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Design and optimization of a high-bandwidth low-speed high-torque permanent magnetic synchronous motor

Diangong Jishu Xuebao/Transactions of China Electrotechnical Society 2014年 29卷 108-114页

作者： Chen, Hao Liu, Xiangdong Zhao, Jing Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing100081 China

In order to get a better dynamic response for actuator in condition of low-speed, a permanent magnet synchronous motor (PMSM) in direct-drive application with the characteristics of high-bandwidth, low-speed and high-torque was designed in this paper. Based on the requirement of high-bandwidth, the motor's inertia should be kept low to acquire a large acceleration. The limitation of space size makes motor work in non-linear region, which will increase the electrical capacity. This paper took the relationship between inertia, physical size and electrical capacity into consideration and an optimal result was selected by the method of cyclic iteration. According to the characteristics of large-torque motors, the reason of low power factor was further analyzed. In order to improve the motor performance, optimal design was taken on modified Taguchi method based on time-stepping Finite Element Method (FEM) in this paper. First, five structural parameters (pole-arc coefficient, etc.) were taken as optimization variables and four motor performance indexes (power factor, etc.) as optimization objectives. Then, the multi-objective multivariable optimization was adopted. Finally, The results of FEM and prototype experiment verified the advantage and effectiveness of the modified Taguchi method. ©, 2014, Diangong Jishu Xuebao/Transactions of China Electrotechnical Society. All right reserved.

关键词： Finite element method

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Decentralized Filtering a Multi-Agent System with Local Parametric Couplings Based On Kalman Filter

Decentralized Filtering a Multi-Agent System with Local Para...

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第25届中国控制与决策会议

作者： Yini Lv Hongbin Ma Mengyin Fu Chenguang Yang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institution of Technology School of Computing and Mathematics Plymouth University

ISBN: (纸本)9781467355339

In this paper, decentralized filtering of multiagent systems with coupling uncertainties is proposed and investigated. The considered multi-agent system is composed of many agents, each of which evolves with a discrete-time stochastic linear time-varying dynamics, and every agent can be locally influenced by its neighbor agents. Therefore the states evolution of each agent is not only related with its previous states but also related with its neighbors' previous states in the linear dynamic system. Communication limitations existing in the considered multi-agent system restrict that each agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent. Because of communication limitations and information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional kalman filter or other state observers, which were extensively discussed in the literature. In this preliminary study, for the considered coupled linear discrete-time multiagent system with uncertain linear local couplings, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from the area of adaptive control, we propose an efficient decentralized kalman filtering scheme, for each agent, to simultaneously estimate the unknown states and coupling parameters, and extensive simulations are conducted, which have clearly verified the effectiveness of the proposed decentralized filtering scheme.

关键词： multi-agent system, kalman filter, parametric couplings, parameter estimation, states estimation, decentralized filtering

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A Dual-Motor Joint Model for Humanoid Robots

A Dual-Motor Joint Model for Humanoid Robots

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第25届中国控制与决策会议

作者： Jingtao Xue Xiaopeng Chen Ye Tian Zhangguo Yu Fei Meng Qiang Huang IRI School of Mechatronic Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781467355339

To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.

关键词： Humanoid robot, dual motor, control model

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Sensor fault detection with online sparse least squares support vector machine

Sensor fault detection with online sparse least squares supp...

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32nd Chinese control Conference, CCC 2013

作者： Su, Guo Fang, Deng Jian, Sun Li, Fengmei School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

ISBN: (纸本)9789881563835

In this paper, we present the theory of online sparse least squares support vector machine (OS-LSSVM) for prediction and propose a predictor with OS-LSSVM to detect sensor fault. The principle of the predictor and its online algorithm are introduced. Compared with the traditional least squares support vector machine (LSSVM), OS-LSSVM has an advantage on training speed owing to the online training algorithm based on the base vector set. The real-time output data of sensor is employed as the training vector to establish the regression model. This method is compared with the LSSVM predictor in the experiment. Three typical faults of sensors are investigated and the simulation result indicates that the OS-LSSVM predictor can diagnose sensor fault accurately and rapidly, thus it is especially suitable for online sensor fault detection. © 2013 TCCT, CAA.

关键词： Vectors

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Comparison of several filtering methods for linear multi-agent systems with local unknown parametric couplings

Comparison of several filtering methods for linear multi-age...

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3rd IFAC Conference on intelligent control and Automation Science, ICONS 2013

作者： Lv, Yini Ma, Hongbin Yang, Chenguang Fu, Mengyin Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China School of Computing and Mathematics Plymouth University United Kingdom

ISBN: (纸本)9783902823458

In this paper, several filtering methods for a class of discrete-time stochastic linear time-varying multi-agent systems with local coupling uncertainties have been investigated. Every agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent because of communication limitations existing in the considered multi-agent system. Because of the information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional Kalman filter or other state observers. Noting of the existence of coupling uncertainties in many practical applications, this paper introduces one general framework of decentralized filtering problem of multi-agent systems. For the considered system, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from principles in adaptive control, we introduce several filtering methods to resolve the fundamental problem considered in this paper. By conducting extensive simulations, the consuming time and estimation errors of every method are compared for one typical example, which suggests which method is more precise and faster. Copyright © 2013 IFAC.

关键词： Kalman filters

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The CPG gait generate method of the quadruped robot based on iterative learning control algorithm

The CPG gait generate method of the quadruped robot based on...

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2013 2nd International Conference on Micro Nano Devices, Structure and Computing systems, MNDSCS 2013

作者： Wang, Cheng Gao, Junyao Duan, Xingguang Liu, Yi Li, Xin Xu, Zhe Sun, Wentao Intelligent Robotics Institute China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9783037856420

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization. © (2013) Trans Tech Publications, Switzerland.

关键词： Learning algorithms

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Hand-eye servo and flexible control of an anthropomorphic arm

Hand-eye servo and flexible control of an anthropomorphic ar...

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2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

作者： Ma, Gan Huang, Qiang Yu, Zhangguo Chen, Xuechao Meng, Libo Sultan, Malik Saad Zhang, Wen Liu, Yan IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479927449

One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control objective of the controller is to lock all the feature points at fixed points on the image plane. Then, impedance control law is implemented to keep the flexible of the arm. Finally, the effectiveness of the proposed methods are verified by experiments on our humanoid robotic arm platform. © 2013 IEEE.

关键词： Anthropomorphic robots

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Application of soft magnetic composite material in the field of electrical machines

Application of soft magnetic composite material in the field...

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2013 International Conference on Vehicle and Mechanical Engineering and Information Technology, VMEIT 2013

作者： Li, Xiao Bei Zhao, Jing Chen, Zhen School of Automation Beijing Institute of Technology Beijing 100081 China Key laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 10008 China

ISBN: (纸本)9783037858202

The property of the soft magnetic composite (SMC) material is introduced. Take the traditional material used for electric machine, i.e. the silicon steel lamination, as the reference, this paper summarizes the application advantages of SMC in the typical electric machine, such as tubular permanent-magnet liner machine, high-speed permanent-magnet machine, claw-pole machine, axial flux permanent-magnet machine and radial flux permanent-magnet machine. SMC material has much applied potential in the field of electric machine. © (2013) Trans Tech Publications, Switzerland.

关键词： Electric machinery

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A Framework of Finite-model Kalman Filter with Case Study： MVDP-FMKF Algorithm

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自动化学报 2013年第8期39卷 1246-1256页

作者： FENG Bo MA Hong-Bin FU Meng-Yin WANG Shun-Ting School of Automation Beijing Institution of TechnologyBeijing 100081China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of TechnologyBeijing 100081China

然而，过滤技术的 Kalman 广泛地在许多应用被使用了为线性 Gaussian 系统的标准 Kalman 过滤器不能通常工作很好或甚至面对大模型无常分叉。在实际应用程序，有高费用的实验的大数字是昂贵的或对甚至不可能获得一个准确系统模型。在有... 详细信息

然而，过滤技术的 Kalman 广泛地在许多应用被使用了为线性 Gaussian 系统的标准 Kalman 过滤器不能通常工作很好或甚至面对大模型无常分叉。在实际应用程序，有高费用的实验的大数字是昂贵的或对甚至不可能获得一个准确系统模型。在有限模型的适应控制上由我们的以前的开创的工作激发了，过滤的有限模型的 Kalman 的一个框架在这份报纸被介绍。这个框架想那大模型无常可以被能与对方很不同的已知的模型的一个有限集合限制。而且，在集合的已知的模型的数字能灵活地被选择以便换句话说，不明确的模型可以被已知的模型之一总是接近大模型无常被已知的模型的凸的壳盖住。在介绍框架以内根据经由最小化的向量距离原则的适应切换的想法，一个简单有限模型的 Kalman 过滤器， MVDP-FMKF，被广泛的模拟算术地提出并且说明。MEMS 回转仪飘移的一个实验验证了建议算法的有效性，显示有限模型的 Kalman 过滤器的机制在 Kalman 过滤器的实际应用有用、有效，特别在惯性的航行系统。

关键词：卡尔曼滤波技术有限模型框架算法卡尔曼滤波器不确定性模型惯性导航系统自适应控制

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Modeling, optimization and control in ground-based digital weapon systems

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Zidonghua Xuebao/Acta Automatica Sinica 2013年第7期39卷 943-962页

作者： Chen, Jie Fang, Hao Xin, Bin Deng, Fang School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

An overview of the modeling, optimization and control issues regarding digital ground-based weapon systems is provided by reviewing the previous works along five research lines: 1) design and optimization of the architecture and hierarchy of complex integrated weapon systems;2) optimization and decision-making in integrated command and control;3) parameter identification and state estimation of multidimensional mobile targets;4) coordinative control of multiple autonomous platforms;and 5) modeling and control of nonlinear servo systems. The survey covers the command and control, the fire control and the platform control involved in ground-based weapon systems. Based on an introduction and analysis of current research status along the five lines, the paper also points out several significant topics which deserve further research in the future. Copyright © 2013 Acta Automatica Sinica. All rights reserved.

关键词： State estimation

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