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The rotor orientation detection of permanent magnet spherical motor (PMSM) is crucial to the closed-loop control. The paper presents vision-based method to measure the rotor orientation of PMSM. The pattern code generation, deriving method and pattern processing algorithm are introduced. The simulation in OpenGL is carried out. Combined with complete nonlinear dynamic model and adaptive PD controller,...
This paper develops content-based publish/subscribe algorithms to support general overlay topologies, as opposed to traditional acyclic or tree-based topologies. Among other benefits, publication routes can adapt to dynamic conditions by choosing among alternate routing paths, and composite events can be detected at optimal points in the network. The algorithms are implemented in the PADRES publish/...
Multi-model switching controllers can handle the complexity of process plants and other engineered systems, based on the switched system model. In this paper, a switched Nonlinear Auto Regressive Moving Average eXogenous (NARMAX) model for a continuously mechatronic servo turntable system is proposed to make a better description than the single structure model. Then the identification issue is converted...
This manuscript deals with the linear modeling for the radar antenna servo turntable basing on the system identification theory. Identification experiment is designed and realized, the flied data of input and output signals is recorded. According to the Akaike information criterion, the order of the controlled autoregressive model was determined as three. The particle swarm optimization algorithm...
Two-wheeled self-balance personal transportation robot has got a lot of attentions widely in the market because of its advantages which include small footprint, flexible mobility, zero-radius turn and simple driving mode and so on. The driving system is used to drive two DC gear motors which are used to control motion of two-wheeled self-balance robot. We use the H-bridge motor driver circuit which...
In order to improve the flux aberration and running characteristics of induction motor at low speed region, this paper proposes a design of a new speed-adaptive flux observer based on a model reference self-adaptive system theory (MRAS). It collocated full-order flux observer poles by means of choosing a gain matrix. The observer uses the stator current and stator flux as state variables and combines...
Eddy current loss in rotor permanent magnet can cause magnet heating and even demagnetization. It is much worse in machines equipped with fractional-slot concentrated-windings (FSCW). The paper analyzes harmonics of magnetic flux in airgap, slot harmonics, spatial harmonics and temporal harmonics of the magneto-motive-force (MMF). The relationship between the rotor magnet loss and air-gap size is...
This paper introduces software for a monitoring system of the industrial furnace based on the c# language. Server and client interfaces are implied on the Windows's. Form class. The communication between the server and the client is realized though the socket class, which is included in the .NET class library. Most of the commonly useful information can be demonstrated in our system, such as gas concentration...
When the problem of the model predictive control cannot be solved, the control system will not work properly. A control strategy based on model predictive control and PI is proposed in this paper. The control strategy of the model predictive control and PI is applied to the three-phase off-grid inverter. Adaptability of the PI controller to the operating mode is improved and the dynamic performance...
With the rapid development of photovoltaic (PV) power generation, technology of the grid-connected photovoltaic system becomes an important part of the photovoltaic power generation. Based on this background, grid connection techniques of T-Type three-level grid-connected inverter with an LCL filter is studied in this paper. The subject combines SPWM modulation strategy and dual current loop control...
This paper proposes a new way based on FPGA to realize decoupled double synchronous reference frame software phase locked loop (DDSRF-SPLL) under unbalanced conditions. DDSRF-SPLL can lock in unbalanced grid voltage accurately as well as overcome the impact of the phase-locked loop on frequency performance in adopting the positive and negative sequence decoupling algorithm. When the frequency of three-phase...
This paper depicts the mechanical design of a mobile robot platform with four independent drive and steering wheels. The wheeled mobile robot is equipped with a thermal imager, a visible camera. The robot's three wheels are independent and can rotate 360 °. The robot is automatically controlled by a remote, which set a good basis for tracking cruise line. Robot during cruise through infrared camera...
The operating theory of single-phase two-level pulse width modulation (PWM) rectifiers is analyzed and the mathematical model is established. In order to reduce switching losses, a single-phase two-level space vector pulse width modulation (SVPWM) strategy and a single-phase two-level carrier PWM strategy with zero-sequence voltage injection are presented in this paper. Their design methods are given...
A novel design of a nonlinear full-order observer for sensorless vector controlled induction motors is proposed in this paper. It is known that the speed-sensorless vector control drive system of induction motors does not perform satisfactorily at the low speed, which is caused by the voltage model and its emf calculation of motors. The nonlinear full-order observer system abandons the voltage model...
The continuous expanding of power grid scale brings great a large number of nonlinear elements, which produce the harmonic problem. Discrete Fourier Transform(DFT) is an effective tool for harmonic analysis, but there are hidden the troubles of aliasing, picket fence effect and spectral leakage in DFT, which affect the accuracy of the harmonic analysis. In this paper, DFT has been improved to avoid...
This paper develops a distributed cooperative voltage control scheme involving primary and secondary voltage control for an autonomous microgrid (MG). The proposed distributed control algorithms are able to implement the fully local communication and control function among the inverter-based distributed energy resources (DERs) at the secondary stage. Moreover, it will not only regulate the voltage...
The magnetic torque model of the permanent magnet spherical motor is established by analyzing the finite element model of it in this paper. Then a support vector machine (SVM) model for the permanent magnet spherical motor is established based on machine learning algorithm. Finally, the optimal parameters of the permanent magnet spherical motor are calculated by using the simulated annealing algorithm...
Temperature of windings increases because of the heat generated during motor running process, therefore motor parameters will be changed. The effects of temperature on external characteristics of the motor were analyzed as the rising temperature causes demagnetization of the permanent magnet. A new control strategy is designed to reduce the influence of the temperature. The simulation results show...
A new modulation method is proposed to solve the unbalancing problem of neutral-point potential in the DC side in three-level (3L) three-phase neutral-point-clamped (NPC) voltage source inverters. Based on properties of current balancing of three phases and redundant short vectors, different short vectors have different time distribution factors, which can be used to improve the control of the neutral-point...
This paper presents a novel tracking controller for a three degrees-of-freedom permanent magnet spherical actuator (PMSA). The controller is designed on the basis of the establishment of dynamics model under uncertainties. The major construction of the controller lies in the use of the matrix regressor to isolate unknown parameters from the PMSA. Moreover, sliding-mode control and robust control are...
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