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Keywords = linear synchronous motor

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25 pages, 4087 KiB  
Article
Symmetry-Inspired Friction Compensation and GPI Observer-Based Nonlinear Predictive Control for Enhanced Speed Regulation in IPMSM Servo Systems
by Chao Wu, Xiaohong Wang, Yao Ren and Yuying Zhou
Symmetry 2025, 17(7), 1012; https://doi.org/10.3390/sym17071012 - 27 Jun 2025
Viewed by 243
Abstract
In integrated permanent magnet synchronous motors (IPMSMs) coupled with mechanical devices such as ball screws and reducers, complex nonlinear friction characteristics often arise, leading to asymmetrical distortions such as position “flat-top” and speed “ramp-up”. These phenomena significantly degrade the system’s positioning accuracy. To [...] Read more.
In integrated permanent magnet synchronous motors (IPMSMs) coupled with mechanical devices such as ball screws and reducers, complex nonlinear friction characteristics often arise, leading to asymmetrical distortions such as position “flat-top” and speed “ramp-up”. These phenomena significantly degrade the system’s positioning accuracy. To address this issue, this paper introduces a symmetry-inspired nonlinear predictive speed control approach based on the Stribeck piecewise linearized friction compensation and a generalized proportional integral (GPI) observer. The proposed method leverages the inherent symmetry in the Stribeck friction model to describe the nonlinear behavior, employing online piecewise linearization via the least squares method. A GPI observer was designed to estimate the lumped disturbance, including time-varying components in the speed dynamics, friction model deviations, and external loads. By incorporating these estimates, a nonlinear predictive controller was developed, employing a quadratic cost function to derive the optimal control law. The experimental results demonstrate that, compared to traditional integral NPC and PI controllers, the proposed method effectively restores system symmetry by eliminating the “flat-top” and “ramp-up” distortions while maintaining computational efficiency. Full article
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15 pages, 1821 KiB  
Article
Nonlinear Dynamics of MEG and EMG: Stability and Similarity Analysis
by Armin Hakkak Moghadam Torbati, Christian Georgiev, Daria Digileva, Nicolas Yanguma Muñoz, Pierre Cabaraux, Narges Davoudi, Harri Piitulainen, Veikko Jousmäki and Mathieu Bourguignon
Brain Sci. 2025, 15(7), 681; https://doi.org/10.3390/brainsci15070681 - 25 Jun 2025
Viewed by 392
Abstract
Background: Sensorimotor beta oscillations are critical for motor control and become synchronized with muscle activity during sustained contractions, forming corticomuscular coherence (CMC). Although beta activity manifests in transient bursts, suggesting nonlinear behavior, most studies rely on linear analyses, leaving the underlying dynamic structure [...] Read more.
Background: Sensorimotor beta oscillations are critical for motor control and become synchronized with muscle activity during sustained contractions, forming corticomuscular coherence (CMC). Although beta activity manifests in transient bursts, suggesting nonlinear behavior, most studies rely on linear analyses, leaving the underlying dynamic structure of brain–muscle interactions underexplored. Objectives: To investigate the nonlinear dynamics underlying beta oscillations during isometric contraction. Methods: MEG and EMG were recorded from 17 right-handed healthy adults performing a 10 min isometric pinch task. Lyapunov exponent (LE), fractal dimension (FD), and correlation dimension (CD) were computed in 10 s windows to assess temporal stability. Signal similarity was assessed using Pearson correlation of amplitude envelopes and the nonlinear features. Burstiness was estimated using the coefficient of variation (CV) of the beta envelope to examine how transient fluctuations in signal amplitude relate to underlying nonlinear dynamics. Phase-randomized surrogate signals were used to validate the nonlinearity of the original data. Results: In contrast to FD, LE and CD revealed consistent, structured dynamics over time and significantly differed from surrogate signals, indicating sensitivity to non-random patterns. Both MEG and EMG signals demonstrated temporal stability in nonlinear features. However, MEG–EMG similarity was captured only by linear envelope correlation, not by nonlinear features. CD was strongly associated with beta burstiness in MEG, suggesting it reflects information similar to that captured by the amplitude envelope. In contrast, LE showed a weaker, inverse relationship, and FD was not significantly associated with burstiness. Conclusions: Nonlinear features capture intrinsic, stable dynamics in cortical and muscular beta activity, but do not reflect cross-modal similarity, highlighting a distinction from conventional linear analyses. Full article
(This article belongs to the Section Developmental Neuroscience)
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25 pages, 28417 KiB  
Article
Model-Free Adaptive Fast Integral Terminal Sliding Mode Control for Permanent Magnet Synchronous Motor with Position Error Constraint
by Xingyu Qu, Shuang Zhang and Chengkun Peng
World Electr. Veh. J. 2025, 16(7), 341; https://doi.org/10.3390/wevj16070341 - 20 Jun 2025
Viewed by 324
Abstract
The permanent magnet synchronous motor (PMSM) is a critical device that converts kinetic energy into mechanical energy. However, it faces issues such as nonlinearity, time-varying uncertainties, and external disturbances, which may degrade the system control performance. To address these challenges, this paper proposes [...] Read more.
The permanent magnet synchronous motor (PMSM) is a critical device that converts kinetic energy into mechanical energy. However, it faces issues such as nonlinearity, time-varying uncertainties, and external disturbances, which may degrade the system control performance. To address these challenges, this paper proposes a prescribed performance model-free adaptive fast integral terminal sliding mode control (PP-MFA-FITSMC) method. This approach replaces conventional techniques such as parameter identification, function approximation, and model reduction, offering advantages such as quantitative constraints on the PMSM tracking error, reduced chattering, strong disturbance rejection, and ease of engineering implementation. The method establishes a compact dynamic linearized data model for the PMSM system. Then, it uses a discrete small-gain extended state observer to estimate the composite disturbances in the PMSM online, effectively compensating for their adverse effects. Meanwhile, an improved prescribed performance function and error transformation function are designed, and a fast integral terminal sliding surface is constructed along with a discrete approach law that adaptively adjusts the switching gain. This ensures finite-time convergence of the control system, forming a model-free, low-complexity, high-performance control approach. Finally, response surface methodology is applied to conduct a sensitivity analysis of the controller’s critical parameters. Finally, controller parameter sensitivity experiments and comparative experiments were conducted. In the parameter sensitivity experiments, the response surface methodology was employed to design the tests, revealing the impact of individual parameters and parameter interactions on system performance. In the comparative experiments, under various operating conditions, the proposed strategy consistently constrained the tracking error within ±0.0028 rad, demonstrating superior robustness compared to other control methods. Full article
(This article belongs to the Special Issue Permanent Magnet Motors and Driving Control for Electric Vehicles)
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17 pages, 2712 KiB  
Article
Height Control and Experimental Study of Linear Motor-Based Active Suspension Systems
by Chao Jiang and Jialing Yao
Electronics 2025, 14(12), 2482; https://doi.org/10.3390/electronics14122482 - 18 Jun 2025
Viewed by 248
Abstract
This study addresses the challenge of ride height control in linear motor-based active suspension systems by proposing a control strategy based on linear active disturbance rejection control (LADRC). The effectiveness of the proposed approach is experimentally validated using a high-precision test platform built [...] Read more.
This study addresses the challenge of ride height control in linear motor-based active suspension systems by proposing a control strategy based on linear active disturbance rejection control (LADRC). The effectiveness of the proposed approach is experimentally validated using a high-precision test platform built on the NI cRIO-9014 real-time controller. The platform integrates a permanent magnet synchronous linear motor, a motor driver, acceleration sensors, and a vibration control system to realize closed-loop control of vehicle body height. Experimental results demonstrate that, compared with conventional PID control, LADRC achieves superior performance in height regulation accuracy, dynamic responsiveness, vertical acceleration suppression, and steady-state stability. In step response experiments, LADRC reduces the regulation time by 53.8% (from 1.3 s to 0.6 s) and lowers the steady-state error from 0.502 mm to 0.05 mm. In sinusoidal trajectory tracking tests, the LADRC approach reduces peak and RMS tracking errors by 81.5% and 80.3%, respectively. Moreover, under random road excitation, LADRC effectively attenuates high-frequency body vibrations, with reductions of 29.58% in peak vertical acceleration and 12.23% in RMS acceleration. Full article
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26 pages, 5445 KiB  
Article
Research on Sensorless Control Strategy of High-Speed Submersible Permanent Magnet Synchronous Motor
by Liang Xiong, Xiaolian Zhang, Lieyu Tian, Yang Lv, Jinsong Lu, Ailiyaer Ahemaiti, Qi Shi and Junguo Cui
Actuators 2025, 14(6), 282; https://doi.org/10.3390/act14060282 - 9 Jun 2025
Viewed by 397
Abstract
The application fields of high-speed submersible permanent magnet synchronous motors (PMSM) are constantly expanding. Especially in high-risk and complex environments such as oil exploration, offshore oil exploitation, and deep well operation, the reliability, stability, and efficiency of motor drive systems are more and [...] Read more.
The application fields of high-speed submersible permanent magnet synchronous motors (PMSM) are constantly expanding. Especially in high-risk and complex environments such as oil exploration, offshore oil exploitation, and deep well operation, the reliability, stability, and efficiency of motor drive systems are more and more prominent. The submersible motor is greatly affected by load disturbance, pressure change, and external oil flow, and the traditional method may not perform well in complex disturbance problems. Therefore, a three-order adaptive nonlinear extended state observer is proposed to collect the input and output information of the system in real time, and estimate the motor speed, position, and total disturbance. A linear feedback control law is designed to eliminate the disturbance. The superiority of the proposed algorithm under complex operating conditions is verified by the Simulink model and experiments, which provide a theoretical basis for the control of submersible motors. Full article
(This article belongs to the Section Control Systems)
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16 pages, 1842 KiB  
Article
A Servo Control Algorithm Based on an Explicit Model Predictive Control and Extended State Observer with a Differential Compensator
by Zhuobo Dong, Shuai Chen, Zheng Sun, Benyi Tang and Wenjun Wang
Actuators 2025, 14(6), 281; https://doi.org/10.3390/act14060281 - 8 Jun 2025
Viewed by 464
Abstract
Positioning servo systems utilizing permanent magnet synchronous linear motors (PMSLMs) are conventionally governed by cascaded P-PI controllers, which, despite their simplicity and robustness, suffer from limited tracking and anti-disturbance performance due to their single-degree-of-freedom (1-DOF) structure. This paper introduces a novel two-degree-of-freedom (2-DOF) [...] Read more.
Positioning servo systems utilizing permanent magnet synchronous linear motors (PMSLMs) are conventionally governed by cascaded P-PI controllers, which, despite their simplicity and robustness, suffer from limited tracking and anti-disturbance performance due to their single-degree-of-freedom (1-DOF) structure. This paper introduces a novel two-degree-of-freedom (2-DOF) control algorithm that integrates explicit model predictive control (EMPC) with a differential-compensated extended state observer (DCESO). The EMPC framework leverages position and velocity as state variables, eliminating the need for integral terms and thereby enhancing dynamic response. By employing an offline optimization approach, a control law is explicitly formulated to handle system constraints while minimizing online computational overhead. Additionally, a velocity feedforward term derived from the MPC framework is incorporated to further reduce tracking errors. To bolster disturbance rejection, the proposed DCESO introduces a differential compensator that mitigates the low-pass effects inherent in traditional ESOs, thereby improving estimation dynamics. Experimental results demonstrate that the proposed method significantly outperforms the conventional P-PI controller, increasing the position loop bandwidth from 147 Hz to 208 Hz and markedly enhancing anti-disturbance performance. The algorithm’s low online computational demand makes it highly suitable for industrial applications. Full article
(This article belongs to the Section Control Systems)
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19 pages, 8803 KiB  
Article
Stepwise Segmented Skewed Pole Modulation Vibration Reduction Design for Integer-Slot Motors
by Huawei Wu, Shaokang Lu, Xiaoyuan Zhu, Weiye Li and Jianping Peng
World Electr. Veh. J. 2025, 16(5), 275; https://doi.org/10.3390/wevj16050275 - 16 May 2025
Viewed by 393
Abstract
To optimize the modulated vibration generated by the integer-slot interior permanent magnet synchronous motor (IPMSM), a stepwise segmented skewed pole method was proposed, using an 8-pole 48-slot IPMSM as an example. First, the vibration characteristics of the motor were studied, and the theoretical [...] Read more.
To optimize the modulated vibration generated by the integer-slot interior permanent magnet synchronous motor (IPMSM), a stepwise segmented skewed pole method was proposed, using an 8-pole 48-slot IPMSM as an example. First, the vibration characteristics of the motor were studied, and the theoretical mechanisms of the magnetic field modulation effect and radial force modulation effect were explained. The study showed that high-order radial forces can excite larger low-order vibrations under the influence of radial force modulation. Then, in response to the axial spacing in the linear skewed pole structure when canceling the 48th-order radial force, a stepwise skewed pole structure was proposed. The suppression mechanism of this skewed pole structure on the motor’s modulated vibration was analyzed, and the optimization effect of different segment numbers on the motor’s vibration acceleration at 12fe was discussed. Finally, models for the motor’s magnetic field, structural field, and acoustic field before and after skewing were established, and simulations were conducted to compare the magnitudes of the radial forces at each order and their vibration noise performance. The results showed that after stepwise skewed pole optimization, the radial force that excites the modulated vibration was reduced by 68%, the maximum vibration acceleration on the casing surface was reduced by 84%, and the overall noise was reduced by 7.491 dB, effectively suppressing electromagnetic vibration noise. Full article
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24 pages, 9549 KiB  
Article
The Electromechanical Modeling and Parametric Analysis of a Piezoelectric Vibration Energy Harvester for Induction Motors
by Moisés Vázquez-Toledo, Arxel de León, Francisco López-Huerta, Pedro J. García-Ramírez, Ernesto A. Elvira-Hernández and Agustín L. Herrera-May
Technologies 2025, 13(5), 194; https://doi.org/10.3390/technologies13050194 - 10 May 2025
Viewed by 482
Abstract
Industrial motors generate vibration energy that can be converted into electrical energy using piezoelectric vibration energy harvesters (pVEHs). These energy harvesters can power devices or function as self-powered sensors. However, optimal electromechanical designs of pVEHs are required to improve their output performance under [...] Read more.
Industrial motors generate vibration energy that can be converted into electrical energy using piezoelectric vibration energy harvesters (pVEHs). These energy harvesters can power devices or function as self-powered sensors. However, optimal electromechanical designs of pVEHs are required to improve their output performance under different vibration frequency and amplitude conditions. To address this challenge, we performed the electromechanical modeling of a multilayer pVEH that harvests vibration energy from induction electric motors at frequencies close to 30 Hz. In addition, a parametric analysis of the geometry of the multilayer piezoelectric device was conducted to optimize its deflection and output voltage, considering the substrate length, piezoelectric patch position, and dimensions of the central hole. Our analytical model predicted the deflection and first bending resonant frequency of the piezoelectric device, with good agreement with predictions from finite element method (FEM) models. The proposed piezoelectric device achieved an output voltage of 143.2 V and an output power of 3.2 mW with an optimal resistance of 6309.5 kΩ. Also, the principal stresses of the pVEH were assessed using linear trend analysis, finding a safe operating range up to an acceleration of 0.7 g. The electromechanical design of the pVEH allowed for effective synchronization with the vibration frequency of an induction electric motor. This energy harvester has a potential application in industrial electric motors to transform their vibration energy into electrical energy to power sensors. Full article
(This article belongs to the Special Issue Technological Advances in Science, Medicine, and Engineering 2024)
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22 pages, 9825 KiB  
Article
Optimized Feedback Type Flux Weakening Control of Non-Salient Permanent Magnet Synchronous Machines in MTPV Region with Improved Stability
by Chao Wang, Ziqiang Zhu, Lei Xu, Ximeng Wu and Kejin Lu
Energies 2025, 18(9), 2282; https://doi.org/10.3390/en18092282 - 29 Apr 2025
Viewed by 393
Abstract
This paper introduces an enhanced approach for optimizing the flux-weakening performance of a non-salient permanent magnet synchronous machine (PMSM), by incorporating the maximum torque per voltage (MTPV) region into a conventional voltage magnitude feedback control strategy. The MTPV control strategy is initially optimized [...] Read more.
This paper introduces an enhanced approach for optimizing the flux-weakening performance of a non-salient permanent magnet synchronous machine (PMSM), by incorporating the maximum torque per voltage (MTPV) region into a conventional voltage magnitude feedback control strategy. The MTPV control strategy is initially optimized for steady-state performance by incorporating the effect of resistance, which plays a crucial role in small power motors. To maintain stability and good dynamics in the flux-weakening region, a current command feedback MTPV controller is utilized, as opposed to a voltage command feedback approach. Additionally, to address stability concerns in the MTPV region, a feedback type proportional-integral (PI) MTPV controller is designed and implemented. The stability in both the over-modulation and various flux-weakening regions is further enhanced using a voltage vector modifier (VVM). Therefore, the proposed feedback-based flux-weakening control enhances system steady-state performance, dynamic response, and stability across both linear and over modulation regions under various flux-weakening conditions, making it suitable for general-purpose applications. The effectiveness of the proposed method is validated through experimental results. Full article
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19 pages, 5997 KiB  
Article
Dual-Random Space Vector Pulse Width Modulation Strategy Based on Optimized Beta Distribution
by Xin Gu, Kunyang Wu, Xuefeng Jin, Guozheng Zhang, Wei Chen and Chen Li
Electronics 2025, 14(9), 1779; https://doi.org/10.3390/electronics14091779 - 27 Apr 2025
Viewed by 410
Abstract
In the control system of a permanent magnet synchronous motor (PMSM) driven by an inverter, the conventional space vector pulse width modulation (SVPWM) strategy introduces high-frequency current harmonics at the switching frequency and its multiples, resulting in significant high-frequency vibrations during motor operation. [...] Read more.
In the control system of a permanent magnet synchronous motor (PMSM) driven by an inverter, the conventional space vector pulse width modulation (SVPWM) strategy introduces high-frequency current harmonics at the switching frequency and its multiples, resulting in significant high-frequency vibrations during motor operation. To address this issue, a dual-random SVPWM strategy is proposed in this paper, which combines a random switching frequency and random zero-vector to spread the spectrum of high-frequency current harmonics. This approach effectively disperses the high-frequency harmonics concentrated at the switching frequency and its multiples, thereby significantly reducing the motor’s high-frequency vibrations. Furthermore, to overcome the limitations of the traditional linear congruential method in generating random numbers, the Beta distribution is introduced and improved in this study. The particle swarm optimization (PSO) algorithm is employed to optimize the shape parameters of the Beta distribution, to achieve the optimal random number performance. Finally, experimental validation is conducted under various speed conditions. Compared with the conventional SVPWM strategy, the results demonstrate that the proposed dual-random SVPWM strategy exhibits superior suppression of both high-frequency harmonics and high-frequency vibrations. Full article
(This article belongs to the Special Issue Advanced Control Techniques for Power Converter and Drives)
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16 pages, 7598 KiB  
Article
Vehicle Height Lifting Strategy Based on Double-Vector Control of Permanent Magnet Synchronous Linear Motor
by Cheng Wang and Jialing Yao
Electronics 2025, 14(8), 1515; https://doi.org/10.3390/electronics14081515 - 9 Apr 2025
Viewed by 439
Abstract
Conventional active vehicle height control systems predominantly employ hydraulic or pneumatic suspension mechanisms. Although these established approaches have achieved widespread adoption in automotive applications, they remain fundamentally constrained by three critical drawbacks: (1) inadequate dynamic response characteristics, (2) high energy consumption, and (3) [...] Read more.
Conventional active vehicle height control systems predominantly employ hydraulic or pneumatic suspension mechanisms. Although these established approaches have achieved widespread adoption in automotive applications, they remain fundamentally constrained by three critical drawbacks: (1) inadequate dynamic response characteristics, (2) high energy consumption, and (3) inherent mechanical complexity. The ongoing electrification revolution in vehicle technologies has spurred significant research interest in linear electromagnetic suspension systems. Nevertheless, their practical implementation encounters dual technical barriers: (a) complex multi-phase motor configurations requiring precise coordination, and (b) substantial thrust ripple generation under dynamic operating conditions. To address these critical limitations, our research proposes a novel motor structure, known as the flat rectangular slot structure, which offers advantages such as simple installation and high thrust with low current. Additionally, we have designed a double-vector control strategy for the motor control section, which modifies the finite-set model predictive control and enhances the accuracy of the model’s calculations. By integrating the vehicle model, we have developed a multi-layer hierarchical control strategy for the vehicle height controller. In the first layer, a PI controller is used to convert the target height into current, which is then input into the value function. In the second layer, we improve the control strategy for the linear motor by optimizing the finite-set model predictive control through the double-vector control. Through multi-step predictive calculations, we determine the optimal sector, enabling the motor to receive the corresponding control force. In the third layer, the motor thrust is input into the vehicle model to achieve closed-loop control of the vehicle body. Finally, we conduct simulation verification of the proposed control strategy. The simulation results indicate that the double-vector control significantly reduces the fluctuation in the sprung mass displacement by approximately 70% compared to single-vector control, the response speed is increased by approximately 20%, and the thrust required to achieve the target vehicle height is reduced by 5.7%. Therefore, the proposed double-vector control strategy can significantly enhance the stability of the automotive electronic control suspension, opening up new research avenues for the study of suspension stability control and energy saving in vehicles. Full article
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40 pages, 19053 KiB  
Article
MOIRA-UNIMORE Bearing Data Set for Independent Cart Systems
by Abdul Jabbar, Marco Cocconcelli, Gianluca D’Elia, Davide Borghi, Luca Capelli, Jacopo Cavalaglio Camargo Molano, Matteo Strozzi and Riccardo Rubini
Appl. Sci. 2025, 15(7), 3691; https://doi.org/10.3390/app15073691 - 27 Mar 2025
Viewed by 662
Abstract
This paper introduces a comprehensive and publicly accessible data set from an experimental study on an independent cart system powered by linear motors. The primary objective is to advance research in machine health monitoring, predictive maintenance, and stochastic modeling by providing the first [...] Read more.
This paper introduces a comprehensive and publicly accessible data set from an experimental study on an independent cart system powered by linear motors. The primary objective is to advance research in machine health monitoring, predictive maintenance, and stochastic modeling by providing the first data set of its kind. Vibration signals were collected using sensors placed along the track, alongside key system variables such as cart position, following error, speed, and set current. Experiments were conducted under a wide range of operating conditions, including different fault types, fault severities, cart speeds, and fault orientations, for both single-cart and multi-cart configurations. The data set captures the relationship between vibration signatures, system variables, and fault characteristics across diverse speed profiles. The data set includes inner race (IR) and outer race (OR) faults in both the top and bottom bearings, with fault severities of 0.25 mm, 0.5 mm, 1.0 mm, and 1.5 mm in width. Eight different types of experiments were performed, classified based on the number of carts used, the section of the guide rail traversed, and the type of movement exhibited. Each experiment was conducted at two distinct nominal speeds of 1000 mm/s and 2000 mm/s, with acquisition durations ranging from 30 s to 2 min. Many experiments included multiple realizations to ensure statistical reliability. Data were recorded at a sampling frequency of 50 kHz with a resolution of 24 bits. For single-cart experiments, 5 system variables were captured, while for three-cart experiments, 15 system variables were recorded along with nine vibration channels. The total data set is approximately 400 GB, offering an extensive resource for data-driven research. Independent cart systems present unique challenges such as non-synchronous operation, speed reversals, and modularity, with each cart containing multiple bearings. In industrial applications where hundreds of carts may operate simultaneously, monitoring a large number of bearings becomes highly complex, making fault identification and localization particularly difficult. Unlike conventional rotary systems, where bearings are fixed around a rotating shaft, independent cart systems involve bearings that both rotate and translate along the track. This fundamental difference makes existing data sets and methodologies inadequate, emphasizing the need for specialized research. By addressing this gap, this work provides a critical resource for benchmarking and developing novel algorithms for fault diagnosis, signal processing, and machine learning in industrial transport applications. The outcomes of this study lay the foundation for future research in the condition monitoring of linear motor-driven transport systems. Full article
(This article belongs to the Special Issue Fault Diagnosis and Detection of Machinery)
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17 pages, 2078 KiB  
Article
Adaptive Output Regulation for PMSM Speed Servo System via Time-Varying Internal Model Approach
by Hui Song, Zhaowu Ping, Jiaze Hui, Yunzhi Huang and Jun-Guo Lu
Actuators 2025, 14(3), 158; https://doi.org/10.3390/act14030158 - 20 Mar 2025
Viewed by 365
Abstract
This article investigates the adaptive output regulation problem of a permanent magnet synchronous motor (PMSM) speed servo system with unknown time-varying exosystems and aims to achieve multiple objectives including speed tracking, disturbance rejection, and robustness simultaneously. Existing linear or nonlinear internal model designs [...] Read more.
This article investigates the adaptive output regulation problem of a permanent magnet synchronous motor (PMSM) speed servo system with unknown time-varying exosystems and aims to achieve multiple objectives including speed tracking, disturbance rejection, and robustness simultaneously. Existing linear or nonlinear internal model designs are not applicable to the output regulation problem under the time-varying situation. Hence, we first construct a time-varying internal model to transform this control problem into a robust stabilization problem for a time-varying augmented system, and then design a stabilization controller integrating robust control and adaptive control techniques to stabilize this system. Finally, the validity of the proposed approach is verified through simulations and experiments. It is worth mentioning that our approach can achieve high-precision speed tracking of PMSM under parameter uncertainties and load torque disturbance with unknown time-varying frequencies. Full article
(This article belongs to the Special Issue From Theory to Practice: Incremental Nonlinear Control)
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11 pages, 1458 KiB  
Article
Evaluation of Measurement Uncertainty for the Wave Buoy Calibration Device Using a Vertical Lifting Method
by Yafei Huang, Donglei Zhao, Chenhao Gao, Tian Yan and Lijun He
J. Mar. Sci. Eng. 2025, 13(3), 605; https://doi.org/10.3390/jmse13030605 - 19 Mar 2025
Viewed by 363
Abstract
This study evaluates the measurement uncertainty of the wave buoy calibration device using a vertical lifting method to ensure the accuracy and reliability of wave buoy measurements for marine research. The calibration device employs a linear motor-driven vertical displacement system, integrating a standard [...] Read more.
This study evaluates the measurement uncertainty of the wave buoy calibration device using a vertical lifting method to ensure the accuracy and reliability of wave buoy measurements for marine research. The calibration device employs a linear motor-driven vertical displacement system, integrating a standard steel tape for wave height measurement and a photoelectric switch-based time calibration module for wave period verification. To address the limitations of traditional instruments, the device utilizes a 0.1 mm laser beam and image processing software to enhance the resolution of the standard steel tape, reducing the smallest division measurement from 1 mm to 0.1 mm. Additionally, a high-precision time calibration method synchronizes the time of the motor’s upper computer software and a frequency meter, minimizing indication error. Key uncertainty sources, including repeatability, environmental temperature effects, and the smallest division measure of instrument, were systematically analyzed. Results demonstrate that the extended measurement uncertainty (k = 2) for wave heights of 0.03 m and 40 m are 0.058 mm and 1.088 mm, respectively, while the uncertainty for a 30 s wave period is 3 ms. These values meet the stringent accuracy requirements (0.5% of measured values) for calibrating advanced wave buoys like the Directional Waverider 4. The proposed device provides a robust solution for validating wave buoy performance, offering significant practical value for oceanographic studies and coastal engineering applications. Full article
(This article belongs to the Section Ocean Engineering)
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24 pages, 2482 KiB  
Article
A Novel Adaptive Fault-Tolerant Cooperative Control for Multi-PMLSMs of Low-Carbon Urban Rail Linear Traction Systems
by Hongtao Chen, Yuchen Dai, Yuhan Liu, Lei Li and Xiaoning Huang
Sustainability 2025, 17(6), 2367; https://doi.org/10.3390/su17062367 - 7 Mar 2025
Viewed by 631
Abstract
Permanent magnetic linear synchronous motors (PMLSMs) have emerged as a promising solution for low-carbon urban rail transit systems due to their superior energy efficiency. However, their widespread adoption is hindered by significant challenges in achieving high-precision cooperative control and fault-tolerant operation across multi-PMLSMs. [...] Read more.
Permanent magnetic linear synchronous motors (PMLSMs) have emerged as a promising solution for low-carbon urban rail transit systems due to their superior energy efficiency. However, their widespread adoption is hindered by significant challenges in achieving high-precision cooperative control and fault-tolerant operation across multi-PMLSMs. To address these issues, this paper proposed a novel composite observer-based adaptive fault-tolerant cooperative control framework, which enables reliable speed synchronization in multi-PMLSM urban rail traction systems through three key innovations. Initially, the stuck fault of the actuator is modeled based on the PMLSM dynamic model, and a composite observer is proposed to estimate lumped disturbances and actuator faults simultaneously, enhancing the system’s robustness against uncertainties and faults. A novel sliding mode control scheme with adaptive parameters is subsequently developed to compensate for disturbances and improve tracking accuracy. Furthermore, two event-triggered schemes are devised to reduce the communication burden, ensuring efficient data transmission without compromising control performance. The proposed method ensures high-precision synchronization and fault tolerance under actuator stuck faults, bias faults, and external disturbances, as validated by simulation results. By improving energy efficiency and reducing communication load, the proposed method contributes to the development of low-carbon urban rail transit systems, aligning with global sustainability goals. Full article
(This article belongs to the Section Sustainable Transportation)
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