The three-phase bridge inverter is used as the converter topology in the power controller for a 9 kW doubly salient permanent magnet （DSPM） motor. Compared with common three-phase bridge inverters, the proposed inve...The three-phase bridge inverter is used as the converter topology in the power controller for a 9 kW doubly salient permanent magnet （DSPM） motor. Compared with common three-phase bridge inverters, the proposed inverter works under more complicated conditions with different principles for special winding back EMFs, position signals of hall sensors, and the given mode of switches. The ideal steady driving principles of the inverter for the motor are given. The working state with asymmetric winding back EMFs, inaccurate position signals of hall sensors, and the changing input voltage is analyzed. Finally, experimental results vertify that the given anal ysis is correct.展开更多
We present an investigation into the use of pan tilt zoom camera and sonar sensors for simuhaneous localization and mapping with artificial colored landmarks. An improved particle filter is applied to estimate a poste...We present an investigation into the use of pan tilt zoom camera and sonar sensors for simuhaneous localization and mapping with artificial colored landmarks. An improved particle filter is applied to estimate a posterior of the pose of the robot, in which each particle has associated it with an entire map. The distributions of landmarks are also represented by particle sets, where separate particles are used to represent the robot and the landmarks. Hough transform is used to extract line segments from sonar observations and build map simultaneously. The key advantage of our method is that the full posterior over robot poses and landmarks can be nonlinearly approximated at every point in time by particles. Especially the landmarks are affixed on the moving robots, which can reduce the impact of the depletion problem and the impoverishment problem produced by basic particle filter. Experimental results show that this approach has advantages over the basic particle filter and the extended Kalman filter.展开更多
文摘The three-phase bridge inverter is used as the converter topology in the power controller for a 9 kW doubly salient permanent magnet （DSPM） motor. Compared with common three-phase bridge inverters, the proposed inverter works under more complicated conditions with different principles for special winding back EMFs, position signals of hall sensors, and the given mode of switches. The ideal steady driving principles of the inverter for the motor are given. The working state with asymmetric winding back EMFs, inaccurate position signals of hall sensors, and the changing input voltage is analyzed. Finally, experimental results vertify that the given anal ysis is correct.
文摘We present an investigation into the use of pan tilt zoom camera and sonar sensors for simuhaneous localization and mapping with artificial colored landmarks. An improved particle filter is applied to estimate a posterior of the pose of the robot, in which each particle has associated it with an entire map. The distributions of landmarks are also represented by particle sets, where separate particles are used to represent the robot and the landmarks. Hough transform is used to extract line segments from sonar observations and build map simultaneously. The key advantage of our method is that the full posterior over robot poses and landmarks can be nonlinearly approximated at every point in time by particles. Especially the landmarks are affixed on the moving robots, which can reduce the impact of the depletion problem and the impoverishment problem produced by basic particle filter. Experimental results show that this approach has advantages over the basic particle filter and the extended Kalman filter.
