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Hall-sensor-based orientation measurement method in three-dimensional space for electromagnetic actuators

Hall-sensor-based orientation measurement method in three-di...

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IEEE International Conference on automation Science and engineering (CASE)

作者： Liang Yan Bo Zhu Zongxia Jiao Chin-Yin Chen I-Ming Chen Research Institute of Beihang University in Shenzhen Shenzhen China School of Automation Science and Electrical Engineering Beihang University Beijing China Institute of Advanced Manufacturing Technology Ningbo Institute of Material Technology and Engineering Ningbo China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

This paper proposes an orientation measurement method of a novel permanent magnet spherical actuator with 3D magnet array based on several hall sensors. This measurement method could avoid additional inertial moment and friction, as there is no contact between the measurement system and the rotor. And the accuracy of Hall sensors could be enhanced by the higher flux density produced by the 3D magnet array. A novel distribution of Hall sensors is proposed in this paper. Compared with the magnetic field model formulated analytically, the rotor orientation could be derived from the measured value of flux density by these Hall sensors. Numerical computation is utilized to validate the accuracy of the analytical equations between the orientation of rotor and the measured value of Hall sensors. Also the numerical computation shows that the accuracy of the orientation measurement method is influenced by the 3D magnet array. These researches could be used for subsequent control implementation of the novel permanent magnet spherical actuator.

关键词： Magnetic sensors Rotors Arrays Actuators Position measurement Magnetic fields

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Flight envelope protection for NASA's transport class Model

Flight envelope protection for NASA's transport class Model

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AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014

作者： Tekles, Nikolas Xargay, Enric Choe, Ronald Hovakimyan, Naira Gregory, Irene M. Holzapfel, Florian Dept. of Mechanical Science and Engineering University of Illinois at Urbana-Champaign Urbana IL 61801 United States Dept. of Aerospace Engineering University of Illinois at Urbana-Champaign Urbana IL 61801 United States Dynamic Systems and Controls Branch NASA Langley Research Center MS 308 Hampton VA 23681 United States Institute for Flight System Dynamics Technical University Munich Garching 85748 Germany

ISBN: (数字)9781624103179

ISBN: (纸本)9781600869624

Motivated by the problem of loss-of-control prevention, this paper presents a dynamic flight envelope protection system for NASA's Transport Class Model. The developed protection scheme is based on a command-limiting approach that accounts for aircraft adverse aerodynamics, unusual attitude, and structural integrity, and is implemented around a standard gain-scheduled flight control law. The scheme also includes an energy protection scheme, which relies on an automatic throttle control system that implements a total energy control law. Preliminary batch and pilot-in-the-loop simulations demonstrate the efficacy of the protection system in maintaining the aircraft within desired safe conditions, without limiting the ability of the pilot to perform aggressive, evasive maneuvers.

关键词： NASA

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Preliminary study of high power hydrogen electric propulsion for the space exploration 50

Preliminary study of high power hydrogen electric propulsion...

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50th AIAA/ASME/SAE/ASEE Joint Propulsion Conference and exhibit 2014

作者： Kinefuchi, Kiyoshi Okita, Koichi Kuninaka, Hitoshi Nakata, Daisuke Suzuki, Tomoya Tahara, Hirokazu Space Transportation Mission Directorate Japan Aerospace Exploration Agency Space Transportation System R and D Center 2-1-1 Sengen TsukubaIbaraki305-8505 Japan Institute Space and Astronautical Science Japan Aerospace Exploration Agency Department of Space Flight Systems 3-1-1 Yoshinodai Chuo-ku SagamiharaKanagawa252-5210 Japan Muroran Institute of Technology Aerospace Plane Research Center 27-1 Mizumoto-cho MuroranHokkaido050-8585 Japan Osaka Institute of Technology Department of Mechanical Engineering 5-16-1 Omiya Asahi-kuOsaka535-8585 Japan

ISBN: (数字)9781624103032

ISBN: (纸本)9781624103032

High power electric propulsion system is strongly required for future orbital space transportation. MPD (Magneto-Plasma-Dynamic) thrusters and DC (Direct Current) arcjets with hydrogen as a propellant are promising candidates for the missions because of their high performance and adaptability to high power operation. However, to use hydrogen for long term orbital missions, its storage in orbit is crucial issue to be considered. Firstly, we proposed a hydrogen storage and feed system for electric thrusters by applying our technologies derived from the liquid hydrogen launch vehicles. Secondly, we present R&D activities of hydrogen MPD thruster and DC arcjet, especially focusing on the improvement of their performance and durability. Then, development strategy of hydrogen electric thrusters is also discussed. Finally, advantages of hydrogen electric thruster were shown compared with conventional xenon thrusters through mission analyses of lunar orbit insertion and GTO-GEO transportation. © 2014 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Orbits

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Design and Modeling of Three-phase Tubular Linear Flux-Switching Permanent Magnet Motor

Design and Modeling of Three-phase Tubular Linear Flux-Switc...

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2014中国制导、导航与控制学术会议

作者： Liang Yan Wei Li Zongxia Jiao Chin-Yin Chen I-Ming Chen School of Automation Science and Electrical Engineering Beijing University of Aeronautics and AstronauticsBeijing100191 National Applied Research LaboratoriesTaiwan Ocean Research InstituteTaiwanROC School of Mechanical and Aerospace EngineeringNanyang Technological University 50 Nanyang AvenueSingapore

ISBN: (纸本)9781479946983

This paper presents a tubular linear flux-switching permanent magnet (TLFSPM) *** has an inner mover which only consists of iron core,and stator which contains the magnets and armature *** objective of this paper is to propose the TLFSPM motor design and mathematical *** motor has a smaller cogging force and force ripple,in addition,it overcome unbalanced magnetic circuit on end *** we adopt FEM,and obtained some simulation results to verify the effectiveness of this *** is shown that this motor have a higher thrust force density as compared to a fluxswitching machine equipped with a conventional configuration.

关键词： linear motors machine theory magnetic circuits magnetic flux permanent magnet motors stators armature windings inner mover iron core linear flux switching permanent magnet motor stator three-phase permanent magnet motor thrust force density tubular permanent magnet motor unbalanced magnetic circuit Coils Force Magnetic circuits Magnetic flux Permanent magnet motors Reluctance motors

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A novel nuclear station inspection robot

A novel nuclear station inspection robot

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International Conference on Information Science and Technology (ICIST)

作者： Qingsong Liu Guohe Wang Yachao Dong Pengfei Liu Jianquan Sun Xinyu Wu Yangsheng Xu China Nuclear Power Technology Research Institute(CNPRI) China Guangdong Provincial Key Lab of Robotics and Intelligent System Chinese Academy of Sciences China Department of Mechanical and Automation Engineering The Chinese University Hong Kong

As a key device in nuclear station, the steam generator is vulnerable to certain kinds of damages, which make it necessary to check the generator annually. However, it is impossible for human to finish the examine because of that the tremendous tubes inside the generator makes its inner space too crowded. In this paper, we introduced a novel designed climbing robot system which is competent to the work. The main part of the robot system is a vehicle which can moves inside the steam generator carrying a PT Arm. Four cameras are installed in the vehicle and PT Arm to send the real time video back for analysis. We built a control panel as the interface for users to control the vehicle and a cabinet as the container of all the processors int the control system. Experiments show that our system works stably inside the steam generator.

关键词： Vehicles Generators Inspection Climbing robots Service robots Electron tubes

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Integrated object and path demonstration for industrial robots in adaptive handling applications

Integrated object and path demonstration for industrial robo...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： C. F. Wu S. K. Lin J. Lambrecht T. D. Nguyen A. Vick M. Kleinsorge J. Krüger Division of Intelligent System Engineering Industrial Technology Research Institute Mechanical and Systems Research Laboratory Hsinchu Taiwan National Chiao Tung University Institute of Electrical Control Engineering Hsinchu Department Industrial Automation Technology Technische Universität Berlin Insitute for Machine Tools and Factory Management Berlin Germany

We propose an approach for integrated object and path demonstration. The main idea is to choose the motion of the robot depending on the object it grabs. When programming, an object is fixed at the robot's gripper. Path programming is done using haptic guidance. Afterwards, if a robot is handed over an object it knows before, it reproduces the path assigned to the object. Path programming and object recognition can be done with a single force/torque sensor. In our opinion, this way of programming is especially suited for creating pick and place tasks in frequently changing production environments where (re-)programming has to be done frequently.

关键词： Robot sensing systems Programming Service robots Force Grippers Training

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Design and Analysis of an Improved Halbach Tubular Linear Motor with Non-ferromagnetic Mover Tube for Direct-driven EHA

Design and Analysis of an Improved Halbach Tubular Linear Mo...

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2014中国制导、导航与控制学术会议

作者： Tianyi Wang Zongxia Jiao Liang Yan Chin-Yin Chen I-Ming Chen Research Institute of Beihang University in Shenzhen Guangdong518057 China Institute of Advanced Manufacturing TechnologyNingbo Institute of Material Technology and EngineeringNingbo315201 China School of Mechanical and Aerospace EngineeringNanyang Technological University50 Nanyang AvenueSingapore Department of Automation Science and Electrical Engineering Beihang UniversityBeijing100191 China Department of Automation Science and Electrical EngineeringBeihang UniversityBeijing100191

ISBN: (纸本)9781479946983

Direct-driven Electrical Hydrostatic Actuator (D-EHA) is a novel actuator for large aircraft Power-By-Wire (PBW) *** high dynamic response is an important task for *** this paper,a tubular oscillating motor with improved Halbach array and non-ferromagnetic mover tube is proposed for high-dynamic *** structure and operating principle is first ***,focusing on the novel magnet array,analytical modelling is put forward and validated by FEM *** with common used quasi-Halbach design over flux distribution,flux density and thrust are *** results indicate that this novel magnet design has superior thrust and dynamic performance over traditional ones,especially for oscillating motor with relatively small stroke.

关键词： aerospace components electric actuators electrohydraulic control equipment linear motors FEM simulation Halbach array Halbach tubular linear motor aircraft power-by-wire system direct driven EHA electrical hydrostatic actuator flux density flux distribution nonferromagnetic mover tube quasiHalbach design tubular oscillating motor Arrays Electron tubes Integrated circuit modeling Magnetic circuits Magnetic flux leakage Magnetic levitation electric actuators aerospace components Electron tubes magnetic circuits flux distribution integrated circuit modelling linear motors Magnetic flux leakage Magnetic levitation FLUX DENSITY tubular linear motor arrays

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Magnetic Field Modeling of a Linear Permanent Magnet Motor with Two Isolated Movers

Magnetic Field Modeling of a Linear Permanent Magnet Motor w...

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2014中国制导、导航与控制学术会议

作者： Liang Yan Juanjuan Peng Zongxia Jiao Chin-Yin Chen I-Ming Chen Research Institute of Beihang University in Shenzhen Guangdong518057 China School of Automation Science and Electrical EngineeringBeihang UniversityBeijing100191 China Institute of Advanced Manufacturing TechnologyNingbo Institute of Material Technology and EngineeringNingbo315201 China School of Mechanical and Aerospace EngineeringNanyang Technological University50 Nanyang AvenueSingapore School of Automation Science and Electrical Engineering Beihang UniversityBeijing100191

ISBN: (纸本)9781479946983

A novel permanent-magnet (PM) linear motor which composes of two isolated movers and one single stator is proposed in this *** is suitable for tasks requiring multiple drive *** mover can produce independent force and flexible motions by interacting with the stator *** with conventional multi-motor driven system,it achieves more compact size,and thus increases the system force *** design concept is *** facilitate fabrication and installation,the flat type PM linear motor with two isolated movers is *** magnetic field model is formulated by using equivalent magnetic circuit (EMC) *** influence of magnetization pattern and back iron is included in the *** computation is carried out to verify the analytical *** shows that the analytical model and finite element analysis (FEA) result match *** employment of same-magnetization pattern and back iron helps to improve the force *** similar concept of multi-mover and single-stator can be implemented into other electromagnetic machines.

关键词： Linear motor magnetic circuit permanent magnet finite element analysis

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research on real solutions number of the SHEPWM equations based on the mechanical proving and groebner bases theory

Research on real solutions number of the SHEPWM equations ba...

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Chinese Control Conference (CCC)

作者： Ke-hu Yang Ru-yi Yuan Wen-sheng Yu School of Mechanical Electronic & Information Engineering China University of Mining and Technology Xuzhou Jiangsu CN Integrated Information System Research Center Institute of Automation Institute of Automation Chinese Academy of Sciences Beijing Beijing CN Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai CN

The real solutions number of the switching angles for the SHEPWM inverter has been discussed in this paper. Firstly, the SHEPWM equations were transformed to polynomial equations with inequality constrains by using the multiple-angle formulas and variables substitution, then, the equivalent groebner bases of the polynomial equations were computed, finally, the real solutions number of the SHEPWM equations were discussed with the mechanical proving theory and algorithm of the semi-algebraic systems. The conclusion of there is only one solutions for the single phase SHEPWM inverter with less than 7 switching points in a quarter period and the theoretical maximum modulation ratio were derived for the first time. The experiments and simulations verify the correctness of these conclusions.

关键词： Inverters Switches Harmonic analysis Polynomials Mathematical model Modulation

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A Novel Nuclear Station Inspection Robot

A Novel Nuclear Station Inspection Robot

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2014 4th IEEE International Conference on Information Science and Technology

作者： Qingsong Liu Guohe Wang Yachao Dong Pengfei Liu Jianquan Sun Xinyu Wu Yangsheng Xu China Nuclear Power Technology Research Institute(CNPRI) Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

关键词： Arm A Novel Nuclear Station Inspection Robot

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