Micro-robots have the characteristics of small size,light weight and flexible movement.To design a micro three-legged crawling robot with multiple motion directions,a novel driving scheme based on the inverse piezoele...Micro-robots have the characteristics of small size,light weight and flexible movement.To design a micro three-legged crawling robot with multiple motion directions,a novel driving scheme based on the inverse piezoelectric effect of piezoelectric ceramics was proposed.The three legs of the robot were equipped with piezoelectric bimorphs as drivers,respectively.The motion principles were analyzed and the overall force analysis was carried out with the theoretical mechanics method.The natural frequency,mode shape and amplitude were analyzed with simulation software COMSOL Multiphysics,the optimal size was determined through parametric analysis,and then the micro three-legged crawling robot was manufactured.The effects of different driving voltages,different driving frequencies,different motion bases and different loads on the motion speed of the robot were tested.It is shown that the maximum speed of single-leg driving was 35.41 cm/s,the switching ability between different motion directions was measured,and the movements in six different directions were achieved.It is demonstrated the feasibility of multi-directional motion of the structure.The research may provide a reference for the design and development of miniature piezoelectric three-legged crawling robots.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
针对电动汽车800 V高压平台的多电机驱动系统逆变器开关器件数量较多、控制策略复杂等问题,提出1种十五开关三电平双输出逆变器,通过器件复用简化了逆变器拓扑结构、降低了逆变器成本。首先,对所提逆变器拓扑结构及工作原理进行了详细...针对电动汽车800 V高压平台的多电机驱动系统逆变器开关器件数量较多、控制策略复杂等问题,提出1种十五开关三电平双输出逆变器,通过器件复用简化了逆变器拓扑结构、降低了逆变器成本。首先,对所提逆变器拓扑结构及工作原理进行了详细的分析研究,总结了该逆变器的结构特点,给出了有效开关状态及最大电压应力分析,为开关器件选型及系统设计提供了理论基础。然后,提出了1种单桥臂独立模型预测电流控制策略,建立了单桥臂双输出端口电流的预测模型,在实现三桥臂独立预测控制与单桥臂双输出电流综合最优控制前提下,有效降低了预测运算量。最后,通过Typhoon HIL 402平台对所提逆变器及其控制策略的正确性及有效性进行实验验证。展开更多
传统级联型多电平变换器用于高压大容量电机变频调速系统的最大问题在于,需要采用体积庞大的多绕组工频变压器为各功率单元提供独立的直流供电电源。为解决这一不足,提出一种无需工频变压器耦合的新型四象限混合型模块组合多电平变换器(...传统级联型多电平变换器用于高压大容量电机变频调速系统的最大问题在于,需要采用体积庞大的多绕组工频变压器为各功率单元提供独立的直流供电电源。为解决这一不足,提出一种无需工频变压器耦合的新型四象限混合型模块组合多电平变换器(hybrid modular multilevel converter,HMMC)。HMMC由三桥臂功率单元(three-leg power unit,TPU)、半桥功率单元(half-bridge power unit,HPU)和桥臂电感级联而成,具有高度模块化、易于扩展、输出电压波形好等特点。深入分析HMMC的拓扑结构、工作原理及相应的控制策略,并设计一台三电平HMMC试验样机,实验结果验证了提出的理论分析和控制策略的有效性和正确性。展开更多
为提高四线制有源电力滤波器系统(active power filter,APF)运行可靠性,提出一种适用于三相四线制三桥臂三电平并联型APF的故障诊断算法。通过分析APF交流侧输出电压的数学模型,建立APF各相交流侧输出电压与相应IGBT导通占空比间的对应...为提高四线制有源电力滤波器系统(active power filter,APF)运行可靠性,提出一种适用于三相四线制三桥臂三电平并联型APF的故障诊断算法。通过分析APF交流侧输出电压的数学模型,建立APF各相交流侧输出电压与相应IGBT导通占空比间的对应关系;通过正常状态和故障状态下输出电压与对应IGBT导通占空比间对应关系的不同诊断出开路故障,并根据故障状态下的电流路径进一步定位故障位置。该方法能够适用于单管及多管的开路故障诊断,具有很好的快速性和较高的可靠性,且适用于系统的动态响应过程。仿真和实验结果验证了所提算法的有效性。展开更多
基金supported by the National Natural Science Foundation of China (grant no.51505133)by Key Research Project in Colleges and Universities of Henan Province (23A460010)by Opening Project of Henan Engineering Laboratory of Photoelectric Sensor and Intelligent Measurement and Control,Henan Polytechnic University (grant no.HELPSIMC-2020-006).
文摘Micro-robots have the characteristics of small size,light weight and flexible movement.To design a micro three-legged crawling robot with multiple motion directions,a novel driving scheme based on the inverse piezoelectric effect of piezoelectric ceramics was proposed.The three legs of the robot were equipped with piezoelectric bimorphs as drivers,respectively.The motion principles were analyzed and the overall force analysis was carried out with the theoretical mechanics method.The natural frequency,mode shape and amplitude were analyzed with simulation software COMSOL Multiphysics,the optimal size was determined through parametric analysis,and then the micro three-legged crawling robot was manufactured.The effects of different driving voltages,different driving frequencies,different motion bases and different loads on the motion speed of the robot were tested.It is shown that the maximum speed of single-leg driving was 35.41 cm/s,the switching ability between different motion directions was measured,and the movements in six different directions were achieved.It is demonstrated the feasibility of multi-directional motion of the structure.The research may provide a reference for the design and development of miniature piezoelectric three-legged crawling robots.
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。
文摘针对电动汽车800 V高压平台的多电机驱动系统逆变器开关器件数量较多、控制策略复杂等问题,提出1种十五开关三电平双输出逆变器,通过器件复用简化了逆变器拓扑结构、降低了逆变器成本。首先,对所提逆变器拓扑结构及工作原理进行了详细的分析研究,总结了该逆变器的结构特点,给出了有效开关状态及最大电压应力分析,为开关器件选型及系统设计提供了理论基础。然后,提出了1种单桥臂独立模型预测电流控制策略,建立了单桥臂双输出端口电流的预测模型,在实现三桥臂独立预测控制与单桥臂双输出电流综合最优控制前提下,有效降低了预测运算量。最后,通过Typhoon HIL 402平台对所提逆变器及其控制策略的正确性及有效性进行实验验证。
文摘传统级联型多电平变换器用于高压大容量电机变频调速系统的最大问题在于,需要采用体积庞大的多绕组工频变压器为各功率单元提供独立的直流供电电源。为解决这一不足,提出一种无需工频变压器耦合的新型四象限混合型模块组合多电平变换器(hybrid modular multilevel converter,HMMC)。HMMC由三桥臂功率单元(three-leg power unit,TPU)、半桥功率单元(half-bridge power unit,HPU)和桥臂电感级联而成,具有高度模块化、易于扩展、输出电压波形好等特点。深入分析HMMC的拓扑结构、工作原理及相应的控制策略,并设计一台三电平HMMC试验样机,实验结果验证了提出的理论分析和控制策略的有效性和正确性。
文摘为提高四线制有源电力滤波器系统(active power filter,APF)运行可靠性,提出一种适用于三相四线制三桥臂三电平并联型APF的故障诊断算法。通过分析APF交流侧输出电压的数学模型,建立APF各相交流侧输出电压与相应IGBT导通占空比间的对应关系;通过正常状态和故障状态下输出电压与对应IGBT导通占空比间对应关系的不同诊断出开路故障,并根据故障状态下的电流路径进一步定位故障位置。该方法能够适用于单管及多管的开路故障诊断,具有很好的快速性和较高的可靠性,且适用于系统的动态响应过程。仿真和实验结果验证了所提算法的有效性。
