Torque-ripple minimization in modular permanent-magnet brushless machines

This paper discusses the suitability of four-phase, five-phase, and six-phase modular machines, for use in applications where servo characteristics and fault tolerance are key requirements. It is shown that an optimum slot number and pole number combination exists, for which excellent servo characteristics could be achieved, under healthy operating conditions, with minimum effects on the power density of the machine. To eliminate torque ripple due to residual cogging and various fault conditions, the paper describes a novel optimal torque control strategy for the modular permanent-magnet machines operating in both constant torque and constant power modes. The proposed control strategy enables ripple-free torque operation to be achieved, while minimizing the copper loss under voltage and current constraints. The utility of the proposed strategy is demonstrated by computer simulations on a four-phase fault-tolerant drive system

Optimal Design of Brushless Doubly Fed Reluctance Machine

Optimization techniques are widely used in the design of electrical machines to obtain maximum performance at minimal capital cost. After a brief overview of some of the optimization techniques employed in electrical machine design, this chapter highlights the features of brushless doubly fed reluctance machine (BDFRM) and its optimal design. The simple and robust construction, variable speed operation, better performance compared to traditional counterpart, and requirement of partially rated converter for speed control have made BDFRM an attractive alternative for variable speed applications such as pumps, blower, and wind generators. Due to unusual construction of BDFRM, conventional design procedures cannot be applied. A few critical issues in the design of BDFRM that greatly affect its performance are discussed. Design optimization is performed using nonlinear programming technique for 6-4-2 pole reluctance rotor and 8-6-4 pole ducted rotor configurations of BDFRM. 2 kW prototypes are then constructed for laboratory use. The performance of the prototypes is examined through finite element analysis (FEA) employing Maxwell 16 software. The test results are also presented

Optimal design of a three-phase AFPM for in-wheel electrical traction

Sinusoidally fed permanent magnet synchronous motors (PMSM) fulfill the special features required for traction motors to be applied in electric vehicles (EV). Among them, axial flux permanent magnet (AFPM) synchronous motors are especially suited for in-wheel applications. Electric motors used in such applications must meet two main requirements, i.e. high power density and fault tolerance. This paper deals with the optimal design of an AFPM for in-wheel applications used to drive an electrical scooter. The single-objective optimization process carried out in this paper is based on designing the AFPM to obtain an optimized power density while ensuring appropriate fault tolerance requirements. For this purpose a set of analytical equations are applied to obtain the geometrical, electric and mechanical parameters of the optimized AFPM and several design restrictions are applied to ensure fault tolerance capability. The optimization process is based on a genetic algorithm and two more constrained nonlinear optimization algorithms in which the objective function is the power density. Comparisons with available data found in the technical bibliography show the appropriateness of the approach developed in this work.Postprint (published version

A state-of-the-art review on torque distribution strategies aimed at enhancing energy efficiency for fully electric vehicles with independently actuated drivetrains

© 2019, Levrotto and Bella. All rights reserved. Electric vehicles are the future of private passenger transportation. However, there are still several technological barriers that hinder the large scale adoption of electric vehicles. In particular, their limited autonomy motivates studies on methods for improving the energy efficiency of electric vehicles so as to make them more attractive to the market. This paper provides a concise review on the current state-of-the-art of torque distribution strategies aimed at enhancing energy efficiency for fully electric vehicles with independently actuated drivetrains (FEVIADs). Starting from the operating principles, which include the "control allocation" problem, the peculiarities of each proposed solution are illustrated. All the existing techniques are categorized based on a selection of parameters deemed relevant to provide a comprehensive overview and understanding of the topic. Finally, future concerns and research perspectives for FEVIAD are discussed

The Wheelbot: A Jumping Reaction Wheel Unicycle

Combining off-the-shelf components with 3Dprinting, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This paper presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing.Comment: 8 pages, 13 figures, 2 tables, Accepted final version to appear in IEEE Robotics and Automation Letter

An auto-tuning algorithm for the IRBF network of brushless DC motor

Author name used in this publication: S. L. HoAuthor name used in this publication: M. R. FeiAuthor name used in this publication: K. W. E. ChengAuthor name used in this publication: H. C. Wong2003-2004 > Academic research: refereed > Publication in refereed journalVersion of RecordPublishe

Hover Position of Quadrotor Based on PD-like Fuzzy Linear Programming

The purpose of this paper is to present the altitude control algorithm for quadrotor to be able to fly at a particular altitude. Several previous researchers have conducted studies on quadrotor altitude by using PID control but there are problems in the overshoot and oscillation. To optimize the control, tunning on PID algorithm must be first conducted to determine proportional and derivative constants. Hence, the paper presents altitude control modification by using PID-like fuzzy without tuning. The PID algorithm is a control algorithm for linear systems. While, system to be controlled is a non-linear, so that linearization is needed by using equilibrium. The proposed algorithm is a modification of the PID algorithm used as an altitude control which enables quadrotor to be stable when hovering. The algorithm used is not PID algorithm with tuning using fuzzy, but this is a single input single output (SISO) control PID-like fuzzy linear programming. The result of the research shows that quadrotor can hover in a rapid raise time, steady state and settling time without performing overshoot and oscillation

Design of an Autonomous Hovering Miniature Air Vehicle as a Flying Research Platform

This thesis, by developing a Miniature Aerial Vehicle (MAV) hovering platform, presents a practical solution to allow researchers and students to implement their theoretical methods for guidance and navigation in the real world. The thesis is not concerned with the development of guidance and navigation algorithms, nor is it concerned with the development of external sensors. There have been some recent advances in guidance and navigation towards developing algorithms and simple sensors for MAVs. The task of developing a platform to test such advancements is the subject of this thesis. It is considered a difficult and time consuming process due to the complexities of autonomous flight control and the strict size, weight and computational requirements of this type of system. It would be highly beneficial to be able to buy a platform specifically designed for this task that already possesses autonomous hovering capability and the expansion connectivity for interfacing your own custom developed sensors and algorithms. Many biological and computer scientists would jump at the opportunity to maximize their research by real world implementation. The development of such a system is not a trivial task. It requires a great deal of understanding in a broad range of fields including; Aeronautical, Microelectronic, Mechanical, Computer and Embedded Software Engineering in order to create a successful prototype. The challenge of this thesis was to design a research platform to enable easy implementation of external sensors and guidance algorithms, in a real world environment for research and education. The system is designed so it could be used for a broad range of testing experiments. After extensive research in current MAV and avionics design it became obvious in several areas the best available products were not sufficient to meet the needs of the proposed platform. Therefore it was necessary to custom design and build; sensors, a data acquisition system and a servo controller. The latter two products are available for sale by Jimonics (www.jimonics.com). It was then necessary to develop a complete flight control system with integrated sensors, processor and wireless communications network which is called ‘The MicroBrain’. ‘The MicroBrain’ board measures only 45mm x 35mm x 11mm and weighs ~11 grams. The coaxial contra-rotating MAV platform design provides a high level of mechanical stability to help minimise the control system complexity. The platform was highly modified from a commercially available remotely controlled helicopter. The system incorporates a novel collision protection system that was designed to also double as a mounting place for external sensors around its perimeter. The platform equipped with ‘The MicroBrain’ is capable of fully autonomous hover. This provides a great base for testing guidance and navigational sensors and algorithms by decoupling the difficult task of platform design and low-level stability control. By developing a platform with these capabilities the researcher can now focus on the guidance and navigation task, as the difficulties in developing a custom platform have been taken care of. This therefore promotes a faster evolution of guidance and navigational control algorithms for MAVs

Investigation into Multi-Layer Fractional-Slot Concentrated Windings with Unconventional Slot-Pole Combinations

Fractional-slot concentrated windings (FSCWs) are an attractive option for the design of synchronous permanent-magnet machines. It is commonly assumed in the existing literature that a symmetrical three-phase FSCW is feasible only on a condition that the number of slots Z is an integer multiple of three times the maximum common divisor between Z and the number of pole pairs p. Slot-pole combinations satisfying this rule can be defined conventionally, the others unconventionally. In contrast to the common belief, this paper shows that, using a multi-layer arrangement, it is possible to synthetize a symmetrical FSCW having unconventional slot-pole combinations. A general design methodology for this purpose is presented and validated by finite element analysis. The pros and contras of FSCWs with unconventional slot-pole combinations are examined. Finally, the application of an unconventional FSCW to a shipboard surface permanent-magnet machine prototype is presented to illustrate the possible practical convenience of this kind of winding and tests on the prototype are reported for experimental validation