Torque Capability Research Articles

Science and Technology of Supercapacitor and its Applications

Super-capacitors (SCs) are significant because of their unique characteristics, which include long cycle life, high strength, and environmental friendliness. SCs use electrode substances with high specific surface area and thinner dielectrics. Referring to the energy storage mechanism, all kinds of SCs were reviewed in this review paper; a quick synopsis of the materials and technology used for SCs is provided. Materials such as conducting polymers, carbon materials, metal oxides, and their composites are the main focus. The performance of the composites was evaluated using metrics such as energy, cycle performance, power capacitance, and rate capability, which also provides information on the electrolyte materials. To precisely appraise the state of Charge (SoC) in the super SCs cell module, its identical model o is used. It is expected that this model will accurately capture the features of the cell module, specifically its standing-related self-discharge behavior, and the outcomes of parameter identification directly impact its accuracy. Engine downsizing is a result of the requirement to increase fuel efficiency and lower CO2 and other hazardous pollutant emissions from internal combustion engine cars. However, smaller turbocharged engines have a relatively poor torque capability at low engine speeds. To solve this issue, an electrical torque boost based on SCs may be used to help recover energy during regenerative braking as well as during acceleration and gear changes.

Field-Free Spin-Orbit Torque Switching in Janus Chromium Dichalcogenides.

We predict a very large spin-orbit torque (SOT) capability of magnetic chromium-based transition-metal dichalcogenide (TMD) monolayers in their Janus forms CrXTe, with X = S, Se. The structural inversion symmetry breaking, inherent to Janus structures is responsible for a large SOT response generated by giant Rashba splitting, equivalent to that obtained by applying a transverse electric field of ∼100 V nm-1 in non-Janus CrTe2, completely out of experimental reach. By performing transport simulations on carefully derived Wannier tight-binding models, Janus systems are found to exhibit an SOT performance comparable to the most efficient two-dimensional materials, while additionally allowing for field-free perpendicular magnetization switching, due to their reduced in-plane symmetry. Altogether, our findings evidence that magnetic Janus TMDs stand as suitable candidates for ultimate SOT-MRAM devices in an ultracompact self-induced SOT scheme.

Design and Validation of a Modular, Backdrivable Ankle Exoskeleton.

Partial-assist ankle exoskeletons have been limited by inherent trade-offs between favorable characteristics including high torque capacity, high control bandwidth, back-drivability, compliance, and low mass. Emerging quasi-direct drive actuators have a rigid transmission with a low gear ratio, enabling inherent backdrivability and compliance with accurate torque and position control. Our existing modular, backdrivable exoskeleton system (M-BLUE) uses quasi-direct drive actuators at the hip and/or knee to deliver high assistive torques alongside low dynamic backdrive torques, enabling natural interaction with users with remnant voluntary motion. This paper extends our modular system with the design and validation of a back-drivable ankle exoskeleton module to assist both plantarflexion and dorsiflexion. The bi-directional torque capabilities enable the study of control methods and gait outcomes for able-bodied users and users with gait impairments. Benchtop tests of the actuator performance and control bandwidth indicate that the position, voltage, and current control modes can provide assistance to the ankle joint across activities of daily living (ADLs). We also implement an optimal task-agnostic energy shaping controller for an experiment with a single human subject to validate the ability of the ankle exoskeleton to provide biomimetic torque assistance across a circuit of ADLs.

Research on Torque Performance of Marine Hybrid Excitation Synchronous Motors Based on PSO Optimization of Magnetic Permeability Structure

The rotor magnetic shunt structure hybrid excitation synchronous motor (RMS-HESM) has been widely used in marine propulsion due to its advantages of low loss and high efficiency. The objective of this paper is to improve the output torque capability of the hybrid excitation motor with a rotor magnetic shunt structure by conducting a multi-objective optimization design for the magnetic permeability structure. The first step involved establishing a mathematical analytical model of average torque and torque ripple based on the fundamental principle of motor magnetization. Next, the parameters of the magnetic permeability structure were designed and analyzed using the finite element simulation method. The impact of the variations in the parameters of the magnetic permeability structure on motor torque and no−load back electromotive force was examined. Additionally, a sensitivity analysis was performed on the design variables of the magnetic permeability structure, leading to the determination of optimization parameters based on the obtained results. The adaptive inertia weight-based particle swarm algorithm (PSO) was employed to conduct a multi-objective optimization design analysis. A comparative analysis on the average torque, torque ripple, and no−load back electromotive force of the motor before and after optimization was performed using the Maxwell and Workbench and Optislong joint simulation tools. This enhancement significantly improves the torque performance of the marine motor while simultaneously optimizing the no−load back electromotive force.

Design and Analysis of Five-Phase Fault-Tolerant Vernier Permanent Magnet Machines for Direct-Drive Occasions

Abstract A fault-tolerant vernier permanent magnet machine (FTVPMM) with five phases for direct-drive occasions is designed and analyzed. The construction of the proposed FTVPMM is introduced and the principle of the vernier modulation effect is investigated. Parameters are designed and optimized by finite element analysis (FEA), including tooth width, slot opening, PM thickness, pole-arc coefficient, air-gap length, and rotor yoke. Furthermore, major electromagnetic performances are discussed, including cogging torque, no-load back electromotive force (BEMF), output torque, and fault-tolerant capability.

Torque Capacity Improvement of Flux-Switching PM Machines Based on Directional Stator Permeance Design

As one type of flux modulation machines, flux-switching permanent magnet (FSPM) machines present high sensitivity to airgap structures. Therefore, both stator/rotor teeth and slot/pole combinations have significant influences on machine performance. However, the relationships between the optimal stator structure and maximum torque capability of the FSPM machine are barely investigated. Therefore, this paper is devoted to proposing a directional stator permeance design approach to achieve the maximum torque of the FSPM machines under a given rotor, and reveal the corresponding stator structure. First, the relations between torque and air-gap permeance are presented based on a constructed torque contribution equation, where amplitudes and phase angles of the stator permeance harmonics are determined. Then, main permeance harmonics are directionally optimized to enlarge positive torque, while negative contributions are inversed to be positive. Especially, two FSPMs with 6-slot/19-pole and 6-slot/13-pole are chosen as design examples, and their optimal design processes and torque performances have been deeply analyzed, which verifies the effectiveness of the proposed design approach.

Prototype development of a fully coreless multi-stage axial-flux permanent-magnet machine (AFPM) through the performance comparison between single-stator double-rotor (SSDR) and double-stator single-rotor (DSSR) configurations

Cascading rotor and stator in axial flux permanent magnet (AFPM) machine is a beneficial concept to increase the power density without increasing the diameter of the machine. Multi-stage AFPM can provide higher torque capability in applications requiring high power density. In this regard single-stator double- rotor (SSDR) and double-stator single-rotor (DSSR) are efficient machines compared to single -stage AFPM. Since SSDR and DSSR are also considered modular units to make multi-stage AFPM, like single-stage AFPM, this paper makes a comparison with analysis between SSDR and DSSR AFPM machines. Based on 3-D finite element analysis (FEA), the air-gap magnetic flux, voltage, current, torque, torque ripple, power and power density, efficiency are comparatively investigated to evaluate their performance. Results show that fully coreless topology only be achieved in SSDR AFPM machine with a higher power density. Finally, a prototype multi-stage coreless generator has been developed using a single stator double rotor (SSDR) configuration to justify the fully coreless concept. This prototype coreless generator eliminates eddy current losses and reduces weight, making it a suitable option for certain portable applications.

Comparative Analysis of Consequent-Pole PM Vernier Machines With Different Rotor Types

Taking advantage of flux modulation effects, consequent-pole PM vernier (CPMV) machines have been widely investigated recently, featuring high torque density and PM utilization ratio. However, the low-order harmonics of modulated flux fields additionally cause high iron saturation, which results in relatively low average torque under overload conditions, especially for the CPMV machines with an interior CPM (ICPM) rotor. Therefore, this paper proposes two hybrid CPM (HCPM) rotors of PMV machines to improve the overload performance by adding SPMs into the conventional ICPM rotor. First, the topologies of the proposed HCPM rotors are presented, named HCPM1 and HCPM2 rotors, respectively. Then the HCPM rotors and a conventional ICPM rotor with the V-shaped PM arrangement are designed and optimized to find out the optimal design parameters. Moreover, the electromagnetic performances including back-EMF, torque performance, efficiency, flux-weakening capability, and end effect are comprehensively investigated and compared. It indicates that the two proposed HCPM rotors both can generate equivalently high average torque, efficiency, and flux-weakening capability, compared to the conventional ICPM rotor. Furthermore, the proposed HCPM2 rotor can produce ≥22.9% higher torque at overload conditions. In addition, due to the bipolar PM arrangement, the unipolar flux leakage of the HCPM2 rotor is significantly reduced and lower than 0.05T. Finally, the prototype of a 12-stator-slot/ 20-rotor-pole CPMV machine with the HCPM2 rotor is manufactured to validate the finite element (FE) results.

Cogging Torque Reduction of Axial-Modular Flux Switching Permanent Magnet Machine by Module Combination Technique

Flux switching permanent magnet machine exhibits high cogging torque due to the doubly salient topology and high air gap flux density. This paper proposes a new axial-modular flux switching permanent magnet (AM-FSPM) machine, which has an improved torque capability and the potential of cogging torque suppression by module combination technique. The cogging torque analytical expression of the machine with axial-modular topology is derived based on a magnetomotive force-permeance model. Then, the AM-FSPM machines are divided into two types by the combinations of stator-slot and rotor-pole, named fundamental harmonic offset naturally and fundamental harmonic offset manually. In addition, four approaches are investigated to reduce cogging torque by changing modular magnetomotive force and changing modular permeance. It can be concluded that the modular rotor tooth combination method has the most attractive torque performances among the four methods. Finally, the effectiveness of the proposed approaches is verified by the 3D finite element analysis and experimental results.

Design of an Integrated Magnetorheological Fluid Brake Axial Flux Permanent Magnet Machine

This paper presents the design and performance of an integrated magnetorheological fluid brake axial flux permanent magnet (IMRFB-AFPM) machine with two switchable operation modes: rotation and brake modes while the machine has two kinds of windings: armature winding in axial stators and braking winding in radial stator. In rotation mode, this machine is equal to a conventional AFPM machine with high torque density. When switching to brake mode, MR fluid is excited by braking winding and applies large damping stress to the rotor to brake it. This paper illustrates the machine topology, operation principles, and design flow of the proposed machine. Then, this paper analyzes the torque generation mechanism in two modes and applies parameters optimization to improve the torque capability of each mode. Due to the independence of the magnetic flux path, the parameters optimization is divided into two parts: AFPM part and IMRFB part. After the optimization process, the electromagnetic performances of the optimal IMRFB-AFPM machine are analyzed by finite element (FE) analysis. Finally, a prototype machine with the optimal geometric parameters is manufactured and verified experimentally. The experiment results agree well with FE analysis results, validating the feasibility and practicability of the proposed design.

Analysis and Comparison of Even-Order Back EMF Harmonics of Fractional-Slot Concentrated-Winding Consequent Pole Permanent Magnet Vernier Machines

Fractional-slot concentrated-winding (FSCW) consequent pole (CP) permanent magnet vernier (PMV) machines have received increasing attention due to their less magnet consumption but larger torque capability. However, the PM magnetomotive force (MMF) distribution is asymmetric in the CP structure. Thus, even-order air-gap flux density and back-electromotive force (back-EMF) harmonics are generated, which increases torque ripples. In this paper, to eliminate the even-order back-EMF harmonics and the resulting torque ripples, a comprehensive investigation on even-order flux density and back-EMF harmonics of five-phase FSCW CP PMV machines was presented, and then the general design rules without even-order back-EMF harmonics were summarized. Firstly, considering single- and double-layer windings, the effects of slot/pole number combination and flux modulator distribution on even-order flux density and back-EMF harmonics were analyzed. Secondly, the optimal slot/pole number combinations were selected, and then the rules for eliminating even-order back-EMF harmonics of CP PMV machines were summarized. As an extension, it was revealed that the harmonic elimination mechanism of CP PMV machines is applicable to CP-Halbach PMV machines. According to the summarized general design rules, the five-phase CP and CP-Halbach PMV machines with <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">S</i> =20/ <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">P_r</i> =21/ <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">z_f</i> =10 were proposed. Their detailed performance has been comparatively analyzed and then the optimal one was selected for prototyping. Both finite element analysis (FEA) and experiments were carried out to validate theoretical analyses.

Analytical Torque Ripple Reduction Strategy for Flux Modulated Doubly-Salient Reluctance Motor Drives Based on ZSC Harmonic Regulation

Compared to the conventional doubly-salient reluctance motor (DRM) drives, the novel flux modulated DRM (FMDRM) drives can achieve a better overall torque performance due to the dc-biased sinusoidal current excitation. However, previous investigations only focus on the dc-biased and fundamental current components, and the contributions of current harmonics to the torque production are not clear. This paper proposes an analytical torque ripple reduction strategy for open-winding FMDRM drives based on zero-sequence current (ZSC) harmonic regulation. Firstly, the contribution of third-order ZSC harmonic to the electromagnetic torque is investigated together with the dc-biased sinusoidal current components. Secondly, an alternative torque component cancellation method is put forward, where the additional third-order ZSC is utilized to counteract the dominating part of the alternative torque generated by the dc-biased sinusoidal current for torque ripple reduction. Both the amplitude and initial phase angle of the additional third-order ZSC are calculated by the analytical equation of electromagnetic torque. Moreover, the corresponding three-dimensional current distribution is investigated to achieve the desired ZSC regulation. With the proposed scheme, the torque ripple can be effectively suppressed while maintaining high output torque capability and efficiency. Furthermore, experimental results are presented on a three-phase FMDRM prototype to verify the proposed strategy. <fn fn-type="other" id="fn3" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> </fn>

A resistance torque compensation algorithm based on Luenberger observer for minimally invasive surgical robot

PurposeThe patient-side manipulator (PSM) achieves high torque capability by combining harmonic servo system with high reduction ratio and low torque motor. However, high reduction ratio can increase inertia and decrease compliance of the manipulator. To enhance the backdrivability of the minimally invasive surgical robot, this paper aims to propose a resistance torque compensation algorithm.Design/methodology/approachA resistance torque compensation algorithm based on dynamics and Luenberger observer is proposed. The dynamics are established, considering joint flexibility and an improved Stribeck friction model. The dynamic parameters are experimentally identified by using the least squares method. With the advantages of clear structure, simple implementation and fast solution speed, the Luenberger observer is selected to estimate the unmeasured dynamic information of PSM and realize the resistance torque compensation.FindingsFor low-speed surgical robots, the centrifugal force term in the dynamic model can be simplified to reduce computational complexity. Joint flexibility and an improved Stribeck friction model can be considered to improve the accuracy of the dynamic model. Experiment results show that parameter identification and estimated results of the Luenberger observer are accurate. The backdrivability of the PSM is enhanced in ease and smoothness.Originality/valueThis algorithm provides potential application prospects for surgical robots to maintain high torque while remaining compliant. Meanwhile, the enhanced backdrivability of the manipulator helps to improve the safety of the preoperative manual adjustment.

Comparative Analysis of Novel Asymmetric Consequent-Pole and Conventional Flux Reversal Permanent Magnet Machines

Torque density is a critical performance index for flux reversal permanent magnet (FRPM) machines. In this paper, a novel asymmetric consequent-pole (ACP) FRPM machine with alternate teeth wound is proposed. Different from the conventional consequent-pole FRPM machine with uniform “Fe/N-Fe/N-Fe/N” structure, the proposed ACP FRPM machine adopts “Fe/N/Fe-N-Fe/N/Fe” topology. With the novel topology, torque capability of the proposed machine is significantly improved due to the newly produced lower working harmonics of air-gap flux density. The operating principle of the proposed ACP FRPM machine is analyzed based on the magnetomotive force (MMF)-permeance model with variable winding factors and validated by finite element analysis (FEA). The effects of geometric parameters such as magnet, main tooth-tip and rotor tooth width on average torque and torque ripple are also investigated. Finally, a prototype has been manufactured to validate the theoretical results. With experimental test results, it is demonstrated that the proposed topology can achieve 109.1% higher back EMF and 55.7% higher torque density despite the stator current is reduced by 25.4% compared with the conventional consequent-pole FRPM machines.

A Built-In Integrated Magnetorheological Fluid Brake Permanent Magnet Synchronous Motor

In this paper, a built-in integrated magnetorheological (MR) fluid brake permanent magnet synchronous motor is presented, which can switch between rotation and brake operation states in a relatively simple structure by integrating the MR fluid brake inside the rotor of the PMSM. Benefiting from the different flux paths design corresponding to the armature winding in the outer stator and the braking winding in the inner stator, the proposed machine can provide adequate brake torque and improve space utilization. This paper illustrates machine topology, operation principles, and design considerations. After proceeding flux leakage reduction, magnetic pole layout optimization of the braking winding, and balance optimization between brake torque and electromagnetic torque, successively, the optimal machine is obtained. Finally, the finite element analysis is devoted to the electromagnetic performance analysis of the proposed machine, and torque capabilities between rotation and brake states are compared, verifying the feasibility of the integration design.

Design Optimization of Rotor Bridge and Fixing Hole for Spoke-Type PMSM

This paper investigates the performance of the spoke-type permanent magnet synchronous motors (PMSMs) for driving systems. The electromagnetic performance of the PMSMs with different rotor bridges and fixing holes is studied, including the no-load characteristic, cogging torque, output torque, and torque ripple. The structures of the rotor bridge and location of the fixing holes in the rotor core are optimized to increase the output torque capability. The results show that the output torque of the single side bridge is increased due to the reduction of the leakage flux compared with the double side bridge structure. The motor with the inner side bridge design has the highest output torque. Furthermore, the mechanical strength of the three rotors at the maximum speed is investigated by finite-element analysis (FEA) to verify the feasibility of the structures. Finally, two 3000r/min 10kW prototypes have been manufactured and the experimental results validate the analysis methods in this paper.

Model Predictive Direct Self-Control for Six-Step Operation of Permanent-Magnet Synchronous Machines

The optimization of voltage utilization can boost electric drives' power and torque capabilities, which is of particular interest in transportation applications. However, this is a weak point of most control approaches, like linear field-oriented control (FOC) methods using standard modulation schemes. This paper introduces the model predictive direct self-control (MPDSC) strategy, a modification of direct self-control (DSC) for its application in a digital implementation to achieve maximum voltage utilization (i.e., six-step operation) for permanent magnet synchronous machines. This solution is suitable for highly utilized machines with heavy magnetic (cross-)saturation and low sampling to fundamental frequency ratio. The modifications include using load angle regulation to control the selected operating point and model prediction to compensate for the actuation delay. The proposed system can achieve six-step operation with accurate torque control and robustness against disturbances and parameter estimation inaccuracies. Comprehensive simulation and experimental results demonstrate the performance of the proposed MPDSC while operating at the voltage constraint. In particular, a transient rise time of 2.3 ms to maximum torque, current reduction for equal torque-speed operating point of up to 18 %, and maximum torque increase for equal current amplitude of up to 15 % compared to conventional FOC have been empirically observed.

Analysis of Torque Capability for Permanent Magnet Machines With Magnetic Gear Effect

Permanent magnet (PM) machines have been widely applied in industrial applications due to the advantages of high torque density, high reliability, and high efficiency. In this paper, the magnetic gear effect (MGE) in PM machines is investigated in depth. A comprehensive derivation of the torque-generating process is carried out and a quantitative analysis of the air-gap harmonics contributing to average torque under different configurational freedoms is studied. The improvement of torque capability for the PM machines with MGE is discussed. The electromagnetic properties of typical PM machines with MGE are analyzed based on the magnetic circuit analytical model, and the effectiveness of theoretical analysis is verified by finite element analysis and experimental prototype. It is shown that the PM machines with an independent modulation unit possess the characteristics of high torque density and large PM utilization rate. And the PM machines with tooth-pole modulation unit have strong overload capability.

Investigation of Delta-Type Variable Flux Memory Machines Considering Magnetizing Current Limits

A simple delta-type interior-permanent magnet (PM) variable flux memory (VFM) machine exhibiting series-parallel magnetic coupling is investigated, and the limits of magnetizing current capacity are considered. The series-parallel coupled high coercive force (HCF) PMs and low coercive force (LCF) PMs integrate the merits of stable PM working point in series-type VFM machines with the high torque output in parallel-connected cases. Moreover, it is revealed that the iron bridges between the two kinds of the PMs play an essential role on magnetic coupling, de-/re-magnetization and torque capability. The VFM machines with wider iron bridges normally require higher magnetizing currents. The effects of the iron bridges are investigated based on the theoretical analysis and finite element methods. It is found that the narrower iron bridges contribute to the more significant series coupling and wider flux variation range, while the wider iron bridges sacrifice the flux variation but facilitate the torque improvement. A prototype machine is manufactured and the experiments are carried out to verify the investigations.

General Online Current-Harmonic Generation for Increased Torque Capability With Minimum Stator Copper Loss in Fault-Tolerant Multiphase Induction Motor Drives

This paper proposes a current-reference generation method including current harmonic injection (CHI) for enhancing the torque capability of multiphase induction machines (IMs) with negligible space-harmonic effects, which is useful, e.g., during transient overload in electric vehicles. The admissible torque is increased because the harmonics reduce the phase-current peaks, so that the instantaneous peak-current constraint of the drive, usually associated with the converter ratings, is respected. The harmonics are injected in the so-called <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">x-y</i> subspaces of the IM, which do not produce torque, so that no torque ripple is introduced. The optimum harmonics are found online for each load, making it possible to minimize the stator copper loss (SCL) per torque in the entire torque range, ensuring full-range minimum loss (FRML). The method is suitable for healthy operation or open-phase faults, and for multiphase machines of any phase number and with either symmetrical or asymmetrical windings. Compared with FRML methods without CHI, higher torque is achieved. Although some techniques were available for increasing the torque capability by CHI, FRML was not attained, laborious offline optimization was needed, or they were only suitable for specific drives or for healthy conditions, unlike the proposal. Experimental results with a symmetrical six-phase IM are provided.