Pub Date : 1998-08-31DOI: 10.1109/IECON.1998.722865
K. Yamada, S. Komada, M. Ishida, T. Hori
A robot manipulator control method using disturbance observer in task space and a simple coordinate transformation by the transposed Jacobian matrix has been proposed. The control method can realize a simple control algorithm with less computation power for large degree-of-freedom robot manipulators. However, the inertia variation depending on manipulator configuration is large due to the simplification of the control algorithm. Therefore, the decoupled error of the system, i.e. nondiagonal elements of the input matrix in the state space, caused by compensation error of the disturbance observer influences accuracy of the control system. In this paper, the authors introduce a new MIMO (multi-input-multi-output) disturbance observer, which can regard the nondiagonal elements of the inertia matrix as a control parameter. Moreover, a simple design method for disturbance observer system considering quadratic stability is introduced. The accuracy of the robot manipulator control is improved as compared to that of the conventional disturbance observer system by these strategies.
{"title":"Robust control of robot manipulators by MIMO disturbance observer","authors":"K. Yamada, S. Komada, M. Ishida, T. Hori","doi":"10.1109/IECON.1998.722865","DOIUrl":"https://doi.org/10.1109/IECON.1998.722865","url":null,"abstract":"A robot manipulator control method using disturbance observer in task space and a simple coordinate transformation by the transposed Jacobian matrix has been proposed. The control method can realize a simple control algorithm with less computation power for large degree-of-freedom robot manipulators. However, the inertia variation depending on manipulator configuration is large due to the simplification of the control algorithm. Therefore, the decoupled error of the system, i.e. nondiagonal elements of the input matrix in the state space, caused by compensation error of the disturbance observer influences accuracy of the control system. In this paper, the authors introduce a new MIMO (multi-input-multi-output) disturbance observer, which can regard the nondiagonal elements of the inertia matrix as a control parameter. Moreover, a simple design method for disturbance observer system considering quadratic stability is introduced. The accuracy of the robot manipulator control is improved as compared to that of the conventional disturbance observer system by these strategies.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122153424","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 : 1998-08-31DOI: 10.1109/IECON.1998.724170
H. De Battista, R. Mantz
This paper deals with wind energy conversion systems (WECS) with slip power recovery. These systems use a double-output induction generator, which is connected directly to grid by stator and through a static converter by rotor. An appropriate control of the converter allows the WECS to operate at the optimum tip speed ratio, maximizing the efficiency of the energy conversion. Wind turbine generators are characterized by a low frequency mode of oscillation. Random wind fluctuations, wind shear and tower shadow effects, may excite this mode, producing large ripple on drive train torque as well as on the generated electric power. Torque ripple may damage drive train components, and fluctuation of the generated electric power may cause flicker in weak grids. In this paper, a sliding mode control strategy of the static converter is proposed. It forces the system to follow wind speed variations and provides damping of the oscillation mode, resulting in a large reduction of torque ripple and electric power fluctuation. The closed-loop system dynamics are completely robust to uncertainties in electrical parameters of the generator and grid voltages disturbances.
{"title":"Sliding mode control of torque ripple in wind energy conversion systems with slip power recovery","authors":"H. De Battista, R. Mantz","doi":"10.1109/IECON.1998.724170","DOIUrl":"https://doi.org/10.1109/IECON.1998.724170","url":null,"abstract":"This paper deals with wind energy conversion systems (WECS) with slip power recovery. These systems use a double-output induction generator, which is connected directly to grid by stator and through a static converter by rotor. An appropriate control of the converter allows the WECS to operate at the optimum tip speed ratio, maximizing the efficiency of the energy conversion. Wind turbine generators are characterized by a low frequency mode of oscillation. Random wind fluctuations, wind shear and tower shadow effects, may excite this mode, producing large ripple on drive train torque as well as on the generated electric power. Torque ripple may damage drive train components, and fluctuation of the generated electric power may cause flicker in weak grids. In this paper, a sliding mode control strategy of the static converter is proposed. It forces the system to follow wind speed variations and provides damping of the oscillation mode, resulting in a large reduction of torque ripple and electric power fluctuation. The closed-loop system dynamics are completely robust to uncertainties in electrical parameters of the generator and grid voltages disturbances.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123997088","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 : 1998-08-31DOI: 10.1109/IECON.1998.724038
A. Massad, B. Mertsching, S. Schmalz
The authors propose an architecture for the recognition of three-dimensional objects on the basis of viewer-centered representations and temporal associations. Motivated by biological findings and by successful computational implementations they have chosen a viewer-centered representation scheme. In contrast to other implementations, special attention is paid to the temporal order of the views, which proves useful for learning and recognition purposes. Their recognition system combines different kinds of artificial neural networks into a four stage architecture: preprocessing by a Gaborjet transform is followed by an extended dynamic link matching algorithm which implements recognition and learning of the view classes. A STORE network records the temporal order of the views by transforming a sequence of view classes into an item-and-order coding. Subsequently, a Gaussian-ARTMAP architecture is used for the classification of the sequences and for their mapping onto object classes by means of supervised learning. The presented results demonstrate that the system is capable to autonomously learn and to discriminate similar objects. Additionally, the examples show how the utilization of the temporal context improves object recognition by making ambiguous views manageable and facilitating an increased insensitiveness against misclassifications.
{"title":"Utilizing temporal associations for view-based 3-D object recognition","authors":"A. Massad, B. Mertsching, S. Schmalz","doi":"10.1109/IECON.1998.724038","DOIUrl":"https://doi.org/10.1109/IECON.1998.724038","url":null,"abstract":"The authors propose an architecture for the recognition of three-dimensional objects on the basis of viewer-centered representations and temporal associations. Motivated by biological findings and by successful computational implementations they have chosen a viewer-centered representation scheme. In contrast to other implementations, special attention is paid to the temporal order of the views, which proves useful for learning and recognition purposes. Their recognition system combines different kinds of artificial neural networks into a four stage architecture: preprocessing by a Gaborjet transform is followed by an extended dynamic link matching algorithm which implements recognition and learning of the view classes. A STORE network records the temporal order of the views by transforming a sequence of view classes into an item-and-order coding. Subsequently, a Gaussian-ARTMAP architecture is used for the classification of the sequences and for their mapping onto object classes by means of supervised learning. The presented results demonstrate that the system is capable to autonomously learn and to discriminate similar objects. Additionally, the examples show how the utilization of the temporal context improves object recognition by making ambiguous views manageable and facilitating an increased insensitiveness against misclassifications.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125951527","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 : 1998-08-31DOI: 10.1109/IECON.1998.724008
A. Nordqvist, P. Eriksson
Manufacturing application programs that use a virtual environment have, during the past years, become important tools for manufacturing engineers. This is due to the need for increased efficiency of the design phase and the need for reduction in the operation phase of manufacturing systems. Hence, these tools can be used both in the design phase and in the operation phase of the life cycle for a machine system. Nevertheless, there are still situations where this type of simulation system poorly, or not at all, supports the manufacturing engineer, e.g. in the design of user interfaces. A literature review on usability evaluation is used as a basis to present how digital plant technology may be utilised in the evaluation phase, when designing distributed adaptive user interfaces for manufacturing systems.
{"title":"Design of distributed adaptive user interfaces using digital plant technology","authors":"A. Nordqvist, P. Eriksson","doi":"10.1109/IECON.1998.724008","DOIUrl":"https://doi.org/10.1109/IECON.1998.724008","url":null,"abstract":"Manufacturing application programs that use a virtual environment have, during the past years, become important tools for manufacturing engineers. This is due to the need for increased efficiency of the design phase and the need for reduction in the operation phase of manufacturing systems. Hence, these tools can be used both in the design phase and in the operation phase of the life cycle for a machine system. Nevertheless, there are still situations where this type of simulation system poorly, or not at all, supports the manufacturing engineer, e.g. in the design of user interfaces. A literature review on usability evaluation is used as a basis to present how digital plant technology may be utilised in the evaluation phase, when designing distributed adaptive user interfaces for manufacturing systems.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124754644","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 : 1998-08-31DOI: 10.1109/IECON.1998.724227
D. Sobczuk, P. Z. Grabowski
The paper presents the application of online trained neural networks (NN) working as speed estimators for the speed control of induction motors. Improvement of the basic scheme using small structure modification is shown. Also, a new method of speed estimation is described. The implementation of the both systems based on the TMS320C31 is presented. Experimental and simulation results are also shown.
{"title":"DSP implementation of neural network speed estimator for inverter fed induction motor","authors":"D. Sobczuk, P. Z. Grabowski","doi":"10.1109/IECON.1998.724227","DOIUrl":"https://doi.org/10.1109/IECON.1998.724227","url":null,"abstract":"The paper presents the application of online trained neural networks (NN) working as speed estimators for the speed control of induction motors. Improvement of the basic scheme using small structure modification is shown. Also, a new method of speed estimation is described. The implementation of the both systems based on the TMS320C31 is presented. Experimental and simulation results are also shown.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129776990","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 : 1998-08-31DOI: 10.1109/IECON.1998.724190
S. Ryvkin, D. Izosimov, S. Belkin
From the position of switching losses minimisation, the widely used three-phase PWM voltage source control technique is studied. Two problems have been solved: selection of the minimum switching losses commutation law; and transfer between selected commutation laws. From the consideration of fulfilling the requirements for transfers from one optimal switching law to another, it is preferable to use the zero momentary output voltage vector as the initial point of the optimal state cycle. Experimental results of this transfer strategy are presented and are shown to be quite satisfactory.
{"title":"Commutation laws transfer strategy for the feedforward switching losses optimal PWM for three-phases voltage source inverter","authors":"S. Ryvkin, D. Izosimov, S. Belkin","doi":"10.1109/IECON.1998.724190","DOIUrl":"https://doi.org/10.1109/IECON.1998.724190","url":null,"abstract":"From the position of switching losses minimisation, the widely used three-phase PWM voltage source control technique is studied. Two problems have been solved: selection of the minimum switching losses commutation law; and transfer between selected commutation laws. From the consideration of fulfilling the requirements for transfers from one optimal switching law to another, it is preferable to use the zero momentary output voltage vector as the initial point of the optimal state cycle. Experimental results of this transfer strategy are presented and are shown to be quite satisfactory.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129878273","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 : 1998-08-31DOI: 10.1109/IECON.1998.724107
G. Stanke, L. Zedler, A. Zorn, F. Weckend, H. Weide
The paper deals with two problems occurring when larger parts are manufactured by state of the art laser beam or water jet NC-cutting machines: first, the machine has to know the contour to cut; second, the contours of cut parts must be measured to ensure the required dimensions. The developed solution is applicable for both tasks. A large scale backlighted measuring table allows to handle parts up to 2000/spl times/1500 mm/sup 2/. The calibration problem is solved using an especially structured frosted glass plate, the desired accuracy will be reached using subpixel methods. For problems arising in real applications, e.g. how to handle the thickness of parts or how to fit images of different cameras together, solutions are proposed and implemented. A stressing point is the applicability of the developed system in an engineering environment.
{"title":"Sub-pixel accuracy by optical measurement of large automobile components","authors":"G. Stanke, L. Zedler, A. Zorn, F. Weckend, H. Weide","doi":"10.1109/IECON.1998.724107","DOIUrl":"https://doi.org/10.1109/IECON.1998.724107","url":null,"abstract":"The paper deals with two problems occurring when larger parts are manufactured by state of the art laser beam or water jet NC-cutting machines: first, the machine has to know the contour to cut; second, the contours of cut parts must be measured to ensure the required dimensions. The developed solution is applicable for both tasks. A large scale backlighted measuring table allows to handle parts up to 2000/spl times/1500 mm/sup 2/. The calibration problem is solved using an especially structured frosted glass plate, the desired accuracy will be reached using subpixel methods. For problems arising in real applications, e.g. how to handle the thickness of parts or how to fit images of different cameras together, solutions are proposed and implemented. A stressing point is the applicability of the developed system in an engineering environment.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128366939","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 : 1998-08-31DOI: 10.1109/IECON.1998.724229
J. Restrepo, M. Giménez, V. Guzmán, J. Aller, A. Bueno
This paper presents the analysis of the kernel effect on time-frequency representations used in measuring AC machine rotor speed, without the use of shaft mounted sensors. This speed measuring method is based on the analysis of speed related harmonics that arise from rotor slotting. In the present work, the use of the Wigner-Ville distribution and the Page distribution are analyzed.
{"title":"Kernel selection for sensorless speed measurement of AC machines (Wigner vs Page representation)","authors":"J. Restrepo, M. Giménez, V. Guzmán, J. Aller, A. Bueno","doi":"10.1109/IECON.1998.724229","DOIUrl":"https://doi.org/10.1109/IECON.1998.724229","url":null,"abstract":"This paper presents the analysis of the kernel effect on time-frequency representations used in measuring AC machine rotor speed, without the use of shaft mounted sensors. This speed measuring method is based on the analysis of speed related harmonics that arise from rotor slotting. In the present work, the use of the Wigner-Ville distribution and the Page distribution are analyzed.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128456426","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 : 1998-08-31DOI: 10.1109/IECON.1998.724262
M. Rendas, S. Rolfes
This paper presents a new approach to the problem of planning the motion of a mobile robot in extended uncertain environments. All knowledge of the environment has been acquired by the robot during the current (or a previous) operation, such that the environment description reflects the accumulated error of the robot's pose during periods of dead-reckoning navigation. In this uncertain environment, the robot searches for trajectories that maximize the probability of attaining a desired target region. For that purpose we identify a discrete set of robot positions in order to construct a routing graph, whose arcs represent the probability of reaching a new position. In that way the search for an optimal trajectory is solved by searching for a minimum weight path in a routing graph. The method is based on a probabilistic model of all the errors/uncertainties affecting the reliability of the planned trajectory.
{"title":"Path planning in extended uncertain environments","authors":"M. Rendas, S. Rolfes","doi":"10.1109/IECON.1998.724262","DOIUrl":"https://doi.org/10.1109/IECON.1998.724262","url":null,"abstract":"This paper presents a new approach to the problem of planning the motion of a mobile robot in extended uncertain environments. All knowledge of the environment has been acquired by the robot during the current (or a previous) operation, such that the environment description reflects the accumulated error of the robot's pose during periods of dead-reckoning navigation. In this uncertain environment, the robot searches for trajectories that maximize the probability of attaining a desired target region. For that purpose we identify a discrete set of robot positions in order to construct a routing graph, whose arcs represent the probability of reaching a new position. In that way the search for an optimal trajectory is solved by searching for a minimum weight path in a routing graph. The method is based on a probabilistic model of all the errors/uncertainties affecting the reliability of the planned trajectory.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128458701","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 : 1998-08-31DOI: 10.1109/IECON.1998.722951
K. Okada, T. Sakamoto
This paper shows a methodology for a self-tuning of the fuzzy controller placed at each subsystem of a web tension control system, which constitutes a decentralized control system. When uncertainty of the system parameters or structure exists, fuzzy logic controller parameters are expected to be altered so that the whole system has sufficient stability and performance. We take the scaling factor of the output signals as the tunable one. The values are tuned by another fuzzy logic to establish better tracking performance, and the stability is attained by changing the values so that the oscillations are minimized. The scaling factor for the input signal is determined off-line by assuming a simplified system with the existence of a few neighboring subsystems. From the simulations, it is confirmed that our adaptive FLC shows a satisfactory performance.
{"title":"An adaptive fuzzy control for web tension control system","authors":"K. Okada, T. Sakamoto","doi":"10.1109/IECON.1998.722951","DOIUrl":"https://doi.org/10.1109/IECON.1998.722951","url":null,"abstract":"This paper shows a methodology for a self-tuning of the fuzzy controller placed at each subsystem of a web tension control system, which constitutes a decentralized control system. When uncertainty of the system parameters or structure exists, fuzzy logic controller parameters are expected to be altered so that the whole system has sufficient stability and performance. We take the scaling factor of the output signals as the tunable one. The values are tuned by another fuzzy logic to establish better tracking performance, and the stability is attained by changing the values so that the oscillations are minimized. The scaling factor for the input signal is determined off-line by assuming a simplified system with the existence of a few neighboring subsystems. From the simulations, it is confirmed that our adaptive FLC shows a satisfactory performance.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128163059","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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