According to the study of electric transmission, the concept of the fore and the aft power chain is presented. The control method of continuously variable transmission is established in the aft chain of electric trans...According to the study of electric transmission, the concept of the fore and the aft power chain is presented. The control method of continuously variable transmission is established in the aft chain of electric transmission based on brushless DC motor. A fuzzy controller is designed with continuous fuzzy variables and the simulation module of the aft power chain is proved by test. The fuzzy controller controls the process of continuously variable transmission steadily and the acceleration of vehicle is quick according to simulation results. The elementary performance exhibited in the simulation is a foundation for the further study of the electric transmission track vehicle.展开更多
The present article is concerned with a method for automatic control of the transmission ratio and torque moment from the engine to the driven wheel and transmission construction in the way that the engine can operate...The present article is concerned with a method for automatic control of the transmission ratio and torque moment from the engine to the driven wheel and transmission construction in the way that the engine can operate during the entire time of the vehicle’s movement at the optimum condition. It is proposed to consider a new vehicle transmission device. Usually every innovation goes through three stages of consideration: 1) It is a rubbish. 2) There is something in it. 3) That is how it should be, what is complicated in it, it’s very simple. The proposal project is now in the first stage with the transition to the second stage. However, the transmission mechanism is simple, it works well and there is hope for its future prospects.展开更多
Unmanned systems such as legged robots require fast-motion responses for operation in complex envi-ronments.These systems therefore require explosive actuators that can provide high peak speed or high peak torque at s...Unmanned systems such as legged robots require fast-motion responses for operation in complex envi-ronments.These systems therefore require explosive actuators that can provide high peak speed or high peak torque at specific moments during dynamic motion.Although hydraulic actuators can provide a large force,they are relatively inefficient,large,and heavy.Industrial electric actuators are incapable of providing instant high power.In addition,the constant reduction ratio of the reducer makes it difficult to eliminate the tradeoff between high speed and high torque in a given system.This study proposes an explosive electric actuator and an associated control method for legged robots.First,a high-power-density variable transmission is designed to enable continuous adjustment of the output speed to torque ratio.A heat-dissipating structure based on a composite phase-change material(PCM)is used.An integral torque control method is used to achieve periodic and controllable explosive power output.Jumping experiments are conducted with typical legged robots to verify the effectiveness of the proposed actuator and control method.Single-legged,quadruped,and humanoid robots jumped to heights of 1.5,0.8,and 0.5 m,respectively.These are the highest values reported to date for legged robots powered by electric actuators.展开更多
文摘According to the study of electric transmission, the concept of the fore and the aft power chain is presented. The control method of continuously variable transmission is established in the aft chain of electric transmission based on brushless DC motor. A fuzzy controller is designed with continuous fuzzy variables and the simulation module of the aft power chain is proved by test. The fuzzy controller controls the process of continuously variable transmission steadily and the acceleration of vehicle is quick according to simulation results. The elementary performance exhibited in the simulation is a foundation for the further study of the electric transmission track vehicle.
文摘The present article is concerned with a method for automatic control of the transmission ratio and torque moment from the engine to the driven wheel and transmission construction in the way that the engine can operate during the entire time of the vehicle’s movement at the optimum condition. It is proposed to consider a new vehicle transmission device. Usually every innovation goes through three stages of consideration: 1) It is a rubbish. 2) There is something in it. 3) That is how it should be, what is complicated in it, it’s very simple. The proposal project is now in the first stage with the transition to the second stage. However, the transmission mechanism is simple, it works well and there is hope for its future prospects.
基金supported by the National Key Research Program of China (2018YFB1304500)the National Natural Science Foundation of China (91748202 and 62073041)
文摘Unmanned systems such as legged robots require fast-motion responses for operation in complex envi-ronments.These systems therefore require explosive actuators that can provide high peak speed or high peak torque at specific moments during dynamic motion.Although hydraulic actuators can provide a large force,they are relatively inefficient,large,and heavy.Industrial electric actuators are incapable of providing instant high power.In addition,the constant reduction ratio of the reducer makes it difficult to eliminate the tradeoff between high speed and high torque in a given system.This study proposes an explosive electric actuator and an associated control method for legged robots.First,a high-power-density variable transmission is designed to enable continuous adjustment of the output speed to torque ratio.A heat-dissipating structure based on a composite phase-change material(PCM)is used.An integral torque control method is used to achieve periodic and controllable explosive power output.Jumping experiments are conducted with typical legged robots to verify the effectiveness of the proposed actuator and control method.Single-legged,quadruped,and humanoid robots jumped to heights of 1.5,0.8,and 0.5 m,respectively.These are the highest values reported to date for legged robots powered by electric actuators.
