Pub Date : 2020-10-18DOI: 10.1109/IECON43393.2020.9254778
Priyatosh Jena, R. Singh
This paper presents a unified loop based dual active bridge (DAB) with front end rectifier, a boost converter forming AC to DC power stage, and a DAB forming an isolated second DC-DC stage for electric vehicle battery charging application. In unified loop controller, controller capable of power factor correction (PFC) and battery charging control without sensing the DC link voltage in the topology is proposed. In this control strategy, irrespective of the nature of input supply (AC or DC) the output voltage/current maintained constant to the desired value as per battery constant current and constant voltage (CC-CV) characteristics thus the title referred mixed energy source. This type of power stage topology is used due to the inherent nature of the rectifier to provide DC output (constant or pulsating) irrespective of input supply nature. Therefore, a combination of unified loop and mentioned topology allows constant battery voltage/current irrespective of the nature of the input. A Boost converter is used to regulate DC link voltage depending upon load requirement thus varying DC link will allow to regulate the output supply of the DAB. As per the IEC 61000-3-2 standard, the total harmonic distortion in the current drawn from the AC main is restricted to prescribed limits. In this paper mathematical modeling of the topology has been carried along with a detailed study of working of the unified loop. MATLAB/Simulink based model along with the experimental results is discussed to support the idea with both AC and DC supply.
{"title":"Mix Energy Source Unified Loop based Dual Active Bridge for Electric Vehicle","authors":"Priyatosh Jena, R. Singh","doi":"10.1109/IECON43393.2020.9254778","DOIUrl":"https://doi.org/10.1109/IECON43393.2020.9254778","url":null,"abstract":"This paper presents a unified loop based dual active bridge (DAB) with front end rectifier, a boost converter forming AC to DC power stage, and a DAB forming an isolated second DC-DC stage for electric vehicle battery charging application. In unified loop controller, controller capable of power factor correction (PFC) and battery charging control without sensing the DC link voltage in the topology is proposed. In this control strategy, irrespective of the nature of input supply (AC or DC) the output voltage/current maintained constant to the desired value as per battery constant current and constant voltage (CC-CV) characteristics thus the title referred mixed energy source. This type of power stage topology is used due to the inherent nature of the rectifier to provide DC output (constant or pulsating) irrespective of input supply nature. Therefore, a combination of unified loop and mentioned topology allows constant battery voltage/current irrespective of the nature of the input. A Boost converter is used to regulate DC link voltage depending upon load requirement thus varying DC link will allow to regulate the output supply of the DAB. As per the IEC 61000-3-2 standard, the total harmonic distortion in the current drawn from the AC main is restricted to prescribed limits. In this paper mathematical modeling of the topology has been carried along with a detailed study of working of the unified loop. MATLAB/Simulink based model along with the experimental results is discussed to support the idea with both AC and DC supply.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"40 1","pages":"2584-2589"},"PeriodicalIF":0.0,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73433928","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-18DOI: 10.1109/IECON43393.2020.9254644
Chi Zhang, G. Buticchi, Jiajun Yang, Zhixiang Zou
The development of power electronics and control technology provides improved performance of the electrical appliances, making them robust to changes in the supply voltage or frequency. However, power electronic converters behave as constant power loads (CPLs), which have negative impedance characteristics, and this non-linear behavior is challenging the stability of the grid. This paper investigates the input impedance of a three-phase low-voltage grid connected ac-dc converter that operating as a CPL when interfaced to a single DC bus and a changeable load. The possibility of adopting a Smart Transformer (ST), a power electronics converter which feeds a low-voltage grid, for the CPL stabilization is also addressed. To analyze the behavior of CPLs, a strategy of impedance modelling is employed. Gain Margin Phase Margin (GMPM) Criterion is referred to judge the stability of the system and verify the stabilization operation for CPLs. Simulation results are presented to be as a support.
{"title":"Control and Stabilization of Grid-connected Converters Operating as Constant Power Load in a Smart Transformer Grid Scenario","authors":"Chi Zhang, G. Buticchi, Jiajun Yang, Zhixiang Zou","doi":"10.1109/IECON43393.2020.9254644","DOIUrl":"https://doi.org/10.1109/IECON43393.2020.9254644","url":null,"abstract":"The development of power electronics and control technology provides improved performance of the electrical appliances, making them robust to changes in the supply voltage or frequency. However, power electronic converters behave as constant power loads (CPLs), which have negative impedance characteristics, and this non-linear behavior is challenging the stability of the grid. This paper investigates the input impedance of a three-phase low-voltage grid connected ac-dc converter that operating as a CPL when interfaced to a single DC bus and a changeable load. The possibility of adopting a Smart Transformer (ST), a power electronics converter which feeds a low-voltage grid, for the CPL stabilization is also addressed. To analyze the behavior of CPLs, a strategy of impedance modelling is employed. Gain Margin Phase Margin (GMPM) Criterion is referred to judge the stability of the system and verify the stabilization operation for CPLs. Simulation results are presented to be as a support.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"25 1","pages":"2895-2900"},"PeriodicalIF":0.0,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73468464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-18DOI: 10.1109/IECON43393.2020.9254435
Z. Zhao, Xing Huang, Yupeng Wang, Jing Du, Tianwei Ding, Honghui Zhao
With the development of the new energy automobile industry, fuel cell vehicles have a broad development prospect. Due to the rapid acceleration and deceleration in vehicle operating conditions, the dynamic response of fuel cell is highly required. Firstly, this paper introduces the working principle and system structure of the fuel cell system. Secondly, the AMESim simulation model of the fuel cell system and air loop is established. Base on Simulink, the air flow-pressure decoupling and PI fusion control strategy is developed. Finally, the model co-simulation is carried out, and the strategy is applied in the fuel cell system test bench. The results show that the decoupling and response can be realized through the simulation, and the power response rate can reach 8kW/s through the bench test, which can basically meet the power response demand of the vehicle fuel cell.
{"title":"Simulation and Experiment of Power Response Control Strategy for Vehicle Fuel Cell","authors":"Z. Zhao, Xing Huang, Yupeng Wang, Jing Du, Tianwei Ding, Honghui Zhao","doi":"10.1109/IECON43393.2020.9254435","DOIUrl":"https://doi.org/10.1109/IECON43393.2020.9254435","url":null,"abstract":"With the development of the new energy automobile industry, fuel cell vehicles have a broad development prospect. Due to the rapid acceleration and deceleration in vehicle operating conditions, the dynamic response of fuel cell is highly required. Firstly, this paper introduces the working principle and system structure of the fuel cell system. Secondly, the AMESim simulation model of the fuel cell system and air loop is established. Base on Simulink, the air flow-pressure decoupling and PI fusion control strategy is developed. Finally, the model co-simulation is carried out, and the strategy is applied in the fuel cell system test bench. The results show that the decoupling and response can be realized through the simulation, and the power response rate can reach 8kW/s through the bench test, which can basically meet the power response demand of the vehicle fuel cell.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"178 1","pages":"5018-5023"},"PeriodicalIF":0.0,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73655281","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-18DOI: 10.1109/IECON43393.2020.9255088
Alperen Can, Jessica Fisch, Philipp Stephan, Gregor Thiele, J. Krüger
Optimizing the energy efficiency of machine tools automatically is promising. There are several metrics to be considered when it comes to automated optimization approaches in serial production which are especially quality, technical availability, and cycle time. These are not supposed to be impaired whereas they are indicated as a central obstacle. The measurements and the machine data show the actions happening in the machine which also leads to the data-driven traceability of machine states. This article presents a method to formulate the necessary expert knowledge to optimize the energy efficiency of a machine tool and is basically done by a decision tree which leads to a set of rules which will be explained in this article. This set of rules coordinate an optimization algorithm, which technically manipulates selected variables under the given rules. The development and is a result of a research which was done at the serial production of camshafts at the MB plant in Berlin.
{"title":"Automated continuous learn and improvement process of energy efficiency in manufacturing","authors":"Alperen Can, Jessica Fisch, Philipp Stephan, Gregor Thiele, J. Krüger","doi":"10.1109/IECON43393.2020.9255088","DOIUrl":"https://doi.org/10.1109/IECON43393.2020.9255088","url":null,"abstract":"Optimizing the energy efficiency of machine tools automatically is promising. There are several metrics to be considered when it comes to automated optimization approaches in serial production which are especially quality, technical availability, and cycle time. These are not supposed to be impaired whereas they are indicated as a central obstacle. The measurements and the machine data show the actions happening in the machine which also leads to the data-driven traceability of machine states. This article presents a method to formulate the necessary expert knowledge to optimize the energy efficiency of a machine tool and is basically done by a decision tree which leads to a set of rules which will be explained in this article. This set of rules coordinate an optimization algorithm, which technically manipulates selected variables under the given rules. The development and is a result of a research which was done at the serial production of camshafts at the MB plant in Berlin.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"10 1","pages":"757-762"},"PeriodicalIF":0.0,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75235454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-18DOI: 10.1109/IECON43393.2020.9254394
M. Räber, Patrick Amiras, Andreas Heinzelmann
Induction heating plays an important role in industrial processes and is becoming increasingly important for household appliances such as induction cookers. Most commonly, series or parallel resonant circuits based on IGBT technology are used due to their low cost. In contrast to these, non-resonant converter types are described in this paper for the first time regarding their use in single-phase induction heating applications up to 2 kW. The analysis is based on simulation and measurement results. The proposed non-resonant converter designs offer a very small size and allow full control of the output power. Different pulse pattern for controlling the induction power are investigated. It is found that the full-bridge inverter using block or PSM pulse pattern delivers the best performance and enough power capability. For the test system, the measured average electrical efficiency is 96.8 % over the input power range of 500 W to 1750 W.
{"title":"Analysis on the use of non-resonant inverters in single-phase induction heating applications","authors":"M. Räber, Patrick Amiras, Andreas Heinzelmann","doi":"10.1109/IECON43393.2020.9254394","DOIUrl":"https://doi.org/10.1109/IECON43393.2020.9254394","url":null,"abstract":"Induction heating plays an important role in industrial processes and is becoming increasingly important for household appliances such as induction cookers. Most commonly, series or parallel resonant circuits based on IGBT technology are used due to their low cost. In contrast to these, non-resonant converter types are described in this paper for the first time regarding their use in single-phase induction heating applications up to 2 kW. The analysis is based on simulation and measurement results. The proposed non-resonant converter designs offer a very small size and allow full control of the output power. Different pulse pattern for controlling the induction power are investigated. It is found that the full-bridge inverter using block or PSM pulse pattern delivers the best performance and enough power capability. For the test system, the measured average electrical efficiency is 96.8 % over the input power range of 500 W to 1750 W.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"35 1","pages":"4315-4319"},"PeriodicalIF":0.0,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75852570","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-18DOI: 10.1109/IECON43393.2020.9255045
Naoki Kamiyama, Yuto Arima, Sousuke Nakamura
Monitoring the health condition of the heart on a daily basis can lead to the prevention of worsening or relapse of heart diseases, early detection of heart failure etc. Common electrocardiogram measurement devices are not suited for daily health care monitoring, due to the difficulties of wearing electrodes and the troublesome attachment of the electrodes. Therefore, the performance of electrocardiogram measurement by means of capacitively coupled electrodes in which electrodes are not affixed to the human body have been proposed. However, as a downside effect of this solution, there are difficult issues to be overcome such as how to maintain the relative positions of the human body and the electrodes, so the authors have developed a measurement system which can handle various sleeping posture changes using an electrode array. This system will estimate subjects’ posture and position in advance of measuring an electrocardiogram to achieve robust electrocardiogram measurement all in a single electrode array formfactor. In this paper, the method of measuring capacitance using the electrode array and of automatically generating the training set for posture estimation will be discussed.
{"title":"Automatic Generation of a Training Data Set for Posture Estimation Aimed at Unconstrained Electrocardiogram Measurement during Sleep","authors":"Naoki Kamiyama, Yuto Arima, Sousuke Nakamura","doi":"10.1109/IECON43393.2020.9255045","DOIUrl":"https://doi.org/10.1109/IECON43393.2020.9255045","url":null,"abstract":"Monitoring the health condition of the heart on a daily basis can lead to the prevention of worsening or relapse of heart diseases, early detection of heart failure etc. Common electrocardiogram measurement devices are not suited for daily health care monitoring, due to the difficulties of wearing electrodes and the troublesome attachment of the electrodes. Therefore, the performance of electrocardiogram measurement by means of capacitively coupled electrodes in which electrodes are not affixed to the human body have been proposed. However, as a downside effect of this solution, there are difficult issues to be overcome such as how to maintain the relative positions of the human body and the electrodes, so the authors have developed a measurement system which can handle various sleeping posture changes using an electrode array. This system will estimate subjects’ posture and position in advance of measuring an electrocardiogram to achieve robust electrocardiogram measurement all in a single electrode array formfactor. In this paper, the method of measuring capacitance using the electrode array and of automatically generating the training set for posture estimation will be discussed.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"7 1","pages":"707-711"},"PeriodicalIF":0.0,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75537500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-18DOI: 10.1109/IECON43393.2020.9254591
Hao Hu, Miao Zhu, Xiuyi Li, X. Cai
DC distribution system has become a hot spot in the field of integration of distributed generators (DGs) and DC loads owing to the improved system reliability and efficiency. Virtual DC machine (VDCM) control provides DC-DC converters inertia feature and improves stability. Meanwhile, islanding detection has become the key issue of the reliable operation of DC distribution system but relative researches are still in infancy. This paper presents a VDCM based islanding detection method for DGs using voltage feedback. The feedback gain that causes system instability in islanding condition while still preserves stability in grid-connected mode is theoretically obtained. To improve the system stability and extend the feedback gain range to realize a better islanding detection performance, an active damping control for stability enhancement is further proposed. The impact of system parameters on stability is analyzed in detail. Both the proposed islanding detection method and stability enhancement for DGs are verified by system simulation.
{"title":"Virtual DC machine based islanding detection method in DC distribution system and stability enhancement","authors":"Hao Hu, Miao Zhu, Xiuyi Li, X. Cai","doi":"10.1109/IECON43393.2020.9254591","DOIUrl":"https://doi.org/10.1109/IECON43393.2020.9254591","url":null,"abstract":"DC distribution system has become a hot spot in the field of integration of distributed generators (DGs) and DC loads owing to the improved system reliability and efficiency. Virtual DC machine (VDCM) control provides DC-DC converters inertia feature and improves stability. Meanwhile, islanding detection has become the key issue of the reliable operation of DC distribution system but relative researches are still in infancy. This paper presents a VDCM based islanding detection method for DGs using voltage feedback. The feedback gain that causes system instability in islanding condition while still preserves stability in grid-connected mode is theoretically obtained. To improve the system stability and extend the feedback gain range to realize a better islanding detection performance, an active damping control for stability enhancement is further proposed. The impact of system parameters on stability is analyzed in detail. Both the proposed islanding detection method and stability enhancement for DGs are verified by system simulation.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"13 1","pages":"3277-3282"},"PeriodicalIF":0.0,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73867024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-18DOI: 10.1109/IECON43393.2020.9254301
Liangcai Shu, Wu Chen
A novel dc-dc converter with symmetrical bipolar low-voltage dc (LVDC) outputs is proposed, which is based on dual-active-bridge converter with one active-neutral-point-clamped (ANPC) arm. With the ANPC arm, bipolar dc bus voltages can be balanced. The proposed dc-dc converter can be employed as the submodule of DCT and constitute the bipolar LVDC distribution grid. Comparing to the schemes which adopts two DCTs or voltage balancer, the scheme based on proposed converter can obtain lower volume and higher power density. Additionally, all switches in proposed converter can achieve ZVS turn-on, which help improves the conversion efficiency. In this paper, the operation principle of proposed converter is analyzed in detail, on the basis of which steady-state control strategy are derived. Also, considering the possible faults of dc bus, control strategy for fault situation is discussed. Finally, simulation with PLECS verifies the feasibility of proposed converter.
{"title":"A DCT/PET Submodule with Symmetrical Bipolar DC Outputs","authors":"Liangcai Shu, Wu Chen","doi":"10.1109/IECON43393.2020.9254301","DOIUrl":"https://doi.org/10.1109/IECON43393.2020.9254301","url":null,"abstract":"A novel dc-dc converter with symmetrical bipolar low-voltage dc (LVDC) outputs is proposed, which is based on dual-active-bridge converter with one active-neutral-point-clamped (ANPC) arm. With the ANPC arm, bipolar dc bus voltages can be balanced. The proposed dc-dc converter can be employed as the submodule of DCT and constitute the bipolar LVDC distribution grid. Comparing to the schemes which adopts two DCTs or voltage balancer, the scheme based on proposed converter can obtain lower volume and higher power density. Additionally, all switches in proposed converter can achieve ZVS turn-on, which help improves the conversion efficiency. In this paper, the operation principle of proposed converter is analyzed in detail, on the basis of which steady-state control strategy are derived. Also, considering the possible faults of dc bus, control strategy for fault situation is discussed. Finally, simulation with PLECS verifies the feasibility of proposed converter.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"146 8","pages":"5125-5129"},"PeriodicalIF":0.0,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72595498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-18DOI: 10.1109/IECON43393.2020.9255404
Hui Yong, Xiaoqiang Li, Xiaojie Wu, Mingxue Li, Yifei Wang
As affected by climate conditions, e.g. solar irradiation and temperature, the output power of photovoltaic (PV) generation is generally random and intermittent. Energy storage devices like batteries are thus necessary to be incorporated in a PV system to smooth the output power. In order to connect the PV-battery to the DC grid, a three-port bidirectional DC/DC converter based on the triple-active-bridge (TAB) topology is a superior choice. Such three-port converter is a strongly coupled system, which demands decoupling control methods to obtain independent control of input/output power in each port. However, the conventional control strategy with decoupling control cannot suppress the filter resonance in DC-grid-port effectively and could lead to the converter output current instability. Therefore, a stability control design for TAB-based three-port bidirectional DC/DC converters is proposed in this paper. It can manage the power flow among the ports with reliability and maintain the system stable operation. Simulation results are finally presented to verify the proposed control design.
{"title":"Stability Control Design for TAB-Based Three-Port Bidirectional DC/DC Converters in PV-Battery Grid-Connected Applications","authors":"Hui Yong, Xiaoqiang Li, Xiaojie Wu, Mingxue Li, Yifei Wang","doi":"10.1109/IECON43393.2020.9255404","DOIUrl":"https://doi.org/10.1109/IECON43393.2020.9255404","url":null,"abstract":"As affected by climate conditions, e.g. solar irradiation and temperature, the output power of photovoltaic (PV) generation is generally random and intermittent. Energy storage devices like batteries are thus necessary to be incorporated in a PV system to smooth the output power. In order to connect the PV-battery to the DC grid, a three-port bidirectional DC/DC converter based on the triple-active-bridge (TAB) topology is a superior choice. Such three-port converter is a strongly coupled system, which demands decoupling control methods to obtain independent control of input/output power in each port. However, the conventional control strategy with decoupling control cannot suppress the filter resonance in DC-grid-port effectively and could lead to the converter output current instability. Therefore, a stability control design for TAB-based three-port bidirectional DC/DC converters is proposed in this paper. It can manage the power flow among the ports with reliability and maintain the system stable operation. Simulation results are finally presented to verify the proposed control design.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"1 1","pages":"3469-3474"},"PeriodicalIF":0.0,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78225502","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents an identification method which is based on genetic algorithm (GA) and its improved method to estimate dynamic parameters of industrial robots without load. The procedure consists of the following steps: 1) derivation of the linear form of the dynamic model of the robot according to the Lagrange equation; 2) designing of the excitation trajectory in the form of fifth order Fourier series as exciting trajectory; 3) identification, where genetic algorithm is used to find the global optimal parameters through the genetic exchange between the groups and the survival of the fittest mechanism with the minimum variance between the theoretical torque and the actual torque as the optimization criteria; 4) model validation; 5) analysis of the factors influencing the accuracy of the results in the identification process; 6) proposal of improved method. The experimental results show that the predicted torque and the measured torque obtained by the identification algorithm have a high matching degree, and the model can reflect the actual dynamic characteristics of the robot.
{"title":"An enhanced dynamic identification method for 6-DOF industrial robot based on time-variant and weighted Genetic algorithm","authors":"Yimu Jiang, Benhuai Li, Chunyu Zhang, Chenlu Liu, Weiyang Lin, Xinghu Yu","doi":"10.1109/IECON43393.2020.9255286","DOIUrl":"https://doi.org/10.1109/IECON43393.2020.9255286","url":null,"abstract":"This paper presents an identification method which is based on genetic algorithm (GA) and its improved method to estimate dynamic parameters of industrial robots without load. The procedure consists of the following steps: 1) derivation of the linear form of the dynamic model of the robot according to the Lagrange equation; 2) designing of the excitation trajectory in the form of fifth order Fourier series as exciting trajectory; 3) identification, where genetic algorithm is used to find the global optimal parameters through the genetic exchange between the groups and the survival of the fittest mechanism with the minimum variance between the theoretical torque and the actual torque as the optimization criteria; 4) model validation; 5) analysis of the factors influencing the accuracy of the results in the identification process; 6) proposal of improved method. The experimental results show that the predicted torque and the measured torque obtained by the identification algorithm have a high matching degree, and the model can reflect the actual dynamic characteristics of the robot.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"18 1","pages":"4744-4749"},"PeriodicalIF":0.0,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75029608","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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