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Huaishu Chen,Min-Cheol Kim,Yeongoh Ko,Chang-Sei Kim 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.11
Unlike conventional rigid-link parallel robots, cable-driven parallel robots (CDPRs) have distinct advantages, including lower inertia, higher payload-to-weight ratio, cost-efficiency, and larger workspaces. However, because of the complexity of the cable configuration and redundant actuation, model-based forward kinematics and motion control necessitate high effort and computation. This study overcomes these challenges by introducing deep reinforcement learning (DRL) into the cable robot and achieves compensated motion control by estimating the actual position of the end-effector. We used a random behavior strategy on a CDPR to explore the environment, collect data, and train neural networks. We then apply the trained network to the CDPR and verify its efficacy. We also addressed the problem of asynchronous state observation and action execution by delaying the action execution time in one cycle and adding this action to be executed to match the motion control command. Finally, we implemented the proposed control method to a high payload cable robot system and verified the feasibility through simulations and experiments. The results demonstrate that the end-effector position estimation accuracy can be improved compared with the numerical model-based forward kinematics solution and the position control error can be reduced compared with the conventional open-loop control and the open-loop control with tension distribution form.
Yu Zhou,Huaishu Li,Wei Wang,Qing Cao,Shi Zhou 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.3
This paper presented an improved analytical method for calculating the open-circuit magnetic field in the surface-mounted permanent magnet machines accounting for slots and eccentric magnet pole. Magnetic field produced by radial and parallel permanent magnet is equivalent to that produced by surface current according to equivalent surface-current method of permanent magnet. The model is divided into two types of subdomains. The field solution of each subdomain is obtained by applying the interface and boundary conditions. The magnet field produced by equivalent surface current is superposed according to superposition principle of vector potential. The investigation shows harmonic contents of radial flux density can be reduced a lot by changing eccentric distance of eccentric magnet poles compared with conventional surface-mounted permanent-magnet machines with concentric magnet poles. The FE(finite element) results confirm the validity of the analytical results with the proposed model.
Yu Zhou,Huaishu Li,Qingyu Wang,Zhiqiang Xue,Qing Cao,Shi Zhou 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.4
This paper presented an improved analytical method for calculating armature-reaction field in the surface-mounted permanent magnet machines accounting for opening slots. The analytical model is divided into two types of subdomains. The current of the armature is centralized in the center of the slots. The field solution of each subdomain is obtained by applying the interface and boundary conditions of the model. Two 30-pole/36-slot prototype machines with different slot-opening width are used for validation. The FE (finite element) results confirm the validity of the analytical results with the proposed model. The investigation shows that the wider the slot-opening width is, the smaller the peak value of radial and circumferential components of flux density, and the analytical armaturereaction field produced by centralized current in the slots is similar with the armature-reaction field produced by distributed current in the slots in the FE.
Zhou, Yu,Li, Huaishu,Wang, Wei,Cao, Qing,Zhou, Shi The Korean Institute of Electrical Engineers 2015 Journal of Electrical Engineering & Technology Vol.10 No.3
This paper presented an improved analytical method for calculating the open-circuit magnetic field in the surface-mounted permanent magnet machines accounting for slots and eccentric magnet pole. Magnetic field produced by radial and parallel permanent magnet is equivalent to that produced by surface current according to equivalent surface-current method of permanent magnet. The model is divided into two types of subdomains. The field solution of each subdomain is obtained by applying the interface and boundary conditions. The magnet field produced by equivalent surface current is superposed according to superposition principle of vector potential. The investigation shows harmonic contents of radial flux density can be reduced a lot by changing eccentric distance of eccentric magnet poles compared with conventional surface-mounted permanent-magnet machines with concentric magnet poles. The FE(finite element) results confirm the validity of the analytical results with the proposed model.
Zhou, Yu,Li, Huaishu,Wang, Qingyu,Xue, Zhiqiang,Cao, Qing,Zhou, Shi The Korean Institute of Electrical Engineers 2015 Journal of Electrical Engineering & Technology Vol.10 No.4
This paper presented an improved analytical method for calculating armature-reaction field in the surface-mounted permanent magnet machines accounting for opening slots. The analytical model is divided into two types of subdomains. The current of the armature is centralized in the center of the slots. The field solution of each subdomain is obtained by applying the interface and boundary conditions of the model. Two 30-pole/36-slot prototype machines with different slot-opening width are used for validation. The FE (finite element) results confirm the validity of the analytical results with the proposed model. The investigation shows that the wider the slot-opening width is, the smaller the peak value of radial and circumferential components of flux density, and the analytical armature-reaction field produced by centralized current in the slots is similar with the armature-reaction field produced by distributed current in the slots in the FE.