In this study, an industrial sliding-mode servo control system is developed for the motion control of a direct-drive-type elevator-door servomechanism. The mechanical structure and dynamic analyses of an elevatordoor mechanism with an indirect field-oriented induction servomotor drive is described initially. Moreover, a newly designed total sliding-mode control (TSMC) system, which is insensiti...

The present contribution shows an analytical method of the calculus of the torque ripple and current waveforms of a universal motor supplied by a triac directly from the network. The triac output voltage waveform is formulated by the complex Fourier series. The armature reaction of the motor is included in the calculus. The motor performance is computed using the circuit parameters determined b...

In this paper, an application of the dynamics and control of redundant robotic systems is presented in order to investigate the feasibility of functional electrical stimulation assisted arm-free standing for paraplegics. Through the inverse dynamics analysis of a three dimensional dynamic model of quiet standing, several sets of the minimum number of degrees of freedom (DOF) such that there are...

Interaction of the third harmonic magnetic field with the third harmonic current in a five-phase synchronous reluctance motor (SynRM) can produce additional torque. However, it is still not clear about the SynRM power factor and its impact on the associated power converter because of the third harmonic components. Using time-stepping finite-element method, a mathematical model of the SynRM, whi...

Salient brushless AC (BLAC) permanent magnet (PM) motors are a preferred topology in the rapidly growing area of electric vehicle traction due to their inherent high efficiencies and excellent power densities. In the design of these systems it is important to appraise the motor performance across the entire torque-speed envelope. This paper presents computationally efficient techniques that all...

Orientational order of surfactant micelles and proteins on crystalline templates has been observed but, given that the template unit cell is significantly smaller than the characteristic size of the adsorbate, this order cannot be attributed to lattice epitaxy. We interpret the template-directed orientation of rodlike molecular assemblies as arising from anisotropic van der Waals interactions b...

This paper describes experimental and numerical procedures to estimate friction torque on a rotating shaft due to radial elastomeric seals. Two different test rigs have been built, in order to highlight the relationship between the overall friction and the local behaviour of each lip portion in presence of dynamic eccentricities. A direct measurement has been performed with a rotating shaft mac...

Design and control of many electromagnetic actuators involve solving three dimensional (3D) magnetic fields of permanent magnets and/or electromagnets in the presence of magnetic conducting surfaces. This paper extends the distributed multipole (DMP) method, which offers compact but precise analysis for three dimensional magnetic fields in closed form, to account for the effects of magnetic con...

This paper studies a two-legged kneed walking robot with point feet. At any given moment, only one foot is in contact with the ground, and the switching is instantaneous. The robot can be considered as a simpli ed model of human walking. The periodic torque histories applied to each link are a priori prescribed for a motion and are not changed by any feedback interference. Nevertheless the robo...

Six well known gear metrics were computed from vibration signals previously recorded from an OH-58C helicopter under controlled flight conditions. For the pinion gear studied, an optimal number of rotations was found for the average. Stationarity decreased as the number of rotations increased. It is conjectured that the dynamic environment of the helicopter is the primary contributor to the dec...