Modern motion controllers of robot manipulators require knowledge of the system's dynamics in order to intelligently predict the torque command. The main objective for this thesis is to apply various motion controllers on a parallel direct drive robot in simulations and verify if one can take advantage of the model knowledge to improve performance of controllers. The controllers used in this thesis varied from simple PD control with position and velocity reference only applied independently at each joint to more advanced PD control with full dynamic feedforward term and computed torque control, which incorporate full dynamic knowledge of the manipulator. In the first part, a thorough study of deriving dynamic equation using Lagrange formulation has been presented as well as the actual derivation of dynamic equations for MINGUS2000. Next, in order to prepare proper sets of inputs for the simulations, detailed discussions of end effector trajectory path planning and inverse kinematics determination have been presented. Finally, background theories of various controllers used in this thesis have been presented and their simulation results on the closed-chain direct drive robot have been compared for verification purposes.

This project explores the rapidly expanding area of AC direct drive for LED lighting. AC LED driving does not use typical DC-DC converter-based driving but uses semiconductor switches and a linear regulator to activate a number of LEDs proportional to the input voltage at any given time. This allows bulky, expensive magnetics to be eliminated from the system. The goal of this project was to design a scaled-down physical AC LED direct drive system to validate the conclusions of methods for improving efficiency from a previous investigation that found minimizing voltage across the linear regulating MOSFET led to higher efficiency at the cost of increased input current THD. This project found that this conclusion is physically realizable, with a final efficiency of 94.46% and an input current THD of 58.9%. This result was achieved by taking the previous investigation’s final design as a starting point and replacing ideal switches and control signals with discrete components. The final version uses a set of comparators and sense resistors to determine when a given LED stack should be on for a simple, analog control solution. Once the system was simulated this way, the assembled version was used to measure efficiency, power factor, current THD, flicker index, and DC supply power. Additional plots of the stack voltages and control signals were collected to verify proper operation and compare to simulation. The final measurements aligned with trends from simulation and result in a simple AC direct drive solution that requires no specialty ICs.

Einleitung: Die sog. Direct-Drive-Simulation (DDS) bietet Patienten präoperativ eine Klangsimulation des "Vibrant Soundbridge®-Hörens". Ein Floating-Mass-Transducer (FMT) wird auf das Trommelfell oder die rekonstruierte Paukenabdeckung aufgesetzt, worüber den Patienten Testsignale dargeboten werden. Ziel der Arbeit war die Evaluation einer Weiterentwicklung des Tests hin zur DDS-Tonaudiometrie und DDS-Sprachaudiometrie. Bei Bestätigung der ersten Hypothese, soll darüber hinaus geprüft werden, ob eine Hirnstammaudiometrie (BERA) über den DDS durchgeführt werden kann. Ziel der vorliegenden Arbeit ist es Referenzdaten an einer Population Normalhörender zu generieren. Zusammenfassung: Sowohl die DDS-Ton- und Sprachaudiometrie als auch die Ableitung einer BERA über den DDS-FMT sind möglich. Mit der DDS-BERA besteht nun erstmals die Möglichkeit eines objektiven DDS-Tests präoperativ. Die notwendige Einschätzung der Ankopplungsqualität zur korrekten Interpretation der DDS-BERA lässt sich elegant mit Hilfe der DDS-Tonaudiometrie ermitteln. / Background: The direct drive simulation (DDS) offers patients a preoperative sound simulation of the active middle ear implant "Vibrant Soundbridge®". The floating mass transducer (FMT) is placed on the eardrum or on the tympanic membrane graft, where the signals are applied. The aim of this study was first to evaluate and develop a specific Direct Drive-Pure-Tone-Audiometry (DD-PTA) as well as a Direct-Drive-Speech-Audiometry (DD-SA) and if feasible, expand the test to an objective audiometric test, the Direct-Drive-Auditory Brainstem Response (DD-ABR). 20 normal hearing subjects were tested. Summary: DD-PTA, DD-SA and DD-ABR are possible examinations that could be used in the daily hospital routine. The DD-ABR threshold correlates well with the DD-PTA. For the first time DD-ABR offers the possibility of an objective DDS-test. DD-PTA is the key tool to evaluate the coupling quality which is a precondition for correct interpretation of the DD-ABR.

As machine topologies and technologies mature, the fundamental function of the device is honed. Direct drive machines have the potential to launch the renewable energy sector into a new era of large scale, reliable, offshore power generation. With advancements in new technologies, such as superconductivity, the reduction of generator mass due to incorporation of machine and device structures, the continued advancements in component and system reliability; direct drive generators have the ability to outsize geared wind systems and simplify submerged linear and rotary power generation. The research held within this thesis will focus on improving direct drive power take off systems for offshore renewable energy power generation by splitting the area into four parts. The first part will discuss the various methods of energy extraction within the offshore and marine environment. The future of the sector will be discussed, and a forecast of technological advancement and existing reliability issues will be provided based on current data. The second part will focus on drive trains and direct drive generators, assessing the current topologies and suggesting alternatives that may thrive in a variety of large and small offshore renewable machines. The third part investigates the application of novel linear bearings in direct drive systems for offshore and submerged operation. A brief study of the loads found in wave applications will be presented and the testing of several polymer bearing materials will be outlined. The final part will discuss the potential benefits of flooding the airgap of a direct drive generator with sea water for marine applications. Results will be presented from two linear test rigs and the marinisation of devices will conclude the report.

In 2016 it is 70 years since the first patent for a two-stage servovalve was filed, and 60 years since the double nozzle-flapper two-stage valve patent was granted. This paper reviews the many alternative servovalve designs that were investigated at that time, focusing on two-stage valves. The development of single-stage valves – otherwise known as direct drive or proportional valves – for industrial rather than aerospace application is also briefly reviewed. Ongoing research into alternative valve technology is then discussed, particularly focussing on piezoelectric actuation and the opportunities afforded by additive manufacturing.

Doctor of Philosophy / Department of Electrical and Computer Engineering / Behrooz Mirafzal / In this dissertation, a new topology for Direct-Drive Wind Turbines (DDWTs) with a new power electronics interface and a low-voltage generator design is presented. In the presented power electronics interface, the grid - side converter is replaced by a boost Current Source Inverter (CSI) which eliminates the required dc-bus capacitors resulting in an increase in the lifetime of DDWTs. The inherently required dc-link inductor for this topology is eliminated by utilizing the inductance of the Permanent Magnet Synchronous Generator (PMSG). The proposed three-phase boost CSI is equipped with Reverse-Blocking IGBTs (RB-IGBT) and the Phasor Pulse Width Modulation (PPWM) switching pattern to provide a 98% efficiency and high boost ratios ([superscript V]LL/V[subscript dc]) up to 3.5 in a single stage. In this dissertation, Phasor Pulse Width Modulation (PPWM) pattern for the boost – CSI is also modified and verified through simulation and experimental results. In order to realize potential capabilities of the boost inverter and to assist its penetration into renewable energy systems, the boost inverter dynamic behaviors are studied in this dissertation. Then, the developed models are verified using circuit simulations and experiments on a laboratory-scale boost – CSI equipped with RB-IGBTs. The developed dynamic models are used to study the stability of the boost – CSI through root locus of small signal poles (eigenvalues) as control inputs and load parameters vary within the boost inverter's operating limits. The dynamic models are also used to design the control schemes for the boost – CSI for both stand-alone and grid-tied modes of operation. The developed controllers of the boost – CSI are verified through simulation and experimental results. In this dissertation, the boost – CSI steady-state characterization equations are also developed and verified. The developed boost – CSI is used to replace the grid - side converter in a DDWT. A reliability analysis on the power electronics interface of an existing and developed topology is presented to demonstrate the increase in the mean time between failures. The boost – CSI enables conversion of a low dc voltage to a higher line-to-line voltage enabling the implementation of a low-voltage generator. This further enables a reduction in the number poles required in DDWT generators. The feasibility of the presented low-voltage generator is investigated through finite element computations. In this dissertation, a 1.5MW low-voltage generator designed for the proposed topology is compared with an existing 1.5MW permanent magnet synchronous generator for DDWTs to demonstrate the reduction in the volume, weight, and amount of permanent magnet materials required in the generator. The feasibility of the developed system is supported by a set of MATLAB/Simulink simulations and laboratory experiments on the closed-loop stand-alone and grid-tied systems.

Wind energy has been the fastest emerging renewable energy source over the last decade. The overriding provisos to minimise greenhouse emissions and increasing concerns regarding energy security have been the major inducements for many countries to make a resolute transition to new and non-conventional power sources. Direct-drive systems for wind turbines are potentially a more reliable alternative to gearbox driven systems. Gearboxes are liable to significant accumulated fatigue torque loading with relatively high maintenance costs. It is with this in mind that the primary focus of this research is on direct-drive wind turbines. Generators in direct-drive wind turbines tend to be of large diameter and heavier due to the support structure required to maintain as small air-gap as possible between the stationary and rotating parts of the generator. Permanent magnet generators (PMGs) are the most common type to be used within direct-drive wind turbines nowadays. Generators and other drive-train components in wind turbines experience significant varying loads, which may lead to a bearing failure. These varying loads can lead to misalignment within the drivetrain producing eccentricity between the generator rotor and stator. Rotor eccentricity generates a magnetic force referred to as Unbalanced Magnetic Pull (UMP). The induced UMP for the same rotor eccentricity is much higher in PMGs than induction generators because of the higher permanent magnet magnetic field. UMP is an important issue requiring further research. A part of this study provides a more detailed treatment of UMP under varying rotor eccentricity regimes for various permanent magnet machine topologies. The effect of UMP in direct-drive PMGs on the lifetime of the main bearing is a topic that requires more research aimed at proposing design improvements and solutions. The hope being that the availability of such solutions can be applied to practical reductions in operating costs. In brief, identification of the root causes of failure and impacts on component lifetime remain a subject of research. Establishing analytical tools for studying the impact of UMP on component lifetime in direct drive wind turbines and identifying the prospects for air gap winding machines using single bearing configuration are the two key areas for further research. Firstly, this research aims to establish the relationship between bearing forces and different types of eccentricities and UMP in direct drive machines. It is intended to use such models for predicting bearing wear and fatigue. Secondly, this research aims to establish the analytical tools for studying static, dynamic and tilting eccentricity in air-gap winding direct drive generators. Such tools are used to increase the understanding of the dynamics of direct drive PM generators. The final step of this study is using a multi-body simulation software (SIMPACK) to initiate investigations and comparison by providing assessments of electromagnetic interaction and internal drive-train loading for four possible designs for a proposed 5MW direct-drive wind turbine in response to the loads normally seen by a wind turbine. The four designs include: (a) iron-cored PM direct-drive generator supported by two main bearings, (b) airgap winding PM direct-drive generator supported by two main bearings, (c) iron-cored PM direct-drive generator supported by a single main bearing, (d) airgap winding PM direct-drive generator supported by a single main bearing. An aero-elastic simulation code (HAWC2) is used to extract the hub loads for different wind speeds corresponding to the normal operation of the wind turbine. The dynamic eccentricity and its influence on the electromagnetic interaction and consequential effects on bearing loading for all four designs is examined to determine the most optimal support structural configuration for a direct-drive system. In summary, the main aim of this thesis is studying the effect of different types of rotor eccentricities in different types of direct drive PMGs on the main bearing arrangements. The results show that static rotor eccentricity has the maximum impact compared to the other types of eccentricities. The main result of an eccentricity is the induced UMP which applies directly as an extra force on the bearings. The influence of UMP on bearing wear is studied. This influence is found to be significant in PM machines and should be considered when designing the bearing stiffness. A 20% static rotor eccentricity in a PM machine is found to induce an UMP that roughly equals third the total weight of the machine. A single bearing design for a direct-drive wind turbine is proposed and compared with a conventional two-bearing design. The results show that the Iron-cored PM direct-drive generator supported by two main bearings design and airgap winding PM direct-drive generator supported by a single main bearing design have advantages over the other two designs in this study.

The diploma thesis deals with the design of a direct drive tool turret, which serves as a tool magazine for a CNC lathe. In the introductory part of the work, a research was performed in the field of automatic tool change with a focus on tool turrets and their main structural units. The introductory research is followed by the main part of the work, which begins with the selection of appropriate design solutions, followed by a presentation of the tool turret design created in CAD software Autodesk Inventor 2021 and in the final part of thesis the key elements of the proposed design are verified by calculations.

In 2016 it is 70 years since the first patent for a two-stage servovalve was filed, and 60 years since the double nozzle-flapper two-stage valve patent was granted. This paper reviews the many alternative servovalve designs that were investigated at that time, focusing on two-stage valves. The development of single-stage valves – otherwise known as direct drive or proportional valves – for industrial rather than aerospace application is also briefly reviewed. Ongoing research into alternative valve technology is then discussed, particularly focussing on piezoelectric actuation and the opportunities afforded by additive manufacturing.

This thesis develops design methodologies for megawatt(MW)-scale yokeless and segmented armature (YASA) generators for wind turbine applications. The methodologies include the electromagnetic, the structural and the thermal designs of a YASA generator. The design process starts with developing an analytical method to generate preliminary machine designs for a megawatt-scale YASA generator. This analytical approach considers both electromagnetic and structural aspects of a generator, the parameters of which were obtained and visualised on a design reference map. This new concept of displaying machine parameters is useful for a designer to identify the relationship between them. An optimisation tool using pseudo-weight approach is integrated into the analytical tool to determine a optimum machine design. This is a flexible optimisation tool, allowing the user to give priorities to each objective function. The analytical calculation has reduced the design space for suitable machine candidates to be applied in further finite element analysis (FEM). In finite element analysis of an optimised YASA machine, the electromagnetic performance of a 1 MW YASA generator was produced and verified with analytical and experiment results. This is followed by structural optimisation with finite element method, where a spider wheel with a support ring geometry is applied to the rotor plate. This reduces the structural weight by more than 50% while the structure retain strong stiffness. Finally, the cooling system of the stator of the YASA generator is studied and the cooling channels design is proposed. Simulation results show that the stator of a 1 MW YASA generator can be effectively cooled with forced air.