Pub Date : 2006-07-09DOI: 10.1109/ISIE.2006.295595
M.A.T. de Sousa, S. Caux, M. Fadel
A detailed design and comparison of PID and state space controller (SSC) for permanent magnet synchronous motor (PMSM) loaded with elastic joint to a mass are presented. The SSC controller consists of a LQ controller and a proportional feedback compensation of the load torque estimated by a reduced disturbance observer. Step by step analyse for PID and LQ tuning is conduced for PMSM drive and varying load. A large load inertia variation is taken into account to define the strategies used to calculate the optimum PID, LQ and reduced observer parameters that ensure the drive system stability and performances. Simulations results verify and compare the robustness of the controllers. Complexity of synthesis and performances obtained are discussed on a PMSM drive fed with a PWM voltage inverter controlled in current
{"title":"Design of robust controllers for PMSM drive fed with PWM inverter with inertia load variation","authors":"M.A.T. de Sousa, S. Caux, M. Fadel","doi":"10.1109/ISIE.2006.295595","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295595","url":null,"abstract":"A detailed design and comparison of PID and state space controller (SSC) for permanent magnet synchronous motor (PMSM) loaded with elastic joint to a mass are presented. The SSC controller consists of a LQ controller and a proportional feedback compensation of the load torque estimated by a reduced disturbance observer. Step by step analyse for PID and LQ tuning is conduced for PMSM drive and varying load. A large load inertia variation is taken into account to define the strategies used to calculate the optimum PID, LQ and reduced observer parameters that ensure the drive system stability and performances. Simulations results verify and compare the robustness of the controllers. Complexity of synthesis and performances obtained are discussed on a PMSM drive fed with a PWM voltage inverter controlled in current","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129426786","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295549
M. Lagha, M. Bensebti
This work concerns the use of terrestrial pulsed Doppler weather radar echo to estimate windshear hazards disastrous for airplane approach and landing. Two different methods are used to estimate the received Doppler spectrum moments. The second central moment which is the variance of the wind velocity is called width or windshear. One method is in the time domain, while the other is in the frequency domain. These simulations which lead to comparison of the results assumes that the signal portions of the spectrum are approached with Gaussian shape
{"title":"Performance Comparison of Pulse Pair and 2-Step Prediction Approach to the Doppler Estimation","authors":"M. Lagha, M. Bensebti","doi":"10.1109/ISIE.2006.295549","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295549","url":null,"abstract":"This work concerns the use of terrestrial pulsed Doppler weather radar echo to estimate windshear hazards disastrous for airplane approach and landing. Two different methods are used to estimate the received Doppler spectrum moments. The second central moment which is the variance of the wind velocity is called width or windshear. One method is in the time domain, while the other is in the frequency domain. These simulations which lead to comparison of the results assumes that the signal portions of the spectrum are approached with Gaussian shape","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128444276","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295683
Y. Ounejjar, K. Al-haddad
In this paper, the authors propose a new technique applied to three level NPC rectifier which permits line currents and neutral point balancing while maintaining unity power factor operation. The idea of line current balancing is based on the symmetrical components theory. Indeed, In order to balance three phase line currents, the negative sequence component of line current references is eliminated. First, we compute for the active power component in synchronous reference frame, and then dq/abc transformation is applied to generate the equivalent line current references. These references are thereafter used to estimate both positive and negative sequences using the complex plan. An inverse transformation imposing zero negative sequence leads finally to balanced current references which are used to control the rectifier switches using SPWM. The obtained simulation results confirm the validity of the proposed algorithm in both steady state and dynamic regimes
{"title":"New line currents and neutral point balancing technique of three-level three-phase NPC converter","authors":"Y. Ounejjar, K. Al-haddad","doi":"10.1109/ISIE.2006.295683","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295683","url":null,"abstract":"In this paper, the authors propose a new technique applied to three level NPC rectifier which permits line currents and neutral point balancing while maintaining unity power factor operation. The idea of line current balancing is based on the symmetrical components theory. Indeed, In order to balance three phase line currents, the negative sequence component of line current references is eliminated. First, we compute for the active power component in synchronous reference frame, and then dq/abc transformation is applied to generate the equivalent line current references. These references are thereafter used to estimate both positive and negative sequences using the complex plan. An inverse transformation imposing zero negative sequence leads finally to balanced current references which are used to control the rectifier switches using SPWM. The obtained simulation results confirm the validity of the proposed algorithm in both steady state and dynamic regimes","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128465460","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 : 2006-07-09DOI: 10.1109/ISIE.2006.296058
A. Ryberg, Anna-Karin Christiansson, K. Eriksson, B. Lennartson
A position and orientation (pose) measurement system is being developed. The system, called PosEye, is based on a camera and by using the information in the image, the pose of the camera taking the image can be calculated. The system is aimed to be placed on an industrial robot for welding, but it is flexible and can also be used in many other applications. The accuracy has been measured, and it is concluded that the accuracy needs to be improved for welding applications. To make the pose measurement, reference points, that can be recognized in the image, are distributed in the working area. The positions of the reference points and the parameters in a camera model are initially computed automatically from sample images from a number of directions to the reference points. After this calibration, the pose can be calculated at each sample image. For high accuracy there is a need to have a camera model that takes into account a number of distortion effects, which are further developed in this paper. The new model is used to express an optimization cost function that can be used for both the pose calculation, and the extensive calibration, that determines camera parameters in the camera model and the positions of the reference points
{"title":"A new Camera Model for Higher Accuracy Pose Calculations","authors":"A. Ryberg, Anna-Karin Christiansson, K. Eriksson, B. Lennartson","doi":"10.1109/ISIE.2006.296058","DOIUrl":"https://doi.org/10.1109/ISIE.2006.296058","url":null,"abstract":"A position and orientation (pose) measurement system is being developed. The system, called PosEye, is based on a camera and by using the information in the image, the pose of the camera taking the image can be calculated. The system is aimed to be placed on an industrial robot for welding, but it is flexible and can also be used in many other applications. The accuracy has been measured, and it is concluded that the accuracy needs to be improved for welding applications. To make the pose measurement, reference points, that can be recognized in the image, are distributed in the working area. The positions of the reference points and the parameters in a camera model are initially computed automatically from sample images from a number of directions to the reference points. After this calibration, the pose can be calculated at each sample image. For high accuracy there is a need to have a camera model that takes into account a number of distortion effects, which are further developed in this paper. The new model is used to express an optimization cost function that can be used for both the pose calculation, and the extensive calibration, that determines camera parameters in the camera model and the positions of the reference points","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128522532","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295705
J. Cheon, Choon-Kyoug Kim, Jongmoo Lee, Soonman Kwon
In this paper, we introduce a new method for detecting failures of a power converter module in control rod control system of a nuclear power plant. The failure called the phase failure and occurring in a power converter module can exert harmful influence upon the operation of the associated control rod drive mechanism for driving neutron-absorbing control rods controlling the thermal output of the reactor. Because of this adverse condition, it is necessary that the phase failure should be detected quickly and correctly. We devised a new method for detecting the phase failure for the digital power controller and solved the drawbacks of the existing failure detector
{"title":"New Method for Detecting Failures of Power Converter Module in Control Rod Control System","authors":"J. Cheon, Choon-Kyoug Kim, Jongmoo Lee, Soonman Kwon","doi":"10.1109/ISIE.2006.295705","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295705","url":null,"abstract":"In this paper, we introduce a new method for detecting failures of a power converter module in control rod control system of a nuclear power plant. The failure called the phase failure and occurring in a power converter module can exert harmful influence upon the operation of the associated control rod drive mechanism for driving neutron-absorbing control rods controlling the thermal output of the reactor. Because of this adverse condition, it is necessary that the phase failure should be detected quickly and correctly. We devised a new method for detecting the phase failure for the digital power controller and solved the drawbacks of the existing failure detector","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128522679","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 : 2006-07-09DOI: 10.1109/ISIE.2006.296002
J. Dargahi, S. Najarian, M. Changizi
In this research, sensitivity of a novel tactile probe was investigated experimentally and theoretically. These probes are made from three different parts, a rigid Plexiglas as support and two different compressible materials. As the sensing elements, two piezoelectric films of PVDF are incorporated into the probe and the combination of the resulting output voltages is related to the object softness. Depending on the softness of the sensed objects, there is a distinct difference between the output voltages. Harder objects tend to manifest waveforms with higher peaks and with steeper rises at the start of the tests. We made use of these important features and conducted a number of tests in order to analyze the sensitivity of the designed probe. A mathematical model based on the properties of various elements in the tactile probe is developed, which could reasonably predict the general performance of the system. The effects of different parameters such as, softness of the two compressible sections of the probe, their thickness, and their corresponding area ratios are tested experimentally. Using the developed model, the experimental results are predicted with good accuracy and the discrepancy is found to be within the acceptable range. This prototype has applications in determining the softness of biological tissues/objects both in routine clinical examinations and during surgeries
{"title":"A Novel Tactile Probe with Applications in Biomedical Robotics","authors":"J. Dargahi, S. Najarian, M. Changizi","doi":"10.1109/ISIE.2006.296002","DOIUrl":"https://doi.org/10.1109/ISIE.2006.296002","url":null,"abstract":"In this research, sensitivity of a novel tactile probe was investigated experimentally and theoretically. These probes are made from three different parts, a rigid Plexiglas as support and two different compressible materials. As the sensing elements, two piezoelectric films of PVDF are incorporated into the probe and the combination of the resulting output voltages is related to the object softness. Depending on the softness of the sensed objects, there is a distinct difference between the output voltages. Harder objects tend to manifest waveforms with higher peaks and with steeper rises at the start of the tests. We made use of these important features and conducted a number of tests in order to analyze the sensitivity of the designed probe. A mathematical model based on the properties of various elements in the tactile probe is developed, which could reasonably predict the general performance of the system. The effects of different parameters such as, softness of the two compressible sections of the probe, their thickness, and their corresponding area ratios are tested experimentally. Using the developed model, the experimental results are predicted with good accuracy and the discrepancy is found to be within the acceptable range. This prototype has applications in determining the softness of biological tissues/objects both in routine clinical examinations and during surgeries","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128547412","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295929
M. Molaei, H. Oraee, M. Fotuhi‐Firuzabad
Due to considerable use of electric drives in industrial applications, reliability assessment of drive-motor systems both in design and operating phases is of considerable importance. Reliability assessment of drive-motor systems is presented in this paper. Using the basic component of a drive-motor system, a suitable reliability block diagram is first developed. The system availability and reliability is then determined using developed block diagram. The impacts on system reliability of various parameters such as failure rate and repair rate of system components are investigated. The proposed technique is then applied to a practical drive-motor system and the results are presented
{"title":"Markov Model of Drive-Motor Systems for Reliability Calculation","authors":"M. Molaei, H. Oraee, M. Fotuhi‐Firuzabad","doi":"10.1109/ISIE.2006.295929","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295929","url":null,"abstract":"Due to considerable use of electric drives in industrial applications, reliability assessment of drive-motor systems both in design and operating phases is of considerable importance. Reliability assessment of drive-motor systems is presented in this paper. Using the basic component of a drive-motor system, a suitable reliability block diagram is first developed. The system availability and reliability is then determined using developed block diagram. The impacts on system reliability of various parameters such as failure rate and repair rate of system components are investigated. The proposed technique is then applied to a practical drive-motor system and the results are presented","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129325096","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295605
S. Grami, P. Bigras
This paper presents the min-max non linear identification method applied to a friction model. This static friction model includes the Coulomb and viscous friction with stiction and Stribeck effect. The estimator used for identification is based on concave/convex parameterization and a min-max optimization problem. Based on the persistence of excitation assumption, the convergence of the estimator is proved. Simulation results demonstrate the good performance of the identification approach
{"title":"Nonlinear Identification of Friction Model Using Concave/Convex Parameterization","authors":"S. Grami, P. Bigras","doi":"10.1109/ISIE.2006.295605","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295605","url":null,"abstract":"This paper presents the min-max non linear identification method applied to a friction model. This static friction model includes the Coulomb and viscous friction with stiction and Stribeck effect. The estimator used for identification is based on concave/convex parameterization and a min-max optimization problem. Based on the persistence of excitation assumption, the convergence of the estimator is proved. Simulation results demonstrate the good performance of the identification approach","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129543556","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295783
A.L. de Heredia, P. Antoniewicz, I. Etxeberria-Otadui, M. Malinowski, S. Bacha
The objective of this paper is to compare two different control structures: the direct power control with space vector modulation (DPC-SVM) and the multi-resonant (MR) current control in a power active filter application, showing their different characteristics and their complementarities. The criteria to choose between both controllers will be mainly the requirements of the application in terms of harmonic distortion correction. The multi-resonant controller is especially adapted for heavily distorted loads, where the requirements of the application justify the complexity of the controller. The DPC-SVM controller is theoretically designed to only handle with sinusoidal waveforms, but if it has a large enough bandwidth it can also work properly with slightly distorted signals, saving computationally complex operations. Simulation and experimental results show that both control structures achieve good performances in slightly distorted active filter applications, showing therefore that for these cases the DPC-SVM is an interesting solution, while it is necessary to use more complex controllers such as the multi-resonant one, in case of heavily distorted applications.
{"title":"A Comparative Study Between the DPC-SVM and the Multi-Resonant Controller for Power Active Filter Applications","authors":"A.L. de Heredia, P. Antoniewicz, I. Etxeberria-Otadui, M. Malinowski, S. Bacha","doi":"10.1109/ISIE.2006.295783","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295783","url":null,"abstract":"The objective of this paper is to compare two different control structures: the direct power control with space vector modulation (DPC-SVM) and the multi-resonant (MR) current control in a power active filter application, showing their different characteristics and their complementarities. The criteria to choose between both controllers will be mainly the requirements of the application in terms of harmonic distortion correction. The multi-resonant controller is especially adapted for heavily distorted loads, where the requirements of the application justify the complexity of the controller. The DPC-SVM controller is theoretically designed to only handle with sinusoidal waveforms, but if it has a large enough bandwidth it can also work properly with slightly distorted signals, saving computationally complex operations. Simulation and experimental results show that both control structures achieve good performances in slightly distorted active filter applications, showing therefore that for these cases the DPC-SVM is an interesting solution, while it is necessary to use more complex controllers such as the multi-resonant one, in case of heavily distorted applications.","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127072858","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295665
N. Youssef, K. Al-haddad, H. Kanaan
The proposed paper aims to analyse the control saturation phenomenon and its influence on the steady state converter performance. This analysis is performed for two main targets: 1) rating AC line inductors, while fulfilling the compromise between a minimal value required to limit main currents ripple at used switching frequency, and a maximal value that maintains the current modulation capability and consequently limits the control saturation phenomenon, 2) tuning the digital controllers parameters, in order to reduce control saturation on the one hand, and ensure low total harmonic distortion (THD), unity power factor (PF) and regulated split DC bus voltages on the other hand. The obtained results clearly show a fundamental dependency between the saturation angle, voltage unbalance controller parameters, and both line inductors size and required output load power
{"title":"A New Methodology For Vienna Rectifier Rating And Controller Tuning Based on Control Saturation Analysis: Experimental Validation","authors":"N. Youssef, K. Al-haddad, H. Kanaan","doi":"10.1109/ISIE.2006.295665","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295665","url":null,"abstract":"The proposed paper aims to analyse the control saturation phenomenon and its influence on the steady state converter performance. This analysis is performed for two main targets: 1) rating AC line inductors, while fulfilling the compromise between a minimal value required to limit main currents ripple at used switching frequency, and a maximal value that maintains the current modulation capability and consequently limits the control saturation phenomenon, 2) tuning the digital controllers parameters, in order to reduce control saturation on the one hand, and ensure low total harmonic distortion (THD), unity power factor (PF) and regulated split DC bus voltages on the other hand. The obtained results clearly show a fundamental dependency between the saturation angle, voltage unbalance controller parameters, and both line inductors size and required output load power","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127449225","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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