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A trajectory tracking control scheme of a Macro-Micro welding robot based on the vision navigation is proposed. The robot system is composed of macro manipulator and micro manipulator attached to the tip of the macro part. Based on the visual sense, the robot is capable of effectively realizing the teaching mode and real-time tracking mode simultaneously, which is quite advantage to achieve better...
Based on the six-freedom-degree model of four-wheel-drive electric vehicles, the fail-safe problem of (Electric Power Steering system) EPS is analyzed, and an EPS fail-safe strategy based on state observer is proposed in this paper. When EPS failed, by detecting the cornering angle of the steer wheel or the torsion of the steer wheel, the yaw rate command can be estimated. The vehicle's body is forced...
This paper presents a novel control method of switched reluctance motor (SRM) along with stator current oriented method. This method will minimize the torque ripple while reducing the step angle. By analyzing the current of SRM in terms of torque and rotor position, a current distribution function can be acquired. Then a nonlinear magnetizing model is used to detect rotor position. The current distribution...
This paper describes the temperature analysis due to core and copper loss in switched reluctance motor (SRM) by two-dimensional (2-D) finite-element analysis (FEA), which focuses on SRM used in position control of intelligent electric actuator. We discuss the effect of a convective heat exchange on the temperature rise, standard thermal boundary conditions are set up for the SRM model, and the temperature...
Switched reluctance motors (SRM) have an intrinsic simplicity and low cost that make it well suited to many applications. SRM as a power drive device, however, is designed mainly to realize speed control and high efficiency; the big step angle and the torque ripple have influenced its position precision and have limited its applications in position control system, which demands low speed and low torque...
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