Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268800
E.D. Dicmanns
Two application examples are discussed: road vehicle guidance on highways with normal traffic, and on-board autonomous aircraft landing approaches. In both cases, active bifocal vision with one wide-angle and one tele lens camera, mounted fixed relative to each other on a two-axis platform for viewing direction control, allows performance to be improved considerably. Both application examples can be realized in a volume of about 30 liters of conventional transputer hardware.<>
{"title":"Bifocal vision for mobile robot control","authors":"E.D. Dicmanns","doi":"10.1109/ISIE.1993.268800","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268800","url":null,"abstract":"Two application examples are discussed: road vehicle guidance on highways with normal traffic, and on-board autonomous aircraft landing approaches. In both cases, active bifocal vision with one wide-angle and one tele lens camera, mounted fixed relative to each other on a two-axis platform for viewing direction control, allows performance to be improved considerably. Both application examples can be realized in a volume of about 30 liters of conventional transputer hardware.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124687634","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268813
W. Dunford, E. Mufford
A CSI-fed induction motor drive controller based on the Intel 80196 is described. This combines both current source and inverter control in one program with all control and firing signals being processed by a single microcontroller. It is shown that various control strategies can be implemented within the software. Examples of both PID control and MRAC control for the current control loop are presented.<>
{"title":"An integrated controller for current source inverter drives","authors":"W. Dunford, E. Mufford","doi":"10.1109/ISIE.1993.268813","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268813","url":null,"abstract":"A CSI-fed induction motor drive controller based on the Intel 80196 is described. This combines both current source and inverter control in one program with all control and firing signals being processed by a single microcontroller. It is shown that various control strategies can be implemented within the software. Examples of both PID control and MRAC control for the current control loop are presented.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129528438","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268779
P. Dutkiewicz, K. Kozlowski, W. Wróblewski
The paper presents an experimental identification of the parameters of a load of a manipulator gripper: mass; static moment coordinates; and six inertial parameters. The experiments have been carried out for an ASEA IRp-6 robot equipped with a German DLR and American JR3 force/torque sensors. An external measurement system for monitoring each motor's position, velocity and current has also been employed. Two identification models, differential and integral, have been depicted. The results of both static (i.e. when the manipulator is at rest) and dynamic (i.e. when the manipulator moves along a predefined trajectory) are presented.<>
{"title":"Experimental identification of load parameters","authors":"P. Dutkiewicz, K. Kozlowski, W. Wróblewski","doi":"10.1109/ISIE.1993.268779","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268779","url":null,"abstract":"The paper presents an experimental identification of the parameters of a load of a manipulator gripper: mass; static moment coordinates; and six inertial parameters. The experiments have been carried out for an ASEA IRp-6 robot equipped with a German DLR and American JR3 force/torque sensors. An external measurement system for monitoring each motor's position, velocity and current has also been employed. Two identification models, differential and integral, have been depicted. The results of both static (i.e. when the manipulator is at rest) and dynamic (i.e. when the manipulator moves along a predefined trajectory) are presented.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134256089","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268816
J. Oliver, H. Gerke
This paper illustrates the economic benefit for utilizing high speed electric motor drives for pipeline gas compressors and for a multitude of petroleum refining compressor applications. Available electronic and motor technology is discussed.<>
{"title":"High speed ASD controlled motors replace turbines and engines for pipelines and petroleum refineries","authors":"J. Oliver, H. Gerke","doi":"10.1109/ISIE.1993.268816","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268816","url":null,"abstract":"This paper illustrates the economic benefit for utilizing high speed electric motor drives for pipeline gas compressors and for a multitude of petroleum refining compressor applications. Available electronic and motor technology is discussed.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132234720","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268734
G. Błajszczak
The paper describes a power electronic convertor for optimal distribution and quality improvement of electrical energy in power networks. The power converter can provide, simultaneously, compensation of slow fluctuations of active power (load levelling), load balancing, as well as the elimination of stochastic distortions and reactive power.<>
{"title":"Energy conditioning converter","authors":"G. Błajszczak","doi":"10.1109/ISIE.1993.268734","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268734","url":null,"abstract":"The paper describes a power electronic convertor for optimal distribution and quality improvement of electrical energy in power networks. The power converter can provide, simultaneously, compensation of slow fluctuations of active power (load levelling), load balancing, as well as the elimination of stochastic distortions and reactive power.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132817932","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268735
A.M. Walczyna, R. J. Hill
Direct self-control (DSC) of an inverter-fed induction machine is a signal processing technique based on two-level hysteresis control of the machine flux and torque. The advantages of DSC are simplicity, requiring no field coordinate transformations, and high dynamic performance even with high power, low switching frequency converters. One disadvantage, however, is that the output inverter current is not sinusoidal, containing harmonic components typical of those in six-pulse square-wave inverters. In this paper, a novel PWM strategy is proposed for inverter-fed induction machines with DSC which reduces distortion in the inverter input and output currents. This is achieved by introducing 12 sectors into the stator flux alpha - beta plane in which stator voltage vectors are chosen which are two steps in advance (two-forward) or behind (two-backward) relative to the DSC-derived vectors, instead of zero-vector switching. The method requires no additional vector switchings to form a stator flux trajectory closer to circular compared with the classic DSC flux hexagon. Moreover, the technique does not require elaborate pre-processing or online calculation, and is based on logic circuits and an EPROM look-up table.<>
{"title":"Novel PWM strategy for direct self-control of inverter-fed induction motors","authors":"A.M. Walczyna, R. J. Hill","doi":"10.1109/ISIE.1993.268735","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268735","url":null,"abstract":"Direct self-control (DSC) of an inverter-fed induction machine is a signal processing technique based on two-level hysteresis control of the machine flux and torque. The advantages of DSC are simplicity, requiring no field coordinate transformations, and high dynamic performance even with high power, low switching frequency converters. One disadvantage, however, is that the output inverter current is not sinusoidal, containing harmonic components typical of those in six-pulse square-wave inverters. In this paper, a novel PWM strategy is proposed for inverter-fed induction machines with DSC which reduces distortion in the inverter input and output currents. This is achieved by introducing 12 sectors into the stator flux alpha - beta plane in which stator voltage vectors are chosen which are two steps in advance (two-forward) or behind (two-backward) relative to the DSC-derived vectors, instead of zero-vector switching. The method requires no additional vector switchings to form a stator flux trajectory closer to circular compared with the classic DSC flux hexagon. Moreover, the technique does not require elaborate pre-processing or online calculation, and is based on logic circuits and an EPROM look-up table.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"239 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113995738","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268769
G. Cardarelli, P. M. Pelagagge
The results of simulation tests have been presented in order to illustrate the capability in FMS management of a scheduling based on the job-group loading rule. In particular the effects of the interferences on the material handling system, the variability of machining times and the stops for breakdown or preventive maintenance, have been examined.<>
{"title":"On the capability of job-group loading in FMS management","authors":"G. Cardarelli, P. M. Pelagagge","doi":"10.1109/ISIE.1993.268769","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268769","url":null,"abstract":"The results of simulation tests have been presented in order to illustrate the capability in FMS management of a scheduling based on the job-group loading rule. In particular the effects of the interferences on the material handling system, the variability of machining times and the stops for breakdown or preventive maintenance, have been examined.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114566191","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268807
A. Boglietti, G. Griva, M. Pastorelli, F. Profumo, T. Ádám
Fully digital AC drives with pulse width modulated inverters are becoming an industrial standard. For PWM inverters several strategies are used. A complete view of the most common carrier based strategies, as sinusoidal PWM, third harmonic injected PWM, discontinuous or dead band PWM and space vector PWM is presented. The authors propose a method based on 'quality factors' to evaluate the different types of modulation.<>
{"title":"Different PWM modulation techniques indexes performance evaluation","authors":"A. Boglietti, G. Griva, M. Pastorelli, F. Profumo, T. Ádám","doi":"10.1109/ISIE.1993.268807","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268807","url":null,"abstract":"Fully digital AC drives with pulse width modulated inverters are becoming an industrial standard. For PWM inverters several strategies are used. A complete view of the most common carrier based strategies, as sinusoidal PWM, third harmonic injected PWM, discontinuous or dead band PWM and space vector PWM is presented. The authors propose a method based on 'quality factors' to evaluate the different types of modulation.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"414 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133606161","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268783
T. Gallenkamp
This paper introduces a digital real-time simulator, which uses a cluster of digital signal processors (DSPs) to simulate the behaviour of mechanical systems containing several closely coupled drives. The system's dynamics model is entered and edited as a block diagram using a schematic capture program and pre-defined blocks from an application specific block library. A compiler takes this graphical input and creates optimized assembly language code for each of the DSPs. The tremendous calculating effort needed for the simulation task can only be handled by a highly optimized code in combination with powerful state of the art hardware.<>
{"title":"Implementation of a real-time simulator for modelling the dynamics of closely coupled drive systems","authors":"T. Gallenkamp","doi":"10.1109/ISIE.1993.268783","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268783","url":null,"abstract":"This paper introduces a digital real-time simulator, which uses a cluster of digital signal processors (DSPs) to simulate the behaviour of mechanical systems containing several closely coupled drives. The system's dynamics model is entered and edited as a block diagram using a schematic capture program and pre-defined blocks from an application specific block library. A compiler takes this graphical input and creates optimized assembly language code for each of the DSPs. The tremendous calculating effort needed for the simulation task can only be handled by a highly optimized code in combination with powerful state of the art hardware.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130523484","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268838
A. Mota, J. Fonseca, D. M. Santos
An adaptive control system for imposing a given temperature profile in the firing zone of a ceramic tunnel kiln is described. The system is composed of a central unit connected to several remote (satellite) controllers by a serial field bus. The central unit performs system identification and synthesis of the control function, and the remote controllers implement the control function. A pole-placement algorithm is used. Several solutions are possible, depending on how the different tasks are distributed among the functional blocks. One of these allows the system to go on operating (although at the cost of the loss of the adaptive characteristic) in the case of a fault in the central unit, as the remote controllers will ensure local control. These solutions are discussed and results pertinent to control system performance, obtained from a reduced-scale version of the kiln, are given.<>
{"title":"An adaptive control system for an industrial tunnel kiln","authors":"A. Mota, J. Fonseca, D. M. Santos","doi":"10.1109/ISIE.1993.268838","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268838","url":null,"abstract":"An adaptive control system for imposing a given temperature profile in the firing zone of a ceramic tunnel kiln is described. The system is composed of a central unit connected to several remote (satellite) controllers by a serial field bus. The central unit performs system identification and synthesis of the control function, and the remote controllers implement the control function. A pole-placement algorithm is used. Several solutions are possible, depending on how the different tasks are distributed among the functional blocks. One of these allows the system to go on operating (although at the cost of the loss of the adaptive characteristic) in the case of a fault in the central unit, as the remote controllers will ensure local control. These solutions are discussed and results pertinent to control system performance, obtained from a reduced-scale version of the kiln, are given.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122307663","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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