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Hybrid Sensorless Control Strategy for PMSM Based on Combination of IF Control and Adaptive Sliding Mode Observer 18th

Hybrid Sensorless Control Strategy for PMSM Based on Combi...

引用

18th Chinese Intelligent Systems Conference, CISC 2022

作者： Meng, Shuping Li, Zhenshan Zheng, Qijia Cao, Sijia Zhao, Xiu Zhang, Tengfei Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811962257

The underwater shaftless propulsion motor is not convenient to install position sensor. To solve this problem, a hybrid sensorless control strategy for PMSM based on combination of IF control and adaptive sliding mode observer is proposed in this paper. At zero and low speed, the pre-positioning and IF control strategy is adopted. At medium and high speed, the sensorless control strategy of adaptive sliding mode observer is adopted. The transition switching algorithm based on coordinate projection is adopted to achieve the smooth and seamless transition of the two control schemes. In the adaptive sliding mode observer, the saturation function of variable boundary layer thickness is proposed as the sliding mode control function and the adaptive notch filter is proposed to extract the useful back EMF signals, so as to avoid the problems of amplitude attenuation and phase delay. The experimental results show that the adaptive sliding mode observer can estimate the motor speed and rotor position without phase shift and that the proposed control strategy can effectively realize the PMSM sensorless control. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Sliding mode control

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Isolated Weinberg Magnetic Integrated Planar Transformer 1

引用

3rd International Joint Conference on Energy, Electrical and Power Engineering, CoEEPE 2023

作者： Liu, Zhaowei Huo, Qunhai Han, Jiwen Wu, Lixin Yin, Jingyuan Wei, Tongzhen Institute of Electrical Engineering of Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China Beijing Institute of Precision Mechatronics and Controls Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing China

ISBN: (数字)9789819739400

ISBN: (纸本)9789819739394

In order to enhance the power density of isolated Weinberg circuit using magnetic integration technology, a new magnetic integration structure is proposed based on the planar matrix transformer. By adding magnetic pillars and windings at the geometric center of the matrix transformer, the forward and reverse transformers of the Weinberg circuit are decoupled and integrated. In order to verify the feasibility of the proposed solution, the magnetic circuit model under different operating modes of the circuit is analyzed in detail, and the feasibility of the new magnetic integration structure to achieve decoupling integration of the two transformers is demonstrated. The experimental results show that under the same output power conditions, the new magnetic integration structure can improve the power density of the Weinberg circuit and reduce the volume of magnetic components. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Integration

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Human Activity Recognition of Exoskeleton Robot Based on Adaptive DTW Classifier 17th

Human Activity Recognition of Exoskeleton Robot Based on Ada...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Li, Hao Yu, Zhiyuan Yin, Yecheng Yan, Guodong Quan, Junyu Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663239

This paper proposes a method based on adaptive Dynamic Time Warping (DTW) classifier to recognize human activities of exoskeleton robots. First, the path constraint restriction of the traditional DTW algorithm is improved. Then a multi-voting weight distribution mechanism is designed for the DTW classifier when multi-sensor fusion. Finally, we propose a strategy to update the standard templates for classifier using the recognition result and current data. The experimental results show that the adaptive strategy can make the classifier gradually adapt to the user’s behavior habits, thereby improving the recognition accuracy. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Pattern recognition

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An IMU Based Real-Time Monitoring System for Powered Robotic Knee Exoskeleton 17th

An IMU Based Real-Time Monitoring System for Powered Robotic...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Quan, Junyu Liu, Hongwei Yan, Guodong Li, Hao Zhao, Zhe Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663239

Real-time gait analysis is an important reference for an exoskeleton control system. Gait state can be utilized for the control system’s parameter adjustment and optimization. We introduced a method by using Inertial Measurement Units (IMUs) to measure the gait motion of human when wearing a knee exoskeleton. In the measurement method, based on the body size and the real-time data of the IMU, the measurement system can generate the state data such as walking speed, step height, step stride and slope. We verified the performance of this system through the use of the exoskeleton system by 15 people during the tests the exoskeleton is unpowered. The experiment results show the accuracy achieve 93 % which presents the proposed method that can monitor the real-time gait in a relatively accurate range, which may provide a reliable reference for the exoskeleton control system. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Control systems

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Multi-objective Optimization of Cutting Parameters for Turning Curved Surfaces 18th

Multi-objective Optimization of Cutting Parameters for Tur...

引用

18th Chinese Intelligent Systems Conference, CISC 2022

作者： Luo, Zhiwen Zhang, Junning Huang, Kui Liang, Binyan Lin, Junqin Wang, Yao Guo, Meishan Chen, Yanjiang Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811962257

Optimization of cutting parameters is an effective method to give full play to the potential of advanced machining equipment. In this paper, a multi-objective cutting parameter optimization mathematical model was established. Taken the constraint condition of machine and cutting tool into account, energy efficiency and cutting cost were characterized by cutting parameters, e.g., spindle speed, feed speed and cutting depth. A Multi objective function optimization algorithm was used to solve the nonlinear mathematical model. Experiments were performed to verify the availability of the mathematical model. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multiobjective optimization

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A Peak and Trough Detection Algorithm Based on Sliding Window Variance 18th

A Peak and Trough Detection Algorithm Based on Sliding Win...

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18th Chinese Intelligent Systems Conference, CISC 2022

作者： Zhou, Shitong Yan, Guodong Yin, Yecheng Chen, Jing Zhang, Lice Quan, Junyu Li, Hao Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811962257

The application object of the algorithm proposed in this paper is a compound hip exoskeleton, which uses the control strategy based on linkage state variables to execute walking assistance. In the control process, it is necessary to detect and identify the peaks and troughs of linkage state variables under regular gait, and eliminate the peaks and troughs under irregular gait in the process of movement. The existing peak and trough detection algorithms are usually used in the field of medical and image processing for electrocardiogram QRS peak recognition and edge detecting. These algorithms focus on the accuracy and robustness of peak and trough recognition in the signal containing high-frequency noise. The signal processing process is mostly off-line mode, which can not meet the special peak and trough recognition and real-time requirements in the compound hip exoskeleton control strategy. In this paper, a real-time peak and trough recognition algorithm based on sliding window variance (SWV-PTD) is proposed. By setting an appropriate variance threshold, the algorithm can effectively detect the peaks and troughs of linkage state variables only in regular gait, eliminate the peaks and troughs of linkage state variables in irregular gait, and the delay interval of peak and trough detection is within an acceptable range. Finally, the reliability and effectiveness of the algorithm are verified by experiments. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Signal detection

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An Area-Optional Regeneration RRT Algorithm for Dynamic Path Planning of Service Robots 17th

An Area-Optional Regeneration RRT Algorithm for Dynamic Path...

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17th Chinese Intelligent Systems Conference, CISC 2021

作者： Longfei, Jia Yunfei, Tao Haiping, Zhou Yaxing, Guo Zixing, Wang Yuping, Huang Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663239

At present, the walking routes of service robots are mostly formulated and fixed. Therefore, there are many places that the robots cannot reach and appear inflexible. When obstacles are on the walking route of the robot, collisions may occur. Thus, an area-optional regeneration Rapidly-Exploring Random Tree (RRT) algorithm for dynamic path planning is proposed to plan the walking route of the service robot in real-time in an environment with moving obstacles in this paper. First, sub-regions that need path planning can be determined according to the target points, and each sub-region corresponds to a root node, so that a feasible path that does not touch obstacles through a narrow area can be found faster, and the speed of path planning can be improved. Secondly, in real-time path planning, it is analyzed that whether tree nodes near moving obstacles need to be removed. Besides, how to remove, add, and reconnect are also analyzed, avoiding global planning and improving the efficiency of path planning in frequently changing environments. It is verified by simulation that the efficiency of path planning can be improved after dividing the area, and the effectiveness and superiority of the algorithm are verified in a real-time changing environment. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Research on Bridge-Arm Crosstalk Suppression Circuit Based on SiC MOSFET 17th

Research on Bridge-Arm Crosstalk Suppression Circuit Based o...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Ou, Yangsheng Jia, Longfei Song, Hongzhou Guo, Yaxing Han, Jiwen Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663192

Silicon carbide (SiC) MOSFET has the characteristics of low turn-on threshold voltage and weak reverse withstand voltage capability, it is very easy to cause bridge-arm crosstalk problems. Based on the generation mechanism of bridge-arm crosstalk, this paper compares several different bridge-arm crosstalk suppression circuits. And on the basis of active suppression circuit, the study designed a new type of autonomous crosstalk suppression circuit, and used LTspice software to compare the several main crosstalk suppression circuits by simulation, which proved the new type of autonomous crosstalk suppression circuit proposed in this article is more efficient and reliable. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Timing circuits

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A Multi-view Recognition Technology Based on the Prediction of Active Robot’s Optimal Viewing Angle 17th

A Multi-view Recognition Technology Based on the Prediction ...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Lin, Junqin Chen, Zhihong Wang, Yanbo Liang, Binyan Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Serveo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663239

In task of multi-robots exploring unknown environments, the collaborative information between them can be used to improve the accuracy of object recognition. This paper proposes and implements a multi-view active learning model, which uses images obtained from different perspectives to improve the performance of target detection and recognition. Using robot clusters to obtain multi-view information of the target, through the promotion of the target detection network based on deep learning, the algorithm based on multi-view learning comprehensively utilizes the complementarity of multi-view information, combined with the initiative of multiple robots to estimate the best perspective, Constantly adjust the best observation angle of the cluster to improve the accuracy of target detection. The final experiment shows that the recognition rate of the active multi-view recognition technology proposed in this paper is 12% higher than that of a single view. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Object recognition

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Research on On-Orbit Teleoperation Control Technology of Space Manipulator 1

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18th Chinese Intelligent Systems Conference, CISC 2022

作者： Yang, Zelin Li, Tongtong Deng, Songbo Zhao, Shoujun Wang, Yanbo Du, Baosen Zhang, Hao Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (数字)9789811962264

ISBN: (纸本)9789811962257

The space manipulator is the main tool for realizing on-orbit service. In the face of complex space environment and tasks, it is unrealistic to finish the task by using manipulator autonomously. It is one of the main technical means to achieve on-orbit missions of the manipulator for relying on ground operators. In this paper, a generalized predictive control method is proposed to solve the problem of uncertain time delay and frame loss during the teleoperation of the space manipulator. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Manipulators

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