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The Comparison of Two SVPWM Methods for Low-Speed Control of PMSM in Servo System

The Comparison of Two SVPWM Methods for Low-Speed Control of...

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2021 International Conference on Information Technology and Biomedical Engineering, ICITBE 2021

作者： Xiaorui, Zhao Dongge, Zhang Yiqi, Zhang Beijing Research Institute of Precise Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9781665400992

Two space vector pulse width modulation (SVPWM) methods for low-speed control of PMSM are described in this paper. One is the traditional modulation method using 180-degree space vectors. Another is a novel hybrid modulation method using 120-degree space vectors and 180-degree space vectors, which has no need to set up the dead time and can avoid the effects as well. When the PMSM runs at ultra-low speed condition, the dead time effects in traditional six-sector modulation method is significant and the speed stability is poor. To avoid the distortion of motor current caused by dead time effects and improve the low-speed control performance of PMSM in servo system, the twelve-sector modulation method using hybrid vectors is proposed. From the analysis of principles to the derivation of formulas, from the construction of SIMULINK models to the analysis of simulation results, the similarities and differences between the two kinds of modulation methods are compared in detail. The simulation results of the two methods are supported by experimentation. The experimental system is consisted of a digital signal processor (DSP), a field programmable gate array (FPGA), a PWM inverter and a permanent magnet synchronous motor (PMSM). © 2021 IEEE.

关键词： Simulink

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Secure Transmission with a Full-Duplex Relay in Power Line Communications

Secure Transmission with a Full-Duplex Relay in Power Line C...

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China International Electrical and Energy Conference (CIEEC)

作者： Jiarui Zhang Baosen Du Xiaosheng Liu Dianguo Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Beijing Institute of Precision Mechatronics and Controls Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing China

ISBN: (数字)9798350359558

ISBN: (纸本)9798350359565

With the increasingly prominent security problems of Industrial Internet and the rapid development of computing technology, the security of power line communication (PLC) based on classical encryption technology faces new challenges. In this paper, a secure transmission scheme of PLC relay network based on full-duplex (FD) is proposed. In this scheme, the transmitter transmits the composite signal containing the information-bearing signal and the jamming signal. The relay forwards the received signal in the last time slot according to the amplify-and-forward (AF) strategy while receiving the signal transmitted by the transmitter. The receiver transmits the jamming signal while receiving the signal transmitted by the relay. Based on the lognormal correlated channel model and the Bernoulli-Gaussian noise model, we derive the closed-form expressions for average secrecy capacity (ASC), secrecy outage probability (SOP), and effective secrecy throughput (EST), assuming maximum ratio combining are utilized at the eavesdropper. According to the theoretical analysis, we find the optimal power allocation to improve the secrecy performance with the external eavesdropper or the untrusted relay. Furthermore, Monte-Carlo simulation is utilized to verify our analysis. Simulation results show that the proposed method is superior to the traditional scheme.

关键词： Transmitters Simulation Power line communications Relay networks Probability Throughput Power system reliability

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Synchronous Control Method and Simulation Research of Multi-degree of Freedom Humanoid Space Manipulator 2

Synchronous Control Method and Simulation Research of Multi-...

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2nd International Conference on Service Robotics, ICoSR 2023

作者： Yang, Tao Xu, Fang Du, Baosen Ni, Yongjian Yu, Chao Shi, Yan Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Beijing China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission China Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China

ISBN: (纸本)9798350304688

The high-precision multi-joint synchronous control problem of the 7 DOF humanoid manipulator is studied. The control system uses a distributed control architecture based on EtherCAT. synchronization error causes tracking error between the end trajectory of the manipulator with theoretical trajectory. In order to achieve the purpose of high-precision synchronous control of manipulators, the kinematics model of manipulators is analyzed, and the method of network distributed clock control mode based on EtherCAT is proposed. Firstly, according to the source of synchronous error of the manipulator, the distributed network clock is used to calibrate the controller master station and the servo slave station to reduce the sampling and control synchronization error of each joint, and then improve the real-time performance of the main station Linux operating system. The station position command synchronization error is calibrated. Finally, the semi-physical simulation system of the joint and manipulator controller in the ring is designed. The simulation experiment analysis of the humanoid manipulator in the joint space and Cartesian space is carried out. The results show that the clock is distributed based on the EtherCAT network. The multi-joint synchronization control method can realize high-precision position control of the humanoid manipulator. © 2023 IEEE.

关键词： Manipulators

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Remaining useful life prediction of multi-sensor monitored degradation systems with health indicator 3

Remaining useful life prediction of multi-sensor monitored d...

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3rd International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2022

作者： Huang, Xucong Peng, Zhaoqin Tang, Diyin Zheng, Zaiping Chen, Juan School of Automation Science and Electrical Engineering Beihang University Beijing China Beijing Insititue of Precise Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China

ISBN: (纸本)9781665492812

Rolling bearings are kernel components of machinery devices. To evaluate degradation processes of rolling bears in real-time devices, health indicators (HIs) are required to be built. Due to the constraints of sensors, the degradation pattern cannot be denoted by commonly used signals such as vibration data. Moreover, the practical requirements of HI for prognostics are always ignored, such as monotonicity and trendability. Therefore, a novel HI construction method based on reinforcement learning (RL) is proposed. Firstly, the HI construction process is regarded a data fusion process. Observed multi-sensor data is used to abstract degradation information. In this way, the determination of HI is changed into the optimization of fusion coefficient vector. Secondly, a RL agent is established to automatically learn the strategy though the intergradation with environment. Then the trained strategy is directly used for real-time HI construction. The effectiveness of proposed approach is verified though a real bearing dataset. © 2022 IEEE.

关键词： data fusion HI construction reinforcement learning RUL

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Design of Isolated Bi-Directional DC-DC Converter for Aerospace

Design of Isolated Bi-Directional DC-DC Converter for Aerosp...

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Power Electronics and Application Symposium (PEAS), IEEE International

作者： Xiaohui Zeng Chunzhi Chen Lei Yang Wei Chen Qingbin Chen Yuping Huang College of Electrical Engineering and Automation Fuzhou University Fuzhou China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing China

The servo power supply is the key power supply equipment of aerospace electromechanical servo systems, and its volume, specific energy, and instantaneous output power directly determine the overall performance of the system. This paper proposes a two-stage topology that can satisfy the capacitive voltage with a wide input range based on the technical specification requirements of an isolated bi-directional DC-DC converter for aerospace applications. Firstly, the operation principle of the topology is analyzed, and the volume and weight of the converter can be reduced with magnetic integration technology. Moreover, the whole control scheme is introduced and the fast charge and discharge control strategy of the capacitor is analyzed in detail. Finally, a prototype with a peak output power of 7.6 kW was developed, the overall weight was 2.24 kg (with the case), and the volume was $\mathbf{286.4}\times \mathbf{146.4}\times \mathbf{63.5} \mathbf{mm}^{\mathbf{3}}$ . The experimental results show that the rising and falling time of the output current is less than 1.5 ms, and the stabilized current precision is less than 10%. At the same time, the prototype can achieve 50 times continuous charge and discharge, which effectively meets the requirements of complex power conditions of the aerospace electromechanical servo system.

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Optimization Scheme and Design of Servo Power Supply for Aerospace Vehicle 5

Optimization Scheme and Design of Servo Power Supply for Aer...

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5th International Conference on Communication and Information Systems, ICCIS 2021

作者： Qi, Zhang Yi Yan, Li Rui, Zhao Xiao Shuang, Yan Hua, Xu Xiu Beijing Institute of Precision Mechatronics and Controls Gas Hydraulic Servo Division Beijing China Laboratory of Aerospace Servo Actuation and Transmission Special Power Research Laboratory Beijing China

ISBN: (纸本)9781665422161

This paper introduces the servo power supply and distribution circuit of the aerospace vehicle and analyzes the problems that the power supply system may encounter during the flight. In view of this, the aerospace vehicle servo power supply optimization scheme is proposed, and the relevant parameters of the scheme are matched. Finally, a part of the experiment was carried out to verify the effectiveness of the power supply optimization scheme, and to achieve the purpose of optimizing the power supply system in terms of improving the reliability and stability of the aerospace vehicle power supply. © 2021 IEEE.

关键词： Electric power systems

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Modeling of channel characteristics for spacecraft-oriented DC power line communications 3

Modeling of channel characteristics for spacecraft-oriented ...

引用

3rd International Conference on Smart Energy and Electrical Engineering, SEEE 2024

作者： Wang, Wenze Du, Baosen Li, Zijun Ma, Jinliang Liu, Xiaosheng School of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

Spacecraft operate in a harsh environment, with a complex space electromagnetic environment, diverse loads, and high requirements for communication performance and reliability. As an optional communication technology within spacecraft, power line communication (PLC), in addition to facing the above problems, must first solve the problem of modeling channel characteristics of PLC in DC-powered environments. To this end, this paper proposes a channel analysis and modeling method for spacecraft DC PLC, gives the calculation and analysis process of W-element distribution parameters based on transmission line theory, establishes a specific cable and branch connector simulation model based on CST, and carries out a simulation study on the whole link of the cable, branch connector, and the channel of the DC PLC system. According to the simulation system, the corresponding experimental verification platform is built. The simulation and test results verify the effectiveness and accuracy of the proposed modeling method. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Electric lines

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Force balance control method of adjustable parallel cable-driven platform

Force balance control method of adjustable parallel cable-dr...

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International Conference on Robotics and Automation Engineering (ICRAE)

作者： Jia Longfei Li Hao Zheng Ranran Song Hongzhou Li Ke Yu Zhiyuan Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing China School of Aerospace Engineering Beijing Institute of Technology Beijing China

Aiming at the problem that the existing parallel cable-driven platform can not be balanced in many positions and orientations, this paper first proposes a new type of cable-driven platform with adjustable cable node positions. Then, by analyzing the relationship between the platform position and orientation, the size of the cable pulling force, and the relationship between the position and direction of the cable, a universal kinematic model is constructed. Finally, the experiment is verified by simulation. The simulation results show that, combined with the new platform and model designed in this paper, the force imbalance problem of the parallel cable-driven platform in any position and orientation can be solved.

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Design of a Novel Electromechanical Flight Control Actuation System with Configurable Redundancy for UAVs 17th

Design of a Novel Electromechanical Flight Control Actuation...

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17th Chinese Intelligent Systems Conference, CISC 2021

作者： Cao, Sijia Zhang, Hua Li, Chao Chen, Peng Jiang, Dikai Wu, Hao Zhao, Ruijing Lv, Wei Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China The 3rd Military Representative Office of Rocket Force Armament Department in Beijing Beijing100076 China

ISBN: (纸本)9789811663277

As the demands of more electric or fully electrify in Unmanned Aerial Vehicle (UAV) flight control systems are emerging, a novel electromechanical flight control actuation system (FCAS) with the feature of configurable redundancy which is designed for a twin-engine long flight duration UAV is presented. The system is made up of 4 electrical controllers and 13 electromechanical actuators. The 4 controllers are powered by Digital Signal Processor (DSP) and Complex Programmable Logic Device (CPLD), each controller contains 4 power channels and can be utilized as either 4 independent channels or 2 two-redundancy channels according to the requirements of flight control configurations. The controllers are identical and replaceable with each other on board. For this design, the system layout and schematic are firstly presented. Then the detail design of the controller and the actuators are discussed, including the hardware and fault monitoring algorithm designs. Finally the ground test results and test considerations are addressed. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Controllers

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Fault-Tolerant Control of Three-Phase Four-Leg PMSM Servo Systems

Fault-Tolerant Control of Three-Phase Four-Leg PMSM Servo Sy...

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China International Electrical and Energy Conference (CIEEC)

作者： Bo Sun Jie Fu Luman He Peijuan Cui Zhanlin Hou Wei Wang Xiaotong Wang Xianyu Yan Dengyu Ji School of Electrical Engineering Southeast University Nanjing China Beijing Institute of Precision Mechatronics and Controls Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing China

Compared with the traditional permanent magnet motor, the non-sinusoidal back-EMF permanent magnet motor can improve the torque density but when the motor fails, the back-EMF harmonics will produce torque ripple during the fault tolerance process. In this paper, the mathematical model of non-sinusoidal back-EMF motor is given and the torque ripple before and after fault is deduced. Based on the three-phase four-leg topology, a fault-tolerant control strategy for the open-phase fault of permanent magnet synchronous motor (PMSM) with the introduction of the third and fifth harmonic back-EMF is proposed in order to weaken the torque ripple caused by the introduced back-EMF harmonics. Finally, the effectiveness of the proposed control strategy is verified by simulation.

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