Observer-based adaptive control of a variable reluctance motor: Experimental results

1999 ◽  
Vol 7 (5) ◽  
pp. 613-621 ◽  
Author(s):  
R. Milman ◽  
S.A. Bortoff
Keyword(s):  
Adaptive Control ◽  
Experimental Results ◽  
Variable Reluctance ◽  
Reluctance Motor

scholarly journals A New No Equilibrium Fractional Order Chaotic System, Dynamical Investigation, Synchronization, and Its Digital Implementation

Inventions ◽  
2021 ◽  
Vol 6 (3) ◽  
pp. 49
Author(s):  
Zain-Aldeen S. A. Rahman ◽  
Basil H. Jasim ◽  
Yasir I. A. Al-Yasir ◽  
Raed A. Abd-Alhameed ◽  
Bilal Naji Alhasnawi
Keyword(s):  
Adaptive Control ◽  
Fractional Order ◽  
Chaotic System ◽  
Real World ◽  
Experimental Results ◽  
Chaotic Attractors ◽  
State Variables ◽  
Digital Implementation ◽  
Dynamical Behaviors ◽  
Real World Applications

In this paper, a new fractional order chaotic system without equilibrium is proposed, analytically and numerically investigated, and numerically and experimentally tested. The analytical and numerical investigations were used to describe the system’s dynamical behaviors including the system equilibria, the chaotic attractors, the bifurcation diagrams, and the Lyapunov exponents. Based on the obtained dynamical behaviors, the system can excite hidden chaotic attractors since it has no equilibrium. Then, a synchronization mechanism based on the adaptive control theory was developed between two identical new systems (master and slave). The adaptive control laws are derived based on synchronization error dynamics of the state variables for the master and slave. Consequently, the update laws of the slave parameters are obtained, where the slave parameters are assumed to be uncertain and are estimated corresponding to the master parameters by the synchronization process. Furthermore, Arduino Due boards were used to implement the proposed system in order to demonstrate its practicality in real-world applications. The simulation experimental results were obtained by MATLAB and the Arduino Due boards, respectively, with a good consistency between the simulation results and the experimental results, indicating that the new fractional order chaotic system is capable of being employed in real-world applications.

Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator

2020 ◽  
Author(s):  
Alexander Bertino ◽  
Peiman Naseradinmousavi ◽  
Atul Kelkar
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Computational Efficiency ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Problem Formulation ◽  
Experimental Results ◽  
Model Free ◽  
Trajectory Simulation ◽  
Adaptive Control Strategy

Abstract In this paper, we study the analytical and experimental control of a 7-DOF robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7-DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.

Implementation of Adaptive Techniques for Motion Control of Robotic Manipulators

1988 ◽  
Vol 110 (1) ◽  
pp. 62-69 ◽  
Author(s):  
M. Tomizuka ◽  
R. Horowitz ◽  
G. Anwar ◽  
Y. L. Jia
Keyword(s):  
Adaptive Control ◽  
Industrial Robot ◽  
Robotic Manipulators ◽  
Adaptive Controller ◽  
Test Stand ◽  
Experimental Results ◽  
Direct Drive ◽  
Adaptive Controllers ◽  
Friction Forces ◽  
Digital Implementation

This paper is concerned with the digital implementation and experimental evaluation of two adaptive controllers for robotic manipulators. The first is a continuous time model reference adaptive controller, and the second is a discrete time adaptive controller. The primary purpose of these adaptive controllers is to compensate for inertial variations due to changes in configuration and payload, as well as disturbances, such as Coulomb friction and/or gravitational forces. Experimental results are obtained from a laboratory test stand, which emulates an one-axis direct drive robot arm with variable inertia, as well as a Toshiba TSR-500V industrial robot. Experimental results from the test stand indicate that these adaptive control schemes are promising for the control of direct drive robot arms. Friction forces arising from the harmonic gear of the Toshiba robot were detrimental if not properly compensated. Because of a high gearing ratio, the advantage of adaptive control for the Toshiba arm could be shown only by detuning the controller.

The Research and Design of the Adaptive Pulse Demagnetizer

2012 ◽  
Vol 182-183 ◽  
pp. 427-430
Author(s):  
Li Feng Wei ◽  
Liang Cheng ◽  
Xing Man Yang
Keyword(s):  
Adaptive Control ◽  
Power Consumption ◽  
Low Power ◽  
Control Method ◽  
Experimental Results ◽  
Low Power Consumption ◽  
Reliable Operation ◽  
Charge Current ◽  
Long Life ◽  
Research And Design

A adaptive control method of the pulse demagnetizer was presented, Can adjust the strength of the charge current automatically according to the changes of the magnetic content to ensure the constant of the magnetic field.The experimental results have shown that it has the advantages of low power consumption, strong anti-interference capability, stable and reliable operation, long life and good demagnetizing effect, when compared to the conventional demagnetizers.

Analysis of torque ripple and fault-tolerant capability for a 16/10 segmented switched reluctance motor in HEV applications

2019 ◽  
Vol 38 (6) ◽  
pp. 1725-1737
Author(s):  
Xiaodong Sun ◽  
Jiangling Wu ◽  
Shaohua Wang ◽  
Kaikai Diao ◽  
Zebin Yang
Keyword(s):  
Fault Tolerant ◽  
Switched Reluctance Motor ◽  
Torque Ripple ◽  
Experimental Results ◽  
Element Analysis ◽  
Content Type ◽  
Switched Reluctance ◽  
Output Torque ◽  
Reluctance Motor ◽  
Lower Torque

Purpose The torque ripple and fault-tolerant capability are the two main problems for the switched reluctance motors (SRMs) in applications. The purpose of this paper, therefore, is to propose a novel 16/10 segmented SRM (SSRM) to reduce the torque ripple and improve the fault-tolerant capability in this work. Design/methodology/approach The stator of the proposed SSRM is composed of exciting and auxiliary stator poles, while the rotor consists of a series of discrete segments. The fault-tolerant and torque ripple characteristics of the proposed SSRM are studied by the finite element analysis (FEA) method. Meanwhile, the characteristics of the SSRM are compared with those of a conventional SRM with 8/6 stator/rotor poles. Finally, FEA and experimental results are provided to validate the static and dynamic characteristics of the proposed SSRM. Findings It is found that the proposed novel 16/10 SSRM for the application in the belt-driven starter generator (BSG) possesses these functions: less mutual inductance and high fault-tolerant capability. It is also found that the proposed SSRM provides lower torque ripple and higher output torque. Finally, the experimental results validate that the proposed SSRM runs with lower torque ripple, better output torque and fault-tolerant characteristics, making it an ideal candidate for the BSG and similar systems. Originality/value This paper presents the analysis of torque ripple and fault-tolerant capability for a 16/10 segmented switched reluctance motor in hybrid electric vehicles. Using FEA simulation and building a test bench to verify the proposed SSRM’s superiority in both torque ripple and fault-tolerant capability.

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