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Design and Implementation for Common Mode Voltage Suppression Algorithm of Permanent Magnet Synchronous Motor 12

Design and Implementation for Common Mode Voltage Suppressio...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2022

作者： Tian, Guanzhi Zhao, Xiaorui Yuan, Liwei Zhao, Zengwu Cheng, Xiangli Song, Xiancheng Beijing Research Institute of Precise Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing China

ISBN: (纸本)9781839538360

With the aiming at inhibiting common mode voltage, reducing electromagnetic interference, and improving the service life of the motor, this paper making comparative study common mode voltage caused by of the traditional seven sections of SVPWM, five sections of SVPWM and nonzero vector PWM, which based on the principle of common-mode voltage production. Simulations and experiments show that nonzero vector PWM control strategy can reduce the value of common mode voltage to a third of the traditional control algorithm, which effectively restrains the common-mode voltage and improves the security and reliability of the motor. © 2022 IEEE.

关键词： Vectors

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Research on Application of Light and Small Wire Rope Vibration Absorber in Motor Controller

Research on Application of Light and Small Wire Rope Vibrati...

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2022 International Conference on Electrical, Control and Information Technology, ECITech 2022

作者： Jiao, Weiwei Yang, Jinpeng Xu, Wenbo Jin, Guangzai Ding, Hongyi Beijing Institute of Precision Mechatronics and Controls China Laboratory of Aerospace Servo Actuation and Transmission Beijing China

ISBN: (纸本)9783800759170

The vibration damping design of the motor drive for aerospace applications should not only consider miniaturization, but also meet the heat dissipation requirements of the drive module itself, and meet the requirements of low temperature and long-term storage. Therefore, a scheme of adopting a built-in light and small steel wire rope shock absorber is proposed, and multiple shock absorbers are used in parallel to improve the reliability of the vibration damping system. By analyzing the stiffness and damping characteristics of the shock absorber, the damping performance is calculated and simulated, which shows that the shock absorber can meet the damping requirements of the drive product. On the vibration table, the steel wire rope shock absorber and the traditional rubber shock absorber were tested and compared according to the random vibration spectrum. The result shows that the steel wire rope shock absorber achieved the same damping effect as the rubber shock absorber. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Shock absorbers

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Research on Full Hardware-in-loop Ground Simulation Test Method of Space Manipulator 18th

Research on Full Hardware-in-loop Ground Simulation Test Me...

引用

18th Chinese Intelligent Systems Conference, CISC 2022

作者： Li, Tongtong Wang, Yanbo Yang, Zelin Yang, Tao Deng, Songbo Liang, Binyan Du, Baosen Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811962028

The space manipulator is a 7-DOF redundant manipulator, and the on-orbit operation tasks are complex. For on-orbit dynamic target capture tasks, the on-orbit motion of the space manipulator requires real-time calculation, which tests the function and performance of the entire space manipulator system. Aiming at the problem that the space manipulator cannot support its own gravity in the ground gravity environment and cannot fully verify the feasibility of the on-orbit capture design scheme, the author proposes a ground simulation test method for the space manipulator full physics in the loop. And the air-floating subsystem, the ground equivalent manipulator subsystem, the digital simulation subsystem, and the target floating simulation subsystem conduct ground tests on the space manipulator’s on-orbit dynamic target tracking and capture capability, and improve the consistency of the experiment between on the ground and no-orbit. Experiments have verified the effectiveness of this method. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Redundant manipulators

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Design and optimization of 2DOF humanoid dual cross four-bar mechanism for knee joint of an exoskeleton

Design and optimization of 2DOF humanoid dual cross four-bar...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Zeng, Hongbing Zeng, Bo Yuan, Guifang Liu, Xuliang Yu, Zhiyuan Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing100076 China

ISBN: (纸本)9781665481090

A 2 degrees of freedom (DOF) humanoid dual cross four-bar for a knee joint is designed, based on the instantaneous center of rotation (ICR) axis motion of a human knee joint. The two DOFs of the joint are flexion/extension and internal /external rotation. The DOF of flexion/extension is realized by the cross four-bar mechanism, and the DOF of internal/external rotation is realized by a set of adaptive roller mechanisms. There is the same humanoid configuration for both the lateral and medial cross four-bar mechanism. The structural parameters are optimized aiming to minimize the displacement trajectory error between the mechanism ICR axis and the human knee ICR axis by the genetic algorithm. The self-adaptive roller mechanism is composed of 3 groups of movable rollers to realize the internal/external rotation of the exoskeleton shank on the tight shank bandage so that it can adapt to different leg shapes. The simulation results show that the ICR synthesis tracking error of the humanoid cross four-bar mechanism is no more than 0.77mm. The wearing experiment shows the motion of the exoskeleton joint can well align that of the human knee joint, verifying the effectiveness of the proposed mechanism. © 2022 IEEE.

关键词： Genetic algorithms

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Design of Isolated Bi-Directional DC-DC Converter for Aerospace 2

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

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2nd IEEE International Power Electronics and Application Symposium, PEAS 2023

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

ISBN: (纸本)9798350313765

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 286.4 146.4 63.5 mm3. 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. © 2023 IEEE.

关键词： control strategy isolated bidirectional DC-DC converter magnetic integration servo power supply

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Comparative Study of Active Disturbance Rejection Control Methods for PMSM systems

Comparative Study of Active Disturbance Rejection Control Me...

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第43届中国控制会议

作者： Hao Lin Liyuan Yan Chenhong Shi Hui Zhao Lufan Deng Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

With the increase of motor control performance requirements, active disturbance rejection control methods are widely used in motor control systems to improve the disturbance rejection ability. In this paper, four control strategies including a proportional-integral strategy, a linear extended state observer-based proportional strategy, a high-gain observer-based proportional strategy and a nonlinear extended state observerbased proportional strategy are applied to control the rotor speed of a permanent magnet synchronous motor system. The control performance of the four strategies is compared through theoretical analysis and simulation under different operation conditions.

关键词： active disturbance rejection control observer permanent magnet synchronous motor speed control

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Force balance control method of adjustable parallel cable-driven platform 8

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

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8th International Conference on Robotics and Automation Engineering, ICRAE 2023

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

ISBN: (纸本)9798350327656

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. © 2023 IEEE.

关键词： Cables

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A Queue Driven State Machine Based LabVIEW Pattern Used in Large-Scale Measuring and Controlling Systems 17th

A Queue Driven State Machine Based LabVIEW Pattern Used in L...

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17th Chinese Intelligent Systems Conference, CISC 2021

作者： Wang, Hao Chen, Zhihong Guo, Yajing Zhang, Junning Wang, Qu Beijing Research Institute Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663239

LabVIEW’s queue-driven state machine QDSM is a multi-threaded parallel design mode that uses queues to transfer data. However, the multi-threaded parallel mode is inconvenient to debug. And it’s easy to cause data dependence problems, timing dependence problems, and even serious loop deadlocks between parallel modules. This paper analyzes the typical requirements of medium and large-scale measurement and control software. We follow a modular and cohesive design principle, and proposed an architecture with four main components: the main state machine, user interface, hardware interface, and reporter. This architecture solved the loop interlock problem by limiting the data transfer direction, and reduced the difficulty of multi-threaded program debugging by the program log produced by the reporter. The integrated scheduling software for unmanned beverage shops designed with this architecture controls 37 devices through 3 kinds of interfaces. It has a complete user interface, and effectively realizes store management and scheduling control, and is convenient to expand. The example proves the effectiveness of this architecture. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Data transfer

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Design and Implementation of Integrated Control and Drive System for Dexterous Hand Based on FPGA 17th

Design and Implementation of Integrated Control and Drive Sy...

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17th Chinese Intelligent Systems Conference, CISC 2021

作者： Li, Pengfei Chen, Zhihong Liu, Shuxuan Guo, Yajing Lv, Bohan Zhao, Qing Beijing Research Institute Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663239

The control and drive system of humanoid dexterous hand is mainly a control and drive system with high integration, multi degree of freedom and multi joint cooperation. However, the existing control and drive systems are mainly single motor driven, with low integration and poor coordination ability. Multi motor control and drive system has the characteristics of complexity, difference and mutual disturbance. At present, the control and drive system based on MCU and DSP can not meet the requirements of multi motor system control. Therefore, in order to meet the demand of multi degree of freedom integrated control and drive for dexterous hand, this paper designs an integrated control and drive system for dexterous hand based on FPGA. The system includes encoder reading module, current reading module, vector control module, PWM generator module and communication module, which can realize the position closed-loop control of N PMSM at the same time. This system has the characteristics of good stability, high cooperation ability, low equipment cost, small volume and good heat dissipation. Through experiments, it is verified that the design of the system is feasible, the collaborative ability is strong, and the control performance is stable. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Field programmable gate arrays (FPGA)

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A coordinated assignment method for multi-UAV area search tasks

A coordinated assignment method for multi-UAV area search ta...

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2022 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2022

作者： Zhu, Fengqing Wu, Fei Chen, ChengFeng Li, Dongdong Guo, Yu Zhang, JianGuo Zhao, Xiu Beijing Institute of Precision Mechatronics and Controls Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing China

ISBN: (数字)9781839537769

ISBN: (纸本)9781839537769

This paper mainly studies the coordination task assignment problem faced by multi-UAV systems when performing area search tasks. First, for the coverage search task, by analyzing the task load of each UAV, this paper proposes and establishes a dynamic model of UAV task load based on the biological competition mechanism, and proves that the model can realize the area under the condition of weighted threat probability. Even distribution of search tasks. Secondly, on the basis of solving the priority traveling salesman problem, through simulated annealing algorithm, the established priority traveling salesman problem is solved, and the path planning method of UAV is obtained. Finally, through simulation experiments, the effectiveness and engineering practical significance of the area search task assignment method proposed in this paper are verified. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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