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This paper proposes a novel hardware real time simulator of SynRM (Synchronous Reluctance Motor) using FPGA (Field Programmable Gate Array). The proposed method simulates a motor speed control system within 1 μs including a three phase PWM inverter. For realization of the hardware real time simulator, a motor mathematical model based on the dq rotate coordinate is solved. In addition, three phase...
In this paper, a new design method of vibration suppression controller for a 3-mass system is proposed. The controller consists of a digital modified-IPD controller for speed loop and a digital PI controller for current minor loop. We apply an off-line tuning using a particle swarm optimization for the determination of the six controller gains. To confirm the effectiveness of the proposed method,...
This paper presents an easy and fast method of testing force closure when a multi-fingered hand grasps an object. Different from previous methods, we consider approximating the friction cone by using a few ellipsoids. By using this method, the total force/moment set applied to the grasped object can be obtained by a common set of multiple ellipsoids. This method is effective since we can test the...
This study deals with impedance control based on a shell-shaped force sensor. Impedance control is accomplished at any points on the whole body of the robot due to the whole-body force sensing mechanism. Furthermore, it is possible to realize variable impedance different by location. Experimental results verify the validity of the study.
Recently, the demand for odor processing apparatuses is increasing in the fragrance and food industries. In this paper, we propose a neural network model of the olfactory system as basis for biomimetic e-nose. The model has two distinctive features. First, it converts the properties of odorant molecule to the neural activity pattern of living mice. Second, the olfactory ldquoAttentionrdquo mechanism...
This paper proposes a sensorless control of SynRM (synchronous reluctance motor). It can calculate the motor flux from an armature voltage and a current directly. The proposed estimator is able to eliminate both the dc offset and harmonic component of the armature current which cause the estimation error. State observer based Fourier Transformation called RFT (Recursive Fourier Transformation) is...
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