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Compared with field oriented control (FOC), direct thrust control (DTC) is known to provide fast and robust response for permanent magnet linear synchronous motor (PMLSM). However, classical DTC produces notable thrust ripples because parameters variation and load perturbation. A novel adaptive variable structure controller is presented. The mover flux and(More)
A robust control technique for permanent magnet linear synchronous motors (PMLSM) using adaptive backstepping sliding mode control (ABSMC) is presented. Considering the lumped uncertainties with parameter variations and external disturbance for an actual PMLSM drives, a backstepping sliding mode control law is derived by backstepping design technique.(More)
This paper presents an investigation of direct thrust force control (DTFC) for permanent magnet linear synchronous motor because end-open structure of linear motor causes the special end-effect, which leads to new problems when the direct torque control (DTC) is applied to linear motors. It is theoretically illustrated that the principle of the DTC can be(More)
Magnetic field of a permanent magnet synchronous linear motor (PMSLM) has been analyzed at first. Then thrust force has been taken into account completely in the paper. Experiment results are coincident with calculation of finite element method. It is obviously observed undulate force, which has effect on force control in drive system. Direct torque control(More)
Inverse kinematics model are generally used to solve the problem of drawing paths in drawing robots system, but there are some problems such as solving robot inverse kinematics, trajectories not being in a plane and serious ghosting. This paper presents a behavior-based robot control method of brush drawing. Differential movement was adopted instead of(More)
This paper describes a novel method of voltage space vectors, which is proposed for the direct thrust control of permanent magnet linear synchronous motor (PMLSM). A new switch table is used to select voltage vectors effectively. Proposed control method is proved to diminish the thrust ripple.
Sliding mode variable-structure (SMVS) control and space vector modulation (SVM) are applied to the direct thrust control (DTC) system of the permanent magnet linear synchronous motor (PMLSM). The adopted SVM inverter input signals are generated by SMVS mover flux and thrust controllers. Simulation and experiment results are presented to illustrate(More)
Lower-limbs rehabilitation training robot for patients was disturbed by patient's arms. A new three-dimensional force sensor array was designed based on the properties of silicone pressure-sensitive and the conductive thin film resistance effect, which can detect three-dimensional pressures. Equivalent circuit of the sensor and the working principle of(More)
A synthesis compensation approach of iterative learning control (ILC) is applied to minimization of periodic force ripples in a permanent magnet linear synchronous motor (PMLSM). Based on position, speed and time axes, the synthesis approach enables powerfully to compensate periodic force ripples along three axes with feedforward approach in PMLSMs,(More)
Cybernetic graphic model (CGM) based on visual observation for robot imitation learning was proposed, which regards the behaviors as stage control procedure, and uses sequence of behavioural primitive to express and execute. Firstly, theoretical precondition analysis proved that differential motion of terminal executor could be used as the behavioral(More)