vilket ger eftersläpningar. Kommande arbetsinsatser bör fokusera på hur man väljer komponenter som matchar varandra gällande likströmsmotor och ECU. Desto mer logik som placeras i motorn, desto mindre datorkraft behövs i den inbyggda styrenheten. / Windscreen wiping is an important part of driving safety and vehicle maneuverability. However, importance does not automatically imply progression, and the wiping functionality for heavy commercial vehicles have remained roughly the same through decades. When redesigning the cab for the latest truck generation at Scania, the thickness of the firewall was reduced to save weight.This reduced the stiffness of the cab, which made the vibrations in the throttle pedal from actuating the windscreen wiper rise to a critical level.The problem definition in this thesis was to understand the root-cause and cooperation in the system by doing modelling and Model-Based Design (MBD), rather than starting with experimental verification. The task was to investigate what changes needed to be made in the controlling of the wiper motor and system specification of the ECU to reduce vibrations and ensure Scania's position as a premium brand in the future. The windscreen wiping system was modelled in Simulink, with both Simulink blocks and Simscape models. A current-measuring voltage-controller for motion-profiles was developed and verified on real production hardware. Recommendation for future development of next ECU generation regarding sampling time and controller design was made and the importance of considering the whole system design was emphasized. Results showed that controlling with current measurement of DC-motors as input parameter is avolatile approach due to disturbances. The algorithms depending on this measurement needs to be very robust, since filtering adds unwanted delay to the control loop. Further investigations should be made in the component selection when mapping motors with the correct driver. The more logic placed in the motor, the less need for a complex ECU and vice versa.

The purpose of this work was to investigate how a last mile-transport vehicle can be constructed around a shoe. The prototype, which is controlled without a handheld controller, was designed to propel an adult forward with the use of an electric driveline. The user can easily stop driving, and instead walk short distances without removing the prototype. Research questions have been answered regarding how the battery and motor can be configured to reach a top speedof 15 km/h and a range of 3 km. In addition, answers were given as to how a user should control the vehicle’s speed in a safe and simple way, without the use of a handheld remote controller. The results show that the prototype reaches the specified top speed, and that the specified range is reached and exceeded. The user controls the motor power by moving their weight from the left to the right foot. The applied weight is measured by load cells under the heel, and after calibration, this user input method can be seen as satisfactory. The electric driveline, which is mounted under the shoe, allows the user to walk short distances without removing the prototype. Future work may add safety equipment such as lamps and a bell to make the product legal for use in public areas. In addition, a left shoe needs to be developed further, due to how the concept is dependent on it to function optimally. / Det här arbetet hade till avsikt att undersöka hur ett sistasträckan-fordon kan konstrueras kring en sko. Prototypen, vilken styrs utan en handkontroller, utformades för att förflytta en vuxen person med hjälp av en elektrisk drivlina. Användaren kan enkelt sluta åka, och istället gå kortare sträckor utan att ta av sig prototypen. Forskningsfrågor har besvarats angående hur batteri och motor kan konfigureras för att uppnå topphastigheten 15km/h och färdsträckan 3 km. Dessutom besvarades hur en användare ska kontrollera fordonets hastighet på ett säkert och enkelt sätt, utan användning av en handkontroll. Resultaten visar att prototypen uppnår topphastigheten, och att den angivna räckvidden uppnås och överskrids. Användaren styr motoreffekten genom att förflytta sin vikt från vänster till höger fot. Den applicerade vikten mäts av lastceller under hälen, och efter kalibrering kan denna användar-inmatningsmetod ses som tillfredsställande. Den elektriska drivlinan, som monteras under skon, tillåter att användaren går kortare sträckor utan att ta av sig prototypen. Framtida arbete kan tillägga säkerhetsutrustning, som lampor och ringklocka för att göra produkten laglig för användning på allmän plats. Dessutom behöver en vänstersko utvecklas mer, på grund av hur konceptet är beroende av denna för att fungera optimalt.

For this project the main goal was to design, simulate, build and test a DC motor driver. To accomplish this four specific parts had to be design. First a DCDC converter that converts the input signal from an external power supply in a controllable DC output. The second part was a DCDC converter that converts the DC input in a voltage useful for the function generator, the third part is the function generator that provides a signal to the H-Bridge, and the final part is the H-Bridge itself. The goal is to compare the measurement with the simulations to the expectations. What we are interested in is the influence of EMF when the RPM of the motor is zero or close to zero.

<p>This report presents the work carried out aiming towardsdistributed control of electric drives through a networkcommunication medium with temporal constraints, i.e, Ethernet.A general analysis on time delayed systems is carried out,using state space representation of systems in the discretetime domain. The effect of input time delays is identified andis used in the preceding controller designs. The main hardwareapplication focused in this study is a Brushless DC servomotor, whose speed control loop is closed via a 10 MbpsSwitched Ethernet network. The speed control loop, which isapproximately a decade slower than the current control loop, isopened and interfaced to the network at the sensor/actuatornode. It is closed at the speed controller end at another nodein the same local area network (LAN) forming a distributedcontrol system (DCS).</p><p>The Proportional Integral (PI) classical controller designtechnique with ample changes in parameter tuning suitable fortime delayed systems is used. Then the standard Smith Predictoris tested, modified with the algebraic design techniqueCoefficient Diagram Method (CDM), which increases the systemdegrees of freedom. Constant control delay is assumed in thelatter designs despite the slight stochastic nature in thetiming data observations. Hence the poor transient performanceof the system is the price for the robustness inherited to thespeed controllers at the design stage. The controllability andobservability of the DCS may be lost, depending on the range inwhich the control delay is varying. However a state feedbackcontroller deploying on-line delay data, obtained by means ofsynchronizing the sensor node and controller node systemclocks, results in an effective compensation scheme for thenetwork induced delays. Hence the full state feedbackcontroller makes he distributed system transient performanceacceptable for servo applications with the help of poleplacement controller design.</p><p>Further, speed synchronizing controllers have been designedsuch that a speed fluctuation caused by a mechanical loadtorque disturbance on one motor is followed effectively by anyother specified motor in the distributed control network with aminimum tracking or synchronizing error. This type ofperformance is often demanded in many industrial applicationssuch as printing, paper, bagging, pick and place and materialcutting.</p><p><b>Keywords:</b>Brushless DC Motor, Control Delay, DistributedMotion Control Systems, Proportional Integral Controller, SmithPredictor, Speed Synchronization, State Feedback Controller,Stochastic Systems, Switched-Ethernet, Synchronizing Error,Time Delayed Systems, Tracking Error</p>

<p> </p><p>The cooling system of a DC-motor is examined in this thesis. A change of direction of the cooling air is desired to prevent the generated coal dust from entering into the windings of the machine. Ultimately this will have a negative effect on the cooling in the machine and the loss of cooling needs to be compensated through other ways. The purpose of this thesis is to work for an improved operational safety and performance of the DC-motor and to make it more competitive in the market. By modelling the interior geometry of the machine and defining the boundaries in the software programs Gambit and FLUENT respectively, the motion and the heat transfer of the airflow could be simulated. The simulation results would give us an understanding of the flow pattern which later could be used to develop design modifications on the cooling system of a DC-motor. In this thesis the main focus lies on creating a simulation model with a sufficiently fine mesh size.</p>

Hydraulic circuits with fast dynamic response are often characterized by low power efficiency; on the other hand, energy-efficient circuits under certain circumstances, can demonstrate slow transient responses. Continuously rising energy costs combined with the demand on high performance has necessitated that hydraulic circuits become more efficient yet still demonstrate superior dynamic response. This thesis introduces a new hydraulic circuit configuration which demonstrates high dynamic performance and high efficiency. A pump-controlled hydraulic motor system was used as the basis of the study because of its high circuit efficiency. This is primarily because there is no power loss between the pump and motor. To improve the dynamic response of the pump, a DC motor was designed to control the pump swashplate (and hence flow rate) directly. The pump and DC motor were mathematically modeled and their parameters were experimentally identified. Based on the model and experimental results, a nonlinear PID controller was designed for the DC motor. By means of the DC motors quick dynamic response (in the order of 10 ms), the DC motor controlled pump demonstrated a fast dynamic response with a rise time of 15 to 35 ms depending on the pump pressure. As the dynamic response speed of the pump flow rate was increased, overshoot of the hydraulic motor output also increased. To reduce this overshoot, a bypass flow control circuit was designed to bypass part of the flow during the transient. Due to the unique operating requirements of the bypass flow control system, a PID controller with a resetable integral gain was designed for the valve to reduce the rise time of the bypass control valve. The feasibility ("proof of concept") of the bypass flow control concept was first established using simulation techniques. The simulation results showed that the bypass flow control system could significantly reduced the overshoot of the hydraulic motor rotational speed. The bypass controller was applied to the experimental test circuit. The transient results for the pump-controlled motor system with the bypass flow control are presented under a constant resistive and an inertial load. The test results showed that the bypass flow control could reduce the overshoot of the hydraulic motor rotational speed by about 50%. The relative efficiency of the circuit with the bypass flow control system was 1% to 5% lower for the particular pump-controlled system that was used in this study. For a pump/motor that does not demonstrate significant flow ripple of the magnitude experienced in this study, the relative efficiency would be the same as the pump/motor system without bypass. It was concluded that the proposed bypass control system, combined with the DC motor-swashplate driven pump, could be used to create an energy efficient circuit with excellent dynamic transient responses.

Hydraulic circuits with fast dynamic response are often characterized by low power efficiency; on the other hand, energy-efficient circuits under certain circumstances, can demonstrate slow transient responses. Continuously rising energy costs combined with the demand on high performance has necessitated that hydraulic circuits become more efficient yet still demonstrate superior dynamic response. This thesis introduces a new hydraulic circuit configuration which demonstrates high dynamic performance and high efficiency. A pump-controlled hydraulic motor system was used as the basis of the study because of its high circuit efficiency. This is primarily because there is no power loss between the pump and motor. To improve the dynamic response of the pump, a DC motor was designed to control the pump swashplate (and hence flow rate) directly. The pump and DC motor were mathematically modeled and their parameters were experimentally identified. Based on the model and experimental results, a nonlinear PID controller was designed for the DC motor. By means of the DC motors quick dynamic response (in the order of 10 ms), the DC motor controlled pump demonstrated a fast dynamic response with a rise time of 15 to 35 ms depending on the pump pressure. As the dynamic response speed of the pump flow rate was increased, overshoot of the hydraulic motor output also increased. To reduce this overshoot, a bypass flow control circuit was designed to bypass part of the flow during the transient. Due to the unique operating requirements of the bypass flow control system, a PID controller with a resetable integral gain was designed for the valve to reduce the rise time of the bypass control valve. The feasibility ("proof of concept") of the bypass flow control concept was first established using simulation techniques. The simulation results showed that the bypass flow control system could significantly reduced the overshoot of the hydraulic motor rotational speed. The bypass controller was applied to the experimental test circuit. The transient results for the pump-controlled motor system with the bypass flow control are presented under a constant resistive and an inertial load. The test results showed that the bypass flow control could reduce the overshoot of the hydraulic motor rotational speed by about 50%. The relative efficiency of the circuit with the bypass flow control system was 1% to 5% lower for the particular pump-controlled system that was used in this study. For a pump/motor that does not demonstrate significant flow ripple of the magnitude experienced in this study, the relative efficiency would be the same as the pump/motor system without bypass. It was concluded that the proposed bypass control system, combined with the DC motor-swashplate driven pump, could be used to create an energy efficient circuit with excellent dynamic transient responses.

The cooling system of a DC-motor is examined in this thesis. A change of direction of the cooling air is desired to prevent the generated coal dust from entering into the windings of the machine. Ultimately this will have a negative effect on the cooling in the machine and the loss of cooling needs to be compensated through other ways. The purpose of this thesis is to work for an improved operational safety and performance of the DC-motor and to make it more competitive in the market. By modelling the interior geometry of the machine and defining the boundaries in the software programs Gambit and FLUENT respectively, the motion and the heat transfer of the airflow could be simulated. The simulation results would give us an understanding of the flow pattern which later could be used to develop design modifications on the cooling system of a DC-motor. In this thesis the main focus lies on creating a simulation model with a sufficiently fine mesh size.

A high temperature magnetic bearing system using high temperature permanent magnets from Electron Energy Corporation (EEC) is under development. The system consists of two radial bearings, one thrust bearing, two radial catcher bearings and one motor. The purpose of this research is to develop one of the critical components of the system, namely, the High Temperature Permanent Magnet motor. A novel High Temperature Permanent Magnet (HTPM) Brushless DC(BLDC) motor capable of operating at 1000 degrees F (538 degrees C) is designed. HTPMs developed at Electron Energy Corporation are buried into the rotor. The high temperature motor is designed to produce 5.1kw of power at a top running speed of 20000 rpm. The numerical values of the motor voltage, power and torque output are predicted from calculations of the nonlinear finite element model of the motor. The motor stator is wound, potted, cured and high potential tested at 1000 degrees F. A servo amplifier from Advanced Motion Control is used to drive the high temperature motor. High temperature displacement sensors are set up for sensing the rotor position to form a closed loop motion control. However, the noise problem of the high temperature sensors causes a failure of this approach. An open loop approach is then developed and this approach succeeds in spinning the rotor with the capability of self-starting. The status of the full system assembling is introduced. Some other components of the system are briefly presented.

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 addition / position 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.