Passive torque servo system (PTSS) simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturban...Passive torque servo system (PTSS) simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control (AFTC) algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno (T-S) fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator (ELS), and the comparative experimental results indicate that AFTC controller is effective for PTSS.展开更多
The direct torque control theory has achieved great success in the control ofinduction motors. However, in the DTC drive system of Permanent Magnet Synchronous Machine (PMSM)proposed a few years ago, there are many ba...The direct torque control theory has achieved great success in the control ofinduction motors. However, in the DTC drive system of Permanent Magnet Synchronous Machine (PMSM)proposed a few years ago, there are many basic theoretical problems that must be clarified. Thispaper describes an investigation about the effect of the zero voltage space vectors in the DTCsystem of PMSM and points out that if using the zero voltage space vectors rationally, not only canthe DTC system be driven successfully but also the torque ripple is reduced and the performance ofthe system is improved. This paper also studies the sensorless technique in the DTC system of PMSMand configures the DTC system of PMSM with sensorless technique including zero voltage spacevectors. Numerical simulations and experimental tests have proved the theory correct. In thecondition of sensor-less, the DTC system of PMSM is wide-rangely speed adjusting, and the ratio ofspeed adjustment is 1: 100.展开更多
Existing research on the traction control system（TCS） mainly focuses on control methods, such as the PID control, fuzzy logic control, etc, aiming at achieving an ideal slip rate of the drive wheel over long control...Existing research on the traction control system（TCS） mainly focuses on control methods, such as the PID control, fuzzy logic control, etc, aiming at achieving an ideal slip rate of the drive wheel over long control periods. The initial output of the TCS （referred to as the torque base in this paper）, which has a great impact on the driving performance of the vehicle in early cycles, remains to be investigated. In order to improve the control performance of the TCS in the first several cycles, an algorithm is proposed to determine the torque base. First, torque bases are calculated by two different methods, one based on states judgment and the other based on the vehicle dynamics. The confidence level of the torque base calculated based on the vehicle dynamics is also obtained. The final torque base is then determined based on the two torque bases and the confidence level. Hardware-in-the-loop（HIL） simulation and vehicle tests emulating sudden start on low friction roads have been conducted to verify the proposed algorithm. The control performance of a PID-controlled TCS with and without the proposed torque base algorithm is compared, showing that the proposed algorithm improves the performance of the TCS over the first several cycles and enhances about 5% vehicle speed by contrast. The proposed research provides a more proper initial value for TCS control, and improves the performance of the first several control cycles of the TCS.展开更多
This paper introduces four PWM modes used in the sensorless brushless DC motor control system, analyzes their different influences on the commutation torque ripple in detail, and selects the best PWM mode in four give...This paper introduces four PWM modes used in the sensorless brushless DC motor control system, analyzes their different influences on the commutation torque ripple in detail, and selects the best PWM mode in four given types to reduce commutation torque ripple of Brushless OC(BLDC) motors. Simulation and experimental results show that the selection is correct and practical.展开更多
A 3D torque converter design system is developed based on numerical investigation into flow field and CAD technology. The 3D steady-state flow field simulation is undertaken by using time averaged Reynolds equation an...A 3D torque converter design system is developed based on numerical investigation into flow field and CAD technology. The 3D steady-state flow field simulation is undertaken by using time averaged Reynolds equation and k-epsilon turbulence model, with mixing-plane boundary conditions at three section interfaces. The blades are designed according to the flow field characteristics by using a reverse design method in the system. The accurateness of numerical analysis and the validity of design system are verified by the fluid field experiment of desingn example of the torque converter. This kind of design and analysis system for torque converter based on integration of comput ationol fluid dynamics （CFD） and CAD is a powerful tool for torque converter manufacturing, but also a prettg important significance for research and development.展开更多
Diode clamped multi-level inverter （DCMLI） has a wide application prospect in high-voltage and adjustable speed drive systems due to its low stress on switching devices, low harmonic output, and simple structure. Ho...Diode clamped multi-level inverter （DCMLI） has a wide application prospect in high-voltage and adjustable speed drive systems due to its low stress on switching devices, low harmonic output, and simple structure. However, the problem of complexity of selecting vectors and capacitor voltage unbalance needs to be solved when the algorithm of direct torque control （DTC） is implemented on DCMLI. In this paper, a fuzzy DTC system of an induction machine fed by a three-level neutral-point-clamped （NPC） inverter is proposed. After introducing fuzzy logic, optimal selecting switching state is realized by applying various strategies which can distinguish the grade of the errors of stator flux linkage, torque, the neutral-point potential, and the position of stator flux linkage. Consequently, the neutral-point potential unbalance, the dr/dr of output voltage and the switching loss are restrained effectively, and desirable dynamic and steady-state performances of induction machines can be obtained for the DTC scheme. A design method of the fuzzy controller is introduced in detail, and the relevant simulation and experimental results have verified the feasibility of the proposed control algorithm.展开更多
A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two pha...A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two phase-current sensors are indispensable for MPTC.In response to only one phase current sensor available and the change of stator resistance,a novel adaptive observer for estimating the remaining two phase currents and time-varying stator resistance is proposed to perform MPTC.Moreover,in view of the variation of system parameters and external disturbance,a new GFTSM-based speed regulator is synthesized to enhance the drive system robustness.In this paper,the GFTSM,based on sliding mode theory,employs the fast terminal sliding mode in both the reaching stage and the sliding stage.The resultant GFTSM-based MPTC PMSM drive system with single phase current sensor has excellent dynamical performance which is very close to the GFTSM-based MPTC PMSM drive system with two-phase current sensors.On the other hand,compared with proportional-integral(PI)-based and sliding mode(SM)-based MPTC PMSM drive systems,it possesses better dynamical response and stronger robustness as well as smaller total harmonic distortion(THD)index of three-phase stator currents in the presence of variation of load torque.The simulation results validate the feasibility and effectiveness of the proposed scheme.展开更多
In the applications of joint control and robot movement,the joint torque estimation has been treated as an effective technique and widely used.Researches are made to analyze the kinematic and compliance model of the r...In the applications of joint control and robot movement,the joint torque estimation has been treated as an effective technique and widely used.Researches are made to analyze the kinematic and compliance model of the robot joint with harmonic drive to acquire high precision torque output.Through analyzing the structures of the harmonic drive and experiment apparatus,a scheme of the proposed joint torque estimation method based on both the dynamic characteristics and unscented Kalman filter(UKF)is designed and built.Based on research and scheme,torque estimation methods in view of only harmonic drive compliance model and compliance model with the Kalman filter are simulated as guidance and reference to promote the research on the torque estimation technique.Finally,a promoted torque estimation method depending on both harmonic drive compliance model and UKF is designed,and simulation results compared with the measurements of a commercial torque sensor,have verified the effectiveness of the proposed method.展开更多
Employing matrix converter （MC） as driving mode, the strategy of model predictive torque control （MPTC） is proposed for three phase permanent magnet synchronous motor （PMSM） system. MC is applied instead of conv...Employing matrix converter （MC） as driving mode, the strategy of model predictive torque control （MPTC） is proposed for three phase permanent magnet synchronous motor （PMSM） system. MC is applied instead of conventional AC DC AC converter to increase the power factor （PF） of the system input side. MPTC is used to select optimal voltage space vector to enable the system to have satisfactory torque and flux control effect. The resultant MPTC strategy not only makes the MC fed PMSM system operate reliably and have perfect control performance, but also makes the PF of the system input side be 1. Compared with direct torque control （DTC）, the proposed MPTC strategy guarantees that MC fed PMSM has better command following characteristics in the presence of variation of load torque and tracking reference speed. Simulation results verify the feasibility and effectiveness of the proposed strategy.展开更多
A mobile satellite communication system (MSCS) is a device installed on a moving carrier for mobile satellite communication. It can eliminate disturbance and maintain continuous satellite communication when the carrie...A mobile satellite communication system (MSCS) is a device installed on a moving carrier for mobile satellite communication. It can eliminate disturbance and maintain continuous satellite communication when the carrier is moving. Because of many advantages of mobile satellite communication, the MSCSs are becoming more and more popular in modern mobile communication. In this paper, a typical ship-mounted MSCS is studied. The dynamic model of the system is derived using the generalized Lagrange method both in the joint space and in the workspace. Based on the dynamic model, a nonlinear computed torque controller with trajectory planning is designed to track an aimed satellite with a satisfied transient response. Simulation results in two different situations are presented to show the tracking performance of the controller.展开更多
The mathematic model of direct torque control (DTC) was deduced. Two simulating models based on the MATLAB & SIMULINK were established. The emphasis is focused on study of the performance difference of the DTC sys...The mathematic model of direct torque control (DTC) was deduced. Two simulating models based on the MATLAB & SIMULINK were established. The emphasis is focused on study of the performance difference of the DTC system with stator flux hexagon and circle trajectories. The simulation waveforms of flux, torque and current characters with two flux trajectories were given. Experiments were carried out in an AC drive system based on induction motor and two-level inverter. A dual-CPU structure was used and the communication with two CPUs was obtained by a dual-port RAM in this system.展开更多
An adaptive load torque observer is presented to compensate the torque ripple in PMSM servo system. A simple adaptive scheme is derived using Popov ＇ s hyperstability theory. The torque ripple detected by the observe...An adaptive load torque observer is presented to compensate the torque ripple in PMSM servo system. A simple adaptive scheme is derived using Popov ＇ s hyperstability theory. The torque ripple detected by the observer is compensated by a feed forwarding equivalent current which gives fast response. The noisy current information is exempt from the observer to avoid its deterioration to the quality of the observer. The speed measurement delay is considered by using observed speed sinee the instantaneous velocity can＇t be estimated precisely at low speed because of too few position pulses from the absolute encoder during one time interval. Simulation and experimental results demonstrate that the proposed method can improve the dynamic performance of PMSM servo system satisfyingly.展开更多
A novel speed sensor-less direct torque control induction motor drive system for the mining locomotive haulage is presented in the paper. Rotor speed identification is based on the model reference adaptive control the...A novel speed sensor-less direct torque control induction motor drive system for the mining locomotive haulage is presented in the paper. Rotor speed identification is based on the model reference adaptive control theory with neural network using back propagation algorithm. The system is implemented using a real-time TMS320F240 digital signal processor. The simulation study and experiment results indicate that the suggested system has good performance.展开更多
Analyzed working principle and starting process of asynchronous motor direct torque control system. In order to solve the problem of serious fluctuation of starting current in traditional control scheme, the author pu...Analyzed working principle and starting process of asynchronous motor direct torque control system. In order to solve the problem of serious fluctuation of starting current in traditional control scheme, the author puts forward a new kind of starting method which can limit voltage value to achieve the goal of reducing fluctuation of the current by increasing zero voltage vectors during the stage of starting. The author has also carried on simulation study on the system, and the result of simulation study shows that this method is effectual.展开更多
Switched Reluctance Motors(SRMs),outfitted with rugged construction,good speed range,high torque density,and rare earth-free nature that outweigh induction motors(IM)and permanent magnet synchronous motor(PMSM),afford...Switched Reluctance Motors(SRMs),outfitted with rugged construction,good speed range,high torque density,and rare earth-free nature that outweigh induction motors(IM)and permanent magnet synchronous motor(PMSM),afford a broad range of applications in the domain of electric vehicles(EVs).Standard copper magnetic wire and low-carbon steel laminations are used to construct SRMs,which give them high efficiency in the range of 85-95%.Despite SRM's desirable features over traditional motor-speed drives,high torque ripples and radial distortions constrain their deployment in EVs.Precise rotor position is imperative for effective management of the speed and torque of SRMs.This paper provides an illustrative compendium on review of the torque-speed control and ripple mitigation techniques using design enhancements and control methods for SRM drives for EV applications.The various schemes were evaluated on their performance metricsoperational speed range,control complexity,practical realization,need for pre-stored parameters(look-up tables of current,inductance and torque profiles)and motor controller memory requirements.The findings provide valuable insights into balancing the gains and trade-offs associated with EV applications.Furthermore,they pinpoint opportunities for enhancement by analyzing the cost and technical aspects of different SRM controllers.展开更多
Compared to the conventional permanent magnet synchronous machine(PMSM),the main characteristic of permanent magnet torque machine(PMTM)with high torque is that armature current is high,which has a great influence on ...Compared to the conventional permanent magnet synchronous machine(PMSM),the main characteristic of permanent magnet torque machine(PMTM)with high torque is that armature current is high,which has a great influence on magnetic circuit saturation,so this paper proposes a novel analytical method(AM)considering this problem.The key of this new AM is to consider armature reaction flux and armature leakage flux,which are closely related to output torque.Firstly,the expressions,including magnetomotive force(MMF)generated by permanent magnets(PMs)and armature windings are derived,and meanwhile slotting effect is considered by planning flux path.In addition,the expression of leakage flux density generated by armature windings are calculated,and flux density equivalence coefficient of tooth is calculated to be 2/3,which is used to solve the problem of uneven saturation of each tooth.Then,based on main flux factor and leakage flux factor proposed,an improved iteration process is proposed,and by this new process,the flux density of each yoke and tooth can be obtained,which is beneficial to obtain more accurate air-gap flux density and flux linkage.Finally,a prototype of 60-pole 54-slot is fabricated,and the performances of the electric machine,such as back electromotive force(EMF)and output torque,are calculated by this new AM and finite element method(FEM).The results of FEM and experimental test show that this new AM is good enough to calculate the performance of PMTM.展开更多
The growing demand for artificial intelligence and complex computing has underscored the urgent need for advanced data storage technologies.Spin-orbit torque(SOT)has emerged as a leading candidate for high-speed,high-...The growing demand for artificial intelligence and complex computing has underscored the urgent need for advanced data storage technologies.Spin-orbit torque(SOT)has emerged as a leading candidate for high-speed,high-density magnetic random-access memory due to its ultrafast switching speed and low power consumption.This review systematically explores the generation and switching mechanisms of electron-mediated torques(including both conventional SOTs and orbital torques)and magnon-mediated torques.We discuss key materials that enable these effects:heavy metals,topological insulators,low-crystal-symmetry materials,non-collinear antiferromagnets,and altermagnets for conventional SOTs;3d,4d,and 5d transition metals for orbital torques;and antiferromagnetic insulator Ni O-and multiferroic Bi Fe O_(3)-based sandwich structures for magnon torques.We emphasize that although key components of SOT devices have been demonstrated,numerous promising materials and critical questions regarding their underlying mechanisms remain to be explored.Therefore,this field represents a dynamic and rapidly evolving frontier in spintronics,offering significant potential for advancing next-generation information storage and computational technologies.展开更多
Geological deformations are generally attributed to compressional, extensional and strike-slip processes. Since the breakup of Gondwana, torque deformation has been responsible for the current configuration of the wes...Geological deformations are generally attributed to compressional, extensional and strike-slip processes. Since the breakup of Gondwana, torque deformation has been responsible for the current configuration of the western coasts of Africa and the eastern shore of South America and the morphotectonic geometry of the rift basins of South America, conditioning the morphostructure of the Andean chain and the current geoforms of the foreland.展开更多
In this paper,a 12/14-pole permanent magnet in-wheel motor is studied for potential in-wheel application,and the torque and loss are improved simultaneously based on designing and optimizing the corresponding dominant...In this paper,a 12/14-pole permanent magnet in-wheel motor is studied for potential in-wheel application,and the torque and loss are improved simultaneously based on designing and optimizing the corresponding dominant harmonics.The key of this study is to evaluate the contributions of harmonics on torque and loss,and further determines the harmonics related to them.Based on this,the torque enhancement factor and loss suppression factor are defined based on the selected dominant harmonics.And,the two factors are set as the optimization objectives,aiming at improving the characteristics of torque and loss.At the same time,to achieve an efficient optimization,a layered optimization method is presented,which includes magnet source layer and permeance layer.Based on the optimization,the motor torque is improved effectively,while the rotor iron loss is also reduced significantly.Then,a prototype motor is manufactured for experimental test.Finally,the simulation analysis and test results verify the validation of the studied motor and the proposed optimization method based on dominant harmonics.展开更多
Ferrimagnets are important for next-generation high-density ultrafast spintronic device applications.Magnetization compensation temperature(TM)is a fundamentally critical magnetic parameter for ferrimagnets besides th...Ferrimagnets are important for next-generation high-density ultrafast spintronic device applications.Magnetization compensation temperature(TM)is a fundamentally critical magnetic parameter for ferrimagnets besides their Curie temperature.Around TM,the spin-orbit switching efficiencies are extraordinarily high.Therefore,the accurate manipulation of TM from the material fabrication process is essential for the electrical steering of ferrimagnetic spins.In this work,CoTb thin films,with the 3 d and 4 f magnetic sublattices antiferromagnetically coupled to each other,are deposited at different temperatures.The magnetotransport and magnetic properties of these films are systematically investigated.It was found that the TM of this rare-earth ferrimagnet largely depends on the growth temperature and it can be tuned by over 100 K.Accordingly,the spins of an optimized ferrimagnetic CoTb thin film with its TM close to room temperature can be efficiently switched by the current-pulse-induced spin-orbit torque.Moreover,an artificial neural network utilizing the spin-orbit torque device was constructed,demonstrating an image recognition accuracy of approximately 92.5%,which is comparable to that of conventional software solutions.Thus,this work demonstrates the large tunability of TM of a rare earth ferrimagnet by chemical ordering and the great potential of such a ferrimagnet for electrically operated spintronic devices.展开更多
基金National High-tech Research and Development Program of China (2009AA04Z412)"111" ProjectBUAA Fund of Graduate Education and Development
文摘Passive torque servo system (PTSS) simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control (AFTC) algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno (T-S) fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator (ELS), and the comparative experimental results indicate that AFTC controller is effective for PTSS.
基金Aeronautical Science Emphasis foundation of China( 98Z5 2 0 0 1) Delta Power Electronics Science &Education DevelopmentF und
文摘The direct torque control theory has achieved great success in the control ofinduction motors. However, in the DTC drive system of Permanent Magnet Synchronous Machine (PMSM)proposed a few years ago, there are many basic theoretical problems that must be clarified. Thispaper describes an investigation about the effect of the zero voltage space vectors in the DTCsystem of PMSM and points out that if using the zero voltage space vectors rationally, not only canthe DTC system be driven successfully but also the torque ripple is reduced and the performance ofthe system is improved. This paper also studies the sensorless technique in the DTC system of PMSMand configures the DTC system of PMSM with sensorless technique including zero voltage spacevectors. Numerical simulations and experimental tests have proved the theory correct. In thecondition of sensor-less, the DTC system of PMSM is wide-rangely speed adjusting, and the ratio ofspeed adjustment is 1: 100.
基金supported by National Natural Science Foundation of China(Grant Nos. 50905092, 51275557)Open Foundation of State Key Laboratory of Automotive Safety and Energy(Grant Nos. zz2011-052, zz2011-021)
文摘Existing research on the traction control system（TCS） mainly focuses on control methods, such as the PID control, fuzzy logic control, etc, aiming at achieving an ideal slip rate of the drive wheel over long control periods. The initial output of the TCS （referred to as the torque base in this paper）, which has a great impact on the driving performance of the vehicle in early cycles, remains to be investigated. In order to improve the control performance of the TCS in the first several cycles, an algorithm is proposed to determine the torque base. First, torque bases are calculated by two different methods, one based on states judgment and the other based on the vehicle dynamics. The confidence level of the torque base calculated based on the vehicle dynamics is also obtained. The final torque base is then determined based on the two torque bases and the confidence level. Hardware-in-the-loop（HIL） simulation and vehicle tests emulating sudden start on low friction roads have been conducted to verify the proposed algorithm. The control performance of a PID-controlled TCS with and without the proposed torque base algorithm is compared, showing that the proposed algorithm improves the performance of the TCS over the first several cycles and enhances about 5% vehicle speed by contrast. The proposed research provides a more proper initial value for TCS control, and improves the performance of the first several control cycles of the TCS.
文摘This paper introduces four PWM modes used in the sensorless brushless DC motor control system, analyzes their different influences on the commutation torque ripple in detail, and selects the best PWM mode in four given types to reduce commutation torque ripple of Brushless OC(BLDC) motors. Simulation and experimental results show that the selection is correct and practical.
基金Natioual Hi-tech Research and Development Program-of China(863 Program. No.2007AA04Z132).
文摘A 3D torque converter design system is developed based on numerical investigation into flow field and CAD technology. The 3D steady-state flow field simulation is undertaken by using time averaged Reynolds equation and k-epsilon turbulence model, with mixing-plane boundary conditions at three section interfaces. The blades are designed according to the flow field characteristics by using a reverse design method in the system. The accurateness of numerical analysis and the validity of design system are verified by the fluid field experiment of desingn example of the torque converter. This kind of design and analysis system for torque converter based on integration of comput ationol fluid dynamics （CFD） and CAD is a powerful tool for torque converter manufacturing, but also a prettg important significance for research and development.
文摘Diode clamped multi-level inverter （DCMLI） has a wide application prospect in high-voltage and adjustable speed drive systems due to its low stress on switching devices, low harmonic output, and simple structure. However, the problem of complexity of selecting vectors and capacitor voltage unbalance needs to be solved when the algorithm of direct torque control （DTC） is implemented on DCMLI. In this paper, a fuzzy DTC system of an induction machine fed by a three-level neutral-point-clamped （NPC） inverter is proposed. After introducing fuzzy logic, optimal selecting switching state is realized by applying various strategies which can distinguish the grade of the errors of stator flux linkage, torque, the neutral-point potential, and the position of stator flux linkage. Consequently, the neutral-point potential unbalance, the dr/dr of output voltage and the switching loss are restrained effectively, and desirable dynamic and steady-state performances of induction machines can be obtained for the DTC scheme. A design method of the fuzzy controller is introduced in detail, and the relevant simulation and experimental results have verified the feasibility of the proposed control algorithm.
基金supported by the National Natural Science Foundation of China(61463025).
文摘A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two phase-current sensors are indispensable for MPTC.In response to only one phase current sensor available and the change of stator resistance,a novel adaptive observer for estimating the remaining two phase currents and time-varying stator resistance is proposed to perform MPTC.Moreover,in view of the variation of system parameters and external disturbance,a new GFTSM-based speed regulator is synthesized to enhance the drive system robustness.In this paper,the GFTSM,based on sliding mode theory,employs the fast terminal sliding mode in both the reaching stage and the sliding stage.The resultant GFTSM-based MPTC PMSM drive system with single phase current sensor has excellent dynamical performance which is very close to the GFTSM-based MPTC PMSM drive system with two-phase current sensors.On the other hand,compared with proportional-integral(PI)-based and sliding mode(SM)-based MPTC PMSM drive systems,it possesses better dynamical response and stronger robustness as well as smaller total harmonic distortion(THD)index of three-phase stator currents in the presence of variation of load torque.The simulation results validate the feasibility and effectiveness of the proposed scheme.
基金supported by the National Natural Science Foundation of China(51879055)。
文摘In the applications of joint control and robot movement,the joint torque estimation has been treated as an effective technique and widely used.Researches are made to analyze the kinematic and compliance model of the robot joint with harmonic drive to acquire high precision torque output.Through analyzing the structures of the harmonic drive and experiment apparatus,a scheme of the proposed joint torque estimation method based on both the dynamic characteristics and unscented Kalman filter(UKF)is designed and built.Based on research and scheme,torque estimation methods in view of only harmonic drive compliance model and compliance model with the Kalman filter are simulated as guidance and reference to promote the research on the torque estimation technique.Finally,a promoted torque estimation method depending on both harmonic drive compliance model and UKF is designed,and simulation results compared with the measurements of a commercial torque sensor,have verified the effectiveness of the proposed method.
基金National Natural Science Foundation of China(No.61463025)Program for Excellent Team of Scientific Research in Lanzhou Jiaotong University(No.201701)
文摘Employing matrix converter （MC） as driving mode, the strategy of model predictive torque control （MPTC） is proposed for three phase permanent magnet synchronous motor （PMSM） system. MC is applied instead of conventional AC DC AC converter to increase the power factor （PF） of the system input side. MPTC is used to select optimal voltage space vector to enable the system to have satisfactory torque and flux control effect. The resultant MPTC strategy not only makes the MC fed PMSM system operate reliably and have perfect control performance, but also makes the PF of the system input side be 1. Compared with direct torque control （DTC）, the proposed MPTC strategy guarantees that MC fed PMSM has better command following characteristics in the presence of variation of load torque and tracking reference speed. Simulation results verify the feasibility and effectiveness of the proposed strategy.
基金supported by National Natural Science Foundation of China (Nos. 61074023 and 60975075)Natural Science Foundation of Jiangsu Province of China (No. BK2008404)+1 种基金Science and Technology Pillar Program of Jiangsu Province of China (No. BE2009160)Innovation Project of Graduate Students of Jiangsu Province of China (No. CXZZ 0254)
文摘A mobile satellite communication system (MSCS) is a device installed on a moving carrier for mobile satellite communication. It can eliminate disturbance and maintain continuous satellite communication when the carrier is moving. Because of many advantages of mobile satellite communication, the MSCSs are becoming more and more popular in modern mobile communication. In this paper, a typical ship-mounted MSCS is studied. The dynamic model of the system is derived using the generalized Lagrange method both in the joint space and in the workspace. Based on the dynamic model, a nonlinear computed torque controller with trajectory planning is designed to track an aimed satellite with a satisfied transient response. Simulation results in two different situations are presented to show the tracking performance of the controller.
文摘The mathematic model of direct torque control (DTC) was deduced. Two simulating models based on the MATLAB & SIMULINK were established. The emphasis is focused on study of the performance difference of the DTC system with stator flux hexagon and circle trajectories. The simulation waveforms of flux, torque and current characters with two flux trajectories were given. Experiments were carried out in an AC drive system based on induction motor and two-level inverter. A dual-CPU structure was used and the communication with two CPUs was obtained by a dual-port RAM in this system.
文摘An adaptive load torque observer is presented to compensate the torque ripple in PMSM servo system. A simple adaptive scheme is derived using Popov ＇ s hyperstability theory. The torque ripple detected by the observer is compensated by a feed forwarding equivalent current which gives fast response. The noisy current information is exempt from the observer to avoid its deterioration to the quality of the observer. The speed measurement delay is considered by using observed speed sinee the instantaneous velocity can＇t be estimated precisely at low speed because of too few position pulses from the absolute encoder during one time interval. Simulation and experimental results demonstrate that the proposed method can improve the dynamic performance of PMSM servo system satisfyingly.
文摘A novel speed sensor-less direct torque control induction motor drive system for the mining locomotive haulage is presented in the paper. Rotor speed identification is based on the model reference adaptive control theory with neural network using back propagation algorithm. The system is implemented using a real-time TMS320F240 digital signal processor. The simulation study and experiment results indicate that the suggested system has good performance.
文摘Analyzed working principle and starting process of asynchronous motor direct torque control system. In order to solve the problem of serious fluctuation of starting current in traditional control scheme, the author puts forward a new kind of starting method which can limit voltage value to achieve the goal of reducing fluctuation of the current by increasing zero voltage vectors during the stage of starting. The author has also carried on simulation study on the system, and the result of simulation study shows that this method is effectual.
基金supported in part by the Universitat Politècnica de València under grant PAID-10-21supported through AMRITA Seed Grant(Proposal ID:ASG2022188)。
文摘Switched Reluctance Motors(SRMs),outfitted with rugged construction,good speed range,high torque density,and rare earth-free nature that outweigh induction motors(IM)and permanent magnet synchronous motor(PMSM),afford a broad range of applications in the domain of electric vehicles(EVs).Standard copper magnetic wire and low-carbon steel laminations are used to construct SRMs,which give them high efficiency in the range of 85-95%.Despite SRM's desirable features over traditional motor-speed drives,high torque ripples and radial distortions constrain their deployment in EVs.Precise rotor position is imperative for effective management of the speed and torque of SRMs.This paper provides an illustrative compendium on review of the torque-speed control and ripple mitigation techniques using design enhancements and control methods for SRM drives for EV applications.The various schemes were evaluated on their performance metricsoperational speed range,control complexity,practical realization,need for pre-stored parameters(look-up tables of current,inductance and torque profiles)and motor controller memory requirements.The findings provide valuable insights into balancing the gains and trade-offs associated with EV applications.Furthermore,they pinpoint opportunities for enhancement by analyzing the cost and technical aspects of different SRM controllers.
基金supported in part by the National Natural Science Foundation of China under Grant 52125701.
文摘Compared to the conventional permanent magnet synchronous machine(PMSM),the main characteristic of permanent magnet torque machine(PMTM)with high torque is that armature current is high,which has a great influence on magnetic circuit saturation,so this paper proposes a novel analytical method(AM)considering this problem.The key of this new AM is to consider armature reaction flux and armature leakage flux,which are closely related to output torque.Firstly,the expressions,including magnetomotive force(MMF)generated by permanent magnets(PMs)and armature windings are derived,and meanwhile slotting effect is considered by planning flux path.In addition,the expression of leakage flux density generated by armature windings are calculated,and flux density equivalence coefficient of tooth is calculated to be 2/3,which is used to solve the problem of uneven saturation of each tooth.Then,based on main flux factor and leakage flux factor proposed,an improved iteration process is proposed,and by this new process,the flux density of each yoke and tooth can be obtained,which is beneficial to obtain more accurate air-gap flux density and flux linkage.Finally,a prototype of 60-pole 54-slot is fabricated,and the performances of the electric machine,such as back electromotive force(EMF)and output torque,are calculated by this new AM and finite element method(FEM).The results of FEM and experimental test show that this new AM is good enough to calculate the performance of PMTM.
基金supported by the National Natural Science Foundation of China(Grant Nos.U24A6002,12174237(X.X.),52471253(F.W.),12404091(J.L.),52171183(Z.Q.))the support from the National Key Research and Development Program of China(Grant No.2022YFB3505301)+4 种基金the support from the Fund Program for the Scientific Activities of Selected Returned Overseas Professionals in Shanxi Province(Grant No.20240019)Central Government’s Special Fund for Local Science and Technology Development(Grant No.YDZJSX2024D058)the support from the Basic Research Plan of Shanxi Province(Grant No.202403021212016)the support from the Fundamental Research Program of Shanxi Province(Grant No.202403021222252)the Higher Education Science and Technology Innovation Plan Project of Shanxi(Grant No.2024L146)。
文摘The growing demand for artificial intelligence and complex computing has underscored the urgent need for advanced data storage technologies.Spin-orbit torque(SOT)has emerged as a leading candidate for high-speed,high-density magnetic random-access memory due to its ultrafast switching speed and low power consumption.This review systematically explores the generation and switching mechanisms of electron-mediated torques(including both conventional SOTs and orbital torques)and magnon-mediated torques.We discuss key materials that enable these effects:heavy metals,topological insulators,low-crystal-symmetry materials,non-collinear antiferromagnets,and altermagnets for conventional SOTs;3d,4d,and 5d transition metals for orbital torques;and antiferromagnetic insulator Ni O-and multiferroic Bi Fe O_(3)-based sandwich structures for magnon torques.We emphasize that although key components of SOT devices have been demonstrated,numerous promising materials and critical questions regarding their underlying mechanisms remain to be explored.Therefore,this field represents a dynamic and rapidly evolving frontier in spintronics,offering significant potential for advancing next-generation information storage and computational technologies.
文摘Geological deformations are generally attributed to compressional, extensional and strike-slip processes. Since the breakup of Gondwana, torque deformation has been responsible for the current configuration of the western coasts of Africa and the eastern shore of South America and the morphotectonic geometry of the rift basins of South America, conditioning the morphostructure of the Andean chain and the current geoforms of the foreland.
文摘In this paper,a 12/14-pole permanent magnet in-wheel motor is studied for potential in-wheel application,and the torque and loss are improved simultaneously based on designing and optimizing the corresponding dominant harmonics.The key of this study is to evaluate the contributions of harmonics on torque and loss,and further determines the harmonics related to them.Based on this,the torque enhancement factor and loss suppression factor are defined based on the selected dominant harmonics.And,the two factors are set as the optimization objectives,aiming at improving the characteristics of torque and loss.At the same time,to achieve an efficient optimization,a layered optimization method is presented,which includes magnet source layer and permeance layer.Based on the optimization,the motor torque is improved effectively,while the rotor iron loss is also reduced significantly.Then,a prototype motor is manufactured for experimental test.Finally,the simulation analysis and test results verify the validation of the studied motor and the proposed optimization method based on dominant harmonics.
基金financial support from the National Key R&D Program of China(Nos.2022YFB3506000 and 2022YFA1602700)financial support from Fundamental Research Funds for the Central Universities+6 种基金financial support from the National Natural Science Foundation of China(Nos.52425106,52121001,and 52271235)financial support from the Beijing Natural Science Foundation(No.JQ23005)financial support from the National Natural Science Foundation of China(No.52401300)funding from the China National Postdoctoral Program for Innovative Talents(No.BX20230451)from the China Postdoctoral Science Foundation(No.2024M754058)financial support from the National Natural Science Foundation of China(No.62401276)financial support from the National Natural Science Foundation of China(No.524B2003).
文摘Ferrimagnets are important for next-generation high-density ultrafast spintronic device applications.Magnetization compensation temperature(TM)is a fundamentally critical magnetic parameter for ferrimagnets besides their Curie temperature.Around TM,the spin-orbit switching efficiencies are extraordinarily high.Therefore,the accurate manipulation of TM from the material fabrication process is essential for the electrical steering of ferrimagnetic spins.In this work,CoTb thin films,with the 3 d and 4 f magnetic sublattices antiferromagnetically coupled to each other,are deposited at different temperatures.The magnetotransport and magnetic properties of these films are systematically investigated.It was found that the TM of this rare-earth ferrimagnet largely depends on the growth temperature and it can be tuned by over 100 K.Accordingly,the spins of an optimized ferrimagnetic CoTb thin film with its TM close to room temperature can be efficiently switched by the current-pulse-induced spin-orbit torque.Moreover,an artificial neural network utilizing the spin-orbit torque device was constructed,demonstrating an image recognition accuracy of approximately 92.5%,which is comparable to that of conventional software solutions.Thus,this work demonstrates the large tunability of TM of a rare earth ferrimagnet by chemical ordering and the great potential of such a ferrimagnet for electrically operated spintronic devices.
