Steady state Kalman filtering for sensorless control of hybrid stepper motors

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MMS design allowing to move several cabins vertically, without counterweights. The vertical motion is performed with linear synchronous motors having stators distributed along the shafts and supplied by sectors. A simplified analytic approach developped at the EPFL-STI-IPR-LAI consists in a panel of equations describing the behaviour of the fondamentals of the motor parameters.

The goal of this project is to develop and build an electric motor to drive the inertia wheel of the SwissCube satellite. This system should provide angular stability to the satellite and allow its control. The operational speeds range from 5000 to 11 000 [rpm]. The main constraints are the mass, 32 [g], and the average available power, 100 [mW] (including the electronics, developed in another project).

The paper presents a method to determine hysteresis losses in synchronous permanent magnet (PM) motors. The method comprises four steps: (1) experimental determination of the B-H loop, (2) analytical modeling of the B-H loop by applying different models, (3) analytical modeling of the hysteresis losses, and (4) determination of the hysteresis losses in a synchronous PM motor, and results' verification using an experiment and an FEM software. © 2006 IEEE.

In large cities, due to expensive land price, high-rise buildings are built, in which the space dedicated to the elevators is considerable and reduces the rented surfaces. To decrease these lost surfaces, a Multi Mobile System is proposed: it consists of several moving cabins in the same shafts permitting also horizontal motions. In this case, the use of direct linear motor drives without counterweight is requested. But it implies high mechanical power and energy consumption. A system design optimization pe

In this paper, we introduce a framework that merges classical ideas borrowed from scale-space and multi-resolution segmentation with non-linear partial differential equations. A non-linear scale-space stack is constructed by means of an appropriate diffusion equation. This stack is analyzed and a tree of coherent segments is constructed based on relationships between different scale layers. Pruning this tree proves to be a very efficient tool for unsupervised segmentation of different classes of images (e.g

Growing demand for the solid state meters for power and energy measurement leads to the fully integrated Hall sensor based microsystem solutions. In this paper we describe fully integrated SOI Hall sensor based microsystem for power and energy measurements with dynamic offset cancellation. Since Hall sensor behaves like a natural four quadrant multiplier it is used to multiply the line voltage and current giving the output voltage proportional to the instantaneous power. Furthermore, voltage at the Hall out

This paper addresses the problem of the odometry error estimation during the robot navigation. The robot is equipped with an external sensor (like laser range finder). Concerning the systematic error an augmented Kalman Filter is introduced. This filter estimates a vector state containing the robot configuration and the parameters characterizing the systematic component of the odometry error. It uses encoder readings as inputs and the readings from the external sensor as observations. The estimation of the

There is currently both considerable interest in the physics of ELM transport in the scrape-off layer (SOL) and concern over the impact of the ELM power and particle loads on the divertor targets of future fusion reactors. This paper describes some experimental observations of the reaction of target floating potentials and currents during ELMS in TCV, relying principally on fast measurements of these parameters using tile embedded Langmuir probe arrays. Clear evidence is presented for rapid modifications in

We will present a method allowing to evaluate the mechanical performances (torque, speed, mechanical power, dissipated losses in the surface of contact between stator and rotor) of the travelling wave ultrasonic motors. The visualization of the motor characteristics will make it possible to the manufacturer to optimize the operation point of the motor compared to these proper used criteria. The method was developed based only on the two-dimensional equivalent mechanical model of the motor.

Multiple description (MD) coding is a source coding technique for information transmission over unreliable networks. In MD coding, the coder generates several different descriptions of the same signal and the decoder can produce a useful reconstruction of the source with any received subset of these descriptions. In this paper, we study the problem of MD coding of stationary Gaussian sources with memory. First, we compute an approximate MD rate distortion region for these sources, which we prove to be asymp

The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology (EPFL) in Lausanne has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a DC Motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state space controllers, pilots the motors so as to keep the system in equilibrium. See http://leiwww.epfl.ch/joe for a video demonstration of JOE.

In some applications, it is interesting to know the position of a BLDC Motor at standstill. This paper propose one solution using the saturation property of the motor. Principle, simulation and measures are presented. The results of industrial applications are exposed and discussed. Several preview works has been done on this subject. The purpose of this paper is to present a new method allowing to enhance the precision up to 2°. Furthermore, the method can be applied to all type of brushless DC motors,

Steady state Kalman filtering for sensorless control of hybrid stepper motors

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Analysis of hysteresis losses in synchronous permanent magnet motors

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BLDC motor position detection at standstill