Brushless dc (BLDC) motors are commonly used in space application for its simplicity and high reliability. The fault-tolerant control (FTC) of the motor is important continuous operating capacity even under faulty situation. fault diagnosis should be achieved advance order to implement FTC strategy. This paper proposes an online model-based inverter method three-phase full bridge with buck dc-dc converter based on high-speed BLDC low inductance nonideal back electromotive force a...

A novel composite control method based on disturbance observer for the precision suspension of a voltage-controlled active magnetic bearing (AMB) system is presented in this study. The AMB always suffers from mismatched disturbances, which act via different channels inputs. In study, we reconstruct new system, equivalent to original dynamical system. reconstructed targets divide disturbances into matched component and component. attenuated by feedback robust controller, rejected basis...

Rotor imbalance causes undesirable synchronous vibrations of displacement, force and torque. An active vibration control (AVC) method achieving the minimum torque within a desired displacement is presented in an magnetic bearing (AMB) system. First, dynamics AMB system with static dynamic are introduced, dimensional relationships rotation, geometric inertial axes rotor described. Demands AVC analyzed, results indicate that rotation axis has to be controlled move along center line inclination...

Harmonic currents, which are caused by rotor imbalance and sensor runout in active magnetic bearing (AMB) systems, can induce undesirable harmonic vibrations superfluous power consumption. To analyze reduce these a comprehensive model of the AMB system is developed repetitive control method proposed. First, dynamics four radial degrees-of-freedom with introduced, electrical equations including amplifiers motion induced voltage (MIV) described. Next, how synchronous multiple vibration forces...

For a magnetically suspended control moment gyro (MSCMG), the mass imbalance of high-speed rotor (MSR) will induce synchronous force, which is main disturbance for attitude satellites. In this work, an elimination method with adaption to parameter variations in amplifier model presented. First, MSR system hybrid magnetic bearing modeled. Next, generalized notch filter utilized identify displacement, according feedforward controller designed generate current so that electromagnetic force can...

Foot-mounted inertial navigation with zero velocity update (ZUPT) is commonly used in pedestrian positioning. To suppress the accumulating position error owing to low-cost sensor, classical dual-foot method provides compensation using two feet's relative step length, whose values can be set an upper bound constraint or measured by ranging sensors. However, it suffers from low improvement and poor wearability. In this study, sensors are distributed on toe ankle of same leg. The...

Car rollovers are a class of serious traffic accidents that can easily cause heavy casualties and property damage, particularly for special operation vehicles. To enhance the driving stability vehicles on forest roads, we developed control strategy wire-controlled auxiliary braking based body-attitude detection overall design system. Moreover, system was further investigated developed. A three-degrees-of-freedom (3-DOF) vehicle dynamics model with longitudinal, lateral, lateral tilt...

Harmonic vibrations of high-speed rotors in momentum exchange devices are primary disturbances for attitude control spacecraft. Active magnetic bearings (AMBs), offering the ability to AMB-rotor dynamic behaviors, preferred high-precision and micro-vibration applications, such as high-solution Earth observation satellites. However, undesirable harmonic displacements, currents, also occur system owing mixed rotor imbalances sensor runout. To compensate suppress vibrations, two methods...

The foot-mounted navigation system based on Micro Inertial Measurement Unit (MIMU) can estimate the position of pedestrians. Zero Velocity Update (ZUPT) provides a solution for reducing cumulative positioning errors caused by integral calculation inertial sensor. However, low accuracy and high noise MIMU will greatly affect measurement zero velocity detector, which lead to poor 3D pedestrian accuracy. An improved generalized likelihood ratio test (GLRT) method is proposed establishing...

The pedestrian navigation system using inertial and magnetic sensors can determine the pedestrian's attitude position. However, field measurement is affected by external interference, which leads to heading error. Therefore, it of great importance suppress interference. threshold method often used detect this fails under weak interference environment because intensity approximately equal that geomagnetic intensity. A generalized likelihood ratio test (GLRT) proposed in study. function...

The magnetically suspended control moment gyro (MSCMG) system is an actuator for attitude of spacecrafts. It consists a gimbal and high-speed rotor by magnetic bearings (MBs). imbalance vibration due to the can cause velocity ripple be transmitted spacecraft decrease its precision. To suppress vibration, this paper introduces active method in both MBs systems. Firstly, structure dynamics MSCMG with are described, transmission discussed. Then notch filter phase shift feedforward controller...

High-accuracy heading angle is significant for estimating autonomous vehicle attitude. By integrating GNSS (Global Navigation Satellite System) dual antennas, INS (Inertial System), and a barometer, GNSS/INS/Barometer fusion method proposed to improve accuracy. An adaptive Kalman filter (AKF) designed fuse the error measurement. A random sample consensus (RANSAC) initial accuracy applied update. The obtained by dual-antenna orientation algorithm additionally augmented measurement variable....

To reject the influence of gyroscopic effects on system stability and to attenuate imbalance vibration for active magnetic bearing (AMB) a magnetically suspended control moment gyro (MSCMG), this paper proposes controller composed complex exponential function feedback clean current approach. The AMB is modeled its dynamic analysis performed, can provide proper phase adjustment effectively suppress nutation precession effects, notch filter adopted synchronous compensate vibration. parameters...

The Foot-mounted Inertial Pedestrian-Positioning System (FIPPS) based on the Micro-Inertial Measurement Unit (MIMU) is a good choice for forest fire fighters when Global Navigation Satellite unavailable. Zero Velocity Update (ZUPT) provides solution reducing cumulative positioning errors caused by integral calculation of inertial navigation. However, performance ZUPT highly affected low accuracy and high noise MIMU. conventional attitude alignment reduced zero offset acceleration drift...

Abstract Inertial navigation technology composed of inertial sensors is widely used in foot-mounted pedestrian positioning. However, are susceptible to noise, which affects the performance system. Zero-velocity update (ZUPT) a traditional method utilized suppress cumulative error. Unfortunately, walking distance calculated by Kalman filter still has positional To improve accuracy, this work we propose nonlinear with spatial inequality constraint for single foot. Since stride between adjacent...

With the development of microelectronic mechanical system (MEMS) inertial measurement units (IMUs), foot-mounted pedestrian navigation (PINS) based on zero velocity update is widely used. The systematic errors MEMS IMU cause low precision PINS at swing phase. However, biomechanical constraints, which can be used to suppress divergence PINS, exist in lower limbs. In this study, three magnetometers and IMUs are fixed toe, heel, shank, respectively. attitude each segment estimated by a MAHONY...

Pedestrian navigation system is an important application of inertial sensor technology because it does not depend on any external facilities. However, the positioning accuracy limited due to cumulative error sensor. Zero Velocity Update (ZUPT) effective method compensate error. To avoid jitter and random noise defects single sensor, a zero-position-difference ZUPT combined with foot shank kinematics information proposed in this work. Firstly, zero position difference constraint matrix ankle...