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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 paper proposes a direct torque control strategy for a brushless dc (BLDC) motor with a single sided matrix converter (SSMC) for an electrohydrostatic actuator system in aerospace application. A hybrid two- and three-phase switching mode is applied to minimize torque ripples during commutation. A six-phase SSMC is investigated and the simulation results are presented. Compared with current hysteresis...
In order to reduce the permanent magnet (PM) volume and combine the advantages of in-wheel motor, a novel modular-stator outer-rotor flux-switching permanent-magnet motor (MSOR-FSPM) whose PM volume is half of that in conventional outer-rotor flux-switching permanent-magnet (COR-FSPM) motor is proposed. However, cogging torque and torque ripple of MSOR-FSPM motor are especially worse due to the inherent...
This paper describes the choice and the design optimization of an industrial purpose permanent magnet brushless synchronous motor to be used in a small electric vehicle conversion. The suitable stator configuration for high torque density combined with reduced cogging torque and reduced torque ripple is analyzed. Finite element analysis is used to evaluate the performance of different electric motor...
Electric vehicles are already a reality although their development and spread in urban context are encountering resistance especially due to the lack of electric vehicle charging facilities. Small electric in-wheel motors are perfectly suited to urban driving and their low electric energy consumption can also guarantee a sufficient daily mileage. The present paper proposes a rear wheel drive electric...
The paper deals with the vector control of two surface-mounted permanent-magnet (PM) synchronous-motors in configuration “single-inverter dual-motor”, operating also with unbalanced loads. Since this structure is justified by the objective of obtaining low cost drives, a low computation burden sensorless method is proposed in order to further reduce the system complexity. A very simple algorithm for...
Traditionally, active magnetic levitation systems in rotor applications comprise separate motor for torque production, two or more radial active magnetic bearings (AMBs) and one axial AMB. Such an arrangement produces long rotors. Resulting AMB-rotor systems are often supercritical making the levitation control challenging. The centralization of the torque and force producing actuators shortens the...
Recently, the increasing requirements and tendencies of higher efficiency systems have caused a substantial impact on electric motor design. Designers tend to change their views on motor topologies to provide the predetermined values of higher efficiency classes (such as IE3, IE4, IE5). Line-start interior permanent magnet synchronous motors (LSIPMSM) are strong candidates for higher efficiency class...
This paper presents an experimental study on the impact of the parameter variations over the performances of a LMA (Loss Model Algorithm) designed for an IPMSM (Interior Permanent Magnet Synchronous Machine). In a previous work, the characterization was carried out by assessing, for several working conditions, the motor parameters that influence the motor efficiency. The proposed enhanced loss model...
This article presents a method for control of a multiphase motor drive based on the use of a cognitive network that is capable of modelling nonlinearities of the system in fault conditions. To obtain a faithful model of the drive, a neural network (trained with the results of simulated faults) is used in the control algorithm in order to predict the system performance and adapt the control. A new...
In the paper a stepper motor closed loop driver algorithm is presented which emphasizes the processor overhead minimization in which it is implemented, as well as rotor average torque and set position acquisition. The program was tested as a simulation in MATLAB environment and on a physical driver based on 32 bit microcontroller connected with a motor and an encoder. Exemplary results are introduced...
We have proposed a claw pole type half-wave rectified variable field flux motor (CP-HVFM) with special self-excitation method. The claw pole rotor needs the 3D magnetic path core. This paper reports an analysis method with experimental BH and loss data of the iron powder core for FEM. And it shows a designed analysis model and characteristics such as torque, efficiency and loss calculation results.
As a response to the rare earth crisis arising in recent years, two new permanent magnet synchronous reluctance (PMSynR) motors with non-rare-earth materials are proposed for electric vehicle (EV) applications in this paper. The key feature of the motor is to adopt different magnet and flux-barrier combinations to obtain relatively high torque density, high power density and high efficiency. To verify...
We have proposed a claw pole type half-wave rectified variable field flux motor (CP-HVFM) with special self-excitation method. This paper reports the experimental results under the load condition and various speed command, and shows the fundamental output characteristics such as the voltage and the current, the efficiency. And we consider the influence of the variable field flux control on the fundamental...
Along with the higher requirement of aircraft's generation system proposed, Integrated Starter Generator system appeared on the stage of history which can work as an electric motor and a generator at the same time. This paper talks about a Permanent Magnet Machine (PMM) which is applied as Integrated Starter Generator (ISG) used into the unmanned aerial vehicle (UAV). Permanent Magnet Machine has...
Calculation and matching of the main parameters of a brushless DC (BLDC) motor for a Battery electric vehicle (EV) is studied in this paper. Usually, different shapes of permanent magnet (PM) and different magnetizing methods will affect the performance of the motor. Especially when the motor is designed for an EV, more elements need to be considered, such as efficiency under normal operating conditions...
In this paper, energy harvestation and its effective utilization by regenerative braking and motoring modes of operation of a PMBLDC drive system with varying load is discussed. PMBLDC drive is a permanent magnet machine, widely used because of their high power density and efficiency; so it is proposed in both motoring and regenerative modes of operation. In motoring mode, drive consumes electrical...
The use of rehabilitation exoskeleton has become an important means for the treatment of stroke patients. A hybrid exoskeleton named EFW Exo II is developed for the motor function rehabilitation of elbow, forearm and wrist. The EFW Exo II is based on a parallel 2-URR/RRS mechanism and a serial R mechanism. It could fit both left and right arms for the symmetrical and open structure, and the distance...
Below-knee level amputation significantly impacts the ability of an individual to ambulate. Transtibial amputees are typically prescribed energetically passive ankle-foot prostheses that behave as a spring or controlled damper, and therefore cannot fully replace the function of the missing limb. More recently, fully-powered devices have been proposed to more closely match the power generation ability...
This paper introduces the EMU, a three-dimensional robotic manipulandum for rehabilitation of the upper extremity for patients with neurological injury. The device has been designed to be highly transparent, have a large workspace, and allow the use of the hand for interaction with real-world objects to provide additional contextual cues during exercises. The transparency is achieved through the use...
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