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Various control strategies for power regulation in variable-speed wind turbines commonly assume that the whole system parameters are known and available, which is not necessarily satisfied in practice. In this work, an adaptive control strategy, which neither need to know completely the system parameters nor the rotor acceleration, is proposed for power regulation and tracking. It also includes a...
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...
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...
An anti-slip method for locomotives using improved adhesion characteristic curve slope method is proposed to solve the problem of low stability and control precision of the original adhesion characteristic curve slope method, it's adopting differentials of adhesion coefficient and slip speed as the identification criterion for locomotive states. The relationship among locomotive adhesion, resistance,...
To remedy the problem of joint-variable oscillation and instability as well as the non-zero final joint-velocity phenomenon arising in the conventional inertia-inverse weighted torque (IIWT) minimization scheme, in this paper, a novel scheme is proposed and investigated for redundant manipulators with joint-physical limits (i.e., limits of joint angle, joint velocity, joint acceleration and joint...
We present an Adaptive Cruise Control (ACC) architecture which is focused on solving repetitive switching issues between two modes of ACC, speed control and distance control. A cascaded controller structure has been used. First controller (upper) includes two modes: a speed controller (PI) and a distance controller (time-gap). Outputs of these controllers are acceleration reference signals. The second...
This paper mainly focuses on the servo control system of the flying shear. In this paper, we abandoned the previous combination of PLC with a motor controller or a dedicated motion controller. A universal servo controller with electronic cam function is proposed as the main controller. This servo controller directly controls the servo geared motor of the flying shear cutter, and it can also receive...
Nowadays, the increase of mobility necessity combined with the targets to reduce pollution (emissions, noise, etc.) and the dependence to fossil fuels, strongly supports the development of electrics (EVs) and hybrid vehicles (HEVs). In this context, the present paper presents the main particularities of the traction systems of these vehicles, making a comparison with the classical internal combustion...
A motion-copying system enables to store and reproduce human motions composed of position and force informations. The system can automate human skills, and can substitute automatic machines for professional human work. However, conventional motion-copying systems have been studied by considering motion-reproduction of only stored human motion. It does not use an advantage of automatic machines which...
A method for evaluating driving technique and engine operation, with emissions constraints, on a real driving route, is presented. A single degree of freedom vehicle model with simple resistive forces is driven along the pre-planned route. Instead of the velocity trajectory being determined a priori, the optimisation can choose the optimal speed along the route as well as the engine operating point...
The article describes the search for optimal motion path of the positional electric drive under conditions of an indefinite (statistical) characteristics of the load. It is shown that the triangle is the optimum shape of the speed curve, and the ratio of its sides depends on the type of the load diagram, in particular on the influence of the main drive of the pilgering mill, and is independent on...
During car services, it is sometimes necessary to measure the effective performance of the engines. After repairs it is very useful to check the change of the performance. In this case you don't have possibility of dismantling. You can measure the vehicle on roll benches. In this case you have so-called wheel performance as result. The new method discussed and described in this article provides a...
In this paper, a suspension control system based on obtaining information from the road traveled by the vehicle is proposed. This data is obteined by a seven degrees of freedom mechanical model, that uses the measures of dynamics variables like the position of the chassis about each wheel and the accelerations of the compartment (suspended mass). With the information obtained from the ground, acceleration...
In 2015, InnaLabs reported on the development of a range of specialist, precision Quartz Pendulous Accelerometers. The performance requirement for these accelerometers was a key design driver for meeting the market needs within the tactical and the navigation grade market segments. In order to extend InnaLabs offering to cutting edge, volume applications with more stringent and highly dynamic environments...
This paper proposes a novel sensorless speedup method for doubly salient electro-magnetic motor (DSEM). Based on the characteristic that phase self-inductance varies with rotor position, accurate and quick estimation of rotor sector is achieved through three-phase response currents with only one test injection pulse needed. Besides, no negative torque will be produced by the test pulse unless the...
This paper presents an electronically controlled continuously variable transmission (E-CVT) function for a power-assisted system designed for use in a bike and implemented by a single planetary gear and an electric motor. The kinematic analysis of the planetary gear is investigated based on the block diagram representation. Moreover, the design of feedforward controlled speed ratio of the power-assisted...
This research analyzes two stator design features as structural solutions to reduce noise and vibration in permanent magnet synchronous machines (PMSM). The study was focused on a surface mounted PMSM with 12-stator slots and 10-rotor poles where vibration is a well-known issue. The structural-harmonic analysis was used to quantify the vibration by analyzing the radial deformation and acceleration...
BEMF-based methods, with the purpose of estimating the position and speed of the permanent magnet synchronous machine (PMSM), cannot be applied in low- speed range. Though the high frequency injection (HFI) methods can be operated in low- speed range, they are complicated. For low cost SPMSM applications, it is not necessary to be operated in low- speed range. Thus, an I-f starting method was introduced...
For flight attitude control problem affected by nonlinear property of hypersonic vehicle, the influences of nonlinear factors which are driving space, stiffness, friction torque in the electric servo mechanism are analyzed in this paper, and the definition and generation conditions of limit cycle caused by the backlash are also discussed. For the problems of limit cycle oscillation and the airfoil...
The Traction Control System is the foundation to maintain the vehicle tractive performance and stability. In view of the characteristics of distributed driving electric vehicle, a traction control method is designed to control the wheel slip rate by adjusting the motor torque directly. And through reasonable correction to the target wheel speed, a balance of acceleration and stability of automobile...
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