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In this paper, an optimal control allocation strategy is presented for an eight in-wheel-motor independent drive electric vehicle/four double front wheel steering(8WD/4WS). The upper level controller consists of a speed following controller and two sliding mode controllers. The speed tracking controller obtains the desired longitudinal force by tracking the longitudinal speed. Two sliding mode controllers...
In this paper, a novel current sharing control strategy, named module link, is used to realize multiple modules paralleled. To achieve this goal, there are three full-bridge phase-shift converters are used as three modules and connected in parallel to feed the load. In this study, three phase-shift control integrated circuits, named UCC28950 made by Texas Instruments Co., are used to control individual...
The induction motor with skewed rotor bars is an effective motor structure for eliminating the slot harmonic fields, and the resulting noise and vibration. 2-D multi-slice finite element method (FEM) is typically used to analyze the performance of the induction motor with skewed rotor bars. However, in order to achieve high accuracy, the number of the slices is generally very high, which is also a...
Stator and translator pole width have a great effect on the LSRM's performance. However machining error and assembly error usually cause some dimensional difference among stators and translators. Thus a speed control method immune to dimensional difference is proposed for a four-phase linear switched reluctance motor (LSRM) with different pole width in this paper. The LSRM designed in such a structure...
A novel single-winding bearingless switched reluctance motor with wider rotor teeth (BSRMWRW) is proposed in this article, which can realize the decoupled control of torque and levitation force and thus simplify the motor's control in the starter/generator system. First, the working principles and decoupling characteristic of BSRMWR are explained; Second, the mathematical model of torque and levitation...
Permanent magnet track linear motor drives offer a cost-effective motion control solution in numerous industrial manufacturing processes, covering a wide range of material handling and conveyor applications. To further reduce the initial costs of a permanent magnet track linear motor drive system, discontinuous magnet tracks can be considered. However, in a discontinuous magnet track, the armature...
Magnetic suspension pumps have been attracted attention and actively developed. These pumps can realize magnetic suspension and rotation of a rotor shaft integrated with an impeller without mechanical contact. There is now a need to develop a magnetic suspension pump that is capable of 5-axis active control while retaining a small size and low power output. However, conventional structures capable...
Limited travel constrains the widely application of XYZ parallel micro/nano-positioning stage. In this paper, a novel parallel-kinematics micro/nano-positioning stage is proposed with the goal of enlarging the travel range. In order to obtain a large input displacement for actuating the stage, voice coil motors (VCM) are adopted. For a large-travel parallel stage, the cross-axis motion increases the...
Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks...
In this paper, we propose a force feedback scheme for Delta device to improve precision and stability in master-slave teleoperation. A simple and exact dynamical equation is created with principle of virtual work, which is easy to calculate in real-time. After analysing three items deep in dynamical equation, a reasonable strategy is designed to identify the mass of Delta mechanism. The identified...
This paper proposes a high-safety power-assisted cart that can be operated on a slope by applying little-changed manual power even if the inclination changes. In this cart, balancing operation to compensate for load increments due to the increase in the inclination by using a spring is achieved in the safe state with the cart held by the brake application, while dangerous moving operation is performed...
This paper presents three contributions in the filed of medical imaging applications using hand-held ultrasound probe: 1) a new type of belt-driven mechanism for force-controlled ultrasound probe (FCUS) and 2) a safe and precise position controller and 3) a new algorithm for endpoint avoidance in the limited motion range. To enhance the image quality, the probe-patient contact force is controlled...
This paper presents a new variable admittance control scheme for improving physical human-robot interaction. For achieving effective assistance, an intuitive cooperation must be achieved by the human operator, in which the detection of the human inference is required. The proposed controller employs a new algorithm for inferring human intention, i.e., acceleration or deceleration, by monitoring the...
The compliant control of the robot is widely used in the Human-Machine Interface (HMI) and robot bionics. Because the system and the environment are mutually constrained, when the external environment changes, the control environment of the system will change with it, which deteriorates the control performance of the system. This article solves the problem of how to realize the compliant control with...
The buffing process used in the repair polishing of an automotive body surface is carried out manually using skilled workers based on their own experience. However, the number of skilled workers available in the workforce is decreasing owing to the aging population. In addition, the surface quality after the buffing process has been applied is dependent on the proficiency level of the polishing worker...
This paper proposes a sensorless chatter detection method for a ball screw drive system used in milling, by introducing the mechanical energy factor (MEF). The MEF is an indicator for detecting self-excited chatter, based on the power factor theory used in electric systems, and monitors the phase difference between dynamic cutting force and displacement. By monitoring the MEF, the self-excited chatter...
The flight of unmanned aerial vehicle (UAV) is vulnerable to various disturbances and faults. In this paper, the small damage of the wing of an unmanned aerial vehicle is taken into consideration. The UAV control framework consists of force loop and torque loop, where the nonlinear disturbance observer (NDO) based dynamic inverse (DI) control and the extended state observer (ESO) based dynamic inverse...
A fault can occur any time during mobile robots operation and this may cause human injuries. To ensure the safety and the reliability of mobile robots, fault detection and identification (FDI) are necessary to be addressed. The faults in this study are defined as situations that the mobile robots collide with obstacles or the obstacle interferes mobile robot motion immediately. The objectives of this...
Colonoscopy is widely used in the diagnosis and treatment of colorectal diseases due to its minimal invasiveness, convenience and efficiency. However, it has two problems: bowel perforation and looping. In order to overcome these problems, it is necessary to get the information of the force and posture of the distal end of the colonoscope in the colonoscopy procedure. Elsewhere, we have reported an...
In this paper, in order to replace a conventional electric linear actuator which is consist of rotary PM machine and ball screw, a novel double-sided five-phase modular linear permanent magnet synchronous machine (MLPMSM) is proposed and designed with the same volume. The basic structure of the machine is firstly described and the major dimensions of one module are then optimized to acquire the largest...
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