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Due to the current constraint of linear induction machine (LIM) and voltage constraint of inverter, the output thrust of LIM is limited. So, in order to make LIM output thrust as large as possible within current and voltage limit, firstly, the maximum thrust per ampere (MTPA) is used to achieve maximum thrust with limited current in low speed. Secondly, with the speed of LIM increasing, the voltage...
Present paper demonstrates the effectiveness of the predictive deadbeat current control for Permanent Magnet (PM) Brushless (BL) DC motor drive in injection of square-wave phase current even at higher speed as compared to conventional PI controller employed for phase current control. Effectiveness has been demonstrated in terms of capability of minimizing current ripples and torque ripples ensuring...
This paper concerns performance of a direct torque and flux controlled 14-pole/18-slot fractional-slot concentrated-winding interior permanent magnet synchronous machine (FSCW-IPMSM) in deep flux-weakening region. For the optimum operation of the machine, voltage limit, current limit, MTPA and MTPV trajectories defined on the torque-flux plane are incorporated in the control algorithm. In the experiment,...
The optimal control strategy for a wave energy converter (WEC) with constraints on the control torque is investigated. The goal is to optimize the total energy delivered to the electricity grid. Using Pontryagin's maximum principle, the solution is found to be singular-bang. Using higher order conditions, the optimal control on the singular arc is found as a function of the state and costate trajectories...
In recent years, stricter regulation of vehicle emissions, increasing fuel prices and government grants have lead to a rapidly growing interest in electrical mobility. However, potential customers are discouraged by the limited range of electric vehicles involving reduced flexibility. This paper presents a modern, real-time capable approach using road data obtained from an advanced navigation system...
The paper concerns the development of a adaptive sliding mode control based on super twisting (ASTW) and can be applied to a Human-Driven Knee Joint Orthosis. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. The main objective of this paper is to bring together two approaches to reduce the phenomenon of chattering, adaptation...
The trajectory tracking control problem of the quad-rotor is investigated in this paper. After introducing the dynamic equations of motion of a quad-rotor, considering the quad-rotor's characteristics like strong coupling, nonlinearity and under-actuation, the trajectory tracking is realized by proposing an effective attitude controller using fractional-order sliding mode control technique, which...
This paper presents a distributed force/torque-based UAV(Unmanned Aerial Vehicle) collision avoidance scheme. This scheme is designed to deal in a distributed way with the problem of collisions among rotor craft UAVs, that are sharing the space and flying to different destinations. The proposed scheme has a modular architecture, so that it can be easily included into UAVs with a waypoint controller,...
This paper concerns the wide-speed-range operation of a 14-pole/18-slot fractional-slot concentrated-winding interior permanent magnet synchronous motor (FSCW-IPMSM), mainly focusing on the deep flux-weakening operating region where maximum torque per voltage (MTPV) control is applied. If the characteristic current is less than the rated current of the machine, MTPV trajectory control can be incorporated...
A novel control method to reduce oscillations for three-phase stepper motors and to improve dynamics using a speed control with feed forward technique is proposed. The new concept uses a transformation of the model to allow a linear design of the observer and control, reducing so the real time calculations. Furthermore the stability of the nonlinear process is guaranteed with the optimal choice of...
An interior permanent magnet synchronous motor (IPMSM) model using the extended electromotive force (EMF) is one of the simple models and is used in sensorless vector control systems. This paper proposes a simplified system which takes into account a cross coupling compensation to estimate the rotor position without using observer. The effectiveness of proposed method is verified by simulation and...
This paper deals with the problem of trajectory generation with a motion profile in joint space, the motion profile is a mathematical function that affect the performances of the robot such as the optimization of energy, optimization of time and especially the continuity of movement, in robotics we have three problems to solve, modeling, control and trajectory planning, in this work we developed a...
The purpose of this paper is to propose a method for simulation of a manipulator robot with six degrees of freedom. This method is oriented to solve the problem of absence of real robots which will operate it in validation of mathematical modeling and control of the nonlinear systems. It described in the first part the geometry of the robot manipulator, then the method is used to create this simulator...
In this paper, the load torque is measured using sensorless online algebraic approach (SAA) and sensorless reduced order observer (SROO) scheme without torque as well as speed sensor. The measured torque is used in controlling the speed of DC motor connected through a partially flat boost converter using the exact tracking error dynamics passive output feedback (ETEDPOF) control law. Further, SAA...
This paper proposes an improved stator flux control algorithm based on the torque feedforward control technique for interior permanent magnet synchronous motor (IPMSM). The proposed flux linkage control algorithm can prevent the d and q- axis voltages from saturation and improve the dynamic behavior. A lookup table is used in the torque feedforward control technique, which outputs the desired d and...
The present paper deals with loss minimization for speed controlled squirrel-cage induction machines. In particular, a flatness-based online trajectory planning algorithm for the rotor flux is introduced that ensures loss optimization in transient operating regimes. Therefore, a matched model of the losses being polynomial in the flux is used. For a trajectory of the torque which is a polynomial function...
This paper presents an Adaptive Nonlinear Model Predictive Controller for longitudinal motion of automated vehicles which incorporates advance information on future speed demand values, as well as on road grade changes. It is used in combination with a state and parameter estimator to adapt to a changing vehicle mass. This allows improved speed tracking capability for horizontal driving and steep...
Advanced control strategies for efficiency optimization in interior PMSMs are usually model-based, potentially providing very accurate results and good performance at the cost of parameter dependency and the associated drawbacks. Search-based methods, on the contrary, perform more modestly but depend neither on models nor on parameters. This paper compares both approaches in terms of steady-state...
This paper presents a simple online loss minimizing control method for interior permanent magnet synchronous motors IPMSM in constant torque region. Due to novel simplifications of the model equations this method can easily be implemented even on a simple controller with limited resources adjusting optimal stator current trajectories and ensuring the most efficient machine operation. The striking...
Brain-Computer Interfaces (BCIs) for disabled people should allow them to use their remaining functionalities as control possibilities. BCIs connect the brain with external devices to perform the volition or intent of movement, regardless if that individual is unable to perform the task due to body impairments. In this work we fuse electromyographic (EMG) with electroencephalographic (EEG) activity...
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