Open-Loop Controller Design and Dynamic Characteristics of a Spherical Wheel Motor

Son, Hungsun; Lee, Kok-Meng

doi:10.1109/tie.2009.2039454

Cited by 111 publications

(40 citation statements)

References 20 publications

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“…The long wires of the converter are the input, connected in a 220 V network, and on its output (short wires) 13 V, 1.8 A is connected to the ends of the oscilloscope to obtain a sinusoidal burden [5].…”

Section: Fig 2 the Model Sample On The Stand For The Investigation mentioning

confidence: 99%

A Stand for Designing and Testing the Operational Modes of the Subsystems of the Hybrid Multicopter Motor

Akhmedov¹,

Samsonenko²,

Raskaliyev³

et al. 2017

STE

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A hybrid engine (HE) is a source of power in the unmanned aerial vehicle (UAV) [1] designated for additional power supply to the multi-copter actuators, its electric motors, as well as for replenishing the charge of the onboard battery, and solving the following tasks:-supporting charge of the on-board battery between the minimum permissible and the maximum permissible levels;-switching off the internal combustion engine when the battery reaches its maximum permissible charge level (optimal value is 80% of the charge); -turning off the HE at certain stages of the mission UAV (for example, for photo or video shooting in order to reduce the noise and vibration from the internal combustion engine (ICE); -re-enabling the HE after the shooting is completed; -providing an output power of at least 350 watts. The developed model sample of the hybrid engine for the multicopter GGP-0405.001 is an electromechanical system consisting of an internal combustion engine and an electric generator connected by a transmission mechanism, as well as an onboard battery. The main source of energy for the actuators of the multicopter is the onboard accumulator battery (AB). The HE is activated before take-off of the UAV to save battery power and increase the flight duration. During the flight, the HE is switched on for periodic recharging of the battery and when the maximum required level of charge is reached, the internal combustion engines and the electric generator (EG) are switched off.

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Section: Fig 2 the Model Sample On The Stand For The Investigation mentioning

confidence: 99%

A Stand for Designing and Testing the Operational Modes of the Subsystems of the Hybrid Multicopter Motor

Akhmedov¹,

Samsonenko²,

Raskaliyev³

et al. 2017

STE

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“…To the best of our knowledge, measurement of the rotor angular velocity in the 3-DOF spherical actuator literature is only rarely addressed because, due to the proposed applications, these actuators are mostly driven in open-loop [57,18] or using closed-loop position control [20,17,21,45,23]. Nevertheless, closed-loop control of the angular velocity can be found in some references.…”

Section: Back-emf and Angular Velocity Estimationmentioning

confidence: 99%

“…Then, a mechanical shaft emerges from the rotor to export the torque. Although ultrasonic and piezoelectric spherical drives have been developed [12][13][14], electromagnetic devices are the most common and have attracted the attention of several research groups and industries throughout the world [15][16][17][18][19][20][21][22][23][24]. A literature review of these kind of actuators including their architectures and working principle can be found, for instance, in [11,25].…”

Section: Introductionmentioning

confidence: 99%

Closed-loop magnetic bearing and angular velocity control of a reaction sphere actuator

et al. 2015

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“…2(b). The intended target group, which consists of people suffering from a neuromuscular disorder, has an average arm mass of about 3 kg [6] and an arm length of about 0.8 m as given in Table I. In general, the motions for the human arm are defined for the horizontal flexion movement, i.e., φ h , as shown in Fig.…”

Section: Specificationsmentioning

confidence: 99%

Multi-Degree-of-Freedom Spherical Permanent-Magnet Gravity Compensator for Mobile Arm Support Systems

Ninhuijs

Jansen

Gysen

et al. 2014

IEEE Trans. on Ind. Applicat.

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Please check the document version of this publication:• A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website.• The final author version and the galley proof are versions of the publication after peer review.• The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publicationGeneral rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.• Users may download and print one copy of any publication from the public portal for the purpose of private study or research.• You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal.If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the "Taverne" license above, please follow below link for the End User Agreement: www.tue.nl/taverne Take down policyIf you believe that this document breaches copyright please contact us at:openaccess@tue.nl providing details and we will investigate your claim. Abstract-This paper presents a magnetic gravity compensator, which is able to provide compensation about two axes of rotation for mobile arm support systems. Because of the compensation about two axes, it provides more flexibility than the existing mechanical gravity compensators. This flexibility is achieved by using two semispherical permanent magnets, where the inner semisphere can rotate about the x-, y-, and z-axis with respect to the outer semisphere. Several magnetization topologies, which are evaluated using 2-D finite-element analysis (FEA), are investigated, and the most suitable topology is optimized in 2-D FEA. The optimization results are verified with 3-D FEA.

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Open-Loop Controller Design and Dynamic Characteristics of a Spherical Wheel Motor

Cited by 111 publications

References 20 publications

A Stand for Designing and Testing the Operational Modes of the Subsystems of the Hybrid Multicopter Motor

A Stand for Designing and Testing the Operational Modes of the Subsystems of the Hybrid Multicopter Motor

Closed-loop magnetic bearing and angular velocity control of a reaction sphere actuator

Multi-Degree-of-Freedom Spherical Permanent-Magnet Gravity Compensator for Mobile Arm Support Systems

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