Sharif Digital Repository

The development of energy regeneration capability in electric vehicles can extend their driving range making them a competent alternative for conventional internal combustion engine vehicles. In this study, a novel energy regeneration technique, called a two-boost method, for electric vehicles driven by a brushless DC (BLDC) motor, a widely used motor in vehicular technology, is proposed. Based on this technique, the BLDC motor driver, which is selected to be a three-phase inverter, is converted into two simultaneous boost converters during energy regeneration periods in order to transfer energy from the BLDC motor into the battery and provide the braking force. Also, this method is compared... 

Nowadays, exoskeletons have been gaining popularity due to their potential use in rehabilitation and augmentation. These robots often utilize series elastic actuators to facilitate compliant interaction with the human. Numerous studies have been carried out with the purpose of identification and control of these type of actuators. The goal of this paper is to provide a method for dynamic modeling and identification of series elastic actuators. This model is then used in the control loop as a feed-forward term to eliminate the actuator's dynamics. Each series elastic actuator used in the Sharif wearable robot, uses a brushless DC motor, a torsional spring, a harmonic drive, a timing belt, a...