To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer developme...To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.展开更多
How to reduce the energy consumption powered mainly by battery to prolong the standby time is one of the crucial issues for IEEE 802.16e wireless MANs.By predicting the next downlink inter-packet arrival time,three tr...How to reduce the energy consumption powered mainly by battery to prolong the standby time is one of the crucial issues for IEEE 802.16e wireless MANs.By predicting the next downlink inter-packet arrival time,three traffic-prediction-assisted power saving mechanisms based on P-PSCI,i.e.,PSCI-PFD,PSCI-ED and PSCI-LD,were proposed.In addition,the corresponding adjustment strategies for P-PSCI were also presented when there were uplink packets to be transmitted during sleep mode.Simulation results reveal that compared with the sleep mode algorithm recommended by IEEE 802.16e,the proposed mechanism P-PSCI can improve both energy efficiency and packet delay for IEEE 802.16e due to the consideration of the traffic characteristics and rate changes.Moreover,the results also demonstrate that PSCI-PFD (a=-2) significantly outperforms PSCI-ED,PSCI-LD,and the standard sleep mode in IEEE 802.16e is in terms of energy efficiency and packet delay.展开更多
Deduced the relationship between the power factor (PF) and the angular fre-quency according to the simplified equivalent circuit of asynchronous motor, forming a power factor auto-control system. An anti-interference ...Deduced the relationship between the power factor (PF) and the angular fre-quency according to the simplified equivalent circuit of asynchronous motor, forming a power factor auto-control system. An anti-interference circuit was also introduced in the middle voltage link of inverter to avoid the shift of the optimum PF point caused by the change of the load and the reliable run of the control system was assured. The experi-ment results show that it has a good self-adaptation in the whole scope of speed ad-justment and an obvious economization on energy while it runs under load.展开更多
基金Project(51805368) supported by the National Natural Science Foundation of ChinaProject(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and TechnologyProject(DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,China。
文摘To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.
基金Projects(60873265,61070194)supported by the National Natural Science Foundation of ChinaProject(2009AA112205)supported by the National High Technology Research and Development Program of China+1 种基金Project(2011FJ2003)supported by Science and Technology Key Projects of Hunan Province,ChinaProject(531107040201)supported by Chinese Universities Scientific Fund
文摘How to reduce the energy consumption powered mainly by battery to prolong the standby time is one of the crucial issues for IEEE 802.16e wireless MANs.By predicting the next downlink inter-packet arrival time,three traffic-prediction-assisted power saving mechanisms based on P-PSCI,i.e.,PSCI-PFD,PSCI-ED and PSCI-LD,were proposed.In addition,the corresponding adjustment strategies for P-PSCI were also presented when there were uplink packets to be transmitted during sleep mode.Simulation results reveal that compared with the sleep mode algorithm recommended by IEEE 802.16e,the proposed mechanism P-PSCI can improve both energy efficiency and packet delay for IEEE 802.16e due to the consideration of the traffic characteristics and rate changes.Moreover,the results also demonstrate that PSCI-PFD (a=-2) significantly outperforms PSCI-ED,PSCI-LD,and the standard sleep mode in IEEE 802.16e is in terms of energy efficiency and packet delay.
基金Supported by Liaoning Educational Foundation(202183386)
文摘Deduced the relationship between the power factor (PF) and the angular fre-quency according to the simplified equivalent circuit of asynchronous motor, forming a power factor auto-control system. An anti-interference circuit was also introduced in the middle voltage link of inverter to avoid the shift of the optimum PF point caused by the change of the load and the reliable run of the control system was assured. The experi-ment results show that it has a good self-adaptation in the whole scope of speed ad-justment and an obvious economization on energy while it runs under load.
