Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69635
D. Hanselman, R. Thibodeau, D. J. Smith
The design of a variable-reluctance resolver structure which can be integrated into brushless motors is considered. The resolver is designed to provide absolute position information for motor phase commutation and incremental position information for position control. Basic resolver operation is reviewed, and critical resolver signal characteristics which determine resolver position accuracy are identified. Using a magnetic circuit approach, the inductance of a variable-reluctance structure was computed as a function of position. From this information the tooth parameters which minimize the maximum resolver position error were determined. In addition, design guidelines were formulated and the difficulty in achieving high position accuracy was assessed.<>
{"title":"Variable-reluctance resolver design guidelines","authors":"D. Hanselman, R. Thibodeau, D. J. Smith","doi":"10.1109/IECON.1989.69635","DOIUrl":"https://doi.org/10.1109/IECON.1989.69635","url":null,"abstract":"The design of a variable-reluctance resolver structure which can be integrated into brushless motors is considered. The resolver is designed to provide absolute position information for motor phase commutation and incremental position information for position control. Basic resolver operation is reviewed, and critical resolver signal characteristics which determine resolver position accuracy are identified. Using a magnetic circuit approach, the inductance of a variable-reluctance structure was computed as a function of position. From this information the tooth parameters which minimize the maximum resolver position error were determined. In addition, design guidelines were formulated and the difficulty in achieving high position accuracy was assessed.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"21 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":"132451424","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.1989.69669
S. Takakura, T. Murakami, K. Ohnishi
The authors describe a method of collision detection and the following continued avoidance motion. In an industrial robot, if there is an unknown obstacle on the trajectory, it is required to detect the collision against the obstacle and to avoid it autonomously. In the proposed method, an extra sensor such as the tactile sensor or the visual sensor for detecting the collision is not necessary. Instead of these sensors, the collision is detected by the signal of the disturbance observer. The algorithm for how the robot knows the collision is coming and avoids the obstacle is shown. This algorithm is simple and easy to apply to the robot controller. Several experimental results are shown.<>
{"title":"An approach to collision detection and recovery motion in industrial robot","authors":"S. Takakura, T. Murakami, K. Ohnishi","doi":"10.1109/IECON.1989.69669","DOIUrl":"https://doi.org/10.1109/IECON.1989.69669","url":null,"abstract":"The authors describe a method of collision detection and the following continued avoidance motion. In an industrial robot, if there is an unknown obstacle on the trajectory, it is required to detect the collision against the obstacle and to avoid it autonomously. In the proposed method, an extra sensor such as the tactile sensor or the visual sensor for detecting the collision is not necessary. Instead of these sensors, the collision is detected by the signal of the disturbance observer. The algorithm for how the robot knows the collision is coming and avoids the obstacle is shown. This algorithm is simple and easy to apply to the robot controller. Several experimental results are shown.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"57 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":"134099325","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.1989.69646
K. Furuta, K. Kosuge, K. Kobayashi
A self-tuning control based on the VSS principle is proposed and experimentally investigated for the control of a direct-drive motor with unknown static load and unmodeled dynamics. The designed control system achieves perfect tracking when parameters are accurately identified and suppresses sluggish motion in the transient period using a mismatch model. The controller is robust with respect to disturbances and the error of parameters. Its validity is confirmed through experiments.<>
{"title":"VSS-type self-tuning control of direct-drive motor","authors":"K. Furuta, K. Kosuge, K. Kobayashi","doi":"10.1109/IECON.1989.69646","DOIUrl":"https://doi.org/10.1109/IECON.1989.69646","url":null,"abstract":"A self-tuning control based on the VSS principle is proposed and experimentally investigated for the control of a direct-drive motor with unknown static load and unmodeled dynamics. The designed control system achieves perfect tracking when parameters are accurately identified and suppresses sluggish motion in the transient period using a mismatch model. The controller is robust with respect to disturbances and the error of parameters. Its validity is confirmed through experiments.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"6 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":"132965396","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.1989.69650
G. Obinata
Robust controller design for actuators with variable loads is considered. In order to cope with variations of the loads, a stable factorization approach is applied to design problems of digital controllers for actuators. Using the factorization approach, it is possible to enhance the performance of conventional controllers adaptively with additional loops in the structures. The implementation of the proposed controller to realize high-performance using a microprocessor is discussed.<>
{"title":"Robust controller design for actuators under load variation condition","authors":"G. Obinata","doi":"10.1109/IECON.1989.69650","DOIUrl":"https://doi.org/10.1109/IECON.1989.69650","url":null,"abstract":"Robust controller design for actuators with variable loads is considered. In order to cope with variations of the loads, a stable factorization approach is applied to design problems of digital controllers for actuators. Using the factorization approach, it is possible to enhance the performance of conventional controllers adaptively with additional loops in the structures. The implementation of the proposed controller to realize high-performance using a microprocessor is discussed.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"5 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":"123994230","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.1989.69636
Min-Ho Park, Hong‐Hee Lee
Vector controlled drives of a PMSM (permanent magnet synchronous motor) are proposed without position and speed sensor. The conventional pole position and speed sensors are eliminated by means of estimation using adaptive identification, for which stator voltages and currents are measured. To realize the proposed algorithm, a d-q current detecting method, which is independent of the rotor speed and position, is proposed. Simulation and experiment show that the proposed sensorless algorithm has good adaptation with load condition variation. Simulation results show that the position error at the steady state is within one electrical degree. In the experiment, however, the error becomes larger than that value, because of the sensing error and the long sampling time.<>
{"title":"Sensorless vector control of permanent magnet synchronous motor using adaptive identification","authors":"Min-Ho Park, Hong‐Hee Lee","doi":"10.1109/IECON.1989.69636","DOIUrl":"https://doi.org/10.1109/IECON.1989.69636","url":null,"abstract":"Vector controlled drives of a PMSM (permanent magnet synchronous motor) are proposed without position and speed sensor. The conventional pole position and speed sensors are eliminated by means of estimation using adaptive identification, for which stator voltages and currents are measured. To realize the proposed algorithm, a d-q current detecting method, which is independent of the rotor speed and position, is proposed. Simulation and experiment show that the proposed sensorless algorithm has good adaptation with load condition variation. Simulation results show that the position error at the steady state is within one electrical degree. In the experiment, however, the error becomes larger than that value, because of the sensing error and the long sampling time.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"71 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":"117222898","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.1989.69654
Dongil Kim, I. Ha, M. Ko, Jae-Wha Park
The authors attempt to achieve both high dynamic performance and maximal power efficiency for induction motors by means of linear decoupling of rotor speed (or motor torque) and rotor flux. The induction motor with the proposed controller possesses the input-output dynamic characteristics of a linear system such that the rotor speed (or motor torque) and the rotor flux are decoupled. The rotor speed (or motor torque) responses are not affected by abrupt changes in the rotor flux, and vice versa. The rotor flux need not be measured but is estimated by the well-known flux simulator. The effect of large variation in the rotor resistance on the control performances is minimized by using a parameter adaptation method. The authors present simulation and experimental results as well as mathematical performance analyses.<>
{"title":"Control of induction motors for high dynamic performance and maximal power efficiency via feedback linearization with input-output decoupling","authors":"Dongil Kim, I. Ha, M. Ko, Jae-Wha Park","doi":"10.1109/IECON.1989.69654","DOIUrl":"https://doi.org/10.1109/IECON.1989.69654","url":null,"abstract":"The authors attempt to achieve both high dynamic performance and maximal power efficiency for induction motors by means of linear decoupling of rotor speed (or motor torque) and rotor flux. The induction motor with the proposed controller possesses the input-output dynamic characteristics of a linear system such that the rotor speed (or motor torque) and the rotor flux are decoupled. The rotor speed (or motor torque) responses are not affected by abrupt changes in the rotor flux, and vice versa. The rotor flux need not be measured but is estimated by the well-known flux simulator. The effect of large variation in the rotor resistance on the control performances is minimized by using a parameter adaptation method. The authors present simulation and experimental results as well as mathematical performance analyses.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"21 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":"115339037","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.1989.69612
L. Salazar, P. Ziogas
The analysis and design of a high-frequency two-switch forward converter topology with transformer flux balancing and extended duty cycle capability are presented. To improve converter performance, an auxiliary circuit connected in parallel with each power switch is proposed. This auxiliary circuit uses a low power switch or a nonlinear resistor connected in series with a capacitor. As a result, the DC component of the magnetizing current is minimized and the converter provides the means of recovery the energy associated with the parasitic inductances of the circuit components. Thus, higher than usual efficiency and higher operating frequencies are obtained. Experimental results are presented for a 4 kW, 40 kHz prototype unit.<>
{"title":"A high frequency two-switch forward converter with optimized performance","authors":"L. Salazar, P. Ziogas","doi":"10.1109/IECON.1989.69612","DOIUrl":"https://doi.org/10.1109/IECON.1989.69612","url":null,"abstract":"The analysis and design of a high-frequency two-switch forward converter topology with transformer flux balancing and extended duty cycle capability are presented. To improve converter performance, an auxiliary circuit connected in parallel with each power switch is proposed. This auxiliary circuit uses a low power switch or a nonlinear resistor connected in series with a capacitor. As a result, the DC component of the magnetizing current is minimized and the converter provides the means of recovery the energy associated with the parasitic inductances of the circuit components. Thus, higher than usual efficiency and higher operating frequencies are obtained. Experimental results are presented for a 4 kW, 40 kHz prototype unit.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"4166 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":"127561824","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.1989.69643
A. Ridout
The author describes the results of an investigation into the application of variable damping (where the damping is varied as a function of the system states) to improve the time response of an overhead crane which uses linear feedback to control the load swing. The resulting system is unique because the overhead crane has fourth-order dynamics and variable damping is usually only applied to second-order systems. A contour map approach (based on computer simulations) is devised to shape the damping function, and it is also used to develop a general tuning strategy for the system. The advantages and limitations of the controller are discussed, based on tests performed on a laboratory crane model.<>
{"title":"Variably damped swing control of the overhead crane","authors":"A. Ridout","doi":"10.1109/IECON.1989.69643","DOIUrl":"https://doi.org/10.1109/IECON.1989.69643","url":null,"abstract":"The author describes the results of an investigation into the application of variable damping (where the damping is varied as a function of the system states) to improve the time response of an overhead crane which uses linear feedback to control the load swing. The resulting system is unique because the overhead crane has fourth-order dynamics and variable damping is usually only applied to second-order systems. A contour map approach (based on computer simulations) is devised to shape the damping function, and it is also used to develop a general tuning strategy for the system. The advantages and limitations of the controller are discussed, based on tests performed on a laboratory crane model.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"42 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":"121025453","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.1989.69733
M. Rico, J. Sebastián, J. Uceda, M. Pérez
A mathematical methodology for the steady-state analysis of the parallel resonant converter is described. This analysis is based on a novel approach to modeling this type of converter. The peak resonant capacitor voltage, inductor current, and other interesting parameters are plotted. Theoretical results are compared with those obtained from experiments carried out on a prototype.<>
{"title":"Static modeling of the parallel resonant converter","authors":"M. Rico, J. Sebastián, J. Uceda, M. Pérez","doi":"10.1109/IECON.1989.69733","DOIUrl":"https://doi.org/10.1109/IECON.1989.69733","url":null,"abstract":"A mathematical methodology for the steady-state analysis of the parallel resonant converter is described. This analysis is based on a novel approach to modeling this type of converter. The peak resonant capacitor voltage, inductor current, and other interesting parameters are plotted. Theoretical results are compared with those obtained from experiments carried out on a prototype.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"197 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":"124365673","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.1989.69617
Park Min-ho, Kim Young-Real, Won Chung-Yuen, K. Tae-hoon, Hong Soon‐Chan
The authors describe a newly developed high-performance control system for a vector-controlled induction motor. In order to realize this system, the authors adopted the current controlled PWM (pulse-width modulated) inverter with a hysteresis controller. Changes in temperature, current, and slip frequency vary motor parameters. If these parameters are not compensated in the vector controller, poor performance results. Therefore, a priori knowledge of the motor parameters is needed to implement indirect vector control on a high-performance induction motor servo system where the position of rotor flux is estimated. A parameter adaptation scheme has been proposed to compensate for the machine parameter variations. The authors present some of the relevant mathematics necessary to study parameter sensitivity in the time-optimal position control of an induction motor. Simulation and experimental results verify the predicted performance.<>
{"title":"High performance control strategy of current controlled PWM inverter fed induction motor servo drive system","authors":"Park Min-ho, Kim Young-Real, Won Chung-Yuen, K. Tae-hoon, Hong Soon‐Chan","doi":"10.1109/IECON.1989.69617","DOIUrl":"https://doi.org/10.1109/IECON.1989.69617","url":null,"abstract":"The authors describe a newly developed high-performance control system for a vector-controlled induction motor. In order to realize this system, the authors adopted the current controlled PWM (pulse-width modulated) inverter with a hysteresis controller. Changes in temperature, current, and slip frequency vary motor parameters. If these parameters are not compensated in the vector controller, poor performance results. Therefore, a priori knowledge of the motor parameters is needed to implement indirect vector control on a high-performance induction motor servo system where the position of rotor flux is estimated. A parameter adaptation scheme has been proposed to compensate for the machine parameter variations. The authors present some of the relevant mathematics necessary to study parameter sensitivity in the time-optimal position control of an induction motor. Simulation and experimental results verify the predicted performance.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"46 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":"125625443","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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