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The main aim of this paper is to design a hybrid force-position controller using fuzzy logic (FL) for the robotic arm of a 9 degrees of freedom (DOF) upper limb wearable exoskeleton rehabilitation robot. The robot is designed and built in our lab for assisting in the rehabilitation of patients post-stroke. The robotic arm of the rehabilitation robot is driven by pneumatic muscles (PM) and its dynamic...
A novel neural network, retina neural network (RNN) is put forward, and its definition, network structure, parameters, and characteristic are presented. After training it using a set of samples, an ideal training waveform is obtained, which is a great guide for future research. Moreover, a model of permanent magnet synchronous motor (PMSM) PI controller is constructed based on RNN to test drive performances...
Firstly, to minimize the ripples of the electric magnetic torque and flux linkage produced in the conventional direct torque control (DTC) system for permanent magnet synchronous motors (PMSM); this paper proposes a expected space vector modulation (ESVM) strategy of DTC. The expected voltage was produced by SVM. PI controller was used in flux and torque controller, instead of hysteresis comparator...
In this paper, a hybrid speed controller based on proportional integral (PI) controller and artificial neural network(ANN) is proposed as a speed controller for an indirect field oriented induction motor vector control system. The new controller has self-learning and self-organization capabilities. Its parameters are adjusted online according to back propagation (BP) algorithm. The weighting coefficients...
This paper presents an improved speed sensorless vector control method for general-purpose induction motors (IMs). The proposed method is based on the d-q axis dynamic model of the induction motor and an improved closed-loop flux observer, which can achieve precise rotor and stator flux estimation over a wide speed range. And then, a rotor-speed-estimation method, based on fuzzy control theory, is...
Direct torque control based on space vector modulation (SVM-DTC) preserve DTC transient merits, furthermore, produce better quality steady-state performance in a wide speed range. In this paper, a torque fuzzy logic controller was designed to substitute the original torque PI controller, and a fuzzy SVM-DTC system based on the torque fuzzy controller was given. A new integration algorithm for estimating...
To solve the problems of torque ripple and inconstant switch frequency of inverter in the conventional direct torque control (DTC) for permanent magnet synchronous motor (PMSM) drive, a novel DTC method using space vector pulse width modulation (SVM) is proposed based on analysis of PMSM mathematical model. In this novel DTC system of PMSM , traditional torque hysteresis controller and flux hysteresis...
This paper presents the analysis and operation of doubly fed induction generator (DFIG)-based wind power generation system under unbalanced network voltage conditions. The limited voltage and current ratings, the control capabilities of both the grid-side and the rotor-side converter (GSC & RSC) for unbalanced network voltage compensation are investigated in detail. A new current control scheme,...
In this paper, conventional PI controller, sliding mode controller (SMC) and fuzzy logic controller (FLC) for rotor field oriented controlled (RFOC) induction motor drives are studied comparatively. PI is simple but sensitive to parameter variations. SMC provides strong robustness to parameters variations, disturbance rejection and system order reduction. FLC does not need exact system mathematical...
A predictive control scheme suitable for the torque and flux control of multilevel inverter-fed induction machines is presented in this paper. The control strategy combines the use of a PI controller to obtain a good steady-state behavior and a predictive controller to achieve a fast dynamic torque response. In this way, torque and stator flux references can be reached in the next sample period. With...
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