ahmad ghaderi | Nidec Corporation (original) (raw)
Papers by ahmad ghaderi
In this paper the research and development approaches for vehicle electrification has been studied..
— In recent years, vehicle electrification has not been limited to passenger cars, and has been m... more — In recent years, vehicle electrification has not been limited to passenger cars, and has been moving into the commercial, industrial, agricultural, and construction vehicle markets. Electrification of commercial vehicles offers several advantages including lower fuel consumption, less air pollution, lees noise and vibration, lower maintenance costs, increased payload capability and increased reliability. There are two significant trends in the commercial vehicle electrification. The first trend is the development of electric and hybrid powertrain systems. And the second trend is the electrification of auxiliary systems, including electric power steering systems, air compressor units, transmission and engine cooling systems. In this paper, at first the electrification technologies, used in commercial and industrial vehicles, are explained. Then commercial versions of these technologies are described, and their performances are evaluated. Finally, the potential market for electrified commercial vehicles is briefly assessed.
— Over the past several decades, the indiscriminate use of fossil fuels has led to the environmen... more — Over the past several decades, the indiscriminate use of fossil fuels has led to the environmental problems, such as global warming, air pollution and energy crisis. Considering the vehicles consume the vast majority of fossil fuels used in the world, any improvement in the efficiency of vehicles reduces the above mentioned problems. In recent years, vehicle electrification technologies including, electric vehicles and hybrid electric vehicles are considered as alternative technologies for sustainable transport. In this paper, at first, vehicle electrification technologies have been reviewed and various technical aspects of electric, hybrid and plug in hybrid vehicles have been discussed. The different topologies of electric drive vehicles as well as the components that can be used to build such vehicles, including energy storages, electric machines and electric drives are discussed. As well the aspects and advantages of the electrical systems for performing vehicle functions traditionally achieved by mechanical systems are explained. Also the vehicles charging standards and the concepts of vehicle to building and vehicle to grid are explained.
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2008
Journal of Power Electronics, 2011
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 2015
It is expected that the number of electric drive vehicles (EDVs) would grow rapidly in the coming... more It is expected that the number of electric drive vehicles (EDVs) would grow rapidly in the coming years. Considering cars are parked over 92% of the time, the excess batteries capacity of EVs could be used to support power grid, while they are plugged into the grid. Although this technology, which is called vehicle to grid (V2G), has several benefit, vehicle to building (V2B) systems have a higher potential to be implemented commercially and economically. In this paper potential benefit of V2B considering the battery degradation cost is evaluated. A V2B system, with 6 electric vehicles, is simulated, and the effect of the battery charging/discharging time and the battery replacement cost has been studied. The results of this study prove that V2B has a relatively significant profit even considering the battery cost degradation.
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 2015
In electric and hybrid-electric vehicles, the inverter output voltage is limited by available DC-... more In electric and hybrid-electric vehicles, the inverter output voltage is limited by available DC-link voltage, which restricts the vehicle speed and acceleration. Therefore the fundamental component of the motor voltage should be increased by operating inverter in the six-step mode at high speeds. Although hysteresis based direct torque control (DTC) is a straightforward approach and has several advantages, this method cannot work in the six-step mode. In this paper a new hysteresis based DTC with over modulation ability for interior permanent magnet synchronous machines (IPMSM) is suggested. In this method, unlike the previously proposed methods, the calculation of the voltage vector or flux reference in different phase angles is not necessary. In the proposed method, the flux trajectory is changed by adjusting the non-switching area and modifying switching table, and thus a seamless transformation between high-frequency switching and six-step square wave is possible. Also in this paper, the dynamic model for an electric vehicle is developed which its traction motor is controlled by proposed DTC. The simulation results prove that the proposed method modify the vehicle performances, notably. These results show that the vehicle with proposed method has a higher top speed and better acceleration. Also it is shown, that the proposed method can improve the vehicle efficiency for various driving cycles. In addition the results confirm the torque discontinuity does not appear in the whole range of vehicle speed.
IEEE Transactions on Industrial Electronics, 2016
In an electric drive vehicle (EDV), the available voltage on a dc-link is limited, and so the inv... more In an electric drive vehicle (EDV), the available voltage on a dc-link is limited, and so the inverter output voltage and, consequently, the line motor maximum speed are limited. The fundamental voltage of the inverter output is increased approximately 27% using a square wave (SW) switching pattern instead of a sine wave switching pattern. However, this pattern can only be used at high speeds, and at lower speeds a pulsewidth modulation (PWM) pattern should be used. In order to achieve proper control, the switching pattern should be changed seamlessly. In the present paper, a new PWM scheme for single-mode seamless control of Vernier motors is proposed. In the proposed scheme, the reference voltage is modified to change the switching pattern continuously so that the voltage changes smoothly from a high-frequency pattern to an SW and voltage discontinuity does not occur. Experimental results reveal that the inverter-switching pattern changes smoothly from a sinusoidal PWM pattern to an SW pattern, and so seamless control from the constant-torque region to the constant-power region, and vice versa, is achieved. Since the proposed scheme is a single-mode control, it is much simpler than current technologies, which are based on multimode controllers. Also the proposed method has a lower total harmonic disturbance (THD) as well as a lower harmonic distortion factor (HDF) compared to some existing methods.
Journal of power electronics
In this paper a novel hybrid propulsion system for mobile robots is proposed. Because in this sys... more In this paper a novel hybrid propulsion system for mobile robots is proposed. Because in this system the ability of power flow control from of multiple separated energy storage units and speed control for each motor are combined, this robot can be derived by hybrid power sources. This capability, allow robot to diversify its energy source by employing several energy storage units and energy sources. The simulation and experimental results show proposed scheme and extracted equations are valid and energy management and speed control can be achieved properly using this method. The filed experiments show robot mobility functions to perform the requested motion is enough and it has a high maneuverability in the field.
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
In this paper, we describe the concept, design and implementation of a series of autonomous mobil... more In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named ldquoMusashirdquo robot, which have safety design which is based on ISO and a mechatronics modular architecture, to participate in the RoboCup middle-size league. In modularity design methodology, we show that the selection of a proper moving mechanism, a suitable vision system and a mechatronics modular architecture design can lead to realize a reliable, simple, and low cost robot comparing with most of car-like robots including many kinds of sensors and a complex design structure.
Electric Machines and Drives IEEE International Conference, 2011
Comparison of various motor drives has revealed that direct torque control (DTC) drive has severa... more Comparison of various motor drives has revealed that direct torque control (DTC) drive has several advantages and a much faster torque response compared to other AC or DC drives. However, the conventional DTC cannot operate in the six-step mode, which is required in high-speed applications. Therefore, an accurate method is essential in order to achieve a seamless transformation between conventional
APEC 07 - Twenty-Second Annual IEEE Applied Power Electronics Conference and Exposition, 2007
In this paper a very low speed sensorless vector control of synchronous reluctance motor with a n... more In this paper a very low speed sensorless vector control of synchronous reluctance motor with a novel startup scheme is presented. The estimation of speed and rotor angle is based on extended programmable cascaded low pass filter (EPCLPF) which reduces the dc-offset effect at low speed area effectively. Thus the sensorless control at very low speed area is possible. At
Studies in Computational Intelligence, 2010
... A Novel Embedded Computer Based Autonomous Robot for Sewer Pipe Inspection Ahmad Ghaderi, Ami... more ... A Novel Embedded Computer Based Autonomous Robot for Sewer Pipe Inspection Ahmad Ghaderi, Amir AF Nassiraei, and Kazuo Ishii ... 2005-17384 (January 2005) 7. Ehsani, M., Gao, Y., Miller, JM: Hybrid Electric Vehicles: Architecture and Motor Drives. ...
In this paper the research and development approaches for vehicle electrification has been studied..
— In recent years, vehicle electrification has not been limited to passenger cars, and has been m... more — In recent years, vehicle electrification has not been limited to passenger cars, and has been moving into the commercial, industrial, agricultural, and construction vehicle markets. Electrification of commercial vehicles offers several advantages including lower fuel consumption, less air pollution, lees noise and vibration, lower maintenance costs, increased payload capability and increased reliability. There are two significant trends in the commercial vehicle electrification. The first trend is the development of electric and hybrid powertrain systems. And the second trend is the electrification of auxiliary systems, including electric power steering systems, air compressor units, transmission and engine cooling systems. In this paper, at first the electrification technologies, used in commercial and industrial vehicles, are explained. Then commercial versions of these technologies are described, and their performances are evaluated. Finally, the potential market for electrified commercial vehicles is briefly assessed.
— Over the past several decades, the indiscriminate use of fossil fuels has led to the environmen... more — Over the past several decades, the indiscriminate use of fossil fuels has led to the environmental problems, such as global warming, air pollution and energy crisis. Considering the vehicles consume the vast majority of fossil fuels used in the world, any improvement in the efficiency of vehicles reduces the above mentioned problems. In recent years, vehicle electrification technologies including, electric vehicles and hybrid electric vehicles are considered as alternative technologies for sustainable transport. In this paper, at first, vehicle electrification technologies have been reviewed and various technical aspects of electric, hybrid and plug in hybrid vehicles have been discussed. The different topologies of electric drive vehicles as well as the components that can be used to build such vehicles, including energy storages, electric machines and electric drives are discussed. As well the aspects and advantages of the electrical systems for performing vehicle functions traditionally achieved by mechanical systems are explained. Also the vehicles charging standards and the concepts of vehicle to building and vehicle to grid are explained.
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2008
Journal of Power Electronics, 2011
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 2015
It is expected that the number of electric drive vehicles (EDVs) would grow rapidly in the coming... more It is expected that the number of electric drive vehicles (EDVs) would grow rapidly in the coming years. Considering cars are parked over 92% of the time, the excess batteries capacity of EVs could be used to support power grid, while they are plugged into the grid. Although this technology, which is called vehicle to grid (V2G), has several benefit, vehicle to building (V2B) systems have a higher potential to be implemented commercially and economically. In this paper potential benefit of V2B considering the battery degradation cost is evaluated. A V2B system, with 6 electric vehicles, is simulated, and the effect of the battery charging/discharging time and the battery replacement cost has been studied. The results of this study prove that V2B has a relatively significant profit even considering the battery cost degradation.
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 2015
In electric and hybrid-electric vehicles, the inverter output voltage is limited by available DC-... more In electric and hybrid-electric vehicles, the inverter output voltage is limited by available DC-link voltage, which restricts the vehicle speed and acceleration. Therefore the fundamental component of the motor voltage should be increased by operating inverter in the six-step mode at high speeds. Although hysteresis based direct torque control (DTC) is a straightforward approach and has several advantages, this method cannot work in the six-step mode. In this paper a new hysteresis based DTC with over modulation ability for interior permanent magnet synchronous machines (IPMSM) is suggested. In this method, unlike the previously proposed methods, the calculation of the voltage vector or flux reference in different phase angles is not necessary. In the proposed method, the flux trajectory is changed by adjusting the non-switching area and modifying switching table, and thus a seamless transformation between high-frequency switching and six-step square wave is possible. Also in this paper, the dynamic model for an electric vehicle is developed which its traction motor is controlled by proposed DTC. The simulation results prove that the proposed method modify the vehicle performances, notably. These results show that the vehicle with proposed method has a higher top speed and better acceleration. Also it is shown, that the proposed method can improve the vehicle efficiency for various driving cycles. In addition the results confirm the torque discontinuity does not appear in the whole range of vehicle speed.
IEEE Transactions on Industrial Electronics, 2016
In an electric drive vehicle (EDV), the available voltage on a dc-link is limited, and so the inv... more In an electric drive vehicle (EDV), the available voltage on a dc-link is limited, and so the inverter output voltage and, consequently, the line motor maximum speed are limited. The fundamental voltage of the inverter output is increased approximately 27% using a square wave (SW) switching pattern instead of a sine wave switching pattern. However, this pattern can only be used at high speeds, and at lower speeds a pulsewidth modulation (PWM) pattern should be used. In order to achieve proper control, the switching pattern should be changed seamlessly. In the present paper, a new PWM scheme for single-mode seamless control of Vernier motors is proposed. In the proposed scheme, the reference voltage is modified to change the switching pattern continuously so that the voltage changes smoothly from a high-frequency pattern to an SW and voltage discontinuity does not occur. Experimental results reveal that the inverter-switching pattern changes smoothly from a sinusoidal PWM pattern to an SW pattern, and so seamless control from the constant-torque region to the constant-power region, and vice versa, is achieved. Since the proposed scheme is a single-mode control, it is much simpler than current technologies, which are based on multimode controllers. Also the proposed method has a lower total harmonic disturbance (THD) as well as a lower harmonic distortion factor (HDF) compared to some existing methods.
Journal of power electronics
In this paper a novel hybrid propulsion system for mobile robots is proposed. Because in this sys... more In this paper a novel hybrid propulsion system for mobile robots is proposed. Because in this system the ability of power flow control from of multiple separated energy storage units and speed control for each motor are combined, this robot can be derived by hybrid power sources. This capability, allow robot to diversify its energy source by employing several energy storage units and energy sources. The simulation and experimental results show proposed scheme and extracted equations are valid and energy management and speed control can be achieved properly using this method. The filed experiments show robot mobility functions to perform the requested motion is enough and it has a high maneuverability in the field.
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
In this paper, we describe the concept, design and implementation of a series of autonomous mobil... more In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named ldquoMusashirdquo robot, which have safety design which is based on ISO and a mechatronics modular architecture, to participate in the RoboCup middle-size league. In modularity design methodology, we show that the selection of a proper moving mechanism, a suitable vision system and a mechatronics modular architecture design can lead to realize a reliable, simple, and low cost robot comparing with most of car-like robots including many kinds of sensors and a complex design structure.
Electric Machines and Drives IEEE International Conference, 2011
Comparison of various motor drives has revealed that direct torque control (DTC) drive has severa... more Comparison of various motor drives has revealed that direct torque control (DTC) drive has several advantages and a much faster torque response compared to other AC or DC drives. However, the conventional DTC cannot operate in the six-step mode, which is required in high-speed applications. Therefore, an accurate method is essential in order to achieve a seamless transformation between conventional
APEC 07 - Twenty-Second Annual IEEE Applied Power Electronics Conference and Exposition, 2007
In this paper a very low speed sensorless vector control of synchronous reluctance motor with a n... more In this paper a very low speed sensorless vector control of synchronous reluctance motor with a novel startup scheme is presented. The estimation of speed and rotor angle is based on extended programmable cascaded low pass filter (EPCLPF) which reduces the dc-offset effect at low speed area effectively. Thus the sensorless control at very low speed area is possible. At
Studies in Computational Intelligence, 2010
... A Novel Embedded Computer Based Autonomous Robot for Sewer Pipe Inspection Ahmad Ghaderi, Ami... more ... A Novel Embedded Computer Based Autonomous Robot for Sewer Pipe Inspection Ahmad Ghaderi, Amir AF Nassiraei, and Kazuo Ishii ... 2005-17384 (January 2005) 7. Ehsani, M., Gao, Y., Miller, JM: Hybrid Electric Vehicles: Architecture and Motor Drives. ...