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Guilin Yang - One of the best experts on this subject based on the ideXlab platform.
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Modeling and robust output feedback tracking control of a single-phase Rotary Motor with cylindrical Halbach array
IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM, 2014Co-Authors: Nazir Kamaldin, Tat Joo Teo, Kok Kiong Tan, Wenyu Liang, Si-lu Chen, Guilin YangAbstract:The single-phase electromagnetic Motor with a circular Halbach array design offers the advantage of generating a large torque. However, to the authors' best knowledge, no existing literature has presented the tracking control of this Motor. This is probably due to its DC gain and time constants that are Rotary-position-varying. This paper first models a typical two-pole single phase Rotary Motor based on a Halbach circular array with considerations of its back-EMF, frictional torques and position dependent characteristics. Next, a dual-relay configuration is applied in a closed-loop to identify the model parameters through limit cycle experiments. Next, a composite controller that composes of a model-based controller, a time-delay compensator and a sliding mode controller, was proposed with the capability to achieve the high-speed tracking of a reference trajectory in the presence of model uncertainty and external disturbances. A non-linear high gain observer was designed to estimate unknown states to allow output feedback realization. An experiment was conducted to ascertain the performance of the proposed composite controller and to benchmark it to a PID controller with a model-based feedforward element. The proposed controller presents a noticeable improvement and offers a clearly viable alternative to the PID controller for this particular application. © 2014 IEEE.
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Identification and robust tracking control of a single-phase Rotary Motor with halbach permanent magnet array design
2014 IEEE International Conference on Mechatronics and Automation, 2014Co-Authors: Si-lu Chen, Nazir Kamaldin, Wenyu Liang, Guilin YangAbstract:The single-phase electromagnetic Motor with the circular permanent magnet Halbach array design, has advantage of large force constant compared with its 3-phase counterpart, if the rotation is within 60 degrees range from its neutral position. However, to authors' best knowledge, no existing literature mentions on tracking control application using such a single phase Rotary Motor, probably due to its angular dependent force sensitivity. This paper first models a typical two-pole single phase Rotary Motor with Halbach circular array, with consideration of back-EMF, friction torque and position dependent characteristic. Followed by this, a dual-relay configuration is applied to closed-loop identification of model-parameters by limit cycle experiments. Later, a composite controller, composes of a model-based controller, a time-delay controller and a sliding mode controller, is capable to achieve the high-speed tracking of reference trajectory with presentation of model uncertainty and disturbances. Simulation based on the actual design parameters shows the practical appeal of the proposed approach.
Si-lu Chen - One of the best experts on this subject based on the ideXlab platform.
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Modeling and robust output feedback tracking control of a single-phase Rotary Motor with cylindrical Halbach array
IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM, 2014Co-Authors: Nazir Kamaldin, Tat Joo Teo, Kok Kiong Tan, Wenyu Liang, Si-lu Chen, Guilin YangAbstract:The single-phase electromagnetic Motor with a circular Halbach array design offers the advantage of generating a large torque. However, to the authors' best knowledge, no existing literature has presented the tracking control of this Motor. This is probably due to its DC gain and time constants that are Rotary-position-varying. This paper first models a typical two-pole single phase Rotary Motor based on a Halbach circular array with considerations of its back-EMF, frictional torques and position dependent characteristics. Next, a dual-relay configuration is applied in a closed-loop to identify the model parameters through limit cycle experiments. Next, a composite controller that composes of a model-based controller, a time-delay compensator and a sliding mode controller, was proposed with the capability to achieve the high-speed tracking of a reference trajectory in the presence of model uncertainty and external disturbances. A non-linear high gain observer was designed to estimate unknown states to allow output feedback realization. An experiment was conducted to ascertain the performance of the proposed composite controller and to benchmark it to a PID controller with a model-based feedforward element. The proposed controller presents a noticeable improvement and offers a clearly viable alternative to the PID controller for this particular application. © 2014 IEEE.
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Identification and robust tracking control of a single-phase Rotary Motor with halbach permanent magnet array design
2014 IEEE International Conference on Mechatronics and Automation, 2014Co-Authors: Si-lu Chen, Nazir Kamaldin, Wenyu Liang, Guilin YangAbstract:The single-phase electromagnetic Motor with the circular permanent magnet Halbach array design, has advantage of large force constant compared with its 3-phase counterpart, if the rotation is within 60 degrees range from its neutral position. However, to authors' best knowledge, no existing literature mentions on tracking control application using such a single phase Rotary Motor, probably due to its angular dependent force sensitivity. This paper first models a typical two-pole single phase Rotary Motor with Halbach circular array, with consideration of back-EMF, friction torque and position dependent characteristic. Followed by this, a dual-relay configuration is applied to closed-loop identification of model-parameters by limit cycle experiments. Later, a composite controller, composes of a model-based controller, a time-delay controller and a sliding mode controller, is capable to achieve the high-speed tracking of reference trajectory with presentation of model uncertainty and disturbances. Simulation based on the actual design parameters shows the practical appeal of the proposed approach.
Howard C Berg - One of the best experts on this subject based on the ideXlab platform.
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a Rotary Motor drives flavobacterium gliding
Current Biology, 2015Co-Authors: Abhishek Shrivastava, Pushkar P Lele, Howard C BergAbstract:Summary Cells of Flavobacterium johnsoniae , a rod-shaped bacterium devoid of pili or flagella, glide over glass at speeds of 2–4 μm/s [1]. Gliding is powered by a protonmotive force [2], but the machinery required for this motion is not known. Usually, cells move along straight paths, but sometimes they exhibit a reciprocal motion, attach near one pole and flip end over end, or rotate. This behavior is similar to that of a Cytophaga species described earlier [3]. Development of genetic tools for F. johnsoniae led to discovery of proteins involved in gliding [4]. These include the surface adhesin SprB that forms filaments about 160 nm long by 6 nm in diameter, which, when labeled with a fluorescent antibody [2] or a latex bead [5], are seen to move longitudinally down the length of a cell, occasionally shifting positions to the right or the left. Evidently, interaction of these filaments with a surface produces gliding. To learn more about the gliding Motor, we sheared cells to reduce the number and size of SprB filaments and tethered cells to glass by adding anti-SprB antibody. Cells spun about fixed points, mostly counterclockwise, rotating at speeds of 1 Hz or more. The torques required to sustain such speeds were large, comparable to those generated by the flagellar Rotary Motor. However, we found that a gliding Motor runs at constant speed rather than at constant torque. Now, there are three Rotary Motors powered by protonmotive force: the bacterial flagellar Motor, the F o ATP synthase, and the gliding Motor.
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Thermal and Solvent-Isotope Effects on the Flagellar Rotary Motor near Zero Load
Biophysical Journal, 2010Co-Authors: J Yuan, Howard C BergAbstract:In Escherichia coli, the behavior of the flagellar Rotary Motor near zero load can be studied by scattering light from nanogold spheres attached to proximal hooks of cells lacking flagellar filaments. We used this method to monitor changes in speed when cells were subjected to changes in temperature or shifted from a medium made with H2O to one made with D2O. In H2O, the speed increased with temperature in a near-exponential manner, with an activation enthalpy of 52 5 4 kJ/mol (12.0 5 1.0 kcal/mol). In D2O, the speed increased in a similar manner, with an activation enthalpy of 50 5 4 kJ/mol. The speed in H2O was higher than that in D2O by a factor of 1.53 5 0.14. We performed comparison studies of variations in temperature and solvent isotope, using Motors operating at high loads. The variations were small, consistent with previous observations. The implications of these results for proton translocation are discussed.
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The bacterial Rotary Motor
The Enzymes, 2008Co-Authors: Howard C BergAbstract:Publisher Summary This chapter discusses the bacterial Rotary Motor. The flagellar Motor's job is to rotate the helical flagellar filament, thus driving the cell through the external medium. Both Motors appear to be remarkably efficient, at least when turning slowly. However, flagellar Motors of the sodium kind hold the speed record, spinning more than 60,000 rpm. Also, the flagellar Motor has been the first to be recognized as a Rotary device. Bacterial flagella, like muscles, are output organelles for complex behavioral systems. They are elaborate multicomponent devices that run in either direction, clockwise (CW) or counterclockwise (CCW), even as ions continue to flow down their electrochemical gradient. As noted above, the F 0 -ATPase is reversible, but in a different sense, running one way during ion influx (ATP synthesis) and the other during ion efllux (ATP hydrolysis). The chapter discusses what the flagellar Motor does for the cell—that is, how cells of Escherichia coli or Salmonella typhimurium swim and respond to chemical stimuli. The Motor along with its structure, genetics, assembly, and function (torque generation and switching) and a survey of existing Motor models are discussed in the chapter. The work done on a motile Streptococcus, an organism that can be starved and artificially energized and used for studying chemiosmotic mechanisms, is described in the chapter.
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resurrection of the flagellar Rotary Motor near zero load
Proceedings of the National Academy of Sciences of the United States of America, 2008Co-Authors: J Yuan, Howard C BergAbstract:Flagellated bacteria, such as Escherichia coli, are propelled by helical flagellar filaments, each driven at its base by a reversible Rotary Motor, powered by a transmembrane proton flux. Torque is generated by the interaction of stator proteins, MotA and MotB, with a rotor protein FliG. The physiology of the Motor has been studied extensively in the regime of relatively high load and low speed, where it appears to operate close to thermodynamic equilibrium. Here, we describe an assay that allows systematic study of the Motor near zero load, where proton translocation and movement of mechanical components are rate limiting. Sixty-nanometer-diameter gold spheres were attached to hooks of cells lacking flagellar filaments, and light scattered from a sphere was monitored at the image plane of a microscope through a small pinhole. Paralyzed Motors of cells carrying a motA point mutation were resurrected at 23°C by expression of wild-type MotA, and speeds jumped from zero to a maximum value (≈300 Hz) in one step. Thus, near zero load, the speed of the Motor is independent of the number of torque-generating units. Evidently, the units act independently (they do not interfere with one another), and there are no intervals during which a second unit can add to the speed generated by the first (the duty ratio is close to 1).
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the Rotary Motor of bacterial flagella
Annual Review of Biochemistry, 2003Co-Authors: Howard C BergAbstract:▪ Abstract Flagellated bacteria, such as Escherichia coli, swim by rotating thin helical filaments, each driven at its base by a reversible Rotary Motor, powered by an ion flux. A Motor is about 45 nm in diameter and is assembled from about 20 different kinds of parts. It develops maximum torque at stall but can spin several hundred Hz. Its direction of rotation is controlled by a sensory system that enables cells to accumulate in regions deemed more favorable. We know a great deal about Motor structure, genetics, assembly, and function, but we do not really understand how it works. We need more crystal structures. All of this is reviewed, but the emphasis is on function.
Nazir Kamaldin - One of the best experts on this subject based on the ideXlab platform.
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Modeling and robust output feedback tracking control of a single-phase Rotary Motor with cylindrical Halbach array
IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM, 2014Co-Authors: Nazir Kamaldin, Tat Joo Teo, Kok Kiong Tan, Wenyu Liang, Si-lu Chen, Guilin YangAbstract:The single-phase electromagnetic Motor with a circular Halbach array design offers the advantage of generating a large torque. However, to the authors' best knowledge, no existing literature has presented the tracking control of this Motor. This is probably due to its DC gain and time constants that are Rotary-position-varying. This paper first models a typical two-pole single phase Rotary Motor based on a Halbach circular array with considerations of its back-EMF, frictional torques and position dependent characteristics. Next, a dual-relay configuration is applied in a closed-loop to identify the model parameters through limit cycle experiments. Next, a composite controller that composes of a model-based controller, a time-delay compensator and a sliding mode controller, was proposed with the capability to achieve the high-speed tracking of a reference trajectory in the presence of model uncertainty and external disturbances. A non-linear high gain observer was designed to estimate unknown states to allow output feedback realization. An experiment was conducted to ascertain the performance of the proposed composite controller and to benchmark it to a PID controller with a model-based feedforward element. The proposed controller presents a noticeable improvement and offers a clearly viable alternative to the PID controller for this particular application. © 2014 IEEE.
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Identification and robust tracking control of a single-phase Rotary Motor with halbach permanent magnet array design
2014 IEEE International Conference on Mechatronics and Automation, 2014Co-Authors: Si-lu Chen, Nazir Kamaldin, Wenyu Liang, Guilin YangAbstract:The single-phase electromagnetic Motor with the circular permanent magnet Halbach array design, has advantage of large force constant compared with its 3-phase counterpart, if the rotation is within 60 degrees range from its neutral position. However, to authors' best knowledge, no existing literature mentions on tracking control application using such a single phase Rotary Motor, probably due to its angular dependent force sensitivity. This paper first models a typical two-pole single phase Rotary Motor with Halbach circular array, with consideration of back-EMF, friction torque and position dependent characteristic. Followed by this, a dual-relay configuration is applied to closed-loop identification of model-parameters by limit cycle experiments. Later, a composite controller, composes of a model-based controller, a time-delay controller and a sliding mode controller, is capable to achieve the high-speed tracking of reference trajectory with presentation of model uncertainty and disturbances. Simulation based on the actual design parameters shows the practical appeal of the proposed approach.
Wenyu Liang - One of the best experts on this subject based on the ideXlab platform.
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Modeling and robust output feedback tracking control of a single-phase Rotary Motor with cylindrical Halbach array
IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM, 2014Co-Authors: Nazir Kamaldin, Tat Joo Teo, Kok Kiong Tan, Wenyu Liang, Si-lu Chen, Guilin YangAbstract:The single-phase electromagnetic Motor with a circular Halbach array design offers the advantage of generating a large torque. However, to the authors' best knowledge, no existing literature has presented the tracking control of this Motor. This is probably due to its DC gain and time constants that are Rotary-position-varying. This paper first models a typical two-pole single phase Rotary Motor based on a Halbach circular array with considerations of its back-EMF, frictional torques and position dependent characteristics. Next, a dual-relay configuration is applied in a closed-loop to identify the model parameters through limit cycle experiments. Next, a composite controller that composes of a model-based controller, a time-delay compensator and a sliding mode controller, was proposed with the capability to achieve the high-speed tracking of a reference trajectory in the presence of model uncertainty and external disturbances. A non-linear high gain observer was designed to estimate unknown states to allow output feedback realization. An experiment was conducted to ascertain the performance of the proposed composite controller and to benchmark it to a PID controller with a model-based feedforward element. The proposed controller presents a noticeable improvement and offers a clearly viable alternative to the PID controller for this particular application. © 2014 IEEE.
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Identification and robust tracking control of a single-phase Rotary Motor with halbach permanent magnet array design
2014 IEEE International Conference on Mechatronics and Automation, 2014Co-Authors: Si-lu Chen, Nazir Kamaldin, Wenyu Liang, Guilin YangAbstract:The single-phase electromagnetic Motor with the circular permanent magnet Halbach array design, has advantage of large force constant compared with its 3-phase counterpart, if the rotation is within 60 degrees range from its neutral position. However, to authors' best knowledge, no existing literature mentions on tracking control application using such a single phase Rotary Motor, probably due to its angular dependent force sensitivity. This paper first models a typical two-pole single phase Rotary Motor with Halbach circular array, with consideration of back-EMF, friction torque and position dependent characteristic. Followed by this, a dual-relay configuration is applied to closed-loop identification of model-parameters by limit cycle experiments. Later, a composite controller, composes of a model-based controller, a time-delay controller and a sliding mode controller, is capable to achieve the high-speed tracking of reference trajectory with presentation of model uncertainty and disturbances. Simulation based on the actual design parameters shows the practical appeal of the proposed approach.
