Synchronization of Electrical Drives via EtherCAT Fieldbus Communication Modules

Synchronization between devices (in particular drive systems) is paramount for multi-axis motion control systems used in Computerized Numerical Control (CNC) machines, robots, and specialized technology machines used in many areas of the manufacturing industry. EtherCAT is an Ethernet-based network that is one of the most popular industrial networks for multi-axis motion control systems. EtherCAT is standardized in the IEC 61158 and IEC 61784 standards. In the article, an EtherCAT communication network for electrical drives is presented. The article focuses on the synchronization in the EtherCAT network consisting of one master device and slave servo drive devices. Special attention is given to synchronization mechanisms in EtherCAT, such as distributed clocks in slave servo drives devices. For this purpose, a laboratory stand was built consisting of two prototype servo drive devices with BLDC motors equipped with EtherCAT communication modules. A description of the working developed EtherCAT communication modules is given. Authors in communication modules ware used an EtherCAT Slave Controller (ESC) chip (AX58100) to implement lower EtherCAT layers. EtherCAT application layer was implemented in software form on a 32-bit microcontroller, based on CANopen over EtherCAT (CoE) CAN in Automation 402 (CiA402) profile. This research’s main contribution was to show the time dependencies regarding synchronization in terms of data flow in the EtherCAT communication stack in slave servo drive devices. The research results showed that the synchronous operation of drives is mainly influenced not by the mechanism of distributed clocks that ensures synchronization in the EtherCAT network but the implementation of the highest layer of the communication stack in slave servo drive devices. Experimental results are presented that prove the modules’ adequacy for use in high-performance motion control systems.

Overview on Digital Twin for Autonomous Electrical Vehicles Propulsion Drive System

The significant progress in the electric automotive industry brought a higher need for new technological innovations. Digital Twin (DT) is one of the hottest trends of the fourth industrial revolution. It allows representing physical assets under various operating conditions in a low-cost and zero-risk environment. DTs are used in many different fields from aerospace to healthcare. However, one of the perspective applications of such technology is the automotive industry. This paper presents an overview of the implementation of DT technology in electric vehicles (EV) propulsion drive systems. A general review of DT technology is supplemented with main applications analysis and comparison between different simulation technologies. Primary attention is given to the adaptation of DT technology for EV propulsion drive systems.

Low-Cost Drive System for Electric Motors based on the IRAM Module

With the increasing use of equipment that demand electric drive systems, the need for new systems that meet requirements of compactness, versatility, safety and low cost has increased. The IRAM module is an electronic circuit that provides a driver for DC and AC motors, being extremely compact and presents high performance. In this context, this work contributes to the power electronics area, presenting a design and construction of a low cost drive system, based on IRAM module, developed for individual or simultaneous drive, up to two DC motors. To carry out the experiments, DC motors responsible for moving a welding robot, were used. Experimental results are presented to shown the feasibility of using this system.

Modeling CRISPR gene drives for suppression of invasive rodents using a supervised machine learning framework

Invasive rodent populations pose a threat to biodiversity across the globe. When confronted with these invaders, native species that evolved independently are often defenseless. CRISPR gene drive systems could provide a solution to this problem by spreading transgenes among invaders that induce population collapse, and could be deployed even where traditional control methods are impractical or prohibitively expensive. Here, we develop a high-fidelity model of an island population of invasive rodents that includes three types of suppression gene drive systems. The individual-based model is spatially explicit, allows for overlapping generations and a fluctuating population size, and includes variables for drive fitness, efficiency, resistance allele formation rate, as well as a variety of ecological parameters. The computational burden of evaluating a model with such a high number of parameters presents a substantial barrier to a comprehensive understanding of its outcome space. We therefore accompany our population model with a meta-model that utilizes supervised machine learning to approximate the outcome space of the underlying model with a high degree of accuracy. This enables us to conduct an exhaustive inquiry of the population model, including variance-based sensitivity analyses using tens of millions of evaluations. Our results suggest that sufficiently capable gene drive systems have the potential to eliminate island populations of rodents under a wide range of demographic assumptions, though only if resistance can be kept to a minimal level. This study highlights the power of supervised machine learning to identify the key parameters and processes that determine the population dynamics of a complex evolutionary system.

The interdependence of hydrochemical and hydrodynamic processes in evaporite oil and gas basins

The article examines the reasons for the formation of vertical hydrochemical inversion within particular oil and gas basins and points out the role of waters of different genesis in the development of this phenomenon. The following processes of reverse hydrochemical zoning in the sedimentary cover are analyzed: thickening of heavy clay strata and the related squeezing of loosely bound waters, dehydration of clay minerals and catagenic fluid generation accompanying the transformation of organic matter into hydrocarbons of the petroleum series. The hydrochemical inversion at great depths is noted to occur and persist in the environment of the passive hydrodynamic regime; in closed water-drive systems, the demineralization of waters with depth causes the decrease in the hydrodynamic potential gradient, determining the migration pattern not only of water but also of hydrocarbons and, consequently, the location of oil and gas accumulation zones.

Modern combustion-electric PowerPack drive system design solutions for a hybrid two-unit rail vehicle

The article presents an innovative solution of a two-unit rail vehicle system for passanger transport with a dual-drive, diesel engine and electric motor. The vehicle was designed as a combination of two units, one dedicated to each of the two drive systems, where one unit provides electric drive while the other a combustion engine. The selection of engine and drive components was presented along with the aftertreatment systems used in the design. The provided solution was created in response to the dynamic needs of rail vehicle operators in the European Union who aim to reduce exhaust emissions without compomising the reach of the existing rail networks.

A Review of Thermal Monitoring Techniques for Radial Permanent Magnet Machines

Permanent magnet machines are widely applied in motor drive systems. Therefore, condition monitoring of permanent magnet machines has great significance to assist maintenance. High temperatures are accountable for lots of typical malfunctions and faults, such as demagnetization of the permanent magnet (PM) and inter-turn short circuit of stator windings. Therefore, temperature monitoring of the PM and stator windings is essential for reliable operation. In this paper, an overview introducing and evaluating existing thermal monitoring methods is presented. First, the mechanism of thermal-caused failures for the PM and stator windings is introduced. Then, the design procedure and principles of existing temperature monitoring methods are introduced and summarized. Next, the evaluations and recommendations of application feasibility are demonstrated. Finally, the potential future challenges and opportunities for temperature monitoring of the PM and stator windings are discussed.

Weakly deleterious natural genetic variation amplifies probability of resistance in multiplexed gene drive systems

Evolution of resistance is a major barrier to successful deployment of gene drive systems to suppress natural populations. Multiplexed guide RNAs that require resistance mutations in all target cut sites is a promising strategy to overcome resistance. Using novel stochastic simulations that accurately model evolution at very large population sizes, we explore the probability of resistance due to three important mechanisms: 1) non-homologous end-joining mutations, 2) single nucleotide mutants arising de novo or, 3) single nucleotide polymorphisms pre-existing as standing variation. If the fraction of functional end-joining mutants is rare, we show that standing variation dominates, via a qualitatively new phenomenon where weakly deleterious variants significantly amplify the probability of multi-site resistance. This means resistance can be probable even with many target sites in not very large populations. This result has broad application to resistance arising in multi-site evolutionary scenarios including the evolution of vaccine escape mutations in large populations.