High-Torque Direct-Drive Machine with Combined Axial- and Radial-flux Out-runner Vernier Permanent Magnet Motor

Zhou, Lei; Guo, Feng; Wang, Bingnan

doi:10.1109/iemdc47953.2021.9449499

Cited by 9 publications

(4 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Considering that the transfer function of disturbance observer with an adaptive nominal model is C 1 , the transfer function of the Computed Torque Controller (CTC) is C 2 , and the self-tuning link is J i . It can be seen from Equation (10), if Q(s) ≈ 1, C 1 can be represented by Equation ( 25):…”

Section: Parameter Self-turning Controller With Settling Timementioning

confidence: 99%

“…Instead, they directly link the joint axes to high-torque electric motor rotors. 9,10 As a result, direct drive manipulators boast outstanding characteristics, including the absence of backlash, minimal friction, and high stiffness. These attributes not only enhance positioning accuracy but also eradicate issues related to wear and aging.…”

Section: Introductionmentioning

confidence: 99%

“…As an efficient alternative to traditional manipulators, direct drive manipulators eliminate transmission mechanisms like gearboxes, chains, and lead screws. Instead, they directly link the joint axes to high‐torque electric motor rotors 9,10 . As a result, direct drive manipulators boast outstanding characteristics, including the absence of backlash, minimal friction, and high stiffness.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Parameters self‐turning controller fused with an adaptive nominal model for disturbance observer: Application to direct drive manipulator with significant payload changes

Liu,

Chen,

Xie

2024

Adaptive Control & Signal

View full text Add to dashboard Cite

SummaryThe direct drive manipulator, which directly links the joint shaft to the motor rotor, is susceptible to external disturbances and model perturbations. When the direct drive manipulator operates with varying payloads, the disturbance observer (DOB) with a constant nominal model struggles to achieve satisfactory performance. To minimize estimation errors caused by disturbance, enhance trajectory tracking accuracy, and improve system robustness, this article proposes a controller parameter self‐tuning strategy with settling time, fused with a nominal model adaptive disturbance observer. Specifically, by optimizing the gain coefficient of the model reference adaptive identification (MRAI), the significant changes in payload at the manipulator's end joint can be quickly and accurately estimated. The inertia introduced by the payload is then employed to continuously update the nominal model of the manipulator, incorporating information about the inertia of the coupling joints. In addition, the controller parameters are updated using a self‐tuning link with settling time, which guarantees that the closed‐loop characteristics of the system remain unaffected by payload changes. Finally, the proposed method was validated using a two‐joint direct drive manipulator. The results demonstrate the robustness of the proposed method in the presence of significant payload changes, and the accuracy of disturbance estimation and the tracking performance of the proposed control strategy is significantly improved.

show abstract

Section: Parameter Self-turning Controller With Settling Timementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Parameters self‐turning controller fused with an adaptive nominal model for disturbance observer: Application to direct drive manipulator with significant payload changes

Liu,

Chen,

Xie

2024

Adaptive Control & Signal

View full text Add to dashboard Cite

show abstract

“…The optimized model reached a continuous torque density of 31.6 Nm/L with a volume of 0.16 L in 3-D FEA. In [12], a double-stator spoke-array PM vernier machine realized a continuous torque density of 66 Nm/L with a large volume of 30 L. In [13], a combined radial-axial flux PM vernier machine was developed. A set of toroidal windings were configured on the stator and the end-windings were utilized to couple with the axial rotors.…”

Section: Introductionmentioning

confidence: 99%

Torque Density Improvement of a Low-Speed High-Torque Swirling Actuator Driven by Electromagnetic Radial Force With Integrated Mechanical Gears

Chen

Fujii

Chibá

2023

IEEE Open J. Ind. Applicat.

View full text Add to dashboard Cite

The torque density improvement of a low-speed high-torque swirling actuator is presented in this paper. The swirling actuator is driven by the electromagnetic radial force and integrated mechanical gears. The electromagnetic radial force generates the circular motion of the swirler which is converted into the low-speed rotor rotation by the mechanical gears. Firstly, the dimensions of the swirler with 12-pole permanent magnets are optimized to enhance the electromagnetic radial force by analytical calculation and 3-D finite element analysis. Secondly, an improved gear set with a reduced pressure angle and an increased transmission ratio is designed. The gear efficiency and torque are investigated analytically considering the friction loss. Two prototypes are designed, and the experimental results exhibit that the peak torque density is improved from 27 to 64 Nm/L with a small volume of 0.16 L.

show abstract

Experimental Study of Modular Brushless Permanent Magnet Axial Flux Motor Performance on Micro Electric Car

Tadjuddin

Fuadi

Nazaruddin

et al. 2022

Lecture Notes in Mechanical Engineering

View full text Add to dashboard Cite

High-Torque Direct-Drive Machine with Combined Axial- and Radial-flux Out-runner Vernier Permanent Magnet Motor

Cited by 9 publications

References 8 publications

Parameters self‐turning controller fused with an adaptive nominal model for disturbance observer: Application to direct drive manipulator with significant payload changes

Parameters self‐turning controller fused with an adaptive nominal model for disturbance observer: Application to direct drive manipulator with significant payload changes

Torque Density Improvement of a Low-Speed High-Torque Swirling Actuator Driven by Electromagnetic Radial Force With Integrated Mechanical Gears

Experimental Study of Modular Brushless Permanent Magnet Axial Flux Motor Performance on Micro Electric Car

Contact Info

Product

Resources

About