The unique performance features of harmonic drives, such as highs gear ratios and high torque capacities in a compact geometry, justify their widespread industrial application especially in many electrically actuated robot manipulators. In many robotic control strategies it is assumed that the actuator is acting as a torque source, and in order to implement such algorithms it is necessary to ac...

The problem of extracting sinusoid signals from noisy observations made at equally spaced times is considered. Eigenanalysis methods, such as Pisarenko’s method and the extended Prony method, find the eigenvector with minimum eigenvalue of a suitably chosen matrix, and then obtain the complex sinusoids as the roots of the polynomial which has the components of the eigenvector as coefficients. F...

In this paper, a new tool for crack detection in operating rotors based on wavelet theory is described. Customarily, two approximate methods of spectral analysis, i.e. ShortTime Fourier transform and Wigner distribution, have been used to analyse the vibration components of cracked rotors during run-up or run-down periods. However, for both methods, high resolution cannot be achieved simultaneo...

In this paper, a global study in terms of control architecture and power management is applied to parallel inverters topology. High bandwidth controllers and low voltage THD are achieved. The losses through the structure are modeled by equivalent voltage sources which implicitly represent all the losses types in the system. An accurate online estimation method allows determining these losses pa...

The condition monitoring of the electrical machines can significantly reduce the costs of maintenance by allowing the early detection of faults, which could be expensive to repair. In this paper some results on non-invasive detection of broken rotor bars in squirrel-cage induction motors are presented. The applied method is the so-called motor current signature analysis (MCSA) which utilises th...

This paper detects the disturbing loads in distorted and/or unbalanced three phase three wire power system. It is based on the simultaneous measurement of four non-active power quantities, which are found on the IEEE Std.1459-2000 method. It allows, achieving better knowledge of the power system when both harmonic distortion and un-balance are present. The proposed method requires only the fund...