The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In order to realize the differential function of electric vehicle driven by two rear wheel-hub motors, by following the optimal slip ratio of each wheel and equalizing the slip ratio of both drive wheels as target, a electronic differential control strategy based on terminal sliding mode is proposed. First of all, according to the standard μ-λ curve, the optimal slip ratio of the pavement is determined...
This document introduces an air-land robotic platform called Hexapodopter, capable of ground locomotion and vertical take-off and landing (VTOL). For walking, each of the limbs feature three degrees of freedom (DoF); for flying, the thrust is provided by a set of motors and propellers mounted on every limb. Due to its mechanical design, the Hexapodopter can reconfigure the thrust vectors of propellers...
This study investigates the effect of different skewing methods and angles for switched reluctance machines (SRM) having high pole count using multiphysics simulations. A 24/16 SRM is modeled for each skewing method and different skewing angles using 3D electromagnetic finite element analysis (FEA). Mechanical and acoustical analyses are performed to evaluate the effectiveness of different skewing...
A comparison of noise reduction currents in 36-24 and 18-12 switched reluctance motors in all operating region is presented. Radial force profile in these two machines are compared. It is seen that the difference in radial force profile causes different optimized current to reduce the noise in switched reluctance motor. Analysis, simulation, and experimental results are presented to verify the proposed...
This paper describes a simple ripple compensation method of suspension force and torque in a bearingless surface-mounted permanent magnet (SPM) motor with two-phase integrated winding configuration. Only two H-bridges or eight power transistors are used for the proposed topology. The neutral point of each phase is connected to the middle point of the power sources to superimpose the suspension and...
The novel doubly salient slot permanent magnet linear machines (DSSPMLMs) are proposed in this paper. First, the topology and geometric parameters of the DSSPMLMs with 12 slots are introduced, and the corresponding basic operating principle is investigated. Then, feasible slot/pole combinations and winding configurations are further analyzed. To the DSSPMLMs with 12 slots, all structures with 10/11/13/14...
This paper proposes a new family of electric motors based on the concept of an airgap-less device with an internal rotor. The internal flux and therefore electromagnetic torque is maximized because the rotor is allowed to touch the stator. The proposed family of motors are competitive in applications where hydraulic motors are prevalent, i.e., low-speed and high-torque requirements. Furthermore, the...
Permanent magnet Vernier (PMV) machines have attracted more and more attention for their merits of high torque density and simple structure. And principle of electromechanical energy conversion is the most common way to investigate the PMV machine by calculating back EMF and electromagnetic torque. In this paper, a new perspective on the mechanism of PMV machines based on the Maxwell stress tensor...
In this paper, novel mechanical mechanism and control method using SEA are suggested for natural gait pattern and effective gait rehabilitation. Conventional body weight support system (BWS) focuses on static position lifting and has limitation for a subject to constrain natural gait pattern especially in the vertical and medial-lateral movement. To overcome such abnormal gait pattern during BWS rehabilitation,...
In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional...
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...
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...
We proposed a hybrid powered ankle exoskeleton. It can be able to supply positive mechanical power to the user during the swing phase of gait. The hybrid powered ankle exoskeleton was composed of a pair of compressed springs and a cable-driven actuator fasted to the shin. It was lightweight, and permitted the cable-driven actuator to provide the forces at the biological level to the ankle joint. Meanwhile...
The design employs direct drive torque motor to achieve a robot single joint with active compliance based on the impedance model. In order to maximize the torque density, transmission transparency and backdrivability, the joint employs a quasi-direct actuator that a single-stage planetary gear is mounted on the motor's rotor. When robot interacts with environments, it's inevitable to change the stiffness...
Bearingless motors combine in the same structure the characteristics of conventional motors and magnetic bearings. Traditional bearingless machines rely on two independent sets of winding for suspension force and torque production, respectively. The proposed Multi-Sector Permanent Magnet (MSPM) motor exploits the spatial distribution of the multi-three-phase windings within the stator circumference...
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...
Precise force detection is required to realize precise force control, and a lot of research have been conducted for precise and robust force estimation. Based on the industrial trends that the number of load-side encoders is increasing in various industrial fields, a force observer using load-side encoder information has already been proposed to avoid the estimation performance deterioration in the...
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...
The paper is concerned with the robust finite-time stabilization problem of quadrotors subject to inertia uncertainty and disturbances. The underlying stabilization problem consists of controller designs for position loop and attitude loop, both of which are carried out based on the terminal sliding mode control approach. First, a robust finite-time position controller is designed by considering the...
This paper presents the derivation, in great detail, of the full nonlinear model for a quad-copter, using D'Alembert's principle. The final model is presented in a form suitable for simulation and control. Finally, the quad-copter model is implemented and a simple control law for the attitude and altitude are derived. Numerical results are presented at the end of the paper.
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.