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In practical motors, static eccentricity and dynamic eccentricity (DE) (mixed eccentricity) appear rarely with the developed manufacturing techniques nowadays. Curved eccentricity takes up most of the eccentricity. However, the motor is dynamic eccentric in axial cross section when in curved eccentricity. Eccentricity is bound to cause unbalanced magnetic pull (UMP), whereas the study of dynamic UMP...
A novel adaptive object impedance control strategy is presented for dual-arm cooperative humanoid manipulators. A general impedance scheme comprising internal impedance control and object impedance control is adopted, which aims at conferring a compliant behavior both in end-effector level and object lever. The adaptation law for the stiffness and damping of object impedance is derived from Lyapunov...
In this paper, considering perturbation, we derive the analytical solution of a satellite orbit disturbed by atmospheric drag. The model of atmosphere density considering perturbation and atmosphere drag is first developed. Then the Gaussian equations of satellite motion are simplified, the atmospheric drag is expanded to triangular functions of orbit angular elements and the disturbances are separated...
Based on Timoshenko theory, the truss boom can be simplified into Timoshenko beam. The mathematic model based on such simplification has been set up and aims at minimizing buckling strain energy. The optimizing analysis program has been formulated in MATLAB, and the genetic algorithm has been adopted to optimize the joint point distribution of the truss boom head section. Comparison between the overall...
The bearingless permanent magnet synchronous motor (BPMSM) is an innovational type of motor, which has all excellence of magnetic bearings. The BPMSM is a high-order, nonlinear and strong coupling multivariable system. Bearingless motors have a set of torque windings and a set of additional suspension force windings in the stator slots. In order to realize the rotor suspending and motor operation...
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