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Multi-phase motor drives are typically supplied from two-level voltage source inverters (VSIs). It is thus necessary to develop pulse width modulation (PWM) schemes for inverter control in order to utilise the benefits offered by multiphase motor drives. T ...
Two three-phase motors can be controlled independently using a five-leg inverter as the supply, with one leg being common to both machines. Major shortcoming of this topology for general applications is the need to double the DC bus voltage in order to ach ...
In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...
An original analytical formula for the torque/emf constant of a slotless brushless DC (BLDC) motor is presented. It is obtained by solving and integrating the permanent magnet field. In addition, formulas for the both stator and rotor iron fields are deriv ...
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, ( ...
This thesis presents the design and realization of two generations of robot elements that can be assembled together to construct amphibious mobile robots. These elements, designed to be individually waterproof and having their own battery, motor controller ...
The paper presents a simplified analytical method to design a small two-pole slotless brushless dc motor. Using only a few approximations, the motor analytical model is formulated to generate a system of equations. The system can be solved analytically, pr ...
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...
Initially, linear motors have been particularly dedicated to transportation systems. Nowadays, linear motors are meant to replace a system using a rotating motor and a transmission to realize a linear movement. With linear motors the performances increase ...
In order to create a new solar aircraft totally powered by the sun, a new method able to handle such a complex system must be developed. The project aim is to make a round-the-world flight in so as to promote the sustainable development. The aircraft power ...
