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A new technique for maximising torque capability and improving efficiency of switched reluctance machines (SRMs) is presented. Many SRM control schemes are based on current control, but the new technique exploits the linearity of flux control. The approach makes use of new methods of constraining flux demands according to available torque given by machine characteristics, and does not require any...
To realize moor-less buoy which keeps position on the deep sea without an anchor, the moor-less buoy system was proposed [1]. The system adopted ‘Wave Glider’ [2] as a propulsion unit, which could make thrust by ocean wave energy without extra energy like battery. However, there are always a risk to be swept away by ocean current, because ocean wave and ocean current are irregular. In this paper,...
In rehabilitation, passive control mode is common used at early stages of the post-stroke therapy, when the impaired limb is usually unresponsive. The simplest is the use of a proportional-integral-derivative (PID) feedback control which usually regulates the position or the interaction force along a known reference. Nonetheless PID method cannot achieve an ideal tracking performance due to dynamical...
This paper addresses time-optimal path-constrained trajectory planning. Given a geometric path for a manipulator, this paper focuses on the selection of the time law along the path. This law minimizes the time required to complete the path and at the same time is consistent with constraints, both at kinematic and dynamic levels. To obtain the optimal law a decision algorithm for the acceleration along...
In this paper, we model an aerial vehicle, specifically a quadrotor, and a load attached to each other by a rigid link. We assume a torque input at the joint between the aerial vehicle and the rigid link is available. After modeling, we decouple the system dynamics in two separate subsystems, one concerning the position of the center of mass, which we control independently from the chosen torque input;...
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 crank wheel mechanism, consisting of a wheel mechanism and parallel links connected to each wheel, achieved high mobility and efficiency because it has both wheels and legs in a simple structure. However, each prior model of crank wheel mechanism has had shortcomings such as mass oscillation or fragile structure. In this paper, we propose a novel crank wheel mechanism, the “Eccentric Crank Rover”(ECR),...
In this paper, a novel method towards approaching perfect tracking performance in periodic motions for robotic joints with serial elastic actuators, is proposed. The method is in an adaptive feed-forward scheme which has the ability to learn the required controlling signal, leading to reduced tracking error. Ordinary learning feed-forward methods do not have the capability of learning frequency of...
Haptic steering technology has been developed to support drivers for more accurate and reliable vehicular control. This paper investigates the evaluation of steering performance when a haptic guidance steering system is implemented for passive fatigued drivers. The haptic system continuously produces torque on the steering wheel to inform drivers about the lateral lane deviations; consequently, drivers...
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...
The maximum torque per ampere (MTPA) control has been widely employed to improve the efficiency of the permanent-magnet synchronous machine (PMSM) drive systems. To achieve accurate online MTPA tracking, in this work, a high-frequency current injection based method is proposed. Compared to the lookup-table based MTPA control, the proposed method can significantly reduce the pre-tuning effort. Since...
In the control of Interior Permanent Magnet Synchronous Machines (IPMSMs), Maximum Torque Per Ampere (MTPA) based on motor parameters is a common approach to achieve high efficiency and torque density. Parametric uncertainty (e.g. due to identification errors, magnetic saturation or temperature variation) results in undesired deviation from the optimal operating trajectory. To solve this problem,...
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...
Disable people requires the assistance of the motion, of their lower limbs to improve their movement ability. For patients with lower limb paralysis, spinal cord injury and other diseases, the use of the lower limb rehabilitation robot is to gain trajectory training, which is a good means of recovery. Among them, the passive control mode is to help patient's pre-adaptive training; which refers to...
In the process of development of numerical control system, we would actually go to the processing plant to test a strategy or compare the accuracy of trajectory planning, which is not only inefficient, but may lead to mechanical platform damage or safety incidents due to improper use of the parameters. Therefore, we aim to establish virtual simulation system for the lead screw guide system. Based...
This paper investigates the attitude maneuver control for flexible spacecraft, in which the torque saturation and unknown parameter uncertainties are considered. Firstly, a time-fuel optimal trajectory is developed such that a PD controller based on the trajectory is proposed. Then, in order to suppress the vibration of flexible appendages, a structure filter is designed for the first order elastic...
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