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Electric Vehicles (EVs) are deemed as an appealing and practical solution for environmental and energy problems. The mileage per charge of EVs, however, is shorter than the mileage of Internal Combustion Engine Vehicles (ICEVs). In this paper, Range Extension Autonomous Driving (READ) system considering road gradient information is proposed. The proposed system optimizes the velocity trajectory and...
Recent research suggest many flux weakening control techniques for interior permanent magnet synchronous motors. The most established one is the use of two current controllers to control the direct and quadrature axis current components such that the total flux linkage is reduced. If the characteristic current of the motor is less than the rated current of the system, maximum torque per voltage control...
Advanced driver assistance systems (ADASs), such as parking assist, are widely used. ADASs have successfully reduced driver’s workload. On the other hand, it is thought that it is important to improve the skill of the driver. The present study aims to establish a methodology for using an ADAS to achieve compatibility between decreasing the driver’s workload and increasing the driver’s skill. The present...
A new control approach for maximum torque per ampere control is proposed to improve the efficiency of fractional slot concentrated wound interior permanent magnet synchronous generators under light load conditions. The proposed method is compared with existing current reference trajectories (id zero, conventional maximum torque per ampere and total loss minimization) by experimentally measuring the...
This paper deals with an integrated starteralternator based on a synchronous reluctance (REL) machine controlled by a sensorless drive. Advantages of the REL machine are high torque overload capability at low speed, extended flux-weakening capability, and inherent faulttolerance. The sensorless control of the synchronous REL machine is based on a combination of a high frequency injection technique...
This paper presents the online identification method for interior permanent-magnet synchronous motor (IPMSM) drive system with the maximum torque per ampere (MTPA). The inductances of the motor are identified by recursive least square (RLS) method based on mathematical model, considering the flux saturation state. Using this technique, the improvement of the MTPA trajectory for IPMSM can be implemented...
In this paper, we study the decentralized control problem of a two-agent system under local goal specifications given as temporal logic formulas. The agents collaboratively carry an object in a leader-follower scheme and lack means to exchange messages on-line, i.e., to communicate explicitly. Specifically, we propose a decentralized control protocol and a leader re-election strategy that secure the...
The efficiency of interior permanent magnet synchronous machines can be increased by a loss minimization approach when implementing field-oriented control. Model-based optimization gives operating points that yield maximum torque for a given stator current amplitude. The true loss minimum however can differ due to magnetic saturation and temperature variations. Therefore an online discrete search...
This paper discusses various transient trajectories for increasing the magnetization state (MS) of variable flux permanent magnet synchronous machines (VF-PMSMs), a class of PMSM where the magnets are demagnetized and remagnetized using the drive inverter during drive cycle operation. To manipulate MS, a magnetizing current pulse can be used, which may drive a large amount of flux linkage in the machine...
In modern motor drive system, the maximum torque-speed range of the induction machine is limited by the allowable phase current and the DC bus voltage. When the induction machine speed increases, the machine eventually enters deep flux weakening region and the DC bus voltage becomes the only limitation to the torque production capability of the machine. The maximum torque in the deep flux weakening...
IPMSM can be operated with its full potential using MTPA and field weakening. Generally, it is not determined which motor is connected to inverter. Therefore, among various methods for MTPA and field weakening, LUT(Look-Up Table) generation test in consideration of inductance change by its saturation is not feasible. In this paper, real-time calculation of current reference is addressed in the full...
This paper proposes a controller design method for ac motors operating under the maximum torque per voltage (MTPV) condition to explore the available inverter voltage. The control algorithm is developed based on a hexagon voltage manipulating control (HVMC) method to select a truncated output voltage command satisfying the maximum torque generation under the voltage deficit region. The proposed method...
The purpose of this study is to establish a quantitative method that can evaluate the motor function of human lower limbs in dynamic situations. As an index of motor function, we focus on the mechanical impedance characteristics of the lower limbs. By controlling these characteristics, humans can improve motion stability and adapt their movement to disturbances in the environment. In this paper, we...
This paper presents a control method for walking assist with hip-mounted exoskeleton robots. For modeling a user's current walking motion, a novel finite state machine is first constructed. We divide a walking cycle uniformly using the inevitable zero crossing events. When state transitions occur, we capture the current walking spatio-temporal sensor data as discrete form. By using the sensed hip...
High feedback gains cannot be used on all robots due to sensor noise, time delays or interaction with humans. The problem with low feedback gain controlled robots is that the accuracy of the task execution is potentially low. In this paper we investigate if trajectory optimization of feedback-feedforward controlled robots improves their accuracy. For rest-to-rest motions, we find the optimal trajectory...
We consider the problem of computing the inverse dynamics of a serial robot manipulator with N elastic joints in a recursive numerical way. The solution algorithm is a generalized version of the standard Newton-Euler approach, running still with linear complexity O(N) but requiring to set up recursions that involve higher order derivatives of motion and force variables. Mimicking the case of rigid...
This paper presents a teleoperation system for two six-degree-of-freedom ARMin arm rehabilitation skeletons. Two control strategies are presented: unilateral teleoperation, which is realized with proportional-derivative controllers, and bilateral teleoperation, which is realized with compliance control and torque feedback. An empirical procedure for identifying the best control gains of the unilateral...
This paper presents an adaptive control approach of an actuated orthosis for the human knee joint rehabilitation. The objective of the proposed technique is to help patients to follow the guidelines of movement imposed by the therapists in terms of position and velocity. This is achieved by a system consisting of a mechanical orthosis actuated by an electrical driven motor. No needed prior knowledge...
For rehabilitation robots to be successful, a control system that results in safe, comfortable and effective interaction between the robot and subject is necessary. We present two types of torque-based controllers for the index finger module of a hand exoskeleton for rehabilitation. Impedance control applies a position-dependent torque at the joints, while keeping the interaction with the finger compliant...
Fast response of hydraulic turbines is a key condition for the integration of renewable sources of energy. In this paper, a new start-up strategy is proposed for hydraulic turbines prone to “S” instability. This method is based on a complete nonlinear model of the turbine together with the upstream water pipe. More precisely, the control strategy is based on a gain scheduling approach that is computed...
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