In this paper,a design is presented for a high-speed,high-power motor for a four-legged robot actuator that was optimized using the weighted sum method(WSM)based on the Taguchi method,and the response surface method(R...In this paper,a design is presented for a high-speed,high-power motor for a four-legged robot actuator that was optimized using the weighted sum method(WSM)based on the Taguchi method,and the response surface method(RSM).First,output torque,torque constant,torque ripple,and efficiency were selected as objective functions for the optimized design.The sampling method was implemented to use a mixed orthogonal array and the single response characteristics of each objective function were compared using the Taguchi method.Moreover,to consider the multi-response characteristic of the objective functions,WSM was applied.Second,the 2D finite element analysis result of the RSM was compared with that using the WSM.Finally,an experiment was carried out on the manufactured motor and the optimized model is presented here.展开更多
The four-legged bionic robot for agriculture has been one of the hotspots in the field of robotics.The farmland environment is complex,and the balance requirement of quadruped bionic robot is higher.However,head adjus...The four-legged bionic robot for agriculture has been one of the hotspots in the field of robotics.The farmland environment is complex,and the balance requirement of quadruped bionic robot is higher.However,head adjustment is a key factor affecting the balance of quadruped animals.Based on this,this study takes the four-legged animal goat as an example to investigate the effect of goat head movement adjustment on the balance of goat.In this study,the head and neck of goats were simplified to a two-link model.The kinematics model was established by D-H method.MATLAB software was used to solve it.Origin software was used to draw the movement track of the center of mass of the head.The center of mass movement of the head is a quarter ellipse.Then,the goat walking experiments were carried out on the different slopes(0°,5°,10°,15°,20°,25°,30°,35°and 40°).MATLAB software was used to fit the movement data of goat head.The movement of the center of mass of the goat's head corresponds to Fourier 6.The result is:the determination coefficient is 0.8629,and the mean variance is 0.019.When the slope gradient gradually increases,the volatility gradually increases and is cyclical.The results of this study verify the rationality of the four-legged bionic mechanism under various parameters and reveal the mechanism of goat walking with an appendage at the head.展开更多
Integrating the electric vehicle into grid or microgrid has been receiving more and more attention in recent years.Typically,the electric vehicle(EV)chargers with their power batteries have been developed for vehicle-...Integrating the electric vehicle into grid or microgrid has been receiving more and more attention in recent years.Typically,the electric vehicle(EV)chargers with their power batteries have been developed for vehicle-to-home(V2H)applications,acting as a backup generation to supply emergency power directly to a home.Traditional EV chargers in V2H applications mainly consist of DC/DC and DC/AC stages,which complicate the control algorithm and result in low conversion efficiency.In order to solve this problem,a novel EV charger is proposed for V2H applications.It can boost the battery voltage and output AC voltage with only one-stage power conversion.Also,the DC,1-phase and 3-phase loads can be fed with the proposed single-stage EV charger.The system control strategy is also provided to deal with versatile load variations.Finally,the performance evaluation results verify the effectiveness of the proposed solution.展开更多
为了改善动态电压恢复器(dynamic voltage restorer,DVR)治理不对称电压暂降故障的性能,文中提出基于瞬时对称分量法的分数阶正负序解耦控制策略,并将其应用于三相四桥臂逆变器DVR系统中。首先,利用对称分量法得到DVR系统的分序解耦数...为了改善动态电压恢复器(dynamic voltage restorer,DVR)治理不对称电压暂降故障的性能,文中提出基于瞬时对称分量法的分数阶正负序解耦控制策略,并将其应用于三相四桥臂逆变器DVR系统中。首先,利用对称分量法得到DVR系统的分序解耦数学模型。其次,针对传统对称分量法不适用于系统暂态过程分析的问题,采用瞬时对称分量法得到不对称电压电流信号瞬时值的正负零序分量,并独立设计三序分量的电压电流双闭环比例积分(proportional-integral,PI)控制策略。然后,将整数阶正负序解耦控制策略推广到分数阶,并利用频域方法与增益变化时的鲁棒性条件相结合对相关参数进行校正。最后,通过仿真结果验证分数阶正负序解耦控制策略应用于DVR系统的可行性,且与传统正负序解耦控制相比较,所提策略具有更好的动态响应速度与抗干扰性能。展开更多
基金supported by the Industrial Strategic Technology Development Program(10070171,Development of core technology for advanced locomotion/manipulation based on high-speed/power robot platform and robot intelligence)funded By the Ministry of Trade,Industry&Energy(MI,Korea).
文摘In this paper,a design is presented for a high-speed,high-power motor for a four-legged robot actuator that was optimized using the weighted sum method(WSM)based on the Taguchi method,and the response surface method(RSM).First,output torque,torque constant,torque ripple,and efficiency were selected as objective functions for the optimized design.The sampling method was implemented to use a mixed orthogonal array and the single response characteristics of each objective function were compared using the Taguchi method.Moreover,to consider the multi-response characteristic of the objective functions,WSM was applied.Second,the 2D finite element analysis result of the RSM was compared with that using the WSM.Finally,an experiment was carried out on the manufactured motor and the optimized model is presented here.
基金The authors acknowledge that this research was supported by the National Natural Science Foundation of China(51675163)Foundation for University Young Key Teacher of Henan Province(2017GGJS062)Research and Development Project of Snake-like Robot Technology of Luoyang Power Supply Company of State Grid and the postdoctoral fund of Henan Province(2012086).
文摘The four-legged bionic robot for agriculture has been one of the hotspots in the field of robotics.The farmland environment is complex,and the balance requirement of quadruped bionic robot is higher.However,head adjustment is a key factor affecting the balance of quadruped animals.Based on this,this study takes the four-legged animal goat as an example to investigate the effect of goat head movement adjustment on the balance of goat.In this study,the head and neck of goats were simplified to a two-link model.The kinematics model was established by D-H method.MATLAB software was used to solve it.Origin software was used to draw the movement track of the center of mass of the head.The center of mass movement of the head is a quarter ellipse.Then,the goat walking experiments were carried out on the different slopes(0°,5°,10°,15°,20°,25°,30°,35°and 40°).MATLAB software was used to fit the movement data of goat head.The movement of the center of mass of the goat's head corresponds to Fourier 6.The result is:the determination coefficient is 0.8629,and the mean variance is 0.019.When the slope gradient gradually increases,the volatility gradually increases and is cyclical.The results of this study verify the rationality of the four-legged bionic mechanism under various parameters and reveal the mechanism of goat walking with an appendage at the head.
基金Supported by Hebei Province Natural Science Foundation(E2015203407)Young Scholars Research Project of Yanshan University(15LGB011).
文摘Integrating the electric vehicle into grid or microgrid has been receiving more and more attention in recent years.Typically,the electric vehicle(EV)chargers with their power batteries have been developed for vehicle-to-home(V2H)applications,acting as a backup generation to supply emergency power directly to a home.Traditional EV chargers in V2H applications mainly consist of DC/DC and DC/AC stages,which complicate the control algorithm and result in low conversion efficiency.In order to solve this problem,a novel EV charger is proposed for V2H applications.It can boost the battery voltage and output AC voltage with only one-stage power conversion.Also,the DC,1-phase and 3-phase loads can be fed with the proposed single-stage EV charger.The system control strategy is also provided to deal with versatile load variations.Finally,the performance evaluation results verify the effectiveness of the proposed solution.
文摘三相四桥臂换流器具备不平衡负载工作能力与三相解耦控制功能,已成为主动配电网领域的研究热点。结合三相四桥臂电压源转换器(voltage source converter,VSC)模型,提出一种分相准比例谐振控制(proportion resonant,PR)直接电流控制策略。针对台区首端电流不平衡问题,提出分相功率补偿思路。先设计补偿功率计算策略,再以功率为控制目标计算输入电流参考值,结合分相准比例谐振直接电流控制,对各相进行功率调节,以达到治理三相电流不平衡的目的。在某仿真软件搭建了基于嵌入式低压直流环节(embedded low voltage DC system,E-LVDC)的低压柔性台区模型。仿真结果表明,台区首端三相电流不平衡度降低,从而验证了所提控制策略的有效性。
文摘为了改善动态电压恢复器(dynamic voltage restorer,DVR)治理不对称电压暂降故障的性能,文中提出基于瞬时对称分量法的分数阶正负序解耦控制策略,并将其应用于三相四桥臂逆变器DVR系统中。首先,利用对称分量法得到DVR系统的分序解耦数学模型。其次,针对传统对称分量法不适用于系统暂态过程分析的问题,采用瞬时对称分量法得到不对称电压电流信号瞬时值的正负零序分量,并独立设计三序分量的电压电流双闭环比例积分(proportional-integral,PI)控制策略。然后,将整数阶正负序解耦控制策略推广到分数阶,并利用频域方法与增益变化时的鲁棒性条件相结合对相关参数进行校正。最后,通过仿真结果验证分数阶正负序解耦控制策略应用于DVR系统的可行性,且与传统正负序解耦控制相比较,所提策略具有更好的动态响应速度与抗干扰性能。
