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Full-Text Articles in Engineering
Design And Control Of Electronic Motor Drives For Regenerative Robotics, Taylor Barto
Design And Control Of Electronic Motor Drives For Regenerative Robotics, Taylor Barto
ETD Archive
Two regenerative motor drives, a voltage source converter and a bidirectional buck/boost converter, are studied for energy regeneration and joint trajectory tracking. The motor drives are applied to two different robotic systems—a PUMA560 robotic arm and a hip testing robot / prosthesis system. An artificial neural network controller is implemented with the two motor drives and provides joint trajectory tracking with an RMS error of 0.03 rad. The control signals produced by the artificial neural network contain a large amount of high frequency content which prevents practical implementation. A robust passivity-based motion controller is modified to include information about the …
Derivative-Free Kalman Filter-Based Control Of Nonlinear Systems With Application To Transfemoral Prostheses, S. Mahmoud Moosavi
Derivative-Free Kalman Filter-Based Control Of Nonlinear Systems With Application To Transfemoral Prostheses, S. Mahmoud Moosavi
ETD Archive
Derivative-free Kalman filtering (DKF) for estimation-based control of a special class of nonlinear systems is presented. The method includes a standard Kalman filter for the estimation of both states and unknown inputs, and a nonlinear system that is transformed to controllable canonical state space form through feedback linearization (FL). A direct current (DC) motor with an input torque that is a nonlinear function of the state is considered as a case study for a nonlinear single-input-single-output (SISO) system. A three degree-of-freedom (DOF) robot / prosthesis system, which includes a robot that emulates human hip and thigh motion and a powered …
Advanced Line-Follower Robot, Lei Wang
Advanced Line-Follower Robot, Lei Wang
ETD Archive
In this research, an Advanced Line-follower Robot (ALFR) was designed and built. The ALFR mainly consists of the sensor array (QTR-8A), the high-performance microchips (TMS320f28335, TMS320f28069) and two motors (BLY172S-24V-4000). The ALFR keeps the basic function of the Line-follower Robot (LFR) but applies more advanced control theories, such as Proportional Integral Derivative (PID), Active Disturbance Rejection Control (ADRC) and Iterative Learning Control (ILC). PID and ADRC have been tested in the ALFR. The ALFR control problems and the results have been discussed in this thesis. Suggestions are also provided for research on unsolved problems. In particular, the mathematical models of …
Experimental Verification Of A Generalized Control Method For Constant Switching Frequency Three Phase Pwm Boost Rectifier Under Extremely Unbalanced Operating Conditions, Divin Sujatha Krishnan
Experimental Verification Of A Generalized Control Method For Constant Switching Frequency Three Phase Pwm Boost Rectifier Under Extremely Unbalanced Operating Conditions, Divin Sujatha Krishnan
ETD Archive
This thesis presents experimental verification of a generalized control method for constant switching frequency Three-phase PWM Boost Type Rectifier under extremely unbalanced operating conditions in the power system. In this model, a hysteresis current controller has been implemented using a high-speed micro-controller to generate the gate signals. Even though a constant switching frequency was achieved in the previous model, while in simulation using MATLAB/Simulink, it wasn’t achieved experimentally due to the low processing speed of the DSpace processor ds1104. This problem has been resolved by using the “C2000 Delfino MCUs F28377S Launchpad ” from Texas Instruments to implement Hysteresis Current …
Information Driven Control Design: A Case For Pmsm Control, Han Zhang
Information Driven Control Design: A Case For Pmsm Control, Han Zhang
ETD Archive
The key problem in control system design was the selection and processing of information. The first part was to collect some system dynamics offline or online in a cost-effective manner and use them in the controller design effectively. Next was to minimize the phase lag in the feedback loop to ensure best performance and stability. A systematic information-driven design strategy was discussed. A few key problems in permanent magnet synchronous motor control were taken in a case study: the current loop and decoupling, velocity loop with position feedback and position estimation at low speed. An active disturbance rejection based integrated …