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International Conference on Electrical Machines, ICEM

作者： H. Hijikata K. Akatsu Y. Miyama H. Arita A. Daikoku Department of Function Control System Shibaura Institute of Technology Tokyo Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan Advanced Technology R&D Center Mitsubishi Electric Corporation Hyogo Japan

This paper describes a novel motor-drive system which includes the multi-phase open-end windings for an individual winding current control in order to realize the variable parameters. Each armature winding is connected with the insulated full-bridge inverter for the arbitrary excitation waveform. The proposed construction can extend the operating area and can distribute the high efficiency area. Furthermore, the proposed multi-phase drive can suppress the harmonic iron loss under the flux weakening operation because the individual control can regulate the instantaneous flux density in each stator tooth even though the motor consists of the full-pitch distributed winding. In this paper, the down size model was designed to confirm the principle. It was shown that the downsize model can expand the operating range, can distribute high efficiency area, and can suppress the iron loss by the controlled flux density in each stator tooth by some simulation and experimental results.

关键词： Windings Harmonic analysis Iron Permanent magnet motors Torque Couplings Stators

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A Robust Wheel Slip control Design for In-Wheel-Motor-Driven Electric vehicles with Hydraulic and Regenerative Braking systems

A Robust Wheel Slip Control Design for In-Wheel-Motor-Driven...

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American control Conference

作者： Bin Wang Xiaoyu Huang Junmin Wang Xuexun Guo Xiaoyuan Zhu Hubei Key Laboratory of Advanced Technology of Automotive Parts Wuhan University of Technology Wuhan 430070 China Vehicle Systems and Control Laboratory Department of Mechanical and Aerospace Engineering The Ohio State University Columbus OH 43210 U.S.A.

ISBN: (纸本)9781479932757

A robust wheel slip ratio controller for in-wheel-motor-driven electric vehicles equipped with both hydraulic anti-lock braking systems (ABS) and regenerative braking (RB) systems is designed in this paper. Based on an integration of optimal predictive control design and Lyapunov theory, the issue of uncertain vehicle parameters is addressed. The corresponding braking torque distribution strategy between the RB and hydraulic braking (HB) is also introduced to achieve smooth regulation of the brake torque, such that the pedal pulsating effect of the traditional ABS system can be relieved. By utilizing the larger working range of the HB system and the higher bandwidth of the RB system, a better wheel slip ratio control performance can be obtained. The effectiveness of the proposed control system has been validated in Matlab/Simulink simulations.

关键词： ABS RB HB Rubidium DDX41 gene Antilock Braking systems ABS resins Electric vehicles braking torque Hydrodynamics Wheel slip Regenerative braking control systems design control

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A Combined Approach for Master-slave Robotic Surgery system control Based on Jacobian and PD Algorithm

A Combined Approach for Master-slave Robotic Surgery System ...

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2014 4th IEEE International Conference on Information Science and Technology

作者： Zhonglin Zhang Jing Xiong Yangzhou Gan Dongwen Zhang Zeyang Xia Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences School of Electronic Engineering and Automation Guilin University of Electronic Technology Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China

In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative(PD) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively.

关键词： robotic puncture surgery teleoperation Jacobian matrix PD control algorithm vibration elimination

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Development of a Car-Following Tendency Prediction Method and Its Application to a Forward Collision Warning system 20

Development of a Car-Following Tendency Prediction Method an...

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20th Intelligent Transport systems World Congress, ITS 2013

作者： Aoki, Hirofumi Ozaki, Osamu Advanced Vehicle Control System Development Division Toyota Motor Corporation 1200 Mishuku Susono Shizuoka410-1193 Japan Department of Mechanical Science and Engineering Nagoya University Japan

It is important to understand the driver's car-following tendency to enhance the effectiveness as well as the acceptance of advanced driving support systems. If a system can estimate the driver's usual car-following tendency, it can provide avoidance support matched to his/her sense of normal safety driving when the vehicle is approaching a preceding one. Since the car-following tendency varies not only between drivers but also within a driver by the feeling and/or the driving environment, real-time estimation is essential. This study introduces a method that can easily predict the car-following tendency. The method uses such parameters as the throttle-pedal released timing and the braking timing that were found to be correlated from the naturalistic driving data analysis. It was found that the method can predict the car-following tendency within a short distance. We applied the method to a forward collision warning system and confirmed the potential benefit of the system.

关键词： advanced driver assistance systems

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Robust walking of biped robot on uneven terrain using effect of wobbling mass

Robust walking of biped robot on uneven terrain using effect...

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IEEE International Conference on Robotics and Biomimetics

作者： Terumitsu Hayashi Masaki Yamakita Yuta Hanazawa Fumihiko Asano Dept. of Mechanical and Control Engineering Tokyo Institute of Technology Meguro-ku Tokyo JAPAN Faculty of Engineering Department of Applied Science for Integrated System Engineering Kyushu Institute of Technology Kita-Kyushu Fukuoka Japan School of Information Science Japan Advanced Institute of Science and Technology Nomi Ishikawa JAPAN

ISBN: (纸本)9781479973989

Many studies about improving the performance of biped robots, especially energy efficiency and waking speed have been done. These properties, however, are secondary to the robot ability to prevent falling down on irregular grounds. In this paper, we propose a novel method which uses an active up-and-down wobbling mass to improve walking ability and robustness of biped robot on uneven terrain. We will show improvements that the number of walk steps is increased in numerical simulations using the proposed method. We also evaluate quantitatively walking ability of biped robot on uneven terrain using a performance measure called Gait Sensitivity Norm (GSN) and H ∞ norm. Furthermore, we show the effectiveness of H ∞ norm measure which cannot be evaluated by GSN in a walking example.

关键词： Legged locomotion Limit-cycles Trajectory Robustness Mathematical model Sensitivity

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Processing effects on the magnetic and mechanical properties of FeCoNiAl_(0.2)Si_(0.2) high entropy alloy

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International Journal of Minerals,Metallurgy and Materials 2013年第6期20卷 549-555页

作者： Ting-ting Zuo Song-bo Ren Peter K. Liaw Yong Zhang State Key Laboratory for Advanced Metals and Materials University of Science and Technology Beijing Beijing Hangke Engine Control System Science & Technology Co. Ltd. Department of Materials Science and Engineering The University of Tennessee

High entropy alloys with the composition of FeCoNiA10.2Si0.2 were prepared by arc melting and induction melting, denoted by A1 and A2, respectively. The samples prepared by these two techniques have a face-centered cubic （FCC） phase structure and a typical dendrite morphology. The tensile yield strength and maximum strength of A2 samples are about 280 and 632 MPa, respectively. Moreover~ the elongation can reach 41.7%. These two alloys prepared by the different methods possess the similar magnetic properties. The saturation magnetization and coercivity can reach 1.151 T and 1400 A/m for A1 samples and 1.015 T and 1431 A/m for A2 samples, respectively. Phases in A2 samples do not change, which are heat treated at different temperatures, then quenched in water. Only the sample, which is heat treated at 600~C for 3 h and then furnace cooled, has a new phase precipitated. Besides, the coercivity decreases obviously at this temperature. Cold rolling and the subsequent heat treatment cannot improve the magnetic properties effectively. However, cold rolling plays an important role in improving the strength.

关键词： high entropy alloys magnetic properties mechanical properties heat treatment

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The effect of fractional order on oscillatory behavior of scalar fractional delay systems of neutral type

The effect of fractional order on oscillatory behavior of sc...

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6th Workshop on Fractional Differentiation and Its Applications, FDA 2013

作者： Mesbahi, Afshin Haeri, Mohammad Advanced Control System Lab. Department of Electrical Engineering Sharif University of Technology Tehran Iran

ISBN: (纸本)9783902823274

The undamped oscillations of a scalar fractional neutral system are studied in this paper. For this purpose, it is proved that this kind of systems can have the oscillatory behavior. The necessary and sufficient condition is proposed to determine that there exists a delay value for which the system oscillates. The frequency, amplitude and required delay for the undamped oscillations depend on the fractional order. However, the behavior of dependencies is not specified. Indeed, when the system has oscillatory behavior, it is bounded-input bounded-output stable for delay less than the required delay. Moreover, when the order is approaching to an integer value, the necessary and sufficient condition is proposed to determine that the system can oscillate with the bounded value of delay. The obtained results are verified with respect to the classical theorems. Finally, two numerical examples demonstrate the proposed conditions. © 2013 IFAC.

关键词： Time delay

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Development of measurement system and complexity analysis for three-dimensional fish swimming behavior

Development of measurement system and complexity analysis fo...

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2013 52nd Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2013

作者： Morimoto, Maki Sugino, Ryuzaburo Fukuda, Koji Itami, Shin Morizumi, Noboru Advanced Course of Electricity and Control System Engineering Anan National College of Technology Tokushima Japan Department of Systems and Control System Engineering Anan National College of Technology Tokushima Japan

Understanding of fish's behavior is one of the big subjects in fishery in order to catch the fish effectively. It is important to improve the efficiency of fishery and we must develop the new effective fishing method. The aim of this study is to extract the three-dimensional trajectory of fish swimming behavior. We develop the one of stereo camera system to extract fish trajectory from motion picture images. Furthermore, the chaos and fractal analyses are introduced to explain the complexity of fish behavior as intellectual animal behavior. We show the obtained results of the time series of swimming velocity using its reconstructed data and the effectiveness of 3D chaos and fractal analysis.

关键词： Fish

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VHDL-AMS full hybrid vehicle simulation model for the concept planning and the power performance and fuel economy estimation results

VHDL-AMS full hybrid vehicle simulation model for the concep...

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7th IFAC Symposium on Advances in Automotive control, AAC 2013

作者： Tsuji, Kimitoshi Kato, Toshiji Advanced Vehicle Control System Engineering Dev. Toyota Motor Corporation 1200 Mishuku Susono Shizuoka 410-1193 Japan Department of Electrical Engineering Doshisha University Kyotanabe Kyoto 610-0321 Japan

ISBN: (纸本)9783902823434

By VHDL-AMS (IEC61691-6, IEEE1076.1) Full vehicle simulation, the fuel economy, the effect of heat energy recovery from the exhaust gas, and the power performance were discussed. The basic model performance was validated by PRIUS. The fuel economy for the LA#4 driving pattern was 22.0km/L by the simulation and on other hand measurement was 21.7km/L (error 1.4%). The energy management using an exhaust gas heat exchange system realized 10.3% fuel consumption improvement during warming up. As for the power performance, the simulated acceleration time of 0-100km/h was 11.12sec and the measured vehicle time was 11.27sec. The error between simulation and actual measurement result was 1.4%. We showed that the multi-domain full vehicle simulation is effective for the vehicle concept planning. Since the HV model uses embedded real control software, the VHDL-AMS modeling can be used as SIL at system control development stage.

关键词： Fuel economy

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Development of SPH approach for hydrodynamics of around fish body

Development of SPH approach for hydrodynamics of around fish...

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2013 52nd Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2013

作者： Yoshida, Kiichi Hirayama, Motoi Sugino, Ryuzaburo Morizumi, Noboru Advanced Course of Electricity and Control System Engineering Anan National College of Technology Tokushima Japan Department of Liberal Arts and Science Anan National College of Technology Tokushima Japan Department of System and Control System Engineering Anan National College of Technology Tokushima Japan

We have studied about the fish swimming behavior and evaluated a lot of experimental results in the various water tanks. Furthermore, we have developed the computer simulation codes for fish locomotive behavior as the intellectual animal under the various environments, but these algorithm have been two-dimensional model without the hydrodynamic force. This development of new simulation code based on the 3D model is considered with hydrodynamics. The conventional fluid computation code is difficult to apply the practical fish swimming behavior because it is used the fixed grid system. In this paper, we introduced the new particle method based on the SPH combined with metaball method as rigid body modeling. The metaball method can describes the large deformation of fish body and the fish schooling under water. The formulation of this novel computational method is introduced, and the basics for the evaluation of hydrodynamic force about interaction between metaball system and the hypothetical fluid particle of SPH system through the elementaly numerical experiments.

关键词： Hydrodynamics

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