Pub Date : 2015-11-01DOI: 10.1109/IECON.2015.7392354
C. Mitsantisuk, S. Stapornchaisit, Nakhon Niramitvasu, K. Ohishi
Recently, the human-robot interaction systems are extending their capability to work in many applications. Appropriate haptic devices or robot systems have an important role to support the collaboration task which require close interaction between human and robot. This paper proposes a novel 3D parallel mechanism delta robot based on Kalman filter based state observer for the haptic devices. In the mechanical design, a 3D parallel mechanism delta robot contains three identical and symmetrical upper-arm and fore-arm of parallel links that are connected to the base plate with motor at lower end and to the end-effector with a ball joint at top end. The delta robot are designed and analyzed in order to realize a 3D motion in the workspace of the robot's end-effector. In the controller design, Kalman filter based state observer, (KFSO) can be applied to estimate an external torque of motor. With such a force sensorless control scheme based on the feedforward disturbance torque compensation loop, significant high bandwidth haptic sensing in a delta robot system can be achieved. The proposed method has been successfully applied in a real delta robot system in order to show its applicability. The experimental results of the rehabilitation robot are provided to illustrate the performance of the proposed algorithms. In the experimental results, the system was able to estimate a 3D motion and external force in the workspace of the robot's end-effector.
{"title":"Force sensorless control with 3D workspace analysis for haptic devices based on delta robot","authors":"C. Mitsantisuk, S. Stapornchaisit, Nakhon Niramitvasu, K. Ohishi","doi":"10.1109/IECON.2015.7392354","DOIUrl":"https://doi.org/10.1109/IECON.2015.7392354","url":null,"abstract":"Recently, the human-robot interaction systems are extending their capability to work in many applications. Appropriate haptic devices or robot systems have an important role to support the collaboration task which require close interaction between human and robot. This paper proposes a novel 3D parallel mechanism delta robot based on Kalman filter based state observer for the haptic devices. In the mechanical design, a 3D parallel mechanism delta robot contains three identical and symmetrical upper-arm and fore-arm of parallel links that are connected to the base plate with motor at lower end and to the end-effector with a ball joint at top end. The delta robot are designed and analyzed in order to realize a 3D motion in the workspace of the robot's end-effector. In the controller design, Kalman filter based state observer, (KFSO) can be applied to estimate an external torque of motor. With such a force sensorless control scheme based on the feedforward disturbance torque compensation loop, significant high bandwidth haptic sensing in a delta robot system can be achieved. The proposed method has been successfully applied in a real delta robot system in order to show its applicability. The experimental results of the rehabilitation robot are provided to illustrate the performance of the proposed algorithms. In the experimental results, the system was able to estimate a 3D motion and external force in the workspace of the robot's end-effector.","PeriodicalId":190550,"journal":{"name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124965732","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 : 2015-11-01DOI: 10.1109/IECON.2015.7392698
Antonio Sa, R. Lopes, J. Martins
Demand Response programs influence the end-user electricity usage by changing its cost along the time. In this scenario, to better manage the building's energy demand and consequently the electricity related costs, the user needs to estimate the energy demand and on-site production of the building in function of the electrical devices that are present on the building boundary. This paper presents an agent-based electrical simulator that has been built with the main objective of providing those tools to the consumer. The proposed simulator uses a hybrid "bottom-up" approach, with both statistical and physical models. The referred software is capable of estimating the energy demand and on-site generation with a 1-min time resolution for the period of 24h and calculates the energy price for each scenario. Therefore more control over the demand side is given to the end-user, allowing an easy response to changes in the electricity costs along the day. Such techniques could help the user to maximize the usage of renewable energy and to lower the electricity costs. On the other hand it is also beneficial for the energy provider since it is more likely to reduce the demand at peak hours.
{"title":"Design of an agent-based simulator for real-time estimation of power consumption/generation in residential buildings","authors":"Antonio Sa, R. Lopes, J. Martins","doi":"10.1109/IECON.2015.7392698","DOIUrl":"https://doi.org/10.1109/IECON.2015.7392698","url":null,"abstract":"Demand Response programs influence the end-user electricity usage by changing its cost along the time. In this scenario, to better manage the building's energy demand and consequently the electricity related costs, the user needs to estimate the energy demand and on-site production of the building in function of the electrical devices that are present on the building boundary. This paper presents an agent-based electrical simulator that has been built with the main objective of providing those tools to the consumer. The proposed simulator uses a hybrid \"bottom-up\" approach, with both statistical and physical models. The referred software is capable of estimating the energy demand and on-site generation with a 1-min time resolution for the period of 24h and calculates the energy price for each scenario. Therefore more control over the demand side is given to the end-user, allowing an easy response to changes in the electricity costs along the day. Such techniques could help the user to maximize the usage of renewable energy and to lower the electricity costs. On the other hand it is also beneficial for the energy provider since it is more likely to reduce the demand at peak hours.","PeriodicalId":190550,"journal":{"name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130393180","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 : 2015-11-01DOI: 10.1109/IECON.2015.7392745
N. Kondrath, M. Al-Chalabi
Wide-band gap devices are gaining popularity in high-power, high-temperature applications such as hybrid/full electric vehicles. A 27 kW synchronous bidirectional pulse-width modulated (PWM) dc-dc buck-boost converter operating in continuous conduction mode (CCM) is designed. The designed converter is tested using Silicon Carbon (SiC) and Silicon (Si) devices at different temperatures using LTSpice simulations. Steady-state as well as switching transition performances are evaluated and compared for converters using SiC and Si devices.
{"title":"Performance evaluation of SiC based bidirectional dc-dc buck-boost converter operating in CCM using temperature-dependent L3 spice model","authors":"N. Kondrath, M. Al-Chalabi","doi":"10.1109/IECON.2015.7392745","DOIUrl":"https://doi.org/10.1109/IECON.2015.7392745","url":null,"abstract":"Wide-band gap devices are gaining popularity in high-power, high-temperature applications such as hybrid/full electric vehicles. A 27 kW synchronous bidirectional pulse-width modulated (PWM) dc-dc buck-boost converter operating in continuous conduction mode (CCM) is designed. The designed converter is tested using Silicon Carbon (SiC) and Silicon (Si) devices at different temperatures using LTSpice simulations. Steady-state as well as switching transition performances are evaluated and compared for converters using SiC and Si devices.","PeriodicalId":190550,"journal":{"name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130517211","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 : 2015-11-01DOI: 10.1109/IECON.2015.7392900
M. Pittermann, P. Drábek, B. Bednár
This paper describes the realization variants of the new traction drive for AC-power system with high-voltage matrix converter and medium frequency transformer (i.e. MFT). These topologies allow minimizing the weight of the traction transformer in railroad vehicles. Special attention is given to serial connection of input single-phase high voltage matrix converters fed MFT transformers. The control method involving the reduction of MFT magnetic saturation has been discussed.
{"title":"Single phase high-voltage matrix converter for traction drive with medium frequency transformer","authors":"M. Pittermann, P. Drábek, B. Bednár","doi":"10.1109/IECON.2015.7392900","DOIUrl":"https://doi.org/10.1109/IECON.2015.7392900","url":null,"abstract":"This paper describes the realization variants of the new traction drive for AC-power system with high-voltage matrix converter and medium frequency transformer (i.e. MFT). These topologies allow minimizing the weight of the traction transformer in railroad vehicles. Special attention is given to serial connection of input single-phase high voltage matrix converters fed MFT transformers. The control method involving the reduction of MFT magnetic saturation has been discussed.","PeriodicalId":190550,"journal":{"name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126692027","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 : 2015-11-01DOI: 10.1109/IECON.2015.7392780
Kei Matsuura, K. Ohishi, H. Haga, I. Ando
This paper proposes a current compensation method for current reconstruction from a DC-link current sensor. The method has region in which phase current reconstruction is difficult. To solve this problem, voltage reference and carrier compensation methods have been proposed. However, these methods increase the phase current harmonics. This paper proposes a current compensation method that uses the phase difference between the current and the voltage reference. The effectiveness of the proposed method and characteristics of reconstruction current feedback control are confirmed using a simulation. Experimental results verify the validity of the proposed current reconstruction method.
{"title":"Fine motor current control based on new current reconstruction method using one DC-link current sensor","authors":"Kei Matsuura, K. Ohishi, H. Haga, I. Ando","doi":"10.1109/IECON.2015.7392780","DOIUrl":"https://doi.org/10.1109/IECON.2015.7392780","url":null,"abstract":"This paper proposes a current compensation method for current reconstruction from a DC-link current sensor. The method has region in which phase current reconstruction is difficult. To solve this problem, voltage reference and carrier compensation methods have been proposed. However, these methods increase the phase current harmonics. This paper proposes a current compensation method that uses the phase difference between the current and the voltage reference. The effectiveness of the proposed method and characteristics of reconstruction current feedback control are confirmed using a simulation. Experimental results verify the validity of the proposed current reconstruction method.","PeriodicalId":190550,"journal":{"name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","volume":"253 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124181928","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 : 2015-11-01DOI: 10.1109/IECON.2015.7392774
H. Vahedi, H. Kanaan, K. Al-haddad
Packed U-Cell (PUC) converter has been introduced as a 7-level converter in early 2008. Since then, different analysis and projects have been performed on, including various applications such as inverter and rectifier, linear and nonlinear voltage controllers. In this paper, authors try to do a detail review on this topology covering all aspects like topology design in single and three-phase, operation concepts, switching sequences for different multilevel voltage waveform generation, modelling and etc. It is shown that this topology can be comparable to popular multilevel converters (CHB and NPC) in terms of device counts and applications. Moreover, some performed and published works about the PUC are mentioned to show its different industrial applications and some other converter topologies derived based on the PUC. Experimental results are provided to show the good performance of PUC converter in several applications.
{"title":"PUC converter review: Topology, control and applications","authors":"H. Vahedi, H. Kanaan, K. Al-haddad","doi":"10.1109/IECON.2015.7392774","DOIUrl":"https://doi.org/10.1109/IECON.2015.7392774","url":null,"abstract":"Packed U-Cell (PUC) converter has been introduced as a 7-level converter in early 2008. Since then, different analysis and projects have been performed on, including various applications such as inverter and rectifier, linear and nonlinear voltage controllers. In this paper, authors try to do a detail review on this topology covering all aspects like topology design in single and three-phase, operation concepts, switching sequences for different multilevel voltage waveform generation, modelling and etc. It is shown that this topology can be comparable to popular multilevel converters (CHB and NPC) in terms of device counts and applications. Moreover, some performed and published works about the PUC are mentioned to show its different industrial applications and some other converter topologies derived based on the PUC. Experimental results are provided to show the good performance of PUC converter in several applications.","PeriodicalId":190550,"journal":{"name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","volume":"1979 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121194842","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 : 2015-11-01DOI: 10.1109/IECON.2015.7392420
Sakurako Hamatani, T. Murakami
In this paper, a control method to improve the static stability of two-wheeled wheel chair is proposed. The two-wheeled wheel chair is the wheel chair without caster wheels, and moves and stabilizes with only two wheels. It has good operability and capability to go over a step. However, two-wheeled wheel chair has difficulty in statical stabilization because of the structure. In this paper, the steering system is introduced to the two-wheeled wheel chair. The effect of braking force from the higher inertia and the strain of tires are considered. A miniaturized two-wheeled wheel chair with steering motors is made to conduct experiments. The validity of proposed method is checked through experiment, and the results are evaluated by the movement distance and the change of pitch angle.
{"title":"A novel steering mechanism of two-wheeled wheel chair for stability improvement","authors":"Sakurako Hamatani, T. Murakami","doi":"10.1109/IECON.2015.7392420","DOIUrl":"https://doi.org/10.1109/IECON.2015.7392420","url":null,"abstract":"In this paper, a control method to improve the static stability of two-wheeled wheel chair is proposed. The two-wheeled wheel chair is the wheel chair without caster wheels, and moves and stabilizes with only two wheels. It has good operability and capability to go over a step. However, two-wheeled wheel chair has difficulty in statical stabilization because of the structure. In this paper, the steering system is introduced to the two-wheeled wheel chair. The effect of braking force from the higher inertia and the strain of tires are considered. A miniaturized two-wheeled wheel chair with steering motors is made to conduct experiments. The validity of proposed method is checked through experiment, and the results are evaluated by the movement distance and the change of pitch angle.","PeriodicalId":190550,"journal":{"name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","volume":"63 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114088266","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 : 2015-11-01DOI: 10.1109/IECON.2015.7392936
Akinori Yabuki, T. Yoshioka, K. Ohishi, T. Miyazaki, Y. Yokokura
This paper proposes a stable force control system to achieve the force control of industrial robots. The proposed stable force control system is designed by using an I-P force control system and a resonance ratio control system considering the required interaction with the environment. To design the resonance ratio control system considering the contact with the environment, this paper analyzes the stability of the proposed resonance ratio control and the bandwidth of a disturbance observer. This paper designs the resonance ratio control system using an instantaneous state observer considering the results of the stability analysis. In addition, a stable force control system is designed based on the resonance ratio control system using an instantaneous state observer. In this paper, the effectiveness of the proposed force control system is confirmed by performing numerical simulations and experiments using an industrial robot arm.
{"title":"Design method of stable force control system using new resonance ratio control and instantaneous state observer","authors":"Akinori Yabuki, T. Yoshioka, K. Ohishi, T. Miyazaki, Y. Yokokura","doi":"10.1109/IECON.2015.7392936","DOIUrl":"https://doi.org/10.1109/IECON.2015.7392936","url":null,"abstract":"This paper proposes a stable force control system to achieve the force control of industrial robots. The proposed stable force control system is designed by using an I-P force control system and a resonance ratio control system considering the required interaction with the environment. To design the resonance ratio control system considering the contact with the environment, this paper analyzes the stability of the proposed resonance ratio control and the bandwidth of a disturbance observer. This paper designs the resonance ratio control system using an instantaneous state observer considering the results of the stability analysis. In addition, a stable force control system is designed based on the resonance ratio control system using an instantaneous state observer. In this paper, the effectiveness of the proposed force control system is confirmed by performing numerical simulations and experiments using an industrial robot arm.","PeriodicalId":190550,"journal":{"name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","volume":"49 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114108252","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 : 2015-11-01DOI: 10.1109/IECON.2015.7392555
Han Yu, Shen Yin
The general particle filter (GPF) provides an effective tool of fault detection for non-linear systems with non-Gaussian cases. However, due to the particle impoverishment problem of the GPF, the estimation of hidden state in process may get misleading results and thus lead to undesired conclusion for fault detection purpose. To solve this problem, a fault detection strategy, which employs a novel kind of particle filter, i.e. intelligent particle filter (IPF), is proposed in this paper. The proposed IPF strategy could improve the impoverishment problem of GPF and increase the accuracy of hidden state estimation, thus offers desired results for fault detection. Two numerical examples show superior performance of the proposed IPF for fault detection of nonlinear system with high non-Gaussian noises compared with the GPF-based strategy.
{"title":"A fault detection strategy based on intelligent particle filter for nonlinear systems","authors":"Han Yu, Shen Yin","doi":"10.1109/IECON.2015.7392555","DOIUrl":"https://doi.org/10.1109/IECON.2015.7392555","url":null,"abstract":"The general particle filter (GPF) provides an effective tool of fault detection for non-linear systems with non-Gaussian cases. However, due to the particle impoverishment problem of the GPF, the estimation of hidden state in process may get misleading results and thus lead to undesired conclusion for fault detection purpose. To solve this problem, a fault detection strategy, which employs a novel kind of particle filter, i.e. intelligent particle filter (IPF), is proposed in this paper. The proposed IPF strategy could improve the impoverishment problem of GPF and increase the accuracy of hidden state estimation, thus offers desired results for fault detection. Two numerical examples show superior performance of the proposed IPF for fault detection of nonlinear system with high non-Gaussian noises compared with the GPF-based strategy.","PeriodicalId":190550,"journal":{"name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116174659","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 : 2015-11-01DOI: 10.1109/IECON.2015.7392177
C. Moo, Y. Chen, Yong-Jyun Li, H. Yen
A dimmable light-emitting-diode (LED) driver circuit with partial power regulation is proposed in this paper. A string of LEDs is driven by a dc source in series with a flyback converter. The LED current is regulated by the flyback converter by processing only a fractional power while the major power is directly supplied from the dc source. To dim the LEDs with a pulsed current with constant amplitude, the flyback converter is operated with double pulse-width modulation (DPWM). Experimental results on a laboratory circuit designed for a 48 W LED lamp have demonstrated the excellent efficiency of the driver with the proposed approach.
{"title":"A dimmable LED driver with partial power regulation","authors":"C. Moo, Y. Chen, Yong-Jyun Li, H. Yen","doi":"10.1109/IECON.2015.7392177","DOIUrl":"https://doi.org/10.1109/IECON.2015.7392177","url":null,"abstract":"A dimmable light-emitting-diode (LED) driver circuit with partial power regulation is proposed in this paper. A string of LEDs is driven by a dc source in series with a flyback converter. The LED current is regulated by the flyback converter by processing only a fractional power while the major power is directly supplied from the dc source. To dim the LEDs with a pulsed current with constant amplitude, the flyback converter is operated with double pulse-width modulation (DPWM). Experimental results on a laboratory circuit designed for a 48 W LED lamp have demonstrated the excellent efficiency of the driver with the proposed approach.","PeriodicalId":190550,"journal":{"name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121682315","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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