Pub Date : 2001-12-12DOI: 10.1109/IECON.2001.975631
A. Iborra, B. Álvarez, F. Ortiz, F. Marin, C. Fernández, J. M. Fernández-Meroño
Present grit blasting technology for hull cleaning is very polluting, environmentally unaffordable, and it is progressively forbidden in the most environmentally conscious countries (mainly in the north of Europe). For the time being, the above methodology has been partially substituted by ultra high-pressure water blasting; however such an approach does not show as good a performance as the grit blasting systems. This paper describes a service robot for hull blasting. The technology the authors developed consists of a cleaning head, a robot body, a remote control unit and a teleoperation platform. This solution allows reliable and cost effective operation regarding hull grit blasting, obtaining a high quality surface preparation (SA 2 1/2 ) together with a dramatic reduction of waste and zero emissions to the environment. A prototype of the robot has been developed and tested in the IZAR shipyards. The authors present the functional requirements, system concepts and architecture of this robot.
{"title":"Service robot for hull-blasting","authors":"A. Iborra, B. Álvarez, F. Ortiz, F. Marin, C. Fernández, J. M. Fernández-Meroño","doi":"10.1109/IECON.2001.975631","DOIUrl":"https://doi.org/10.1109/IECON.2001.975631","url":null,"abstract":"Present grit blasting technology for hull cleaning is very polluting, environmentally unaffordable, and it is progressively forbidden in the most environmentally conscious countries (mainly in the north of Europe). For the time being, the above methodology has been partially substituted by ultra high-pressure water blasting; however such an approach does not show as good a performance as the grit blasting systems. This paper describes a service robot for hull blasting. The technology the authors developed consists of a cleaning head, a robot body, a remote control unit and a teleoperation platform. This solution allows reliable and cost effective operation regarding hull grit blasting, obtaining a high quality surface preparation (SA 2 1/2 ) together with a dramatic reduction of waste and zero emissions to the environment. A prototype of the robot has been developed and tested in the IZAR shipyards. The authors present the functional requirements, system concepts and architecture of this robot.","PeriodicalId":345608,"journal":{"name":"IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128148421","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 : 2001-12-01DOI: 10.1109/IECON.2001.975999
F. Yusivar, K. Uchida, T. Kihara, S. Wakao, K. Kondo, K. Matsuoka
In a DC-fed motor drive system that implements a regenerative braking control strategy, the oscillation phenomenon in electrical system occurs due to the regenerative power regulating to prevent a DC-link overvoltage condition. In this paper the oscillation phenomenon of electrical system in the PMSM drive of railway vehicle system with a light-load regenerative braking control is pointed out. First, a simulation is carried out to confirm the oscillation phenomenon occurrence. The investigated model is then derived and its stability analysis is elucidated. Base on the analysis results a novel anti-oscillation strategy is proposed. A downsized experimental system is used for validation purposes. It is verified that the proposed strategy eliminates the oscillation effectively.
{"title":"An anti oscillation strategy for the regenerative braking control of permanent magnet synchronous motor with insufficient load power consumption","authors":"F. Yusivar, K. Uchida, T. Kihara, S. Wakao, K. Kondo, K. Matsuoka","doi":"10.1109/IECON.2001.975999","DOIUrl":"https://doi.org/10.1109/IECON.2001.975999","url":null,"abstract":"In a DC-fed motor drive system that implements a regenerative braking control strategy, the oscillation phenomenon in electrical system occurs due to the regenerative power regulating to prevent a DC-link overvoltage condition. In this paper the oscillation phenomenon of electrical system in the PMSM drive of railway vehicle system with a light-load regenerative braking control is pointed out. First, a simulation is carried out to confirm the oscillation phenomenon occurrence. The investigated model is then derived and its stability analysis is elucidated. Base on the analysis results a novel anti-oscillation strategy is proposed. A downsized experimental system is used for validation purposes. It is verified that the proposed strategy eliminates the oscillation effectively.","PeriodicalId":345608,"journal":{"name":"IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116746279","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 : 2001-12-01DOI: 10.1109/IECON.2001.975944
F. Yusivar, T. Kihara, M. Sato, S. Wakao, T. Yamamura
In a conventional field oriented control of an induction motor the rotor flux is assumed to be constant so that the torque is controlled by controlling the q-axis current only. In field-weakening region the rotor flux is decreased to achieve a very high rotor speed, as a consequence the available torque is reduced. On the other hand, to produce a maximum torque the rotor flux should be generated as much as possible. In this paper, a novel, simple field-weakening strategy, which provides a maximum torque capability for a sinusoidal PWM VSI-fed induction motor drive, is presented. The purpose of the proposed strategy is to add the absolute q-axis current to d-axis current reference so that proper flux and torque for any given torque-producing current reference are produced automatically. The maximum torque when it is required can be obtained over the entire field-weakening region without using machine parameters or special control strategy. A saturated sinusoidal PWM is used which limits the amplitude of the inverter voltage references. As an advantage, the effective output voltage as seen by the motor is boosted. Simulation and experimental results verify the performance of the proposed method.
{"title":"|Iq| added flux weakening strategy for the rotor flux oriented control of a sinusoidal PWM VSI-fed induction motor","authors":"F. Yusivar, T. Kihara, M. Sato, S. Wakao, T. Yamamura","doi":"10.1109/IECON.2001.975944","DOIUrl":"https://doi.org/10.1109/IECON.2001.975944","url":null,"abstract":"In a conventional field oriented control of an induction motor the rotor flux is assumed to be constant so that the torque is controlled by controlling the q-axis current only. In field-weakening region the rotor flux is decreased to achieve a very high rotor speed, as a consequence the available torque is reduced. On the other hand, to produce a maximum torque the rotor flux should be generated as much as possible. In this paper, a novel, simple field-weakening strategy, which provides a maximum torque capability for a sinusoidal PWM VSI-fed induction motor drive, is presented. The purpose of the proposed strategy is to add the absolute q-axis current to d-axis current reference so that proper flux and torque for any given torque-producing current reference are produced automatically. The maximum torque when it is required can be obtained over the entire field-weakening region without using machine parameters or special control strategy. A saturated sinusoidal PWM is used which limits the amplitude of the inverter voltage references. As an advantage, the effective output voltage as seen by the motor is boosted. Simulation and experimental results verify the performance of the proposed method.","PeriodicalId":345608,"journal":{"name":"IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)","volume":"1607 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129224008","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 : 2001-12-01DOI: 10.1109/IECON.2001.975954
Y. Matsumoto, N. Eguchi, A. Kawamura
This paper presents a novel re-adhesion control method suitable for a single-inverter multiple-induction-motors drive system for the train traction, which can suppress the slip-slide phenomenon by adjusting the torque command for the motors according to the estimated adhesive forces between wheels and rails. Performance of the proposed control method applied for the Shinkansen traction system is predicted by digital simulations. Experimental results with a miniature experimental equipment, which can simulate the real rolling stock traction system, prove its effectiveness for the Shinkansen traction system.
{"title":"Novel re-adhesion control for train traction system of the \"Shinkansen\" with the estimation of wheel-to-rail adhesive force","authors":"Y. Matsumoto, N. Eguchi, A. Kawamura","doi":"10.1109/IECON.2001.975954","DOIUrl":"https://doi.org/10.1109/IECON.2001.975954","url":null,"abstract":"This paper presents a novel re-adhesion control method suitable for a single-inverter multiple-induction-motors drive system for the train traction, which can suppress the slip-slide phenomenon by adjusting the torque command for the motors according to the estimated adhesive forces between wheels and rails. Performance of the proposed control method applied for the Shinkansen traction system is predicted by digital simulations. Experimental results with a miniature experimental equipment, which can simulate the real rolling stock traction system, prove its effectiveness for the Shinkansen traction system.","PeriodicalId":345608,"journal":{"name":"IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126152326","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 : 2001-12-01DOI: 10.1109/IECON.2001.975996
K. Kondo, K. Matsuoka
In this paper, the stability of the permanent magnet synchronous motors or PMSMs drive system for railway vehicle traction in case of sudden line voltage changes is analysed by applying the root locus method. A seven order steady state equation is derived from the PMSM drive system model equations, including the power feeding circuit from a substation. By applying the steady state model obtained by the model equations, stability is analysed at each speed of the vehicle, q axis current, armature winding resistance of the PMSM and the distance between the vehicle and substation respectively. This analysis has made it clear that the suggested PMSM control system is stable enough to apply the actual vehicle drive system.
{"title":"Stability analysis of permanent magnet synchronous motors for railway vehicle traction in a sudden line voltage change","authors":"K. Kondo, K. Matsuoka","doi":"10.1109/IECON.2001.975996","DOIUrl":"https://doi.org/10.1109/IECON.2001.975996","url":null,"abstract":"In this paper, the stability of the permanent magnet synchronous motors or PMSMs drive system for railway vehicle traction in case of sudden line voltage changes is analysed by applying the root locus method. A seven order steady state equation is derived from the PMSM drive system model equations, including the power feeding circuit from a substation. By applying the steady state model obtained by the model equations, stability is analysed at each speed of the vehicle, q axis current, armature winding resistance of the PMSM and the distance between the vehicle and substation respectively. This analysis has made it clear that the suggested PMSM control system is stable enough to apply the actual vehicle drive system.","PeriodicalId":345608,"journal":{"name":"IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124501807","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 : 2001-12-01DOI: 10.1109/IECON.2001.975959
K. Gulez, N. Mutoh, M. Ogata, F. Harashima, K. Ohnishi
Fixing conducted EMI problems with EMI filters is not en exact science. It normally involves a cut-and-trial process for a designer to come up with a proper filter design or approximation. As such, designing a filter is a time-consuming process for beginner engineers as well as for experienced engineers when they face new design circumstances. Due to this, predicting and solving EMI emissions related to common mode (CM) situations in induction motor drive systems requires various frequency-dependent effects to be considered. Thus, the application of circuitry to increase the performance per size, prevent dependency on some parameters of the motor and the new conditions corresponding to the new technological improvements in daily systems for electromagnetic interference (EMI) filters is considered.
{"title":"An approximation to EMI noise problem to design an appropriate EMI filter including double-LISN","authors":"K. Gulez, N. Mutoh, M. Ogata, F. Harashima, K. Ohnishi","doi":"10.1109/IECON.2001.975959","DOIUrl":"https://doi.org/10.1109/IECON.2001.975959","url":null,"abstract":"Fixing conducted EMI problems with EMI filters is not en exact science. It normally involves a cut-and-trial process for a designer to come up with a proper filter design or approximation. As such, designing a filter is a time-consuming process for beginner engineers as well as for experienced engineers when they face new design circumstances. Due to this, predicting and solving EMI emissions related to common mode (CM) situations in induction motor drive systems requires various frequency-dependent effects to be considered. Thus, the application of circuitry to increase the performance per size, prevent dependency on some parameters of the motor and the new conditions corresponding to the new technological improvements in daily systems for electromagnetic interference (EMI) filters is considered.","PeriodicalId":345608,"journal":{"name":"IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129462722","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 : 2001-12-01DOI: 10.1109/IECON.2001.976515
A. Ohya, Y. Miyazaki, S. Yuta
The purpose of the study is to realize autonomous navigation of a mobile robot in an indoor environment by teaching and playback method, without making any environmental map in advance. The strategy of navigation in the study is that the robot runs based on its odometry information and corrects its position using landmark information obtained from a stereo vision sensor. We use a trinocular vision system to solve easily the stereo matching problem and choose vertical lines in the environment as landmarks because of their easiness to detect and sufficient existence in the environment. In the paper, the method of teaching and playback is described and some experimental results are also shown.
{"title":"Autonomous navigation of mobile robot based on teaching and playback using trinocular vision","authors":"A. Ohya, Y. Miyazaki, S. Yuta","doi":"10.1109/IECON.2001.976515","DOIUrl":"https://doi.org/10.1109/IECON.2001.976515","url":null,"abstract":"The purpose of the study is to realize autonomous navigation of a mobile robot in an indoor environment by teaching and playback method, without making any environmental map in advance. The strategy of navigation in the study is that the robot runs based on its odometry information and corrects its position using landmark information obtained from a stereo vision sensor. We use a trinocular vision system to solve easily the stereo matching problem and choose vertical lines in the environment as landmarks because of their easiness to detect and sufficient existence in the environment. In the paper, the method of teaching and playback is described and some experimental results are also shown.","PeriodicalId":345608,"journal":{"name":"IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132495686","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 : 2001-12-01DOI: 10.1109/IECON.2001.975632
M. Morisawa, Y. Fujimoto, T. Murakami, K. Ohnishi
This paper describes a walking pattern generation of a biped robot with parallel mechanism. By using the parallel mechanism, all actuators have been arranged on the upper part of the body. The biped robot, whose leg is applied to a parallel linked structure, can be composed of a lightweight leg. Furthermore, the load torque of an actuator can be distributed. Therefore, the biped robot with parallel mechanism is suitable for walking. Such a biped robot can be regarded as 3 masses, that is body and two feet. State variables of three masses are defined in inertial space and these are represented by a time polynomial equation. A walking pattern is expressed by larger order of polynomials rather than the order which decided according to boundary conditions. By representing this, the walking pattern with which an evaluation function is satisfied is generable. In this paper, the second power sum of contact force of the robot is evaluated into time polynomial equation. The proposed method is very high extendibility. These approach is that a robot can adapt itself to various environment.
{"title":"A walking pattern generation for biped robot with parallel mechanism by considering contact force","authors":"M. Morisawa, Y. Fujimoto, T. Murakami, K. Ohnishi","doi":"10.1109/IECON.2001.975632","DOIUrl":"https://doi.org/10.1109/IECON.2001.975632","url":null,"abstract":"This paper describes a walking pattern generation of a biped robot with parallel mechanism. By using the parallel mechanism, all actuators have been arranged on the upper part of the body. The biped robot, whose leg is applied to a parallel linked structure, can be composed of a lightweight leg. Furthermore, the load torque of an actuator can be distributed. Therefore, the biped robot with parallel mechanism is suitable for walking. Such a biped robot can be regarded as 3 masses, that is body and two feet. State variables of three masses are defined in inertial space and these are represented by a time polynomial equation. A walking pattern is expressed by larger order of polynomials rather than the order which decided according to boundary conditions. By representing this, the walking pattern with which an evaluation function is satisfied is generable. In this paper, the second power sum of contact force of the robot is evaluated into time polynomial equation. The proposed method is very high extendibility. These approach is that a robot can adapt itself to various environment.","PeriodicalId":345608,"journal":{"name":"IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129809329","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 : 2001-12-01DOI: 10.1109/IECON.2001.975548
H. Yamamoto, K. Ohnishi
In many studies, biped robots are controlled on the assumption that friction between the floor and the feet of the biped robot is large enough. This assumption is necessary for biped robots, because slipping of biped robots never happens on such a floor. But in a real environment, it is not necessarily true that all floors on which biped robot walks have enough friction. For the practical use of a biped robot, it is required to walk firmly on the any kinds of floor. The purpose of this paper is to realize walking, without slipping, on an unknown slippery floor. In this paper, an approach to detect slipping on slippery floor and a method for continuous walking on slippery floor are proposed. Computer simulations of a biped robot with 6 degrees of freedom are performed. The simulation results show that the effectiveness of the proposed method is superior to walking on unknown slippery floor.
{"title":"An approach to stable walking on unknown slippery floor for biped robot","authors":"H. Yamamoto, K. Ohnishi","doi":"10.1109/IECON.2001.975548","DOIUrl":"https://doi.org/10.1109/IECON.2001.975548","url":null,"abstract":"In many studies, biped robots are controlled on the assumption that friction between the floor and the feet of the biped robot is large enough. This assumption is necessary for biped robots, because slipping of biped robots never happens on such a floor. But in a real environment, it is not necessarily true that all floors on which biped robot walks have enough friction. For the practical use of a biped robot, it is required to walk firmly on the any kinds of floor. The purpose of this paper is to realize walking, without slipping, on an unknown slippery floor. In this paper, an approach to detect slipping on slippery floor and a method for continuous walking on slippery floor are proposed. Computer simulations of a biped robot with 6 degrees of freedom are performed. The simulation results show that the effectiveness of the proposed method is superior to walking on unknown slippery floor.","PeriodicalId":345608,"journal":{"name":"IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129182528","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 : 2001-11-29DOI: 10.1109/IECON.2001.976475
V. Kapsalis, A. Kalogeras, K. Charatsis, G. Papadopoulos
The seamless integration of distributed real time applications is mandatory for such demanding environments as the industrial environment or building management systems. Several technologies presenting different degrees of maturity have been developed to support this goal. The paper presents work done at the Industrial Systems Institute, which resulted in the definition of a system architecture utilising different emerging technologies, and its pilot implementation.
{"title":"Seamless integration of distributed real time monitoring and control applications utilising emerging technologies","authors":"V. Kapsalis, A. Kalogeras, K. Charatsis, G. Papadopoulos","doi":"10.1109/IECON.2001.976475","DOIUrl":"https://doi.org/10.1109/IECON.2001.976475","url":null,"abstract":"The seamless integration of distributed real time applications is mandatory for such demanding environments as the industrial environment or building management systems. Several technologies presenting different degrees of maturity have been developed to support this goal. The paper presents work done at the Industrial Systems Institute, which resulted in the definition of a system architecture utilising different emerging technologies, and its pilot implementation.","PeriodicalId":345608,"journal":{"name":"IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)","volume":"2009 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117052404","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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