A novel two-nger gripper using variable-reluctance ( VR) technology is investigated in this paper. Its non-linear characteristics are explored through theoretical analysis and experiments. Based on the experimental model, a passivity-based controller is designed. With energy modi cation and damping injection, the robustness to variable inductance is veri ed by simulations and experiments. Through the incorporation of passivity-based control (PBC ) with di erential atness, trajectory planning is realized and ideal performance is achieved. commutation methods. Although the designed lineariz-Manchester, IT Building IT301, Oxford Road, Manchester M13 9PL, UK.ation controller can set up the phase current before the I08103
A novel two-finger gripper using variable-reluctance (VR) technology is investigated in this paper. Its non-linear characteristics are explored through theoretical analysis and experiments. Based on the experimental model, a passivity-based controller is designed. With energy modification and damping injection, the robustness to variable inductance is verified by simulations and experiments. Through the incorporation of passivity-based control (PBC) with differential flatness, trajectory planning is realized and ideal performance is achieved.
In the neutral point clamped (NPC) three-level inverter-permanent magnet synchronous motor system, traditional model predictive current control (MPCC) uses the system predictive model to traverse the 27 basic voltage vectors, to achieve the d-q axis current component and neutral point voltage of the multi-objective optimal control. Finite control set model predictive control predicts the state change of the control target at future moments based on a finite number of switching states of the inverter. The control principle of this method is simple and easy to implement, but the control effectiveness of this control strategy is limited because only one basic vector can be selected as the optimum output per control period. In this paper, a model predictive current control strategy based on an extended control set (ECS-MPCC) is proposed, which can improve the control performance of the system by extending the control set to select multiple vectors in a single control period compared to the traditional strategy. In addition, to address the disadvantage of extending virtual space vectors leading to an increase in computation, this paper proposes a fast search method for optimal vector based on region reduction. The proposed method avoids the optimization process traversing all virtual space vectors, thus enabling a fast search for the optimal vector. The experimental results show that the proposed control strategy has good steady-state and dynamic performance.
Based on the Single-Input Dual-Output (SIDO) Cuk converter, a novel commutation torque ripple suppression strategy is proposed for a brushless DC motor (BLDCM). Two voltage scalars are constructed, according to the operating principle of SIDO Cuk converter and BLDCM, and applied to the non-commutation and commutation periods, respectively, of BLDCM; the commutation torque ripple in the full speed range is effectively reduced, and this occurs without the need to switch the control strategy according to the speed range. The inverter in the proposed strategy is controlled by the pulse amplitude modulation (PAM) during both non-commutation and commutation periods, and the voltage spike damage caused by the inverter chopping to the motor can be minimized. In addition, the multiple outputs of the SIDO Cuk converter improve the utilization of the DC power for the BLDCM control system. The experimental results verify the effectiveness of the proposed strategy.
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