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Keywords = sliding curvature accumulation

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15 pages, 4982 KiB  
Article
Research on DC Electric Shock Protection Method Based on Sliding Curvature Accumulation Quantity
by Hongzhang Zhu, Chuanping Wu, Yao Xie, Yang Zhou, Xiujin Liao and Jian Li
Electronics 2024, 13(16), 3336; https://doi.org/10.3390/electronics13163336 - 22 Aug 2024
Cited by 1 | Viewed by 1084
Abstract
To address the limitations of current DC residual current protection methods, which primarily rely on the amplitude of DC residual current for fault detection and fail to safeguard against electric shocks at two points on the same side in DC Isolated Terra (IT) [...] Read more.
To address the limitations of current DC residual current protection methods, which primarily rely on the amplitude of DC residual current for fault detection and fail to safeguard against electric shocks at two points on the same side in DC Isolated Terra (IT) System systems, this paper introduces a novel protection method based on DC electric shock features. This paper first analyzes the sliding curvature accumulation and peak rise time features of DC basic residual current, load mutation current, and animal body electric shock current under multi-factor conditions. The analysis shows that sliding curvature accumulation in the range of 0.1 ≤ K ≤ 1 and a peak rise time of Δt ≥ 20 ms can effectively distinguish animal body electric shock. Then, based on this electric shock’s distinctive characteristics, an approach for identifying types of electric shock is developed. Finally, a DC residual current protective device (DC-RCD) is designed. The prototype test results demonstrate that the DC-RCD has an action time of ts < 70 ms. The proposed method accurately provides protection against electric shocks and effectively addresses the issue of inadequate protection when two fault points occur on the same side within an IT system. This approach holds significant reference value for the development of next-generation DC-RCDs. Full article
(This article belongs to the Section Power Electronics)
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17 pages, 774 KiB  
Article
Precise Obstacle Avoidance Movement for Three-Wheeled Mobile Robots: A Modified Curvature Tracking Method
by Xiangrong Wen and Yusheng Zhou
Axioms 2024, 13(6), 389; https://doi.org/10.3390/axioms13060389 - 8 Jun 2024
Cited by 1 | Viewed by 1371
Abstract
This paper proposes a precise motion control strategy for a three-wheeled mobile robot with two driven rear wheels and one steered front wheel so that an obstacle avoidance motion task is able to be well implemented. Initially, the motion laws under nonholonomic constraints [...] Read more.
This paper proposes a precise motion control strategy for a three-wheeled mobile robot with two driven rear wheels and one steered front wheel so that an obstacle avoidance motion task is able to be well implemented. Initially, the motion laws under nonholonomic constraints are expounded for the three-wheeled mobile robot in order to facilitate the derivation of its dynamic model. Subsequently, a prescribed target curve is converted into a speed target through the nonholonomic constraint of zero lateral speed. A modified dynamical tracking target that is aligned with the dynamic model is then developed based on the relative curvature of the prescribed curve. By applying this dynamical tracking target, path tracking precision is enhanced through appropriate selection of a yaw motion speed target, thus preventing speed errors from accumulating during relative curvature tracking. On this basis, integral sliding mode control and feedback linearization methods are adopted for designing robust controllers, enabling the accurate movement of the three-wheeled mobile robot along a given path. A theoretical analysis and simulation results corroborate the effectiveness of the proposed trajectory tracking control strategy in preventing off-target deviations, even with significant speed errors. Full article
(This article belongs to the Special Issue Recent Developments in Stability and Control of Dynamical Systems)
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