A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to...A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to achieve high-precision control,two-phase current sensors are necessary for successful implementation of MPTC.For this purpose,two ESOs are used to estimate q-axis current and stator resistance respectively,and then based on this,d-axis current is estimated.Moreover,to reduce torque and flux ripple and to improve the performance of the torque and speed,MPTC strategy is designed.The simulation results validate the feasibility and effectiveness of the proposed scheme.展开更多
With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size ...With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.展开更多
基金National Natural Science Foundation of China(No.61463025)Opening Foundation of Key Laboratory of Opto-technology and Intelligent Control(Lanzhou Jiaotong University),Ministry of Education(No.KFKT2018-8)
文摘A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to achieve high-precision control,two-phase current sensors are necessary for successful implementation of MPTC.For this purpose,two ESOs are used to estimate q-axis current and stator resistance respectively,and then based on this,d-axis current is estimated.Moreover,to reduce torque and flux ripple and to improve the performance of the torque and speed,MPTC strategy is designed.The simulation results validate the feasibility and effectiveness of the proposed scheme.
基金Sponsored by the High Technology Research and Development Program of China(Grant No.2008AA04Z203)Development Program for Outstanding Young Teachers in Harbin Institute of Technology(Grant No.HITQNJS.2008.010)
文摘With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.
