Controls and Control Theory Commons^™

Design, Development, And Evaluation Of Customized Electronics For Controlling A 5-Dof Magneto-Rheological Actuator Collaborative Robot, Ziqi Yang

Electronic Thesis and Dissertation Repository

In recent years, Magneto-Rheological (MR) fluids has been used in various fields such as robotics, automotive, aerospace, etc. The most common use of the MR fluids is within a clutch-like mechanism, namely an MR clutch. When mechanical input is coupled to the input part of the MR clutch, the MR clutch provides a means of delivering this mechanical input to its output, through the MR fluids. The combination of the mechanical input device and the MR clutch is called an MR actuator. The MR actuator features inherently compliance owing to the characteristic of the MR fluids while also offering higher …

Sensorless Rotor Position Estimation For Brushless Dc Motors, Iram G. Raza

Electronic Thesis and Dissertation Repository

Brushless DC motor speed is controlled by synchronizing the stator coil current with rotor position in order to acquire an accurate alignment of stator rotating field with rotor permanent-magnet field for efficient transfer of energy. In order to accomplish this goal, a motor shaft is instantly tracked by using rotating rotor position sensors such as Hall effect sensors, optical encoders or resolvers etc. Adding sensors to detect rotor position affects the overall reliability and mechanical robustness of the system. Therefore, a whole new trend of replacing position sensors with sensorless rotor position estimation techniques have a promising demand.

Among the …