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This paper proposes a spoke-type fractional-slot concentrated windings (FSCW) permanent magnet (PM) machine for special vehicle driving systems to obtain higher torque and power density, high efficiency and wide field-weakening range. To enhance the efficiencies of multi-objective optimization processes, the respond surface (RS) method and black-hole (BH) algorithm are used.

The spoke-type FSCW PM machine is optimized to meet the requirements of the special vehicle driving system. The combination of the RS and BH algorithm is used to obtain high torque, low torque ripple and high efficiency.

The optimal spoke-type PM machine is obtained, and it has higher torque density, lower torque ripple, cogging torque and wider magnetic field weakening range. Finally, a 15-kW prototype machine is fabricated and tested to verify the results of the optimization method and finite-element analysis.

This paper designs a high torque density and efficiency spoke-type FSCW PM machine, which is superior for special vehicle driving systems. Meanwhile, the RS model combined with BH algorithm is applied to the field of electrical machine multi-objective optimal design.

The purpose of the paper is to propose an efficient and accurate force/torque (F/T) sensing method for the robotic wrist-mounted six-dimensional F/T sensor based on an excitation trajectory.

This paper presents an efficient and accurate F/T sensing method based on an excitation trajectory. First, the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity. Therefore, the sensing accuracy is improved. Then, the excitation trajectory with optimized poses is used for robot following and data acquisition. The data acquisition is not limited by poses and its time can be significantly shortened. Finally, the least squares method is used to identify parameters and sense contact forces/torques.

Experiments have been carried out on the self-developed robot manipulator. The results strongly demonstrate that the proposed approach is more efficient and accurate than the existing widely-adopted method. Furthermore, the data acquisition time can be shortened from more than 60 s to 3 s/20 s. Thus, the proposed approach is effective and suitable for fast-paced industrial applications.

The main contributions of this paper are as follows: the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity; and the excitation trajectory with optimized poses is used for robot following and data acquisition.

When phase windings of brushless DC motor are switched, additional voltage drops across inductances of main circuit appear. These drops lead to, among other effects, increase of torque‐speed curve slope. The discussed research has been aimed at working out a simple and precise method of identifying torque‐speed characteristic of PM BLDC motor. The elaborated method takes into account the influence of windings switching and motor inductances on motor torque‐speed characteristic. In order to assess the results, extensive test simulations of models implemented in Matlab/Simulink software have been run. Results of analysis and test simulations have been compared with lab test results of two real PM BLDC motors.

Analytical calculations take into consideration phenomena occurring during windings switch‐overs and impact of inductance on emerging voltage and rotational speed drops. It has been pointed out that on account of main circuit inductance, the average value of source current is less than average value of equivalent current generating electromagnetic torque. For analysis sake it has been assumed when windings are being switched‐over the current is kept constant; the motor parameters have also been assumed to be constant.

A novel and accurate method of determining torque‐speed characteristics of PM BLDC motor has been worked out. This method has been investigated with the help of motor computer models implemented in Matlab/Simulink software and the obtained results have been subsequently compared with results of laboratory tests of two commercially available PM BLDC motors.

The object of the research was brushless DC motor with permanent magnet excitation. The impact of windings switch‐overs on torque‐speed curves of the motor has been analysed. Analytical method which makes it possible to determine torque‐speed curve of this motor very easily has been elaborated. Computer model of PM BLDC motor for Matlab/Simulink software has also been worked out. Extensive simulations helping to verify the proposed method have been run. Results of analysis and simulation tests have been verified by means of laboratory tests of two commercially available PM BLDC motors.

PM BLDC motors are used more and more widely. The new method of determining PM BLDC motors torque‐speed curves will facilitate analysis and design of drive systems utilizing these motors and will also speed up calculations.

The presented method of determining torque‐speed curves of PM BLDC motor is novel and much more precise than methods commonly used nowadays. Recognized methods usually neglect impact of inductance on motor properties.

The purpose of this paper is to propose a method to avoid hyperstaticity and eventually reduce the magnitude of undesired force/torques. The authors also study the influence of hyperstaticity on human motor control during a redundant task.

Increasing the level of transparency of robotic interfaces is critical to haptic investigations and applications. This issue is particularly important to robotic structures that mimic the human counterpart's morphology and attach directly to the limb. Problems arise for complex joints such as the wrist, which cannot be accurately matched with a traditional mechanical joint. In such cases, mechanical differences between human and robotic joint cause hyperstaticity (i.e. over-constrained) which, coupled with kinematic misalignment, leads to uncontrolled force/torque at the joint. This paper focusses on the prono-supination (PS) degree of freedom of the forearm. The overall force and torque in the wrist PS rotation is quantified by means of a wrist robot.

A practical solution to avoid hyperstaticity and reduce the level of undesired force/torque in the wrist is presented. This technique is shown to reduce 75 percent of the force and 68 percent of the torque. It is also shown an over-constrained mechanism could alter human motor strategies.

The presented solution could be taken into account in the early phase of design of robots. It could also be applied to modify the fixation points of commercial robots in order to reduce the magnitude of reaction forces and avoid changes in motor strategy during the robotic therapy.

In this paper for the first time the authors study the effect of hyperstaticity on both reaction forces and human motor strategies.

This paper aims to propose a new magnetic-geared motor (MGM) which can easily increase the gear ratio up to approximately several hundred. The operational principle is described, and the relationship between the maximum transmission torques of each layer of the differential harmonic magnetic gear is investigated using a mathematical model and finite element method (FEM).

The operational principle and maximum transmission torque are described using a mathematical model. The FEM is used to investigate the operational principle and torque characteristics.

As the proposed model can realize a larger gear ratio than the conventional model, the torque constant can be approximately 100 times as large as that of the conventional model.

The proposed and conventional models have the same shape stator, and it is not optimized.

The relationship between the maximum transmission torques of each layer is described, and this helps the design of a differential type MGM.

An important characteristic of most induction motors is speed- or slip-torque curve. A simplified Kloss formula is widely used for describing speed-torque characteristic because it is fairly simple. Only two parameters related to break-down torque and break-down slip are regarded as input parameters. Because this simplified formula ignores an unknown parameter that is a ratio between Thevenin’s and rotor resistances, an accurate torque curve characteristic may not be fully obtained over an entire speed range. Moreover, the conventional Kloss formula does not offer a speed-torque curve calculation when motor’s supply voltages and frequencies are deviated from rated values. Hence, the purpose of this paper is to present an extension of Kloss formula, which allows a more precise estimation of speed-torque and speed-current curves of single-cage three-phase induction motors over a wide range of speeds at different motor’s operating voltages, frequencies and rotor-circuit resistances.

The analytical approach is mainly used for determining all key parameters in the Kloss formula using a known set of data such as rated torque, starting torque, break-down torque and rated speed, in which they can be obtained from motor’s manufacturer.

The speed-torque and speed-current curves taken from laboratory measurements are compared with those from the calculations. Good agreements between them are fully observed.

This analytical approach is useful in providing an accurate speed-torque and speed-current curves required for most steady-state analysis.

The purpose of this paper is to study the influence of structural parameters of oil groove (such as central angle number, depth and so on) on pressure, flow, load capacity and transmitted torque between friction pairs of hydro-viscous clutch.

According to the working process of friction pairs of hydro-viscous clutch, mathematical models of hydrodynamic load capacity and torque transmitted by the oil film were built based on viscosity-temperature property. Then analytical solutions of pressure, flow, load capacity and transmitted torque were obtained; effects of central angle of oil groove zone and friction contact zone, oil film thickness, number of oil grooves on pressure, flow, load capacity and torque were studied theoretically.

The research found that the central angle of oil groove zone, number of oil grooves and oil groove depth have similar effects on flow, which means that with the increase of central angle, number or depth of oil grooves, the flow also increases; pressure in friction contact zone and oil groove zone drops along radial direction, whereas its value in oil groove zone is higher. With the increase of the central angle of oil groove zone, pressure in friction contact zone and friction contact zone rises, and the load capacity increases, whereas the transmitted torque drops. Number of oil grooves has little effect on load capacity. When the oil film thickness increases, its flow increases accordingly, whereas the pressure, load capacity and transmitted torque drops. Meanwhile, the transmitted torque decreases with the increase of number of oil grooves, whereas the oil groove depth nearly has no effects on transmitted torque.

In this paper, mathematical models of hydrodynamic load capacity and torque transmitted by oil film were built based on viscosity-temperature property in the working process of hydro-viscous clutch, and their analytical solutions were obtained; effects of structural parameters of oil groove on transmission characteristics of hydro-viscous clutch based on viscosity-temperature property were revealed. The research results are of great value to the theory development of hydro-viscous drive technology, the design of high-power hydro-viscous clutch and relative control strategy.

The purpose of this paper is to make a quantitative comparison between induction machine (IM) and interior permanent magnet machine (IPM) for electric vehicle applications, in terms of electromagnetic performance and material cost.

The analysis of IM is based on an analytical method, which has been validated by test. The analysis of IPM is based on finite element analysis. The popular Toyota Prius 2010 IPM is adopted directly, and the IM is designed with the same stator outer diameter and stack length as Prius 2010 IPM for a fair comparison.

The torque capability of IM is lower than IPM for low electric loading and competitive to IPM for high electric loading. The maximum torque/power-speed characteristic of IM is competitive to IPM; while the rated torque/power-speed characteristic of IM is poorer than IPM. The power factor of IM is competitive and even better than IPM for high electric loading in low-speed region. The torque ripple of IM is comparable to IPM for high electric loading and much lower than IPM for low electric loading. The overall efficiency of IM is lower than IPM, and the maximum efficiency of copper squirrel cage IM is approximately 2-3 percent lower than IPM. The material cost of IM is about half of IPM when IM and IPM are designed with the same stator outer diameter and stack length.

The electromagnetic performances and material costs of IM and IPM are quantitatively compared and discussed.

Pulsating torques cause a number of problems in electrical machines, including mechanical vibrations, acoustic noise and the depreciation of mechanical equipment. In induction motors, the slot skewing method is an effective way to solve these issues; however, it has some drawbacks such as output torque drop, stray loss intensification due to inter-bar currents and iron loss increment. Besides, slot skewing may not be practical in higher-rated induction motors. In this regard, this paper introduces a modified non-skewed rotor (MNSR) structure as a possible alternative to the skewed designs.

The proposed structure includes a two-segmented rotor with an intermediate ring between the rotor parts that are mounted on the shaft with a relative shift angle. Detailed information about the idea and structure of the MNSR as well as its manufacturing aspects will be presented in the second section of the paper. First, the working principle of the proposed design is described via analytical equations to provide an insight into the concept. The shifting angle will then be calculated by analyzing the harmonic contents of the electromagnetic torque. Finally, the validity of the analytical method will be verified by developing three-dimensional finite element models.

It is demonstrated that by using the proposed rotor structure, the torque ripple has been reduced to a satisfactory level without significantly affecting the mean torque, unlike the skewing method. Furthermore, the new method could avoid the disadvantages of the skewing method while enhancing other motor characteristics such as iron loss. Also, the total volume of the MNSR is equal to the initial design, and the mass and material differences are also negligible.

In this paper, a MNSR is introduced as a possible alternative to the skewed patterns. The study mainly focused on electromagnetic torque profile characteristics, i.e. the mean torque enhancement and the ripple reduction. The MNSR structure can be used for general purposes and high-performance applications, especially where excellent torque characteristics are required.

The purpose of this paper is to analyze the impact of magnetic saturation on the steady‐state operation of the induction motor (IM) drive in regard to rotor field‐oriented control (RFOC). The aim of the presented two methods is to obtain the required steady‐state torque with minimal stator current, which thus reduces stator coper losses considerably.

The first method is based on an analytic calculation of the peak torque‐per‐ampere ratio curve of saturated IM. The torque characteristics obtained at a constant stator current are used to calculate that value of magnetizing current which gives the minimal stator current for the required load torque. The second method directly searches the minimal stator current for the required load torque. Experiments completely confirm the efficiency of the proposed selection of a magnetizing current reference.

Operation of the IM drive strongly depends on a proper selection of the rotor flux linkage reference value, the selection of which represents an additional degree of freedom in control design. Therefore, it can be used to optimize some of those drive features subjected to voltage and current constraints. The proposed calculation procedure is simple so that can be easily implemented in practically application. However, some additional IM data like magnetizing curve, inertia moment, and coefficient of viscous friction are necessary.

The substantial impact of saturation on the stead‐state torque characteristics of IM, determined for the constant stator current and the constant d‐axis stator current, is determined analytically and numerically.