In order to improve the control precision of permanent magnet synchronous motor servo drive, a Proportional-Integral-Differential(PID) control method based on particle swarm optimization(PSO) algorithm is proposed. Fi...
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In order to improve the control precision of permanent magnet synchronous motor servo drive, a Proportional-Integral-Differential(PID) control method based on particle swarm optimization(PSO) algorithm is proposed. Firstly, the mathematical model of the permanent magnet synchronous motor was established. Then the PSO algorithm was used to adjust the parameters of the PID controller. Finally, the simulation experiment was carried out under the MATlab/Simulink environment to test its performance. Compared with the traditional manual parameters tuning, the PID controller based on PSO algorithm had better performance and better stability.
The sliding mode observer（SMO） can effectively achieve the permanent magnet synchronous motor（PMSM） to perform position sensorless control, but there are still drawbacks of system chattering and high complexity. I...
The sliding mode observer（SMO） can effectively achieve the permanent magnet synchronous motor（PMSM） to perform position sensorless control, but there are still drawbacks of system chattering and high complexity. In this paper, an improved SMO is established based on hyperbolic tangent function and Kalman filter. The system chattering is effectively suppressed, and the accuracy of position and speed observation error is significantly improved without phase compensation. It is found that the convergence rate of the hyperbolic tangent function has a strong correlation with the system chattering degree and the speed observation error. When a is between 3 and 4, the speed error accuracy of the improved SMO is the optimum situation.
The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment,which will reduce the insulation between battery pack and chassis,...
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The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment,which will reduce the insulation between battery pack and chassis,and will affect the performance of on-board equipment and electronic control unit,resulting in heat accumulation effect of leakage circuit and even vehicle ***,it is critical to develop a real-time,accurate and reliable detection device to monitor the insulation resistance of the high-voltage system of electric vehicles,which is beneficial to the normal operation of electrical equipment,the safe operation of vehicles and the personal safety of *** this work,an online estimation method of insulation resistance based on battery model is proposed.
In this paper, we propose a road detection method with LiDAR-camera fusion in a novel conditional random field (CRF) framework to exploit both range and color information. In the LiDAR based part, a fast height-differ...
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Background: systems Medicine is a novel approach to medicine, that is, an interdisciplinary field that considers the human body as a system, composed of multiple parts and of complex relationships at multiple levels, ...
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The UTDTR Robot is a human inspired robotic platform based on a two-wheeled mobile robot. This robot is designed for the purpose of dome shaped structures inspection and maintenance, and it is a tethered robot to stab...
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ISBN:
(纸本)9781728101286;9781728101279
The UTDTR Robot is a human inspired robotic platform based on a two-wheeled mobile robot. This robot is designed for the purpose of dome shaped structures inspection and maintenance, and it is a tethered robot to stably climb steep surfaces on the top of dome structures. In this paper analysis and controller design of this robot modelled as a MIMO system is represented in order to provide the desired performance on the operating surface with minimum control effort and complexity. Two PID-based controllers are designed such that the stability and desired performance conditions are obtained. In the first design a fuzzy PID controller with self-tuning scale factors is designed to tune the controller gains is forwarded, while in the second approach a multi model gain scheduling controller based on conventional PID controller is considered. Finally, the effectiveness and simplicity of the proposed controller is verified through simulation, comparing the resulting closed loop transient and steady-state response to that of the previously proposed controllers.
This work proposes a way to achieve the sensorless control of permanent-magnet synchronous motor using sliding mode controller (SMC) and Sliding Mode Observer(SMO). In this Paper, the SMC is designed to replace the sp...
This work proposes a way to achieve the sensorless control of permanent-magnet synchronous motor using sliding mode controller (SMC) and Sliding Mode Observer(SMO). In this Paper, the SMC is designed to replace the speed control loop PI controller from the original permanent magnet synchronous motor control system with the sliding mode variable structure control theory. Combined with the modified SMO, the “SMC and modified SMO” motor control system is proposed. Compared with the “PI and modified SMO” mode, the performance of the motor control is increased substantially, the interference torque speed attenuation is decreased by 87.5%, and the speed control error was also reduced by 67.7%. There is no overshoot with the reaction speed, and significant improvement in response speed, anti-interference performance, control accuracy and observation precision are achieved. Overall, both the system control and observation performance are significantly improved.
The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment, which will reduce the insulation between battery pack and chassis...
The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment, which will reduce the insulation between battery pack and chassis, and will affect the performance of on-board equipment and electronic control unit, resulting in heat accumulation effect of leakage circuit and even vehicle fire. Therefore, it is critical to develop a real-time, accurate and reliable detection device to monitor the insulation resistance of the high-voltage system of electric vehicles, which is beneficial to the normal operation of electrical equipment, the safe operation of vehicles and the personal safety of passengers. In this work, an online estimation method of insulation resistance based on battery model is proposed.
Spherical parallel manipulators have been proposed for accurate and fast performance. In this paper, kinematics and dynamics of a spherical three degrees-of-freedom parallel manipulator are studied. First, both direct...
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ISBN:
(纸本)9781728101286;9781728101279
Spherical parallel manipulators have been proposed for accurate and fast performance. In this paper, kinematics and dynamics of a spherical three degrees-of-freedom parallel manipulator are studied. First, both direct and inverse kinematics are solved by using a new geometric approach and defining a new appropriate set of coordinates. Then, based on the derived kinematics equations and Jacobian matrices of links, according to Lagrange method, the explicit dynamics formulation of the manipulator is developed. The obtained dynamics has been verified by using *** and MATlab Software, simultaneously. This explicit verified model is highly important to design and implement various model based control algorithms. So, a Fuzzy Adaptive PID controller is designed to show the controller's operation on the manipulator. Discussing the obtained results reveal the merits and importance of the proposed modeling.
Rehabilitation robotics is nowadays one of the most attractive fields in robotics. This paper focuses on modeling of a lower limb walking assist device (RoboWalk), augmented with the human body. RoboWalk has been desi...
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ISBN:
(纸本)9781728101286;9781728101279
Rehabilitation robotics is nowadays one of the most attractive fields in robotics. This paper focuses on modeling of a lower limb walking assist device (RoboWalk), augmented with the human body. RoboWalk has been designed to assist either the elderly people or those with malfunctioning in lower limb to do their daily tasks. Modeling the assistive device augmented to human model is highly important for design improvements and controller developments. In such complicated cases, simulators are appropriate tools to analyze the dynamics of robotic devices and understand how the device works which leads to the system improvements. In this paper, a human model that is properly appended to the RoboWalk has been analyzed using the OpenSim software. The human model includes 37 degrees of freedom to define joint kinematics, 80 muscle units actuating the lower limbs, and 17 torque actuators driving the upper body. To this end, the robot has been first added to the human model, then constraints have been properly defined, finally simulation has been implemented by adding a specified gait to human model. Obtained results will be discussed which reveal a reasonable performance of the whole system.
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