Simplified Sensorless Torque Estimation Method for Harmonic Drive Based Electro-Mechanical Actuator

Ismail, Mohamed A.A.; Windelberg, Jens; Liu, Guangjun

doi:10.1109/lra.2021.3052392

Cited by 18 publications

(5 citation statements)

References 10 publications

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“…This data is then mapped to the actuator load using a dynamic model. The full development and experimental testing of such a load observer concept have been recently published in [24].…”

Section: Multiple Model Monitorsmentioning

confidence: 99%

Design and Evaluation of Fault-Tolerant Electro-Mechanical Actuators for Flight Controls of Unmanned Aerial Vehicles

Ismail

Wiedemann²,

Bosch

et al. 2021

Actuators

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Electro-mechanical actuators (EMAs) are a primary actuation technology for unmanned aerial vehicles (UAVs). Intensive research has been conducted for designing and evaluating fault-tolerant EMAs for flight controls of UAVs to ensure their compliance with new airworthiness requirements for safe operation over civilian zones. The state-of-the-art research involves several fault-tolerant architectures for EMAs based on parallel electric motors or a single motor with internal fault-tolerant features. In this study, a fault-tolerant architecture is introduced, comprised of two serial electric motors driven by two isolated controllers and a health monitoring system. The procedures of developing various fault-tolerant features are discussed with a deep focus on designing health monitoring functions and evaluating their influence on the overall actuator stability and availability. This work has been conducted and evaluated based on operational data for ALAADy: a heavy gyrocopter-type UAV at DLR (German Aerospace Center).

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“…This data is then mapped to the actuator load using a dynamic model. The full development and experimental testing of such a load observer concept have been recently published in [24].…”

Section: Multiple Model Monitorsmentioning

confidence: 99%

Design and Evaluation of Fault-Tolerant Electro-Mechanical Actuators for Flight Controls of Unmanned Aerial Vehicles

Ismail

Wiedemann²,

Bosch

et al. 2021

Actuators

Self Cite

View full text Add to dashboard Cite

show abstract

“…The monitoring of load torque can be directly assessed through a torque sensor, often referred to as a torque meter. This technique, known as direct torque measurement, is also addressed by some technical approaches [ 6 ], but using a torque meter has significant drawbacks due to its difficulty in installation on the shaft, between the load and the TIM [ 7 ]. Nonetheless, the mechanical installation between rotating components renders this approach unviable in various scenarios, particularly within critical systems [ 8 ].…”

Section: Introductionmentioning

confidence: 99%

“…During the past decades, many researchers have dedicated themselves to investigating new techniques and approaches for estimating load torque in induction motors [ 2 , 3 , 4 , 5 , 6 , 7 , 8 ].…”

Section: Introductionmentioning

confidence: 99%

Image-Based Approach Applied to Load Torque Estimation in Three-Phase Induction Motors

Dias,

Fontenele

2024

Sensors

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This paper presents a novel method for load torque estimation in three-phase induction motors using air gap flux measurement and the conversion of this type of time-domain signal into grayscale images for further processing as inputs for an inception-type convolutional neural network. The magnetic flux was measured employing a Hall effect sensor installed inside the machine, near the stator slots, and above the stator windings. In this case, the sensor was able to measure a resultant magnetic flux density, having both rotor and stator magnetic flux contributions. The present methodology does not require motor parameters for torque prediction. The proposed approach successfully estimated load torque using three optimizers across almost the entire motor load operational range, spanning from 1.5% to 93.9% of the rated load. Four model configurations achieved a mean absolute percentage error (MAPE) less than or equal to 3.7%. Specifically, two models for a 40 × 50 pixel image achieved MAPE of 3.7% and 3%, one model for a 40 × 25 pixel image achieved a MAPE of 3.5%, and one model for a 50 × 80 pixel image achieved a MAPE of 3.3%. This research has been experimentally validated with a 7.5 kW squirrel cage induction machine.

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“…Robot joints, also known as electromechanical actuators (EMAs), play a critical role in the effectiveness of robots overall [1,2]. As humanoid and service robots advance rapidly, EMAs are evolving to become more compact, lightweight, modular, integrated, precise, and dynamically efficient.…”

Section: Introductionmentioning

confidence: 99%

Research on the EMA Control Method Based on Transmission Error Compensation

Zhang,

Shi,

et al. 2024

Energies

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This research investigates the impact of nonlinear clearance factors on position tracking accuracy in the servo drive system of a harmonic reducer. The study introduces a technique for modeling and compensating for transmission errors, thereby improving position tracking accuracy through online compensation combined with an auto-disturbance rejection controller. Initially, the mathematical model of the permanent magnet synchronous motor is outlined, and the current loop and speed loop control models are derived. Subsequently, an electromechanical actuator (EMA) simulation model with clearance is established, and detailed simulation analysis is conducted to verify the impact of clearance on tracking accuracy. A model for online compensation of transmission errors is then developed. Following the principles of active disturbance rejection control (ADRC), a second-order ADRC is formulated for real-time compensation of transmission errors in EMA position mode. Finally, through no-load and load experiments, the change in position tracking error with and without transmission error compensation is compared and analyzed. The results demonstrate that utilizing automatic disturbance rejection control with transmission error compensation achieves the highest position tracking accuracy. Compared to the proportion integration differentiation (PID) control method, the root mean square of position tracking error is reduced by approximately 12.8% and 17.3% under no-load and load conditions, respectively. By compensating for position errors online, the accuracy of the EMA position can be improved.

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Simplified Sensorless Torque Estimation Method for Harmonic Drive Based Electro-Mechanical Actuator

Cited by 18 publications

References 10 publications

Design and Evaluation of Fault-Tolerant Electro-Mechanical Actuators for Flight Controls of Unmanned Aerial Vehicles

Design and Evaluation of Fault-Tolerant Electro-Mechanical Actuators for Flight Controls of Unmanned Aerial Vehicles

Image-Based Approach Applied to Load Torque Estimation in Three-Phase Induction Motors

Research on the EMA Control Method Based on Transmission Error Compensation

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