Controls and Control Theory Commons^™

Underwater Remotely Operated Vehicle Controller With Pid Stability Regulation, Christian E. Aguirre

Electrical Engineering

The earth’s oceans and rivers remain widely unexplored. Hobbyists and companies across the globe invest money and resources into remotely operated vehicles (ROV) to further expand underwater knowledge. Each ROV includes a controller that operates motors and monitors other crucial system vitals. The ROV Controller project makes the process of designing an ROV simpler and more affordable by providing a multi-purpose programmable controller.

The ROV controller features programmable digital inputs/outputs and analog inputs. The controller processes control signals from analog joysticks, digital signals from a gyroscope and utilizes a MUX to expand the analog input capabilities of the Arduino. The …

Ball Oscillating Bouncer, Eric Blok, Daniel Altemese, Ryan Nowacki, Maram Qurban

Williams Honors College, Honors Research Projects

The purpose of this report is to document the need, objectives, marketing and engineering requirements, as well as validate the design of an autonomous control device capable of continuously bouncing a table tennis ball on a paddle. This includes the design of a self correcting system using lightweight materials, and as few sensors and components as possible to achieve a compact, portable design. To accomplish this, the system is designed to react to a ball falling from as short a distance as 10 centimeters above the paddle, meaning all sensor processing, control processing, and motor drives should be able to …

Development Of An Optical Sensor For Real-Time Weed Detection Using Laser Based Spectroscopy, Arie Jacobus Paap

Theses: Doctorates and Masters

The management of weeds in agriculture is a time consuming and expensive activity, including in Australia where the predominant strategy is blanket spraying of herbicides. This approach wastes herbicide by applying it in areas where there are no weeds. Discrimination of different plant species can be performed based on the spectral reflectance of the leaves. This thesis describes the development of a sensor for automatic spot spraying of weeds within crop rows. The sensor records the relative intensity of reflected light in three narrow wavebands using lasers as an illumination source.

A prototype weed sensor which had been previously developed …

Polar Field Oriented Control With 3rd Harmonic Injection, Martin Todd Hess

Master's Theses

Abstract

POLAR FIELD-ORIENTED CONTROL

with

3^RD HARMONIC INJECTION

Martin Todd Hess

Field Oriented Control (FOC), also known as vector control, is a widely used and well documented method for controlling Permanent-Magnet Synchronous Motors (PMSM) and induction motors. Almost invariably the orientation of the stator and rotor (field) fluxes are described in rectangular coordinates. In this thesis we explore the practicality of using polar coordinates.

Third harmonic injection is also a well-known technique that allows full utilization of the bus (DC-link), thus allowing the motor to run to full base speed without the use of field weakening. This technique potentially …