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In this work, we present a bio-inspired fin prototype as a propulsion system for a submarine robot. We explain the rajiform locomotion, which is intended to be imitated with the movements of the fin. It is also explained how the undulations on the fin allow it to have different behaviors, thus generating thrust in different directions, which in turn generates several types of motion for the fin. Our...
In this paper, the impact of transmission gear ratios selection on a Nissan Leaf EV (NLEV) is investigated. The traditional single ratio gearboxes are replaced by multiple ratio ones. The selection of the gear ratio is proved to have a significant impact on electric vehicle's performance and range. A mathematical model of a NLEV is developed for both single and multiple ratio transmission systems...
The design of the first stage of a 59:1 multistage magnetic gearbox for a wind turbine demonstrator is presented. The multistage magnetic gearbox (MSMG) is composed of a two stage magnetic gearbox (MG). The first stage of the MSMG has a gear ratio of 6.45. A spoke type MG rotor typology is used with a unique segmented fully laminated rotor structure. Axially segmented magnets and a unique set of radial...
Vernier permanent magnet synchronous machine (VPMSM) is a promising candidate for low speed direct-drive applications. At the design stage of VPMSMs, one of the key issues is the selection of the slot/pole number combination. This paper will show that a proper selection of the slot/pole number combination can be achieved based on an index parameter of VPMSMs: the gear ratio. Firstly, the magnetic...
The design employs direct drive torque motor to achieve a robot single joint with active compliance based on the impedance model. In order to maximize the torque density, transmission transparency and backdrivability, the joint employs a quasi-direct actuator that a single-stage planetary gear is mounted on the motor's rotor. When robot interacts with environments, it's inevitable to change the stiffness...
Tribology of renewable energy systems such as for wind turbines is a relatively new field and the study of which has a potential to reduce turbine component failures and turbine downtime. In this paper we focus on offshore wind turbines tribological issues in comparison to on-shore counterparts and address a coating deposition method which has potential to be used in wind turbine industry. In this...
This paper validates the advantage of using an integrated electric vehicle-battery model in torque control application. In the integrated electric vehicle-battery model, battery dynamics is explicitly included in the model. A well-known linear quadratic integral (LQI) design is adopted here to have an optimal controller with zero tracking error. The energy consumption is, however, observed through...
Acquirement of load spectrum is an important premise for predicting the fatigue life of transmission gear. Traditional methods to acquire load spectrum including theoretical calculation, bench test and simulation test can't reflect the actual loading condition. This paper extracts the load data under different gears based on vehicle proving ground test without the signal of gear change and describes...
Precise fault diagnosis of the pitch system in wind turbines is essential and is of practical significance for evaluating it by the usage of the SCADA (Supervisory Control And Data Acquisition) system. Firstly, the fault mechanism of the pitch system is investigated, including the source classification of the faults, and their direct connections with the SCADA data. Secondly, state feature extraction...
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...
Battery electric vehicles (BEVs) have the potential to replace conventional vehicles, but the short driving range is currently limiting their diffusion. Using analytical methods this paper compares two electric powertrains with respect to energy consumption and efficiency: the standard single-motor architecture, derived from conventional internal combustion engine vehicles and equipped with a high-speed...
This paper presents the preliminary work on a new concept of a piezoelectric moto-reducer for high torque application. It combines an ultrasonic motor based on a simple disk-shaped piezoelectric buzzer with a flat strain wave reducer.
In this paper, the sun gear tooth fault in a one-stage planetary gear is studied in a representative electromechanical system. The aim is to use both electrical and mechanical signatures of a wound rotor induction generator for fault diagnosis through both numerical simulation and experimental approaches. In this regard, a dynamic model of the system, which includes all mechanical components in the...
In order to increase the output power density and maintainability of the conventional driving system in electric vehicle, the research on magnetic gears is being carried out variously all over the world. In this paper, the design technique of the magnetic-geared permanent magnet synchronous motor(MG-PMSM) is first studied for the application of the MG-PMSM structurally integrated with magnetic gear...
The electromagnetic arresting gear is one type aircraft arresting gear. It's electromagnetic force can be adjusted precisely, and it is an important safeguard that it arrests the aircraft veering off the runway and ensures the aircrafts safely landing. Arresting cable is an essential part of arresting gear, and its performance has a significant impact on arresting process. This paper studies the dynamics...
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...
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...
Condition monitoring of electric machines is a procedure of increasing importance, as fault tolerant systems are becoming mandatory in many applications. Early diagnosis of faults is a basic pillar in order to achieve full tolerance by the maintenance of faulty parts in electrical machines. As far as electrical drives are concerned, the share of mechanical faults (imbalances, gears and bearings) is...
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...
Both of the electric variable transmission (EVT) and Toyota Hybrid System (THS) can be used as an power split device in the hybrid electric vehicles (HEVs). They can make the internal combustion engine (ICE) independent of the road loads and run in the high efficiency area to reduce the fuel consumption as well as emissions. However, the planetary gears of THS make serious vibration and noise, limiting...
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