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5. Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots

Author

Zhang Kaiwen, Li Guoli, Xu Jiazi, Wang Qunjing, and Wen Yan

Subjects
Trajectory tracking, Omnidirectional mobile robot, Neural network adaptive control, PD control, Mechanical engineering and machinery, TJ1-1570
Abstract

A proportional plus derivative (PD) adaptive tracking control strategy based on neural sliding mode is proposed for the interference of unknown factors in the mathematical model of four-wheel omnidirectional robots. Firstly, the dynamics model of the robot is analyzed. Secondly, the backstepping trajectory tracking controller is used to obtain the virtual velocity, and the PD controller is designed based on the error between the virtual input and the actual input. Then, the neural network is used to approximate the uncertainty in the dynamics model, and the stability of the system is proved by the Lyapunov theorem. Simulation and experimental results show that the control strategy is effective.

Published
2023
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7. A Innovative Three-Phase Unbalanced Compensation Range Evaluation for the Combination D-STATCOM

Author

Zhang, Maosong, Guan, Chunsheng, Wang, Xiuqin, Tao, Jun, Wu, Xian, Zhang, Huaying, Wang, Qunjing, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Hu, Cungang, editor, and Cao, Wenping, editor

Published
2023
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8. Torque Ripple Reduction in PMSM Based on Three-Closed-Loop Vector Control

Author

Fu, Menghu, Zhang, Qian, Wang, Qunjing, Yang, Heng, Chen, Dijiang, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Yang, Qingxin, editor, Li, Jian, editor, Xie, Kaigui, editor, and Hu, Jianlin, editor

Published
2023
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12. A Novel Genetic Algorithm Implementation in PMSpM Driving Current Calculation Using Full Factorial Experiments

Author

Zhou, Sili, Li, Guoli, Wang, Qunjing, Xu, Jiazi, Gao, Shihao, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Cao, Wenping, editor, Hu, Cungang, editor, Huang, Xiaoyan, editor, Chen, Xiangping, editor, and Tao, Jun, editor

Published
2022
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13. Time Delay Estimation Control of Permanent Magnet Spherical Actuator Under Nonlinear Disturbance

Author

Zhang, Rui, Li, Guoli, Wang, Qunjing, Wang, Xiuqin, Wen, Yan, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Cao, Wenping, editor, Hu, Cungang, editor, Huang, Xiaoyan, editor, Chen, Xiangping, editor, and Tao, Jun, editor

Published
2022
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16. Magnetic Field Analysis and Structural Optimization of Deflection Double Stator Switched Reluctance Generator

Author

Li, Zheng, Yu, Xuze, Wang, Xin, Qian, Zhe, Wang, Qunjing, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Chen, Weijiang, editor, Yang, Qingxin, editor, Wang, Laili, editor, Liu, Dingxin, editor, Han, Xiaogang, editor, and Meng, Guodong, editor

Published
2021
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17. Permanent Magnet Synchronous Linear Motor Control System Based on Improved Sliding Mode Observer

Author

Li, Zheng, Zhang, Qingshan, Sun, Hexu, An, Jinfeng, Wang, Qunjing, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Chen, Weijiang, editor, Yang, Qingxin, editor, Wang, Laili, editor, Liu, Dingxin, editor, Han, Xiaogang, editor, and Meng, Guodong, editor

Published
2021
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20. An Approach of Non-stationary Harmonics Decomposition Based on Operator Approximated by Radial Base Function

Author

Zeng, Ye, Wang, Qunjing, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martin, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Jia, Yingmin, editor, Du, Junping, editor, and Zhang, Weicun, editor

Published
2020
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32. Spherical Joint Actuator with Backstepping Sliding Mode Control for Robotic Manipulator Rigid-Flexible Coupling System.

Author

Guo, Xiwen, Liu, Yakun, Wang, Qunjing, and Liao, Xianda

Subjects
SLIDING mode control, BACKSTEPPING control method, CLOSED loop systems, RIGID dynamics, PERMANENT magnets
Abstract

At present, the output shaft of a permanent magnet spherical actuator (PMSA) is a rigid structure, which has the problems of small load weight ratio and high energy consumption. It is difficult to meet the application requirements of lightweight, high speed, and low energy consumption. In this paper, a PMSA is proposed as the driving motor for the rigid-flexible coupling system (R-FCS) of the robotic manipulator, and a flexible mechanical arm is used to replace the rigid output shaft of the PMSA to connect the hand claw to form a spherical joint. Firstly, the partial differential dynamics model of the robotic manipulator in the coordinate system is established based on the Hamilton method, and the R-FCS is constructed according to the momentum conservation equation combined with the rigid axis dynamics model of the PMSA. Then, a backstepping sliding mode controller (BSMC) is designed to form a closed-loop control system by selecting an appropriate nonlinear gain function to estimate the unknown disturbances of the system, and the stability of the controller is guaranteed by the Lyapunov theory. Finally, the simulation and experimental results verify that the R-FCS can achieve better trajectory tracking and provide an effective driving method for robotic manipulator spherical joint. [ABSTRACT FROM AUTHOR]

Published
2024
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33. Linear switched system modelling and analysis for the servo system.

Author

Zhang, Qian, Ma, Qianqian, Yang, Heng, Cao, Wenping, and Wang, Qunjing

Subjects
LINEAR systems, SYSTEM analysis, DISCRETE-time systems, LEAST squares, SIMULATED annealing, SWITCHED reluctance motors, UNCERTAIN systems, TRANSFER functions
Abstract

Aiming at resolving the parameter uncertainty of the servo system under multi‐working conditions, a flatness‐based switched linear system model is proposed. Firstly, a fifth‐order linear switched discrete‐time system with uncertain parameters is established. The flatness properties of switched system is described and a de Bruijn's graph‐based framework is introduced for graphical description of the switched system. In addition, non‐linear bode diagrams are obtained via sweeping signals with multiple amplitudes. The discrete equations of the electromechanical servo system are established by the bode plots. The unknown parameters of the subsystems in switched model are identified by the simulated annealing algorithm, and compared with the least squares method to verify the accuracy of the identified parameters. Finally, the simulation model and experimental platform are constructed to verify the effectiveness of the proposed method. The switched model is compared with the classical transfer function model and single subsystems. The results indicate that the resolution of parameter uncertainty in servo systems is effective. The accuracy of the established switched model is about 99.5%. The accuracy of the switched linear system model of the electromechanical servo system is verified and the proposed modelling method is validated. [ABSTRACT FROM AUTHOR]

Published
2024
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34. Coordinated Control of DC Distribution System Based on Three‐Level Energy Interaction.

Author

Tian, Xin, Chen, Quan, and Wang, Qunjing

Abstract

When compared to the AC distribution system, the DC distribution system can better adapt to the integration of large‐scale distributed generations (DGs), but it also has some challenges and limitations due to its complex control. This paper investigates the coordinated control of a DC distribution system containing multiple DC microgrids and proposes a coordinated control strategy for energy interaction at the microgrid, cluster, and main grid‐levels to address this problem. To begin, the interaction at the microgrid‐level employs a decentralized control strategy that only requires local voltage information and adjusts the operation modes of each unit within the microgrid based on the bus voltage information. Second, a new power equalization optimization control is added to the cluster‐level interaction based on the decentralized control strategy to achieve power equalization among microgrids with different line impedances. Furthermore, at the main grid‐level, the interaction uses one‐way communication of time‐of‐use (TOU) price to optimize system economy, ensuring that even if communication fails, the system's operation reliability is not compromised. Finally, simulation results demonstrate that the proposed three‐level energy interaction and switching meet the system's reliability requirements. Furthermore, the proposed coordinated control strategy reduces the system's reliance on communication while maintaining economic efficiency. © 2023 Institute of Electrical Engineer of Japan and Wiley Periodicals LLC. [ABSTRACT FROM AUTHOR]

Published
2024
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47. Novel Design of Multi-DOF Motor Position Estimation Based on Wireless Power Transmission Modeling

Author

Gao, Shihao, Wang, Qunjing, Li, Guoli, Qian, Zhe, Ye, Qiubo, Zhang, Qian, and Li, Zheng

Abstract

In this article, a multicoil wireless power transmission (WPT) model is presented. The model is applied to the multi-degree-of-freedom (multi-DOF) motor rotor position detection system. The WPT system is evenly distributed on the upper part of the rotor, and the receiving coil is placed on the rotor shaft. When the motor rotor rotates along the three motion states of pitch, spin, and tilt, the receiving coil and multitransmit coil will produce angle deviation. The precise mutual inductance estimation method can be used to obtain the rotor position quickly and avoid complicated finite element calculation. The system can not only realize the pose estimation of the multi-DOF motor, but also provide flexible energy supplement for the manipulator. The WPT position measurement method is used for PID control of multi-DOF motor, and it is compared with the micro-electro-mechanical-system attitude measurement method. The mechanical sliding measurement method of the encoder is taken as a reference. The results show that the position detection method of WPT has high accuracy, and the estimation error is less than 2%.

Published
2024
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48. Effect of Hall Errors on Current and Rotor Position of Robot Joint Motors

Author

Han, Qiyue, Wang, Qunjing, Li, Guoli, Qian, Zhe, Deng, Wenzhe, Sun, Zehui, Wen, Yan, and Ye, Qiubo

Abstract

This article investigates the impact of Hall errors on the speed, rotor position, and current of joint motors in robots, focusing on brushless dc torque motors. On introducing the sensing principle of the Hall sensor in the torque motor system, the influence of circumferential installation errors and axial offset errors on the rotor position and current of the motor is derived analytically on the basis of the Hall vector signals. The results show that the Hall errors generate rotor position errors characterized by the occurrence of specific harmonics with inherent deviations in rotor position, which in turn introduce the ( ${2}{n}-{1}$ )th current harmonics. The study proceeds to conduct simulations for a comparative evaluation of the degrees of influence exerted by circumferential installation errors and by axial offset errors on the motor speed, rotor position, and current. These findings are then validated through experiments, wherein the characteristics of Hall errors’ influence are elucidated via analysis of speed and current harmonics. This study provides a fresh methodology for analyzing errors in Hall sensors.

Published
2024
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49. A New Attitude Estimation Method for Spherical Reluctance Motor Based on Few Flux Linkage Samples

Author

Shi, Mingfeng, Wang, Qunjing, Li, Guoli, Zhou, Rui, and Gao, Shihao

Abstract

It is crucial to establish a practical and accurate attitude estimation method for the motion control of a spherical reluctance motor. This article proposes a new rotor attitude estimation method using a combination of support vector machine (SVM) and back propagation neural network (BPNN). This modeling method is divided into three steps: data reconstruction, dataset selection, and attitude estimation modeling. During the data reconstruction, based on a small number of measured flux linkage samples, the entire flux linkage characteristics are obtained by SVM optimized by an artificial bee colony algorithm. In the dataset selection, two different dataset selection methods are used to select the training set for BPNN, and the method I has smaller test error than method II. In attitude estimation, the pretreatment method with higher attitude estimation accuracy is adopted in the BPNN model. Experimental results under different currents show that the proposed rotor attitude estimation method has higher accuracy and better stability than the traditional estimation methods, which can accurately estimate the rotor attitude.

Published
2024
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50. KMFDSST Algorithm-Based Rotor Attitude Estimation for a Spherical Motor

Author

Zhou, Sili, Cao, Wenping, Wang, Qunjing, Zhou, Mengran, Zheng, Xiaoliang, Lou, Jiachuan, and Chen, Yong

Abstract

Rotor attitude estimation (RAE) is a predominant approach to controlling spherical motors, but there is a margin for its improvement. This article proposes a visual RAE method by using the Kalman filter-based multi-object fast discriminative scale space tracker (KMFDSST) algorithm. The KMFDSST algorithm is adopted to detect three visual objects simultaneously on the top of the spherical motor. The rotor attitude is estimated based on the positions of the three objects. To verify the accuracy and dynamic performance of the KMFDSST algorithm when the occlusion cases happened at large tilt angles, the one-object tracking simulations are conducted among the KMFDSST, fast discriminative scale space tracker (FDSST), and multi-object Kalman kernelized correlation filter (MKKCF) algorithms. Simulation and experiment results indicate that the robustness of the KMFDSST algorithm is better than that of both MKKCF and FDSST algorithms. Moreover, the comparative experiment between the KMFDSST and micro-electro mechanical system (MEMS) RAE methods shows the advantages of the proposed RAE method.

Published
2024
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