Finite control set-model predictive torque control (FCS-MPTC) depends on the system parameters and the weight coefficients setting. At the same time, since the actual load disturbance is unavoidable, the model parameters are not matched, and there is...
This paper establishes the state-space model of the cup rotor permanent-magnet doubly fed machine in the synchronous reference frame. The feedback-linearization control method is used to realize the decoupling control of flux and torque. Then, the up...
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 in...
This paper presents issues related to the damping of torsional vibrations in a system with elastic coupling. A novel PI-based control structure with additional feedback from torsional torque and its derivative is proposed. For the estimation of the r...
This paper proposes a hybrid methodology for one-step-ahead torsional torque estimation in an electric drive with an elastic connection. The approach integrates Nonlinear Autoregressive Neural Networks with Exogenous Inputs (NARX NNs) and model-based...
As regards the impact and chattering of 4-DOF redundant parallel robots that occur under high-speed variable load operating conditions, this study proposed a novel control algorithm based on torque feedforward and fuzzy computational torque feedback...
Electric drives are responsible for torque generation in most industrial processes and devices, including electromobility. The operational performance of industrial drives is often limited by torsional vibrations and time-varying load inertia. To add...
Biological fish can always sense the state of water flow and regulate the angle of attack in time, so as to maintain the highest movement efficiency during periodic flapping. The biological adjustment of the caudal fin’s angle of attack (AoA) d...
In this paper, we propose a tiny haptic knob that creates torque feedback in consumer electronic devices. To develop the proposed haptic knob, we use a magnetorheological (MR) fluid. When an input current is applied to a solenoid coil, a magnetic fie...
Transient response performance and steady-state operation performance are the two most important performance indicators of a motor drive system. In order to solve these two problems, this study proposes a new induction motor (IM) model, and then desi...
Although a two-dimensional (2D) valve has excellent performance, the processing of its spiral groove has a high cost and is time-consuming. This paper proposes a novel torque motor based on an annulus air gap (TMAAG) to replace the negative feedback...
This work presents the design of the Rehab-Exos, a novel upper limb exoskeleton designed for rehabilitation purposes. It is equipped with high-reduction-ratio actuators and compact elastic joints to obtain torque sensors based on strain gauges. In th...
Addressing the shortcoming that steer-by-wire (SBW) system cannot directly transmit road feel, this study investigates a SBW system dynamics model, steering angle tracking control, and road feel simulation algorithm design. This study proposes a high...
With the increasing penetration of renewable energy, smoothing wind-farm-level power fluctuations at the point of common coupling has become an important requirement for maintaining grid stability. However, the dynamic power-tracking mechanism of lar...
In direct torque control (DTC) of the brushless doubly fed machine (BDFM) system, the inverter switching voltage vectors cannot always meet the control requirements, and the torque will lose control. For the losing control problem, this paper present...
In this paper, an adaptive robust drive control system for an axial flux permanent magnet synchronous motor of an electric medium-sized bus based on the optimal torque distribution method is studied. The drive control system is mainly divided into tw...
Introduction: Robotic-assisted (RA) spine surgery enhances pedicle screw placement accuracy through real-time navigation and trajectory guidance. However, the absence of traditional direct haptic feedback by freehand instrumentation remains a concern...
High-voltage grid maintenance and chemical processing demand dexterous manipulation in confined, visually occluded environments. Existing teleoperation systems present a severe cost–fidelity trade-off: industrial platforms exceed USD 60,000 yet...
The problem of cogging torque is due to a magnetic behavior, intrinsic to synchronous machines and due to the presence of permanent magnets themselves. Cogging torque is a significant problem when the servo drive is used for applications where high p...
Retrofitting an internal combustion engine (ICE) dynamometer test bench for electric motor testing introduces significant measurement and control challenges. The two modes differ fundamentally in torque dynamics, communication protocols, and energy f...
The steering system plays a critical role in the vehicle’s handling and directly influences its lateral dynamics. Faults or abnormal behavior in this system can affect performance, cause vehicle instability, and even lead to accidents. Therefor...
In several applications, the accuracy and robust performance of the control method for the speed of permanent magnet synchronous motors (PMSMs) is critical. Model uncertainties, caused by inaccurate model identification, decrease the accuracy of PMSM...
This study investigates the visual servo control of the space station macro/micro manipulator system. The proposed approach is based on the position-based eye-in-hand visual servo (PBVS) and takes advantage of the hardware sensors to overcome the mac...
The hybridization of multiple energy sources is crucial for electric vehicles to deliver the same performance as modern fossil fuel-based automobiles. This paper presents a torque and speed control strategy for an electric vehicle DC traction motor b...
Recently, controlling a wind energy conversion system (WECS) under fluctuating wind speed and enhancing the quality of power delivered to the grid has been a demanding challenge for many researchers. This paper provides a comprehensive review of sync...
This contribution examines the control problem for very large wind energy converters during shutdown operation and analyses the most important control approaches. The control methods make use of the built-in conventional control infrastructure, but c...
This article presents a design and performance analysis of an Electronic Differential (ED) system designed for Light Electric Vehicles (LEVs). We have developed a test tricycle vehicle with one front steering wheel and two rear fixed units in the sam...
The integrity and transparency of a haptic feedback in a bilateral control is crucial for precise and accurate operators’ sensation during human–machine interactions. Conventional master and slave bilateral control systems are often subject to unknow...
Residual torque enhancement (rTE) is a history-dependent property of muscle, which results in an increase in steady-state isometric torque production following an active lengthening contraction as compared to a purely isometric (ISO) contraction at t...
Series elastic actuators (SEA) with their inherent compliance offer a safe torque source for robots that are interacting with various environments, including humans. These applications have high requirements for the SEA torque controllers, both in th...
The four-wheel steering distributed drive vehicle is a novel type of vehicle with independent control over the four-wheel angle and wheel torque. A method for jointly controlling the distribution of the wheel angle and torque is proposed based on thi...
For a power-split plug-in hybrid electric vehicle (PS-PHEV), the control system cannot effectively reduce jerks under some engine-starting conditions due to the pulsating torque of the engine, elastic characteristics of the transmission, battery powe...
Magnetorheological fluids (MRFs) are functional fluids that exhibit rapid and reproducible rheological responses to external magnetic fields. An MRF has been utilized to develop a haptic device with precise haptic feedback for teleoperative surgical...
Torque tracking is an important control target of a dry clutch. At present, the torque tracking control method of a dry clutch generally uses the relationship between the clutch torque and release bearing position obtained via experiment to convert t...
The paper introduces new techniques to reduce the potential for pole-slipping induced by control systems and presents a low-cost pole-slipping detection and recovery scheme for magnetic drive-trains (MDTs). For the first time, the paper shows that a...
Electric machines are highly efficient and highly controllable actuators, but they do still suffer from a number of imperfections. One of them is torque ripple, which introduces high frequency harmonics into the motion. One (cost- and performance-neu...
Feedback through the steering wheel is known as the most important source of information to the driver. The so-called steering feeling, composed of self-aligning actions coming from tyres and suspension geometry all the way through mechanical linkage...
A novel non-contact piezoelectric motor modulated by electromagnetic force is proposed in this work. The motor consists of a driving system and a transmission system. The transmission system includes a driving torque modulation mechanism and a keepin...
The maximum-torque-per-ampere (MTPA) scheme is widely used in the interior permanent magnet synchronous machine (IPMSM) drive system to reduce copper losses. However, MTPA trajectory is complicated to solve analytically. In order to realize online MT...
Vehicle dynamics play an important role in determining a vehicle’s stability. It is necessary to identify and obtain models related to vehicle dynamics to evaluate the performance of electric vehicles, as well as how to control them. This paper...
We propose a nonlinear position control using a differential flatness concept with a load torque observer to compensate for the sinusoidal load torque in electro-hydraulic actuators (EHAs) EHAs. In an EHA with a rotational joint, the load torque is a...
The double tendon-sheath drive system is widely used in the design of surgical robots and search and rescue robots because of its simplicity, dexterity, and long-distance transmission. We are attempting to apply it to manipulators, wherenon-linear ch...
In this paper, we present a direct drive brush-shaped tool developed for the use of robotic vine suckering. Direct drive design philosophy allows for precise and high bandwidth control of the torque exerted by the brush. Besides limiting the torque e...
Torque control accuracy is a significant index of permanent magnet synchronous motors (PMSMs) and affects the safety of many applications greatly. Due to the strong nonlinearity of the motor as well as the disturbance of non-ideal factors such as tem...
In servo systems, encoders are usually used to measure the position and speed signals of electric machines. But in a low speed range, the traditional M/T method has a larger time delay, which will cause an increase of the speed loop order and degrada...
The paper proposes a Birch-inspired optimisation algorithm designed to optimise the PI controller gain and additional feedback coefficients used for robust speed control of a two-mass drive system. The technical issue we considered is torsional oscil...
The purpose of this paper is to compare performances between stabilization algorithms of quaternion plus attitude rate feedback and rotation matrix plus attitude rate feedback for an Earth-pointing spacecraft with magnetorquers as the only torque act...
This paper presents a complete control strategy of the active return-to-center (RTC) control for electric power steering (EPS) systems. We first establish the mathematical model of the EPS system and analyze the source and influence of the self-align...
Aiming at the output torque error of a steering gear electric load simulator caused by excess torque and backlash interference, an electric load simulator based on double-motor loading is designed. The double-motor loading mode is adopted in the stru...
In this study, we developed an evaluation method using posture and joint torque for the evaluation of balance ability. The evaluation and analysis of standing with a disturbance is conducted for effective balance evaluations. Center of pressure info...
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