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Zeitschriftenartikel zum Thema „Torque Controlled“

Autor: Grafiati

Veröffentlicht am 30. Juni 2021

Zuletzt aktualisiert am 1. Februar 2022

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Lian, Xiaobin, Jiafu Liu, Chuang Wang, Tiger Yuan, and Naigang Cui. "RBF network based adaptive sliding mode control for solar sails." Aircraft Engineering and Aerospace Technology 90, no. 8 (2018): 1180–91. http://dx.doi.org/10.1108/aeat-04-2017-0112.

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Purpose The purpose of this paper is to resolve complex nonlinear dynamical problems of the pitching axis of solar sail in body coordinate system compared with inertial coordinate system. And saturation condition of controlled torque of vane in the orbit with big eccentricity ration, uncertainty and external disturbance under complex space background are considered. Design/methodology/approach The pitch dynamics of the sailcraft in the prescribed elliptic earth orbits is established considering the torques by the control vanes, gravity gradient and offset between the center-of-mass (cm) and center-of-pressure (cp). The maximal torques afforded by the control vanes are numerically determined for the sailcraft at any position with any pitch angle, which will be used as the restriction of the attitude control torques. The finite/infinite time adaptive sliding mode saturation controller and Bang–Bang–Radial Basis Function (RBF) controller are designed for the sailcraft with restricted attitude control torques. The model uncertainty and the input error (the error between real input and ideal control law input) are solved using the RBF network. Findings The finite true anomaly adaptive sliding mode saturation controller performed better than the other two controllers by comparing the numerical results in the paper. The control torque saturation, the model uncertainty and the external disturbance were also effectively solved using the infinite and finite time adaptive sliding mode saturation controllers by analyzing the numerical simulations. The stabilization of the pitch motion was accomplished within half orbit period. Practical implications The complex accurate dynamics can be approximated using the RBF network. The controllers can be applied to stabilization of spacecraft attitude dynamics with uncertainties in complex space environment. Originality/value Advanced control method is used in this paper; saturation of controlled torque of vane is resolved when the orbit with big eccentricity ration is considered and uncertainty and external disturbance under complex space background are settled. Moreover, complex and accurate nonlinear dynamical model of pitching axis of solar sail in body coordinate system compared with inertial coordinate system is provided.

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Manohar, Murli, and Sukanta Das. "Direct torque controlled induction motor drive using modified five‐level torque controller for reduction in torque ripple." IET Power Electronics 13, no. 9 (2020): 1885–92. http://dx.doi.org/10.1049/iet-pel.2019.1027.

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Allirani, S., N. Subha Lakshmi, and H. Vidhya. "Performance analysis on direct torque controlled induction motor drive with varying hysteresis controller bandwidth." International Journal of Power Electronics and Drive Systems (IJPEDS) 11, no. 3 (2020): 1165. http://dx.doi.org/10.11591/ijpeds.v11.i3.pp1165-1174.

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The fore most issue in DTC based induction motor drive is its torque ripples. The core objective of this paper is to reduce the electromagnetic torque ripples by varying the hysteresis controller bandwidth. Space Vector Modulation (SVM) based Direct Torque Controlled (DTC) induction motor drive is simulated in MATLAB/SIMULINK environment and its performance is studied with step change in load torque. The influence of hysteresis controller bandwidth on the performance of induction motor drive is analysed in terms of stator flux and electromagnetic torque ripples. The electromagnetic torque response and the stator flux trajectory for different values of hysteresis controller bandwidth are obtained and the results are presented.

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Kang, Sangmin, Maru Yoon, and Myoungho Sunwoo. "Traction control using a throttle valve based on sliding mode control and load torque estimation." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 219, no. 5 (2005): 645–53. http://dx.doi.org/10.1243/095440705x11059.

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The purpose of an engine-controlled traction control system (TCS) is to regulate engine torque in order to keep the driven wheel slip in a desired range. Engine torque can be regulated by a throttle valve. In this paper, the engine-controlled TCS based on an engine model and estimated load torque by a Luenberger observer is proposed. For this control scheme, the engine model is required for a model-based controller design using sliding mode control. The engine torque controller determines the throttle angle for maintaining the desired manifold pressure to generate engine torque corresponding to the desired wheel torque. Since the load torque is composed of multiple external sources such as friction force, drag force, mechanical losses, and others, load torque estimation is required. The simulation results to various manoeuvres during slippery and split road conditions have showed better acceleration performance and stability of the vehicle with TCS. In addition, the load torque observer has estimated real load torque with little error.

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Walmsley, A., and J. L. Bahr. "A computer-controlled torque motor." Measurement Science and Technology 1, no. 7 (1990): 539–43. http://dx.doi.org/10.1088/0957-0233/1/7/001.

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Ebrahimi, M., and S. A. Jazayeri. "Design of Digital Controllers for Permanent Magnet Torque Motors." Advanced Materials Research 463-464 (February 2012): 1219–23. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1219.

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The design of control system can be divided into two steps. The plant has to be converting into mathematical model form, so that its behavior can be analyzed. Then an appropriate controller has to be design in order to get the desired response of the controlled system. In this paper, the linear model of a Permanent magnet torque motor (PMTM) is considered and three controllers, digital PID controller with two forms of positional and velocity, a deadbeat controller and pole placement controller method are designed and due to a comparing between their, the best controller for this kind of plants will be chosen.

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Mekrini, Zineb, and Seddik Bri. "Fuzzy Logic Application for Intelligent Control of An Asynchronous Machine." Indonesian Journal of Electrical Engineering and Computer Science 7, no. 1 (2017): 61. http://dx.doi.org/10.11591/ijeecs.v7.i1.pp61-70.

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<p>The aim of this article is propose a method to improve the direct torque control and design a Fuzzy Logic based Controller which can take necessary control action to provide the desired torque and flux of an asynchronous machine. It’s widely used in the industrial application areas due to several features such as fast torque response and less dependence on the rotor parameters. The major problem that is usually associated with DTC control is the high torque ripple as it is not directly controlled. The high torque ripple causes vibrations to the motor which may lead to component lose, bearing failure or resonance. The fuzzy logic controller is applied to reduce electromagnetic torque ripple. In this proposed technique, the two hysteresis controllers are replaced by fuzzy logic controllers and a methodology for implementation of a rule based fuzzy logic controller are presented. The simulation by Matlab/Simulink was built which includes induction motor d-q model, inverter model, fuzzy logic switching table and the stator flux and torque estimator. The validity of the proposed method is confirmed by the simulative results of the whole drive system and results are compared with conventional DTC method. </p>

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Kumar, Dasari Deekshith, and N. Praveen Kumar. "Dynamic torque response improvement of direct torque controlled induction motor." Journal of Physics: Conference Series 1706 (December 2020): 012100. http://dx.doi.org/10.1088/1742-6596/1706/1/012100.

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Feng, Jianbo, Sizhong Chen, Zhiquan Qi, Jiaming Zhong, and Zheng Liu. "Electromagnetic Hysteresis Based Dynamics Model of an Electromagnetically Controlled Torque Coupling." Processes 7, no. 9 (2019): 557. http://dx.doi.org/10.3390/pr7090557.

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This paper proposes a novel computationally efficient, easy-to-implement electromagnetic hysteresis based dynamics model of a kind of intelligent electromagnetic torque controlled coupling (EMTC), which, with drag torque under consideration, first models the electromagnetic hysteresis existing in the primary clutch with the classical Preisach model, and then models the transferred torques in the three friction elements of the center coupling in the slipping and locked modes, respectively. The performance of the model is verified by simulation and experiment jointly, which lays the basis for the development of advanced control algorithm.

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Banda, Gururaj, and Sri Gowri Kolli. "An Intelligent Adaptive Neural Network Controller for a Direct Torque Controlled eCAR Propulsion System." World Electric Vehicle Journal 12, no. 1 (2021): 44. http://dx.doi.org/10.3390/wevj12010044.

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This article deals with an intelligent adaptive neural network (ANN) controller for a direct torque controlled (DTC) electric vehicle (EV) propulsion system. With the realization of artificial intelligence (AI) conferred adaptive controllers, the torque control of an electric car (eCAR) propulsion motor can be achieved by estimating the stator reference flux voltage used to synthesize the space vector pulse width modulation (SVPWM) for a DTC scheme. The proposed ANN tool optimizes the parameters of a proportional integral (PI) controller with real-time data and offers splendid dynamic stability. The response of an ANN controller is examined over standard drive cycles to validate the performance of an eCAR in terms of drive range and energy efficiency using MATLAB simulation software.

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Gangishetti, Srinivas, and Tarakalyani Sandipamu. "Different Control Schemes for Sensor Less Vector Control of Induction Motor." International Journal of Power Electronics and Drive Systems (IJPEDS) 8, no. 2 (2017): 712. http://dx.doi.org/10.11591/ijpeds.v8.i2.pp712-721.

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This paper deals with the design of different control schemes for sensorless vector control of induction motor.Induction motor is most widely used A.C. Motor but the major draw back is flux and torque cannot be controlled individually.This can be obtained by implementing sensorless vector control methods.The control strategy of induction motor is by different controllers like conventional control methods and artificial intelligence control methods.The conventional control methods are sensitive to parameter changes and will not be accurate. This paper proposes to design a controller to over come the above draw backs by using intelligent control techniques like fuzzy logic, artificial neutral networks (ANN) and genetic algorithm (GA).The above conventional control methods are compared with intelligent control techniques. The simulation studies are carried out using Matlab/Simulink and the wave forms for speed, torque and voltage components for various controlles are plotted. Numerical analysis for speed and torque components considering parameters like peakover shoot and peak time are presented.

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Albalawi, Hani, Sherif A. Zaid, and Yonis M. Buswig. "Simulation Study of Two Torque Optimization Methods for Direct Torque-Controlled Induction Motors." Applied Sciences 9, no. 24 (2019): 5547. http://dx.doi.org/10.3390/app9245547.

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The simplicity and excellent dynamic performance of Direct Torque Control (DTC) make Induction Motor (IM) drives attractive for many applications that require precise torque control. The traditional version of DTC uses hysteresis controllers. Unfortunately, the nature of these controllers prevents the optimization of the inverter voltage vectors inside the flux hysteresis band. The inverter voltage vector optimization can produce fast torque response of the IM drive. This research proposes two torque optimization methods for IM systems utilizing DTC. Analysis and Matlab simulations for the proposed optimization methods prove that the torque and, consequently, the speed responses, are greatly improved. The performances of the drive system controlled by the proposed optimization methods and the traditional DTC are compared. Conversely, the effects of the parameters on the proposed optimization methods are introduced. The proposed methods greatly improve the torque and speed dynamic performances against the traditional DTC technique. However, one of the proposed optimization methods is more sensitive to IM parameter variations than the other.

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Ning, Bowen, Shanmei Cheng, Baokang Yan, and Fengxing Zhou. "Examination and implementation for direct torque controlled permanent magnet synchronous motor with space vector modulation." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 233, no. 2 (2018): 153–63. http://dx.doi.org/10.1177/0959651818787006.

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This study investigates the direct torque control strategy of permanent magnet synchronous motor with the space vector modulation, on account of large torque fluctuation and varied switching frequency of classic direct torque control strategy. The relationship among the terminal control voltages and the torque and stator flux of the permanent magnet synchronous motor is derived through the dynamic model of motor. Accordingly, the torque and the flux closed-loop feedback control structure are established, where the error signals are regulated by the proportional and integral controllers to generate output voltages. Furthermore, the parameters of the controllers are designed through explicitly analyzing the frequency domain models of the torque control loop and the flux control loop. The accurate calculation formula of control parameters, which has both explicit setting target and definite physical meaning, is obtained. Therefore, the design of torque and flux controller parameters becomes easy in the direct torque control with space vector modulation technology, and satisfactory flux and torque control can be acquired. Finally, simulation and experimental tests are demonstrated in support of the validity of the investigated scheme and the feasibility of the proposed controller parameter design.

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Yang, Guocai, Yechao Liu, and Minghe Jin. "A new control method of flexible-joint manipulator with harmonic drive." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, no. 9 (2020): 1868–83. http://dx.doi.org/10.1177/0954406219899697.

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Considerable elasticity and nonlinear friction caused by harmonic transmission challenge the performance of flexible-joint manipulators. The uncertain dynamics of manipulator and the inadequate measurable states also limit the controller design. A new control method is proposed to address these problems, achieving the precise motion control of the flexible-joint manipulator. The method consists of three cascaded controllers: an adaptive controller, a torque-tracking controller, and a motor controller. The adaptive controller was adopted to generate the desired torque ensuring the robustness for uncertain dynamics. The torque-tracking controller derived the position compensation for motor control according to the torque error. As the elastic torque is under control, the vibration caused by harmonic drive can be eliminated. The motor was controlled based on poles-assignment method and friction compensation. The Kalman observer based on the Brownian motion model observed both velocity and the high-order derivatives of torque sensing. The stability of the control method was strictly proved. Calibration was performed on each joint to obtain the required joint stiffness and motor friction parameters. The control method was verified on a single joint and the frequency response of the system was obtained. The results show that the controller has good performance. The controller was realized on the self-developed seven-degree-of-freedom manipulator. The results reveal that the controller has high-precision tracking performance.

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Yehia Sayed Mohammed, Ahmed A. Zaki Diab, Ahmed G. Mahmoud A. Aziz, Hamdi Ali,. "Investigation of the Performance of Model Predictive Control for Induction Motor Drives." INFORMATION TECHNOLOGY IN INDUSTRY 9, no. 1 (2021): 1007–15. http://dx.doi.org/10.17762/itii.v9i1.235.

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The current work presents speed, torque and flux control of an induction motor (IM) drive, founded on model predictive control (MPC). Via the MPC techniques, the motor electromagnetic torque and flux linkage are controlled as an internal loop. However, the speed is controlled as the external loop. The internal control loop is founded on finite control set FCS-MPC, and the external control founded on the torque PI controller. The performance of the MPC is tested with various conditions of the drive operation, and the outcomes approve the excellent steady-state and dynamic operation of the system in a wide range of speeds and with torque disturbance.

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Friese, M. E. J., T. A. Nieminen, N. R. Heckenberg, and H. Rubinsztein-Dunlop. "Optical torque controlled by elliptical polarization." Optics Letters 23, no. 1 (1998): 1. http://dx.doi.org/10.1364/ol.23.000001.

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Liu, Y., Z. Q. Zhu, and D. Howe. "Instantaneous Torque Estimation in Sensorless Direct-Torque-Controlled Brushless DC Motors." IEEE Transactions on Industry Applications 42, no. 5 (2006): 1275–83. http://dx.doi.org/10.1109/tia.2006.880854.

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Hakami, Samer Saleh, and Kyo-Beum Lee. "Four-Level Hysteresis-Based DTC for Torque Capability Improvement of IPMSM Fed by Three-Level NPC Inverter." Electronics 9, no. 10 (2020): 1558. http://dx.doi.org/10.3390/electronics9101558.

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Direct torque control (DTC) is considered one of the simplest and fastest control strategies used in motor drives. However, it produces large torque and flux ripples. Replacing the conventional two-level hysteresis torque controller (HTC) with a four-level HTC for a three-level neutral-point clamped (NPC) inverter can reduce the torque and flux ripples in interior permanent magnet synchronous motor (IPMSM) drives. However, the torque will not be controlled properly within the upper HTC bands when driving the IPMSM in the medium and high-speed regions. This problem causes the stator current to drop, resulting in poor torque control. To resolve this problem, a simple algorithm based on a torque error average calculation is proposed. Firstly, the proposed algorithm reads the information of the calculated torque and the corresponding torque reference to calculate the torque error. Secondly, the average value of torque error is calculated instantaneously as the reference torque changes. Finally, the average value of the torque error is used to indicate the operation of the proposed algorithm without the need for motor speed information. By using the proposed algorithm, the torque can be controlled well in all speed regions, and thus, a better stator current waveform can be obtained. Simulation and experimental results validate the effectiveness of the proposed method.

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Wang, Xueqing, Zheng Wang, Zhixian Xu, Ming Cheng, and Yihua Hu. "Optimization of Torque Tracking Performance for Direct-Torque-Controlled PMSM Drives With Composite Torque Regulator." IEEE Transactions on Industrial Electronics 67, no. 12 (2020): 10095–108. http://dx.doi.org/10.1109/tie.2019.2962451.

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Del Prete, Andrea, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, and Francesco Nori. "Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors." International Journal of Humanoid Robotics 13, no. 01 (2016): 1550044. http://dx.doi.org/10.1142/s0219843615500449.

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This paper presents a complete framework (estimation, identification and control) for the implementation of joint-torque control on the humanoid robot HRP-2. While torque control has already been implemented on a few humanoid robots, this is one of the first implementations of torque control on a robot that was originally built to be position controlled (iCub [F. Nori, S. Traversaro, J. Eljaik, F. Romano, A. Del Prete and D. Pucci, iCub whole-body control through force regulation on rigid non-coplanar contacts, Frontiers in Robotics and AI 2 (2015).] and Asimo [O. Khatib, P. Thaulad and J. Park, Torque-position transformer for task control of position controlled robots, 2008 IEEE Int. Conf. Robotics and Automation, May 2008, pp. 1729–1734.] being the first two, to the best of our knowledge). The challenge comes from both the hardware, which does not include joint-torque sensors and presents large friction due to the high-ratio gear boxes, and the software interface, which only accepts desired joint-angle commands (no motor current/voltage control). The contribution of the paper is to provide a complete methodology that is very likely to be reproduced as most robots are designed to provide only position control capabilities. Additionally, the method is validated by exhaustive experiments on one leg of the robot, including a comparison with the original position controller. We tested the torque controller in both motion control and cartesian force control. The torque control can track better a reference trajectory while using lower values for the feedback gains (up to 25%). Moreover, we verified the quality of the identified motor models by analyzing the contribution of the feedforward terms of our torque controller, which dominate the feedback terms.

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Yao, Xing Jia, Hong Fang Xie, Jiang Sheng Zhu, Xiao Dong Wang, Ying Ming Liu, and Huai Qing Li. "5MW Offshore Wind Turbine Control Based on Pitch Joint Torque Controller." Applied Mechanics and Materials 672-674 (October 2014): 185–89. http://dx.doi.org/10.4028/www.scientific.net/amm.672-674.185.

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Modern control theory has been used to design a variable pitch controller based on disturbance accommodating. The controller realizes the optimal control which minimized the controller action and drive-train torque. A torque controller based on pole clustering had been designed to enhance drive system damping and to suppress torque ripple. The federated control of variable pitch and torque is adopted to reduce drive system dynamic torsional load, and has been verified by software MATLAB and FAST. Simulation result illustrated that drive system dynamic torsional load can be controlled to improve reliability of wind turbine and extend life of critical components by active control method.

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Toth, Go¨ran R. "Torque and Angle Controlled Tightening Over the Yield Point of a Screw—Based on Monte-Carlo Simulations." Journal of Mechanical Design 126, no. 4 (2004): 729–36. http://dx.doi.org/10.1115/1.1701877.

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This paper presents a technique, based on Monte-Carlo simulations, of utilizing a screw over its yield point in a controlled fashion, even under simple tightening conditions. The simulations consider the probabilistic nature of different variables necessary to calculate screwed joints. The proposed torque and angle controlled tightening technique can be used in assembly plants as well as in small workshops. The technique predicts permanent elongation, maximum tightening angle, final torque and preload after tightening. Further, a recommendation on the minimum and maximum snug torques prior to application of the angle over the yield point of a screw is also presented.

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Tian, Lin, and Shi Jie Xu. "A New Spacecraft Attitude Controller Considering Variable Saturation Limit of Flywheels Output Torque." Applied Mechanics and Materials 130-134 (October 2011): 1564–67. http://dx.doi.org/10.4028/www.scientific.net/amm.130-134.1564.

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A new attitude controller is proposed in this paper considering variable flywheels output torque saturation limit. Control model is discussed while the time-varying and state-dependent torque saturation limit is derived. The new controller is similar to linear assignment of torque limit and covers attitude feedback information. With Lyapunov method, the asymptotic convergence of controlled system states is proved. The auxiliary parameter contained in the controller is guaranteed to be bounded to make sure that the control objective can be achieved. All of the simulation results validate the analysis and controller.

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Brookfield, D. J., and Z. B. Dlodlo. "Robot torque and position control using an electrorheological actuator." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 212, no. 3 (1998): 229–38. http://dx.doi.org/10.1243/0959651981539424.

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An electrorheological (ER) clutch driven from a constant speed motor provides a steady torque independent of shaft angle and can be controlled by control of the applied field. Such an actuator avoids the ‘cogging’ variation in torque observed in d.c. servo-motors and is thus well suited to robot control applications, particularly in view of the very rapid time response of ER clutches (≍ 10−3 s). However, the relationship between applied field and torque is difficult to model, being both non-linear and time varying. Whereas the non-linearity can be shown to be relatively small, the time-varying characteristic has remained a problem. In most controlled plants, a non-linear or time-varying characteristic can be mitigated by providing a closed control loop around the plant. A PID (proportional plus integral plus derivative)-based torque controller was developed and tested. This was shown to be stable with at least critical damping and to exhibit low steady state error. Design of the controller was facilitated by the identification of the open-loop transfer function of the ER actuator. The ER actuator with torque feedback was used to position a small robot link. A second PID control loop responding to the error in the link position and tuned using the standard Ziegler and Nichols method was designed and tested. A steady state error of less than 0.75 mm was achieved with a 2 per cent settling time of 2.0 s. Finally, the link position was controlled using a single-loop controller with no torque feedback and a similar steady state error achieved with a 2 per cent settling time of 1.4 s. It is argued that the ER torque actuator is ideally suited to the actuation of robot joints where precise smooth movement is required.

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Habibi, Majid, and Alireza B. Novinzadeh. "Modeling and Designing an Intelligent Controller using Bond Graph for a Satellite Controlled by Magnetic Actuators." International Journal of Intelligent Mechatronics and Robotics 2, no. 1 (2012): 72–90. http://dx.doi.org/10.4018/ijimr.2012010105.

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Satellite state control has always been an important topic in aerospace technology. Because it is required that when the satellite is stationary in orbit, it would be directed to a special object and this task should be performed in a situation where there isn’t access to the satellite. This task is performed using various technologies and one of these is the use of magnetic actuators. Magnetic actuators use mechanical torque that is resulted by interaction of electrical current of coils in the satellite and the earth’s magnetic field. The satellite is subjected to such disturbance torques, thus corrupting the direction of the satellite. This method has its advantages and disadvantages. Its drawback is that the magnetic torque is produced only perpendicular to the direction of the magnetic field and the axis of the coil. This paper models a satellite having magnetic actuators using bond graph, and finds out its state equations, and then constructs the control logic that is needed for its control. A model of three dimensional attitude maneuvers and magnetic systems using bond graph is described. The actuators are tuned using the method of particle swarm optimization (PSO). It is observed that using this method a small satellite reaches to the desired angle in a short time and becomes stationary.

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Liu, Yong, Z. Q. Zhu, and David Howe. "Commutation-Torque-Ripple Minimization in Direct-Torque-Controlled PM Brushless DC Drives." IEEE Transactions on Industry Applications 43, no. 4 (2007): 1012–21. http://dx.doi.org/10.1109/tia.2007.900474.

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Inoue, Y., S. Morimoto, and M. Sanada. "Examination and Linearization of Torque Control System for Direct Torque Controlled IPMSM." IEEE Transactions on Industry Applications 46, no. 1 (2010): 159–66. http://dx.doi.org/10.1109/tia.2009.2036540.

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Shields, Richard K., Shauna Dudley-Javoroski, and Keith R. Cole. "Feedback-controlled stimulation enhances human paralyzed muscle performance." Journal of Applied Physiology 101, no. 5 (2006): 1312–19. http://dx.doi.org/10.1152/japplphysiol.00385.2006.

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Chronically paralyzed muscle requires extensive training before it can deliver a therapeutic dose of repetitive stress to the musculoskeletal system. Neuromuscular electrical stimulation, under feedback control, may subvert the effects of fatigue, yielding more rapid and extensive adaptations to training. The purposes of this investigation were to 1) compare the effectiveness of torque feedback-controlled (FDBCK) electrical stimulation with classic open-loop constant-frequency (CONST) stimulation, and 2) ascertain which of three stimulation strategies best maintains soleus torque during repetitive stimulation. When torque declined by 10%, the FDBCK protocol modulated the base stimulation frequency in three ways: by a fixed increase, by a paired pulse (doublet) at the beginning of the stimulation train, and by a fixed decrease. The stimulation strategy that most effectively restored torque continued for successive contractions. This process repeated each time torque declined by 10%. In fresh muscle, FDBCK stimulation offered minimal advantage in maintaining peak torque or mean torque over CONST stimulation. As long-duration fatigue developed in subsequent bouts, FDBCK stimulation became most effective (∼40% higher final normalized torque than CONST). The high-frequency strategy was selected ∼90% of the time, supporting that excitation-contraction coupling compromise and not neuromuscular transmission failure contributed to fatigue of paralyzed muscle. Ideal stimulation strategies may vary according to the site of fatigue; this stimulation approach offered the advantage of online modulation of stimulation strategies in response to fatigue conditions. Based on stress-adaptation principles, FDBCK-controlled stimulation may enhance training effects in chronically paralyzed muscle.

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Chen, Chin Sheng, and Yu Reng Lee. "Auto-Tuning Digital Control Based on Parameters Identification and Disturbance Observer." Materials Science Forum 505-507 (January 2006): 529–34. http://dx.doi.org/10.4028/www.scientific.net/msf.505-507.529.

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This paper presented a digital servo driver that realizes an auto-tuning feedback and feedforward controller design using on-line parameters identification. Firstly, the variant inertia constant, damping constant and the disturbed load torque of the servo motor are estimated by the recursive least square (RLS) estimator, which is composed of an RLS estimator and a disturbance torque compensator. Furthermore, the auto-tuning algorithm of feedback and feedforward controller is realized according to the estimated parameters to match the tracking specification. The proposed auto-tuning digital servo controllers are evaluated and compared experimentally with a traditional controller on a microcomputer-controlled servo motor positioning system. The experimental results show that this auto-tuning digital servo system remarkably reduces the tracking error.

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Bastian, A. J., K. M. Zackowski, and W. T. Thach. "Cerebellar Ataxia: Torque Deficiency or Torque Mismatch Between Joints?" Journal of Neurophysiology 83, no. 5 (2000): 3019–30. http://dx.doi.org/10.1152/jn.2000.83.5.3019.

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Prior work has shown that cerebellar subjects have difficulty adjusting for interaction torques that occur during multi-jointed movements. The purpose of this study was to determine whether this deficit is due to a general inability to generate sufficient levels of phasic torque inability or due to an inability to generate muscle torques that predict and compensate for interaction torques. A second purpose was to determine whether reducing the number of moving joints by external mechanical fixation could improve cerebellar subjects' targeted limb movements. We studied control and cerebellar subjects making elbow flexion movements to touch a target under two conditions: 1) a shoulder free condition, which required only elbow flexion, although the shoulder joint was unconstrained and 2) a shoulder fixed condition, where the shoulder joint was mechanically stabilized so it could not move. We measured joint positions of the arm in the sagittal plane and electromyograms (EMGs) of shoulder and elbow muscles. Elbow and shoulder torques were estimated using inverse dynamics equations. In the shoulder free condition, cerebellar subjects made greater endpoint errors (primarily overshoots) than did controls. Cerebellar subjects' overshoot errors were largely due to unwanted flexion at the shoulder. The excessive shoulder flexion resulted from a torque mismatch, where larger shoulder muscle torques were produced at higher rates than would be appropriate for a given elbow movement. In the shoulder fixed condition, endpoint errors of cerebellar subjects and controls were comparable. The improved accuracy of cerebellar subjects was accompanied by reduced shoulder flexor muscle activity. Most of the correct cerebellar trials in the shoulder fixed condition were movements made using only muscles that flex the elbow. Our findings suggest that cerebellar subjects' poor shoulder control is due to an inability to generate muscle torques that predict and compensate for interaction torques, and not due to a general inability to generate sufficient levels of phasic torque. In addition, reducing the number of muscles to be controlled improved cerebellar ataxia.

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De Meester, J., R. Reekmans, A. J. A. Vandenput, R. J. M. Belmans, and W. J. D. Geysen. "Microcomputer-controlled torque calculator in DC drives." IEEE Transactions on Industry Applications 25, no. 1 (1989): 113–18. http://dx.doi.org/10.1109/28.18880.

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Jaafari, Seyed Mohammad Mehdi, and Kourosh Heidari Shirazi. "A comparison on optimal torque vectoring strategies in overall performance enhancement of a passenger car." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 230, no. 4 (2016): 469–88. http://dx.doi.org/10.1177/1464419315627113.

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In this paper, a comparison is made on different torque vectoring strategies to find the best strategy in terms of improving handling, fuel consumption, stability and ride comfort performances. The torque vectoring differential strategies include superposition clutch, stationary clutch, four-wheel drive and electronic stability control. The torque vectoring differentials are implemented on an eight-DOF vehicle model and controlled using optimized fuzzy-based controllers. The vehicle model assisted with the Pacejka tyre model, an eight-cylinder dynamic model for engine, and a five-speed transmission system. Bee’s Algorithm is employed to optimize the fuzzy controller to ensure each torque vectoring differential works in its best state. The controller actuates the electronic clutches of the torque vectoring differential to minimize the yaw rate error and limiting the side-slip angle in stability region. To estimate side-slip angle and cornering stiffness, a combined observer is designed based on full order observer and recursive least square method. To validate the results, a realistic car model is built in Carsim package. The final model is tested using a co-simulation between Matlab and Carsim. According to the results, the torque vectoring differential shows better handling compared to electronic stability control, while electronic stability control is more effective in improving the stability in critical situation. Among the torque vectoring differential strategies, stationary clutch in handling and four-wheel drive in fuel consumption as well as ride comfort have better operation and more enhancements.

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Jung, Seul, and T. C. Hsia. "A new neural network control technique for robot manipulators." Robotica 13, no. 5 (1995): 477–84. http://dx.doi.org/10.1017/s0263574700018312.

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SummaryA new neural network (NN) control technique for robot manipulators is introduced in this paper. The fundamental robot control technique is the model-based computed-torque control which is subjected to performance degradation due. to model uncertainty. NN controllers have been traditionally used to generate a compensating joint torque to account for the effects of the uncertainties. The proposed NN control approach is conceptually different in that it is aimed at prefiltering the desired joint trajectories before they are used to command the computed-torque-controlled robot system (the plant) to counteract performance degradation due to plant uncertainties. In this framework, the NN controller serves as the inverse model of the plant, which can be trained on-line using joint tracking error. Several variations of this basic technique is introduced; Back-propagation training algorithms for the NN controller have been developed. Simulation results have demonstrated the excellent tracking performance of the proposed control technique.

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Al-Darraji, Izzat, Ali Kılıç, and Sadettin Kapucu. "Mechatronic design and genetic-algorithm-based MIMO fuzzy control of adjustable-stiffness tendon-driven robot finger." Mechanical Sciences 9, no. 2 (2018): 277–96. http://dx.doi.org/10.5194/ms-9-277-2018.

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Abstract. This work presents a detailed design of a three-jointed tendon-driven robot finger with a cam/pulleys transmission and joint Variable Stiffness Actuator (VSA). The finger motion configuration is obtained by deriving the cam/pulleys transmission profile as a mathematical solution that is then implemented to achieve contact force isotropy on the phalanges. A VSA is proposed, in which three VSAs are designed to act as a muscle in joint space to provide firm grasping. As a mechatronic approach, a suitable type and number of force sensors and actuators are designed to sense the touch, actuate the finger, and tune the VSAs. The torque of the VSAs is controlled utilizing a designed Multi Input Multi Output (MIMO) fuzzy controller. The fuzzy controller input is the force sensors' signals that are used to set the appropriate VSA torque. The fuzzy controller parameters are then tuned using a genetic algorithm as an optimization technique. The objective function of the genetic algorithm is to avoid unbalance torque in the individual joints and to reduce the difference between the values of the supplied VSAs torques. Finally, the operation of the aforementioned finger system is organized through a simple control algorithm. The function of this algorithm is to enable the detection of the unknown object and simultaneously automatically activate the optimized fuzzy controller thus eliminating the necessity of any external control unit.

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Zhou, Jian Hao, Yin Nan Yuan, Deng Pan Zhang, and Jia Yi Du. "Modeling and Simulation of Direct Torque Controlled PMSM for PHEV." Applied Mechanics and Materials 43 (December 2010): 298–302. http://dx.doi.org/10.4028/www.scientific.net/amm.43.298.

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Direct torque control (DTC) method for permanent magnet synchronous motor (PMSM) used as Integrated Starter/Generator (ISG) in PHEV was analyzed. The DTC PMSM model, with PI produced a voltage space vector based on torque PI regulator and flux linkage PI regulator, was built up based on Matlab /Simulink and all simulation blocks were discussed. The results showed that this scheme was simple and effective, also had a good robustness. It is easy to realize in PHEV application, while to keep the fast torque response and little flux linkage and torque fluctuation.

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Le, Luc Tien. "Passive Friction Compensation Using a Nonlinear Disturbance Observer for Flexible Joint Robots with Joint Torque Measurements." Journal of Computer Science and Cybernetics 35, no. 1 (2019): 85–103. http://dx.doi.org/10.15625/1813-9663/35/1/13147.

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The friction and ripple effects from motor and drive cause a major problem for the robot position accuracy, especially for robots with high gear ratio and for high-speed applications. In this paper we introduce a simple, effective, and practical method to compensate for joint friction of flexible joint robots with joint torque sensing, which is based on a nonlinear disturbance observer. This friction observer can increase the performance of the controlled robot system both in terms of the position accuracy and the dynamic behavior. The friction observer needs no friction model and its output corresponds to the low-pass filtered friction torque. Due to the link torque feedback the friction observer can compensate for both friction moment and external moment effects acting on the link. So it can be used not only for position control but also for interaction control, e.g., torque control or impedance control which have low control bandwidth and therefore are sensitive to ripple effects from motor and drive. In addition, its parameter design and parameter optimization are independent of the controller design so that it can be used for friction compensation in conjunction with different controllers designed for flexible joint robots. Furthermore, a passivity analysis is done for this observer-based friction compensation in consideration of Coulomb, viscose and Stribeck friction effects, which is independent of the regulation controller. In combining this friction observer with the state feedback controller \cite{Albu-Schaeffer2}, global asymptotic stability of the controlled system can be shown by using Lyapunov based convergence analysis. Experimental results with robots of the German Aerospace Center (DLR) validate the practical efficiency of the approach.

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Brahim, Dahhou, Bendjebbar Mokhtar, and Lachtar Salah. "Improvement of adaptive fuzzy control to adjust speed for a doubly fed induction motor drive (DFIM)." International Journal of Power Electronics and Drive Systems (IJPEDS) 11, no. 1 (2020): 496. http://dx.doi.org/10.11591/ijpeds.v11.i1.pp496-504.

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This paper presents the doubly fed induction motor (DFIM) speed control using adaptive fuzzy logic PI (AFLPI) controller to give better dynamic performances. Before the advent of modern technology, integral proportional based current controller is usually used due to its simplicity. But, the performance of closed-loop control is largely influenced by this type of speed and torque controllers used, as long as the PI controllers suffer from tuning problem. To overcome the problem, a new technique AFLPI based speed controller for direct field oriented control fed DFIM to get fast speed response and to minimize the torque ripple. The application of this type of control is very satisfactory to replace the conventional PI controller and, even the fuzzy logic PI (FLPI) controller. The performance of the field oriented controlled DFIM drive has simulated at different operating conditions using the AFLPI controller and the obtained results are compared with FLPI controller and conventional PI controller. Accordingly, an improvement in dynamic and robustness is clearly appears in AFLPI controller simulation results compared to the others aforementioned controllers. Simulation Results are presented for the three techniques using Matlab/Simulink to prove the dynamic performances and robustness.

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Wang, Hsiu Ping, Yu Feng Chang, and Fwu Hsing Liu. "Modified MRAS Speed Controller for Direct Torque Controlled Sensorless Induction Motor Drives." Applied Mechanics and Materials 423-426 (September 2013): 2059–62. http://dx.doi.org/10.4028/www.scientific.net/amm.423-426.2059.

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This paper presents a Modified model reference adaptive system (MMRAS) speed controller for speed estimation of induction motor using model-reference adaptive scheme (MRAS) approach in a direct torque control system. A good speed controller of induction motor can enhance the speed estimation of sensorless drives. The MMRAS controller can reduce effect of parameter variations and nonlinearities in the induction motor, and approaches to desired performance of referenced model. So, the presented controller can enhance the performance of speed estimation. The availability of the proposed structure scheme is verified by through under computation simulations with MATLAB software. Simulation results are presented in order to prove the availability of the proposed structure scheme.

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Ambarapu, Sudhakar, and M. Vijaya Kumar. "Harmonic minimisation in direct torque controlled induction motor using neural network controller." International Journal of Energy Technology and Policy 16, no. 5/6 (2020): 612. http://dx.doi.org/10.1504/ijetp.2020.10029172.

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Prasad, Repana Ramanjan, and Gadwala Durgasukuamar. "Enhanced Performance of Indirect Vector Controlled Induction Motor Drive with a Modified Type 2 Neuro-Fuzzy Torque Controller in Interfacing with dSPACE DS-2812." Journal Européen des Systèmes Automatisés 54, no. 2 (2021): 219–28. http://dx.doi.org/10.18280/jesa.540203.

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Due to the nonlinearities of the PI controller, the performance of the PI controller is not satisfactory. The gains must be properly selected after changes in control parameters is one of the issues of the PI controller. The modified type 2 Neuro-Fuzzy torque controller of indirect vector control-based induction motor drive is proposed in this paper by taking single input as an error i.e. speed and torque against two inputs error and change in error of conventional T2NFC.The superiority of fuzzy and neural networks has been utilized by T2NFC as type 2 MF’s consist of fuzzy and FOU. The intersection point of the membership function is smaller so that the value of the centroid method is more precise than the T1NFC. The induction motor parameters, such as stator phase current, speed, and torque of the proposed T2NFC are simulated in MATLAB at different operating conditions and compared with PI, T1NFC controllers. The proposed T2NFC significantly minimizes the ripples in torque of the induction motor in comparison with PI and T1NF controllers. The practical implementation is also carried out with a 3.7 KW induction motor using DSP 2812 controller to analyse induction motor parameters in real-time.

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Calanca, Andrea, and Paolo Fiorini. "Human-adaptive control of series elastic actuators." Robotica 32, no. 8 (2014): 1301–16. http://dx.doi.org/10.1017/s0263574714001519.

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SUMMARYForce-controlled series elastic actuators (SEAs) are the widely used components of novel physical human–robot interaction applications such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop” so that control response and stability depend on uncertain human dynamics. A common approach to guarantee stability is to use a passivity-based controller. Unfortunately, existing passivity-based controllers for SEAs do not define the performance of the force/torque loop. We propose a method to obtain predictable force/torque dynamics based on adaptive control and oversimplified human models. We propose a class of stable human-adaptive algorithms and experimentally show advantages of the proposed approach.

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Okubo, Hiroki, and Mont Hubbard. "Analysis of Arm Joint Torques at Ball-Release for Set and Jump Shots in Basketball." Proceedings 49, no. 1 (2020): 4. http://dx.doi.org/10.3390/proceedings2020049004.

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A kinetic model of the shooting arms has estimated arm joint torques for one-hand set- and jump-shots in basketball. The dynamic model has three rigid planar links with rotational joints imitating an upper arm, forearm and hand with shoulder, elbow and wrist joints. In general shots controlled by hand, forearm and upper arm motions, there are many torque combinations of shoulder, elbow and wrist joints to produce shooters’ desired ball-release speed, angle and backspin angular velocity. The minimum of the sum of squares of the torque combinations exists at ball-release, when the release angular velocities of the hand and forearm are equal, and the release angular accelerations of the hand and forearm are also equal. Each torque of the shooting arm joints for the set-shot with upward shoulder speed is smaller than that for the jump-shot. Shoulder, elbow and wrist torques increase in proportion to horizontal shot distances. As release backspin angular speed increases, each of the shoulder, elbow and wrist torques also increases. The torques of the shoulder, elbow and hand affect the horizontal shot distance and the ball-release backspin.

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Pal Singh, Amrinder, Manu Sharma, and Inderdeep Singh. "PID control of torque during drilling in GFRP laminates." Multidiscipline Modeling in Materials and Structures 10, no. 3 (2014): 346–61. http://dx.doi.org/10.1108/mmms-06-2013-0043.

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Purpose – Damage induced during drilling of polymer matrix composites depends upon torque during drilling. Modeling of torque with feed rate and its control becomes imminent for damage free drilling of composite laminates. Therefore, the purpose of this paper is to construct a transfer function between drilling torque and feed rate based upon experiments. Thereafter, the torque is controlled by using PID controller. Design/methodology/approach – This paper presents step-by-step procedure to capture complex drilling dynamics of polymer matrix composites in a mathematical model. A glass fiber reinforced plastic (GFRP) composite laminate is drilled at constant feed rate during experimentation. The corresponding time response of torque is recorded. First order, second order and third order transfer functions between torque and feed rate are identified using system identification toolbox of Matlab®. These transfer functions are then converted into state-space models. Experimental verification is performed on GFRP composite laminate. PID controller is designed using Simulink® to track a given reference torque during drilling of polymer matrix composite. The controller is then validated using different reference torque trajectories. Findings – Good match is observed between torque response from state-space models and experiments. Error analysis based on integral absolute error and integral squared error on experimental and simulated response show that third-order system represents the complex drilling dynamics in a better way than first and second-order systems. PID controller effectively tracks given reference trajectories. Originality/value – Third-order model between torque and feed rate for drilling of composites not available in literature has been presented. PID controller has previously been applied successfully for drilling of conventional materials, this paper extends implementation of PID torque control for drilling of composites.

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Makrygiorgou, Jemma J., and Antonio T. Alexandridis. "Power Electronic Control Design for Stable EV Motor and Battery Operation during a Route." Energies 12, no. 10 (2019): 1990. http://dx.doi.org/10.3390/en12101990.

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Electric vehicles (EVs), during a route, should normally operate at the desired speed by effectively controlling the power that flows between their batteries and the electric motor/generator. To implement this task, in this paper, the voltage source AC/DC converter is considered as a controlled power interface between the electric machine and the output of the DC storage device; the DC/DC converter is used to automatically regulate the battery operating condition in accordance to the profile of the acting on the vehicle wheels, unknown external torque. Particularly, the speed is continuously regulated by the vehicle driver via the pedal while all other regulations for absorbing or regenerating energy are internally controlled. The driver command is acting as speed reference input on a PI outer-loop motor speed controller which, in its turn, drives a fast P inner-loop current controller operating in cascaded mode. In a similar manner, the machine and the battery performance are self-regulated by a pure PI current controller that achieves maximum electric torque per ampere operation of the motor and by a PI/P cascaded scheme for the DC-voltage/battery–current regulation, respectively. In order to exclude any possibility of instabilities and adverse impacts between the different parts, a rigorous analysis is deployed on the complete electromechanical system that involves the motor, the batteries, the converter dynamic models and the proposed controllers. Modeling the system in Euler–Lagrange nonlinear form and applying sequentially suitable Lyapunov techniques and the time-scale separation principle, a systematic method for tuning the gains of the inner- and outer-loop controllers is derived. Therefore, the proposed controller design procedure guarantees asymptotic stability by considering the accurate system model as a whole. Finally, the proposed approach is validated by simulating realistic route conditions, performed under unknown external torque variations.

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Ahmad Tarmizi, Yusnida, Auzani Jidin, Kasrul Abdul Karim, and T. Sutikno. "A simple constant switching frequency of direct torque control of brushless DC motor." International Journal of Power Electronics and Drive Systems (IJPEDS) 10, no. 1 (2019): 10. http://dx.doi.org/10.11591/ijpeds.v10.i1.pp10-18.

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This paper discusses about direct torque control of Brushless DC motor by injecting the triangular waveform and using PI controller in order to reduce the torque and obtain constant switching frequency. Brushless DC motor are widely used in applications which require wide range of speed and torque control because of robust, longer lifespan, faster torque response and able to operate at high speed. Unlike conventional three phase DTC of induction machine (IM),the proposed DTC approach introduces two phase conduction mode. Besides that, the magnitude flux is considered constant in which the results only gains from constant torque region. Thus, the flux control loop is eliminated while implement this scheme. Using the triangular waveform that will be compare with actual torque, the proper switching pattern can be selected to control the generated torque and reducing commutation torque ripple. The torque response depends on the speed of the stator flux linkage which is directly controlled by selecting appropriate voltage space vectors from a look-up table to make sure the torque error within the band. The validity of the proposed control scheme for constant switching frequency and reduce torque ripple are verified through simulation and experimental results.

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Nikpour, Mostafa, Loulin Huang, and Ahmed M. Al-Jumaily. "An Approach on Velocity and Stability Control of a Two-Wheeled Robotic Wheelchair." Applied Sciences 10, no. 18 (2020): 6446. http://dx.doi.org/10.3390/app10186446.

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Conventional robotic wheelchairs (three or four-wheeled) which are statically stable are poor in mobility. Though a two-wheeled robotic wheelchair has better mobility, it is not statically stable and needs an active stability controller. In addition to mobility and stability, velocity control is also important for the operation of a wheelchair. Conventional stability and velocity controllers rely on the motion of the wheels and require high driving torque and power. In this paper, this problem is tackled by adding a compact pendulum-like movable mechanism whose main function is for stability control. Its motion and those of the wheels are controlled through a quasi-sliding mode control approach to achieve a simultaneous velocity and stability control with much less driving torque and power. Simulation results are presented to show the effectiveness of the proposed controller.

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Cheng, Yunjiang, Peng Dong, Shuai Yang, and Xiangyang Xu. "Virtual Clutch Controller for Clutch-to-Clutch Shifts in Planetary-Type Automatic Transmission." Mathematical Problems in Engineering 2015 (2015): 1–16. http://dx.doi.org/10.1155/2015/213162.

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It is known that the shift processes of the four types of clutch-to-clutch shifts can theoretically be divided into two phases which are torque phase and inertia phase, but the execution orders are different. Two virtual clutch controllers are designed with the same eight states which include all control processes for these shifts. An equivalent method is proposed so that AT can be controlled just like DCT by adopting the torque ratios of oncoming clutch and offgoing clutch of each gear. The powertrain system model and the shift controller are established on Matlab/Simulink platform. The clutch-to-clutch shift processes have been studied based on the virtual clutch controller by software-in-the-loop simulations. Some typical problems in the clutch-to-clutch shift control are discussed and several control methods are compared to solve these problems.

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Viswanathan, Pushparajesh, and Manigandan Thathan. "Minimization of Torque Ripple in Direct Torque Controlled Switched Reluctance Drive Using Neural Network." Asian Journal of Research in Social Sciences and Humanities 6, no. 8 (2016): 65. http://dx.doi.org/10.5958/2249-7315.2016.00593.1.

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Francis, Deepa, Tomson Thomas, and Shanooga Chandran. "Torque Response Improvement of Direct Torque Controlled Three-Phase Inverter Fed Induction Motor Drive." IJIREEICE 3, no. 8 (2015): 62–67. http://dx.doi.org/10.17148/ijireeice.2015.3815.

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