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DC-offset in the input of the phase-locked loop (PLL) is an emerging problem that causes oscillations in the estimated fundamental grid phase, frequency, and voltage amplitude. The DC-offset rejection in grid synchronization is a difficult task due to its low-frequency nature. This paper proposes a method to remove the DC-offset in the single-phase grid synchronization utilizing delay signal cancellation (DSC) and a variable-length time delay (VLTD) based PLL. The small-signal model, stability analysis, and controller gains selection are discussed. The proposed PLL is compared with other single-phase PLLs in terms of the phase settling time, the phase percent maximum overshoot, and the peak of the estimated frequency, to show its advantages.
Issam A. Smadi; Bayan H. Bany Fawaz. Phase-locked loop with DC offset removal for single-phase grid-connected converters. Electric Power Systems Research 2021, 194, 106980 .
AMA StyleIssam A. Smadi, Bayan H. Bany Fawaz. Phase-locked loop with DC offset removal for single-phase grid-connected converters. Electric Power Systems Research. 2021; 194 ():106980.
Chicago/Turabian StyleIssam A. Smadi; Bayan H. Bany Fawaz. 2021. "Phase-locked loop with DC offset removal for single-phase grid-connected converters." Electric Power Systems Research 194, no. : 106980.
This paper presents an accurate, simplified, explicit, and fast computing one-step model for a practical photovoltaic (PV) module without the need of heavy offline calculations, lookup tables, or iterative methods. A closed-form expression of the model shaping factor is provided, which paves the way to explicitly locate the maximum power point (MPP). Based on the obtained closed-form shaping factor expression, an adaptive maximum power point tracking (MPPT) algorithm is proposed. The proposed adaptive MPPT algorithm is implemented in a field-programmable gate array (FPGA) and verified using an FPGA-in-the-loop simulation, under rapid changes in temperature and irradiance, with comparisons to perturb and observe (P&O) and incremental conductance (InCond) MPPT methods. Moreover, two experimental case studies are discussed to highlight the validity of the proposed work.
Issam A. Smadi; Rana Al-Qudah. Explicit one-step model and adaptive maximum power point tracking algorithm for a photovoltaic module. Computers & Electrical Engineering 2020, 85, 106659 .
AMA StyleIssam A. Smadi, Rana Al-Qudah. Explicit one-step model and adaptive maximum power point tracking algorithm for a photovoltaic module. Computers & Electrical Engineering. 2020; 85 ():106659.
Chicago/Turabian StyleIssam A. Smadi; Rana Al-Qudah. 2020. "Explicit one-step model and adaptive maximum power point tracking algorithm for a photovoltaic module." Computers & Electrical Engineering 85, no. : 106659.
This paper presents a method to improve the power quality of a class of shared inverter topologies utilizing optimal sorting and the offsetting pulsewidth modulation (PWM) method. For the (3n+3)-switch converter topologies, a PWM procedure with two degrees of freedom is proposed to enhance the quality at the power side of the shared loads without adding more passive elements. Moreover, the two degrees of freedom are analyzed and optimized to improve the power quality of the output current of the shared loads. The optimization is achieved using particle swarm optimization (PSO) method in which three objective functions are formulated, each of which impacts the power quality at the shared loads side. The objective functions are: the total harmonic distortion (THD), the scaled total harmonic distortion (STHD), and the summation of the eleventh order of harmonics (SFEH) of the current of the shared loads. A case study that compares the PSO results with the conventional results is investigated to highlight the effectiveness of the proposed procedure. Furthermore, a test bed is built and the proposed procedure is experimentally investigated, verified, and compared to the simulation.
Issam A. Smadi; Saher Albatran; Mohammad A. Alsyouf. Power quality improvement of a class of reduced device count inverter. Simulation Modelling Practice and Theory 2019, 96, 101939 .
AMA StyleIssam A. Smadi, Saher Albatran, Mohammad A. Alsyouf. Power quality improvement of a class of reduced device count inverter. Simulation Modelling Practice and Theory. 2019; 96 ():101939.
Chicago/Turabian StyleIssam A. Smadi; Saher Albatran; Mohammad A. Alsyouf. 2019. "Power quality improvement of a class of reduced device count inverter." Simulation Modelling Practice and Theory 96, no. : 101939.
In this paper, a new and efficient global optimization method known as teaching–learning-based optimization is adopted to optimally design the parameters of a passive RC-damped LCL filter for grid-connected voltage source inverters. The novel proposed objective function of the optimization algorithm is to minimize the values of inductors and capacitors. The proposed design improves inverter efficiency and minimizes filter stored energy at a predefined operating and switching frequencies. Moreover, the proposed design procedure may reduce the complexity of the passive RC-damped LCL filter by removing one inductor or one capacitor. The optimal design procedure is built based on an accurate mathematical model and description of the filter topology. A detailed comparison between the results of the proposed work and related work in the literature is thoroughly discussed. The optimized filter is designed, built, and validated analytically and experimentally for verification based on a hardware prototype.
Saher Albatran; Ahmed Koran; Issam A. Smadi; Hamzeh J. Ahmad. Optimal design of passive RC-damped LCL filter for grid-connected voltage source inverters. Electrical Engineering 2018, 100, 2499 -2508.
AMA StyleSaher Albatran, Ahmed Koran, Issam A. Smadi, Hamzeh J. Ahmad. Optimal design of passive RC-damped LCL filter for grid-connected voltage source inverters. Electrical Engineering. 2018; 100 (4):2499-2508.
Chicago/Turabian StyleSaher Albatran; Ahmed Koran; Issam A. Smadi; Hamzeh J. Ahmad. 2018. "Optimal design of passive RC-damped LCL filter for grid-connected voltage source inverters." Electrical Engineering 100, no. 4: 2499-2508.
This paper presents an optimal control method for a compact reduced switch count AC/AC converter in an AC microgrid. The AC/AC converter is adopted to interconnect dual three-phase renewable energy sources (RESs) and a three-phase permanent magnet synchronous motor (PMSM) to the grid to form an example of a mixed grid-feeding-drive system. For the adopted converter, a generalized pulse width modulation (PWM) scheme employing the third harmonic injection and a control method are proposed. Moreover, to achieve reduced dc link voltage ripple, good reference tracking and disturbance rejection, the gains of the controllers are optimized by minimizing a weighted sum of different objective functions. Each objective function represents a specific aspect to be minimized and the optimization problem is solved employing particle swarm optimization (PSO) method, while ensuring that the total harmonic distortion (THD) of the current at the points of common coupling (PCC) are less than 5%. For this mixed grid-feeding-drive system, simulation results under fast transient are provided to demonstrate the applicability of the adopted converter in the AC microgrid, the effectiveness of the proposed PWM, and the proposed optimal control method.
Issam A. Smadi; Saher Albatran; Mohammad A. Alsyouf. Optimal Control of a Compact Converter in an AC Microgrid. Electronics 2018, 7, 102 .
AMA StyleIssam A. Smadi, Saher Albatran, Mohammad A. Alsyouf. Optimal Control of a Compact Converter in an AC Microgrid. Electronics. 2018; 7 (7):102.
Chicago/Turabian StyleIssam A. Smadi; Saher Albatran; Mohammad A. Alsyouf. 2018. "Optimal Control of a Compact Converter in an AC Microgrid." Electronics 7, no. 7: 102.
Many reduced-switch-count (RSC) inverter topologies have been proposed in the literature. As the number of switches required to produce a set of voltages in RSC inverters are less than that in conventional inverter, as a result utilizing RSC inverters in a certain system reduces its size and cost. In this paper, a novel RSC shared inverter topology consisting of fifteen switches and capable of driving four three-phase AC-loads independently is proposed and experimentally verified. A carrier-based pulse width modulation (PWM) technique that employs the zero-sequence-signal injection principle is developed to drive the proposed inverter along with adequate DC voltage bus utilization between the shared loads for common frequency (CF) as well as different frequency (DF) modes. The structure and the principle of operation of the proposed inverter are introduced and intensively verified using simulation and field-programmable-gate-array (FPGA)-in-the-loop simulation under linear and nonlinear loads. Then, Inverter prototype was built and the proposed inverter has been verified experimentally. The experimental results verify the applicability of the proposed inverter and the employed PWM.
Saher Albatran; Issam A. Smadi; Mohammad A. Alsyouf. Experimental Validation of Shared Inverter Topology to Drive Multi AC-Loads. International Journal of Electrical and Computer Engineering (IJECE) 2018, 8, 793 -805.
AMA StyleSaher Albatran, Issam A. Smadi, Mohammad A. Alsyouf. Experimental Validation of Shared Inverter Topology to Drive Multi AC-Loads. International Journal of Electrical and Computer Engineering (IJECE). 2018; 8 (2):793-805.
Chicago/Turabian StyleSaher Albatran; Issam A. Smadi; Mohammad A. Alsyouf. 2018. "Experimental Validation of Shared Inverter Topology to Drive Multi AC-Loads." International Journal of Electrical and Computer Engineering (IJECE) 8, no. 2: 793-805.
The performance optimization of the two-level, three-phase, grid-feeding, voltage-source inverter (VSI) is studied in this paper, which adopts an online adaptive switching frequency algorithm (OASF). A new degree of freedom has been added to the employed OASF algorithm for optimal selection of the weighting factor and overall system optimization design. Toward that end, a full mathematical formulation, including the impact of the coupling inductor and the controller response time, is presented. At first, the weighting factor is selected to favor the switching losses, and the controller gains are optimized by minimizing the integral time-weighted absolute error (ITAE) of the output active and reactive power. Different loading and ambient temperature conditions are considered to validate the optimized controller and its fast response through online field programmable gate array (FPGA)-in-the-loop. Then, the weighting factor is optimally selected to reduce the cost of the L-filter and the heat-sink. An optimization problem to minimize the cost design at the worst case of loading condition for grid-feeding VSI is formulated. The results from this optimization problem are the filter inductance, the thermal resistance of the heat-sink, and the optimal switching frequency with the optimal weighting factor. The VSI test-bed using the optimized parameters is used to verify the proposed work experimentally. Adopting the OASF algorithm that employs the optimal weighting factor for grid-feeding VSI, the percentages of the reductions in the slope of the steady state junction temperature profile compared to fixed frequencies of 10 kHz, 14.434 kHz, and 20 kHz are about 6%, 30%, and 18%, respectively.
Issam A. Smadi; Saher Albatran; Hamzeh J. Ahmad. On the Performance Optimization of Two-Level Three-Phase Grid-Feeding Voltage-Source Inverters. Energies 2018, 11, 400 .
AMA StyleIssam A. Smadi, Saher Albatran, Hamzeh J. Ahmad. On the Performance Optimization of Two-Level Three-Phase Grid-Feeding Voltage-Source Inverters. Energies. 2018; 11 (2):400.
Chicago/Turabian StyleIssam A. Smadi; Saher Albatran; Hamzeh J. Ahmad. 2018. "On the Performance Optimization of Two-Level Three-Phase Grid-Feeding Voltage-Source Inverters." Energies 11, no. 2: 400.
Enhancing the performance of the voltage source inverters (VSIs) without changing the hardware structure has recently acquired an increased amount of interest. In this study, an optimization algorithm, enhancing the quality of the output power and the efficiency of three-phase grid connected VSIs is proposed. Towards that end, the proposed algorithm varies the switching frequency (fsw) to maintain the best balance between switching losses of the insulated-gate-bipolar-transistor (IGBT) power module as well as the output power quality under all loading conditions, including the ambient temperature effect. Since there is a contradiction with these two measures in relation to the switching frequency, the theory of multi-objective optimization is employed. The proposed algorithm is executed on the platform of Altera® DE2-115 field-programmable-gate-array (FPGA) in which the optimal value of the switching frequency is determined online without the need for heavy offline calculations and/or lookup tables. With adopting the proposed algorithm, there is an improvement in the VSI efficiency without degrading the output power quality. Therefore, the proposed algorithm enhances the lifetime of the IGBT power module because of reduced variations in the module’s junction temperature. An experimental prototype is built, and experimental tests are conducted for the verification of the viability of the proposed algorithm.
Saher Albatran; Issam A. Smadi; Hamzeh J. Ahmad; Ahmed Koran. Online Optimal Switching Frequency Selection for Grid-Connected Voltage Source Inverters. Electronics 2017, 6, 110 .
AMA StyleSaher Albatran, Issam A. Smadi, Hamzeh J. Ahmad, Ahmed Koran. Online Optimal Switching Frequency Selection for Grid-Connected Voltage Source Inverters. Electronics. 2017; 6 (4):110.
Chicago/Turabian StyleSaher Albatran; Issam A. Smadi; Hamzeh J. Ahmad; Ahmed Koran. 2017. "Online Optimal Switching Frequency Selection for Grid-Connected Voltage Source Inverters." Electronics 6, no. 4: 110.
This paper presents a novel compact AC/AC converter suitable for hybrid microgrids. The proposed topology is used to interconnect two three-phase renewable energy resources and one three-phase load to the grid, side by side with the appropriate generalized pulse width modulation and control method of the microgrid power flow. The proposed topology, generalized pulse width modulation, and the utilized control methods are introduced in this paper. The proposed converter has impact not only to the size but also to the overall cost of the microgrid. Simulation results are provided to demonstrate the validity and the applicability of the proposed converter and the employed control method.
Issam Smadi; Saher Albatran; Mohammad A. Alsyouf. A novel compact AC/AC converter for hybrid microgrids. 2017 IEEE 6th International Conference on Renewable Energy Research and Applications (ICRERA) 2017, 137 -141.
AMA StyleIssam Smadi, Saher Albatran, Mohammad A. Alsyouf. A novel compact AC/AC converter for hybrid microgrids. 2017 IEEE 6th International Conference on Renewable Energy Research and Applications (ICRERA). 2017; ():137-141.
Chicago/Turabian StyleIssam Smadi; Saher Albatran; Mohammad A. Alsyouf. 2017. "A novel compact AC/AC converter for hybrid microgrids." 2017 IEEE 6th International Conference on Renewable Energy Research and Applications (ICRERA) , no. : 137-141.
This paper presents a selective harmonics reduction for a 3(n+1) shared switch inverter topology utilizing optimal arrangement of the n-modulated signal. Under different modulation indices and operating power frequencies the purpose of the proposed procedure is to select an optimal load connection and/or modulation offsetting based on the desired objective function. Three performance indices are studied in this paper, namely, the sum of the total harmonic distortion (THD), the sum of the weighted THD, and the sum THD of the first eleventh harmonics of all the loads. The proposed mathematical description will achieve extra degrees of freedom that improve the quality of the output signal without any additional burden. A general procedure for distributing the input dc voltage with correct sharing during linear modulation region and proper voltage utilization in overmodulation region is presented. Then, general and comprehensive presentation to the used pulse width modulation (PWM) technique is discussed showing the new degrees of freedom in the applied offsets as decision variables. Field-programmable gate array (FPGA) in-the-loop simulations are done to illustrate the effectiveness of the proposed procedure.
Saher Albatran; Issam A. Smadi; Mohammad A. Alsyouf. Selective harmonics reduction for 3(n+1) switch inverter using optimal leveling and sorting PWM technique. IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society 2017, 1519 -1524.
AMA StyleSaher Albatran, Issam A. Smadi, Mohammad A. Alsyouf. Selective harmonics reduction for 3(n+1) switch inverter using optimal leveling and sorting PWM technique. IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. 2017; ():1519-1524.
Chicago/Turabian StyleSaher Albatran; Issam A. Smadi; Mohammad A. Alsyouf. 2017. "Selective harmonics reduction for 3(n+1) switch inverter using optimal leveling and sorting PWM technique." IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society , no. : 1519-1524.
In this paper, an exact fuzzy modeling is adapted to design a nonlinear controller/observer for an inverted pendulum on a cart. Based on computed torque method, the nonlinear model is simplified, and two scalar valued auxiliary functions are defined and used to construct a full fuzzy model. Based on the obtained model, efficient and more practical controller and observer are designed with less complexity to stabilize the inverted pendulum on a cart. Simulation results are provided to illustrate the fruitfulness of the proposed methodology and the accuracy of the designed observer.
Issam A. Smadi; Saher Albatran. Nonlinear controller-observer design for an inverted pendulum on a cart based on full fuzzy modeling. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society 2015, 003035 -003039.
AMA StyleIssam A. Smadi, Saher Albatran. Nonlinear controller-observer design for an inverted pendulum on a cart based on full fuzzy modeling. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. 2015; ():003035-003039.
Chicago/Turabian StyleIssam A. Smadi; Saher Albatran. 2015. "Nonlinear controller-observer design for an inverted pendulum on a cart based on full fuzzy modeling." IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society , no. : 003035-003039.
Cane type walking assist device and comparison of its control methods are proposed in this paper. Our robotic cane has been designed using omni-directional wheel, such that it moves according to user's small force applied to the cane, and to stably support the user when he/she impose large force. The conventional control method has been compared with the proposed one in 2D space. Moreover, the validity of the proposed control method has been confirmed using 3D simulation environment.
Kyohei Shimizu; Issam Smadi; Yasutaka Fujimoto. Examination of a control method for a walking assistance robotics cane. IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society 2014, 2768 -2773.
AMA StyleKyohei Shimizu, Issam Smadi, Yasutaka Fujimoto. Examination of a control method for a walking assistance robotics cane. IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society. 2014; ():2768-2773.
Chicago/Turabian StyleKyohei Shimizu; Issam Smadi; Yasutaka Fujimoto. 2014. "Examination of a control method for a walking assistance robotics cane." IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society , no. : 2768-2773.
New design and control of a robotic cane have been proposed in this paper. Our robotic cane has been designed so that it moves according to user's small force applied to the cane and it stably supports the user when large force is applied by the user. We confirmed our control and estimation of human force method in 2D and 3D simulation. In this paper, an overview of the design and a robust control method are presented.
Kyohei Shimizu; Issam Smadi; Yasutaka Fujimoto. A robotic cane for walking assistance. 2014 International Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE ASIA) 2014, 1968 -1973.
AMA StyleKyohei Shimizu, Issam Smadi, Yasutaka Fujimoto. A robotic cane for walking assistance. 2014 International Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE ASIA). 2014; ():1968-1973.
Chicago/Turabian StyleKyohei Shimizu; Issam Smadi; Yasutaka Fujimoto. 2014. "A robotic cane for walking assistance." 2014 International Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE ASIA) , no. : 1968-1973.
This paper presents the design and development of a musculoskeletal-inspired robot manipulator using the third prototype of the spiral motor developed in our laboratory. The spiral motors represents the linear contraction/extension of the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. Workspace was evaluated and simulations were done in some control schemes to compare the probable methods of workspace control. Finally, spiral motor control and experimental results were presented.
Ahmad Zaki Shukor; Issam Smadi; Yasutaka Fujimoto. Development of a biarticular manipulator using spiral motors. IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society 2011, 92 -97.
AMA StyleAhmad Zaki Shukor, Issam Smadi, Yasutaka Fujimoto. Development of a biarticular manipulator using spiral motors. IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society. 2011; ():92-97.
Chicago/Turabian StyleAhmad Zaki Shukor; Issam Smadi; Yasutaka Fujimoto. 2011. "Development of a biarticular manipulator using spiral motors." IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society , no. : 92-97.
Safety issue is a great concern for rehabilitation robots that are expected to contribute to future aging society. Appropriate compliance is required for their joints. However, combination of servomotors and high-ratio gears, such as harmonic gears, makes the joint of robots nonbackdrivable. The nonbackdrivability causes lack of adaptability and safety. On the other hand, conventional direct-drive systems, including linear motors, are relatively big for such application. This paper presents the development and analysis of compact high-backdrivable direct-drive linear actuator. The motor consists of a helical structure stator and mover. The mover does not contact the stator and moves helically in the stator under a proper magnetic levitation control. Thus, the motor realizes direct-drive motion without mechanical gears. Decoupling control is proposed and integrated with disturbance observer to achieve robustness against model uncertainties and input disturbance. The main contribution of this paper is to experimentally realize the direct-drive feature of the helical motor.
Issam A. Smadi; Hiroko Omori; Yasutaka Fujimoto. Development, Analysis, and Experimental Realization of a Direct-Drive Helical Motor. IEEE Transactions on Industrial Electronics 2011, 59, 2208 -2216.
AMA StyleIssam A. Smadi, Hiroko Omori, Yasutaka Fujimoto. Development, Analysis, and Experimental Realization of a Direct-Drive Helical Motor. IEEE Transactions on Industrial Electronics. 2011; 59 (5):2208-2216.
Chicago/Turabian StyleIssam A. Smadi; Hiroko Omori; Yasutaka Fujimoto. 2011. "Development, Analysis, and Experimental Realization of a Direct-Drive Helical Motor." IEEE Transactions on Industrial Electronics 59, no. 5: 2208-2216.
We develop a new musculoskeletal biped robot driven by bigh-thrust direct-drive linear actuator; spiral motor. The motor is compact even though it is not combined with mechanical gears. Thanks to its gearless mechanism, fine position/force control is possible. Direct-drive position control is verified by experiments, where very quick motion is realized. Moreover, simulation method for musculoskeletal biped robot is proposed.
Yasutaka Fujimoto; Issam Smadi; Yuki Wakayama. Development of musculoskeletal biped robot driven by direct-drive actuators. 2011 IEEE International Conference on Mechatronics 2011, 821 -826.
AMA StyleYasutaka Fujimoto, Issam Smadi, Yuki Wakayama. Development of musculoskeletal biped robot driven by direct-drive actuators. 2011 IEEE International Conference on Mechatronics. 2011; ():821-826.
Chicago/Turabian StyleYasutaka Fujimoto; Issam Smadi; Yuki Wakayama. 2011. "Development of musculoskeletal biped robot driven by direct-drive actuators." 2011 IEEE International Conference on Mechatronics , no. : 821-826.
Spiral motor, a novel high-thrust linear actuator with high backdrivability, consists of a helical structure stator and mover. Under proper gap control against the load fluctuation, the mover moves helically in the stator and the linear motion is extracted to drive the load. Thus, the motor realizes direct-drive motion without mechanical gears. In this paper, an exact feedback linearization engaged with disturbance observer (DOB) is used to achieve full direct-drive motion of a spiral motor. Through the use of high gain feedback time scale separation is artificially introduced and the overall closed-loop system is transformed into a singular perturbation one. Then, using tools from singular perturbation theory, the proposed method ensures arbitrary disturbance attenuation, small tracking error, and boundness of all closed loop signals. Simulation and experimental results are given to verify the theoretical one.
Issam Smadi; Hiroko Omori; Yasutaka Fujimoto. On direct-drive motion of a spiral motor. IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society 2010, 927 -932.
AMA StyleIssam Smadi, Hiroko Omori, Yasutaka Fujimoto. On direct-drive motion of a spiral motor. IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society. 2010; ():927-932.
Chicago/Turabian StyleIssam Smadi; Hiroko Omori; Yasutaka Fujimoto. 2010. "On direct-drive motion of a spiral motor." IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society , no. : 927-932.
In this paper, modeling and control of spiral motor is proposed. The voltage equation and motion equation of the spiral motor is proposed. Based on this modeling, control system for the spiral motor is proposed. The proposed controller consists of three parts; the first part is PI current controller with back EMF compensation specialized for spiral motor, the second part is disturbance observer based PD controller for linear and gap motion interacting each other, and the third part is zero-power controller for equilibrium fluctuation of gap displacement. It is confirmed that the proposed controller achieves independent linear position and gap control simultaneously.
Yasutaka Fujimoto; Issam Smadi; Hiroko Omori; Koichiro Suzuki; Hiroshi Hamada. Modeling and control of a high-thrust direct-drive spiral motor. The 2010 International Power Electronics Conference - ECCE ASIA - 2010, 2222 -2229.
AMA StyleYasutaka Fujimoto, Issam Smadi, Hiroko Omori, Koichiro Suzuki, Hiroshi Hamada. Modeling and control of a high-thrust direct-drive spiral motor. The 2010 International Power Electronics Conference - ECCE ASIA -. 2010; ():2222-2229.
Chicago/Turabian StyleYasutaka Fujimoto; Issam Smadi; Hiroko Omori; Koichiro Suzuki; Hiroshi Hamada. 2010. "Modeling and control of a high-thrust direct-drive spiral motor." The 2010 International Power Electronics Conference - ECCE ASIA - , no. : 2222-2229.
This paper reports on newly developed small-size prototypes of spiral motors for a musculoskeletal robot application. The prototype has smooth helical surface so that the mover can touch down the stator. The stator core is made from SMC (Soft Magnetic Composite) in order to reduce iron loss. Helical-shape permanent magnets are mounted on the surface of the mover. The motor realizes compact direct-drive motion systems. A concept and design sketch of a musculoskeletal robot in which the spiral motors are installed as artificial muscle is shown. Also modeling and control of the spiral motor are reported.
Yasutaka Fujimoto; Yuuki Wakayama; Hiroko Omori; Issam Smadi. On a high-backdrivable direct-drive actuator for musculoskeletal bipedal robots. 2010 11th IEEE International Workshop on Advanced Motion Control (AMC) 2010, 389 -395.
AMA StyleYasutaka Fujimoto, Yuuki Wakayama, Hiroko Omori, Issam Smadi. On a high-backdrivable direct-drive actuator for musculoskeletal bipedal robots. 2010 11th IEEE International Workshop on Advanced Motion Control (AMC). 2010; ():389-395.
Chicago/Turabian StyleYasutaka Fujimoto; Yuuki Wakayama; Hiroko Omori; Issam Smadi. 2010. "On a high-backdrivable direct-drive actuator for musculoskeletal bipedal robots." 2010 11th IEEE International Workshop on Advanced Motion Control (AMC) , no. : 389-395.
This paper presents a full direct-drive motion of a spiral motor. Spiral motor, is a novel high thrust force actuator with high backdrivability, consists of a spiral structure mover and stator. The mover moves spirally in the stator, and the linear motion is extracted to drive the load. A proper gap control against the load fluctuation is needed to achieve full direct drive motion. In this paper, an exact feedback linearization engaged with DOB is used to achieve independent position/gap control of a spiral motor. Through the use of high gain feedback time scale separation is artificially introduced and the overall closed-loop system is transformed into a singular perturbation one. Then, using tools from singular perturbation theory, the proposed method ensures arbitrary disturbance attenuation, small tracking error, and boundness of all closed loop signals. Finally, simulation results are given to verify the theoretical one.
Issam Smadi; Hiroko Omori; Yasutaka Fujimoto. On independent position/gap control of a spiral motor. 2010 11th IEEE International Workshop on Advanced Motion Control (AMC) 2010, 478 -483.
AMA StyleIssam Smadi, Hiroko Omori, Yasutaka Fujimoto. On independent position/gap control of a spiral motor. 2010 11th IEEE International Workshop on Advanced Motion Control (AMC). 2010; ():478-483.
Chicago/Turabian StyleIssam Smadi; Hiroko Omori; Yasutaka Fujimoto. 2010. "On independent position/gap control of a spiral motor." 2010 11th IEEE International Workshop on Advanced Motion Control (AMC) , no. : 478-483.