This paper proposes a novel control approach for fault-tolerant control of dual three-phase permanent magnet synchronous motor(PMSM) under one-phase open-circuit fault.A modified six-phase static coordinate transforma...This paper proposes a novel control approach for fault-tolerant control of dual three-phase permanent magnet synchronous motor(PMSM) under one-phase open-circuit fault.A modified six-phase static coordinate transformation matrix and an extended rotating coordinate transformation matrix are investigated considering the influence of the fifth harmonic space on fault-tolerant control. These mathematical models are further analyzed in the fundamental space and the fifth harmonic space after the fault and to eliminate the coupling between the d-q axis voltage equation in the fundamental wave space and the d-q axis voltage equation in the fifth harmonic space, a secondary rotation coordinate transformation matrix is proposed. To achieve the purpose of reducing torque ripple, the fault-tolerant control method proposed in this paper not only takes the minimum copper loss as the constraint condition, but also injects the fifth harmonic current. The experimental result of current and torque is used to verify the accuracy of fault-tolerant control.展开更多
Aiming at the workspace calculation problem of multi-joint serial manipulators,a surface enveloping and overlaying (SEO) method is presented to identify and visualize the manipulator workspace.The SEO method is compos...Aiming at the workspace calculation problem of multi-joint serial manipulators,a surface enveloping and overlaying (SEO) method is presented to identify and visualize the manipulator workspace.The SEO method is composed of two stages:the first stage is to choose reference points of the manipulator and calculate their boundary surfaces using the nth enveloping method;the second stage is to overlay these boundary surfaces to identify the final workspace.The SEO method is basically a combination of the analytic method and the numerical method.By delineating the graphic representation of the workspace step by step,the SEO method is easy to analyze the existence and the shape of voids and holes.The basic theory of the SEO method and formulas for workspace calculation are presented based on a 6R serial manipulator.By showing the workspace calculation results,the SEO method is proved working correctly.展开更多
基金supported by the National Natural Science Foundation of China under Grant 61603263。
文摘This paper proposes a novel control approach for fault-tolerant control of dual three-phase permanent magnet synchronous motor(PMSM) under one-phase open-circuit fault.A modified six-phase static coordinate transformation matrix and an extended rotating coordinate transformation matrix are investigated considering the influence of the fifth harmonic space on fault-tolerant control. These mathematical models are further analyzed in the fundamental space and the fifth harmonic space after the fault and to eliminate the coupling between the d-q axis voltage equation in the fundamental wave space and the d-q axis voltage equation in the fifth harmonic space, a secondary rotation coordinate transformation matrix is proposed. To achieve the purpose of reducing torque ripple, the fault-tolerant control method proposed in this paper not only takes the minimum copper loss as the constraint condition, but also injects the fifth harmonic current. The experimental result of current and torque is used to verify the accuracy of fault-tolerant control.
文摘Aiming at the workspace calculation problem of multi-joint serial manipulators,a surface enveloping and overlaying (SEO) method is presented to identify and visualize the manipulator workspace.The SEO method is composed of two stages:the first stage is to choose reference points of the manipulator and calculate their boundary surfaces using the nth enveloping method;the second stage is to overlay these boundary surfaces to identify the final workspace.The SEO method is basically a combination of the analytic method and the numerical method.By delineating the graphic representation of the workspace step by step,the SEO method is easy to analyze the existence and the shape of voids and holes.The basic theory of the SEO method and formulas for workspace calculation are presented based on a 6R serial manipulator.By showing the workspace calculation results,the SEO method is proved working correctly.
