Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69724
W. Cheung, C. C. Pearson
The problem of nonlinear adaptive joint controller design using a proportional feedback structure is addressed. The design is considered in the context of the decentralized control of manipulators where ease of implementation and reliability are desirable characteristics. The design incorporates a nonlinear sigmoidal loop gain characteristic within a conventional proportional feedback structure. Proper selection of sigmoid parameters can significantly improve tracking performance in comparison with conventional designs using a constant loop gain. A methodology for selecting and adaptively updating sigmoid parameters is presented. The adaptive updating scheme is implemented with shunting short-term memory neurons. The implementation exploits the nonlinear response characteristics of these neurons in a learning process which updates the sigmoid parameters. The design is illustrated for a direct-drive joint control.<>
{"title":"Neuron variable structure controller","authors":"W. Cheung, C. C. Pearson","doi":"10.1109/IECON.1989.69724","DOIUrl":"https://doi.org/10.1109/IECON.1989.69724","url":null,"abstract":"The problem of nonlinear adaptive joint controller design using a proportional feedback structure is addressed. The design is considered in the context of the decentralized control of manipulators where ease of implementation and reliability are desirable characteristics. The design incorporates a nonlinear sigmoidal loop gain characteristic within a conventional proportional feedback structure. Proper selection of sigmoid parameters can significantly improve tracking performance in comparison with conventional designs using a constant loop gain. A methodology for selecting and adaptively updating sigmoid parameters is presented. The adaptive updating scheme is implemented with shunting short-term memory neurons. The implementation exploits the nonlinear response characteristics of these neurons in a learning process which updates the sigmoid parameters. The design is illustrated for a direct-drive joint control.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"182 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128247289","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 : 1989-11-06DOI: 10.1109/IECON.1989.69606
I. Barbi, J. B. Vieira, J.C. Bolacell
The authors propose a forward pulse-width modulated zero-current switching quasi-resonant converter (F-PWM-ZCS-QRC), which, in contrast to the conventional forward frequency-modulated zero-current switching quasi-resonant converter (F-FM-ZCS-QRC), provides output voltage and power control at a constant operating frequency. The topology is generated by inserting an additional current-bidirectional switch in the conventional F-FM-ZCS-QRC. The operation principle and design-oriented analysis are presented, with normalized design curves, design procedure, numerical examples, simulations, and experimental results. Theoretical analysis was verified experimentally with a prototype rated at 100 W, operating at the resonant frequency of 1.56 MHz and a switching frequency of 500 kHz. It has been experimentally demonstrated that the proposed converter operates from full load down to 2% of full load, with a constant switching frequency of 500 kHz.<>
{"title":"A forward pulse-width modulated quasi-resonant converter: analysis, design and experimental results","authors":"I. Barbi, J. B. Vieira, J.C. Bolacell","doi":"10.1109/IECON.1989.69606","DOIUrl":"https://doi.org/10.1109/IECON.1989.69606","url":null,"abstract":"The authors propose a forward pulse-width modulated zero-current switching quasi-resonant converter (F-PWM-ZCS-QRC), which, in contrast to the conventional forward frequency-modulated zero-current switching quasi-resonant converter (F-FM-ZCS-QRC), provides output voltage and power control at a constant operating frequency. The topology is generated by inserting an additional current-bidirectional switch in the conventional F-FM-ZCS-QRC. The operation principle and design-oriented analysis are presented, with normalized design curves, design procedure, numerical examples, simulations, and experimental results. Theoretical analysis was verified experimentally with a prototype rated at 100 W, operating at the resonant frequency of 1.56 MHz and a switching frequency of 500 kHz. It has been experimentally demonstrated that the proposed converter operates from full load down to 2% of full load, with a constant switching frequency of 500 kHz.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125872486","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 : 1989-11-06DOI: 10.1109/IECON.1989.69722
C. C. Pearson, W. Cheung
The problem of real-time trajectory generation in the decentralized control of a manipulator is considered. The trajectory generator presented is based on a vector-integration-to-endpoint (VITE) model of neural dynamics in planned human arm movements. In contrast to approaches which require the stipulation of the desired individual joint positions, the trajectory generator operates with desired coordinates of the end effector and generates the individual joint driving functions in real time, using geometric constraints which characterize the manipulator. The resulting manipulator trajectory exhibited VITE model characteristics including synchronous joint operation. An illustrative two-joint manipulator example is given.<>
{"title":"Neuromorphic path generation in real-time","authors":"C. C. Pearson, W. Cheung","doi":"10.1109/IECON.1989.69722","DOIUrl":"https://doi.org/10.1109/IECON.1989.69722","url":null,"abstract":"The problem of real-time trajectory generation in the decentralized control of a manipulator is considered. The trajectory generator presented is based on a vector-integration-to-endpoint (VITE) model of neural dynamics in planned human arm movements. In contrast to approaches which require the stipulation of the desired individual joint positions, the trajectory generator operates with desired coordinates of the end effector and generates the individual joint driving functions in real time, using geometric constraints which characterize the manipulator. The resulting manipulator trajectory exhibited VITE model characteristics including synchronous joint operation. An illustrative two-joint manipulator example is given.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128915416","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 : 1989-11-06DOI: 10.1109/IECON.1989.69618
M. Kazerani, G. Joós, P. Ziogas
A novel input power factor correction method which uses a closed-loop active current waveshaping technique is presented. The novel feature of the proposed method is that nearly sinusoidal input currents are obtained at constant switching frequencies. Moreover, the method exhibits instantaneous current control, which results in very fast response and increased switch reliability characteristics. Selected predicted system performance and design methods are verified experimentally on a 1 kVA laboratory prototype.<>
{"title":"A novel active current waveshaping technique for solid state input power factor conditioners","authors":"M. Kazerani, G. Joós, P. Ziogas","doi":"10.1109/IECON.1989.69618","DOIUrl":"https://doi.org/10.1109/IECON.1989.69618","url":null,"abstract":"A novel input power factor correction method which uses a closed-loop active current waveshaping technique is presented. The novel feature of the proposed method is that nearly sinusoidal input currents are obtained at constant switching frequencies. Moreover, the method exhibits instantaneous current control, which results in very fast response and increased switch reliability characteristics. Selected predicted system performance and design methods are verified experimentally on a 1 kVA laboratory prototype.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125258870","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 : 1989-11-06DOI: 10.1109/IECON.1989.69608
P. Jain, F. Dawson, S. Dewan
The authors present a novel implementation of fast gate turn-off thyristors (GTOs) for a series resonant converter operating above 10 kHz and at an output power rating of 10 kW or greater. A zero current switching gating strategy that eliminates the need of large negative gate drive circuits is presented. This permits the operation of the converter at a near unity load power factor independent of the operating frequency. Consequently, for a given output power, the installed kVA capacity of the converter is minimized, and the system simplicity is maintained. A simplified analysis and component ratings for the GTO-based converter are presented. All the results were verified experimentally.<>
{"title":"A near zero current switching series resonant inverter using GTOs","authors":"P. Jain, F. Dawson, S. Dewan","doi":"10.1109/IECON.1989.69608","DOIUrl":"https://doi.org/10.1109/IECON.1989.69608","url":null,"abstract":"The authors present a novel implementation of fast gate turn-off thyristors (GTOs) for a series resonant converter operating above 10 kHz and at an output power rating of 10 kW or greater. A zero current switching gating strategy that eliminates the need of large negative gate drive circuits is presented. This permits the operation of the converter at a near unity load power factor independent of the operating frequency. Consequently, for a given output power, the installed kVA capacity of the converter is minimized, and the system simplicity is maintained. A simplified analysis and component ratings for the GTO-based converter are presented. All the results were verified experimentally.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117352026","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 : 1989-11-06DOI: 10.1109/IECON.1989.69642
L. Dessaint, B. Hébert, H. Le-Huy
The authors describe the implementation of a self-tuning regulator for the positioning of a direct-drive servo motor. The servo motor is a permanent magnet DC motor in which no gear reducer is used. The autotuning regulator consists of two major loops. The inner loop contains a feedback (proportional-derivative or proportional-integral-derivative) regulator with additional feedforward terms. The parameters of the regulator are adjusted by the outer loop, which contains an online parameter estimator. The estimated parameters are the load inertia and friction. This self-tuning regulator has been simulated with PC.MATLAB, and the results demonstrate the high performance of the scheme. The influence on the estimator of important factors such as noise, forgetting factor, and converter precision are evaluated.<>
{"title":"An adaptive controller for a smooth positioning system: analysis and simulation","authors":"L. Dessaint, B. Hébert, H. Le-Huy","doi":"10.1109/IECON.1989.69642","DOIUrl":"https://doi.org/10.1109/IECON.1989.69642","url":null,"abstract":"The authors describe the implementation of a self-tuning regulator for the positioning of a direct-drive servo motor. The servo motor is a permanent magnet DC motor in which no gear reducer is used. The autotuning regulator consists of two major loops. The inner loop contains a feedback (proportional-derivative or proportional-integral-derivative) regulator with additional feedforward terms. The parameters of the regulator are adjusted by the outer loop, which contains an online parameter estimator. The estimated parameters are the load inertia and friction. This self-tuning regulator has been simulated with PC.MATLAB, and the results demonstrate the high performance of the scheme. The influence on the estimator of important factors such as noise, forgetting factor, and converter precision are evaluated.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116906234","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 : 1989-11-06DOI: 10.1109/IECON.1989.69661
G. Hsieh, Y. Lin
A microprocessor-based slope-varied digital pumped controller ( mu P-SVDPC) for adapting the system locking performance of the digital pumped phase-locked servo system (DPPLS) is presented. The mu P-SVDPC can adaptively provide an optimal-controlled voltage against the coming phase-error for system locking processes. Theoretical analysis and computer simulation for modeling, stabilizing, programming, and designing the mu P-SVDPC controller and the mu P-DPPLS system are described. A prototype of the mu P-DPPLS was constructed and studied experimentally, and a comparison of its experimental results with those of the DPPLS demonstrates the validity of the theoretical results, which predicted a smaller risetime, a shorter settling time, and excellent stability.<>
{"title":"A microprocessor-based slope-varied digital pumped controller for phase-locked servo system","authors":"G. Hsieh, Y. Lin","doi":"10.1109/IECON.1989.69661","DOIUrl":"https://doi.org/10.1109/IECON.1989.69661","url":null,"abstract":"A microprocessor-based slope-varied digital pumped controller ( mu P-SVDPC) for adapting the system locking performance of the digital pumped phase-locked servo system (DPPLS) is presented. The mu P-SVDPC can adaptively provide an optimal-controlled voltage against the coming phase-error for system locking processes. Theoretical analysis and computer simulation for modeling, stabilizing, programming, and designing the mu P-SVDPC controller and the mu P-DPPLS system are described. A prototype of the mu P-DPPLS was constructed and studied experimentally, and a comparison of its experimental results with those of the DPPLS demonstrates the validity of the theoretical results, which predicted a smaller risetime, a shorter settling time, and excellent stability.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132058376","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 : 1989-11-06DOI: 10.1109/IECON.1989.69692
T. Hamada, K. Kamejima, I. Takeuchi
A method for interactive robot operation, based on human mental images, is presented. By introducing a multidimensional information structure into a coherent intelligence process architecture, consistency between the system model and the real world is successfully maintained. A mental image of the task is evoked by combination of a visual work space image and action knowledge. The visual image is modeled by transition of a frame system, called the work space model, using a dynamic model matching process. Action knowledge is modeled by a transition network, called the action network, and a schematic description, called the motion schema. The proposed method was verified through a prototype and experiments.<>
{"title":"Image based operation: a human-robot interaction architecture for intelligent manufacturing","authors":"T. Hamada, K. Kamejima, I. Takeuchi","doi":"10.1109/IECON.1989.69692","DOIUrl":"https://doi.org/10.1109/IECON.1989.69692","url":null,"abstract":"A method for interactive robot operation, based on human mental images, is presented. By introducing a multidimensional information structure into a coherent intelligence process architecture, consistency between the system model and the real world is successfully maintained. A mental image of the task is evoked by combination of a visual work space image and action knowledge. The visual image is modeled by transition of a frame system, called the work space model, using a dynamic model matching process. Action knowledge is modeled by a transition network, called the action network, and a schematic description, called the motion schema. The proposed method was verified through a prototype and experiments.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131335958","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 : 1989-11-06DOI: 10.1109/IECON.1989.69723
L. Belfore, B.W. Johnson, J. Aylor
The authors present an analytical technique for assessing the fault tolerance of neural networks. The basis of the technique is developed through an analogy with magnetic spin systems using statistical mechanics. It is shown that neural networks can be analyzed using statistical mechanics. Simulated results are compared with analytical results, showing that the analytical model does indeed conform to the simulation model. The primary example presented is an associative memory.<>
{"title":"Modeling of fault tolerance in neural networks","authors":"L. Belfore, B.W. Johnson, J. Aylor","doi":"10.1109/IECON.1989.69723","DOIUrl":"https://doi.org/10.1109/IECON.1989.69723","url":null,"abstract":"The authors present an analytical technique for assessing the fault tolerance of neural networks. The basis of the technique is developed through an analogy with magnetic spin systems using statistical mechanics. It is shown that neural networks can be analyzed using statistical mechanics. Simulated results are compared with analytical results, showing that the analytical model does indeed conform to the simulation model. The primary example presented is an associative memory.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133242434","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 : 1989-11-06DOI: 10.1109/IECON.1989.69689
A. Kulkarni, Y. Malaiya, A. Jayasumana
The design and protocol for a fault-tolerant high-performance local area network called MESHNET is proposed. It is a token passing scheme with multiple buses. It provides multiple paths between any pair of nodes and thus the fault-tolerance feature. Under fault-free conditions, it can support a much faster rate of traffic generation and a much higher number of nodes compared to a single bus architecture and gives a better performance in terms of channel utilization, throughput, and average delay per data packet. It maintains connectivity even when multiple faults have occurred. The topology, architecture, and other basic features of the proposed network are described, and a preliminary reliability analysis is presented.<>
{"title":"MESHNET: a new fault-tolerant LAN for industrial environment","authors":"A. Kulkarni, Y. Malaiya, A. Jayasumana","doi":"10.1109/IECON.1989.69689","DOIUrl":"https://doi.org/10.1109/IECON.1989.69689","url":null,"abstract":"The design and protocol for a fault-tolerant high-performance local area network called MESHNET is proposed. It is a token passing scheme with multiple buses. It provides multiple paths between any pair of nodes and thus the fault-tolerance feature. Under fault-free conditions, it can support a much faster rate of traffic generation and a much higher number of nodes compared to a single bus architecture and gives a better performance in terms of channel utilization, throughput, and average delay per data packet. It maintains connectivity even when multiple faults have occurred. The topology, architecture, and other basic features of the proposed network are described, and a preliminary reliability analysis is presented.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"777 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131638871","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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