检索结果-内蒙古大学图书馆

2024 International Conference on Electrical Machines, ICEM 2024

作者： Kang, Haoyu Wang, Jin Liu, Liyang Sun, Lu Li, Zequan Zhou, Libing Huazhong University of Science and Technology State Key Laboratory of Advanced Electromagnetic Technology Wuhan China Robotics and Autonomous Systems Thrust Guangzhou China

ISBN: (纸本)9798350370607

Due to the frequent switching of working conditions, the large doubly-fed induction motors (DFIMs) utilized in variable speed pumping units are subjected to intense hydraulic shock, thereby significantly increasing the risk of rotor eccentricity fault and posing a substantial threat to the safe operation of the motor. This paper proposes a method for suppressing the unbalanced magnetic force in DFIMs caused by eccentricity, through the injection of excitation compensation current in groups. Firstly, the air gap magnetic field of DFIMs with eccentricity is modeled using the subdomain method. Then, the optimal compensation current is efficiently calculated using the eccentric subdomain model in conjunction with the particle swarm optimization algorithm. Finally, the proposed method is implemented on a 10MW DFIM. By injecting the optimal compensation current, the unbalanced magnetic pulling force caused by eccentricity is effectively suppressed. The comparison with the finite element simulation results showed that the unbalanced magnetic pulling force is reduced by 81.6%. © 2024 IEEE.

关键词： Particle swarm optimization (PSO)

来源：评论

学校读者我要写书评

暂无评论

Real-Time Teleoperation in Motion Mapping for Medical Robot Based on Robot Manipulator and Haptic Device

Real-Time Teleoperation in Motion Mapping for Medical Robot ...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Peuchpen, Pantita Liu, Haichao Ma, Jun Robotics and Autonomous Systems Thrust Guangzhou511453 China The Hong Kong University of Science and Technology Division of Emerging Interdisciplinary Areas Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Access to specialized medical care, particularly in rural or underserved areas, remains a significant challenge, with limited availability of healthcare professionals and diagnostic equipment. Teleoperated robotic systems offer a solution by enabling remote procedures, such as ultrasound examinations, where doctors can operate robotic arms from distant locations. In response to these healthcare challenges, we propose a real-time teleoperation system for controlling a UR5 robot arm using a Geomagic Touch haptic device. This system maps the operator's hand movements to the robot arm, ensuring precise control and providing real-time haptic feedback, which is critical for delicate medical tasks. A force-torque sensor at the robot's end-effector measures the force applied during operation, relaying this information back to the haptic device to simulate tactile sensations. Synchronization between the devices at a frequency of 500 Hz ensures smooth and responsive control. Additionally, a Kalman filter is applied to reduce noise in the force data, enhancing system accuracy. Experimental results demonstrate the system's effectiveness with minimal delay and robust force feedback. This work represents a step forward in bridging the gap between remote healthcare providers and patients, offering a scalable solution for teleoperated medical procedures. All the codes and implementation details for this work can be found in the following repository: https://***/primpunn/***. © 2024 IEEE.

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

Well-Conditioned Identifiability Criteria with Observability Degree for Parameter Estimation of Permanent Magnet Synchronous Motors

引用

IEEE Transactions on Transportation Electrification 2024年第3期11卷 7195-7206页

作者： Wang, Xinghao Jing, Hao Chen, Zifeng Luo, Dehui Zhao, Hang Wang, Xueqing Xiao, Dianxun Robotics and Autonomous Systems Thrust Guangzhou511457 China Sichuan University College of Electrical Engineering Chengdu610065 China Sustainable Energy and Environment Thrust Guangzhou511457 China The Hong Kong University of Science and Technology Hong Kong Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Shenzhen518048 China

The identifiability of parameters in permanent magnet synchronous motors (PMSMs) depends on the operating conditions. Due to disturbances and noise in actual systems, identifiability conditions that rely solely on traditional observability theorems for parameter estimation are ill-conditioned under certain operating environments, which cannot provide a definite reference for accurate outcomes. This paper introduces a novel theorem regarding the degree of observability to bridge the gap in traditional parameter observability analyses, and defines a quadratic function to create a unique information matrix based on the PMSM voltage model. As an example, a practical observability condition is derived for the inductances of the dq-axis of PMSMs by applying the proposed theory to the information matrix, offering guidance for selecting identifiable operating conditions in real-time systems. Moreover, comprehensive analyses are conducted to theoretically verify the correctness and stability of the proposed observability condition. Finally, experiments are performed to validate the feasibility of the proposed observability theorem for parameter estimation. © 2015 IEEE.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

State Estimation for Wheeled-Legged Robot with Slip Detection

State Estimation for Wheeled-Legged Robot with Slip Detectio...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Xu, Jinglan Song, Zhicheng Zheng, Chunxin Ma, Jun Robotics and Autonomous Systems Thrust Guangzhou511453 China The Hong Kong University of Science and Technology Division of Emerging Interdisciplinary Areas SAR Hong Kong Hong Kong

ISBN: (纸本)9781665481090

The wheeled-legged robot offers enhanced efficiency in exploring tough terrain compared to legged robots. However, difficulties arise when this hybrid locomotion robot operates on slippery terrain, potentially leading to compromised state estimation and control due to the lack of mechanisms to address such conditions. In response to this issue, we propose a framework incorporating an estimated slip ratio into a Kalman Filter (KF) for state estimation to obtain the robot's velocity on slippery terrain. The framework relies solely on data from the Inertial Measurement Units (IMU) and motor sensors mounted on the robot. Through a series of simulations and real-world experiments, the proposed framework is validated on a single-wheeled-legged robot running on slippery terrain, and the results demonstrate its effectiveness in accurately estimating the robot's velocity under slippery conditions. © 2024 IEEE.

关键词： Kalman filters

来源：评论

学校读者我要写书评

暂无评论

A Novel Coupling Control Method for 6-DOF AUVs based on Multi-Motor Cooperation 26

A Novel Coupling Control Method for 6-DOF AUVs based on Mult...

引用

26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Lu, Pei Yin, Zhenxiao Zhao, Hang Robotics and Autonomous Systems Thrust Guangzhou China The Hong Kong University of Science and Technology Department of Electronic & Computer Engineering Hong Kong

ISBN: (纸本)9798350317589

The speed difference among underwater motors can induce either strong or weak coupling effects among different control loops within six-degree-of-freedom (6-DOF) autonomous underwater vehicles (AUVs). However, this issue is rarely accorded specialized attention. This paper utilizes the impact of the yaw dimension on roll angle control as an example, and proposes a novel coupling control method. This method hinges on collaborative action among multiple motors to mitigate the amplitude of speed difference fluctuations while introducing a coupling compensator in the feedforward loop. The efficacy of this method in enhancing the stability and robustness of motion control, as well as its superiority over conventional decoupling control methods, are substantiated through both simulation and experimentation. © 2023 IEEE.

关键词： autonomous underwater vehicles

来源：评论

学校读者我要写书评

暂无评论

Optimization-Method-Inspired Update Scheme for Neural Network Assisted Control Tuning of PMSMs 26

Optimization-Method-Inspired Update Scheme for Neural Networ...

引用

26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Yin, Zhenxiao Zhao, Hang Lu, Pei Shen, Yang Robotics and Autonomous Systems Thrust Guangzhou China The Hong Kong University of Science and Technology Department of Electronic & Computer Engineering Hong Kong

ISBN: (纸本)9798350317589

The derivative of the control increment concerning the output of the neural network (NN) stands as a pivotal factor within the NN-assisted control tuning approach for permanent magnet synchronous motors (PMSMs). However, the significance of selecting an appropriate formula lacks explanation. Through an analysis of gradient-based optimization methods, the underlying principle behind the update of control increments becomes evident. Consequently, the design of the control tuning scheme incorporates gradient descent with and without momentum, as well as accelerated momentum. These techniques are applied to formulate the update law for the backpropagation neural network (BPNN) assisted control. Subsequently, these devised methodologies are integrated into the BPNN framework for the purpose of comparison. Finally, the results are validated in experiments. © 2023 IEEE.

关键词： Optimization

来源：评论

学校读者我要写书评

暂无评论

Comparison of Structural Optimization for PMSMs Based on Various Machine Learning Methods 49

Comparison of Structural Optimization for PMSMs Based on Var...

引用

49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Li, Fang Zhao, Hang Yin, Zhenxiao Robotics and Autonomous Systems Thrust Guangzhou China The Hong Kong University of Science and Technology Department of Electronic & Computer Engineering Hong Kong

ISBN: (纸本)9798350331820

Existing sensitivity analysis methods suffer from issues such as small differentiation in parameter sensitivity and slow computational speed. To solve these problems, three machine learning methods, namely Ridge regression, Lasso regression, and Elastic Net, are investigated in this paper. First, a PMSM's performance is analyzed using Finite Element Method (FEM) to identify the variation range of the structural parameters that require optimization. Following that, a finite element sample database is established based on this range using the Design of Experiment (DOE). Next, the variable selection results of PMSM optimization are compared using different machine learning methods and traditional machine sensitivity analysis method. Finally, the performances of the PMSM optimized based on the three machine learning methods are evaluated. The results indicates that Lasso Regression proves to be the most effective method. It achieves rapid convergence and effectively identifies the most sensitive parameter, enhancing the optimization efficiency of PMSMs while retaining the global optimum. © 2023 IEEE.

关键词： Sensitivity analysis

来源：评论

学校读者我要写书评

暂无评论

Design and Performance Optimization of a Novel High Temperature Superconducting Linear Flux-Switching Motor 32

Design and Performance Optimization of a Novel High Temperat...

引用

32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Su, Xiangdong Zhao, Hang Li, Fang Robotics and Autonomous Systems Thrust Guangzhou China The Hong Kong University of Science and Technology Department of Electronic & Computer Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350399714

This paper proposes a new topology of a high-temperature superconducting linear flux switching motor (HTS-LFSM). The electromagnetic characteristics of this novel HTS-LFSM, including flux density, back-EMF, thrust force, and ripple, are analyzed. Key topology parameters of the HTS-LFSM are optimized, and its performance is compared with that of the traditional LFSPM. The comparison shows that the proposed HTS-LFSM can generate higher thrust force and smaller thrust ripple. The results indicate that the proposed machine offers more performance advantages for modern traffic. © 2023 IEEE.

关键词： Linear motors

来源：评论

学校读者我要写书评

暂无评论

Design of a Novel Modular Flux Switching Permanent Magnet Resolver

Design of a Novel Modular Flux Switching Permanent Magnet Re...

引用

2023 IEEE International Magnetic Conference - Short Papers, INTERMAG Short Papers 2023

作者： Mi, Wenyuan Yu, Jincheng Song, Zaixin Yang, Kuang Cai, Zheng Zhao, Hang School of Mechanical Engineering and Automation Shenzhen China The Hong Kong Polytechnic University Department of Industrial and Systems Engineering Hong Kong Robotics and Autonomous Systems Thrust Guangzhou China

ISBN: (纸本)9798350338362

Permanent magnet (PM) resolvers are highly employed with the ascent of the electric machine speed. In this digest, a novel modular flux switching PM (FSPM) resolver is designed based on the FSPM machine. By removing the stator yoke, the flux path in each tooth coil is fixed and the total harmonic distortion (THD) of the output voltage is reduced to only 0.37%. Moreover, the proposed 12/16 FSPM resolver can be adapted to fit different rotor poles under the same mechanical support with different modular units (e.g., 6/8 and 10/8 FSPM resolver). Therefore, it can be applied in electric machines with variable rotor pole pairs. © 2023 IEEE.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

Multiphysics Research and Loss Calculation Considering the Fluid Regime of the Airgap Based on High-Speed PMSM 26

Multiphysics Research and Loss Calculation Considering the F...

引用

26th International Conference on Electrical Machines and systems, ICEMS 2023

ISBN: (纸本)9798350317589

This paper focuses on the calculation of different kinds of mechanical loss and put forward a complete method to calculate the mechanical loss for high-speed PMSM accurately. Windage loss, bearing loss, and cooling fan loss are calculated concretely, and the flow regime of the airgap is analyzed for windage loss calculation. Then, the equivalent thermal conductivity of the airgap in the turbulent regime is calculated, and it turned out to be much larger than that of stationary air, which cannot be ignored in high-fidelity modeling. Later, the two-way electromagnetic-thermal coupling method is applied in the multiphysics design. The results show the flow regime of the airgap cannot be neglected in windage loss calculation, and the mechanical loss calculation method put forward in this paper is more complete than previous research. Therefore, it can predict the electromagnetic-thermal performance of high-speed PMSM more accurately. © 2023 IEEE.

关键词： Multiphysics

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：