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In this paper, a new control method for walking in-pipe robots is discussed. The method is based on a combination of a linear quadratic regulator for systems with explicit mechanical constraints and a proportional-derivative controller formulated in terms of end effector coordinates (Cartesian coordinates of the robot's foot that takes the step). The performance of the proposed method is measured...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
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...
This work investigates maximum efficiency control strategies of permanent magnet (PM) traction machine drives that are adopted in General Motors (GM) hybrid and electric vehicles. First, three different current vector control techniques, Maximum Torque Per Ampere (MTPA), Maximum Torque Per Motor Loss (MTPML), and Maximum Torque Per System Loss (MTPSL), are presented to identify the most attractive...
Permanent Magnet Synchronous Machine (PMSM) torque control over a wide speed range is essentially an optimization problem that treats torque error minimization as the objective function with inverter voltage and current as constraints. It is usually time consuming and difficult to solve such optimization problem for closed-form solutions since torque, voltage and current equations are all non-linear...
An interior permanent magnet synchronous machine drive exhibits an inherent wide speed range capability. In order to exploit this peculiar characteristic while assuring the lowest power losses, a proper control algorithm has to be used. In particular, as long as the required voltage is below the limit imposed by the available DC bus, the control algorithm must command the maximum torque per ampere...
Variable flux permanent magnet synchronous machines (VF-PMSMs) have recently been proposed to reduce driving cycle losses in electric vehicle traction motors via magnetization state (MS) manipulation. This paper presents a closed-loop magnetization state (MS) control method to enable reliable loss minimization control of VF-PMSMs. The MS is estimated at every sample instant and is used as feedback...
Maximum Torque Per Ampere (MTPA) tracking techniques for the control of Interior Permanent Magnet Synchronous Machines (IPMSMs) and Synchronous Reluctance Machine (SynRMs) drives were introduced in the last decade, with the aim of overcoming the dependence on motor parameter knowledge accuracy. In fact, uncertainty due to identification errors, magnetic saturation or temperature variation results...
In this paper some of the problems related to electrical drives in modern elevators are presented. These are the modeling of jerk and the definition of the motion trajectory, power savings, efficiency optimization and possibilities for energy storage in generator mode, and application of suitable converters and control techniques for the implementation in elevator drives. Suggested solutions are tested...
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...
Fitts' law is an empirically derived model that describes movement duration during human arm reaching as a function of movement distance and target width. Although this law does not consider dynamic properties, such as motor commands and joint torques, it can explain the speed-accuracy trade-off characteristics of human arm movements in most cases. However, human arm movements are achieved by transforming...
Many wearable robots are not fully capable of fitting the motion of the wearer, owing to their limited degrees-of-freedom (DOF). This limitation disturbs motions such as corner curving, which are required in daily life. In this study, the effect of the DOF restriction on the corner curving motion was observed and analyzed. The gait motions, when curving a round corner with and without the restriction...
Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS) are being vigorously developed for improving traffic safety and transportation efficiency. AD and ADAS need to provide smooth and comfortable driving experiences to drivers and passengers as well as accommodation of other traffic. Individual drivers have different driving styles. This paper proposes a driver-adapted narrow road...
Robots are widely used to help post-stoke patients conduct rehabilitation training for the motor function recovery. Because of the existence of repetitiveness in the rehabilitation training, a high-order iterative learning controller (ILC) is proposed for one hand rehabilitation robot in this paper. A series of tracking experiments are conducted to verify the effectiveness and superiority of the proposed...
Most control papers related to variable speed drives are focused on the current and torque control of the electric machine. However, the slower outer loop is also very important. This considers the control of a variable parameter resonant rotating load using a novel control algorithm called Local Vector Control (LVC). Resonant loads naturally occur in, for example, building elevator applications....
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 flux weakening control is significant for the interior permanent magnet synchronous motor to obtain a wide constant power range which is required in the electric vehicle application. A representative flux weakening method is to design an outer voltage loop using the voltage reference and the voltage limit. If the characteristic current of the motor is less than the current limit, the deep flux...
We perform a comparative analysis of energy-based performance criteria for the dynamics-based optimization of robot trajectories. The performance criteria considered include minimum torque, electrical power loss, approximation to mechanical work, and energy loss due to friction. Our dynamics model takes into account rotor inertias and gearing, and also considers robots subject to a range of motion...
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...
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