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This paper presents simplified design of a planar induction motor climbing an inclined steel plate. The motor set-up consists of two individually controlled linear motors firmly coupled via an aluminum frame with a drive system to provide 1-D translational and rotational motion. The motor set-up is also equipped with a position sensor to locate the mover in real time. To simplify the motor structure...
In the design of wearable robots, the possibility of dynamically regulating the mechanical output impedance is crucial to achieve an efficient and safe human-robot interaction and to produce useful emergent dynamical behaviors. In this paper we propose a Variable Impedance Differential Actuator (VIDA) for wearable robotics applications. The system comprises two actuators (one being an impedance-controlled...
The permanent magnet synchronous machine with an external rotor is the most important device for high performance electrical drive systems in particular for hybrid electric vehicles. With such an application, the machine will operate in a wide speed range and on the other hand with very fast changing loads in both motor and generator operational modes. The paper discusses finite element analyses for...
This paper describes the FEM analysis of positioning systems using segment type surface PMSM. The systems are simulated by using FEM taking into account the motion equation of the motor drive. The transient phenomena of positioning system are strictly analyzed by considering the cogging torque of PMSM. In addition, the effect of the step response of positioning system on field weakening control of...
A novel flywheel reaction torque measurement system is proposed to measure the output torque of flywheels. The system structure and principle of the measurement system are presented. Finite-element method is applied to compute the magnetic field and characteristics of the measurement system. An improved disturbance observer is applied in the position closed loop control system. Simulation and experiment...
A position-based joint impedance controller and a DSP&FPGA-based multilevel control structure were developed to improve the capabilities of robot hand performing task in a variety of environments. Based on finite element analysis technologies, the new torque sensors and giant magnetoresistance (GMR) position sensors were designed and applied, and meet the challenge of joint torque measuring and...
The modeling and the control of flexible link robots have received a great deal of attention in the last decades due to the wide prospective industrial and space applications of ultra-light and high-speed mechanisms. This paper introduces a general and practical procedure for the design of effective control schemes for the position and vibration control of flexible links mechanisms. In particular,...
This paper deals with the sensorless-oriented design of interior permanent magnet (IPM) motor for the general industrial application. The finite element analysis is used to examine the influence of the IPM rotor geometry on the feasibility region for the sensorless rotor position detection. Consequently, the design guideline is established to obtain a suitable rotor geometry which can maximize the...
This paper presents models for finite-element analyses and design of linear permanent-magnet motors (LPMMs) with surface-mounted or interior-buried permanent magnets (PMs). Several different models are studied in order to compare and discuss different LPMM structures. Using an analytical model of LPMMs, equations for thrust are derived. Then, we used 2-D finite-element analysis to illustrate the performance...
The doubly-salient permanent magnet (DSPM) motor employing straight rotor and concentrated windings is conventionally operated by means of current chopping control in constant-torque region and angle-position control in constant-power region due to the trapezoidal back-EMF waveform. However, the rotor-skewing method can be used to improve back-EMF and inductances waveforms to be sinusoidal significantly...
In this paper, the control simulator SIMULINK is used to model and simulate the switched reluctance motor drive system based on finite element model. This uses the accuracy of finite element method and the rapidity of control simulator to analyze the nonlinear characteristics and dynamic characteristics of motor, where the geometry structure, electromagnetic parameters, outside drive circuit and control...
This paper presents a method for modeling and simulation of switched reluctance machine (SRM) system assisted by Maxwell SPICE tool and Simplorer environment. The nonlinear magnetization characteristics of flux linkage and torque for the machine have been considered and calculated by finite element analysis (FEA). From 2D FEA results, a dynamic equivalent circuit of SRM ECE model is constructed into...
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