Pub Date : 2013-12-01DOI: 10.1109/IECON.2013.6699787
D. Prasanga, T. Mizoguchi, Kazuki Tanida, K. Ohnishi
Robotics is a major field that is being researched for decades. With the use of robotic technology, applications of the microscopic level to the places where the human cannot reach are facilitated. When it comes to the larger robots, large actuators and drives have to be used to obtain the desired amount of power and the force or torque needed. As the electric motors have a limitation of torque output with its capacity, the most desirable way is to use the gears. However this introduces large inertia, backlash and friction to the system. If the system is used for the transmission of haptic information in bilaterally controlled systems, it greatly deteriorates the performance of the system and necessitates a compensation for the backlash caused by the gears. This paper introduces a method to compensate the backlash generated by the geared system. This method uses two identical counter operating drives per joint to compensate the backlash effect. Experiments are carried out for the proposed method to validate its accuracy.
{"title":"Compensation of backlash for teleoperated geared motor drive systems","authors":"D. Prasanga, T. Mizoguchi, Kazuki Tanida, K. Ohnishi","doi":"10.1109/IECON.2013.6699787","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699787","url":null,"abstract":"Robotics is a major field that is being researched for decades. With the use of robotic technology, applications of the microscopic level to the places where the human cannot reach are facilitated. When it comes to the larger robots, large actuators and drives have to be used to obtain the desired amount of power and the force or torque needed. As the electric motors have a limitation of torque output with its capacity, the most desirable way is to use the gears. However this introduces large inertia, backlash and friction to the system. If the system is used for the transmission of haptic information in bilaterally controlled systems, it greatly deteriorates the performance of the system and necessitates a compensation for the backlash caused by the gears. This paper introduces a method to compensate the backlash generated by the geared system. This method uses two identical counter operating drives per joint to compensate the backlash effect. Experiments are carried out for the proposed method to validate its accuracy.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125477894","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 : 2013-12-01DOI: 10.1109/IECON.2013.6699766
Yoshitomo Matsumi, Daiki Suzuki, K. Ohnishi
As far as authors' understanding, scaling factors presented in this paper are the highest values in the researches about force sensorless bilateral control. The cantilever is nominalized by disturbance observer in order to control master and slave with same method, which is intended to simplify the control system. An operator can feel magnified reaction force applied to the cantilever without force sensors by utilizing reaction force observer. Operationality and reproducibility are defined mathematically. Characteristics of these values and stability are analyzed and experimentally verified.
{"title":"Large scale micro-macro bilateral control using piezoelectric cantilever with plant nominalization","authors":"Yoshitomo Matsumi, Daiki Suzuki, K. Ohnishi","doi":"10.1109/IECON.2013.6699766","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699766","url":null,"abstract":"As far as authors' understanding, scaling factors presented in this paper are the highest values in the researches about force sensorless bilateral control. The cantilever is nominalized by disturbance observer in order to control master and slave with same method, which is intended to simplify the control system. An operator can feel magnified reaction force applied to the cantilever without force sensors by utilizing reaction force observer. Operationality and reproducibility are defined mathematically. Characteristics of these values and stability are analyzed and experimentally verified.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114158292","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 : 2013-12-01DOI: 10.1109/IECON.2013.6700011
Bogdan-Ionut Craciun, T. Kerekes, D. Sera, R. Teodorescu, R. Brandl, T. Degner, D. Geibel, H. Hernandez
Photovoltaic (PV) power among all renewable energies had the most accelerated growth rate in terms of installed capacity in recent years. Transmission System Operators (TSOs) changed their perspective about PV power and started to include it into their planning and operation, imposing PV systems to be more active in grid support. Therefore, a better understanding and detailed analysis of the PV systems interaction with the grid is needed; hence power hardware in the loop (PHIL) testing involving PV power can be a solution to address the testing challenges. To test PV systems for grid code (GC) compliance and supply of ancillary services, first the grid has to be simulated using PHIL, but in order to achieve it, different interface algorithms (IA) had to be evaluated in terms of system stability and signal accuracy.
{"title":"Grid integration of PV power based on PHIL testing using different interface algorithms","authors":"Bogdan-Ionut Craciun, T. Kerekes, D. Sera, R. Teodorescu, R. Brandl, T. Degner, D. Geibel, H. Hernandez","doi":"10.1109/IECON.2013.6700011","DOIUrl":"https://doi.org/10.1109/IECON.2013.6700011","url":null,"abstract":"Photovoltaic (PV) power among all renewable energies had the most accelerated growth rate in terms of installed capacity in recent years. Transmission System Operators (TSOs) changed their perspective about PV power and started to include it into their planning and operation, imposing PV systems to be more active in grid support. Therefore, a better understanding and detailed analysis of the PV systems interaction with the grid is needed; hence power hardware in the loop (PHIL) testing involving PV power can be a solution to address the testing challenges. To test PV systems for grid code (GC) compliance and supply of ancillary services, first the grid has to be simulated using PHIL, but in order to achieve it, different interface algorithms (IA) had to be evaluated in terms of system stability and signal accuracy.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126230876","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 : 2013-12-01DOI: 10.1109/IECON.2013.6699863
Jun-ichi Asano, K. Kondo
High feedback gain of the light-load regenerative brake power control enhances regenerative brake power. However this will also cause the LC filter cuircuit oscillation at the input side of the traction inverter. In this paper, a control method to absorb the LC resonant energy by utilizing the anti over voltage resistance (OVRe) is proposed. By means of this method, the filter capacitor (FC) on a braking vehicle keeps its higher voltage than the conventional control method. The proposed method is verified by numerical simulations, assuming a braking vehicle and a powering vehicle with less load power than the regenerative power. The proposed method contributes to enhance energy saving performance of DC-electrified railway systems.
{"title":"A damping control method to enhance regenerative brake power under light consumption load conditions","authors":"Jun-ichi Asano, K. Kondo","doi":"10.1109/IECON.2013.6699863","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699863","url":null,"abstract":"High feedback gain of the light-load regenerative brake power control enhances regenerative brake power. However this will also cause the LC filter cuircuit oscillation at the input side of the traction inverter. In this paper, a control method to absorb the LC resonant energy by utilizing the anti over voltage resistance (OVRe) is proposed. By means of this method, the filter capacitor (FC) on a braking vehicle keeps its higher voltage than the conventional control method. The proposed method is verified by numerical simulations, assuming a braking vehicle and a powering vehicle with less load power than the regenerative power. The proposed method contributes to enhance energy saving performance of DC-electrified railway systems.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"219 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133934487","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 : 2013-12-01DOI: 10.1109/IECON.2013.6699721
E. Sariyildiz, K. Ohnishi
In the conventional design of disturbance observer (DOB), a first order low pass filter (LPF) is used to prevent algebraic loop and satisfy causality in the inner-loop. Although a conventional DOB has a good robustness, its performance is limited by the dynamic characteristics of a first order LPF. A DOB that uses a higher order LPF is called as a higher order disturbance observer (HODOB) and can be used to improve performance of a system. However, improving performance may cause robustness problems. Therefore, there is a trade-off between robustness and performance of a DOB based robust control system, and it is directly related to order of the LPF of DOB. This paper analyzes robustness and performance of robust control systems based on DOB. The relation between performance and robustness is derived analytically, and a new design tool, which improves robustness and performance, is proposed for HODOB. A general second order plant model is analyzed, and simulation results are given to show the validity of the proposed method.
{"title":"Performance and robustness trade-off in disturbance observer design","authors":"E. Sariyildiz, K. Ohnishi","doi":"10.1109/IECON.2013.6699721","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699721","url":null,"abstract":"In the conventional design of disturbance observer (DOB), a first order low pass filter (LPF) is used to prevent algebraic loop and satisfy causality in the inner-loop. Although a conventional DOB has a good robustness, its performance is limited by the dynamic characteristics of a first order LPF. A DOB that uses a higher order LPF is called as a higher order disturbance observer (HODOB) and can be used to improve performance of a system. However, improving performance may cause robustness problems. Therefore, there is a trade-off between robustness and performance of a DOB based robust control system, and it is directly related to order of the LPF of DOB. This paper analyzes robustness and performance of robust control systems based on DOB. The relation between performance and robustness is derived analytically, and a new design tool, which improves robustness and performance, is proposed for HODOB. A general second order plant model is analyzed, and simulation results are given to show the validity of the proposed method.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130988075","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 : 2013-11-13DOI: 10.1109/IECON.2013.6699901
Yannic Domigall, A. Albani, R. Winter
Due to the integration of renewable energies, the electricity grid is confronted with new peak situations that are caused by the new power plants. Beside these threats new metering technologies combined with information systems enable new pricing options that were not affordable for retail customers before. This paper contributes to the field by combining demand charging incentives with a feed in tariff for photovoltaics. Demand charges are a broadly used pricing concept for large scale and industrial customers but are not used for retail customers yet. In a simulation we first of all show the impact of solar plants on the grid. Secondly, we simulate the shift in electricity demand caused by a demand charge for retail customers. Our simulation shows that the solar panels reduce the purchased quantity of electricity while leaving the maximum peak unchanged. This leads to reduced revenues for grid operators without changing the costs. This negative impact can be improved by the demand charge for retail customers.
{"title":"Effects of demand charging and photovoltaics on the grid","authors":"Yannic Domigall, A. Albani, R. Winter","doi":"10.1109/IECON.2013.6699901","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699901","url":null,"abstract":"Due to the integration of renewable energies, the electricity grid is confronted with new peak situations that are caused by the new power plants. Beside these threats new metering technologies combined with information systems enable new pricing options that were not affordable for retail customers before. This paper contributes to the field by combining demand charging incentives with a feed in tariff for photovoltaics. Demand charges are a broadly used pricing concept for large scale and industrial customers but are not used for retail customers yet. In a simulation we first of all show the impact of solar plants on the grid. Secondly, we simulate the shift in electricity demand caused by a demand charge for retail customers. Our simulation shows that the solar panels reduce the purchased quantity of electricity while leaving the maximum peak unchanged. This leads to reduced revenues for grid operators without changing the costs. This negative impact can be improved by the demand charge for retail customers.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124821180","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 : 2013-11-13DOI: 10.1109/IECON.2013.6699469
K. R. Krishnanand, B. Prasad, D. C. Hoang, A. K. Rathore, S. K. Panda
This paper presents a smart-metering framework based on computations of instantaneous phasors of voltage and current signals measured at a given node. The idea and requirement of electrical transparency inside a building is presented initially. Then the implementation of phasor estimation algorithm is discussed for the purpose of smart-metering. The capability of the smart-meter to do detailed power quality analysis is also presented. The ongoing work of hardware implementation and real-time testing of such smart-metering is also mentioned in the paper.
{"title":"Smart-metering for monitoring building power distribution network using instantaneous phasor computations of electrical signals","authors":"K. R. Krishnanand, B. Prasad, D. C. Hoang, A. K. Rathore, S. K. Panda","doi":"10.1109/IECON.2013.6699469","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699469","url":null,"abstract":"This paper presents a smart-metering framework based on computations of instantaneous phasors of voltage and current signals measured at a given node. The idea and requirement of electrical transparency inside a building is presented initially. Then the implementation of phasor estimation algorithm is discussed for the purpose of smart-metering. The capability of the smart-meter to do detailed power quality analysis is also presented. The ongoing work of hardware implementation and real-time testing of such smart-metering is also mentioned in the paper.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124084945","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 : 2013-11-11DOI: 10.1109/IECON.2013.6700233
N. Osman, M. d'Inverno, C. Sierra, Leila Amgoud, H. Prade, M. Yee-King, R. Confalonieri, D. Jonge, Katina Hazelden
This paper proposes the notion of experience to help situate agents in their environment, providing a link on how the continually evolving environment impacts the evolution of an agent's BDI model and vice versa. Then, using the notion of shared experience as a primitive construct, we develop a novel formal model of shared intention which we believe more adequately describes social behaviour than traditional BDI logics that focus on individual agents. Whilst many philosophers have argued that collective intentionality cannot always be equated to the collection of the individual agents' intentions, there has been no AI model that addresses this issue. We believe this is the first attempt to develop an explicit notion of shared experience from an AI perspective.
{"title":"An experience-based BDI logic: Motivating shared experiences and intentionality","authors":"N. Osman, M. d'Inverno, C. Sierra, Leila Amgoud, H. Prade, M. Yee-King, R. Confalonieri, D. Jonge, Katina Hazelden","doi":"10.1109/IECON.2013.6700233","DOIUrl":"https://doi.org/10.1109/IECON.2013.6700233","url":null,"abstract":"This paper proposes the notion of experience to help situate agents in their environment, providing a link on how the continually evolving environment impacts the evolution of an agent's BDI model and vice versa. Then, using the notion of shared experience as a primitive construct, we develop a novel formal model of shared intention which we believe more adequately describes social behaviour than traditional BDI logics that focus on individual agents. Whilst many philosophers have argued that collective intentionality cannot always be equated to the collection of the individual agents' intentions, there has been no AI model that addresses this issue. We believe this is the first attempt to develop an explicit notion of shared experience from an AI perspective.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115592197","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 : 2013-11-10DOI: 10.1109/IECON.2013.6700260
A. Soualhi, A. Sari, H. Razik, P. Venet, G. Clerc, R. German, O. Briat, J. Vinassa
Supercapacitors are devices used in wide range of applications, for example in automotive applications. Therefore, it is important to monitor and track their ageing. This paper presents a new approach for predicting the ageing of supercapacitors based on the neo-fuzzy neuron in association with the one-step ahead time series prediction. Ageing information collected from the measurement of the equivalent series resistance and the double layer capacitance are used to train the neo-fuzzy neuron. The obtained model is used as a prognostic tool in order to forecast the ageing of supercapacitors. The performance of the proposed approach is evaluated by using an experimental platform for ageing supercapacitors. The experimental results show that the neo-fuzzy prediction model can track the ageing of supercapacitors.
{"title":"Supercapacitors ageing prediction by neural networks","authors":"A. Soualhi, A. Sari, H. Razik, P. Venet, G. Clerc, R. German, O. Briat, J. Vinassa","doi":"10.1109/IECON.2013.6700260","DOIUrl":"https://doi.org/10.1109/IECON.2013.6700260","url":null,"abstract":"Supercapacitors are devices used in wide range of applications, for example in automotive applications. Therefore, it is important to monitor and track their ageing. This paper presents a new approach for predicting the ageing of supercapacitors based on the neo-fuzzy neuron in association with the one-step ahead time series prediction. Ageing information collected from the measurement of the equivalent series resistance and the double layer capacitance are used to train the neo-fuzzy neuron. The obtained model is used as a prognostic tool in order to forecast the ageing of supercapacitors. The performance of the proposed approach is evaluated by using an experimental platform for ageing supercapacitors. The experimental results show that the neo-fuzzy prediction model can track the ageing of supercapacitors.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114462591","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 : 2013-11-10DOI: 10.1109/IECON.2013.6699571
D. Shah, M. Hilairet, I. Bahri
In this work, an Enhanced Direct Instantaneous Torque Control (EDITC)of a Switched Reluctance Machine is explored. The main issue of regular direct instantaneous torque control (DITC) is that the current is measured but not controlled. Therefore, a new algorithm for hysteresis-controller was provided which included additional feature such as current limiter. Several simulations are presented which validates our controller over wide range of speed and torque.
{"title":"Enhanced Direct Instantaneous Torque Control of Switched Reluctance Machine with phase current limitation","authors":"D. Shah, M. Hilairet, I. Bahri","doi":"10.1109/IECON.2013.6699571","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699571","url":null,"abstract":"In this work, an Enhanced Direct Instantaneous Torque Control (EDITC)of a Switched Reluctance Machine is explored. The main issue of regular direct instantaneous torque control (DITC) is that the current is measured but not controlled. Therefore, a new algorithm for hysteresis-controller was provided which included additional feature such as current limiter. Several simulations are presented which validates our controller over wide range of speed and torque.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132890684","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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