Wei Han
Research Subjects
Wei Han has a total of 9 co-authors. Here are the top co-authors by number of shared publications:
Chao Zhuo
Changsha University of Science and Technology,Changsha,China
1 shared publication- Haoting Wu
School of Instrumentation and Optoelectronic Engineering, Beihang University 1 , Beijing 100191
1 shared publication - Kun Yu
State Key Laboratory of Disaster Prevention and Reduction for Power Grid, Changsha University of Science and Technology, Changsha, China
1 shared publication - Meng Yin
Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China
1 shared publication Xiangjun Zeng
Changsha University of Science and Technology,Changsha,China
1 shared publicationYanru Ni
Changsha University of Science and Technology,Changsha,China
1 shared publication
Latest Publications
- 8 December 2021
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1355-1359
Analysis the Effect of Complex Soil Structure on Potential Distribution Caused by Metro Stray Current
The stray current of urban rail transit will lead to nearby soil potential change, which will cause transformer DC bias. Therefore, the calculation model of earth potential distribution was established based on complex soil structure in this paper Firstly, the traction power supply model of urban rail transit was established, and the analytical expression of stray current distribution was derived. Then, based on the numerical distribution results of metro stray current, the complex soil structure was established by finite element simulation software, and the soil potential calculation was realized. The simulation results showed that the soil structure has absolute influence on the change of earth potential distribution caused by metro stray current. With the greater the difference in soil resistivity of different layers, the influence on the soil potential is more obvious. The calculation of soil potential distribution caused by metro stray current can be realized, which has certain guiding significance for the evaluation of transformer DC bias.
- 8 December 2021
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1355-1359
Analysis the Effect of Complex Soil Structure on Potential Distribution Caused by Metro Stray Current
The stray current of urban rail transit will lead to nearby soil potential change, which will cause transformer DC bias. Therefore, the calculation model of earth potential distribution was established based on complex soil structure in this paper Firstly, the traction power supply model of urban rail transit was established, and the analytical expression of stray current distribution was derived. Then, based on the numerical distribution results of metro stray current, the complex soil structure was established by finite element simulation software, and the soil potential calculation was realized. The simulation results showed that the soil structure has absolute influence on the change of earth potential distribution caused by metro stray current. With the greater the difference in soil resistivity of different layers, the influence on the soil potential is more obvious. The calculation of soil potential distribution caused by metro stray current can be realized, which has certain guiding significance for the evaluation of transformer DC bias.
- Open Access
- 12 February 2020
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Access
- Vol. 8, 37361-37371
Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator
Tendon-sheath actuators (TSAs), similar to Bowden cable-based series elastic actuators (SEAs), have a wide range of applications in robots. However, when applying them to manipulators, force sensors cannot be mounted due to limited space. Therefore, this paper proposes a new method for compliant control based on a dual encoder, and the existing transmission model was improved by considering the joint torque. To validate the proposed method, experimental setups composed of a motor, a tendon-sheath component, a robotic joint, force sensors, and position sensors are established. The transmission processes are interpreted clearly through a position control mode. Parameter identifications without external disturbance force are conducted to acquire the ideal transmission model, and the error value between the experiment data and the fitted curve is measured. The availability of the presented scheme is verified by compliant control experiments, including collision detection and hand guiding, and the frequency characteristics of the actuator are analyzed. The results show that the function can be realized without force and torque sensors during the whole process.
- 12 February 2020
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Access
- Vol. 8, 37361-37371
Open AccessCompliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator
Tendon-sheath actuators (TSAs), similar to Bowden cable-based series elastic actuators (SEAs), have a wide range of applications in robots. However, when applying them to manipulators, force sensors cannot be mounted due to limited space. Therefore, this paper proposes a new method for compliant control based on a dual encoder, and the existing transmission model was improved by considering the joint torque. To validate the proposed method, experimental setups composed of a motor, a tendon-sheath component, a robotic joint, force sensors, and position sensors are established. The transmission processes are interpreted clearly through a position control mode. Parameter identifications without external disturbance force are conducted to acquire the ideal transmission model, and the error value between the experiment data and the fitted curve is measured. The availability of the presented scheme is verified by compliant control experiments, including collision detection and hand guiding, and the frequency characteristics of the actuator are analyzed. The results show that the function can be realized without force and torque sensors during the whole process.