Pub Date : 2015-11-12DOI: 10.1109/EDPE.2015.7325325
Tomas Kubela, Ales Pochyly, V. Singule
Industrial 6DOF robots have become a tool for various machining processes due to its universality - an ability to perform any type of movement in space - and low price compared to standard 5-Axis milling machines. However, main limited factors stems from the fact that the robot accuracy with serial kinematics is much lower in comparison with CNC machines. Using the robots for machining is therefore limited to applications with lower geometrical accuracy and machining non-hard materials. In this contribution, an experimental investigation of sources of errors, having the impact on the product accuracy and surface quality, is presented. Based on this investigation focused on KUKA robots, an online method for compensating the main source of errors - backlash errors resulting from the drive reversion - is proposed. The main emphasis is put on online (real time) error compensation based on KUKA RSI (Robot Sensor Interface) technology package and sensing the actual robot positions. Experimental results given at the end of this contribution summarizes the potential for further accuracy improvements and using the robots for machining processes maintaining the accuracy in acceptable limits.
{"title":"Investigation of position accuracy of industrial robots and online methods for accuracy improvement in machining processes","authors":"Tomas Kubela, Ales Pochyly, V. Singule","doi":"10.1109/EDPE.2015.7325325","DOIUrl":"https://doi.org/10.1109/EDPE.2015.7325325","url":null,"abstract":"Industrial 6DOF robots have become a tool for various machining processes due to its universality - an ability to perform any type of movement in space - and low price compared to standard 5-Axis milling machines. However, main limited factors stems from the fact that the robot accuracy with serial kinematics is much lower in comparison with CNC machines. Using the robots for machining is therefore limited to applications with lower geometrical accuracy and machining non-hard materials. In this contribution, an experimental investigation of sources of errors, having the impact on the product accuracy and surface quality, is presented. Based on this investigation focused on KUKA robots, an online method for compensating the main source of errors - backlash errors resulting from the drive reversion - is proposed. The main emphasis is put on online (real time) error compensation based on KUKA RSI (Robot Sensor Interface) technology package and sensing the actual robot positions. Experimental results given at the end of this contribution summarizes the potential for further accuracy improvements and using the robots for machining processes maintaining the accuracy in acceptable limits.","PeriodicalId":246203,"journal":{"name":"2015 International Conference on Electrical Drives and Power Electronics (EDPE)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127510089","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 : 2015-11-12DOI: 10.1109/EDPE.2015.7325301
Mofakkharul Islam, Md. Abul Bashar Sarkar
The paper presents a reliable high power density smart solar charge controller (SCC) for standalone energy systems. In this project, a low cost high power density solar charge controller with the function to disconnect the battery during overcharging or deep-discharging and to protect the load during overvoltage or high-current as well as to reconnect the battery or load when the faults are removed is proposed. The proposed solar charge controller is equipped with LCD to display the state of charge (SOC), battery voltage, charging current and load current. These are used to obtain the accurate and efficient disconnecting/ reconnecting action which is capable of protecting the battery and load whereas LED indicator is featured to show the status of the systems. All control functions are implemented in software with a single-chip 32-bit microcontroller. This solar charge controller is developed to make high efficient and reduce the current market price of charge controller to an affordable level. For verification of the proposed solar charge controller, the 1.2kW prototype has been built and tested.
{"title":"An efficient smart solar charge controller for standalone energy systems","authors":"Mofakkharul Islam, Md. Abul Bashar Sarkar","doi":"10.1109/EDPE.2015.7325301","DOIUrl":"https://doi.org/10.1109/EDPE.2015.7325301","url":null,"abstract":"The paper presents a reliable high power density smart solar charge controller (SCC) for standalone energy systems. In this project, a low cost high power density solar charge controller with the function to disconnect the battery during overcharging or deep-discharging and to protect the load during overvoltage or high-current as well as to reconnect the battery or load when the faults are removed is proposed. The proposed solar charge controller is equipped with LCD to display the state of charge (SOC), battery voltage, charging current and load current. These are used to obtain the accurate and efficient disconnecting/ reconnecting action which is capable of protecting the battery and load whereas LED indicator is featured to show the status of the systems. All control functions are implemented in software with a single-chip 32-bit microcontroller. This solar charge controller is developed to make high efficient and reduce the current market price of charge controller to an affordable level. For verification of the proposed solar charge controller, the 1.2kW prototype has been built and tested.","PeriodicalId":246203,"journal":{"name":"2015 International Conference on Electrical Drives and Power Electronics (EDPE)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129051955","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 : 2015-11-12DOI: 10.1109/EDPE.2015.7325336
A. Futo, I. Varjasi
The 60° flat-top modulation technique (also called two phase or discontinuous modulation) is a widely used method in the industry to reduce switching losses in three phase PWM inverters. This technique reduces the number of switchings via adding a zero sequence component to the output voltage. The added component is chosen such that one of the phase legs is not switched, but the phase-to-phase voltage still remains sinusoidal. In this article it is shown that 60° flat-top modulation can cause low order harmonic distortion. The cause and the magnitude of this effect is investigated, and an empirical method is given to decrease the distortion, which uses a modified version of the 60° flat-top modulator. The new method significantly decreases the current THD, at the cost of a minor increase in converter losses.
{"title":"Empirical compensation of low order harmonics due to flat top modulation the \"BATMAN\" modulator","authors":"A. Futo, I. Varjasi","doi":"10.1109/EDPE.2015.7325336","DOIUrl":"https://doi.org/10.1109/EDPE.2015.7325336","url":null,"abstract":"The 60° flat-top modulation technique (also called two phase or discontinuous modulation) is a widely used method in the industry to reduce switching losses in three phase PWM inverters. This technique reduces the number of switchings via adding a zero sequence component to the output voltage. The added component is chosen such that one of the phase legs is not switched, but the phase-to-phase voltage still remains sinusoidal. In this article it is shown that 60° flat-top modulation can cause low order harmonic distortion. The cause and the magnitude of this effect is investigated, and an empirical method is given to decrease the distortion, which uses a modified version of the 60° flat-top modulator. The new method significantly decreases the current THD, at the cost of a minor increase in converter losses.","PeriodicalId":246203,"journal":{"name":"2015 International Conference on Electrical Drives and Power Electronics (EDPE)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127967610","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 : 2015-11-12DOI: 10.1109/EDPE.2015.7325263
P. Sobanski, T. Orłowska-Kowalska
This paper deals with an open-circuit IGBTs faults diagnostic method that is dedicated for three-phase two-level voltage inverter fed vector controlled induction motor drive systems. The presented technique is based on a transient analysis of a reference voltage space vector in a stationary reference frame and it does not require an extra sensors application. The diagnostic algorithm ensures to detect and localize single power switch failures in a time shorter than one period of a stator current fundamental harmonic, without regard to a drive operation point. The presented sheme of the diagnostic system can be easy applicable in the electric drives that used voltage space vector modulation (SVM) algorithms. The main achievement of the research, whose results have been presented in this paper, is experimental validation of the IGBTs faults diagnosis technique in the drive with the Direct Torque Control (DTC) algorithm.
{"title":"Experimental validation of the simple voltage-vector-location-based method of open-circuit IGBTs faults in DTC-SVM induction motor drive","authors":"P. Sobanski, T. Orłowska-Kowalska","doi":"10.1109/EDPE.2015.7325263","DOIUrl":"https://doi.org/10.1109/EDPE.2015.7325263","url":null,"abstract":"This paper deals with an open-circuit IGBTs faults diagnostic method that is dedicated for three-phase two-level voltage inverter fed vector controlled induction motor drive systems. The presented technique is based on a transient analysis of a reference voltage space vector in a stationary reference frame and it does not require an extra sensors application. The diagnostic algorithm ensures to detect and localize single power switch failures in a time shorter than one period of a stator current fundamental harmonic, without regard to a drive operation point. The presented sheme of the diagnostic system can be easy applicable in the electric drives that used voltage space vector modulation (SVM) algorithms. The main achievement of the research, whose results have been presented in this paper, is experimental validation of the IGBTs faults diagnosis technique in the drive with the Direct Torque Control (DTC) algorithm.","PeriodicalId":246203,"journal":{"name":"2015 International Conference on Electrical Drives and Power Electronics (EDPE)","volume":"12 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114122547","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 : 2015-11-12DOI: 10.1109/EDPE.2015.7325297
B. Ban, M. Vrazic, Ivan Bahun
This paper presents a model of battery powered electric vehicle with computer algorithm for calculation of optimal energy components. The goal of the research was to create a system which can optimize the vehicle battery and motor for the given driving cycle thus minimizing equipment expenses. Furthermore, paper describes tested vehicle, vehicle components modelling, measurement acquisition process, and minimization algorithm. All measurements (mechanical and electrical) were committed on electric vehicle with known drive train characteristic. System inputs are vehicle related constants and driving cycle measurements: torque at one wheel and linear velocity measured on the chosen driving cycle. System outputs are minimized energy components (battery capacity and peak motor power) with simulated power at the motor shaft and battery terminals. To verify the simulation, this data is then compared with real vehicle components and electro-mechanical measurements.
{"title":"Electric vehicle model with driving cycle based algorithm for battery and motor minimization","authors":"B. Ban, M. Vrazic, Ivan Bahun","doi":"10.1109/EDPE.2015.7325297","DOIUrl":"https://doi.org/10.1109/EDPE.2015.7325297","url":null,"abstract":"This paper presents a model of battery powered electric vehicle with computer algorithm for calculation of optimal energy components. The goal of the research was to create a system which can optimize the vehicle battery and motor for the given driving cycle thus minimizing equipment expenses. Furthermore, paper describes tested vehicle, vehicle components modelling, measurement acquisition process, and minimization algorithm. All measurements (mechanical and electrical) were committed on electric vehicle with known drive train characteristic. System inputs are vehicle related constants and driving cycle measurements: torque at one wheel and linear velocity measured on the chosen driving cycle. System outputs are minimized energy components (battery capacity and peak motor power) with simulated power at the motor shaft and battery terminals. To verify the simulation, this data is then compared with real vehicle components and electro-mechanical measurements.","PeriodicalId":246203,"journal":{"name":"2015 International Conference on Electrical Drives and Power Electronics (EDPE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126140954","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 : 2015-11-12DOI: 10.1109/EDPE.2015.7325283
J. Cernohorsky, A. Richter
The remote access and diagnostics are very common in modern industrial system. Some of them use own proper system, some others use public standards, web based visualization or virtual network computing VNC. On Technical university of Liberec we would like to enhance education in combined, distant study form. The most of the students are experienced people which would like to increase their knowledge in their field of interest or enhance the knowledge in wider range. The main idea for education of those people is usage of programmable logical controller to handle the laboratory task and allow them to do the measurement remotely by their own. In the paper there are several examples how to create or modify laboratory tasks in this way.
{"title":"Remote measurement in electrical engineering laboratories power measurement in electrical drive system, synchronization of stepper motors","authors":"J. Cernohorsky, A. Richter","doi":"10.1109/EDPE.2015.7325283","DOIUrl":"https://doi.org/10.1109/EDPE.2015.7325283","url":null,"abstract":"The remote access and diagnostics are very common in modern industrial system. Some of them use own proper system, some others use public standards, web based visualization or virtual network computing VNC. On Technical university of Liberec we would like to enhance education in combined, distant study form. The most of the students are experienced people which would like to increase their knowledge in their field of interest or enhance the knowledge in wider range. The main idea for education of those people is usage of programmable logical controller to handle the laboratory task and allow them to do the measurement remotely by their own. In the paper there are several examples how to create or modify laboratory tasks in this way.","PeriodicalId":246203,"journal":{"name":"2015 International Conference on Electrical Drives and Power Electronics (EDPE)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129453290","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 : 2015-11-12DOI: 10.1109/EDPE.2015.7325299
A. Kumar, Thomas Cermak, S. Mišák, B. Horák
The PEM Fuel cell are deliberated as one of the almost favourable devices for isolated/grid connected distributed generations (DGs) due to its cleanliness, modularity and higher potential capability. This paper presents the modeling and simulation for 1.2 kW PEM Fuel Cell Power Generation of Isolated Load conditions. The proposed scheme consists of a Fuel rate selector, Fuel rate regulator, Fuel cell stack, Boost converter, Filter circuit and Load. The PEM Fuel cell model includes the dynamics of reactant flow, membrane resistance, stack efficiency and capacitance as well as steady-state equation. Modeling and simulation of the PEM fuel cell power generation are carried out by Matlab software. The variation of load corresponds to the output voltage, current, and fuel cell flows rates are examined. The present modeling and simulation results are validated with sample experiments results are conducted in VSB-Technical University of Ostrava.
{"title":"Modeling and simulation for 1.2 kW PEM fuel cell power generation of isolated load conditions","authors":"A. Kumar, Thomas Cermak, S. Mišák, B. Horák","doi":"10.1109/EDPE.2015.7325299","DOIUrl":"https://doi.org/10.1109/EDPE.2015.7325299","url":null,"abstract":"The PEM Fuel cell are deliberated as one of the almost favourable devices for isolated/grid connected distributed generations (DGs) due to its cleanliness, modularity and higher potential capability. This paper presents the modeling and simulation for 1.2 kW PEM Fuel Cell Power Generation of Isolated Load conditions. The proposed scheme consists of a Fuel rate selector, Fuel rate regulator, Fuel cell stack, Boost converter, Filter circuit and Load. The PEM Fuel cell model includes the dynamics of reactant flow, membrane resistance, stack efficiency and capacitance as well as steady-state equation. Modeling and simulation of the PEM fuel cell power generation are carried out by Matlab software. The variation of load corresponds to the output voltage, current, and fuel cell flows rates are examined. The present modeling and simulation results are validated with sample experiments results are conducted in VSB-Technical University of Ostrava.","PeriodicalId":246203,"journal":{"name":"2015 International Conference on Electrical Drives and Power Electronics (EDPE)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127230007","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 : 2015-11-12DOI: 10.1109/EDPE.2015.7325339
M. Pastor, J. Dudrik
The paper describes design and control of LCL filter with active damping. The LCL filter is used in a single phase grid connected inverter. The performance of two different active damping methods is compared to passive damping by simulation.
{"title":"Design and control of LCL filter with active damping for grid-connected inverter","authors":"M. Pastor, J. Dudrik","doi":"10.1109/EDPE.2015.7325339","DOIUrl":"https://doi.org/10.1109/EDPE.2015.7325339","url":null,"abstract":"The paper describes design and control of LCL filter with active damping. The LCL filter is used in a single phase grid connected inverter. The performance of two different active damping methods is compared to passive damping by simulation.","PeriodicalId":246203,"journal":{"name":"2015 International Conference on Electrical Drives and Power Electronics (EDPE)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121500918","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 : 2015-11-12DOI: 10.1109/EDPE.2015.7325333
Marko Lelas, T. Pavlovic, Ž. Ban
In order to obtain improvement in energy efficiency of urban rail transportation system by usage of regenerative breaking energy this article deals with modeling of the rail vehicle and energy storage, as well as, with proposing form of breaking energy flow control algorithm. The control algorithm is based on maximization of used regenerative breaking energy as well as maximization of a storage element charge-discharge life cycle. The critical thresholds of the algorithm should be obtained by optimization. The accurate simplified rail vehicle model with storage element model suitable for control algorithm optimization is developed in this article. In addition, control algorithm and optimization cost function are proposed in order to maximize used regenerative breaking energy and life cycle of the storage element. The roll of control algorithm during implementation phase on real vehicle will be generation of the reference signal for low level control algorithms of the supercapacitor converter.
{"title":"A supercapacitor based energy storage system for urban transportation energy efficiency improvement","authors":"Marko Lelas, T. Pavlovic, Ž. Ban","doi":"10.1109/EDPE.2015.7325333","DOIUrl":"https://doi.org/10.1109/EDPE.2015.7325333","url":null,"abstract":"In order to obtain improvement in energy efficiency of urban rail transportation system by usage of regenerative breaking energy this article deals with modeling of the rail vehicle and energy storage, as well as, with proposing form of breaking energy flow control algorithm. The control algorithm is based on maximization of used regenerative breaking energy as well as maximization of a storage element charge-discharge life cycle. The critical thresholds of the algorithm should be obtained by optimization. The accurate simplified rail vehicle model with storage element model suitable for control algorithm optimization is developed in this article. In addition, control algorithm and optimization cost function are proposed in order to maximize used regenerative breaking energy and life cycle of the storage element. The roll of control algorithm during implementation phase on real vehicle will be generation of the reference signal for low level control algorithms of the supercapacitor converter.","PeriodicalId":246203,"journal":{"name":"2015 International Conference on Electrical Drives and Power Electronics (EDPE)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116949885","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 : 2015-11-12DOI: 10.1109/EDPE.2015.7325265
P. Błaszczyk, M. Winkelnkemper, L. Schwager
Modular Multilevel Converters (MMC) are power-electronics systems built with number of submodules connected in series/parallel manner to increase voltage and current range of the converter in comparison with single component rating what allows to use low-voltage low-power products in MVDC and HVDC applications. For increase of voltage or power multiple MMCs can be connected in series or parallel. This paper introduces a new energy balancing algorithm for such multi-converter systems. The problem of equal energy sharing is highlighted. Control algorithms are presented. Finally, simulation test results are shown from system comprising two MMCs in configurable parallel and series connection.
{"title":"Converter energy balancing in MMC system energy sharing using master controller","authors":"P. Błaszczyk, M. Winkelnkemper, L. Schwager","doi":"10.1109/EDPE.2015.7325265","DOIUrl":"https://doi.org/10.1109/EDPE.2015.7325265","url":null,"abstract":"Modular Multilevel Converters (MMC) are power-electronics systems built with number of submodules connected in series/parallel manner to increase voltage and current range of the converter in comparison with single component rating what allows to use low-voltage low-power products in MVDC and HVDC applications. For increase of voltage or power multiple MMCs can be connected in series or parallel. This paper introduces a new energy balancing algorithm for such multi-converter systems. The problem of equal energy sharing is highlighted. Control algorithms are presented. Finally, simulation test results are shown from system comprising two MMCs in configurable parallel and series connection.","PeriodicalId":246203,"journal":{"name":"2015 International Conference on Electrical Drives and Power Electronics (EDPE)","volume":"353 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131273276","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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