Search Results (13)

With the rapid development of mobile robotics, wheeled bipedal robots, which combine the terrain adaptability of legged robots with the high mobility of wheeled systems, have attracted increasing research attention. To address the balance control problem during both standing and locomotion while reducing the influence of noise on control performance, this paper proposes a balance control framework based on a Linear Quadratic Regulator integrated with an Extended Kalman Filter (KLQR). Specifically, a baseline LQR controller is designed using the robot’s dynamic model, where the control input is generated in the form of wheel-hub motor torques. To mitigate measurement noise and suppress oscillatory behavior, an Extended Kalman Filter is applied to smooth the LQR torque output, which is then used as the final control command. Filtering experiments demonstrate that, compared with median filtering and other baseline methods, the proposed EKF-based approach significantly reduces high-frequency torque fluctuations. In particular, the peak-to-peak torque variation is reduced by more than 60%, and large-amplitude torque spikes observed in the baseline LQR controller are effectively eliminated, resulting in continuous and smooth torque output. Static balance experiments show that the proposed KLQR algorithm reduces the pitch-angle oscillation amplitude from approximately ±0.03 rad to ±0.01 rad, corresponding to an oscillation reduction of about threefold. The estimated RMS value of the pitch angle is reduced from approximately 0.010 rad to 0.003 rad, indicating improved convergence and steady-state stability. Furthermore, experiments involving constant-speed straight-line locomotion and turning indicate that the KLQR algorithm maintains stable motion with velocity fluctuations limited to within ±0.05 m/s. The lateral displacement deviation during locomotion remains below 0.02 m, and no abrupt acceleration or deceleration is observed throughout the experiments. Overall, the results demonstrate that applying Extended Kalman filtering to smooth the control torque effectively improves the smoothness and stability of LQR-based balance control for wheeled bipedal robots. Full article

Background: Silibinin (SLB), a flavonoid derived from milk thistle, exhibits promising therapeutic properties but faces significant clinical limitations due to poor solubility and bioavailability. Objectives: This study focuses on the development and characterization of SLB-loaded nanoemulsions designed for mucosal delivery. Methods: Nanoemulsions were prepared using the spontaneous emulsification method, guided by pseudoternary phase diagrams to determine selected component ratios. Comprehensive characterization included particle size, polydispersity index (PDI), zeta potential, encapsulation efficiency, rheological properties, and surface tension. Mucoadhesive properties were evaluated using quartz crystal microbalance with dissipation (QCM-D) to quantify interactions with mucin layers. Results: The combination of Capryol 90, Tween 80, and Transcutol in selected proportions yielded nanoemulsions with excellent stability and solubilization capacity, enhancing the solubility of silibinin by 625 times compared to its intrinsic solubility in water. The ternary phase diagram indicated that achieving nanoemulsions with particle sizes between 100 and 300 nm required higher concentrations of surfactants (60%), relative to oil (20%) and water (20%), with formulations predominantly composed of Smix (surfactant and cosurfactant mixture in a 1:1 ratio). Rheological analysis revealed Newtonian behavior, characterized by constant viscosity across varying shear rates and a linear torque response, ensuring ease of application and mechanical stability. QCM-D analysis confirmed strong mucoadhesive interactions, with significant frequency and dissipation shifts, indicative of prolonged retention and enhanced mucosal drug delivery. Furthermore, contact angle measurements showed a marked reduction in surface tension upon interaction with mucin, with the SLB-loaded nanoemulsion demonstrating superior wettability and strong mucoadhesive potential. Conclusions: These findings underscore the suitability of SLB-loaded nanoemulsions as a robust platform for effective mucosal drug delivery, addressing solubility and bioavailability challenges while enabling prolonged retention and controlled therapeutic release. Full article

The huge dielectric constant of ferroelectric nematic liquid crystals (FNLCs) seems to bring about a difficulty of molecular alignment control in exchange for a potential device application. To obtain a satisfactory level of uniform molecular alignment, it is essential to understand how the molecules near the alignment surface are anchored. In this study, bulk molecular alignment with an anti-parallel rubbing manner, which has not yet been investigated extensively, is explained using a conventional torque balance model introducing a polar anchoring function, and it is shown that the disappearance of the bulk twist alignment with decreasing cell thickness can be explained self-consistently. To validate this estimation for a room-temperature FNLC substance, the Brewster angle reflection method was attempted to confirm the surface director’s deviation from the rubbing direction caused by the polar surface anchoring. Full article

Electrical machines generate unwanted flux and current harmonics. Harmonics can be suppressed using various methods. In this paper, the harmonics are significantly reduced using Iterative Learning Control (ILC) and Neural Networks (NNs). The ILC can compensate for the harmonics well for operation at constant speed and current reference values. The NNs are trained with the data from the ILC and help to suppress the harmonics well even in transient operation. The simulation model is based on flux and torque maps, depending on $dq$-currents and the electrical angle. The maps are generated from FEM simulation of an interior permanent magnet synchronous machine (IPM) and are published with the paper. They are intended to serve other researchers for direct comparison with their own methods. Simulation results in this paper verify that by using ILC and NNs together, current harmonics in transient operation can be eliminated better than without NNs. Full article

Small sized electric motors providing high specific torque and power are required for many mobile applications. Air gap windings technology allows to create innovative lightweight and high-power electric motors that show low phase inductances. Low inductance leads to a small motor time constant, which enables fast current and torque control, but requires a high switching frequency and short sampling time to keep current ripples and losses in an acceptable range. This paper proposes an optimal torque feedforward control method, minimizing either torque ripples or motor losses, combined with a very robust and computation-efficient modal current feedback control. Compared to well-known control methods based on the Clarke-Park Transformations, the proposed strategy reduces torque ripples and motor losses significantly and offers a very fast implementation on standard microcontrollers with high robustness, e.g., against measurement errors of rotor angle. To verify the accuracy of the proposed control method, an experimental setup was used including a wheel hub motor built with a slotless air gap winding of low inductance, a standard microcontroller and GaN (Gallium Nitride) Power Devices allowing for high PWM switching frequencies. The proposed control method was validated first by correlation of simulation and experimental results and second by comparison to conventional field-oriented control. Full article

This article proposes an experimental apparatus design to measure the power of a cross-flow marine hydrokinetic turbine system operating in a laboratory water tunnel. Data, from one Hall sensor output signal, was processed to capture the three types of torque exerted on the turbines: mechanical loss, brake, and hydrodynamic torque. The method was then applied to compare the power of a twin turbine system in different counter-rotating configurations. Controlled by a hysteresis brake, the tip-speed-ratio was varied in a constant freestream velocity of 0.316 m/s. While the braking torque was independent of the speed, the mechanical loss was found to depend on the system rotational speed and the amount of mass mounted on the mechanical support. In a counter-rotating configuration, the turbines were synchronized through a pair of spur gears and timing pulleys. Operating at the average chord based Reynolds number of 8000, each turbine had three NACA0012 blades mounted at ${15}^{\circ }$ pitch angle. The power coefficient results of 8 turbine configurations showed the tendency of power enhancement of counter-rotating configurations due to blade interaction and increase in blockage ratio. Comparison of the results suggested direct application in a river flow scenario and manipulation of the blade interaction for optimal power production. Full article

Horizontal well drilling is a highly effective way to develop marine gas hydrate. During the drilling of horizontal wells in the marine gas hydrate layer, hydrate particles and cutting particles will migrate with the drilling fluid in the horizontal annulus. The gravity of cuttings is easy to deposit in the horizontal section, leading to the accumulation of cuttings. Then, a cuttings bed will be formed, which is not beneficial to bring up cuttings and results in the decrease of wellbore purification ability. Then the extended capability of the horizontal well will be restricted and the friction torque of the drilling tool will increase, which may cause blockage of the wellbore in severe cases. Therefore, this paper establishes geometric models of different hole enlargement ways: right-angle expansion, 45-degree angle expansion, and arc expanding. The critical velocity of carrying rock plates are obtained by EDEM and FLUENT coupling simulation in different hydrate abundance, different hydrate-cuttings particle sizes and different drilling fluid density. Then, the effects of hole enlargement way, particle size, hydrate abundance and drilling fluid density on rock carrying capacity are analyzed by utilizing an orthogonal test method. Simulation results show that: the critical flow velocity required for carrying cuttings increases with the increase of the particle size of the hydrate-cuttings particle when the hydrate abundance is constant. The critical flow velocity decreases with the increase of drilling fluid density, the critical flow velocity carrying cuttings decreases with the increase of hydrate abundance when the density of the drilling fluid is constant. Orthogonal test method was used to evaluate the influence of various factors on rock carrying capacity: hydrate-cuttings particle size > hole enlargement way > hydrate abundance > drilling fluid density. This study provides an early technical support for the construction parameter optimization and well safety control of horizontal well exploitation models in a marine natural gas hydrate reservoir. Full article

As the size of wind turbines increases and their hub heights become higher, which partially explains the vertiginous increase of wind power worldwide in the last decade, the interaction of wind turbines with the atmospheric boundary layer (ABL) and between each other is becoming more complex. There are different approaches to model and compute the aerodynamic loads, and hence the power production, on wind turbines subject to ABL inflow conditions ranging from the classical Blade Element Momentum (BEM) method to Computational Fluid Dynamic (CFD) approaches. Also, modern multi-MW wind turbines have a torque controller and a collective pitch controller to manage power output, particularly in maximizing power production or when it is required to down-regulate their production. In this work the results of a validated numerical method, based on a Large Eddy Simulation-Actuator Line Model framework, was applied to simulate a real 7.7 MNW onshore wind farm on Uruguay under different wind conditions, and hence operational situations are shown with the aim to assess the capability of this approach to model actual wind farm dynamics. A description of the implementation of these controllers in the CFD solver Caffa3d, presenting the methodology applied to obtain the controller parameters, is included. For validation, the simulation results were compared with 1 Hz data obtained from the Supervisory Control and Data Acquisition System of the wind farm, focusing on the temporal evolution of the following variables: Wind velocity, rotor angular speed, pitch angle, and electric power. In addition to this, simulations applying active power control at the wind turbine level are presented under different de-rate signals, both constant and time-varying, and were subject to different wind speed profiles and wind directions where there was interaction between wind turbines and their wakes. Full article

This paper presents a simulation method for direct-drive permanent-magnet linear generators designed for wave power. Analytical derivations of power and maximum damping force are performed based on Faraday’s law of induction and circuit equations for constant-torque-angle control. Knowledge of the machine reactance or the load angle is not needed. An aim of the simulation method is to simplify comparison of the maximum damping force, losses, and cost between different generator designs at an early design stage. A parameter study in MATLAB based on the derived equations is performed and the effect of changing different generator parameters is studied. The analytical calculations are verified with finite element method (FEM) simulations and experiments. An important conclusion is that the copper losses and the maximum damping force are mainly dependent on the rated current density and end winding length. The copper losses are inherently large in a slow-moving machine so special consideration should be taken to decrease the end winding length. It is concluded that the design of the generator becomes a trade-off between material cost versus high efficiency and high maximum damping force. Full article

This paper proposes an improved continuous-time model predictive control (CTMPC) of permanent magnetic synchronous motors (PMSMs) for a wide-speed range, including the constant torque region and the flux-weakening (FW) region. In the constant torque region, the mathematic models of PMSMs in dq-axes are decoupled without the limitation of DC-link voltage. However, in the FW region, the mathematic models of PMSMs in dq-axes are cross-coupled together with the limitation of DC-link voltage. A nonlinear PMSMs mathematic model in the FW region is presented based on the voltage angle. The solving of the nonlinear mathematic model of PMSMs in FW region will lead to heavy computation load for digital signal processing (DSP). To overcome such a problem, a linearization method of the voltage angle is also proposed to reduce the computation load. The selection of transiting points between the constant torque region and FW regions is researched to improve the performance of the driven system. Compared with the proportional integral (PI) controller, the proposed CTMPC has obvious advantages in dealing with systems’ nonlinear constraints and improving system performance by restraining overshoot current under step torque changing. Both simulation and experimental results confirm the effectiveness of the proposed method in achieving good steady-state performance and smooth switching between the constant torque and FW regions. Full article

Due the concern about serious environmental pollution and fossil energy consumption, introducing solar generation into ship power systems has drawn greater attention. However, the penetration of solar energy will result in ship power system instability caused by the uncertainties of the solar irradiation. Unlike on land, the power generated by photovoltaic (PV) modules on the shipboard changes as the ship rolls. In this paper, a high-speed flywheel energy storage system (FESS) is modeled to smooth the PV power fluctuations and improve the power quality on a large oil tanker which contains a PV generation system, a diesel generator, a FESS, and various types of ship loads. Furthermore, constant torque angle control method combined with sinusoidal pulse width modulation (SPWM) approach is proposed to control the FESS charging and discharging. Different ship operating situations and the impact of the ship rolling is taken into consideration. The simulation results demonstrate the high efficiency and fast response of the flywheel energy storage system to enhance the stability of the proposed hybrid ship power system. Full article

A common problem in wind power plants involves fixed-speed wind turbines. In fact, being equipped with a squirrel-cage induction generator (SCIG), they tend to drain a relevant amount of reactive power from the grid, potentially causing voltage drops and possible voltage instability. To improve SCIG power quality and transient stability, this paper investigates a new control strategy for pitch angle control based on proportional-integral (PI) controller and a fuzzy logic controller (FLC), considering both normal and fault ride-through (FRT) schemes. In the literature, often, the mechanical torque output is assumed constant for a specific wind speed. This might not be accurate, because the mechanical torque-speed typical of a wind turbine depends also on the power coefficient or pitch angle. In this paper, an analytic model of transient stability is proposed using the equivalent circuit of the SCIG and using the concepts of stable and unstable electrical-mechanical equilibrium. The method has been evaluated by comparing the results obtained by the analytic method with the dynamic simulation. The results show that the proposed hybrid controller is effective at smoothing the output power and complying with FRT requirements for SCIG in the power system. Full article

Generally, design of the parts of an automobile is restricted by space especially components assembled in the engine room. Therefore traction motor for hybrid electric vehicle is designed by interior permanent magnet synchronous motor (IPMSM). The IPMSM has high power density and efficiency because it generates not only magnetic torque but also reluctance torque. However, IPMSM is difficult to design due to magnetic saturation and lots of analysis methods are required. Equivalent circuit analysis (ECA) is one of the design methods of IPMSM and it is generally used for characteristics analysis. Using the ECA, we can calculate the characteristics quickly. However, ECA can not estimate line current exactly because of saturation of magnetic core and flux weakening control. In order to perform the ECA exactly, calculation of parameters such as phase resistance, d- and q-axis inductance and no-load linkage flux are important. The phase resistance is simply calculated by using linear equation which is geometrical problem. However, dand q-axis inductance is nonlinear problem which is varied with current level and current angle. Therefore, nonlinear finite element analysis is necessary. Conventional ECA is considered only d- and q-axis inductance profile but no-load linkage flux is considered as constant value. However, no-load linkage flux of IPMSM is also varied according to current level and current angle similar with d- and q-axis inductance profile. Therefore, no-load linkage flux profile which is calculated case of current level and current angle should be considered in the ECA. In this paper, the calculation method of no-load linkage flux profile is introduced firstly and then characteristic of specific model is analyzed with proposed method. The result of line current from improved ECA is compared with experimental result and result of conventional ECA. Full article