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Improvement in the Energy Autonomy and the Mechanical Performances of an Onboard Actuation Chain for Robotics.

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Title: Improvement in the Energy Autonomy and the Mechanical Performances of an Onboard Actuation Chain for Robotics.
Authors: Ahmed Hassan, Abdoul-Aziz1,2 (AUTHOR) abdoul-aziz_ahmed_hassan@univ.edu.dj, Cherifi, Abderrezzak2 (AUTHOR), Bouchhida, Ouahid3 (AUTHOR), Charles, Sebastien1,2 (AUTHOR), Barkad, Hassan Ali1,2 (AUTHOR)
Source: Energies (19961073). May2026, Vol. 19 Issue 10, p2258. 19p.
Subject Terms: *Pulse width modulation, *Electric loss in electric power systems, *Robotics, *Mechanical efficiency
Abstract: This paper aims to improve the energy autonomy and the mechanical performances of an on-board drive chain for robotics. The energy autonomy improvement is performed by reducing electrical losses in the inverter. Electrical losses are reduced by decreasing the number of switching cycles per period of the inverter's power semiconductor switches, while maintaining a low Total Harmonic Distortion (THD). These improvements are expected thanks to a new control strategy called Pre-Calculated Pulse Width Modulation (PC PWM). The principle of this new control strategy is that all the symmetries of an ideal three-phase voltage system are assigned to the real output voltage of the inverter. Then the switching instants of the inverter's switches are determined off line, by means of Fourier's analysis, so that the maximum number of successive harmonics is zeroed. This allows the optimal switching sequence to be predefined, thereby reducing unnecessary commutations of the power switches. The performance of the new method (PC PWM) is evaluated through detailed simulation studies and compared with the conventional method called Sinusoidal Pulse Width Modulation (SPWM). The simulation results show that despite the reduction in the number of commutations per period, the performance of the actuation chain has been significantly improved with PC-PWM (new technique). Indeed, for the same mechanical load, the PC-PWM method allows for a lower current, a shorter transient response time and a lower torque ripple than the SPWM method. [ABSTRACT FROM AUTHOR]
Database: Energy & Power Source
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Header DbId: enr
DbLabel: Energy & Power Source
An: 194141373
AccessLevel: 6
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  Label: Title
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  Data: Improvement in the Energy Autonomy and the Mechanical Performances of an Onboard Actuation Chain for Robotics.
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  Data: <searchLink fieldCode="AR" term="%22Ahmed+Hassan%2C+Abdoul-Aziz%22">Ahmed Hassan, Abdoul-Aziz</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<i> abdoul-aziz_ahmed_hassan@univ.edu.dj</i><br /><searchLink fieldCode="AR" term="%22Cherifi%2C+Abderrezzak%22">Cherifi, Abderrezzak</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Bouchhida%2C+Ouahid%22">Bouchhida, Ouahid</searchLink><relatesTo>3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Charles%2C+Sebastien%22">Charles, Sebastien</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Barkad%2C+Hassan+Ali%22">Barkad, Hassan Ali</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Energies+%2819961073%29%22">Energies (19961073)</searchLink>. May2026, Vol. 19 Issue 10, p2258. 19p.
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  Data: *<searchLink fieldCode="DE" term="%22Pulse+width+modulation%22">Pulse width modulation</searchLink><br />*<searchLink fieldCode="DE" term="%22Electric+loss+in+electric+power+systems%22">Electric loss in electric power systems</searchLink><br />*<searchLink fieldCode="DE" term="%22Robotics%22">Robotics</searchLink><br />*<searchLink fieldCode="DE" term="%22Mechanical+efficiency%22">Mechanical efficiency</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: This paper aims to improve the energy autonomy and the mechanical performances of an on-board drive chain for robotics. The energy autonomy improvement is performed by reducing electrical losses in the inverter. Electrical losses are reduced by decreasing the number of switching cycles per period of the inverter's power semiconductor switches, while maintaining a low Total Harmonic Distortion (THD). These improvements are expected thanks to a new control strategy called Pre-Calculated Pulse Width Modulation (PC PWM). The principle of this new control strategy is that all the symmetries of an ideal three-phase voltage system are assigned to the real output voltage of the inverter. Then the switching instants of the inverter's switches are determined off line, by means of Fourier's analysis, so that the maximum number of successive harmonics is zeroed. This allows the optimal switching sequence to be predefined, thereby reducing unnecessary commutations of the power switches. The performance of the new method (PC PWM) is evaluated through detailed simulation studies and compared with the conventional method called Sinusoidal Pulse Width Modulation (SPWM). The simulation results show that despite the reduction in the number of commutations per period, the performance of the actuation chain has been significantly improved with PC-PWM (new technique). Indeed, for the same mechanical load, the PC-PWM method allows for a lower current, a shorter transient response time and a lower torque ripple than the SPWM method. [ABSTRACT FROM AUTHOR]
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        Value: 10.3390/en19102258
    Languages:
      – Code: eng
        Text: English
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        PageCount: 19
        StartPage: 2258
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      – SubjectFull: Pulse width modulation
        Type: general
      – SubjectFull: Electric loss in electric power systems
        Type: general
      – SubjectFull: Robotics
        Type: general
      – SubjectFull: Mechanical efficiency
        Type: general
    Titles:
      – TitleFull: Improvement in the Energy Autonomy and the Mechanical Performances of an Onboard Actuation Chain for Robotics.
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            NameFull: Ahmed Hassan, Abdoul-Aziz
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            NameFull: Charles, Sebastien
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            NameFull: Barkad, Hassan Ali
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            – D: 15
              M: 05
              Text: May2026
              Type: published
              Y: 2026
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              Value: 19
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              Value: 10
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            – TitleFull: Energies (19961073)
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