Su-Dan Huang

Optimization Design of the Planar Switched Reluctance Motor on Electromagnetic Force Ripple Minimization

In planar switched reluctance motors (PSRMs), the electromagnetic force ripple minimization is important to reduce the noise and vibration for high-precision motions. In this paper, an improved PSRM by optimization design for minimization of the electromagnetic force ripple is proposed. The structure, principle, and mathematical model of the PSRM are clarified. Based on Ansoft Maxwell, optimization design of the PSRM is performed by improved structure with smaller pole pitch and incremental number of mover poles. Experiments of the improved PSRM are implemented based on dSPACE. The experimental results verify that the improved PSRM effectively reduces electromagnetic force ripple with planar trajectory tracking.

Maximum-Force-per-Ampere Strategy of Current Distribution for Efficiency Improvement in Planar Switched Reluctance Motors

This paper proposes a novel maximum-force-per-ampere strategy for the current distribution of planar switched reluctance motors (PSRMs) for efficiency improvement. This strategy is the first of its kind for planar motors, and it is used to generate the desired thrust force with the minimum sum of squares of the three-phase current. To formulate this strategy, a constrained optimization problem with time-varying parameters is first developed. Then, the problem is transformed into an unconstrained problem with a barrier function. Additionally, a self-designed adaptive genetic algorithm is introduced to solve the unconstrained optimization problem for locating the optimal currents. Comparative studies of the proposed and conventional strategies for a PSRM system are carried out via simulation and experiment, and planar trajectory tracking for the system with the proposed strategy is experimentally performed. The validity of the proposed strategy is also verified.

Optimization design of planar switched reluctance motors based on electromagnetic force characteristics

A new type of planar switched reluctance motor (PSRM) is proposed based on the switched reluctance principle. The configuration, principle, and mathematical model of the PSRM are clarified. According to the special structure form the complex magnetic circuit characteristic of the PSRM, 3D transient electromagnetic model of the PSRM is built based on ANSOFT Maxwell/3D. Based on the built model, the electromagnetic distributions and electromagnetic force characteristics of the PSRM are analyzed. In addition, the air gap and translator yoke of the PSRM are analyzed. Simulation results show that the length of the air gap and the thickness of the translator yoke are very important parameters for influencing the performance of the PSRM. The parameters of the optimal structure of the PSRM are revised via the simulation. A prototype of the PSRM is manufactured according to the optimization results, and experiments are performed. The design method is validated by the analysis of the experimental results. The theoretical foundation of the structure design and the development of the PSRM are provided. The PSRM is expected to be utilized in the application of high precision processing.

Vibration suppression of the flexible manipulator using optimal input shaper and linear quadratic regulator

This paper proposes a control strategy of a constrained planar flexible manipulator for vibration suppression using optimal input shaper (OIS) and linear quadratic regulator (LQR). An experimental setup of the flexible manipulator is presented, and the corresponding mathematical model is derived utilizing the assumed mode method and Lagrange dynamics equation. For the flexible manipulator, an OIS feedforward controller is applied to suppress its vibration and reduce time delay, and a LQR feedback controller is employed to control its angular position. Simulation and experiment are carried out, and the results related to the angular position tracking of the flexible manipulator are demonstrated. The effectiveness and superior performance of the proposed control strategy are verified.

Dual-loop control strategy with a robust controller of the planar switched reluctance motor for precise positioning

This paper proposes a dual-loop control strategy using a robust controller for the emerging planar switched reluctance motor (PSRM) to achieve precise positioning. The mechanical structure and transfer functions with known parameters obtained via a forgetting factor recursive least-squares algorithm of the PSRM are first presented. Then, the description of the control strategy, the depiction of the dual-loop position control strategy with an outer-loop robust H controller and an inner proportional loop with position feedback, the design of the robust Ho controller, and the stability analysis for the PSRM are given sequentially. Additionally, the positioning of the PSRM system with the dual-loop control strategy is performed via simulation and experiment. The validity of the proposed strategy for the PSRM is finally verified through the simulation and experimental results.

Development of the three-dimensional scanning system based on monocular vision

The emerging three-dimensional (3D) scanning technology based on computer vision is attracting more and more attention in industrial applications such as the 3D modeling of motors and automobiles. This paper develops a 3D scanning system using monocular vision to rapidly and automatically obtain the 3D dimension of the scanned object. The principle of the 3D scanning system is firstly introduced. The structure is then presented. The system consists of a camera, a line laser generator, and a rotation platform with a direct-current motor. The software of the system is developed based on C # and EmguCV library functions to realize image processing. Additionally, experiments are carried out through a fabricated prototype. Experimental results demonstrate that the developed system achieves the rapid acquisition for the 3D dimension of the scanned object and features simple structure, low cost, easy to extend, and rapid 3D reconstruction.

Analytical inverse kinematic solution using the D-H method for a 6-DOF robot

This paper proposes an analytical approach to solve inverse kinematics of a 6-DOF robot. The robot discussed here is designed with 6R configuration. The D-H model of the six-axis robot is built. The forward analytical solution is deduced using the D-H method. Then, analysis of inverse kinematics for the robot is presented. And finally, the validity of the inverse kinematic equations is verified. Forward kinematic equations and inverse kinematic equations are suitable for all kinds of robots with configuration similar to those of the robot in this paper.

Sliding mode control of the planar switched reluctance motor for interference suppression

This paper presents a sliding mode control (SMC) of the emerging planar switched reluctance motor (PSRM) for precise positioning being capable of interference suppression. First, the mechanical structure, system structure, and mathematical model with known parameters obtained by a forgetting factor recursive least-squares algorithm are given sequentially. Then, the switching function and reaching law of the SMC are determined. The control law is further derived for the SMC. Additionally, the stability of the SMC is proved using the Lyapunov stability theorem. Furthermore, the designed SMC is applied to the PSRM system for precise positioning. Simulation and experimental results demonstrate that the system tracks the reference trajectory smoothly, quickly, and accurately with strong interference suppression; the effectiveness of the designed SMC is verified.

A sensorless vector strategy for the PMSM using improved sliding mode observer and fuzzy PI speed controller

To reduce the cost and obtain accurate rotor position of the permanent magnet synchronous motor (PMSM), a sensorless vector strategy for the PMSM using an improved sliding mode observer (SMO) and a fuzzy PI speed controller is proposed. The mathematical model of the PMSM is firstly presented. Then, a sigmoid function is applied to the improved SMO for overcoming chattering, and the observer of back electromotive force instead of the low-pass filter is introduced to the SMO. The stability of the improved SMO is further proved with the Lyapunov function. Additionally, the fuzzy PI speed controller is designed. The simulation is performed based on MATLAB, and the experiment is carried out under the developed test rig based on DSP TMS320F2808. The effectiveness of the proposed strategy is finally verified.

Modal analysis and linear static structure analysis of linear switched reluctance motor

In order to study the mechanical characteristics of the linear switched reluctance motors (LSRMs), modal analysis and linear static structure analysis of a LSRM is investigated in this paper. Basic theories of modal analysis and linear static structure analysis are stated. The structure of the LSRM is illustrated. And the modal analysis and linear static structure analysis by finite element method are demonstrated based on ANSYS workbench. The first six natural frequencies with the corresponding mode shapes and the deformation of the LSRM are obtained. The results show that the first six natural frequencies of the LSRM range from 2244.7 Hz to 4033.1 Hz, the deformation of the LSRM is within 0.0020546 mm under the largest normal force, and the easiest deformation part of the LSRM is the mover platform. The results verify that the mechanical design of the LSRM is reasonable.