A Trajectory Generation Algorithm for Optimal Consumption in Electromagnetic Actuators

Fabbrini, Alessio; Garulli, Andrea; Mercorelli, Paolo

doi:10.1109/tcst.2011.2159006

Cited by 36 publications

(14 citation statements)

References 13 publications

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“…Solenoid actuators have been widely used for their good performance of simple structure, fast response, energy conservation, economic feasibility, and favorable stability. As an emerging process in the automobile industry, electronic fuel injection systems of internal combustion engine are using solenoid actuators for reduction of fuel consumption and hazardous exhaust emissions [5,6]. There are growing demands for high frequency response, reduction of actuation forces, and strong anti-pollution capabilities of electro hydraulic control system [7,8].…”

Section: Introductionmentioning

confidence: 99%

Design of a Solenoid Actuator for a Cylinder Valve in a Fuel Cell Vehicle

2016

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Green vehicles include electric vehicles, natural gas vehicles, fuel cell vehicles (FCV), and vehicles running on fuel such as a biodiesel or an ethanol blend. An FCV is equipped with a cylinder valve installed in an ultra-high pressure vessel to control the hydrogen flow. For this purpose, an optimum design of the solenoid actuator is necessary to ensure reliability when driving an FCV. In this study, an electromagnetic field analysis for ensuring reliable operation of the solenoid actuator was conducted by using Maxwell V15. The electromagnetic field analysis was performed by magneto static technique, according to the distance between magnetic poles, in order to predict the attraction force. Finally, the attraction force was validated through comparison between the Maxwell results and measurement results. From the results, the error of attraction force ranged from 2.33 to 3.85 N at testing conditions.

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Section: Introductionmentioning

confidence: 99%

Design of a Solenoid Actuator for a Cylinder Valve in a Fuel Cell Vehicle

2016

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“…The waveform in Figure 20 shows the phase voltage and phase current of an SRM phase, respectively. The results confirm that the motor is stably driven at the rated speed of 32,000 rpm by adjusting the advance angle at full duty [17][18][19][20][21][22][23][24]. Figure 21 depicts a suction power tester that can be used to check the suction power of the cleaners.…”

Section: Driving Test Of the Prototype Two-phase 4/2 Pole Srm And DC mentioning

confidence: 65%

Efficiency Enhancement of a Low-Voltage Automotive Vacuum Cleaner Using a Switched Reluctance Motor

Seon¹,

Han²,

Ahn

et al. 2016

Energies

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Abstract:A recent increase in the number of diverse leisure activities and family outdoor activities has increased the need for the automobile-embedded vacuum cleaner. To date, this technology has not been applied in Korea and development efforts are not underway. Many of the existing portable cleaners connecting to the lighter jack of the vehicle use a direct current motor (DC motor). However, they do not have sufficient suction power to satisfy consumers; moreover, they have low durability and efficiency. In this paper, we therefore propose a technology for increasing the efficiency of the low-voltage automobile vacuum cleaner by replacing the existing DC motor with a switched reluctance motor (SRM), which has superior durability and efficiency.

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“…In a practical implementation, we may have trajectories with other arbitrary shapes and obstacles, and a purely geometric approach may be insufficient when considering uncertainties of the map or location of the robot, as well as error in tracking of the trajectory (e.g., the robot may not be perfectly aligned with the linear segments of the trajectory, such that the successive rotations of 180 • would need to be corrected slightly). In order to cope with all these factors, as part of ongoing and near future work, we are currently approaching the trajectory-following problem of the MASAR robot from a closed-loop control perspective, departing from its velocity model and designing feedback controllers that allow the tracking of arbitrary trajectories, in a similar way to the solutions proposed in [27] for a differential-drive two-wheeled mobile robot, optimizing time, distance, or energy consumption [28]. Other ongoing and future tasks to address are: the analysis of trajectories that include concave plane transitions (Figure 4a), the analysis of the MASAR robot as a modular reconfigurable robot able to perform more complex motions by combining with identical modules (Figure 4b), and the construction and validation of a prototype of the robot, including the adhesion pads that allow a single module to walk or combine with identical modules (Figure 3).…”

Section: Discussionmentioning

confidence: 99%

Trajectory Analysis for the MASAR: A New Modular and Single-Actuator Robot

et al. 2019

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Single-actuator mobile robots offer the benefits of low energy consumption, low weight and size, and low cost, but their motion is typically only one-dimensional. By using auxiliary binary mechanisms that redirect and channel the driving force of their only actuator in different ways, it is possible for these robots to perform higher-dimensional motions, such as walking straight, steering, or jumping, with only one motor. This paper presents the MASAR, a new Modular And Single-Actuator Robot that carries a single motor and several adhesion pads. By alternately releasing or attaching these adhesion pads to the environment, the proposed robot is able to pivot about different axes using only one motor, with the possibility of performing concave plane transitions or combining with other identical modules to build more complex reconfigurable robots. In this paper, we solve the planar trajectory tracking problem of this robot for polygonal paths made up of sequences of segments, which may include narrow corridors that are difficult to traverse. We propose a locomotion based on performing rotations of 180 ∘ , which we demonstrate to be the minimum-time solution for long trajectories, and a near-optimal solution for shorter ones.

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A Trajectory Generation Algorithm for Optimal Consumption in Electromagnetic Actuators

Cited by 36 publications

References 13 publications

Design of a Solenoid Actuator for a Cylinder Valve in a Fuel Cell Vehicle

Design of a Solenoid Actuator for a Cylinder Valve in a Fuel Cell Vehicle

Efficiency Enhancement of a Low-Voltage Automotive Vacuum Cleaner Using a Switched Reluctance Motor

Trajectory Analysis for the MASAR: A New Modular and Single-Actuator Robot

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