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Design and Analysis of Individually Demagnetized Power Converter for Switched Reluctance Motors

IEEE Transactions on Transportation Electrification 2025年第3期11卷 8439-8449页

作者： Liu, Hemiao Chen, Hao Wang, Xing Gorbounov, Yassen Wheeler, Patrick Anuchin, Alecksey Demidova, Galina Korovkin, Nikolay Liudmila, Sakhno Shenzhen Research Institute China University of Mining and Technology Shenzhen515100 China China University of Mining and Technology School of Electrical Engineering Xuzhou221116 China Xinjiang Institute of Engineering Ürümqi830000 China International Joint Research Center of Central and Eastern European Countries on New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China International Cooperation Joint Laboratory of New Energy Power Generation and Electric Vehicles of Jiangsu Province Colleges and Universities Xuzhou221008 China Xuzhou Key Laboratory of New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China Mining Production University of Mining and Geology "St. Ivan Rilski " Department of Automation Sofia1700 Bulgaria The University of Nottingham Power Electronics Machines and Control Group NottinghamNG7 2RD United Kingdom Electric Drives Department Moscow111250 Russia Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Faculty of Control Systems and Robotics Engineer Saint Petersburg197101 Russia Peter the Great St. Petersburg Polytechnic University Institute of Energy Saint Petersburg195251 Russia

Switched reluctance motors (SRMs) are capable of operating at high speeds and high loads. The large back EMF results in the excitation winding current being demagnetized more slowly, which, in turn, reduces the efficiency and output of the motor system. This study proposes a novel individually demagnetization power converter (IDPC) specifically designed for SRMs to effectively use the demagnetization energy through an independent demagnetization circuit. Compared with traditional converters, the IDPC can accept direct current (dc) and high-frequency ac inputs while achieving fast demagnetization and energy recovery. The topology and working principle of the IDPC are analyzed in detail in this article using a three-phase 12/8 SRM as the research object. In addition, the influence of the winding demagnetization voltage on the negative torque during the demagnetization phase was studied, as well as the functional implementation and logic control strategy of the IDPC. Simulation and experimental results confirm the validity of the proposed topology and high-frequency ac drive characteristics, as well as their advantages in terms of efficiency, output capacity, and dynamic performance. © 2015 IEEE.

关键词： Reluctance motors

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Designing of heavy duty handling robot (HEDURI-I robot design)

Designing of heavy duty handling robot (HEDURI-I robot desig...

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International Conference on Mechatronics (ICM)

作者： Chang-Min Ko Gwang-Jo Chung Doo-Hyung Kim Department of Electrical Engineering Changwon NatE28099l University Changwon South Korea Principal Research engineer in Robotics & Control Group Korea Institute Machinery and Materials Daejeon South Korea

Currently, one of the expanded applications of robot system is a heavy duty handling of huge and heavy parts.. In this paper, we introduce the design process of heavy duty industrial robot especially on the analysis technology that we adopted to build the native model of KIMM. In design process of articulated robot, with the payload over 300 Kgf or more, it requires static and dynamic analysis for manipulator that enables the selection of core components such as motor and decelerator. For these purpose, we used the self developed S/W dasiaRODANpsila that is specialized for inverse dynamics analysis. Using the dasiaRODANpsila, we successfully developed the HEDURI-I, the native model of heavy duty handling robot with 600 kgf payload in Korea.

关键词： Manipulator dynamics Payloads Robotic assembly Service robots Process design Commercialization Kinematics engineering drawings Mechatronics Design engineering

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Analysis and Design of Heavy Duty Handling Robot

Analysis and Design of Heavy Duty Handling Robot

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IEEE Conference on robotics, Automation and Mechatronics

作者： Gwang-Jo Chung Doo-Hyung Kim Chan-Hoon Park Principal Research engineer in Robotics & Control Group Korea Institute of Machinery & Materials Daejeon South Korea

In automation of manufacturing process, especially in mechanical industry, robot system now became a most general solution. Currently, one of the expanded applications of robot system is a heavy duty handling of huge and heavy parts. Actually some models with the payload over 600 Kg or more are already developed and commercialized. In this paper, we introduce the design process of heavy duty industrial robot especially on the analysis technology that we adopted to build the native model of KIMM. In design process of articulated robot, with the payload over 300 Kg or more, it requires static and dynamic analysis for manipulator that enables the selection of core components such as motor and decelerator. Although there are several commercialized software programs for analysis of kinematics and dynamics, we used the self developed S/W 'RODAN' that is specialized for inverse dynamics analysis. In his paper, we also introduce this S/W and it's applications for the analysis of heavy duty industrial robot design.

关键词： Service robots robotics and automation Payloads Commercialization Process design Manipulator dynamics Manufacturing automation Manufacturing processes Manufacturing industries Kinematics

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, control, and Dynamics

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JOURNAL OF GUIDANCE control AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Development of planar parallel stage mechanism for nano order precision robot manipulator

Development of planar parallel stage mechanism for nano orde...

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IEEE International Conference on robotics and Biomimetics

作者： Gwang-Jo Chung Kee-Bong Choi Chan-Hoon Park Principal Research engineer Robtics & Control Group Korea Institute of Machinery & Materials Daejeon South Korea Senior Research engineer Robtics & Control Group Korea Institute of Machinery & Materials Daejeon South Korea

This paper describes a tentative result on the way of developing nano-order precision robot to handle micro objects with under 10 nm resolution of positioning. For mechanism, we established the nano order precision robot manipulator stage with the workspace range to be 100 mum times 100 mum times 100 mum, and we proposed a conceptual design of 6 dof manipulator structure, 3 dof in plane motion and 3 dof out plane motion. Especially, for in plane motion, we proposed a 3-PPR planar parallel manipulator, which consists of three active prismatic joints, three passive prismatic joints, and three passive rotational joints. In this paper, we suggest 3 kinds of planar parallel driving stage with 2 or 3 dof for nano order robot manipulator. One of them was designed with the notch type 3ppr flexure hinge mechanism and the other was developed using 3ppr plate spring mechanism, and the last one was developed with 2 dimensional parallel linear spring mechanisms. As one of the construction result, we experimented the 2 dimensional parallel linear stage and obtained the resolution up to 3 nm that may be used as an alignment stage for nano order imprinting litho system that are now on developing in KIMM

关键词： Parallel robots Manipulators Springs Robot control Machinery Fasteners Ear Manufacturing Humans Motion control

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Developing a prototype concurrent design tool for composite topside structures

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NAVAL engineerS JOURNAL 1997年第3期109卷 279-290页

作者： Dirlik, S Hambric, S Azarm, S Marquardt, M Hellman, A Bartlett, S Castelli, V Steve Dirlik:began his career at the Naval Surface Warfare Center Carderock Division in 1981 as an aerospace engineer co-op student. He completed his bachelor of science degree in aeropace and ocean engineering from Virginia Polytechnic Institute and State University in 1985 and his master of science degree in aerospace engineering from the University of Maryland in 1990. Mr. Dirlik recently completed a master of science program in applied physics at The Johns Hopins University and currently works in the Radar Cross Section and Target Physics Branch of the Signatures Directorate at the Naval Surface Warfare Center Corderoke Division. He has worked on Navy low observable programs since 1990. Stephen Hambric:is a research associate at the Applied Research Laboratory at The Pennsylvania State University. He received his B. S. and M.S. degree in mechanical engineering from Virginia Polytechnic Institute and State University and his D. Sc. in mechnical engineering from the George Washington University. He has worked on several computer aided multidiscikplinary design and optimization projects over the years including an automated propeller design system and a structural acoustic optimization capability. Dr. Shpour Azarm:is currently working as an associate professor with the Design and Manufacturing Group of the Department of Mechanical Engineering at the University of maryland at College Park. Dr Azarm's expertise is in the areas of optimization-based designed and concurrent design and optimization of multidisciplinary systems. He was a consultant at Black & Decker Corporation (summer 1996) and worked as a Navy senior summer faculty fellow (summer 1995) and a NASA summer faculty fellow (summer 1994). He was a visiting scientist at NASA Langley Research Center for Multidisciplinary Analysis and Applied Structural Optimzatiom at the University of Siegen in Germany (spring 1992) and the Design Institute of the Technical University of Denmark (summer 1990). Dr Azarm was an associate technical editor of the ASME Jour

A prototype concurrent engineering tool has been developed for the preliminary design of composite topside structures for modern navy warships. This tool, named GELS for the Concurrent engineering of Layered Structures, provides designers with an immediate assessment of the impacts of their decisions on several disciplines which are important to the performance of a modern naval topside structure, including electromagnetic interference effects (EMI), radar cross section (RCS), structural integrity, cost, and weight. Preliminary analysis modules in each of these disciplines are integrated to operate from a common set of design variables and a common materials database. Performance in each discipline and an overall fitness function for the concept are then evaluated. A graphical user interface (GUI) is used to define requirements and to display the results from the technical analysis modules. Optimization techniques, including feasible sequential quadratic programming (FSQP) and exhaustive search are used to modify the design variables to satisfy all requirements simultaneously. The development of this tool, the technical modules, and their integration are discussed noting the decisions and compromises required to develop and integrate the modules into a prototype conceptual design tool.

关键词： Warships

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Typhon: A weapon system ahead of its time

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NAVAL engineerS JOURNAL 1997年第4期109卷 53-62页

作者： Gussow, M Milton Gussow:is a principal staff engineer at The Johns Hopkins University Applied Physics Laboratory where he is involved in joint warfare analysis and engineering systems assessment. He is a distinguished graduate of the U.S. Naval Academy (1949) and holds a B.S.E.E. degree from the Naval Postgraduate School (1956) and an M.S. degree from M.I. T. (1957). He retired in 1967 as a commander in the US. Navy having served in surface combatants and as a weapons engineering specialist. He had tours at the Bureau of Naval Weapons as section head of the Typhon Weapon Control System Office of Naval Research as the Guided Missile and Astronautics officer and at headquarters Naval Material Command as the ordnance logistics officer He was senior vice president for product development at the McGraw-Hill Continuing Education center Mr Gussow is the author of a McGraw- Hill textbook on basic electrical engineering circuits and techniques. He has taught courses in electrical engineering and operations research at The George Washington University The American University and the School of Advanced international Studies at TheJohns Hopkins University. Mr Gussow is the director of the Systems Assessment Group for the Strike Surface and Antiair Warfare Committee of the National Security Industrial Association (NSIA). He is the author of more than seventy-five technical papers and monographs and his interests include multiwarfare analysis wargaming information management and international relations. He is a member of Sigma Zi Sigma Gamma Tau ASNE and IEEE. Mr. Gussow is listed in Who's Who in Science and Engineering and in American Education for 1996–1997.

A popular question posed is, ''Where did the Aegis weapon system come from?'' Like any system, it had to have a beginning. This article purports to describe a predecessor system called Typhon, that contributed essentially to the successful development of Aegis. The story began in the late 1950s. Typhon was conceived by the Navy as an integrated weapon system to defeat the air threats of the 1970s. It consisted of: 1) a single radar system for search, acquisition, tracking, and missile guidance with multiple beams and instantaneous beam switching, able to operate in the presence of heavy countermeasures;2) a single weapon direction system to handle two complementary missile types, capable of handling multiple intercepts and integrated with the Naval Tactical Data System/Combat Information Center;3) a long-range and medium-range missile;and 4) launching systems for missiles. The heart of the system was the multifunction Typhon radar, which represented a quantum leap in beam forming and switching and signal processing techniques. Contract work for the development, fabrication, and test of the Typhon radar and missile began in 1960 and lasted until 1965. This article recounts the personal experiences of the author during those exciting and innovative years in the development of Typhon.

关键词： Marine missiles

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HYBRID SATELLITE AND TERRESTRIAL NETWORKS

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 313-327页

作者： CHITRE, DM SHYY, DJ EPHREMIDES, A GUPTA, S COMSAT Laboratories 22300 Comsat Drive Clarksburg MD 20871–9475 USA. Received his B.Sc. from the University of Bombay India an M.A. in mathematics from the University of Cambridge U.K. and a Ph.D. in physics from the University of Maryland. He is currently an Associate Executive Director of the Network Technology Division at COMSAT Laboratories. He has been involved in research and development activities in ISDN VSAT networks data communications and network systems and architectures. Prior to his current positions Dr. Chitre was a Principal Scientist in the Network Technology Division at COMSAT Laboratories. Dr. Chitre joined COMSAT Laboratories in 1980. He has made major contributions to the analysis and architecture of data communication ISDN and BISDN via satellite. Dr. Chitre directs and participates in the international and national standards activities in ISDN BISDN and data communication as they apply to satellite communication. He was Chairman of the Working Group on Protocols and Network Timing Function of the CCIR/CCITT Joint Ad Hoc Group on ISDN/Satellite Matters during 1990–1992. Currently he is the Chairman of the Working Group on New Technologies in the ITU Intersector Coordinating Group (ICG) on Satellite Matters. Dr. Chitre was a programme manager during 1990 and 1991 on a contract from INTELSAT on systems studies on satellite communications systems architectures for ISDN and broadband ISDN systems. Currently he is the technical manager of the DoD Contract on ATM via satellite demonstration and the programme manager for the INTELSAT contract on analysis and top-level specification of INTELSAT ISDN subnetworks and SDH compatible transport network. Received the B.S. degree in electrical engineering from national Chiao-Tung University Hsin-Chu Taiwan in 1983 and the M.S. and Ph.D. degrees in electrical engineering from Georgia Institute of Technology Atlanta GA in 1986 and 1990 respectively. From June 1987 to October 1987 he worked for the Department of Neurology Emory Univers

The role of satellite communications in networks that provide new services, such as frame relay and multimedia, is investigated. Both passive and active (on-board switching/processing) satellite systems are considered. Novel techniques are developed for each system to demonstrate, via detailed analysis and simulation, how the communications bandwidth agility of multipoint/broadcast satellite channels, and the on-board switching/processing, makes it feasible to provide these new services via hybrid satellite and terrestrial networks in a resource-efficient manner.

关键词： HYBRID NETWORKS ON-BOARD PROCESSING FRAME RELAY

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A PRACTICAL APPROACH TO THE DESIGN, OPERATION, AND MONITORING OF INSITU SOIL-VENTING SYSTEMS

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GROUND WATER MONITORING AND REMEDIATION 1990年第2期10卷 159-178页

作者： JOHNSON, PC STANLEY, CC KEMBLOWSKI, MW BYERS, DL COLTHART, JD Paul C. Johnson Ph.D. joined Shell Development Co.'s (Westhollow Research Center Room EC-649 P.O. Bo 1380 Houston TX 77251–1380) Environmental Science Department in 1987 after earning his B.S. in chemical engineering from the University of California Davis and his Ph.D. in chemical engineering from Princeton University. His current areas of research include the development and evaluation of soil treatment processes modeling and measuring transport phenomena in porous media and the development of transport models for predicting emissions and exposures used in envvironmental risk assessments. Curtis C Stanley received his degree in geology with an engineering minor from North Carolina State University in 1979. He is currently a senior hydrogeologist for Shell Oil Co. (Westhollow Research Center 2236 Two Shell Plaza Houston TX 77082) and is responsible for hydrogeologic response at Shell's retail facilities. Stanley is a Certified Professional Geological Scientist and also a Certified Ground Water Professional with the NWWA's Association of Ground Water Scientists and Engineers. He is also a member of API's Ground Water Technology Taskforce and is an EPA Peer Reviewer. Marian W. Kemblowski Ph.D. is a senior research engineer in the Environmental Science Department at Shell Development Co. (Westhollow Research Center Houston TX 77082) where he has worked since 1985. He obtained his M.S. degree in civil engineering from the Technical University of Warsaw Poland in 1973 and his Ph.D. in ground water hydrology from the Institute for Land Reclamation in Warsaw Poland in 1978. In 1980–1981 he was a visiting hydrologist in the New Mexico School of Mining and Technology. From 1981 to 1985 he worked as an assistant scientist at the University of Kansas. His principal research interests are in the areas of numerical analysis transport in porous media and ground water monitoring systems. Dallas L. Byers is a technical associate in the Environmental Science Department at Shell Development. After receivin

When operated properly, in situ soil venting or vapor extraction can be one of the most cost-effective remediation processes for soils contaminated with gasoline, solvents, or other relatively, volatile compounds. The components of soil-venting systems are typically off-the-shelf items, and the installation of wells and trenches can be done by reputable environmental firms. However, the design, operation, and monitoring of soil-venting systems are not trivial. In fact, choosing whether or not venting should be applied at a given site is a difficult decision in itself. If one decides to utilize venting, design criteria involving the number of wells, well spacing, well location, well construction, and vapor treatment systems must be addressed. A series of questions must be addressed to decide if venting is appropriate at a given site and to design cost-effective in situ soil-venting systems. This series of steps and questions forms a “decision tree” process. The development of this approach is an attempt to identify the limitations of in situ soil venting, and subjects or behavior that are currently difficult to quantify and for which future study is needed.

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