This paper describes the development of remotely accessible electrical drive sets for hands-on education in electrical machinery, electrical drive and control courses as well as certain aspects of motion control and power electronics. The remote access is provided via the developed client-server communication method using the TCP/IP protocol to run the Matlab/Simulink compatible electrical drive sets operating on the remote server side. The developed method allows access to the robotics and electrical drive test- beds, namely permanent magnet DC (PMDC), permanent magnet synchronous (PMSM), and induction motor (IM) motor-load sets, developed for both on-site and remote use at the Control Laboratory in the University of Alaska Fairbanks (UAF). The client-server communication is developed in C/C++ using wxWidgets to communicate with the Matlab/Simulink downloadable DS1104, which is the control unit used in all the electrical drive systems in the lab. The UAF remote laboratory web site can be accessed at: http://www.uaf.edu/ece/remote-lab.This paper describes the development of remotely accessible electrical drive sets for hands-on education in electrical machinery, electrical drive and control courses as well as certain aspects of motion control and power electronics. The remote access is provided via the developed client-server communication method using the TCP/IP protocol to run the Matlab/Simulink compatible electrical drive sets operating on the remote server side. The developed method allows access to the robotics and electrical drive test- beds, namele permanent magnet DC (PMDC), permanent magnet synchronous (PMSM), and induction motor (IM) motor-load sets, developed for both on-site and remote use at the Control Laboratory in the University of Alaska Fairbanks (UAF). The client-server communication is developed in C/C++ using wxWidgets to communicate with the Matlab/Simulink downloadable DS1104, which is the control unit used in all the electrical drive systems in the lab. The UAF remote laboratory web site can be accessed at: http://www.uaf.edu/ece/remote-lab.

This paper describes the development of a client-server communication method using the TCP/IP protocol to run Matlab/Simulink compatible motion control units operating on the remote server side. The developed method is currently in use to allow access to a hardware-in-the-loop (HIL) robot simulator developed for both on-site and remote use at the Control Laboratory in the University of Alaska Fairbanks (UAF). The client-server communication is developed in C/C++ using wxWidgets to communicate with the Matlab/Simulink downloadable DS1104, which is used to develop a variety of robot dynamics configurations and control algorithms on the robotic simulator. Practical case study results from a remotely conducted graduate robotics project are also presented in relation to a HIL simulator developed for the real-time simulation of PUMA-type robots. The UAF remote laboratory Web site can be accessed at: http://www.uaf.edu/ece/remote-robotics

This study introduces a remotely accessible hardware-in-the-loop simulator (HILS), which is used for the development of the PUMA 560 dynamics and control. The HILS setup aims to give on-site and remote students/researchers the capability to experiment with any robotic configuration and control algorithm of their choice, without the need for the physical existence of the equipment in the laboratory. To increase the flexibility offered by the system, the HILS setup is made a part of the UAF RemoteLab facility, with the developed client/server communication, which gives remote access to all Matlab/Simulink based applications. As an implementation example, in this study, the HILS setup is used to develop dynamics and PD+ control of PUMA 560 as a graduate project. Experimental results and animations are also presented

This study is aimed at designing a sensorless sliding mode position control system for the rotor flux oriented Direct Vector Control (DVC) strategy of induction motors (IMs). For this purpose, a novel sliding mode controller (SMC) with reduced-chattering is designed for the control of the flux and angular position of the motor. All the states required for DVC in addition to the step-shaped load torque, stator resistance and rotor resistance are estimated using Braided EKF based observers. The performance of the new SMC is compared against a previously developed chattering-free SMC scheme. The simulation results demonstrate an improved robustness in the system response against parameter and load variations. It has also been demonstrated that the new Braided EKF technique used in the proposed sliding mode position control system also increases estimation accuracy of estimations when compared with chattering-free SMC under challenging variations of 100 % in the load and stator & rotor resistance.

In bilateral control applications, time delays in the communication channel have destabilizing effects and cause degradations in the performance of the system. In this paper, a sliding mode observer is used in conjunction with a disturbance observer to predict states of the slave system. Predicted states are then used in control formulation. Simulation and experimental results show that the proposed method avoids instability due to time delays in bilateral operation and provides satisfactory performance.