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In this paper, consider the effect of the load inertia fluctuation for surface-mounted permanent magnet synchronous motor (SPMSM), the problem of dynamic response of SPMSM is studied. A backstepping control algorithm based on disturbance observer (DO) is proposed. Firstly, according to the equation of motor speed, the minimum-order observer is established to observe the disturbance value of load inertia,...
Permanent magnet synchronous motor with its high torque density, high efficiency and high reliability, has become the mainstream of the drive system for electric vehicles, elevators, etc. The existing method of fault diagnosis based on the motor model has not considered the fractional characteristics of motor. it is difficult to effectively diagnose minor faults of the current. With the permanent...
Using multiple models to deal with transients for adaptive systems which is large parametric uncertainties was introduced in the 1990s. The common method is using switching schemes. However, these methods has some potential drawbacks. In this paper, a new multiple models scheme is proposed for a class strict-feedback nonlinear discrete-time systems. Firstly, we use feedback linearization and backstepping...
Commercial piezoelectric actuated stages usually has been decoupling designed from the mechanical structure. This paper develops a piezoelectric actuated stage (P-563.3CD) experiment platform. Observed cross-coupling effect in the piezo-stage is below 1%. In order to improve the performance of piezo-stage in a further step, a multi-channel Hammerstein model is developed to describe the cross-coupling...
A novel identification algorithm is presented in this paper for neuro-fuzzy based single-input-single-output (SISO) Wiener model with colored noises. The independent identical distribution (iid) Gaussian random signals are adopted to identify the Wiener system, leading to the separation of linear part from nonlinear counterpart in the identification problem. Therefore, correlation analysis method...
The histogram algorithm based on sound intensity having been widely used to estimate the azimuths of underwater acoustic targets. The advantage of this algorithm is that all we need is a single vector hydrophone to distinguish multiple targets' azimuths. The histogram approach acquiesces in that the acoustic pressure is perfectly correlated with the particle velocity. However, the sound field excited...
In our previous research, four non-uniform contact types and SMEs were studied firstly to simulate the possible non-uniform contact statuses induced by the real machined motor rotor. By inspecting the results of the non-uniform contact analyses, different incomplete contact type rotors with different contact rates will be designed accordingly in this paper. The designed method is to make gap slots...
The snake-like robot underwater motion performance is analyzed in computational fluid dynamics method. The mathematical and numerical model of the robot with fluid turbulent motion in flow field is presented. The positive pressure of the flow field around robot head is rendered as streamlined and its tail presents a very strong vortex phenomenon. The configuration of the robot should be designed as...
Recent system on chip (SoC) techniques have permitted the continued scaling of core densities at a rate sufficient to track Moore's Law. However, this continued increase in transistor density has warranted new hardware features in order to sufficiently scale the degree of on-chip concurrency. Features such as complex multi-level caches, hierarchical core configurations and hardware-assisted threading...
Simultaneous position and force tracking are two critical factors in teleportation systems to achieve transparency. In this paper, a new control scheme is proposed to guarantee asymptotic position and force tracking in teleportation systems with disturbances. To this end, two sliding mode controllers are designed for the master and the slave robots respectively and are incorporated into the 4-channel...
A method to track the evolution of a microstructured fibre, from initial preform to final fibre geometry, is presented. Up scaling to longer lengths, new structure development and effects of material parameters can all be explored with this model.
In this paper, a vision based navigation method for autonomous landing of UAV is presented. First, the pose estimation based on the PnP problem solution is introduced. Because of the pixel position error in image, the estimation errors exist and the position errors are concussive while UAV approaches an airport, which is disadvantageous to the guidance and control for autonomous landing of UAV. Then,...
An effective lane boundaries projective model (LBPM) and improved detection method in the images captured with a vehicle-mounted monocular camera in complex environments, especially for sharp circular curve lane, is proposed in this paper. Firstly, a lane boundaries projective model is deduced. This lane model can not only express straight-line lane boundaries, but also describe the actual sharp circular...
The control system with fast response speed, high precision of tracking error, and high robust performance is still a kernel technology of Attitude Control System (ACS) of spacecraft, which directly affects the whole performance of spacecraft. Hence, a non-singular Terminal adaptive fuzzy sliding-mode controller is designed to come true the high precision and high performance control. The theory of...
Intriguing analogies were found between a model of plastic deformation in crystals and turbulence in fluids. A study of this model provides remarkable explanations of known experiments and predicts fractal dislocation pattern formation. Further, the challenges encountered resemble those in turbulence, which is exemplified in a comparison with the Rayleigh-Taylor instability.
Ultrasonic flow meter which provides non-invasive no-moving-parts construction is one of the fasted-growing technologies in flow gauging. Based on the general elasticity theory, this paper investigates sound wave propagation in elastic solid, as well as the mathematical description of ultrasonic transducer with the help of electric-acoustic analysis. Moreover, wave phenomenon in moving fluid is introduced...
This paper employs a hybrid numerical method combining the differential transformation method (DTM) and the finite difference method (FDM) to analyze the nonlinear dynamic behavior of a rigid rotor supported by an elliptic gas bearing system (EGBS). The results obtained for the orbits of the rotor center are in good agreement with those obtained using the traditional FDM approach. Moreover, the results...
Idle stop-start system is a new energy-saving product, which can obtain a good fuel economy and reduce emissions for the city bus. The work principle and mechanical structure are analyzed in this paper. The key technologies of idle-stop-start system are analyzed based on this. Then the idle-stop-start system is modeled and analysised based on AVL Cruise. Last, the fuel economy is simulated and analysised...
Presented the shift points determining method of the power shift schedule when the traction power curve does not intersect under the adjacent shift of the same throttle. Established the transmission system mathematics model. Built a software in-the-loop simulation platform with Matlab/Simulink, and simulate the process of the vehicle continuous upshift. The simulation results showed that the power...
A hybrid electric vehicle with battery pack and ultracapacitor is modeled because they are practicable to be energy storage units now. A control strategy is proposed to regulate output power of energy storage units. Simulation model for the hybrid electric vehicle is constructed in MATLAB/Simulink environment and simulation is performed. Simulation results show that the proposed control strategy is...
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