Wide speed range for traction motor in braking force of electric braking control system

A vehicle stopping method using an electric brake until a traction motor is stopped is studied. At the moment of vehicle stop, electric brake is changed to control mode where torque is reduced at a low speed. Gradient is controlled by estimating the load torque of motor, thereby traction motor is not rotated after stop. In addition, coasting operation and brake test are performed from normal-opposite operation and start using a small-scale model comprising the inertial load equipment and the power converter. Further, traction motor is made to be equipped with a suspension torque. Pure electric braking that makes traction motor stop by an air brake at the time of stop is also implemented. Constant torque range and constant power range are expanded during braking so that braking force is secured with the electric brakes even in high speed region. Therefore, vehicle reduction effect can be expected by reducing parts related with an air brake which is not used frequently by using a pure electric brake in the M car in wide speed region. Further, maintenance of brake system can be reduced. Besides, ride comfort of passenger in the electric rail car, energy efficiency improvement, and noise reduction effect can be additionally expected. Further, an improved brake method that uses only an electric brake till motor stop is proposed by comparing those in the blending brake that uses an air brake while reducing brake torque at vehicle stop.

Investigation of an Intensifying-flux Variable Flux-leakage Interior Permanent Magnet Machine for Wide Speed Range

In this paper,a novel intensifying-flux variable flux-leakage interior permanent magnet(IFVF-IPM)machine is proposed,in which flux barriers were designed deliberately between the adjacent poles to obtain intensifying-flux effect and variable flux-leakage property.The rotor topology and design principles of the proposed machine are also introduced.Then,a multi-objective optimization method is adopted based on the sensitivity analysis,and some design variables of IFVF-IPM machine with strong sensitivity are selected to optimization progress by using the non-dominated sorting genetic algorithm-Ⅱ(NSGA-Ⅱ).Moreover,the electromagnetic characteristics of conventional IPM machine,conventional IFVF-IPM machine(CIFVF-IPM)and the novel IFVF-IPM machine are compared based on the finite element analysis(FEA)method which includes flux linkage,inductances characteristic,torque-speed envelops and power characteristic,as well as evaluation of the risk of irreversible demagnetization.Finally,the experiment results show that the IFVF-IPM machine has a better performance in flux weakening capability for wide speed range and a lower risk of irreversible demagnetization,which indicates the validity and feasibility of the proposed machine.

Pneumatic and tendon actuation coupled muti-mode actuators for soft robots with broad force and speed range

Broad output force and speed ranges are highly desired for actuators to endow soft robots with high performance,thereby increasing the range of tasks they can accomplish.However,limited by their low structural stiffness and single actuation method,most of the existed soft actuators are still difficult to achieve a broad force and speed range with a relatively compact body structure.Here,we propose a pneumatic and tendon actuation coupled soft actuator(PTCSA)with multiple actuation modes,mainly composing of a multi-joint thermoplastic polyurethanes(TPU)-made skeleton sealed in a film sleeve.The TPU skeleton with certain structural stiffness combined with soft joints allows PTCSA to output small force and respond rapidly under pneumatic actuation,as well as output high force and flexibly regulate response speed under tendon actuation,therefore achieving a broad force and speed range with a compact structure.The multiple modes constructed from the two actuation methods with different force and speed properties can cover diverse application scenarios.To demonstrate its performance,PTCSA is further used to construct a soft robotic arm(with a maximum lifting speed of 198°/s and can easily lift a load of 200 g),an inchworm-inspired wheel-footed soft robot(moves at a high speed of 2.13 cm/s when unload or pulls a load of 300 g forward),and a soft gripper(can grasp diverse objects,from 0.1 g potato chips to an 850 g roll of Sn-0.7 Cu wire,from a high-speed moving tennis ball to an upright pen).This work indicates the potential of combining multiple complementary actuation methods to improve the force and speed range of soft actuators,and may provide inspiration for related research.

Sensorless Control of Permanent Magnet Synchronous Motor in Full Speed Range

Aiming at resolving the limitation of the speed regulation range of sensorless control technology,a new composite sensorless control strategy is proposed to realize a control method for a permanent magnet synchronous motor(PMSM)in full speed range.In the medium-and high-speed range,the improved new sliding mode observer method is used to estimate the motor speed and rotor position information.In the zero and low speed range,in order to avoid the defects of the sliding mode method,the rotating high-frequency voltage signal injection method is used.When switching between low,medium,and high speed,the fuzzy control algorithm is adopted to achieve smooth transitions.The simulation experiment results show that the hybrid mode combining the sliding mode observer and rotating high-frequency voltage injection methods,can effectively reduce the jitter in the algorithm switching process,and realize the smooth control of a PMSM in full speed range.

Wide Speed Range Permanent Magnet Synchronous Generator Design for a DC Power System

A wide speed range permanent magnet synchronous generator(PMSG)system is studied in this paper,including the PMSG design and comparative study on control strategies with a pulse width modulation(PWM)rectifier,the purpose of which is to regulate the DC-link voltage.It is of great importance to study the foregoing DC power system based on the PMSG and PWM rectifier,where vector control(VC)can be implemented and the corresponding field-weakening strategy can be realized by injecting a field-weakening current component without any auxiliary devices.Large machine inductance is desired in order to limit the short-circuit current and the loaded voltage drop.Different control strategies including VC,direct torque control(DTC)and direct voltage control(DVC)are studied and compared with both simulations and experiments.

Design and Analysis of Wide Speed Regulation of Variable Leakage Flux Reverse Salient-pole Motor

In this article, a new variable leakage flux reverse salient-pole motor(VLF-RSPM) is raised to widen the speed range. The innovation is to realize both reverse salient-pole characteristics and variable leakage flux characteristics by using a method of adding magnetic bridges and magnetic barriers. Firstly, the evolution of the topological structure and working principle of the motor are introduced. Secondly, based on 2D Finite Element Analysis(FEA), the electromagnetic properties and noise of the motor are analyzed in detail, and the electromagnetic properties are contrasted with that of the conventional V-type synchronous motor(CVTSM). The results show that VLF-RSPM has the advantages of small torque ripple, strong magnetic weakening ability, low noise, high efficiency, and low risk of permanent magnet demagnetization under different conditions. In addition, it is verified that the proposed motor extends the speed range.

Study of Star-Delta Soft Switch to Extend AC Motor High Speed Operation Region

In traction application,speed range of motor is an important index for motor drives.In AC motor control,the maximum speed of the motor is limited by the output voltage capability of the traditional three-phase inverter with star connenction of windings.Switching the star connection to delta connection in high-speed range can extend the speed range.In order to extend the speed operation region,star-delta switch proposed by many literatures relies on mechanical relay,which needs a dead zone of tens of milliseconds and seriously affects torque output.Besides,the traditional method will cause current overshoot during the switch transient process,decreasing the device security and reliability.Aiming at the defects existing in the star-delta hard switching,this paper proposes a star-delta soft switching method.Without adding extra power electronics devices,DC-bus capacitor is used to provide the path of zero axis current in the transient process,which helps to achieve the smooth torque output and zero current switch in the transient.Experiments have been done to validate the performance of the proposed method.The switching transient from star to delta connection in the motor drive can be much more stable than hard switching method.

Design and Optimization of Reverse Salient Permanent Magnet Synchronous Motor Based on Controllable Leakage Flux

In this paper,a controllable leakage flux reverse salient permanent magnet synchronous motor(CLF-RSPMSM)is designed,which has the advantages of wide speed range and low irreversible demagnetization risk.Firstly,the principle of controllable leakage flux and reverse saliency effect is introduced,and the design of the rotor flux barrier is emphatically discussed.Secondly,multiple design variables are stratified by the comprehensive sensitivity method,and the main variables are screened out.Then the relationship between the main variables and the optimization goal is discussed according to the response surface diagram.Thirdly,a sequential nonlinear programming algorithm(SNP)is used to optimize the three optimization objectives comprehensively.Finally,the electromagnetic performance of the proposed motor is compared with the initial IPM motor,the mechanical strength of the proposed rotor is analyzed,and the results verify the effectiveness of the design and optimization method of the proposed motor.

Research on Influence of Motor Parameters on the Negative-Salient Permanent Magnet Synchronous Motor

The d-axis inductance(Ld)of the negative-salient permanent magnet synchronous motor(NSPMSM)is larger than the q-axis inductance(Lq).Compared with the traditional motor,the NSPMSM has the characteristics of a high overload capacity,wide speed range,and preventing permanent magnet demagnetization.Positive d-axis current(id)is applied to control positive reluctance torque when running at base speed.When the motor is running at high speed,a relatively small id can achieve speed expansion and effectively expand the motor flux-weakening range.The use of a magnetic bridge to increase the Ld and a W-type permanent magnet to reduce the Lq is proposed in this article as a novel NSPMSM rotor structure.Firstly,the working principle of the NSPMSM was determined according to the equivalent magnetic circuit.Secondly,using the finite element method,the influence of motor structure on torque and speed performance of NSPMSM was analyzed,and the motor structure was optimized.Thirdly,the effect of the internal power factor angle on the performance of the two motors is analyzed.Finally,the short circuit simulation and analysis verified that the NSPMSM has a stronger short circuit current suppression ability without sacrificing overload ability.

Design of Fin-propeller Test Set-up and Analysis of Roll Stabilization Ability

Presents the fin-propeller test set-up to solve the problem of roll stabilization with ships in full speed range, withwhich, tests were run in water rank for acquisition of data, and concludes from data acquired that the fin-propeller test set-up produces more lift than simple fin, and provides lateral thrust as well, and it is therefore an effective roll stabilization devicefor ships in full speed range.

3D laser scanning strategy based on cascaded deep neural network

A 3D laser scanning strategy based on cascaded deep neural network is proposed for the scanning system converted from 2D Lidar with a pitching motion device. The strategy is aimed at moving target detection and monitoring. Combining the device characteristics, the strategy first proposes a cascaded deep neural network, which inputs 2D point cloud, color image and pitching angle. The outputs are target distance and speed classification. And the cross-entropy loss function of network is modified by using focal loss and uniform distribution to improve the recognition accuracy. Then a pitching range and speed model are proposed to determine pitching motion parameters. Finally, the adaptive scanning is realized by integral separate speed PID. The experimental results show that the accuracies of the improved network target detection box, distance and speed classification are 90.17%, 96.87% and 96.97%, respectively. The average speed error of the improved PID is 0.4239°/s, and the average strategy execution time is 0.1521 s.The range and speed model can effectively reduce the collection of useless information and the deformation of the target point cloud. Conclusively, the experimental of overall scanning strategy show that it can improve target point cloud integrity and density while ensuring the capture of target.

Application of Dopplerlet matching pursuit to estimate the range and speed of a moving vessel

This paper presents a new method to estimate the range and the speed of a moving vessel by the features of line spectrum. Dopplerlet matching pursuit are used to estimate range and speed. The line spectrums of moving vessel radiated-noises show some time-frequency features. The features of line spectrum reflect the variation of moving state of the vessel. The computer simulation shows the method is practicable and effective. Moreover, the method is applied to estimate the range and the speed of a real underwater signal and the results agree with the data of the experiment on the sea.