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Comparison of Synchronous Reluctance Machine and Permanent Magnet-Assisted Synchronous Reluctance Machine Performance Characteristics

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Comparison of Synchronous Reluctance Machine and Permanent M...

International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Hamidreza Heidari Ekaterina Andriushchenko Anton Rassõlkin Ants Kallaste Toomas Vaimann Galina L. Demidova Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

Since the dominant induction machines and permanent magnet synchronous machines are well-established in the industry, the reluctance machines require more research work and investigation to substitute the conventional technologies. This paper analyzes the synchronous reluctance machines and permanent magnet-assisted synchronous reluctance machines in terms of the effect of permanent magnets in the model and the performance characteristic of the machines. The machines are designed and the parameters are measured. The vector diagrams of the machines and the equivalent circuits of the machines are analyzed. A comparison of the machines in terms of power factor, efficiency, and torque of the machines is provided based on the measurements. The study presents a notable improvement in power factor and efficiency in the case of inserting permanent magnets in the synchronous reluctance machine's rotor.

关键词： Rotors Torque Reactive power Electrical resistance measurement Magnetic flux Reluctance machines Stators

Modem Mechatronics and robotics Education Program: Border Cooperation between Estonia and Russia

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Modem Mechatronics and Robotics Education Program: Border Co...

IEEE Education engineering (EDUCON)

作者： Anton Rassõlkin Toomas Vaimann Karolina Kudelina Galina L. Demidova Dmitry V. Lukichev Svetlana Yu.Perepelkina Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728109305

ISBN: (纸本)9781728109312

The paper describes the interaction between Tallinn University of Technology (TalTech, Tallinn, Estonia) and ITMO University (St. Petersburg, Russia) based on recently signed agreement. The purpose of the agreement is to record the intention of TalTech and ITMO University to cooperate on implementing a double master's degree program, which involves confirmation of the master's educational level absorption and the award of master's degree and obtention of two diplomas, and to outline the organizational form, principles and terms of the implementation. The double degree Program is a two-year Master's program of 120 ECTS credit points. Its structure and content meets the requirements that both TalTech and ITMO University have established for their master's programs, in accordance with the government standards. Development and approval of the double degree Program is held by the Parties in accordance with the procedures established by them. This paper describes the procedure of implementation of a double-degree master program in mechatronics engineering.

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Main Faults and Diagnostic Possibilities of BLDC Motors

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Main Faults and Diagnostic Possibilities of BLDC Motors

International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Karolina Kudelina Bilal Asad Toomas Vaimann Anton Rassõlkin Ants Kallaste Dmitri V. Lukichev Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

This paper presents the main faults of brushless DC motors and their diagnostic possibilities. Due to the popularity gain of such devices in the past decade, the maintenance and diagnostic of such machines is getting more important. As the machines are used in various applications, they are often critical parts of devices. Due to this, the unexpected failures of such machines are undesired and are to be avoided. The main faults of the machines are listed, some possibilities of their monitoring and diagnostics have been addressed. The necessity of further study has been pointed out.

关键词： Permanent magnet motors Induction motors Reluctance motors Brushless DC motors

An Almost Globally Stable Adaptive Phase-Locked Loop for Synchronization of a Grid-Connected Voltage Source Converter

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arXiv 2022年

作者： Zonetti, Daniele Bobtsov, Alexey Ortega, Romeo Nikolaev, Nikolay Gomis-Bellmunt, Oriol The Centre d'Innovació Tecnològica en Convertidors Estàtics i Accionaments Departament d'Enginyeria Elèctrica Universitat Politècnica de Catalunya Barcelona08028 Spain The Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia The Laboratory "Control of Complex Systems" Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg199178 Russia The Departamento Académico de Sistemas Digitales ITAM Rio Hondo 1 Col. Progreso Tizapan Ciudad de México01080 Mexico

In this paper we are interested in the problem of adaptive synchronization of a voltage source converter with a possibly weak grid with unknown angle and frequency, but knowledge of its parameters. To guarantee a suitable synchronization with the angle of the three-phase grid voltage we design an adaptive observer for such a signal requiring measurements only at the point of common coupling. Then we propose two alternative certainty-equivalent, adaptive phase-locked loops that ensure the angle estimation error goes to zero for almost all initial conditions. Although well-known, for the sake of completeness, we also present a PI controller with feedforward action that ensures the converter currents converge to an arbitrary desired value. Relevance of the theoretical results and their robustness to variation of the grid parameters are thoroughly discussed and validated in the challenging scenario of a converter connected to a grid with low short-circuit-ratio. © 2022, CC BY.

关键词： Synchronization

High Speed Autonomous Navigation of Unmanned Aerial Vehicles using novel Road Identification, Following Tracking (RIFT) Algorithm∗ 3

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High Speed Autonomous Navigation of Unmanned Aerial Vehicles...

3rd IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and robotics, DISCOVER 2019

作者： Kumaar, Saumya Mannar, Sumedh Navaneethkrishnan, B. Raja, S. Pragadeesh Omkar, S.N. Systems and Control University of Twente Enschede Netherlands Robotics Oregon State University Oregon United States Indian Institute of Science Department of Aerospace Engineering Bangalore India

ISBN: (纸本)9781728137353

Autonomous road navigation in unmanned aerial vehicles flying at very low altitudes paves the way for a multitude of applications such as security surveillance, monitoring of traffic or pollution, package delivery, ground- vehicle tracking etc. Most research in the field of autonomous road vehicles is focused on lane tracking and other marker- dependent techniques. In these lines, a novel, computationally efficient method for (front-view) road identification and tracking based on monocular vision is proposed which is designed to work on roads independent of markings. Road identification is implemented using a combination of spectral component analysis, edge energy-based filtering and morphological processing. Road identification and tracking works at 30 frames/sec for a frame size of 120 x 160 pixels, which is profiled on an Odroid XU4 mini-computer. Results indicating the performance of the proposed method as assessed on Cityscapes and KITTI datasets are presented. © 2019 IEEE.

关键词： Ground vehicles

Virtual control Contraction Metrics: Convex Nonlinear Feedback Design via Behavioral Embedding

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arXiv 2020年

作者： Wang, Ruigang Tóth, Roland Koelwijn, Patrick J.W. Manchester, Ian R. Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW2006 Australia Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Systems and Control Lab Institute for Computer Science and Control Budapest Hungary

This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and L2-gain performance with respect to a user-defined set of reference trajectories, and (ii) it provides constructive conditions based on convex optimization and a path-integral-based control realization, and (iii) it is less restrictive than previous similar approaches. In the proposed approach, first a virtual representation of the nonlinear dynamics is constructed for which a behavioral (parameter-varying) embedding is generated. Then, by introducing a virtual control contraction metric, a convex control synthesis formulation is derived. Finally, a control realization with a virtual reference generator is computed, which is guaranteed to achieve exponential stability and L2-gain performance for all trajectories of the targeted reference behavior. We show that the proposed methodology is a unified generalization of the two distinct categories of linear-parameter-varying (LPV) state-feedback control approaches: global and local methods. Moreover, it provides rigorous stability and performance guarantees as a method for nonlinear tracking control, while such properties are not guaranteed for tracking control using standard LPV approaches. © 2020, CC BY.

关键词： Convex optimization

State observation of affine-in-the-states systems with unknown time-varying parameters and output delay

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arXiv 2021年

作者： Bobtsov, Alexey Nikolaev, Nikolay Ortega, Romeo Efimov, Denis Kozachek, Olga Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico INRIA Univ. Lille CNRS UMR 9189 CRIStAL LilleF-59000 France Laboratory "Control of Complex Systems" Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg199178 Russia

In this paper we address the problem of adaptive state observation of affine-in-the-states time-varying systems with delayed measurements and unknown parameters. The development of the results proposed in the [Bobtsov et al. 2021a] and in the [Bobtsov et al. 2021c] is considered. The case with known parameters has been studied by many researchers-see [Sanz et al. 2019, Bobtsov et al. 2021b] and references therein-where, similarly to the approach adopted here, the system is treated as a linear time-varying system. We show that the parameter estimation-based observer (PEBO) design proposed in [Ortega et al. 2015, 2021] provides a very simple solution for the unknown parameter case. Moreover, when PEBO is combined with the dynamic regressor extension and mixing (DREM) estimation technique [Aranovskiy et al. 2016, Ortega et al. 2019], the estimated state converges in fixed-time with extremely weak excitation assumptions. © 2021, CC BY-NC-ND.

关键词： Parameter estimation

Mapping Surgeons Hand/Finger Movements to Surgical Tool Motion during Conventional Microsurgery Using Machine Learning

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Journal of Medical robotics Research 2021年第3-4期6卷

作者： Fattahi Sani, Mohammad Ascione, Raimondo Dogramadzi, Sanja Bristol Robotics Laboratory University of the West of England Bristol United Kingdom Bristol Heart Institute and Translational Biomedical Research Centre Faculty of Health Science University of Bristol Bristol United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffiled United Kingdom

Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-Assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current human-robot interfaces lack intuitive teleoperation and cannot mimic surgeon's hand/finger sensing required for fine motion micro-surgeries. These limitations make teleoperated robotic surgery not less suitable for, e.g. cardiac surgery and it can be difficult to learn for established surgeons. We report a pilot study showing an intuitive way of recording and mapping surgeon's gross hand motion and the fine synergic motion during cardiac micro-surgery as a way to enhance future intuitive teleoperation. Methods: We set to develop a prototype system able to train a Deep Neural Network (DNN) by mapping wrist, hand and surgical tool real-Time data acquisition (RTDA) inputs during mock-up heart micro-surgery procedures. The trained network was used to estimate the tools poses from refined hand joint angles. Outputs of the network were surgical tool orientation and jaw angle acquired by an optical motion capture system. Results: Based on surgeon's feedback during mock micro-surgery, the developed wearable system with light-weight sensors for motion tracking did not interfere with the surgery and instrument handling. The wearable motion tracking system used 12 finger/thumb/wrist joint angle sensors to generate meaningful datasets representing inputs of the DNN network with new hand joint angles added as necessary based on comparing the estimated tool poses against measured tool pose. The DNN architecture was optimized for the highest estimation accuracy and the ability to determine the tool pose with the least mean squared error. This novel approach showed that the surgical instrument's pose, an essential requirement for teleoperation, can be accurately estimated from recorded surgeon's hand/finger movements with a mean squared error (M

关键词： feature extraction hand tracking machine learning minimally invasive surgery real-Time low-cost hand tracking Robot-Assisted surgery

Distributed linear equations over random networks

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arXiv 2020年

作者： Yi, Peng Lei, Jinlong Chen, Jie Hong, Yiguang Shi, Guodong Department of Control Science and Engineering Tongji University Shanghai201804 China Institute of Advanced Study Tongji University Shanghai201804 China Australian Centre for Field Robotics Sydney Institute for Robotics and Intelligent Systems University of Sydney NSW2006 Australia

Distributed linear algebraic equation over networks, where nodes hold a part of problem data and cooperatively solve the equation via node-to-node communications, is a basic distributed computation task receiving an increasing research attention. Communications over a network have a stochastic nature, with both temporal and spatial dependence due to link failures, packet dropouts or node recreation, etc. In this paper, we study the convergence and convergence rate of distributed linear equation protocols over a ∗-mixing random network, where the temporal and spatial dependencies between the node-to-node communications are allowed. When the network linear equation admits exact solutions, we prove the mean-squared exponential convergence rate of the distributed projection consensus algorithm, while the lower and upper bound estimations of the convergence rate are also given for independent and identically distributed (i.i.d.) random graphs. Motivated by the randomized Kaczmarz algorithm, we also propose a distributed randomized projection consensus algorithm, where each node randomly selects one row of local linear equations for projection per iteration, and establish an exponential convergence rate. When the network linear equation admits no exact solution, we prove that a distributed gradient-descent-like algorithm with diminishing step-sizes can drive all nodes' states to a least-squares solution at a sublinear rate. These results collectively illustrate that distributed computations may overcome communication correlations if the prototype algorithms enjoy certain contractive properties or are designed with suitable parameters. Copyright © 2020, The Authors. All rights reserved.

关键词： Graph theory