An Adaptive Linear-Neuron-Based Third-Order PLL to Improve the Accuracy of Absolute Magnetic Encoders

Nguyen, Hau Van; Tran, Thuong Ngoc-Cong; Park, Jae Wan; Jeon, Jae Wook

doi:10.1109/tie.2018.2866088

Cited by 43 publications

(18 citation statements)

References 31 publications

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“…6. hwe is regulated online by means of the fundamental frequency to be controlled, which can be calculated by the phase locked loop (PLL) algorithm [29]. The method is employed widely because it offers the merits of frequency adaption and the integrators can be discretised separately.…”

Section: Figure 5． Bode Diagram For the Resonant Controllermentioning

confidence: 99%

Vector Control of Asymmetric Dual Three-Phase PMSM in Full Modulation Range

Zhu

et al. 2020

IEEE Access

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The total control range of asymmetric dual three-phase permanent magnet synchronous motor (ADT_PMSM) is divided into three different segments by voltage modulation range and current control dimensions and respective control strategies to get the injected voltages in harmonic subspace for three segments are presented in this paper. The three segments are sinusoidal current modulation region, sinusoidal voltage modulation region and overmodulation region. In sinusoidal current modulation region, resonant controller is adopted in the harmonic subspace to calculate the injected voltages, which can compensate the effect of six-phase voltage source inverter (VSI) dead time for two sets of three-phase windings and takes the pole correction into consideration. In sinusoidal voltage modulation region, open loop control strategy in harmonic subspace is adopted. Overmodulation region 1 and 2 are defined in overmodulation region, and the harmonic voltages which are injected into harmonic subspace to extend the modulation index are calculated based on superposition principle and VSD theory. In order to achieve smooth transition from different regions, a novel space vector pulse width modulation (SVPWM) technique for ADT_PMSM is proposed. The experimental results demonstrate the validity and feasibility of the suggested control approach.

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Section: Figure 5． Bode Diagram For the Resonant Controllermentioning

confidence: 99%

Vector Control of Asymmetric Dual Three-Phase PMSM in Full Modulation Range

Zhu

et al. 2020

IEEE Access

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“…The joint magnetic encoder is installed on-site, and there is no systematic calibration. Relevant compensation methods were studied [40], [41], and we used a second-order function to compensate for the error directly:…”

Section: B Position Transmission Modelmentioning

confidence: 99%

Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator

Yin

et al. 2020

IEEE Access

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Tendon-sheath actuators (TSAs), similar to Bowden cable-based series elastic actuators (SEAs), have a wide range of applications in robots. However, when applying them to manipulators, force sensors cannot be mounted due to limited space. Therefore, this paper proposes a new method for compliant control based on a dual encoder, and the existing transmission model was improved by considering the joint torque. To validate the proposed method, experimental setups composed of a motor, a tendonsheath component, a robotic joint, force sensors, and position sensors are established. The transmission processes are interpreted clearly through a position control mode. Parameter identifications without external disturbance force are conducted to acquire the ideal transmission model, and the error value between the experiment data and the fitted curve is measured. The availability of the presented scheme is verified by compliant control experiments, including collision detection and hand guiding, and the frequency characteristics of the actuator are analyzed. The results show that the function can be realized without force and torque sensors during the whole process. INDEX TERMS Tendon-sheath actuators, robotic manipulator, compliant control, position transmission model, parameter identifications, series elastic actuators, transmission characteristic.

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“…Consequently, these methods are unstable given a frequency change of the input or reference signals [13], [14]. Therefore, alternative techniques, such as adaptive bandwidth or adaptive learning rate based on the frequency estimation, are needed to compensate for the approximation error [15]- [17]. However, the frequency estimation is heavily affected by random noise that comes from many sources, such as electromagnetic field fluctuation, and temperature variation.…”

Section: Introductionmentioning

confidence: 99%

A Stable Adaptive Gradient Descent Harmonic-Disturbance Rejection for Improving Phase-Tracking Accuracy

et al. 2020

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This paper proposes a stable adaptive gradient descent for harmonic-disturbance rejection as a tool for grid-power signal processing, magnetic rotary encoders, and permanent-magnet synchronous motors. The method can be widely applied to increase the accuracy of phase or position estimation in various systems in which harmonic disturbances exist. The proposed technique is based on learning the harmonic amplitudes by means of gradient descent on the feedback phase error. To compensate for the disadvantages of existing gradient-descent methods, the derivative expansion is fully developed with system transfer function integration for stable weighting update. In addition, an adaptive learning rate is also proposed based on discrete Lyapunov standard to achieve stability, and theoretical analysis is discussed. The performance of the method is evaluated by numerical simulation in MATLAB with various scenarios, and by the experiment with the rotary magnetic encoders. The results show that the proposed method achieves stability and high performance in harmonic rejection.

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An Adaptive Linear-Neuron-Based Third-Order PLL to Improve the Accuracy of Absolute Magnetic Encoders

Cited by 43 publications

References 31 publications

Vector Control of Asymmetric Dual Three-Phase PMSM in Full Modulation Range

Vector Control of Asymmetric Dual Three-Phase PMSM in Full Modulation Range

Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator

A Stable Adaptive Gradient Descent Harmonic-Disturbance Rejection for Improving Phase-Tracking Accuracy

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