The accuracy of the servo system is dependent on the speed or band width of the closed loop control system. To achieve the high speed closed loop operation, hardware oriented control is preferred and it is achieved by means of an ASIC (Application Specific Integrated Chip). The servo system is used to drive a two axis robotic arm moving in a plane where two PMSM motor with servo control provides the required motion. Robotic applications require quick and accurate changes in driving torque so that the required motion behaviour is attained. Quick change in operating flux is required for fast and accurate servo control. Conventional scalar control drives cannot achieve quick response time and hence vector control is employed. The IRMCK201 ASIC used in the application has the Vector Control algorithm hard wired into it for complete servo control of a single PMSM. It takes the position and current feed back by using shaft encoder, hall sensor and IR2175 Current sensing IC. It can set up communication with a host controller through either high speed serial, SPI or Parallel protocols. The inverter unit is implemented using an Intelligent Power Module (IPM) and it is driven by the Space Vector Modulation signals from IRMCK201. The work shows that highly efficient servo drive can be implemented using IRMCK201 and Host controller with PMSM.
The fabrication of advanced nuclear fuel material involves handling of highly radioactive material in high purity inert gas atmosphere. All the process operations and associated handling have to be necessarily carried out using remote in-cell techniques. These Radioactive cells essentially require handling equipments such as an in-cell crane and power manipulator for heavy handling operations that would be carried out remotely. Design of this equipment is usually done according to the requirement of remote operations which are needed to be carried out and suited to the layout of the radioactive cells or containment boxes. A power manipulator has been designed and developed for the use in IGCAR, Kalpakkam. The developmental efforts and performance in the power manipulator is discussed in this paper.
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