modeling and hierarchical tracking control of triwheeled mobile robots

Ngày tải lên: 26/10/2014, 14:32

... shapes require very fast controllers in particular at high speed. Classical bandwidth of the controller (such as proportional– integral) does not allow tracking all of the reference current ... measured stator voltages α s V and β s V and currents α s i and β s i , then by using (1) and (4) q- and d-axis flux linkage are drived. Also, by usig (4) q- and d-axis current are calculated. ... torque control of brushless DC motor based on back-EMF vector’ , ELECTROMOTION. pp. 128-138, 2009. [7] S. B. Ozturk and H. A. Toliyat, “Sensorless Direct Torque and Indirect Flux Control of Brushless...

Ngày tải lên: 03/01/2014, 19:45

... well. A PPENDIX I S PECIFICATIONS AND P ARAMETERS OF THE BLDC M OTOR A PPENDIX II OZTURK AND TOLIYAT: DIRECT TORQUE AND INDIRECT FLUX CONTROL OF BRUSHLESS DC MOTOR 357 Fig. 7. Steady state and transient behavior of the ... the world, and has ten issued and pend- ing U.S. patents. He is the author of the book DSP-Based Electromechanical Motion Control (CRC Press, 2003), and the Co-Editor of Handbook of Electric Motors—2nd ... to inertia ratio, and simplicity in their control [1]–[3]. In many applications, obtaining a low-frequency ripple-free torque and instantaneous torque and even flux control are of primary concern...

Ngày tải lên: 03/01/2014, 19:46

... 2-de- oxyglucose and arsenite gave e C FBP and e P FBP of 1.99 ± 0.79 and )1.5 ± 1.6, which yielded the C J c and C J P of 0.39 ± 0.24 and 0.61 ± 0.24, respectively. The number of experiments is ... proliferation and metabolism of breast cancer cell lines with high and low glycolytic rates. J Biol Chem 272, 4941–4952. 43 Shuster S, Kahn D & Westerhoff HV (1993) Modular analysis of control of complex ... Bravo C & Westerhoff HV (1999) Determining and understanding the control of flux. An illustration in submitochondrial particles of how to vali- date schemes or metabolic control. Eur J Biochem...

Ngày tải lên: 30/03/2014, 11:20

... machines and drives, power systems and VHDL and forms a basic guide for the understanding of the fundamental principles of modern power electronic control systems design. To be expert in the design of ... operation. The group of vector control algorithms includes the direct torque control (DTC) method and the class of field-oriented control strategies. The theory of field-oriented control was developed ... current and speed control of induction motor drives, whereas the second presents the environmentally friendly fuzzy logic control of a diesel-driven stand-alone synchronous generator set. Both control...

Ngày tải lên: 18/04/2014, 12:29

... L G (t )and L G (t−1) are the g l obal illuminations of the current and of the previous frames, respectively. Although they are functions of (x, y) and not only of (t), we omit it in the notation of ... hardware implementation, with the aim of using less memory and of speeding up the computation, we use a subsampled version of the frame, following the idea of Artusi et al. [19]andDu- rand and Dorsey [9]. 3. THE ... among H h , H v ,andH p according to the values of S v (x, y)andS h (x, y), and ⊗ denotes convolu- tion. The mask sizes of the filters H h , H v ,andH p are 1 ì N 1 , N 1 ì 1, and N 1 ì N 1 ,respectively. The...

Ngày tải lên: 22/06/2014, 19:20

Ngày tải lên: 26/10/2014, 14:31

Ngày tải lên: 13/11/2014, 08:24

Ngày tải lên: 26/10/2014, 14:38

Ngày tải lên: 07/11/2013, 09:15

Ngày tải lên: 14/12/2013, 12:15

Ngày tải lên: 13/02/2014, 08:20

... combining the control information and the parity bits: q c = [ q b Ψ ] (22) Modeling and Control Aspects of Wind Power Systems26 simulator consists of multiple RACKs, each of which consist of both ... number of blades, blade angle control, and regardless of the type of electrical generator chosen or the type of control of converters. Accordingly, this allows it to be studied regardless of the types ... 10. Control block diagram of VSC based STATCOM. With suitable adjustment of the magnitude and phase of the VSC output voltage, an efficient control of power exchange between the STATCOM and the...

Ngày tải lên: 07/03/2014, 11:20

... disk and the vertical axis. 7.1. INTRODUCTION 279 Chapter 7 MODELING AND CONTROL OF NONHOLONOMIC MECHANICAL SYSTEMS Alessandro De Luca and Giuseppe Oriolo Dipartimento di Informatica e Sistemistica Universit`a ... mechanism can be completely controlled with a reduced number of actuators. On the other hand, both planning and control are much more difficult than in conventional holonomic sys- tems, and require special ... classification of nonholonomic systems. Several kinematic models of nonholonomic systems are presented, including examples of wheeled mobile robots, free-floating space structures and redundant...

Ngày tải lên: 01/04/2014, 00:20

... range of operation -15 -10 -5 0 5 -15 -10 -5 0 5 p cr start of injection [deg CA] start of injection [deg CA] Fig. 1.11. Influence of start of injection on bsfc and on the emission of PM and NO x , ... paper 987654321 springer.com Introduction to Modeling and Control of Internal Combustion Engine Systems 1.3 Overview of SI Engine Control Problems 9 Fig. 1.6. Conversion efficiency of a TWC (after light-off, stationary ... the design of classical and novel IC engine control systems. Its focus lies on the control- oriented mathematical description of the physical processes involved and on the model-based control system...

Ngày tải lên: 04/07/2014, 00:20

... Inputs, states, and outputs of a receiver. The inputs and outputs are the mass and energy flows, 8 the reservoirs store mass and therma l energy, 9 and the level variables are the pressure and temper ... (Π tr − 1) 2 (2.18) is used (Ψ tr is the value of Ψ(.) and Ψ ′ tr the value of the derivative of Ψ(.) at the threshold Π tr ). The special form of (2.17) and (2.18) guarantees a symmetric behavior ... oriented aspects of fuel properties, combustion, and thermodynamic cycle calculation 2.2 Cause and Effect Diagrams 29 Fig. 2.6. Cause and effect diagram of a Diesel engine (EGR and intercooler...

Ngày tải lên: 04/07/2014, 00:20

Ngày tải lên: 04/07/2014, 07:10

Ngày tải lên: 28/07/2014, 19:10