A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level contro...A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.展开更多
This paper presents a real-time power flow controller for VSIs （voltage source inverters） interfaced to low voltage microgrids. The proposed controller is modular, flexible, intelligent, inexpensive, portable, adapt...This paper presents a real-time power flow controller for VSIs （voltage source inverters） interfaced to low voltage microgrids. The proposed controller is modular, flexible, intelligent, inexpensive, portable, adaptive and designed to positively contribute in low voltage microgrids in which the lines R/X ratio is greater than the transmission lines. Therefore, the proposed control strategy is developed for operation in distribution lines. The controller strategy is different from the conventional grid-connected inverters which are designed based on transmission line characteristics. This controller, using a Texas Instrument general purpose DSP （digital signal processor）, is programmed and tuned using MATLAB/SIMULINK in order to enhance self-healing, reliability and stability of the grid. This general purpose controller makes proper decisions using its local measurements as the primary source of data. The controller has the capability of communicating with the adjacent controllers and sharing the information if/when needed. The power flow output of the inverter is tested for both islanded and grid-connected modes of operation. The inverter positively contributes to active and reactive power supply while operating in grid-connected mode. The proposed control method has been implemented on a Texas Instrument DSC （digital signal controller） chip and tested on a hardware test bench at the Alternative Energy Laboratory at WVU1T （West Virginia University Institute of Technology）. The system＇s experimental results veri~ the validity and efficiency of the proposed controller.展开更多
文摘A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.
文摘This paper presents a real-time power flow controller for VSIs （voltage source inverters） interfaced to low voltage microgrids. The proposed controller is modular, flexible, intelligent, inexpensive, portable, adaptive and designed to positively contribute in low voltage microgrids in which the lines R/X ratio is greater than the transmission lines. Therefore, the proposed control strategy is developed for operation in distribution lines. The controller strategy is different from the conventional grid-connected inverters which are designed based on transmission line characteristics. This controller, using a Texas Instrument general purpose DSP （digital signal processor）, is programmed and tuned using MATLAB/SIMULINK in order to enhance self-healing, reliability and stability of the grid. This general purpose controller makes proper decisions using its local measurements as the primary source of data. The controller has the capability of communicating with the adjacent controllers and sharing the information if/when needed. The power flow output of the inverter is tested for both islanded and grid-connected modes of operation. The inverter positively contributes to active and reactive power supply while operating in grid-connected mode. The proposed control method has been implemented on a Texas Instrument DSC （digital signal controller） chip and tested on a hardware test bench at the Alternative Energy Laboratory at WVU1T （West Virginia University Institute of Technology）. The system＇s experimental results veri~ the validity and efficiency of the proposed controller.
