Constant Torque Research Articles

Designing of self balancing amplitude modulated five level inverter for reducing voltage stress gradients on converter switches for electric vehicles

The research article endeavors to explore the efficient multi-quadrant operations in Electric Vehicles (EV), which emphasizing among the renewable sources and Energy Storage Management Systems (ESMS). This coordination is facilitated through the latest advancements in converter circuits, aiming to enhance efficiency and performance in EV operations. The primary converting circuit, or inverter, is crucial in optimizing the utilization of energy sourced from renewable sources. The coordination among these systems along with the converter, produces harmonics, due to the shifting of operating modes in EV motors in quick sessions because of dynamic real-time road conditions. This research paper presents the design and implementation of Self Balancing Modulated Five-Level Inverter along with a powerful modulation technique and coordinated with the ESMS of electric car application. The proposed 5-Level inverter shows the reduction in torque distortions in an electric vehicle drives over conventional two-stage boost inverter (2SBI) circuits. The designed Five-Level Inverter (FLI) circuit characterized by reduced switching operations, shows a significant reduction in voltage stress gradients on switches and achieves self-balancing of voltages with reduced operating components. The developed three-phase boost single circuit named as SBAM-FLI is connected to the grid integrated renewable energy application and the system is tested at constant and variable torque conditions. A comparative analysis is conducted between the operation of self-balancing modulated FLI with 2SBI based on the obtained results and power loss analysis is performed for the performance evolution in EV applications. The proposed topology is adaptable to both the Trapezoidal and Sinusoidal Back EMF drive mechanisms, which shows significant improvement over conventional inverters. The experimental validation of proposed self-balancing modulated FLI design is presented in this research. The experimental setup was realized using Xilinx block sets and seamlessly integrated with the Basys-3 Artix-FPGA board, consequently, both the experimental and simulation outcomes of the proposed converter topology were validated and provides substantial impact on EV applications.

Linear complementarity formulations for contact analysis and wear prediction in gears

This work presents linear complementarity based formulations for contact analysis and wear prediction in gear trains. Assuming steady motion of gears transmitting constant input torque without transmission errors, three sets of linear complementarity formulations are proposed, first for rigid gear teeth, second for gear teeth with skin compliance, and third for gear teeth with full compliance, the last two being new in linear complementarity literature. The developed formulations are used for contact analysis of two examples of gear trains, a pair of spur gears in mesh, and a planetary gear train. The accuracy of the method is tested by considering various time step sizes and stability of the formulations demonstrated for wide range of time steps. Contact forces between meshing teeth are calculated at a pre-defined set of points on the path of contact, and then wear is calculated on gear tooth flank using Archard’s wear equation. These wear calculations are compared with existing results in literature which demonstrate the applicability of the developed LC formulations. Future work is projected to include more state-of-art friction models and extension to 3D contact analysis in helical gear trains.

Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators

Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators

Analyzing the dynamics of a charged rotating rigid body under constant torques

This study explores the dynamical rotary motion of a charged axisymmetric spinning rigid body (RB) under the effect of a gyrostatic moment (GM). The influence of transverse and invariable body fixed torques (IBFTs), and an electromagnetic force field, is also considered. Euler’s equations of motion (EOM) are utilized to derive the regulating system of motion for the problem in a suitable formulation. Due to the lack of torque exerted along the spin axis and the nearly symmetrical nature of the RB, the spin rate is nearly unchanged. Assuming slight angular deviations of the spin axis relative to a fixed direction in space, it is possible to derive approximate analytical solutions (AS) in closed form for the attitude, translational, and rotational movements. These concise solutions that are expressed in complex form are highly effective in analyzing the maneuvers performed by spinning RBs. The study focuses on deriving the AS for various variables including angular velocities, Euler’s angles, angular momentum, transverse displacements, transverse velocities, axial displacement, and axial velocity. The graphical simulation of the subsequently obtained solutions is presented to show their precision. Furthermore, the positive impacts that alterations in the body’s parameters have on the motion’s behavior are presented graphically. The corresponding phase plane curves, highlighting the influence of different values in relation to the electromagnetic force field, the GM, and the IBFTs are drawn to analyze the stability of the body’s motion. This study has a significant role in various scientific and engineering disciplines. Its importance lies in its ability to optimize mechanical systems, explain celestial motion, and enhance spacecraft performance.

A novel collision detection method based on current residuals for robots without joint torque sensors: A case study on UR10 robot

Existing model-based collision detection methods rely on accurate torque dynamic parameters identified using measured joint torques. However, for robots lacking joint torque sensors, only joint currents can be measured, and joint torques must be estimated through the linear relationship between joint currents and joint torque constants. This way can lead to cumulative identification errors in torque dynamic parameters, thereby diminishing the performance of model-based collision detection algorithms. To tackle this challenge, this article proposes an innovative collision detection method based on current residuals, which represent the disparities between measured joint currents and predicted joint currents computed by current dynamic parameters. Then, a dynamic threshold method for current residuals is designed to mitigate the impact of modeling errors at zero-speed direction changes on collision detection performance. Additionally, a suppression strategy based on online load identification and compensation is introduced to reduce the interference of non-collision load factors on collision detection signals. The proposed method mitigates the accumulation of errors on torque dynamic identification resulting from inaccuracies in joint torque constants, ultimately enhancing collision detection performance for robots without joint torque sensors. Extensive experiment results validate the correctness and effectiveness of this approach.

Fuzzy Neural Network PID-Based Constant Deceleration Control for Automated Mine Electric Vehicles Using EMB System.

It is urgent for automated electric transportation vehicles in coal mines to have the ability of self-adaptive tracking target constant deceleration to ensure stable and safe braking effects in long underground roadways. However, the current braking control system of underground electric trackless rubber-tired vehicles (UETRVs) still adopts multi-level constant braking torque control, which cannot achieve target deceleration closed-loop control. To overcome the disadvantages of lower safety and comfort, and the non-precise stopping distance, this article describes the architecture and working principle of constant deceleration braking systems with an electro-mechanical braking actuator. Then, a deceleration closed-loop control algorithm based on fuzzy neural network PID is proposed and simulated in Matlab/Simulink. Finally, an actual brake control unit (BCU) is built and tested in a real industrial field setting. The test illustrates the feasibility of this constant deceleration control algorithm, which can achieve constant decelerations within a very short time and maintain a constant value of -2.5 m/s2 within a deviation of ±0.1 m/s2, compared with the deviation of 0.11 m/s2 of fuzzy PID and the deviation of 0.13 m/s2 of classic PID. This BCU can provide electric and automated mine vehicles with active and smooth deceleration performance, which improves the level of electrification and automation for mine transport machinery.

Neural network based variable DC-link voltage control of electric vehicle driveline

ABSTRACT The variable DC link direct torque control (DTC) for induction motors was proposed in this paper utilizing an artificial neural network (ANN). Variable DC-link voltage is utilized as the inverter’s controlling input to improve the induction motor’s performance. By injecting the dynamically variable dc-link voltage, inverter switching losses are decreased and inverter efficiency is increased. Two significant limitations are the torque ripple in DTC and the speed regulation of induction motors at low speeds. The driveline of an electric vehicle is modeled, and the suggested control is put into practice to enhance low-speed speed regulation, high dynamic performance, and minimal torque ripple. With variable DC-link voltage based on ANN, an improvement in torque and speed is made possible. Additionally, the suggested strategy minimizes the current ripples. To verify the improved efficacy of the electric driveline under various operating scenarios, a proposed control of the electric driveline is implemented using MATLAB SIMULINK, and the results are compared with the conventional scheme. The recommended speeds for the three speed ranges are as follows: 300 rpm for low speed, 900 rpm for medium speed, and 1275 rpm for high speed. The torque ripples decreased from 0.39 to 0.24 in the low-speed region, 0.38 to 0.24 in the medium-speed region, and 0.36 to 0.24 in the high-speed region while the motor was operated at a constant load torque of 2 N-m. The torque ripples decreased from 0.4 to 0.274 in the low speed region, 0.4 to 0.274 in the medium speed zone, and 0.2 to 0.274 in the medium speed region when the motor operated at various speed regions with a constant load. The main effect of running the motor at different load torques, such as 1.5 N-m, 2.5 N-m, and 2.0 N-m, is shown in Table 9 and numerical data of torque ripples is presented in Table 9.

Design assessment of the range of permissible operation modes of a marine two-stroke diesel engine

In the practice of operating marine diesel engines, as a limiting characteristic for mechanical stress, a characteristic corresponding to a constant effective torque, which is proportional to the average effective pressure, is used. There is no such unambiguity regarding the restrictive characteristics of thermal intensity. Limitations on the thermal stress of a diesel engine depend on its design features and the efficiency of the cooling system of the cylinder-piston group. At the diesel engine design stage, it is important to assess in advance whether the operational characteristics correspond to the technical specifications.
 The work carried out computational and theoretical studies of the operational parameters of the main marine two-stroke diesel engine operating according to the screw characteristic, which affect its mechanical and thermal stress, and determined the expected limiting characteristics of the mechanical and thermal stress. The studies were carried out for wide ranges of changes in the weight coefficient of the screw characteristics and the relative power of the diesel engine. The estimated design ranges of diesel operating modes are given, excluding its mechanical and thermal overload, and an assessment of the permissible weighting of the screw characteristics is given. The results obtained were compared with the characteristics of a marine four-stroke diesel engine.

Five-phase space vector carrier-based PWM for third harmonic injection

Five-phase AC drives allow a third harmonic voltage to be fed into the stator winding – in addition to the fundamental voltage – to generate a third harmonic magnetic air gap field. This allows the generation of an additional small constant torque. Furthermore, the undesirable saturation harmonics that occur with saturated iron can be compensated. The desired third harmonic voltage is commonly generated via time-consuming space vector PWM algorithms, which are not well-suited for real-time application, or via look-up tables, which require an increased storage capacity. In our case, the desired third harmonic voltage is generated in the five-phase voltages by adding a non-sinusoidal zero-sequence voltage with five times the fundamental frequency to the fundamental voltage reference signals in carrier-based pulse width modulation (PWM) with a constant switching frequency. This is equivalent to a space vector PWM method (SVPWM) and avoids a significantly high calculation effort. The PWM algorithm programmed in MATLAB in real time allows the fast generation of a third harmonic voltage per phase with freely definable amplitude and phase shift without requiring a lot of storage capacity.

Analyzing the spatial motion of a rigid body subjected to constant body-fixed torques and gyrostatic moment

This paper aims to explore the rotatory spatial motion of an asymmetric rigid body (RB) under constant body-fixed torques and a nonzero first component gyrostatic moment vector (GM). Euler's equations of motion are used to derive a set of dimensionless equations of motion, which are then proposed for the stability analysis of equilibrium points. Specifically, this study develops 3D phase space trajectories for three distinct scenarios; two of them are applied constant torques that are directed on the minor and major axes, while the third one is the action of applied constant torque on the body’s middle axis. Novel analytical and simulation results for both scenarios of constant torque applied along the minor and middle axes are provided in the context of separatrix surfaces, equilibrium manifolds, periodic or non-periodic solutions, and periodic solutions’ extreme. Concerning the scenario of a directed torque on the major axis, a numerical solution for the problem is presented in addition to a simulation of the graphed results for the angular velocities' trajectories in various regions. Moreover, the influence of GM is examined for each case and a full modeling for the body's stability has been present. The exceptional impact of these results is evident in the development and assessment of systems involving asymmetric RBs, such as satellites and spacecraft. It may serve as a motivating factor to explore different angles within the GM in similar cases, thereby influencing various industries, including engineering and astrophysics applications.

Calculation of Magnetic Losses with Non-Uniform Distribution of Magnetic Induction in the Stator Tooth of a Switched Reluctance Motor

The aim of this study is to investigate and determine the effect of accounting for the non-uniform distribution of magnetic induction (by detailing the stator tooth model) on the calculation results of magnetic losses in the stator teeth of a switched reluctance motor in quasi-steady-state modes. To achieve this goal, dependencies of phase flux linkage, electromagnetic torque of the motor, and additionally, dependencies of the root mean square values of magnetic inductions in stator tooth elements on the rotor angle and current have been determined using the finite element method. An investigation of dynamic modes of the switched reluctance motor based on an improved simulation model has been conducted at various values of constant load torque. Dependencies of magnetic inductions over time for each stator tooth element for the studied quasi-steady-state operating modes have been obtained. Magnetic losses have been calculated, taking into account the maxima of the temporal dependencies of root mean square values of magnetic induction in stator tooth elements. The most important outcome is a quantitative assessment of the influence of the non-uniform distribution of magnetic induction on the calculated value of magnetic losses based on the detailing of the stator tooth model in the operational modes of the switched reluctance motor compared to the traditional approach. The significance of the work lies in developing an approach to refining the calculation of magnetic losses by considering local saturation in the magnetic circuit during the operation of the switched reluctance motor.

Research on the dynamic performance of double-helical planetary gear transmission under friction and wear

In this paper, the main research is to investigate the effects of mechanical, friction, temperature, and tooth wear on the dynamic performance of a double-helical planetary gear transmission system. To achieve this, a new lumped parameters model is presented, which combines dynamics and lubrication. The model allows for the study of excitation effects and considers various parameters such as material, lubricating oil, and working conditions. By proposing a multi-source excitation calculation method, the paper provides a novel approach that has not been reported in the existing literature. Additionally, the paper establishes a tooth wear model and a lubrication model for the double-helical gear pair. It shows that under constant torque, the displacement and acceleration amplitudes of the system initially decrease and then increase with increasing input speed. Under constant speed, the displacement and acceleration amplitudes increase with increasing torque. Amplitudes decrease during running-in wear, increase in stable wear, and rapidly increase in severe wear. Boundary lubrication minimizes vibration, while elastohydrodynamic lubrication maximizes it.

On the hysteresis characteristics and compensation control strategy of a pneumatic hydrodynamic retarder

As the core component of the hydrodynamic retarder braking system, pneumatic proportional solenoid valve plays an important role in the process of braking torque control. However, the hysteresis characteristic caused by friction and air compressibility will lead to the deviation of braking torque. In order to solve this problem, the hysteresis characteristic of pneumatic proportional solenoid valve is experimentally studied, and the causes of hysteresis phenomenon are analyzed through mathematical modeling of the valve core. Then, a high-precision prediction model of braking torque is obtained by combining Computational Fluid Dynamics (CFD) and response surface method, which is used to construct the mapping relationship between control air pressure and braking torque. Furthermore, a feedforward controller based on Prandtl–Ishlinskii inverse model is designed to compensate the hysteresis characteristics. On this basis, a compound hysteresis characteristics compensation control strategy combined with Proportional Integral Derivative (PID) feedback control is proposed to realize the accurate control of braking torque. Finally, the test verification of braking torque control is carried out. The average error of compound control, feedforward control, and PID control under torque step working condition is 3.16%, 5.97%, and 6.23%, and the response time is 3.75, 8.75, and 3.2 s, respectively. The compound control strategy also has smaller torque error and shorter response time under both ramp torque tracking and constant torque conditions. To sum up, this compound control strategy can effectively compensate the hysteresis characteristics of the pneumatic hydrodynamic retarder and ensure the driving safety by improving the control accuracy and response speed of braking torque.

An Assessment and Performance of Voltage Source Inverter Feed Induction Motor Drive

Abstract: This paper conclude speed control of induction motor the induction motor are use in the industrial drives because they are self starting, reliable and economical they use in the fix and variable speed. The voltage and frequency are varies speed are also varies. This present performance and evaluation of voltage source inverter feed induction motor drive. By varying stator terminal voltage from voltage source inverter. The model are PWM system use to vary voltage and frequency. PWM-Inverter fed 3-phase Induction Motor, and the Torque was found to be constant for various rotor speeds. PWM-Inverter fed 3- phase Induction Motor. It was observed that using a Closed-Loop scheme with a Proportional Controller gave a very superior way of controlling the speed of an Induction motor while maintaining a constant maximum torque. Simulation results are obtained using MATLAB/SIMULINK environment for the effectiveness of the study.

Realization of ultracapacitor as sole energy storage device in induction motor drive electric vehicle with modified state timing based field weakening control algorithm

This article employs the concept of realizing an electric vehicle (EV) driven by an induction motor (IM) with an ultracapacitor (UC) as a sole energy storage device for a short distance range in city drive. In battery-driven EVs, the performance of batteries will extensively degrade during frequent start, stop, acceleration and deceleration of the vehicle. However, UC can withstand that circumstance without any degradation. High charge/discharge efficiency, high power density, high temperature withstand capabilities and quick charging capability allows UC to run the EV for an extended range, including the regenerative braking technique. Apart from source, EVs also require efficient drive control for a smooth vehicle operation in the entire driving range. To achieve the vehicle characteristics, it is preferred to operate the propulsion drive in the field weakening (FW) region over the constant torque region. This paper also proposes a Modified State Timing SVPWM Based Control Algorithm for the FW region operation of IM for EV applications. The proposed algorithm is designed to overcome the torque ripple issue of the conventional SVPWM Based Control Algorithm in the FW region. The reduction in torque ripple is achieved by imposing current and voltage limits on the motor d and q axis by considering a maximum modulation index of 1.2732 and with an additional current loop for mitigating the transients in the torque due to sudden variation of the load. The simulation/hardware studies show a smooth operation of UC-driven EV for an entire driving range with a 78.57 percent improvement in torque ripple in the FW region by the proposed algorithm compared with the conventional FW control algorithm. The real time Lab prototype of UC driven EV has been developed and the proposed algorithm has been validated in real-time using the STM32F407VGTx ARM Cortex M4 microcontroller.

Analysis, simulation and experimental strategies of 5-phase permanent magnet motor control

This paper presents a study of control strategies for 5-phase permanent magnet synchronous motors (PMSMs) supplied by a five-leg voltage source inverter. Based on the vectorial decomposition of the multi-phase machine, fictitious machines, magnetically decoupled, allow a more adequate control. In this paper, our study focuses on the vector control of a multi-phase machine using a linear proportional-integral-derivative (PID) current regulator in the cases of sinusoidal and trapezoidal back-electromotive force (EMF) waveforms. In order to determine currents' references, two strategies are adopted. First one aims to minimize copper losses under constant torque, while the second one targets to increase torque for a given copper losses. These techniques are tested under a variable speed control strategy based on a proportional-integral (PI) regulator and experimentally validated.

Inclination Build Rate of a Point-The-Bit Rotary-Steerable Tool

The combination of a rotary-steerable system (RSS) and power screws has become the main drilling tool for the efficient exploration and development of unconventional oil and gas. However, the application of point-the-bit (POB) rotary-steerable tools in directional drilling subjects spindle bearings to continuous alternating stress, which can lead to fatigue failure. In this study, numerical analysis and simulation are employed to guide the engineering application of rotary-steerable tools, particularly in the field of oil and gas exploitation. The structural composition and steering principles of rotary-steerable tools are analyzed. The influence of the structural parameters of the spindle on the deflection capacity of the tool is analyzed, and the optimal structural parameters are selected. Based on the results, the recommended distances between the various components of the tool could be obtained. Moreover, the maximum deflection capacity increases with torque when the WOB (weight-on-bit) is constant. Similarly, at constant torque, the maximum deflection capacity increases with the WOB. Overall, the WOB has a greater influence on the maximum deflection capacity than torque. To ensure the safe operation of the spindle, the WOB and torque must be within 200 kN and 20 kN·m, respectively. The findings of this study provide valuable insights into the safe application of POB rotary-steerable tools.

D-Q-axis magnetic field design and investigation of asymmetrical multi-layer flux barriers PM motor for speed regulation enhancement

In this paper, an asymmetrical multi-layer flux barriers permanent magnet (AMFB-PM) motor is proposed. The key of this study is to design the d-q-axis magnetic field reasonably. Firstly, the influence of d-axis inductance on the constant power speed range is analyzed. To optimize the constant power speed regulation performance, an asymmetric flux barrier is employed to adjust the saturation degree of the d-axis magnetic circuit under flux-weakening state. Additionally, the introduction of the asymmetrical flux barrier enables directional deflection of reluctance torque, thereby enhancing the output torque. The analysis results verify the effectiveness of the asymmetrical flux barrier design, which provide a wide speed regulation with constant power operation and high torque density for PM motors.

Mixing Performance Analysis of Cohesive Granular Particles in a Planetary Concrete Mixer Containing Two Different Mixing Units via DEM

In this paper, the mixing behavior of two different types of planetary concrete mixers is analyzed and evaluated in terms of homogeneity and granular particle velocity flow regimes. For this, the Hertz-Mindlin contact law, constant directional torque, and Simplified Johnson-Kendall-Roberts (SJKR) models are utilized via the Discrete Element Method (DEM). The Lacey mixing index was employed to calculate the mixing degree of granular particles to assess the mixing performance of planetary concrete mixers. Comparing the mixing degree, we have achieved a 45,5% improvement in the mixing period of high-quality homogeneous mixture in the model B mixer.

Observer-Based Nonlinear Proportional–Integral–Integral Speed Control for Servo Drive Applications via Order Reduction Technique

This study designs an advanced single-loop output feedback system for speed servo drive applications, in which a simple proportional–integral–integral (PII) controller equipped with nonlinear feedback and feed-forward gains is formed. The resultant feedback system shows the desired critically damped performance for wide-operating regions by actively handling the system parameter and load uncertainties. There are three contributions: first, the third-order observer estimates, independent from the system model, where the speed and acceleration are obtained using the position measurement with the order reduction property; second, the observer-based PII controller is compensated by active damping with a nonlinearly structured feedback and feed-forward gains; and, third, a guarantee is achieved on the desired critically damped performance through a closed-loop analysis. A hardware testbed that adopts a 500 W brushless DC motor is used to experimentally demonstrate performance improvements over certain constant torque regions under various scenarios.