We present the development of a novel prosthetic hand based on the underactuated mechanism. The aim is focused on increasing its dexterity while keeping the same dimension and weight of a traditional prosthetic device...We present the development of a novel prosthetic hand based on the underactuated mechanism. The aim is focused on increasing its dexterity while keeping the same dimension and weight of a traditional prosthetic device. The hybrid step motor is used as the actuator, which enables the finger to keep enough high contact torque on the grasped object with less energy consumption provided by the holding torque. The grasping force of the finger is estimated from the base joint torque, and the adoption of impedance control has provided compliance in the grasping. Also a parallel observer is used to switch over between the impedance control and the torque holding mode. The experimental results show the effectiveness of the design and control strategy.展开更多
Step motors, compared to other drive systems, are low-cost and easy to use devices. However, despite these undeniable advantages, they are characterized by some critical running conditions, due to the loss of synchron...Step motors, compared to other drive systems, are low-cost and easy to use devices. However, despite these undeniable advantages, they are characterized by some critical running conditions, due to the loss of synchronization between the stator＇s magnetic field and the rotor. In order to theoretically investigate such a behavior, several complex mathematical models have been developed, which require several parameters to be defined. For most step motors, such parameters cannot be easily drawn from their data-sheets; on the contrary, in this paper the authors refer to a simplified electro-mechanical model where the most of the parameters are known from data-sheets. The dependence between electrical and mechanical quantities can be investigated by an experimental point of view. At this aim, a specific novel test rig has been designed and developed for either static or dynamic characteristics measurement of small size step motors. In particular, the test rig allow to measure rotor＇s angular position, motor＇s torque, currents flowing in the motor＇s phases. The paper ends with the report of the results of several experimental tests, carried-out on a small-size motor in different running conditions, and with some preliminary remarks on the basis of the measures analysis.展开更多
The magnhc network model of a hybrid step motor is established by the air gap rate permeance method,and the expression of harmonic back EMF is deduced, and from the analysis above, a vovel use of harmonic backEMF sed ...The magnhc network model of a hybrid step motor is established by the air gap rate permeance method,and the expression of harmonic back EMF is deduced, and from the analysis above, a vovel use of harmonic backEMF sed to extract rotor peition is proposed and a new position sensor integral with the motoris designed .Experi-ments verified the correctness of the theorecal analysis. Ths type of rotor position sensor lays a foundation for closed-loop conrol of step motor.展开更多
It is simple with good quality,and versatile with low costto use a step motor drive for the let-off mechanism ofweaving machines.This paper deals with the investiga-tion of this mechanism about the warp tension detect...It is simple with good quality,and versatile with low costto use a step motor drive for the let-off mechanism ofweaving machines.This paper deals with the investiga-tion of this mechanism about the warp tension detectingand the design of the step motor drive system,which ispracticable,reliable and with low power consumption.So it is worthwhile to spread and push forward its appli-cation.展开更多
A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precisio...A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precision profile tracking at a low speed. In order to construct a completely integrated control design philosophy to reduce torque ripple and at the same time to enhance tracking performance, the properties of nonlinear uncertainties in the system dynamics are uncovered, and then incorporated into the design of the controller. The system uncertainties concerned with ripple dynamics and other external disturbances are composed of two categories. The first category of uncertainties with linear parameterization arising from the detention effect is dealt with by the wellknown adaptive control method. A robust adaptive method is used to deal with the second category of uncertainties resulting from the non-sinusoidal flux distribution. The μ-modification scheme is used to cease parameter adaptation by the robust adaptive control law, thus ensuring that the trajectory tracking error asymptotically converges to a pre-specified boundary. Experiments are performed with a typical hybrid stepping motor to test its profile tracking accuracy. Results confirm the proposed control scheme.展开更多
The existing resonant linear piezoelectric motors must operate with high working voltage in resonant condition,resulting in their narrow operating frequency range and poor running stability.Here,with the large displac...The existing resonant linear piezoelectric motors must operate with high working voltage in resonant condition,resulting in their narrow operating frequency range and poor running stability.Here,with the large displacement output characteristics of piezoelectric stacks,the trajectory at the drive foot of stator is firstly produced with two space quadrature piezoelectric actuators excited by sawtooth wave and square wave.Secondly,the friction drive principle of motor is used to analyze the working mechanisms of the continuous stepping motion.Finally,the motor prototype is designed and experiments are carried out.The experimental result shows that the motor can stably operate within the scope of 350 Hz to 750 Hz.When the excitation voltage is 30 Vand pre-load is 3Nor10 N,the lateral amplitude of the drive foot is approximately 4μm and the stable average interval ranges from3.1μm to 3.2μm with the error rate of 5%—7.5%.展开更多
By imitating the behavioral characteristics of some typical animals, researchers develop bionic stepping motors to extend the working range of piezoelectric materials and utilize their high accuracy advantage as well....By imitating the behavioral characteristics of some typical animals, researchers develop bionic stepping motors to extend the working range of piezoelectric materials and utilize their high accuracy advantage as well. A comprehensive review of the bionic stepping motors driven by piezoelectric materials is presented in this work. The main parts of stepping piezoelectric motors, including the feeding module, clamping module, and other critical components, are introduced elaborately. We classify the bionic stepping piezoelectric motors into inchworm motors, seal motors, and inertia motors depending on their main structure modules, and present the mutual transformation relationships among the three types. In terms of the relative position relationships among the main structure modules, each of the inchworm motors, seal motors, and inertia motors can further be divided into walker type, pusher type, and hybrid type. The configurations and working principles of all bionic stepping piezoelectric motors are reported, followed by a discussion of the advantages and disadvantages of the performance for each type. This work provides theoretical support and thoughtful insights for the understanding, analysis, design, and application of the bionic stepping piezoelectric motors.展开更多
An indirect method of measuring the rotor position based on the magnetic reluctance variation is presented in the paper. A single-chip microprocessor 80C196KC is utilized to compensate the phase shift produced by the ...An indirect method of measuring the rotor position based on the magnetic reluctance variation is presented in the paper. A single-chip microprocessor 80C196KC is utilized to compensate the phase shift produced by the process of position signals. At the same time, a DSP (Data Signal Processor) unit is used to realize the speed and current closed-loops of the hybrid stepping motor system. At last, experimental results show the control system has excellent static and dynamic characteristics.展开更多
The paper describes a new method of the stepping motor moimun time optimal control with closed-loop control. A mathematical model and optimal control strategy for the optimal control of stepping motor are proposed. ...The paper describes a new method of the stepping motor moimun time optimal control with closed-loop control. A mathematical model and optimal control strategy for the optimal control of stepping motor are proposed. Realizing technology for accelerating展开更多
The paper presents the static-torque characteristics of three-phase hybrid stepping motors and discusses the influence of way of winding connection on operating characteristics of motors of this kind.
The torque-speed characteristics of brushless motor having an interior permanent magnet rotor and a sinusoidal back-emf waveform are compared experimentally when it is operated in brushless AC(BLAC) mode and brushless...The torque-speed characteristics of brushless motor having an interior permanent magnet rotor and a sinusoidal back-emf waveform are compared experimentally when it is operated in brushless AC(BLAC) mode and brushless DC (BLDC) modes with both 2-phase,120° conduction(BLDC-120) and 3-phase,180° conduction(BLDC-180).Particular emphasis is on high-speed,six-step voltage controlled,flux-weakening operation.It is shown that for EV/HEV applications,even for interior PM brushless motors which have sinusoidal back-emf waveforms,in order to achieve maximum torque per ampere capability over wide operation speed range,it is advantageous to employ a hybrid operation mode-BLAC operation in the constant torque region and six-step voltage control(BLDC-180 operation,together with current phase control) in the flux-weakening region.展开更多
In this paper, we propose an electromagnetic-mechanical model based on the finite element and Macro-Element (ME) technique to analyse and study the dynamic characteristics of a Tubular Linear Switched Reluctance Stepp...In this paper, we propose an electromagnetic-mechanical model based on the finite element and Macro-Element (ME) technique to analyse and study the dynamic characteristics of a Tubular Linear Switched Reluctance Stepping Motor (LSRSM). After the resolution of the non-linear electromagnetic equation governing the behaviour of the different materials of the motor using the nodal-based finite element method, this equation is then coupled to the mechanical equation firstly through the magnetic force computed by Maxwell stress tensor, and secondly by the modified flux distribution due to the moving part. Because of the precision required in the mobile part displacement and the very small air gap of stepping motors, the simulation of the movement is assured by the Macro-Element (ME) technique compared to other movement techniques that present many disadvantages. The validity of the developed model is verified through the comparison of the computed displacement of the LSRSM moving part with those given experimentally [2]. The Results shows satisfactory agreement. The obtained dynamic characteristics, particularly the starting magnetic force, are obtained by considering two values of the supplying currents.展开更多
To change the current phenomenon of ＂Being an armchair strategist＂ in the research of a stepping motor, the virtual simu- lation system of stepping motor was developed using virtual reality technique. The basic prin...To change the current phenomenon of ＂Being an armchair strategist＂ in the research of a stepping motor, the virtual simu- lation system of stepping motor was developed using virtual reality technique. The basic principle of stepping motor was expounded. The development strategy of the simulation software is introduced. Some key problems and their solutions, including coordinate transformation of rotor and order of on-off electricity for stator, were put forward in system development. Finally, there are three virtual simulation examples of the on-off electricity way in this paper. This work provides a valuable auxiliary tool for the study of the stepping motor.展开更多
The paper presents our contribution to the full 3D finite element modelling of a hybrid stepping motor using COMSOL Multiphysics software. This type of four-phase motor has a permanent magnet interposed between the tw...The paper presents our contribution to the full 3D finite element modelling of a hybrid stepping motor using COMSOL Multiphysics software. This type of four-phase motor has a permanent magnet interposed between the two identical and coaxial half stators. The calculation of the field with or without current in the windings (respectively with or without permanent magnet) is done using a mixed formulation with strong coupling. In addition, the local high saturation of the ferromagnetic material and the radial and axial components of the magnetic flux are taken into account. The results obtained make it possible to clearly observe, as a function of the intensity of the bus current or the remanent induction, the saturation zones, the lines, the orientations and the magnetic flux densities. 3D finite element modelling provide more accurate numerical data on the magnetic field through multiphysics analysis. This analysis considers the actual operating conditions and leads to the design of an optimized machine structure, with or without current in the windings and/or permanent magnet.展开更多
The article reporis the design,the fabricajonprocess and the SEM pholo of the micro motor.The stator with5mm dameter and the rotor with 2mm diameter are fabricated withL.IGA process,and the coils are wounded b,handt i...The article reporis the design,the fabricajonprocess and the SEM pholo of the micro motor.The stator with5mm dameter and the rotor with 2mm diameter are fabricated withL.IGA process,and the coils are wounded b,handt in the maero-scope.展开更多
The high controllability and high resolution control of linear ultrasonic motors depend on effective control of driving signals.For a good control characteristic,step control which the driver output turned off and on ...The high controllability and high resolution control of linear ultrasonic motors depend on effective control of driving signals.For a good control characteristic,step control which the driver output turned off and on was used.Therefore,a novel dual PWM topology structure ultrasonic motor driver was designed and analyzed.According to the characteristics of the circuits,two kinds of hardware turned off methods named methods A and B were discussed.The differences of the voltage applied on motor by different methods were figured out.Finally,a series of experiments were carried out in the clean room to study the influence of step characteristic by different turn off methods.The experimental results show that the steplength was 230 nm by method A and 125 nm by method B,while cycles of driving signals were 6.The method B has a smaller steplength when cycles are 6.The average steplength varies in non-linear while driving cycles changing.The steplength varies approximately in linear while voltage amplitude changing.Therefore,method B is better to implement step control,because it gets a better control in positioning system.展开更多
It is justified that during geomagnetic storms the high voltage synchronous engines are being impacted by high current harmonics of even sequences powered by power transformer due to geo-induced high voltage currents ...It is justified that during geomagnetic storms the high voltage synchronous engines are being impacted by high current harmonics of even sequences powered by power transformer due to geo-induced high voltage currents flowed through the windings. Equivalent circuits of step down substation and HV synchronous motors are made for making it possible to consider a saturation of power transformer magnetic system and higher current harmonics availability in stator windings. Analytic expressions for higher current harmonics and extra capacity losses calculation in stator windings are received, as well as the calculation of induction torques allowing to denote a rate of geomagnetic processes impact on synchronous engine operation at various step down substation parameters.展开更多
基金Supported by t he National Natural Science Foundation of China （ No. 50435040） and the High Technology Research and Development Programme of China（ No. 2003AA420010）.
文摘We present the development of a novel prosthetic hand based on the underactuated mechanism. The aim is focused on increasing its dexterity while keeping the same dimension and weight of a traditional prosthetic device. The hybrid step motor is used as the actuator, which enables the finger to keep enough high contact torque on the grasped object with less energy consumption provided by the holding torque. The grasping force of the finger is estimated from the base joint torque, and the adoption of impedance control has provided compliance in the grasping. Also a parallel observer is used to switch over between the impedance control and the torque holding mode. The experimental results show the effectiveness of the design and control strategy.
文摘Step motors, compared to other drive systems, are low-cost and easy to use devices. However, despite these undeniable advantages, they are characterized by some critical running conditions, due to the loss of synchronization between the stator＇s magnetic field and the rotor. In order to theoretically investigate such a behavior, several complex mathematical models have been developed, which require several parameters to be defined. For most step motors, such parameters cannot be easily drawn from their data-sheets; on the contrary, in this paper the authors refer to a simplified electro-mechanical model where the most of the parameters are known from data-sheets. The dependence between electrical and mechanical quantities can be investigated by an experimental point of view. At this aim, a specific novel test rig has been designed and developed for either static or dynamic characteristics measurement of small size step motors. In particular, the test rig allow to measure rotor＇s angular position, motor＇s torque, currents flowing in the motor＇s phases. The paper ends with the report of the results of several experimental tests, carried-out on a small-size motor in different running conditions, and with some preliminary remarks on the basis of the measures analysis.
文摘The magnhc network model of a hybrid step motor is established by the air gap rate permeance method,and the expression of harmonic back EMF is deduced, and from the analysis above, a vovel use of harmonic backEMF sed to extract rotor peition is proposed and a new position sensor integral with the motoris designed .Experi-ments verified the correctness of the theorecal analysis. Ths type of rotor position sensor lays a foundation for closed-loop conrol of step motor.
文摘It is simple with good quality,and versatile with low costto use a step motor drive for the let-off mechanism ofweaving machines.This paper deals with the investiga-tion of this mechanism about the warp tension detectingand the design of the step motor drive system,which ispracticable,reliable and with low power consumption.So it is worthwhile to spread and push forward its appli-cation.
文摘A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precision profile tracking at a low speed. In order to construct a completely integrated control design philosophy to reduce torque ripple and at the same time to enhance tracking performance, the properties of nonlinear uncertainties in the system dynamics are uncovered, and then incorporated into the design of the controller. The system uncertainties concerned with ripple dynamics and other external disturbances are composed of two categories. The first category of uncertainties with linear parameterization arising from the detention effect is dealt with by the wellknown adaptive control method. A robust adaptive method is used to deal with the second category of uncertainties resulting from the non-sinusoidal flux distribution. The μ-modification scheme is used to cease parameter adaptation by the robust adaptive control law, thus ensuring that the trajectory tracking error asymptotically converges to a pre-specified boundary. Experiments are performed with a typical hybrid stepping motor to test its profile tracking accuracy. Results confirm the proposed control scheme.
基金supported by the National Natural Science Foundation of China (Nos.51375224,51405420)the Natural Science Foundation of Jiangsu Province (No.BK20140474)
文摘The existing resonant linear piezoelectric motors must operate with high working voltage in resonant condition,resulting in their narrow operating frequency range and poor running stability.Here,with the large displacement output characteristics of piezoelectric stacks,the trajectory at the drive foot of stator is firstly produced with two space quadrature piezoelectric actuators excited by sawtooth wave and square wave.Secondly,the friction drive principle of motor is used to analyze the working mechanisms of the continuous stepping motion.Finally,the motor prototype is designed and experiments are carried out.The experimental result shows that the motor can stably operate within the scope of 350 Hz to 750 Hz.When the excitation voltage is 30 Vand pre-load is 3Nor10 N,the lateral amplitude of the drive foot is approximately 4μm and the stable average interval ranges from3.1μm to 3.2μm with the error rate of 5%—7.5%.
基金Natural Science Foundation of Jilin Province,20220101216JC,Shupeng WangTalent Introduction Fund of Jilin University,451210330007,Shupeng Wang.
文摘By imitating the behavioral characteristics of some typical animals, researchers develop bionic stepping motors to extend the working range of piezoelectric materials and utilize their high accuracy advantage as well. A comprehensive review of the bionic stepping motors driven by piezoelectric materials is presented in this work. The main parts of stepping piezoelectric motors, including the feeding module, clamping module, and other critical components, are introduced elaborately. We classify the bionic stepping piezoelectric motors into inchworm motors, seal motors, and inertia motors depending on their main structure modules, and present the mutual transformation relationships among the three types. In terms of the relative position relationships among the main structure modules, each of the inchworm motors, seal motors, and inertia motors can further be divided into walker type, pusher type, and hybrid type. The configurations and working principles of all bionic stepping piezoelectric motors are reported, followed by a discussion of the advantages and disadvantages of the performance for each type. This work provides theoretical support and thoughtful insights for the understanding, analysis, design, and application of the bionic stepping piezoelectric motors.
文摘An indirect method of measuring the rotor position based on the magnetic reluctance variation is presented in the paper. A single-chip microprocessor 80C196KC is utilized to compensate the phase shift produced by the process of position signals. At the same time, a DSP (Data Signal Processor) unit is used to realize the speed and current closed-loops of the hybrid stepping motor system. At last, experimental results show the control system has excellent static and dynamic characteristics.
文摘The paper describes a new method of the stepping motor moimun time optimal control with closed-loop control. A mathematical model and optimal control strategy for the optimal control of stepping motor are proposed. Realizing technology for accelerating
文摘The paper presents the static-torque characteristics of three-phase hybrid stepping motors and discusses the influence of way of winding connection on operating characteristics of motors of this kind.
文摘The torque-speed characteristics of brushless motor having an interior permanent magnet rotor and a sinusoidal back-emf waveform are compared experimentally when it is operated in brushless AC(BLAC) mode and brushless DC (BLDC) modes with both 2-phase,120° conduction(BLDC-120) and 3-phase,180° conduction(BLDC-180).Particular emphasis is on high-speed,six-step voltage controlled,flux-weakening operation.It is shown that for EV/HEV applications,even for interior PM brushless motors which have sinusoidal back-emf waveforms,in order to achieve maximum torque per ampere capability over wide operation speed range,it is advantageous to employ a hybrid operation mode-BLAC operation in the constant torque region and six-step voltage control(BLDC-180 operation,together with current phase control) in the flux-weakening region.
文摘In this paper, we propose an electromagnetic-mechanical model based on the finite element and Macro-Element (ME) technique to analyse and study the dynamic characteristics of a Tubular Linear Switched Reluctance Stepping Motor (LSRSM). After the resolution of the non-linear electromagnetic equation governing the behaviour of the different materials of the motor using the nodal-based finite element method, this equation is then coupled to the mechanical equation firstly through the magnetic force computed by Maxwell stress tensor, and secondly by the modified flux distribution due to the moving part. Because of the precision required in the mobile part displacement and the very small air gap of stepping motors, the simulation of the movement is assured by the Macro-Element (ME) technique compared to other movement techniques that present many disadvantages. The validity of the developed model is verified through the comparison of the computed displacement of the LSRSM moving part with those given experimentally [2]. The Results shows satisfactory agreement. The obtained dynamic characteristics, particularly the starting magnetic force, are obtained by considering two values of the supplying currents.
基金Supported by the National Important and Special Project of China of the Twelfth Five-year Plan (2012ZX04001021)
文摘To change the current phenomenon of ＂Being an armchair strategist＂ in the research of a stepping motor, the virtual simu- lation system of stepping motor was developed using virtual reality technique. The basic principle of stepping motor was expounded. The development strategy of the simulation software is introduced. Some key problems and their solutions, including coordinate transformation of rotor and order of on-off electricity for stator, were put forward in system development. Finally, there are three virtual simulation examples of the on-off electricity way in this paper. This work provides a valuable auxiliary tool for the study of the stepping motor.
文摘The paper presents our contribution to the full 3D finite element modelling of a hybrid stepping motor using COMSOL Multiphysics software. This type of four-phase motor has a permanent magnet interposed between the two identical and coaxial half stators. The calculation of the field with or without current in the windings (respectively with or without permanent magnet) is done using a mixed formulation with strong coupling. In addition, the local high saturation of the ferromagnetic material and the radial and axial components of the magnetic flux are taken into account. The results obtained make it possible to clearly observe, as a function of the intensity of the bus current or the remanent induction, the saturation zones, the lines, the orientations and the magnetic flux densities. 3D finite element modelling provide more accurate numerical data on the magnetic field through multiphysics analysis. This analysis considers the actual operating conditions and leads to the design of an optimized machine structure, with or without current in the windings and/or permanent magnet.
文摘The article reporis the design,the fabricajonprocess and the SEM pholo of the micro motor.The stator with5mm dameter and the rotor with 2mm diameter are fabricated withL.IGA process,and the coils are wounded b,handt in the maero-scope.
基金supported by the National Science Foundation of China(No.51275235)
文摘The high controllability and high resolution control of linear ultrasonic motors depend on effective control of driving signals.For a good control characteristic,step control which the driver output turned off and on was used.Therefore,a novel dual PWM topology structure ultrasonic motor driver was designed and analyzed.According to the characteristics of the circuits,two kinds of hardware turned off methods named methods A and B were discussed.The differences of the voltage applied on motor by different methods were figured out.Finally,a series of experiments were carried out in the clean room to study the influence of step characteristic by different turn off methods.The experimental results show that the steplength was 230 nm by method A and 125 nm by method B,while cycles of driving signals were 6.The method B has a smaller steplength when cycles are 6.The average steplength varies in non-linear while driving cycles changing.The steplength varies approximately in linear while voltage amplitude changing.Therefore,method B is better to implement step control,because it gets a better control in positioning system.
文摘It is justified that during geomagnetic storms the high voltage synchronous engines are being impacted by high current harmonics of even sequences powered by power transformer due to geo-induced high voltage currents flowed through the windings. Equivalent circuits of step down substation and HV synchronous motors are made for making it possible to consider a saturation of power transformer magnetic system and higher current harmonics availability in stator windings. Analytic expressions for higher current harmonics and extra capacity losses calculation in stator windings are received, as well as the calculation of induction torques allowing to denote a rate of geomagnetic processes impact on synchronous engine operation at various step down substation parameters.
