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6th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Liu, Jingmeng Jiang, Jun Chen, Weihai Chen, Wenjie Beijing Univ Aeronaut & Astronaut Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Singapore Inst Mfg Technol Singapore 638075 Singapore

ISBN: (纸本)9781424487554

In the design of cockroach robots, a major requirement is to increase the carrying capacity of the robots. This paper proposes a novel configuration for the leg design of cockroach robots. In this configuration, the operating principle of a differential gear in a car is used in the design of multi-legged robots, so the carrying capacity is doubled at the same situation, compared with conventional linkage based robots. Firstly, the movement performance of the mechanism, including the inverse kinematics is analyzed and a decoupling algorithm is presented to control the prototype. Secondly, the working space and carrying capacity is calculated and analyzed. Then the whole model is simulated by the combination of MATLAB and ADAMS. The result of the simulation shows an improved performance, which indicates that the mechanism design is reasonable and the analysis is correct.

关键词： multiplication differential gear simulation decoupling algorithm ADAMS

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Modular Torque Control of Multi-Three-Phase Synchronous Motor Drives

Modular Torque Control of Multi-Three-Phase Synchronous Moto...

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2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Tolosano, Luisa Armando, Eric Rubino, Sandro Mandrile, Fabio Bojoi, Radu Politecnico di Torino Dipartimento Energia 'G. Ferraris' Torino10129 Italy

ISBN: (纸本)9798350316445

Multiphase motors offer more degrees of freedom when compared to their three-phase counterparts. Their intrinsic redundant structure enables the post-fault operation of the drive, thus preventing inoperability. Additionally, more advantages are obtained when a modular drive topology is adopted in machine windings and power converters. This is particularly convenient, especially when three-phase technology can be adopted, resulting in a multi-three-phase drive configuration. However, modular torque control strategies are needed to fully exploit the advantages provided by the multi-three-phase configuration. Therefore, an innovative control scheme implementing modular torque regulation of multi three-phase synchronous motor is proposed in this paper. The stator flux amplitude and the torque-producing current component corresponding to each three-phase set are independently controlled to perform the decoupled torque regulation. Experimental results on a 60 kW quadruple three-phase interior permanent magnet (IPM) synchronous motor are provided to prove the effectiveness of the proposed torque control solution. © 2023 IEEE.

关键词： decoupling algorithm modular control multi three-phase synchronous motors multiphase electrical drives

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Cooperative control of multiple magnetically controlled soft robots

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INFORMATION SCIENCES 2024年 677卷

作者： Zhang, Pan Qing, Wenjie Lai, Xuzhi Wang, Yawu Wu, Min China Univ Geosci Sch Automat Wuhan 430074 Peoples R China Hubei Key Lab Adv Control & Intelligent Automat Co Wuhan 430074 Peoples R China Minist Educ Engn Res Ctr Intelligent Technol Geoexplorat Wuhan 430074 Peoples R China

Multiple magnetically controlled soft robots are more efficient in terms of task execution. However, how to realize such multiple robots moving along the respective different paths is still a challenge since they are in one driving magnetic field. In order to deal with this problem, this paper proposes a cooperative control method by fusing their parallel cooperative motion (multiple robots moving simultaneously) and their independent cooperative motion (single robot moving). Yet, there are two strong couplings in the fusion of such two cooperative motions, which makes the control more difficult. Thus, an enumeration-based decoupling algorithm is developed for the first combined mode coupling, and the speed of each robot is planned for the second motion speed coupling. Then, a neural network-based controller is developed to achieve the respective speed control simultaneously of multiple robots, and the deviation limiting controller is constructed to compensate the deviation angle. Finally, through the actual experiments, it is verified that the proposed method realizes effectively the motion of two robots along different paths and the mean absolute error of speed is about 0.1091 mm/s and 0.2118 mm/s, while the mean absolute error of tracking is about 0.3369 mm and 0.4454 mm, respectively.

关键词： Multiple magnetically controlled soft robots Cooperative control decoupling algorithm Neural network Deviation limiting controller

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Design and Calibration of a Six-axis Force/torque Sensor with Large Measurement Range Used for the Space Manipulator

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Procedia Engineering 2015年 99卷 1164-1170页

作者： Danfeng Chen Aiguo Song Ang Li School of Instrument Science and Engineering Southeast University Nanjing 210096 P.R.China

Multi-axis force/torque sensor is a key component for space robot force control and teleoperation. The special environment of space, however, brings huge challenges to the design of multi-axis force/torque sensor. In this paper, a six-axis force/torque sensor, which could be used as a component for the large manipulator in the space station, is developed. In order to obtain the large measurement range of force/torques, an elastic body based on cross-beam with anti-overloading capability is designed, and the size is optimized by using FEA to guarantee both high stiffness and sensitivity of the six-axis force/torque sensor. Different from the conventional method, the signal acquisition module which includes a high signal-to-noise ratio amplifier circuit is integrated in the sensor so as to be more reliable. Then, a novel calibration system is designed to provide large and accurate force/torque source. According to the particularity of the sensor's coupling errors, two decoupling algorithms are proposed in this paper to achieve high precision and flexible usage. The online decoupling algorithm is based on calculating decoupling matrices in partitioned space, while the offline algorithm is based on an optimized BP Neural Network using GA. Experimental results show that the designed six-axis force/torque sensor works well with high precision and reliability.

关键词： six-axis force/torque sensor large measurement range calibration system decoupling algorithm

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A New Design Method for Realizing Accurate Track of Hybrid-driven Five-bar Mechanism

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International Journal of Plant Engineering and Management 2018年第4期23卷 226-233页

作者： ZHU Yonggang LU Xinsheng Anhui Sanlian College Hefei 230061China School of Machinery Engineering Hefei University of TechnologyHefei 230009China

The concept of virtual slider crank mechanism is proposed and decoupled to obtain parameters of controllable five bar mechanism without any principle error for any given trajectory. The model is simple and easy to solve. This method has no convergence,flexible workspace and singularity of the mechanism problem. Through this method,we don’ t need any curve to fit the trajectory point. Using MATLAB program to calculate,the computation time can be reduced to less than 3% of the original. Finally,an example is given to illustrate the method which is meanwhile compared with the traditional five bar design method.

关键词： hybrid-driven five-bar mechanism virtual crank slider mechanism decoupling algorithm

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Performance of an Adaptive Optics System with Dual Deformable Mirrors

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Journal of Electronic Science and Technology of China 2009年第3期7卷 277-280页

作者： Shi-Jie Hu Depamnent of Optics and Electronics University of Electronics Science and Technology of China Chengdu 610054 China Institute of Optics and Electronics Chinese Academay of Science Chengdu 610209 China

One deformable mirror （DM） in conventional adaptive optics system can not meet the needs of large scale and high order aberration compensation. In this paper, a dual DMs way is presented, which needs the decoupling of dual DMs. In dual DMs adaptive optics （AO） system, the decoupling algorithm of dual DMs is deduced. Stroke of one of DMs is large, spatial frequency of the other is high. According to the algorithm, the large stroke DM （LSDM） corrects low order aberration only, and the high spatial frequency DM （HSFDM） corrects other aberration. The experimental result for two 61-DM AO system is presented. The result indicates that the experimental performance of dual DMs AO system is almost the same with that of the conventional AO system using single DM with ideal stroke and equivalent spatial frequency.

关键词： Aberration compensation adaptiveoptics decoupling algorithm deformable mirror,experimental result

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A TIME-FRACTIONAL MEAN-FIELD CONTROL MODELING SUBDIFFUSIVE ADVECTIVE TRANSPORT

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SIAM JOURNAL ON SCIENTIFIC COMPUTING 2023年第6期45卷 B884-B905页

作者： Zheng, Xiangcheng Yang, Zhiwei Li, Wuchen Wang, Hong Shandong Univ Sch Math Jinan 250100 Peoples R China Fudan Univ Sch Math Sci Res Inst Intelligent Complex Syst Shanghai 200433 Peoples R China Univ South Carolina Dept Math Columbia SC 29208 USA

A time-fractional mean-field control (MFC) is developed for a prototype model of accidental spill of a hazardous contaminant in subsurface porous media, which is a representative and recurrent environmental threat to the public, to optimize the flow pattern so that the spilled contaminant is remediated with the minimal cost required to ensure the clean water supply. A strongly coupled nonlinear system of a multiple time-scale time-fractional transport equation and a backward multiple time-scale time-fractional Hamilton-Jacobi equation is derived using the first-order optimality condition. A sequentially decoupled time-stepping finite element method is derived for the numerical simulation of the MFC. Numerical experiments are presented to investigate the performance of the MFC, which show that the MFC determines an optimal flow pattern to ensure clean groundwater supply during and beyond the time period of contaminant spill with minimal cost.

关键词： mean field control time-fractional subdiffusive advective transport Hamilton-Jacobi equation decoupling algorithm

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Combustible Gas Classification Modeling using Support Vector Machine and Pairing Plot Scheme

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SENSORS 2019年第22期19卷 5018页

作者： Jang, Kyu-Won Choi, Jong-Hyeok Jeon, Ji-Hoon Kim, Hyun-Seok Dongguk Univ Seoul Div Elect & Elect Engn Seoul 04620 South Korea

Combustible gases, such as CH4 and CO, directly or indirectly affect the human body. Thus, leakage detection of combustible gases is essential for various industrial sites and daily life. Many types of gas sensors are used to identify these combustible gases, but since gas sensors generally have low selectivity among gases, coupling issues often arise which adversely affect gas detection accuracy. To solve this problem, we built a decoupling algorithm with different gas sensors using a machine learning algorithm. Commercially available semiconductor sensors were employed to detect CH4 and CO, and then support vector machine (SVM) applied as a supervised learning algorithm for gas classification. We also introduced a pairing plot scheme to more effectively classify gas type. The proposed model classified CH4 and CO gases 100% correctly at all levels above the minimum concentration the gas sensors could detect. Consequently, SVM with pairing plot is a memory efficient and promising method for more accurate gas classification.

关键词： semiconductor gas sensor decoupling algorithm gas classification pairing plot support vector machine

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Research of Controller for Active Magnetic Bearings System

Research of Controller for Active Magnetic Bearings System

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第二届亚洲机械电子学学术会议

作者： Chunguang Xu Hui Huang Dongming Lv Juan Hao Yi Ding Dongming Lv School of Vehicle and Mechanical Engineering,Beijing Institute of Technology,Beijing,China,100081

In this paper the research is about models and controllers for active magnetic bearing(AMB) *** paper designs distributed controllers, performing the rotating accuracy experiments in the AMB ***,the problem was analyzed that the controlling effect is not good for higher speed rotors,and new solving method was provided based on the decoupling control *** simulation conclusion proves that the decoupling method made the better dynamic and static characteristics.

关键词： magnetic bearing distributed controller decoupling algorithm integrated control method

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decoupling and Sensorless Vector Control Scheme for Single-Phase Induction Motor Drives

Decoupling and Sensorless Vector Control Scheme for Single-P...

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Annual Conference on IEEE Industrial Electronics Society

作者： R. Z. Azzolin T. A. Bernardes R. P. Vieira C. C. Gastaldini H. A. Grundling Federal University of Rio Grande - FURG Federal University of Santa Maria - UFSM Power Electronics and Control Research Group - GEPOC Federal University of Pampa - UNIPAMPA

ISBN: (纸本)9781467324199

Vector control has improved the performance and energy efficiency in SPIM drives. However, high current and torque pulsations are produced by winding asymmetry of SPIM. This paper proposes a decoupling scheme to reduce the current and torque pulsations and improve the performance of vector control. A stator current observer is used to estimate the coupling signals, which are compensated by control law. This method is an alternative to improve the performance of single-phase induction motor used in hermetic refrigeration systems. The thermal efficiency of refrigeration system can be improved by the variable speed operation and the advantages of robustness and low-cost of single-phase induction motor can be maintained.

关键词： decoupling algorithm Single-phase induction motor Stator current observer Vector control

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