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<p>In this thesis, a concept for a modular assembly direct drive permanent magnetgenerator is presented. The maximum forces that act on the different parts of thegenerator during normal operation have been calculated and used in solid mechanicsimulations in SolidWorks. The result is a rough first draft of a generator designwhere the stator has been divided into five modules and the rotor into six modules.This division is done in order to avoid symmetries in the generator that could lead toproblems with self-oscillation.The modulization of the stator brings about certain difficulties, both for the magneticcircuit and for the winding scheme. Different solutions for optimization of themagnetic circuit are analyzed from both a physical and a construction technicalperspective. A winding scheme is produced and the winding process tested in awinding dummy produced according to the conceptual generator design.</p>

Variable speed drive technology has advanced dramatically in the last 10 years with the advent of new power devices. In this study, a three phase induction motor drive using Insulated Gate Bipolar Transistors (IGBT) at the inverter power stage is introduced to implement speed and position control for the revolving stage in the Frederic Wood Theatre This thesis presents a solution to control a 3-phase induction motor using the Texas Instruments (TI) Digital Signal Processor (DSP) TMS320F2407A. The use of this DSP yields enhanced operations, fewer system components, lower system cost and increased efficiency. The control algorithm is based on the constant volts-per-hertz principle because the exact speed control is not needed. Reflective object sensors which are mounted on concrete frame are used to detect accurate edge position of revolving stage. The sinusoidal voltage waveforms are generated by the DSP using the space vector modulation technique. In order to satisfy some operating conditions for safe and agreeable operation, a look-up table, which is used to give command voltage and speed signals in software, is applied to limit the maximum speed and acceleration of the revolving stage. Meanwhile, a boost voltage signal is added at the low frequency areas to make the motor produce maximum output torque when starting. A test prototype is then built to validate the performance. Several tests are implemented into the IGBT drive to explore the reason for unacceptable oscillations in IGBT’s gate control signals. Improvement methods in hardware layout are suggested for the final design.

A motor drive consisting of two parallel voltage-sourced converters was developed and implemented. A parallel converter arrangement allows the system to be constructed in a modular fashion to gain economies of scale and redundancy. The converters are connected to common ac- and dc-buses without isolation and are controlled without inter-converter communication or a master/slave arrangement. The system was simulated and the results validated against an experimental setup. Both steady-state and dynamic load sharing were achieved through the use of drooped PI speed regulators. PI controllers were used to regulate the quadrature currents provided by each converter. Circulating 0-sequence current was regulated using P controllers. A linearized state-space model of the system was developed and an eigenvalue analysis was performed, showing system stability. Speed steps in simulation and in the laboratory demonstrated good response. The loss of one converter’s gating was emulated. The system continued to operate, showing an advantage of system redundancy.

Rapporten Designstudie av beställningsautomat -anpassad för drive through- behandlar arbetet från produktutveckling till modellframställning. Den uppgift som gruppen tagit sig an gäller utveckling och design av en automat anpassad för användning i en drive through. Hela arbetet är ett examensarbete inom Produkt och Processutveckling (kurskod: KN1060) vid Institutionen för Design och Produktutveckling på Mälardalens högskola. Produktutvecklingen gäller en automat anpassad för användning i en drive through, i produktutvecklingen ingår val av material, produktionsmetod, utformning samt konceptmodeller. Arbetet har utförts med en funktionsanalys och intervjuer som grund. Utifrån dessa dokument har sedan flertalet koncept kunnat utvecklas. Med stöd av ett antal utvecklingsverktyg har ett urval kunnat göras för att slutligen mynna ut i ett enda slutgiltigt koncept. Jämförelser och urval av koncept har genomförts med hjälp av ett antal utvecklingsverktyg; QFD-analys (Quality Function Deployment), FMEA-analys (Failure Mode Effect Analysis) och Pugh-matris. Dessa verktyg har även varit till stor hjälp när det kom till att kvalitetssäkra arbetet. Under arbetets gång har en nära dialog med handledare förts för att säkerställa att arbetsprocessen flutit i rätt riktning. Resultatet av detta arbete blev en modell i skala 1:4 som visar vilket utseende automaten får och vilka funktioner den kan ha. Modellen visar inte hur programvaran kommer att fungera. Den andra delen av resultatet är själva arbetet i sig som visar på hur produkten kan förenkla beställningen för användaren samt avlasta restaurangpersonalens arbete. För fortsatt arbete med detta projekt bör ytterligare undersökningar och djupare konstruktionsarbete genomföras. I det djupare konstruktionsarbetet bör elektronikkonstruktion tas med i beräkningarna. Det bör också läggas ner mycket tid på att utveckla programvaran så att den underlättar beställningar för såväl restaurangkund som personal.

A motor drive consisting of two parallel voltage-sourced converters was developed and implemented. A parallel converter arrangement allows the system to be constructed in a modular fashion to gain economies of scale and redundancy. The converters are connected to common ac- and dc-buses without isolation and are controlled without inter-converter communication or a master/slave arrangement. The system was simulated and the results validated against an experimental setup. Both steady-state and dynamic load sharing were achieved through the use of drooped PI speed regulators. PI controllers were used to regulate the quadrature currents provided by each converter. Circulating 0-sequence current was regulated using P controllers. A linearized state-space model of the system was developed and an eigenvalue analysis was performed, showing system stability. Speed steps in simulation and in the laboratory demonstrated good response. The loss of one converter’s gating was emulated. The system continued to operate, showing an advantage of system redundancy.

No description available.

In this thesis, a concept for a modular assembly direct drive permanent magnetgenerator is presented. The maximum forces that act on the different parts of thegenerator during normal operation have been calculated and used in solid mechanicsimulations in SolidWorks. The result is a rough first draft of a generator designwhere the stator has been divided into five modules and the rotor into six modules.This division is done in order to avoid symmetries in the generator that could lead toproblems with self-oscillation.The modulization of the stator brings about certain difficulties, both for the magneticcircuit and for the winding scheme. Different solutions for optimization of themagnetic circuit are analyzed from both a physical and a construction technicalperspective. A winding scheme is produced and the winding process tested in awinding dummy produced according to the conceptual generator design.

This essay attempts to examine whether it is possible to find a mutual understanding of the concept of drive between Spinoza’s philosophy and Freud’s psychoanalytical theory. Former texts on this subject have given a variety of conclusions: from a radical separation between the two authors to a complete identification between the two. The drive, or the desire which is the term Spinoza uses, has in Spinoza’s philosophy its foundation in the concept of conatus. Conatus is every thing’s strive to persevere in its being and is the expression of God’s, or the only substance’s, force and action in a here and a now. In the Freudian theory the term trieb, drive, is defined by it’s variation regarding object, source and aim. The late Freudian theory of drives separates the life drive, also called Eros, from the death drive. Eros is the strive of every being to maintain life but also to procreate and create stronger unities of life. It is, as the strive of conatus, a persevering strive. However, in examining the strive of conatus to persevere in its being, which could be said to strive by the guidance of a principle of joy, the distinction between the concept of conatus and the Freudian Eros is made visible through the comparison to the Freudian pleasure principle.

Modern motion controllers of robot manipulators require knowledge of the system's dynamics in order to intelligently predict the torque command. The main objective for this thesis is to apply various motion controllers on a parallel direct drive robot in simulations and verify if one can take advantage of the model knowledge to improve performance of controllers. The controllers used in this thesis varied from simple PD control with position and velocity reference only applied independently at each joint to more advanced PD control with full dynamic feedforward term and computed torque control, which incorporate full dynamic knowledge of the manipulator. In the first part, a thorough study of deriving dynamic equation using Lagrange formulation has been presented as well as the actual derivation of dynamic equations for MINGUS2000. Next, in order to prepare proper sets of inputs for the simulations, detailed discussions of end effector trajectory path planning and inverse kinematics determination have been presented. Finally, background theories of various controllers used in this thesis have been presented and their simulation results on the closed-chain direct drive robot have been compared for verification purposes.