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As applications for autonomous ocean vehicles expand into more dynamic and constrained environments, such as shallow, coastal areas, the benefits of using more precise dynamic model for control and estimation become more compelling. This paper presents a nonlinear observer for current estimation based on AUV dynamic model. Here, AUV dynamic model in currents is taken into consideration. Motivated...
With the development of electric drive vehicles (EDVs), the state-of-charge (SOC) estimation for lithium-ion (Li-ion) batteries has become increasingly more important. Based on the analysis of some of the most popular model-based SOC estimation methods, the proportional-integral (PI) observer is proposed to estimate the SOC of lithium-ion batteries in EDVs. The structure of the proposed PI observer...
Bilateral teleoperation technology has caused wide attentions due to its applications in various remote operation systems. However, to really realize teleoperation requirements, there still exist some challenging control issues: a) the communication delay between master and slave manipulators may lead to system instability or performance decreasing; b) in some applications, the sensors are not easily...
In this paper, a microprocessor-based PMSM drive with three hall-effect sensors for detecting rotor position is studied. First, three PMSM control methods, namely 120° six-step with current limit, 180° six-step with current control, synchronous frame vector control, are compared based on some key performance indexes, such as vibration, acoustic noise and efficiency. According to the analysis, a PMSM...
This paper presents a reliable speed tracking strategy without mechanical position sensors of a permanent magnet synchronous generator applied in power regeneration of hybrid hydraulic excavators. The sensorless scheme is based on flux linkage estimation and with an additional novel compensation. It is devised to take the stator resistance into account, which is sensitive to the environmental temperature...
LuGre model has been widely used in dynamic friction modeling and compensation. However, there are some practical difficulties when applying it to systems experiencing large range of motion speeds such as the linear motor drive system studied in the paper. This paper first details the digital implementation problems of the LuGre model based dynamic friction compensation. A modified model is then presented...
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