Pub Date : 2003-12-10DOI: 10.1109/ICIT.2003.1290316
T. Satoh
A robust design methodology for discrete-time two-degree-of-freedom control systems is presented on the basis of Zakian's principle of matching, with an emphasis on time-domain performance. The feedforward and feedback controllers are designed in such a way that, in spite of plant uncertainty, the tracking error and the control input are kept within prescribed bounds on the assumption that the reference input is bounded in magnitude and rate of change, and the disturbance is bounded in magnitude. A practical design criterion that ensures robust stability and robust performance in time-domain is given. The presented methodology is tested and its effectiveness is verified on a speed control system of a DC servomotor.
{"title":"Robust design of discrete-time two-degree-of-freedom matched servo systems","authors":"T. Satoh","doi":"10.1109/ICIT.2003.1290316","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290316","url":null,"abstract":"A robust design methodology for discrete-time two-degree-of-freedom control systems is presented on the basis of Zakian's principle of matching, with an emphasis on time-domain performance. The feedforward and feedback controllers are designed in such a way that, in spite of plant uncertainty, the tracking error and the control input are kept within prescribed bounds on the assumption that the reference input is bounded in magnitude and rate of change, and the disturbance is bounded in magnitude. A practical design criterion that ensures robust stability and robust performance in time-domain is given. The presented methodology is tested and its effectiveness is verified on a speed control system of a DC servomotor.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121996793","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290404
F. Scapino
The paper proposes a two-port model of the inverter leg as building block to simulate the various topologies of switched-mode DC/AC converters, overcoming the problems encountered with the usual switch-diode simulation approach while retaining the interaction between the AC and DC sides. The model has a simple transformer-like formulation, easy to implement in any circuit simulation environment, and allows the lossless behavior, the conduction losses and the switching losses to be separately modeled. Using the same set of few parameters, it can be implemented in three different versions, from the most general to the simplest one, to be selected according to the application and to the accuracy requirements. A simplified expression for the load of the DC source is also derived allowing ready determination of DC operating point that is crucial to the efficiency of non-conventional power sources. As design tool, the proposed model has proved to be accurate and effective in predicting the behavior of a system, as can be seen from the application example reported in the paper, and it is very useful to dimension the power devices heatsink. In research and education areas, it also help to give physical insight into the converter operation and design criteria.
{"title":"A transformer-like model for the DC/AC converter","authors":"F. Scapino","doi":"10.1109/ICIT.2003.1290404","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290404","url":null,"abstract":"The paper proposes a two-port model of the inverter leg as building block to simulate the various topologies of switched-mode DC/AC converters, overcoming the problems encountered with the usual switch-diode simulation approach while retaining the interaction between the AC and DC sides. The model has a simple transformer-like formulation, easy to implement in any circuit simulation environment, and allows the lossless behavior, the conduction losses and the switching losses to be separately modeled. Using the same set of few parameters, it can be implemented in three different versions, from the most general to the simplest one, to be selected according to the application and to the accuracy requirements. A simplified expression for the load of the DC source is also derived allowing ready determination of DC operating point that is crucial to the efficiency of non-conventional power sources. As design tool, the proposed model has proved to be accurate and effective in predicting the behavior of a system, as can be seen from the application example reported in the paper, and it is very useful to dimension the power devices heatsink. In research and education areas, it also help to give physical insight into the converter operation and design criteria.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122084508","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290245
G. Steiner, D. Watzenig
Worst case tolerance analysis is a major subtask in modern industrial electronics. Recently, the demands on industrial products like production costs or probability of failure have become more and more important in order to be competitive in business. The main key to improve the quality of electronic products is the challenge to reduce the effects of parameter variations, which can be done by robust parameter design. This paper addresses the applicability of particle swarm optimization combined with pattern search for worst case circuit design. The main advantages of this approach are the efficiency and robustness of the particle swarm optimization strategy. The method is also well suited for higher order problems, i.e. for problems with a high number of design parameters, because of the linear complexity of the pattern search algorithm.
{"title":"Particle swarm optimization for worst case tolerance design","authors":"G. Steiner, D. Watzenig","doi":"10.1109/ICIT.2003.1290245","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290245","url":null,"abstract":"Worst case tolerance analysis is a major subtask in modern industrial electronics. Recently, the demands on industrial products like production costs or probability of failure have become more and more important in order to be competitive in business. The main key to improve the quality of electronic products is the challenge to reduce the effects of parameter variations, which can be done by robust parameter design. This paper addresses the applicability of particle swarm optimization combined with pattern search for worst case circuit design. The main advantages of this approach are the efficiency and robustness of the particle swarm optimization strategy. The method is also well suited for higher order problems, i.e. for problems with a high number of design parameters, because of the linear complexity of the pattern search algorithm.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122108622","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290779
J. Bilek, I. Ružička
This paper deals with communication possibilities of embedded systems and their environment, remote administration and diagnostic. Sphere embedded systems nowadays contain both simple and dedicated implementations and relatively sophisticated systems (functionally and computationally). Its application software runs on e.g. real-time operating systems and the surrounding communication is provided by a classical metallic connection (RS485, CAN, Ethernet) or via more now steadily used wireless connection (Bluetooth, WiFi, GSM/GPRS), alternatively with usage fiber optic and combination of these ways. Modern trends lean towards migration of computationally demanding application software from control rooms closer to controlled machines. The procedural controlling software is steadily closer (sometimes even build-in) directly to actuators of machines and the controlling rooms with color knead animations of controlled technology are on the one hand connected via Ethernet up to controlled process and on the other hand up to information system.
{"title":"Evolutionary trends of embedded systems","authors":"J. Bilek, I. Ružička","doi":"10.1109/ICIT.2003.1290779","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290779","url":null,"abstract":"This paper deals with communication possibilities of embedded systems and their environment, remote administration and diagnostic. Sphere embedded systems nowadays contain both simple and dedicated implementations and relatively sophisticated systems (functionally and computationally). Its application software runs on e.g. real-time operating systems and the surrounding communication is provided by a classical metallic connection (RS485, CAN, Ethernet) or via more now steadily used wireless connection (Bluetooth, WiFi, GSM/GPRS), alternatively with usage fiber optic and combination of these ways. Modern trends lean towards migration of computationally demanding application software from control rooms closer to controlled machines. The procedural controlling software is steadily closer (sometimes even build-in) directly to actuators of machines and the controlling rooms with color knead animations of controlled technology are on the one hand connected via Ethernet up to controlled process and on the other hand up to information system.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"55 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120849834","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290253
F. Moita, U. Nunes
A binaural sonar configuration with the capability to detect and identify planes, edges and corners is presented in this work. A new ultra-fast firing method with acquisition rates four to six times greater than the conventional ones, shows high interference rejection capabilities, preserving a very low level of errors. Experimental results have shown successful rejection of undesired crosstalk and good acceptance of true measurements. With just two firing cycles, this system provides fast and more confident information, leading to a higher obstacle detection probability. Together with a new feature detection and identification algorithms, on-line feature maps are built making use of the Bayesian updating and classification rules. Experimental results of ultrasonic reflectors recognition, using data collected in a specular indoor environment are presented in the paper.
{"title":"Mapping with a binaural system","authors":"F. Moita, U. Nunes","doi":"10.1109/ICIT.2003.1290253","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290253","url":null,"abstract":"A binaural sonar configuration with the capability to detect and identify planes, edges and corners is presented in this work. A new ultra-fast firing method with acquisition rates four to six times greater than the conventional ones, shows high interference rejection capabilities, preserving a very low level of errors. Experimental results have shown successful rejection of undesired crosstalk and good acceptance of true measurements. With just two firing cycles, this system provides fast and more confident information, leading to a higher obstacle detection probability. Together with a new feature detection and identification algorithms, on-line feature maps are built making use of the Bayesian updating and classification rules. Experimental results of ultrasonic reflectors recognition, using data collected in a specular indoor environment are presented in the paper.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128549321","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290255
G. Quaglia, A. Ivanov, S. Bermond, A. Giordano
The paper deals with an innovative device and a process to measure the oil leakage or the leak rate through the seals, specially regarding the valve steam seals (VSS). Valve stem seals, in automotive applications, must assure a correct valve stem lubrication. It is the " controlled leakage" concept. Inadequate flow causes increased valve-train wear-rate, premature failure, noise and higher temperatures; excessive flow causes oil consumption, lower efficiency (engine and catalyst) and environment concerns. It is extremely important to develop a leak-rate measurement system in order to meet emission requirements and durability performance of this type of industrial product. The problem is solved by the measurement of very small leakage, of around 0.01 cm/sup 3/ by the device and the process presented in this paper. The paper presents the device, actually patent pending, the procedure and the experimental results obtained.
{"title":"Innovative device and process for the oil leakage measure","authors":"G. Quaglia, A. Ivanov, S. Bermond, A. Giordano","doi":"10.1109/ICIT.2003.1290255","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290255","url":null,"abstract":"The paper deals with an innovative device and a process to measure the oil leakage or the leak rate through the seals, specially regarding the valve steam seals (VSS). Valve stem seals, in automotive applications, must assure a correct valve stem lubrication. It is the \" controlled leakage\" concept. Inadequate flow causes increased valve-train wear-rate, premature failure, noise and higher temperatures; excessive flow causes oil consumption, lower efficiency (engine and catalyst) and environment concerns. It is extremely important to develop a leak-rate measurement system in order to meet emission requirements and durability performance of this type of industrial product. The problem is solved by the measurement of very small leakage, of around 0.01 cm/sup 3/ by the device and the process presented in this paper. The paper presents the device, actually patent pending, the procedure and the experimental results obtained.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128580679","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290816
G. Gong, U. Drofenik, J. Kolar
A high power density 10 kW three-phase 12-pulse rectifier is analyzed for applications in future more electric aircrafts. The experimental results, which are in good accordance with the theory, show high efficiency and low input current harmonics for a wide operating range. Furthermore, two novel rectifier topologies, which are formed by combining the passive 12-pulse rectifier with a boost stage on the DC side are proposed. This allows to guarantee a constant output voltage and/or to overcome the problem of the dependency of output voltage on the mains voltage amplitude and output power level.
{"title":"12-pulse rectifier for more electric aircraft applications","authors":"G. Gong, U. Drofenik, J. Kolar","doi":"10.1109/ICIT.2003.1290816","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290816","url":null,"abstract":"A high power density 10 kW three-phase 12-pulse rectifier is analyzed for applications in future more electric aircrafts. The experimental results, which are in good accordance with the theory, show high efficiency and low input current harmonics for a wide operating range. Furthermore, two novel rectifier topologies, which are formed by combining the passive 12-pulse rectifier with a boost stage on the DC side are proposed. This allows to guarantee a constant output voltage and/or to overcome the problem of the dependency of output voltage on the mains voltage amplitude and output power level.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127160396","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290225
R. Chekkouri, L. Romeral, M. Moreno
In this paper an adaptive control speed for an induction motor drive is presented. The proposed adaptive scheme uses a Mamdani fuzzy logic controller (MFLC). The parameters, of the membership output function characterizing the linguistic terms in the fuzzy if-then rules change according the adaptation. The MFLC approximates and adaptively cancels an unknown plant non-linearity. The adaptive law is developed for the purpose of tracking a reference speed in a motion system. Based on the Lyapunov theory, the stability of the whole system and the convergence of the tracking error are also discussed. The tracking error is guaranteed to be uniformly stable and ultimately bounded with the aid of an additional supervisory term. Computer simulations show that the effect on the error of both the fuzzy approximation and the external disturbances can be attenuated by the proposed controller. Moreover, experimental results are presented to verify the effectiveness of the method.
{"title":"Direct adaptive fuzzy controller by changing the output membership functions for nonlinear motion applications","authors":"R. Chekkouri, L. Romeral, M. Moreno","doi":"10.1109/ICIT.2003.1290225","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290225","url":null,"abstract":"In this paper an adaptive control speed for an induction motor drive is presented. The proposed adaptive scheme uses a Mamdani fuzzy logic controller (MFLC). The parameters, of the membership output function characterizing the linguistic terms in the fuzzy if-then rules change according the adaptation. The MFLC approximates and adaptively cancels an unknown plant non-linearity. The adaptive law is developed for the purpose of tracking a reference speed in a motion system. Based on the Lyapunov theory, the stability of the whole system and the convergence of the tracking error are also discussed. The tracking error is guaranteed to be uniformly stable and ultimately bounded with the aid of an additional supervisory term. Computer simulations show that the effect on the error of both the fuzzy approximation and the external disturbances can be attenuated by the proposed controller. Moreover, experimental results are presented to verify the effectiveness of the method.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131683597","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290836
R. Šafarič, I. Hedrih, R. Klobučar, B. Sorgo
The paper describes a method of education and training involving off-line usage of virtual environments (VE) for task planning. When programmed tasks of a robot arm in the virtual world are developed to the satisfaction of the trainee, they are exported to a remote physical hardware, via the Internet, for the real world execution. The on-line feedback data from the robot arm and live video picture are sent back to the remote client via Internet. Development of the Remote Laboratory (RLab) system connected with a remote controlled on-line video system and the training experiments are discussed, along with some of the issues raised for telerobotics.
{"title":"Remote controlled robot arm","authors":"R. Šafarič, I. Hedrih, R. Klobučar, B. Sorgo","doi":"10.1109/ICIT.2003.1290836","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290836","url":null,"abstract":"The paper describes a method of education and training involving off-line usage of virtual environments (VE) for task planning. When programmed tasks of a robot arm in the virtual world are developed to the satisfaction of the trainee, they are exported to a remote physical hardware, via the Internet, for the real world execution. The on-line feedback data from the robot arm and live video picture are sent back to the remote client via Internet. Development of the Remote Laboratory (RLab) system connected with a remote controlled on-line video system and the training experiments are discussed, along with some of the issues raised for telerobotics.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123251585","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290734
P. Fraisse, C. Agniel, D. Andreu, J. de Los Rios
We present a stable remote position/force control scheme for manipulator robot via Internet based on Smith predictor principle. To validate this control method, we developed a real time Virtual Puma robot based on RT-linux operating system. This virtual robot contains a real time task which computes the differential non linear equation of the PUMA robot including a virtual environment in order to perform a force control loop. Some interesting experiments in the case of long distance (Mexico-France: /spl sim/8000 km) show the real improvement obtained by this method with a long mean time delay (/spl sim/250ms). This addition enhances and secures the teleoperation through the internet.
{"title":"Teleoperations over an IP network : virtual PUMA robot","authors":"P. Fraisse, C. Agniel, D. Andreu, J. de Los Rios","doi":"10.1109/ICIT.2003.1290734","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290734","url":null,"abstract":"We present a stable remote position/force control scheme for manipulator robot via Internet based on Smith predictor principle. To validate this control method, we developed a real time Virtual Puma robot based on RT-linux operating system. This virtual robot contains a real time task which computes the differential non linear equation of the PUMA robot including a virtual environment in order to perform a force control loop. Some interesting experiments in the case of long distance (Mexico-France: /spl sim/8000 km) show the real improvement obtained by this method with a long mean time delay (/spl sim/250ms). This addition enhances and secures the teleoperation through the internet.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126353660","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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