The optimal feedforward torque control problem is tackled and solved analytically for synchronous machines while stator resistance and cross-coupling inductance are explicitly considered. Analytical solutions for the direct and quadrature optimal reference currents are found for all major operation strategies such as Maximum Torque per Current (MTPC) (or often called as Maximum Torque per Amper...

In this paper, a primal-dual neural network is proposed for the joint torque optimization of redundant manipulators subject to torque limit constraints. The neural network generates the minimum driving joint torques which never exceed the hardware limits and keep the end-effector to track a desired trajectory. The consideration of physical limits prevents the manipulator from torque saturation ...

The relative contribution of maximum muscle tetanic tension (Po) and muscle moment arm to maximum knee flexion torque was investigated in the frog hindlimb. Isometric torque was measured in frog semitendinosus muscle-bone complexes throughout the range of 0-160 degrees of flexion. Optimal joint angle (the angle at which isometric torque was maximum) was observed at 140 degrees of flexion. After...

The automated shape optimization of an electrostatic micromotor with radial field is tackled. Two objectives in mutual contrast i.e. static torque and torque ripple, depending on two design variables, are considered. An innovative procedure for vector optimization which aims at obtaining as many optimal solutions as possible, is presented. To this end, a non-dominated sorting genetic algorithm ...

An external rotor transverse flux motor using a combined-type stator core is proposed for a direct drive application in this paper. The stator core is combined by two kinds of components that can both be manufactured conveniently by generic laminated silicon steel used in traditional motors. The motor benefits from the predominance of low manufacturing cost and low iron loss by using a silicon-...

This paper describes the robust optimal incremental motion control of a current  sensorless synchronous reluctance motor (SynRM), which can be specified by any desired speed profile. The control scheme is a combination of conventional linear quadratic (LQ) feedback control method and sliding mode control (SMC). A novel sliding switching surface is employed first, that makes the states of the Sy...

Abstract: This paper presents a novel robust voltage-based control approach for tracking control of electrical manipulators by reducing the effects of uncertainties. The proposed control law is simple, fast response and robust with acceptable tracking error and without chattering problem. This approach is superior to torque-based control approaches due to considering the role of actuators. The ...

Dealing with a LQR controller surface subject to power and torque constraints, is an issue of nonlinear problem that is difficult to implement. This paper employs a fuzzy controller surface to replace the LQR surface subject to power and torque constraints by using class stacking, least square and Sugenotype fuzzy inference mode. Through this type of transformation, called “Optimal fuzzy contro...

Positive joint torque feedback (JTF) can compensate the detrimental effects of load torques on position tracking performance. However, with (real world) nonideal torque sources, simple unity gain positive torque feedback can actually deteriorate the performance, or even result in instability. In this work, a new joint torque feedback approach is proposed which takes into account the actuator’s ...