Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385622
Y. Yokokura, K. Ohishi
This paper achieves the wideband backforward-drivability motor drive of Geared surface permanent magnet synchronous motor (SPMSM) modelled as a two inertia resonant system. The control bandwidth of a resonance-ratio-control-based torsion torque controller cannot be broadened due to weak robust stability against gear stiffness variation. To solve the problem with regard to the robust stability, the control bandwidth of the current control system is broadened by using the low-latency space vector pulse width modulation, integrator-less regulators, and accurate parameter identifications. This paper achieves 4 kHz bandwidth of current control and realizes the wideband torsion torque control based on “final integrator cascade scheme.” Even though the gear stiffness variation occurs, the control bandwidth of the outer torsion torque control is set to high frequency. As a result, this paper enhances the backforward-drivability of the geared SPMSM. The experimental results of the current control system and the simulation results of backforward-drivability control confirm that the torsion torque control with fast current control is effective.
{"title":"Wideband Backforward-Drivability Motor Drive Based on Fast Current Control of Geared SPMSM","authors":"Y. Yokokura, K. Ohishi","doi":"10.1109/ICM46511.2021.9385622","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385622","url":null,"abstract":"This paper achieves the wideband backforward-drivability motor drive of Geared surface permanent magnet synchronous motor (SPMSM) modelled as a two inertia resonant system. The control bandwidth of a resonance-ratio-control-based torsion torque controller cannot be broadened due to weak robust stability against gear stiffness variation. To solve the problem with regard to the robust stability, the control bandwidth of the current control system is broadened by using the low-latency space vector pulse width modulation, integrator-less regulators, and accurate parameter identifications. This paper achieves 4 kHz bandwidth of current control and realizes the wideband torsion torque control based on “final integrator cascade scheme.” Even though the gear stiffness variation occurs, the control bandwidth of the outer torsion torque control is set to high frequency. As a result, this paper enhances the backforward-drivability of the geared SPMSM. The experimental results of the current control system and the simulation results of backforward-drivability control confirm that the torsion torque control with fast current control is effective.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128335970","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 : 2021-03-07DOI: 10.1109/ICM46511.2021.9385623
T. Matsunaga, T. Shimono, K. Ohnishi, Shunya Takano, Hironao Kobayashi, M. Yagi, M. Nakamura
In orthopedic surgery, tasks to cut the vertebra by surgical drills involve the risk of the spinal cord injury. Since the spinal cord injury causes motor and sensory disorder to patients, orthopedists who perform spine surgery must have skills to achieve tasks using surgical drills. Although robotic technologies is being applied to orthopedic surgical operations, support for surgeons in delicate tasks requiring surgeon's skills is insufficient. In this study, a multi functional drill available for both a surgical instrument and a simulator is presented. A linear motor incorporated in the proposed device used as a surgical instrument provides support for operators, while measuring position information and estimating force information. Furthermore, environmental information can be abstracted by haptic information such as position and force information. Virtual environment reproduced by the environmental information is presented by the proposed device used as a simulator. The feasibility of the multi functional drill is confirmed by utilizing functions as a surgical instrument and a simulator.
{"title":"Multi Functional Drill Incorporating Linear Motor for Haptic Surgical Instrument and Simulator","authors":"T. Matsunaga, T. Shimono, K. Ohnishi, Shunya Takano, Hironao Kobayashi, M. Yagi, M. Nakamura","doi":"10.1109/ICM46511.2021.9385623","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385623","url":null,"abstract":"In orthopedic surgery, tasks to cut the vertebra by surgical drills involve the risk of the spinal cord injury. Since the spinal cord injury causes motor and sensory disorder to patients, orthopedists who perform spine surgery must have skills to achieve tasks using surgical drills. Although robotic technologies is being applied to orthopedic surgical operations, support for surgeons in delicate tasks requiring surgeon's skills is insufficient. In this study, a multi functional drill available for both a surgical instrument and a simulator is presented. A linear motor incorporated in the proposed device used as a surgical instrument provides support for operators, while measuring position information and estimating force information. Furthermore, environmental information can be abstracted by haptic information such as position and force information. Virtual environment reproduced by the environmental information is presented by the proposed device used as a simulator. The feasibility of the multi functional drill is confirmed by utilizing functions as a surgical instrument and a simulator.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130162608","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 : 2021-03-07DOI: 10.1109/ICM46511.2021.9385660
Natsuki Kageyama, Takeshi Nishimura, T. Itoh, T. Atsumi, S. Nakadai
This paper presents an estimation method for the magnetic attractive force between a crawler robot and a moving surface. The robot has crawlers which have magnets to climb a wall. However, there is a problem that the robot may fall when the magnetic attraction force becomes weak. To solve this problem, we employ a disturbance observer in the control system of the crawler drive motor. The experimental results confirmed that the proposed method can detect the risk of falling due to the decreasing the magnetic attraction force between the crawler robot and the moving surface.
{"title":"Detection of Reduced Magnetic Attraction Force Using a Disturbance Observer for Crawler Robots","authors":"Natsuki Kageyama, Takeshi Nishimura, T. Itoh, T. Atsumi, S. Nakadai","doi":"10.1109/ICM46511.2021.9385660","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385660","url":null,"abstract":"This paper presents an estimation method for the magnetic attractive force between a crawler robot and a moving surface. The robot has crawlers which have magnets to climb a wall. However, there is a problem that the robot may fall when the magnetic attraction force becomes weak. To solve this problem, we employ a disturbance observer in the control system of the crawler drive motor. The experimental results confirmed that the proposed method can detect the risk of falling due to the decreasing the magnetic attraction force between the crawler robot and the moving surface.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131065442","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 : 2021-03-07DOI: 10.1109/ICM46511.2021.9385657
Yunshun Zhang, Qishuai Xie, R. Zheng, Minglei Gao, Yingfeng Cai
The safety of intelligent vehicles has always been the focus of the society. While pursuing driving pleasure, drivers pay more attention to whether intelligent vehicles can bring a safe and well-controlled road experience. Safety depends on drivers' driving habits, but a well-equipped transportation system and the auxiliary equipment in intelligent vehicles cannot be ignored. The interaction between traditional vehicles and signal lights mainly depends on the drivers' eyes, but the influence of front large truck, signal lamp malfunction and other external factors may cause some interference under the process of the information exchange. Human observation is real-time but in-vehicle traffic lights are ahead of the observation, making drivers decide to pass the intersection or slow down. We proposed an in-vehicle signal reveal system to assist drivers at intersections based on Local Area Network (LAN). Firstly, Android smart phones are used to simulate the process of vehicle (client) interaction with signal lights (terminal). When the vehicle arrives at the middle of two intersections, it will proactively transmit its position information to the traffic lights. The traffic lights will send the current traffic signal operating information to the vehicle through processing the vehicle position, and finally implement in-vehicle traffic lights. The advance warning of the signal lights in the car can effectively shorten the reaction time of drivers, for improving driving attention and avoiding fatigue driving. Meanwhile, the proposed promising complement with autonomous environment perception can significantly promote the development of assisted driving as well as automatic driving technologies. Even through V2V communication, traffic lights on the network can be formed at intersections where the display of traffic lights are blocked or damaged, for improving the safety of driving as well as reducing traffic disturbance.implement in-vehicle traffic lights. The advance warning of the signal lights in the car can effectively shorten the reaction time of drivers, for improving driving attention and avoiding fatigue driving. Meanwhile, the proposed promising complement with autonomous environment perception can significantly promote the development of assisted driving as well as automatic driving technologies. Even through V2V communication, traffic lights on the network can be formed at intersections where the display of traffic lights are blocked or damaged, for improving the safety of driving as well as reducing traffic disturbance.
{"title":"In-Vehicle Traffic Light based on Local Area Network","authors":"Yunshun Zhang, Qishuai Xie, R. Zheng, Minglei Gao, Yingfeng Cai","doi":"10.1109/ICM46511.2021.9385657","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385657","url":null,"abstract":"The safety of intelligent vehicles has always been the focus of the society. While pursuing driving pleasure, drivers pay more attention to whether intelligent vehicles can bring a safe and well-controlled road experience. Safety depends on drivers' driving habits, but a well-equipped transportation system and the auxiliary equipment in intelligent vehicles cannot be ignored. The interaction between traditional vehicles and signal lights mainly depends on the drivers' eyes, but the influence of front large truck, signal lamp malfunction and other external factors may cause some interference under the process of the information exchange. Human observation is real-time but in-vehicle traffic lights are ahead of the observation, making drivers decide to pass the intersection or slow down. We proposed an in-vehicle signal reveal system to assist drivers at intersections based on Local Area Network (LAN). Firstly, Android smart phones are used to simulate the process of vehicle (client) interaction with signal lights (terminal). When the vehicle arrives at the middle of two intersections, it will proactively transmit its position information to the traffic lights. The traffic lights will send the current traffic signal operating information to the vehicle through processing the vehicle position, and finally implement in-vehicle traffic lights. The advance warning of the signal lights in the car can effectively shorten the reaction time of drivers, for improving driving attention and avoiding fatigue driving. Meanwhile, the proposed promising complement with autonomous environment perception can significantly promote the development of assisted driving as well as automatic driving technologies. Even through V2V communication, traffic lights on the network can be formed at intersections where the display of traffic lights are blocked or damaged, for improving the safety of driving as well as reducing traffic disturbance.implement in-vehicle traffic lights. The advance warning of the signal lights in the car can effectively shorten the reaction time of drivers, for improving driving attention and avoiding fatigue driving. Meanwhile, the proposed promising complement with autonomous environment perception can significantly promote the development of assisted driving as well as automatic driving technologies. Even through V2V communication, traffic lights on the network can be formed at intersections where the display of traffic lights are blocked or damaged, for improving the safety of driving as well as reducing traffic disturbance.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124698263","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 : 2021-03-07DOI: 10.1109/ICM46511.2021.9385628
Kangwagye Samuel, D. Cheon, Sehoon Oh
Disturbances are one of the major challenges that should be dealt with when designing high performance force control systems for robots that interact with unknown environments. To achieve high performance dynamic interaction, this paper presents a robust force control system that implements a force disturbance observer (FDOB). Dynamic compliance with the environment is greatly improved with this control technique. The whole force control structure consists of a servo system with a force sensor, the proposed FDOB, feedforward and feedback controllers, and the low-pass filter for attenuating measurement noises of the force sensor feedback signal. The nominal model of the proposed FDOB is obtained by nonparametric system identification method. The FDOB then estimates disturbances by utilizing the motor torque and force sensor measurement signals as its inputs. Theoretical analyses of the FDOB and the overall force control system are conducted. To validate the proposed control structure, experiments are conducted while considering various scenarios from where it is found out that it shows superior performance over the conventional force control method.
{"title":"Force Disturbance Observer-based Force Control for Compliant Interaction with Dynamic Environment","authors":"Kangwagye Samuel, D. Cheon, Sehoon Oh","doi":"10.1109/ICM46511.2021.9385628","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385628","url":null,"abstract":"Disturbances are one of the major challenges that should be dealt with when designing high performance force control systems for robots that interact with unknown environments. To achieve high performance dynamic interaction, this paper presents a robust force control system that implements a force disturbance observer (FDOB). Dynamic compliance with the environment is greatly improved with this control technique. The whole force control structure consists of a servo system with a force sensor, the proposed FDOB, feedforward and feedback controllers, and the low-pass filter for attenuating measurement noises of the force sensor feedback signal. The nominal model of the proposed FDOB is obtained by nonparametric system identification method. The FDOB then estimates disturbances by utilizing the motor torque and force sensor measurement signals as its inputs. Theoretical analyses of the FDOB and the overall force control system are conducted. To validate the proposed control structure, experiments are conducted while considering various scenarios from where it is found out that it shows superior performance over the conventional force control method.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131748017","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 : 2021-03-07DOI: 10.1109/ICM46511.2021.9385620
M. Ruderman, Stefan Kaltenbacher, M. Horn
In hydraulic circuits of the standard fluid-power actuators and mechanisms, like the linear-stroke cylinders, some hydrodynamic effects are often neglected. It happens mainly due to their complexity and secondariness in comparison with the principal transient and steady-state behavior of the hydromechanical process variables, such as the differential pressure and relative displacement and its rate, in other words the piston stroke and velocity. However, a constrained motion of the cylinder piston can give rise to the back coupled excitation of the pressure-flow dynamics, especially upon mechanical impact at the cylinder limits. Following to that, semi-stable limit cycles can arise while the hydraulic cylinder remains under pressure without apparent displacement. This paper analyzes such back-coupled pressure-flow dynamics, derived from the partial differential momentum equation with involvement of Darcy-Weisbach hydraulic damping and continuity equation, out from which the closed-form system dynamics is formulated. In both, simulations and laboratory experiments, it is shown that if a constrained motion applies, the solution diverges from steady-state and can develop to the behavior similar to a semi-stable limit cycle.
{"title":"Pressure-flow dynamics with semi-stable limit cycles in hydraulic cylinder circuits","authors":"M. Ruderman, Stefan Kaltenbacher, M. Horn","doi":"10.1109/ICM46511.2021.9385620","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385620","url":null,"abstract":"In hydraulic circuits of the standard fluid-power actuators and mechanisms, like the linear-stroke cylinders, some hydrodynamic effects are often neglected. It happens mainly due to their complexity and secondariness in comparison with the principal transient and steady-state behavior of the hydromechanical process variables, such as the differential pressure and relative displacement and its rate, in other words the piston stroke and velocity. However, a constrained motion of the cylinder piston can give rise to the back coupled excitation of the pressure-flow dynamics, especially upon mechanical impact at the cylinder limits. Following to that, semi-stable limit cycles can arise while the hydraulic cylinder remains under pressure without apparent displacement. This paper analyzes such back-coupled pressure-flow dynamics, derived from the partial differential momentum equation with involvement of Darcy-Weisbach hydraulic damping and continuity equation, out from which the closed-form system dynamics is formulated. In both, simulations and laboratory experiments, it is shown that if a constrained motion applies, the solution diverges from steady-state and can develop to the behavior similar to a semi-stable limit cycle.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132260431","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 : 2021-03-07DOI: 10.1109/ICM46511.2021.9385658
Yingqiang Liu, Xingyi Liu, Bobo Helian, Zheng Chen, B. Yao
The linear motor driven system has been widely used in the manufacturing industry, where high motion tracking accuracy is required, including fast dynamic response and high steady-state tracking accuracy. However, the improvement of the motion control performances is limited by parametric uncertainties and uncertain nonlinearities, such as nonlinear friction, varying load mass, etc. In addition, the system constraints owing to input saturation and speed/space limitations also challenge the improvement of the motion control performances. In this paper, a hybrid reference governor-based adaptive robust control (HRGARC) algorithm is proposed for the constrained motion control of the linear motor driven system. The proposed approach is composed of two reference governor (RG)-based adaptive robust controllers (RGARC) and a switching strategy. For each RGARC, the RG is utilized to deal with input/state constraints, and the adaptive robust control (ARC) algorithm is used to cope with parametric uncertainties and uncertain nonlinearities. These two RGARCs are specifically designed to achieve fast dynamic response and high steady-state tracking accuracy, respectively. Furthermore, a switching strategy is designed to coordinate these two RGARCs according to the system states and the input reference. Therefore, the high transient and steady-state motion control performances of the linear motor driven system can be achieved by the proposed HRGARC in the presence of parametric uncertainties, uncertain nonlinearities, and input/state constraints. Comparative experiments conducted on the linear motor driven system validate the effectiveness of the proposed HRGARC algorithm.
{"title":"Hybrid Reference Governor-Based Adaptive Robust Control of a Linear Motor Driven System","authors":"Yingqiang Liu, Xingyi Liu, Bobo Helian, Zheng Chen, B. Yao","doi":"10.1109/ICM46511.2021.9385658","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385658","url":null,"abstract":"The linear motor driven system has been widely used in the manufacturing industry, where high motion tracking accuracy is required, including fast dynamic response and high steady-state tracking accuracy. However, the improvement of the motion control performances is limited by parametric uncertainties and uncertain nonlinearities, such as nonlinear friction, varying load mass, etc. In addition, the system constraints owing to input saturation and speed/space limitations also challenge the improvement of the motion control performances. In this paper, a hybrid reference governor-based adaptive robust control (HRGARC) algorithm is proposed for the constrained motion control of the linear motor driven system. The proposed approach is composed of two reference governor (RG)-based adaptive robust controllers (RGARC) and a switching strategy. For each RGARC, the RG is utilized to deal with input/state constraints, and the adaptive robust control (ARC) algorithm is used to cope with parametric uncertainties and uncertain nonlinearities. These two RGARCs are specifically designed to achieve fast dynamic response and high steady-state tracking accuracy, respectively. Furthermore, a switching strategy is designed to coordinate these two RGARCs according to the system states and the input reference. Therefore, the high transient and steady-state motion control performances of the linear motor driven system can be achieved by the proposed HRGARC in the presence of parametric uncertainties, uncertain nonlinearities, and input/state constraints. Comparative experiments conducted on the linear motor driven system validate the effectiveness of the proposed HRGARC algorithm.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"781 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133219973","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 : 2021-03-07DOI: 10.1109/ICM46511.2021.9385679
J. Asama, J. Watanabe, Tai Tek Kee
This study presents a novel slotless permanent magnet (PM) motor with two-layer toroidal winding to minimize the torque ripple, which can be applied to, for instance, servo-motor system with precise positioning control. Two-layer toroidal winding arrangement with 18 segments is employed to drive two-pole surface-mounted PM rotor. The optimal ratio of the number of winding conductors is theoretically derived to eliminate 5th, 7th, 11th, and 13th spatial harmonic components in the stator magneto-motive force distribution. The motor torque was calculated by finite-element-method, and the calculation results demonstrated that the proposed two-layer toroidal winding arrangement had a reduced torque ripple of 0.12 %. The prototype motor was built and tested. The measured back-electro-motive-force has 0.9 % total harmonic distortion.
{"title":"Development of a Slotless Permanent Magnet Motor with Two-Layer Toroidal Winding for Minimization of Torque Ripple","authors":"J. Asama, J. Watanabe, Tai Tek Kee","doi":"10.1109/ICM46511.2021.9385679","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385679","url":null,"abstract":"This study presents a novel slotless permanent magnet (PM) motor with two-layer toroidal winding to minimize the torque ripple, which can be applied to, for instance, servo-motor system with precise positioning control. Two-layer toroidal winding arrangement with 18 segments is employed to drive two-pole surface-mounted PM rotor. The optimal ratio of the number of winding conductors is theoretically derived to eliminate 5th, 7th, 11th, and 13th spatial harmonic components in the stator magneto-motive force distribution. The motor torque was calculated by finite-element-method, and the calculation results demonstrated that the proposed two-layer toroidal winding arrangement had a reduced torque ripple of 0.12 %. The prototype motor was built and tested. The measured back-electro-motive-force has 0.9 % total harmonic distortion.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133109440","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 : 2021-03-07DOI: 10.1109/ICM46511.2021.9385610
Shota Kuroda, K. Natori, Yukihiko Sato
In motion control systems, detailed characteristics of power converters are usually not considered. Practically, voltage ripple, harmonics, and electromagnetic interferences (EMI) generated in widely used 2-level inverters become concerns to realize a high-performance control. Compared with 2-level inverters, multi-level (ML) inverters essentially reduce these problems. Furthermore, the equivalent carrier frequency of N-Ievel ML inverters is expected to be N-l times higher than that of the 2-level inverters in case that a carrier phase-shifted modulation is utilized. This paper focuses on the equivalent carrier frequency and studies the performance and stability of current control systems by using ML inverters.
{"title":"A Study on Performance and Stability of Current Control Systems by Using Multi-Level Inverters","authors":"Shota Kuroda, K. Natori, Yukihiko Sato","doi":"10.1109/ICM46511.2021.9385610","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385610","url":null,"abstract":"In motion control systems, detailed characteristics of power converters are usually not considered. Practically, voltage ripple, harmonics, and electromagnetic interferences (EMI) generated in widely used 2-level inverters become concerns to realize a high-performance control. Compared with 2-level inverters, multi-level (ML) inverters essentially reduce these problems. Furthermore, the equivalent carrier frequency of N-Ievel ML inverters is expected to be N-l times higher than that of the 2-level inverters in case that a carrier phase-shifted modulation is utilized. This paper focuses on the equivalent carrier frequency and studies the performance and stability of current control systems by using ML inverters.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117082776","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 : 2021-03-07DOI: 10.1109/ICM46511.2021.9385646
Y. Urakawa
Digital control systems often have delay factors for practical use. Although these delays are assumed to be sufficiently small, in many cases, they should not be ignored because calculation delays occur in at least one sampling period. Such delays in the digital control system make the control system vibrational. If the servo bandwidth is widened, a delay makes the system unstable. Thus, the author proposes a limited pole-placement method to make the system less vibrational and to analyze the limit of the servo bandwidth arising from the delay. In this study, the LPP method is applied to a state feedback system. A simulated example of a two-mass resonant system is shown.
{"title":"Application of Limited Pole-Placement Method to State Feedback System","authors":"Y. Urakawa","doi":"10.1109/ICM46511.2021.9385646","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385646","url":null,"abstract":"Digital control systems often have delay factors for practical use. Although these delays are assumed to be sufficiently small, in many cases, they should not be ignored because calculation delays occur in at least one sampling period. Such delays in the digital control system make the control system vibrational. If the servo bandwidth is widened, a delay makes the system unstable. Thus, the author proposes a limited pole-placement method to make the system less vibrational and to analyze the limit of the servo bandwidth arising from the delay. In this study, the LPP method is applied to a state feedback system. A simulated example of a two-mass resonant system is shown.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115241459","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：