相关论文: Optimized Cascaded Position Control of BLDC Motors…

This work aims to develop an integrated control strategy for Brushless Direct Current Motors for a wide range of applications in robotics systems. The controller is suited for both high torque - low speed and high-speed control of the…

This paper proposes a method for direct torque control of Brushless DC (BLDC) motors. Evaluating the trapezium of back-EMF is needed, and is done via a sliding mode observer employing just one measurement of stator current. The effect of…

This paper provides a technical review of position and speed sensorless methods for controlling Brushless Direct Current (BLDC) motor drives, including the background analysis using sensors, limitations and advances. The performance and…

A key step in the development of lightweight, high performance robotic systems is the modeling and selection of permanent magnet brushless direct current (BLDC) electric motors. Typical modeling analyses are completed a priori, and provide…

The rapid development and expansion of the EV market marked by the advent of third decade of the 21st century has improved the possibility of a sustainable automotive future. The present EV drivetrain run by BLDC motor has become…

Accurate and robust positioning of rotor axle is essential for efficient and safe operation of high-speed rotational machines with active magnetic bearings. This study presents a cascaded nonlinear control strategy for vertical axial…

This paper presents development of an optimal feedback linearization control (OFLC) for interior permanent magnet (PM) synchronous machines operating in a non steady-sate operating point, i.e., varying torque and speed, to achieve precision…

The induction motors have wide range of applications for due to its well-known advantages like brushless structures, low costs and robust performances. Over the past years, many kind of control methods are proposed for the induction motors…

This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…

This letter considers cascaded model predictive control (MPC) as a computationally lightweight method for controlling a tandem-rotor helicopter. A traditional single MPC structure is split into separate outer and inner-loops. The outer-loop…

This paper presents an auto-tuning framework for torque-based Nonlinear Model Predictive Control (nMPC), where the MPC serves as a real-time controller for optimal joint torque commands. The MPC parameters, including cost function weights…

We propose a performance-based autotuning method for cascade control systems, where the parameters of a linear axis drive motion controller from two control loops are tuned jointly. Using Bayesian optimization as all parameters are tuned…

In order to provide robust, reliable, and accurate position and velocity control of motor drives, friction compensation has emerged as a key difficulty. Non-characterised friction could give rise to large position errors and vibrations…

Nowadays, asynchronous motors have wide range use in many industrial applications. Field oriented control (FOC) and direct torque control (DTC) are commonly used methods in high performance vector control for asynchronous motors. Therefore,…

Study of the buck converter and cascaded system considering the voltage mode controller has been done. First the small signal analysis of a buck dc/dc converter is presented and its mathematical representation has been showed. Then, the…

In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control scheme which…

We propose a general model-free strategy for feedback control design of turbulent flows. This strategy called 'machine learning control' (MLC) is capable of exploiting nonlinear mechanisms in a systematic unsupervised manner. It relies on…

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…

Optimal control of switched systems is challenging due to the discrete nature of the switching control input. The embedding-based approach addresses this challenge by solving a corresponding relaxed optimal control problem with only…

This paper proposes a novel nonlinear decentralized voltage controller for constrained regulation of meshed AC Microgrid networks with high penetration of time-varying constant power loads. Modelling the load demand as a constantly evolving…