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Autonomous underwater vehicles (AUV) are important resources to be used in the oil exploration industry in deep waters as well as a platform for scanning devices used in open sea regions of difficult human access. This work aims to analyze through computer simulations the influence of marine currents on the maneuverability of a flatfish shaped AUV. The 3D realistic scale simulations were performed...
This paper deals with the optimal state reference calculation for synchronous motors with a magnetically salient rotor. A look-up table computation method for the maximum torque-per-ampere (MTPA), maximum torque-per-volt (MTPV), and field-weakening operation is presented. The proposed method can be used during the drive start-up, after the magnetic model identification. It is computationally efficient...
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.
Networked embedded software systems incorporate varying degrees of adaptation behavior to sustain their operations with acceptable quality of service (QoS), in the face of hostile external events — such as resource outages in a cloud service, road slipperiness in a car driving, etc. For instance, a highly agile cruise control system of a car may dynamically adjust its controller parameters...
Networked embedded software systems incorporate varying degrees of adaptation behavior to sustain their operations with acceptable quality of service (QoS), in the face of hostile external events. For instance, a highly agile cruise control system of a car may dynamically adjust its controller parameters to generate a higher-than-normal increase in torque when encountering a higher road elevation...
This paper concerns the development of a sensorless controller for synchronous reluctance motors based on finite elements model results. A hybrid solution is used, which includes an adaptive observer for not-zero speed operation and signal injection for standstill. The observer detects the flux linkages components in the two-phase stationary reference frame by the voltage model integration and closed...
The article presents results of parametric identification of mechanical part of drive system with permanent magnet synchronous motor by means of heuristic method of Particle Swarm Optimization (PSO). The assumed mechanical part has a complex structure, consisting of two-mass connected by an elastic joint with backlash. The optimization process was designed to find model parameters that assure the...
Selection of drive's rated power influences not only vehicle's dynamics, but also its energy efficiency. Mentioned above approach requires a multiphysical model, which covers both mechanical and electrical phenomena. This paper discusses how selection of traction drive's rated power influences vehicle energy consumption on example of a trolleybus. A complex mathematical model was developed in Matlab/Simulink...
This paper presents a knee torque estimation in non-pathological gait cycle at stance phase. Comparative modelling by using dynamics model and neural network model is discussed. Dynamics modelling is constructed by using simple two degree of freedom dynamics with Newtonian calculation approach and more complex four degree of freedom dynamics with Lagrangian calculation approach. Neural network based...
This paper deals with the problem of identifying the mathematical model of a dry-clutch transmission system, from input-output data experimentally collected on a real vehicle. The proposed identification procedure is based on a set-membership identification approach, where a-priori information on the structure of the physical model are taken into account in the selection of the model class. Parameter...
In this research, a dynamic magnetic equivalent circuit (MEC)-based model of a 6-phase wound rotor synchronous generator has been developed. The model is coupled with dual active rectifier bridges to enable detailed switching waveform-level simulations of an MVDC generation system. The MEC model of the generator accurately captures time and spatial harmonics as well as saturation of magnetic material...
The shortcoming of permanent magnet (PM) machine is the de-excitation problem under fault condition, which is a main issue for aircraft application. Thus, modeling different kinds of faults accurately is of great importance. This paper presents the comparison of three different modeling methods dealing with stator winding open circuit (OC) fault and turn-to-turn short circuit (SC) fault. The modeling...
A kind of arc-linear axial flux permanent-magnet synchronous machine (AL-AF-PMSM) used for scanning system is researched in this paper. Due to the characteristics of the three-dimensional (3-D) magnetic field, 3-D finite element method (FEM) is usually required to analyze the AF-PMSM. However, 3-D FEM is generally too time consuming. In order to avoid this problem, an approximate equivalent 2-D calculating...
This paper presents 3D modeling of hysteresis motor with high temperature superconducting material in the rotor using Finite Element based solver software COMSOL Multiphysics. Due to the anisotropic property of HTS material, magnetic flux distributions are non-uniform in different axes. Therefore, analysis of HTS hysteresis motor using two dimensional modeling cannot provide high degree of accuracy...
The control load system is a force simulation system, which simulates the operating force of the pilot when piloting an aircraft. According to the analysis of a certain type of aircraft control load system, designs an electric load control system by using DC torque motor as actuator. The system takes DSP TMS320F28335 as the controller, with the signal conditioning circuit, A/D conversion circuit,...
We present a methodology for estimating joints torque due to external forces applied to a robot with large joints backlash and friction. This undesired non-linearity is common in personal robot, due to the use of low cost mechanical components and type of usage. Our method enables contact detection and human-robot physical interaction capabilities without using extra sensors. The effectiveness of...
Networked embedded software systems incorporate varying degrees of adaptation behavior to sustain their operations with acceptable quality of service (QoS), in the face of hostile external events. For instance, a highly agile cruise control system of a car may dynamically adjust its controller parameters to generate a higher-than-normal increase in torque when encountering a higher road elevation...
This paper presents a novel angular velocity estimation strategy of a Reaction Sphere (RS) for satellite attitude control based on a Linear Parameter-Varying (LPV) Kalman Filter. The reaction sphere is a permanent magnet synchronous spherical actuator whose rotor is magnetically levitated and can be accelerated about any desired axis. The spherical actuator is composed of an 8-pole permanent magnet...
This paper presents a comprehensive modeling approach for tail-sitter hybrid UAVs featured by vertical take-off and landing (VTOL) and cruise flight capabilities. The modeling approach includes all essential components, such as full angle of attack envelope wing and fuselage aerodynamics, sideslip wind effect and actuator dynamics. A unified formulation comprising all model components is derived to...
Motion analysis is often restricted to a laboratory setup with multiple cameras and force sensors which requires expensive equipment and knowledgeable operators. Therefore it lacks in simplicity and flexibility. We propose an algorithm combining monocular 3D pose estimation with physics-based modeling to introduce a statistical framework for fast and robust 3D motion analysis from 2D video-data. We...
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