In order to improve the reliability in torque calculation of SRM,an accurate nonlinear torque model regresses by recursive robust least squares support vector regression(RR-LSSVR)is proposed in this paper.The model is...In order to improve the reliability in torque calculation of SRM,an accurate nonlinear torque model regresses by recursive robust least squares support vector regression(RR-LSSVR)is proposed in this paper.The model is in terms of a segmented-rotor switched reluctance motor(SSRM).The characteristics of the SSRM is introduced to show its nonlinear characteristics both in magnetic and torque.Then,its mathematic model is established,and an accurate inductance measurement method and a torque calculation method are presented.After this,the principle of the RR-LSSVR and why it can adjust weights according to errors are described.The model used the RR-LSSVR algorithm shows an outstanding capability in accuracy and quickness compared with other algorithms.Finally,to further validate the accuracy of the proposed model in practical application,simulation and experiment are designed based on a 16/10 SSRM.展开更多
The Permanent Magnet Torque Motor(PMTM)is the key electro-mechanical conversion device in an Electro-Hydraulic Servo Valve(EHSV).In this work,a refined model of a PMTM is developed,considering the non-working air-gaps...The Permanent Magnet Torque Motor(PMTM)is the key electro-mechanical conversion device in an Electro-Hydraulic Servo Valve(EHSV).In this work,a refined model of a PMTM is developed,considering the non-working air-gaps between the upper or lower yoke and the armature,the fringing effect at the limiting holes,and the nonlinear permeability of soft magnetic material.Based on the refined model,the influences of various factors on the calculation accuracy of the magnetic flux at the pole surfaces of the armature and the output torque are investigated.For verifying the validity of the refined model,a Finite Element Analysis(FEA)of the PMTM is conducted,and a test platform is constructed.Compared with existing models,the refined model can better reveal the intrinsic mechanism of the PMTM,and its calculations are more consistent with the FEA results.The experimental results of the armature deflection displacement show that the refined model can accurately describe the output characteristics of the PMTM.展开更多
A versatile analytical method(VAM) for calculating the harmonic components of the magnetomotive force(MMF) generated by diverse armature windings in AC machines has been proposed, and the versatility of this method ha...A versatile analytical method(VAM) for calculating the harmonic components of the magnetomotive force(MMF) generated by diverse armature windings in AC machines has been proposed, and the versatility of this method has been established in early literature. However, its practical applications and significance in advancing the analysis of AC machines need further elaboration. This paper aims to complement VAM by augmenting its theory, offering additional insights into its conclusions, as well as demonstrating its utility in assessing armature windings and its application of calculating torque for permanent magnet synchronous machines(PMSM). This work contributes to advancing the analysis of AC machines and underscores the potential for improved design and performance optimization.展开更多
Humanoid robot joints require real-time torque detection to provide accurate force feedback informa-tion for the control system.To meet the measurement requirements and realize the miniaturization of the sensor,a torq...Humanoid robot joints require real-time torque detection to provide accurate force feedback informa-tion for the control system.To meet the measurement requirements and realize the miniaturization of the sensor,a torque sensor based on the magnetoelastic effect is developed,utilizing planar spiral coils as detection probes.In this work,a planar spiral coil mutual inductance calculation model is established to solve the mutual inductance coefficient,and the mechanical structure and circuit design of the sensor are completed.Finally,a torque loading platform is built to perform calibration experiments,and the hysteresis model is improved to compensate for the hysteresis phenomenon.The calibration results indicate that the sensor shows excellent loaded nonlinearity of 3.08%F.S.,unloaded nonlinearity of 2.71% F.S.,loaded repeatability of 2.48% F.S.,unloaded repeatability of 1.89% F.S.and hysteresis of 1.9% F.S.,at a compact probe size of 13.8×9.9×1.8 mm.展开更多
基金This work was supported by the National Natural Science Foundation of China under Project 51875261the Natural Science Foundation of Jiangsu Province of China under Projects BK20180046 and BK20170071the“Qinglan project”of Jiangsu Province,and the Key Project of Natural Science Foundation of Jiangsu Higher Education Institutions under Project 17KJA460005.
文摘In order to improve the reliability in torque calculation of SRM,an accurate nonlinear torque model regresses by recursive robust least squares support vector regression(RR-LSSVR)is proposed in this paper.The model is in terms of a segmented-rotor switched reluctance motor(SSRM).The characteristics of the SSRM is introduced to show its nonlinear characteristics both in magnetic and torque.Then,its mathematic model is established,and an accurate inductance measurement method and a torque calculation method are presented.After this,the principle of the RR-LSSVR and why it can adjust weights according to errors are described.The model used the RR-LSSVR algorithm shows an outstanding capability in accuracy and quickness compared with other algorithms.Finally,to further validate the accuracy of the proposed model in practical application,simulation and experiment are designed based on a 16/10 SSRM.
基金co-supported by the National Natural Science Foundation of China(No.51975275)Primary Research&Development Plan of Jiangsu Province,China(No.BE2021034)Postgraduate Research&Practice Innovation Program of NUAA,China(No.xcxjh20210502).
文摘The Permanent Magnet Torque Motor(PMTM)is the key electro-mechanical conversion device in an Electro-Hydraulic Servo Valve(EHSV).In this work,a refined model of a PMTM is developed,considering the non-working air-gaps between the upper or lower yoke and the armature,the fringing effect at the limiting holes,and the nonlinear permeability of soft magnetic material.Based on the refined model,the influences of various factors on the calculation accuracy of the magnetic flux at the pole surfaces of the armature and the output torque are investigated.For verifying the validity of the refined model,a Finite Element Analysis(FEA)of the PMTM is conducted,and a test platform is constructed.Compared with existing models,the refined model can better reveal the intrinsic mechanism of the PMTM,and its calculations are more consistent with the FEA results.The experimental results of the armature deflection displacement show that the refined model can accurately describe the output characteristics of the PMTM.
基金supported by the Natural Science Foundation of China under Grant U22A20214 and Grant 51837010。
文摘A versatile analytical method(VAM) for calculating the harmonic components of the magnetomotive force(MMF) generated by diverse armature windings in AC machines has been proposed, and the versatility of this method has been established in early literature. However, its practical applications and significance in advancing the analysis of AC machines need further elaboration. This paper aims to complement VAM by augmenting its theory, offering additional insights into its conclusions, as well as demonstrating its utility in assessing armature windings and its application of calculating torque for permanent magnet synchronous machines(PMSM). This work contributes to advancing the analysis of AC machines and underscores the potential for improved design and performance optimization.
基金supported in part by Guangxi Science and Technology Program,China(2024AB12006)the Open Fund of Innovation Center for Control Actuators,China(ICCA18-202405)China Huaneng Group.,Ltd.Headquarters Technology Project(HNKJ24-HF15).
文摘Humanoid robot joints require real-time torque detection to provide accurate force feedback informa-tion for the control system.To meet the measurement requirements and realize the miniaturization of the sensor,a torque sensor based on the magnetoelastic effect is developed,utilizing planar spiral coils as detection probes.In this work,a planar spiral coil mutual inductance calculation model is established to solve the mutual inductance coefficient,and the mechanical structure and circuit design of the sensor are completed.Finally,a torque loading platform is built to perform calibration experiments,and the hysteresis model is improved to compensate for the hysteresis phenomenon.The calibration results indicate that the sensor shows excellent loaded nonlinearity of 3.08%F.S.,unloaded nonlinearity of 2.71% F.S.,loaded repeatability of 2.48% F.S.,unloaded repeatability of 1.89% F.S.and hysteresis of 1.9% F.S.,at a compact probe size of 13.8×9.9×1.8 mm.
