Direct Torque Research Articles

ℒ1 Adaptive Control of Quadrotor UAVs in Case of Inversion of the Torque Direction

ℒ1 Adaptive Control of Quadrotor UAVs in Case of Inversion of the Torque Direction

Analysis of flow torques during opening and closing of high-frequency rotary directional control valve

A 2D high-frequency rotary directional control valve with a spool having two degrees of freedom for axial linear motion and circumferential rotation is proposed in this paper. The axial linear motion decides the maximum orifice area, and the circumferential rotation lets the orifice area change continuously. One of the known elements impacting valve function is the flow force. This paper systematically analyzes the steady and transient flow torques subjected to the valve through theoretical analysis, AMESim-Fluent joint simulation and experimental tests. The results show that: under a single variable, the flow torques of the 2D high-frequency rotary directional control valve initially increase and then decrease like the sinusoid curve with the rotation of the spool and reach the maximum when the orifice opening is 1/2, and the flow torques are always in the direction of orifice closing and want to close the orifice. When the orifice area increases, the flow torques are the resistance, preventing the spool from opening; when the orifice area decreases, the flow torques are the power, pushing the spool to close. The steady flow torques are proportional to the pressure drop. The direction of the transient flow torque is independent of the relative position of the spool groove and sleeve window, which proportional to the square root of the pressure drop, orifice area and rotational speed. The flow torques are so important in the control of valve and can not be negligible.

Tuning of motor outputs produced by spinal stimulation during voluntary control of torque directions in monkeys.

Spinal stimulation is a promising method to restore motor function after impairment of descending pathways. While paresis, a weakness of voluntary movements driven by surviving descending pathways, can benefit from spinal stimulation, the effects of descending commands on motor outputs produced by spinal stimulation are unclear. Here, we show that descending commands amplify and shape the stimulus-induced muscle responses and torque outputs. During the wrist torque tracking task, spinal stimulation, at a current intensity in the range of balanced excitation and inhibition, over the cervical enlargement facilitated and/or suppressed activities of forelimb muscles. Magnitudes of these effects were dependent on directions of voluntarily produced torque and positively correlated with levels of voluntary muscle activity. Furthermore, the directions of evoked wrist torque corresponded to the directions of voluntarily produced torque. These results suggest that spinal stimulation is beneficial in cases of partial lesion of descending pathways by compensating for reduced descending commands through activation of excitatory and inhibitory synaptic connections to motoneurons.

Torques and angular momenta of fluid elements in the octonion spaces

The paper focuses on applying the octonions to explore the influence of the external torque on the angular momentum of fluid elements, revealing the interconnection of the external torque and the vortices of vortex streets. J. C. Maxwell was the first to introduce the quaternions to study the physical properties of electromagnetic fields. The contemporary scholars utilize the quaternions and octonions to investigate the electromagnetic theory, gravitational theory, quantum mechanics, special relativity, general relativity, curved spaces, and so forth. The paper adopts the octonions to describe the electromagnetic and gravitational theories, including the octonionic field potential, field strength, linear momentum, angular momentum, torque, and force. In case the octonion force is equal to zero, it is able to deduce eight independent equations, including the fluid continuity equation, current continuity equation, and force equilibrium equation. Especially, one of the eight independent equations will uncover the interrelation of the external torque and angular momentums of fluid elements. One of its inferences is that the direction, magnitude, and frequency of the external torque must impact the direction and curl of the angular momentum of fluid elements, altering the frequencies of Karman vortex streets within the fluids. It means that the external torque is interrelated with the velocity circulation, by means of the liquid viscosity. The external torque is able to exert an influence on the direction of downwash flows, improving the lift and drag characteristics generated by the fluids.

Model Predictive Control-Based Attitude Control of Under-Actuated Spacecraft Using Solar Radiation Pressure

An attitude control strategy for an under-actuated spacecraft with two reaction wheels is proposed, using the active assistance of solar radiation pressure torque. By changing the rotation angles of the solar panels, the magnitude and direction of the solar radiation pressure torque is assumed to be adjustable in this paper. The attitude dynamic model of a rigid spacecraft with two reaction wheels and two solar panels is established and transformed into the form of a non-linear system. An integrated control scheme based on dual-mode model predictive control is proposed, which obtains the rotation speeds of the solar panels and the rotation accelerations of the reaction wheels directly as control quantities. Using this control method, not only are the constraints of rotation speeds and rotation angles of the panels satisfied, but also the robustness of the closed-loop system is ensured. The simulation results prove the validity of the proposed control method.

Fine Tuning of the Inner Dipole Design of MCBXF Magnets

Two types of nested orbit correctors are necessary for LHC upgrade, the so-called MCBXFA and MCBXFB. They share the same cross section, but feature different lengths, 2.5 and 1.5 m, respectively. The power tests performed on two MCBXFB prototypes showed excellent performance when individually powered, but training to reach the nominal torque in combined operation was very long. Moreover, memory was lost after torque direction reversal. A detailed analysis of the power test results concluded that the origin of the problem was insufficient support for the torque at the inner dipole coil ends. A fine tuning of the inner dipole design is proposed to improve the performance of both types of magnets. This paper describes the analytical and numerical models developed to analyze the problem and their results.

Fabrication and Power Test of Last MCBXFB Magnets

MCBXFB magnets are nested orbit combined correctors for the upgrade of the LHC. The first three magnets were manufactured at CIEMAT and assembled at CERN, in the framework of the HL-LHC project. The power tests performed on the first prototype showed that the behavior when the dipoles were individually powered was excellent, but the training to reach nominal currents in combined operation was very long. Memory was lost when the torque direction changed. A similar behavior was found in the first power test of the second prototype described elsewhere. The origin of the problem has been identified as insufficient mechanical support at the inner dipole coil ends. This paper depicts the results of the power test after the reassembly of the second magnet with increased prestress on the coils. Shimming plan is discussed. Furthermore, a fine tuning of the inner dipole design has been introduced in the third magnet. The results of the power tests on that magnet show a significant performance improvement.

Spin-transfer-assisted parametric pumping of magnons in yttrium iron garnet

The combination of parametric pumping and spin-transfer torque is a powerful approach that enables high-level control over magnetic excitations in thin-film ferromagnets. The excitation parameters, such as pumping power and external field strength, affect the instabilities of individual magnon modes. We theoretically explore how the simultaneous effects of parametric pumping and spin transfer torque influence these magnetic instabilities in a thin-film ferromagnet. Within the Landau-Lifshitz-Gilbert framework, we perform micromagnetic simulations of magnon excitations in yttrium iron garnet by pumping, spin transfer torque, and a combination of the two. We find that consistent with experimental results, the magnitude and direction of the spin-transfer torque tune the parametric instability thresholds.

Advanced Speed Control Methods for Induction Motor: An Analysis

Induction motors are widely used in a wide range of industrial and domestic applications. Induction motors are a common option compared to other motors because of their low maintenance requirements, robustness, and low cost. With advancements in power electronics and speed control technology, it is now possible to precisely control the speed of an induction motor for particular industrial applications. This paper provides a comprehensive literature review of advanced 3-phase induction motor speed control techniques such as direct/indirect vector control, direct torque and flux control, adaptive and optimal control, and intelligent control. Hopefully, all of the main takeaways from this analysis will spur further research and development of advanced switching techniques and controllers for future induction motor drives. The authors are confident that this survey article would be extremely useful to researchers in locating important references in speed control 3-phase induction motors.

Sensorless torque and flux control of induction motor fed by photovoltaic system

This paper presents a new direct torque and flux control method for induction motor fed from Photovoltaic (PV) System. The proposed strategy is based on Stator Field Orientation with deadbeat torque and flux control. The deedbeat control approach is based on establishing the voltage vector necessary to supply the motor and reach the electromagnetic torque and flux references at the end of a sampling period T. In order to create the voltage shape and frequency to control the induction motor, the inverter is supplied by a DC voltage extracted from a PV system. Model Reference Adaptive System and Luenberger Observer are designed to determine the stator flux and rotor speed. Extensive simulation work was carried out, which demonstrated that the proposed strategy is capable of reducing the torque and flux ripples and maintaining a constant switching frequency.

Synchronized motion and compliant control for dual control moment gyroscopes by realizing the impedance transformation matrix

In this paper, dual control moment gyroscopic actuators (CMG) were formed in a scissored-pair configuration to maximize the induced torque in the desired direction. A robust synchronizing motion control method was proposed to regulate the directional gyroscopic torque. In order for the two CMGs to form a scissored-pair structure having opposite angular momentum vectors, the synchronization of two CMGs was done without losing the control capability due to axial drift. A transformation matrix was designed for the robust synchronization control performance by realizing the empirically discovered impedance models of CMGs. Three different control modes were realized by selecting the components of the impedance transformation matrix (ITM): a robustly independent control mode, a synchronized motion control mode, and a mixed motion control mode. Each CMG played the role of either a master or a slave and copied the motion from another to follow it under the synchronization mode. The experimental results show that two CMGs can generate a robust and directional torque under the mixed control mode of both robust and synchronization control.

Distributed Drive Electric Bus Handling Stability Control Based on Lyapunov Theory and Sliding Mode Control

To improve the handling stability of distributed drive electric buses, a vehicle stability control system based on direct yaw moment control (DYC) with a hierarchical control structure was designed. Considering that the vehicle dynamics system is highly nonlinear, a nonlinear controller based on Lyapunov stability theory was designed to calculate the required additional yaw moment of the vehicle in the upper controller. In the lower controller, the additional yaw moment is distributed to four wheel-side motors according to the equal proportion torque distribution method, and the direction of wheel-side motor output torque is determined based on the steering state of the vehicle. A co-simulation based on Simulink and Trucksim was conducted to verify the designed controller under two extreme conditions. Simulation results indicate that the proposed method performs feasibly and effectively in the handling stability of vehicles. Compared with traditional sliding mode control (SMC), the proposed control strategy can significantly reduce the chattering of the system, which provides a theoretical basis for the application of this yaw stability control method in engineering practice.

A Review of Fibre Reinforced Polymer Structures

This paper reviews Fibre Reinforced Polymer (FRP) composites in Civil Engineering applications. Three FRP types are used in Structural Engineering: FRP profiles for new construction, FRP rebars and FRP strengthening systems. Basic materials (fibres and resins), manufacturing processes and material properties are discussed. The focus of the paper is on all-FRP new-build structures and their joints. All-FRP structures use pultruded FRP profiles. Their connections and joints use bolting, bonding or a combination of both. For plate-to-pate connections, effects of geometry, fibre direction, type and rate of loading, bolt torque and bolt hole clearance, and washers on failure modes and strength are reviewed. FRP beam-columns joints are also reviewed. The joints are divided into five categories: web cleated, web and flange cleated, high strength, plate bolted and box profile joints. The effect of both static and cyclic loading on joints is studied. The joints’ failure modes are also discussed.

Bistable energy harvesting backpack: Design, modeling, and experiments

Inspired by the dynamics of the noninertial systems, a novel bistable energy harvesting backpack is proposed that improves biomechanical energy harvesting performance. In contrast to traditional bistable energy harvesters that use an oblique compressed spring, a new bistable backpack is developed that uses the change of a spring torque direction located on a pinion. A detailed nondimensionalized model of the novel bistable energy harvesting backpack is developed and analyzed. Based on the dynamic bistable model, the influence of the carried backpack mass on the symmetry and the bifurcation frequency and amplitude of oscillation is examined to determine the ideal design parameters of the bistable backpack for experimental analysis and prototype manufacture. A comparison is made between the new bistable backpack and a traditional linear backpack under both harmonic and human walking excitation. The new bistable backpack design exhibits an improved frequency bandwidth from 1 Hz to 1.65 Hz at the base harmonic excitation of 2 m/s2 and the harvesting performance is enhanced from 2.34 W to 3.32 W when the walking speed is 5.6 km/h. The bench and treadmill tests verify the theoretical analysis and demonstrate the ability of the bistable energy harvesting backpack for broadband and performance enhancement.

Attitude control of spin-type space membrane structures using electromagnetic force in earth orbit

This research proposes a novel attitude control method for a membrane structure that uses electromagnetic torque while in Earth orbit. A spin-type membrane structure with a satellite’s body at its center is lightweight and highly compactible, enabling the realization of systems that require a large surface area. The attitude control of such a structure poses an issue because of a relatively large angular momentum of the membrane, requiring a large torque to shorten attitude control duration. Moreover, application of this torque to both the body and membrane is desired to prevent vibration on the membrane. A typical method using reaction wheels and thrusters applies a relatively large torque only to the body, which requires propellant consumption. Another method using solar radiation pressure applies torque only to the membrane, resulting in a weak torque. Thus, conventional methods cannot achieve a sufficiently large torque applied to both the body and membrane without extraneous propellant consumption. In the proposed magnetic attitude control method, the electric current flowing along the edge of the membrane and the magnetic torquers in the body interact with the Earth’s geomagnetic field and generate a large, controllable electromagnetic torque applied to both the body and membrane, which enables a large torque without consuming propellant. This research evaluates the performance of the proposed method in terms of the attitude maneuverability and vibration of the membrane using numerical simulations. Specifically, this research investigates the effects of the electric current, spin rate, and orbit inclination, which are related to the strength and direction of the electromagnetic torque. A dynamics model of the numerical simulations is derived from the multi-particle method. The numerical simulations reveal that the proposed method induces a larger torque compared with that by solar radiation pressure, improving maneuverability. This maneuverability is related to the electric current intensity and the orbit inclination. The vibration caused on the membrane during the attitude control is small; the maximum amplitude is only 3.1% of the membrane size. This amplitude decreases as spin rate increases because of geometric stiffness. Based on the results, this research concludes that the proposed method is technically feasible and contributes to the actualization of a large membrane structure.

Comparison of Two 3D-Printed Indirect Bonding (IDB) Tray Design Versions and Their Influence on the Transfer Accuracy.

Objective: This study aims to investigate the transfer accuracy of two different design versions for 3D-printed indirect bonding (IDB) trays. Materials and Methods: Digital plaster models of 27 patients virtually received vestibular attachments on every tooth using OnyxCeph³™ (Image Instruments, Chemnitz, Germany). Based on these simulated bracket and tube positions, two versions of transfer trays were designed for each dental arch and patient, which differed in the mechanism of bracket retention: Variant one (V1) had arm-like structures protruding from the tray base and reaching into the horizontal and vertical bracket slots, and variant two (V2) had a pocket-shaped design enclosing the brackets from three sides. Both tray designs were 3D-printed with the same digital light processing (DLP) printer using a flexible resin-based material (IMPRIMO® LC IBT/Asiga MAX™, SCHEU-DENTAL, Iserlohn, Germany). Brackets and tubes (discovery® smart/pearl, Ortho-Cast M-Series, Dentaurum, Ispringen, Germany) were inserted into the respective retention mechanism of the trays and IDB was performed on corresponding plaster models. An intraoral scan (TRIOS® 3W, 3Shape, Copenhagen, Denmark) was performed to capture the actual attachment positions and compared to the virtually planned positions with Geomagic© Control (3D Systems Inc., Rock Hill, SC, USA) using a scripted calculation tool, which superimposed the respective tooth surfaces. The resulting attachment deviations were determined in three linear (mesiodistal, vertical and orovestibular) and three angular (torque, rotation and tip) directions and analyzed with a descriptive statistical analysis. A comparison between the two IDB tray designs was conducted using a mixed model analysis (IBM, SPSS® Statistics 27, Armonk, NY, USA). Results: Both design versions of the 3D-printed IDB trays did not differ significantly in their transfer accuracy (p > 0.05). In total, 98% (V1) and 98.5% (V2) of the linear deviations were within the clinically acceptable range of ±0.2 mm. For the angular deviations, 84.9% (V1) and 86.8% (V2) were within the range of ±1°. With V1, most deviations occurred in the mesiodistal direction (3.3%) and in rotation (18%). With V2, most deviations occurred in the vertical direction (3.8%) and in palatinal and lingual crown torque (16.3%). Conclusions: The transfer accuracies of the investigated design versions for 3D-printed IDB trays show good and comparable results albeit their different retention mechanisms for the attachments and are, therefore, both suitable for clinical practice.

Linear and angular transfer accuracy of labial brackets using three dimensional-printed indirect bonding trays: A systematic review and meta-analysis

To assess the transfer accuracy of three dimensional-printed trays (3D-printed trays) and to compare the accuracy of this approach with the other methods used for the same purpose. An electronic search was performed in PubMed, Scopus, Web of science, Google Scholar and ProQuest (dissertation and theses). Studies were eligible for inclusion if they involved the assessment of transfer errors measured by the superimposition of the original set-up of brackets and the final positions after transfer. Risk of bias was assessed using Cochrane's tools. Seven studies were included. The pooled estimate of the transfer error in the linear dimensions showed an error of 0.095mm in the mesiodistal direction (95%CI: 0.035, 0.155), 0.114mm in the buccolingual direction (95%CI: 0.067, 0.160) and 0.111mm in the vertical direction (95%CI: -0.033, 0.255). Concerning the angular dimensions, the pooled estimate showed a tipping error of 1.3420 (95%CI: 0.444, 2.240), rotational error of 0.9980 (95%CI: 0.323, 1.672), and torque error of 1.9130 (95%CI: 0.922, 2.903). Thus, the maximum transfer error was in the bucco-lingual and torque directions. 3D-printed trays had better control in mesiodistal and vertical directions than vacuum-formed trays. Polyvinyl siloxane trays were more accurate in the vertical direction than 3D-printed trays. The scarcity of randomized clinical trials is the main risk of bias of the included studies. According to the available evidence, 3D-printed trays have an acceptable transfer accuracy, based on the American Board of Orthodontics Objective Grading System (ABO OGS), with maximum linear transfer error in the buccolingual direction and maximum angulation error in the torque. Conducting randomized clinical trials on this topic is highly recommended.

PV Generator-Fed Water Pumping System Based on a SRM with a Multilevel Fault-Tolerant Converter

This paper presents a pumping system supplied by a PV generator that is based on a switched reluctance machine (SRM). Water pumping systems are fundamental in many applications. Most of them can be used only during the day; therefore, they are highly recommended for use with PV generators. For the interface between the PV panels and the motor, a new multilevel converter is proposed. This converter is designed in order to ensure fault-tolerant capability for open switch faults. The converter is based on two three-level inverters, with some extra switches. Moreover, to reduce the number of switches, the converter is designed to provide inverse currents in the motor windings. Due to the characteristics of this motor, the inverse currents do not change the torque direction. In this way, it was possible to obtain an SRM drive with fault-tolerant capability for transistor faults; it is also a low-cost solution, due to the reduced number of switches and drives. These characteristics of fault-tolerant capability and low cost are important in applications such as water pumping systems supplied by PV generators. The proposed system was verified by several tests that were carried out by a simulation program. The experimental results, obtained from a laboratory prototype, are also presented, with the purpose of validating the simulation tests.

Tuning Spin‐Orbit Torques Across the Phase Transition in VO2/NiFe Heterostructure

AbstractThe emergence of spin‐orbit torques as a promising approach to energy‐efficient magnetic switching has generated large interest in material systems with easily and fully tunable spin‐orbit torques. Here, current‐induced spin‐orbit torques in VO2/NiFe heterostructures are investigated using spin‐torque ferromagnetic resonance, where the VO2 layer undergoes a prominent insulator‐metal transition. A roughly twofold increase in the Gilbert damping parameter, α, with temperature is attributed to the change in the VO2/NiFe interface spin absorption across the VO2 phase transition. More remarkably, a large modulation (±100%) and a sign change of the current‐induced spin‐orbit torque across the VO2 phase transition suggest two competing spin‐orbit torque generating mechanisms. The bulk spin Hall effect in metallic VO2, corroborated by the first‐principles calculation of the spin Hall conductivity , is verified as the main source of the spin‐orbit torque in the metallic phase. The self‐induced/anomalous torque in NiFe, with opposite sign and a similar magnitude to the bulk spin Hall effect in metallic VO2, can be the other competing mechanism that dominates as temperature decreases. For applications, the strong tunability of the torque strength and direction opens a new route to tailor spin‐orbit torques of materials that undergo phase transitions for new device functionalities.

Characterizing Detection Thresholds for Six Orthogonal Modes of Vibrotactile Display Via Stylus With Precision Grasp.

In this paper, we characterize the detection thresholds in six orthogonal modes of vibrotactile haptic display via stylus, including three orthogonal force directions and three orthogonal torque directions at the haptic interaction point. A psychophysical study is performed to determine detection thresholds over the frequency range 20-250 Hz, for six distinct styluses. Analysis of variance is used to test the hypothesis that force signals, as well as torque signals, applied in different directions have different detection thresholds. We find that people are less sensitive to force signals parallel to the stylus than to those orthogonal to the stylus at low frequencies, and far more sensitive to torque signals about the stylus than to those orthogonal to the stylus. Optimization techniques are used to determine four independent two-parameter models to describe the frequency-dependent thresholds for each of the orthogonal force and torque modes for a stylus that is approximately radially symmetric; six independent models are required if the stylus is not well approximated as radially symmetric. Finally, we provide a means to estimate the model parameters given stylus parameters, for a range of styluses, and to estimate the coupling between orthogonal modes.