This paper proposes a new control method applied to an underwater vehicle equipped with a robot manipulator. This control method is based on force control to stabilise the platform when the manipulator works in free or constrained space. The torque produced by the arm on the platform is estimated with a force sensor installed between the base of the manipulator and the vehicle. This allows corr...

The measurement of time–varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi–static approximations. However the problem can be casted as a problem of system inversion, provided reliable models of the dynamic relationship among force/torques and measurement gauges are available. Within this framework, it is possible in particular to define op...

in conventional direct torque control (dtc), the stator flux is usually kept constant by controlling the x-axis component of the stator voltage in the stator flux reference frame. the torque is then controlled by the y-axis component of stator voltage. in this scenario, the stator current does not exceed its permissible value. however, in the so-called optimal efficiency mode, the induction mot...

This paper proposes a new control method applied to an underwater vehicle equipped with a robot manipulator. This control method is based on force control to stabilize the platform when the manipulator works in free or constrained space. The torque produced by the arm on the platform is estimated with a force sensor installed between the base of the manipulator and the vehicle. This allows corr...

in this paper, the optimal design of a three phase surface mounted permanent magnet synchronous motor has been done by particle swarm optimization and bees algorithm. this machine has been designed for high speed applications, and an epoxy and glass fiber bandage is used for permanent magnet protection against centrifugal forces. the optimization has been done by new design equations to improve...

In this paper modelling and analysis of the SRM torque characteristics including torque ripples are described. Optimal control strategy based on genetic algorithm (GA) to minimize torque ripple is proposed. The optimization criteria depend on choosing the exact current profile based on the optimal excitation parameters which govern the torque shape. The model and control are carried out on high...

In conventional direct torque control (DTC) of induction machines, undesirable flux and torque ripples are produced. These occur since non of the selected inverter's voltage vectors are able to generate the exact voltage required to produce the desired changes in the electromagnetic torque and stator flux linkage in most of the switching instances. In addition, when direct torque control is imp...

In this paper, we present a mathematical model for determining the optimal radius of the iron pole shape in spoke-type permanent-magnet (PM) machines (STPMM) in order to minimize the pulsating torque components. The proposed method is based on the formal resolution of the Laplace’s and Poisson’s equations in a Cartesian pseudo-coordinate system with respect to the relative permeability effect o...

Direct torque control (DTC) of Switched reluctance motor is known to have simple control structure with comparable performance to that of field oriented control techniques. However, the role of optimal selection of the voltage space vector is one of the weakest points in a conventional DTC drive. In this paper optimal selection of voltage space vectors is achieved using neuro fuzzy controller. ...