Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69712
J. Decotignie, J. Gregoire
The current industrial emphasis on computer integrated manufacturing (CIM) and the advent of tools such as the manufacturing automation protocol (MAP) has led the authors to reconsider the traditional view of the numerical controller of machine-tools (CNC) in light of these developments. In recent years, the authors' laboratory has been involved in the study, design, and implementation of a CNC architecture. In the present work, the authors describe the motivation behind this work, namely, an architecture which incorporates the results of research on the problem of harmonious integration of CNCs in different environments and factory hierarchies. They also compare their work to the proposed manufacturing messaging specification (MMS) standard and its companion standard for the CNC.<>
{"title":"Integrating the numerical controller and the FMS","authors":"J. Decotignie, J. Gregoire","doi":"10.1109/IECON.1989.69712","DOIUrl":"https://doi.org/10.1109/IECON.1989.69712","url":null,"abstract":"The current industrial emphasis on computer integrated manufacturing (CIM) and the advent of tools such as the manufacturing automation protocol (MAP) has led the authors to reconsider the traditional view of the numerical controller of machine-tools (CNC) in light of these developments. In recent years, the authors' laboratory has been involved in the study, design, and implementation of a CNC architecture. In the present work, the authors describe the motivation behind this work, namely, an architecture which incorporates the results of research on the problem of harmonious integration of CNCs in different environments and factory hierarchies. They also compare their work to the proposed manufacturing messaging specification (MMS) standard and its companion standard for the CNC.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"62 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":"133500595","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.1989.69671
L. Liu, Y. Han, R. Lingarkar, Naresh K. Sinha, M. Elbestawi
An adaptive control algorithm for controlling the trajectory of motion and the contact force of the end-effector for constrained robots simultaneously is presented. The development of the algorithm is based on the nonlinear coordinate transformation of N.H. McClamroch and D. Wang (1988). The passivity-based control scheme of J.J. Slotine and W. Li (1987) is adopted, where the sliding surface is expanded to include the contact force error, to guarantee the asymptotic stability of the closed-loop system. In the proposed scheme, the unknown parameters are adapted using the recursive least-squares method. It is shown that the implementation of the parameter adaptation and the control law requires only the measurement of the joint positions, velocities, and contact force. The global convergence of the proposed adaptive control algorithm is also established. A two-link elbow direct-drive robot performing a contour-following task is simulated to demonstrate the applicability of this approach.<>
{"title":"On adaptive force/motion control of constrained robots","authors":"L. Liu, Y. Han, R. Lingarkar, Naresh K. Sinha, M. Elbestawi","doi":"10.1109/IECON.1989.69671","DOIUrl":"https://doi.org/10.1109/IECON.1989.69671","url":null,"abstract":"An adaptive control algorithm for controlling the trajectory of motion and the contact force of the end-effector for constrained robots simultaneously is presented. The development of the algorithm is based on the nonlinear coordinate transformation of N.H. McClamroch and D. Wang (1988). The passivity-based control scheme of J.J. Slotine and W. Li (1987) is adopted, where the sliding surface is expanded to include the contact force error, to guarantee the asymptotic stability of the closed-loop system. In the proposed scheme, the unknown parameters are adapted using the recursive least-squares method. It is shown that the implementation of the parameter adaptation and the control law requires only the measurement of the joint positions, velocities, and contact force. The global convergence of the proposed adaptive control algorithm is also established. A two-link elbow direct-drive robot performing a contour-following task is simulated to demonstrate the applicability of this approach.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"65 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":"132564314","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.1989.69633
T. Koga, I. Miyashita, A. Matsumoto, Y. Okada
The authors describe a method for direct high-speed control of the secondary magnetic flux and torque of an induction motor supplied with power via a transistor inverter. The control system is totally digitized using digital signal processing. Since operation time leads to control delay in such a system, the random-frequency torque ripples involved are more significant than with conventional PWM (pulse-width modulation) techniques. This difficulty is relieved considerably by using current preview control. Two methods for further improvement are proposed. The usefulness of these techniques is demonstrated by showing the results of a simulation, and results of measurements on a 7.5 kW induction motor are presented. In particular, when the motor velocity is zero (rotor locked), the motor produces torque ripples with twice the inverter frequency, which are believed to be due to imbalance of the motor magnetic circuit. These torque ripples are generated in nearly equal quantities when conventional PWM is used and when a low-frequency sine wave power supply is used.<>
{"title":"Torque ripple reduction methods for vector controlled induction motor with current preview control","authors":"T. Koga, I. Miyashita, A. Matsumoto, Y. Okada","doi":"10.1109/IECON.1989.69633","DOIUrl":"https://doi.org/10.1109/IECON.1989.69633","url":null,"abstract":"The authors describe a method for direct high-speed control of the secondary magnetic flux and torque of an induction motor supplied with power via a transistor inverter. The control system is totally digitized using digital signal processing. Since operation time leads to control delay in such a system, the random-frequency torque ripples involved are more significant than with conventional PWM (pulse-width modulation) techniques. This difficulty is relieved considerably by using current preview control. Two methods for further improvement are proposed. The usefulness of these techniques is demonstrated by showing the results of a simulation, and results of measurements on a 7.5 kW induction motor are presented. In particular, when the motor velocity is zero (rotor locked), the motor produces torque ripples with twice the inverter frequency, which are believed to be due to imbalance of the motor magnetic circuit. These torque ripples are generated in nearly equal quantities when conventional PWM is used and when a low-frequency sine wave power supply is used.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"22 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":"132002653","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.1989.69677
C. Verlinde, E. Georgel, J. Thomesse
An approach to automated system specification is described. It is shown that the introduction of general concepts, including typical constraints of automated systems (e.g. operating modes, topology, and coordination), helps the designer to understand the user requirements, giving a global view of them. The refinement of this first model, with the use of an elementary notion, allows the designer to organize user functions and information precisely and helps the verification of completeness and consistency. To build up this model, the use of criteria adapted to automated system constraints is the key to a successful and well-suited specification model. The internal specification of an elementary notion in terms of generic functions and information introduces a way of specification validation and generalizes the proposed model, which is then adapted to any type of system.<>
{"title":"Hierarchical and functional architecture for control systems","authors":"C. Verlinde, E. Georgel, J. Thomesse","doi":"10.1109/IECON.1989.69677","DOIUrl":"https://doi.org/10.1109/IECON.1989.69677","url":null,"abstract":"An approach to automated system specification is described. It is shown that the introduction of general concepts, including typical constraints of automated systems (e.g. operating modes, topology, and coordination), helps the designer to understand the user requirements, giving a global view of them. The refinement of this first model, with the use of an elementary notion, allows the designer to organize user functions and information precisely and helps the verification of completeness and consistency. To build up this model, the use of criteria adapted to automated system constraints is the key to a successful and well-suited specification model. The internal specification of an elementary notion in terms of generic functions and information introduces a way of specification validation and generalizes the proposed model, which is then adapted to any type of system.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"7 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":"130828417","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.1989.69623
P. Maussion, M. Grandpierre, J. Faucher, J. Hapiot
The authors propose a novel method for the instantaneous digital control of a PWM (pulse-width modulated) inverter used in an uninterruptible power supply. The output voltage is compared to a sinusoidal reference at each sampling instant to compute in real time through a digital controller the pulse width of the same interval. The closed-loop digital feedback eliminates the steady-state error of the output voltage with a very short computation time. This strategy is verified through computer simulations and provides a very fast compensation of disturbances caused by nonlinear loads, such as rectifiers and triac loads, with low total harmonic distortion and fundamental control.<>
{"title":"Instantaneous feedback control of a single-phase PWM inverter with nonlinear loads by sine wave tracking","authors":"P. Maussion, M. Grandpierre, J. Faucher, J. Hapiot","doi":"10.1109/IECON.1989.69623","DOIUrl":"https://doi.org/10.1109/IECON.1989.69623","url":null,"abstract":"The authors propose a novel method for the instantaneous digital control of a PWM (pulse-width modulated) inverter used in an uninterruptible power supply. The output voltage is compared to a sinusoidal reference at each sampling instant to compute in real time through a digital controller the pulse width of the same interval. The closed-loop digital feedback eliminates the steady-state error of the output voltage with a very short computation time. This strategy is verified through computer simulations and provides a very fast compensation of disturbances caused by nonlinear loads, such as rectifiers and triac loads, with low total harmonic distortion and fundamental control.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"96 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":"130939489","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.1989.69676
M. Zasadzinski, M. Darouach, J. Keller, M. Boutayeb, G. Krzakala
A comparative study of data reconciliation methods based on decentralized calculus is presented. An efficient strategy for reconciling data requires a dimensionality reduction of the initial problem by observability and redundancy concepts. The decentralized calculus is applied to the redundant subsystem obtained by this decomposition. The result obtained from applying different algorithms to a numerical example shows the efficiency of using an analytical algorithm with coordination by coupling variables. If there is a incidence matrix of a subsystem which is not a full row rank matrix, the Gauss-Seidel algorithm can be used. A relaxation scheme guarantees the convergence of this algorithm.<>
{"title":"A comparative study of decentralized data reconciliation algorithms","authors":"M. Zasadzinski, M. Darouach, J. Keller, M. Boutayeb, G. Krzakala","doi":"10.1109/IECON.1989.69676","DOIUrl":"https://doi.org/10.1109/IECON.1989.69676","url":null,"abstract":"A comparative study of data reconciliation methods based on decentralized calculus is presented. An efficient strategy for reconciling data requires a dimensionality reduction of the initial problem by observability and redundancy concepts. The decentralized calculus is applied to the redundant subsystem obtained by this decomposition. The result obtained from applying different algorithms to a numerical example shows the efficiency of using an analytical algorithm with coordination by coupling variables. If there is a incidence matrix of a subsystem which is not a full row rank matrix, the Gauss-Seidel algorithm can be used. A relaxation scheme guarantees the convergence of this algorithm.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"93 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":"116072574","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.1989.69641
K. Kuribayashi
A light and high-torque servo motor using SMA (shape memory alloy) is presented. Its design method is derived using the dynamical properties of SMA and the geometrical relationships of the SMA motor. A fixed-ring-type SMA motor with a synchronous belt was designed, and its torque and maximum rotary speed were calculated. In a trial production, a fixed-ring-type SMA motor with a synchronous rod (similar to the synchronous belt type) was manufactured. The characteristics of this SMA motor were compared with the values of an ultrasonic motor and two direct drive motors. It is concluded that the static characteristics of the SMA motor are comparable to those of the ultrasonic motor, but its dynamical characteristics are very poor.<>
{"title":"A new servo motor using shape memory alloy","authors":"K. Kuribayashi","doi":"10.1109/IECON.1989.69641","DOIUrl":"https://doi.org/10.1109/IECON.1989.69641","url":null,"abstract":"A light and high-torque servo motor using SMA (shape memory alloy) is presented. Its design method is derived using the dynamical properties of SMA and the geometrical relationships of the SMA motor. A fixed-ring-type SMA motor with a synchronous belt was designed, and its torque and maximum rotary speed were calculated. In a trial production, a fixed-ring-type SMA motor with a synchronous rod (similar to the synchronous belt type) was manufactured. The characteristics of this SMA motor were compared with the values of an ultrasonic motor and two direct drive motors. It is concluded that the static characteristics of the SMA motor are comparable to those of the ultrasonic motor, but its dynamical characteristics are very poor.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"59 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":"116131899","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.1989.69647
H. Nakamura, N. Shimozono
A novel algorithm for learning control is proposed and investigated experimentally. It is assumed that the desired output is periodic and that its period is known. At each sampling time, the control input is modified so as to minimize the quadratic criterion on predicted future errors. Future errors are estimated from the following data: past errors in the last attempt, present error, control input up to the present time, and the step-response data of the system measured previously. Experimental results on the DC servo motor showed that tracking errors were reduced to +or-1 pulse after only four attempts. It is concluded that the proposed method is very useful for controllers of machine tools and industrial robots because the algorithm can be easily implemented on a personal computer or a microprocessor, the learning converges quickly, and no identification is required other than measuring its step response.<>
{"title":"Predictive learning control and application to servo system of DC motor","authors":"H. Nakamura, N. Shimozono","doi":"10.1109/IECON.1989.69647","DOIUrl":"https://doi.org/10.1109/IECON.1989.69647","url":null,"abstract":"A novel algorithm for learning control is proposed and investigated experimentally. It is assumed that the desired output is periodic and that its period is known. At each sampling time, the control input is modified so as to minimize the quadratic criterion on predicted future errors. Future errors are estimated from the following data: past errors in the last attempt, present error, control input up to the present time, and the step-response data of the system measured previously. Experimental results on the DC servo motor showed that tracking errors were reduced to +or-1 pulse after only four attempts. It is concluded that the proposed method is very useful for controllers of machine tools and industrial robots because the algorithm can be easily implemented on a personal computer or a microprocessor, the learning converges quickly, and no identification is required other than measuring its step response.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"83 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":"116310956","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.1989.69684
S. Aramaki, I. Nagasawa, K. Osada, S. Kurono
It is shown that it is easy to translate a natural-language-style task instruction given by a voice into a motion-level robot program by utilizing procedures having to do with the visualization of assembly parts by a human being. This method is similar to the process by which a human being carries out an assembly task by utilizing the function and role peculiar to each assembly part as the knowledge. The concept of object-oriented programming is used as the knowledge representation form. The operational procedures of the assembly parts and other attributes are constructured according to the object-oriented model. The translation into the robot program is executed by using the message passing facility of objects.<>
{"title":"Voice command robot system by using the linguistic knowledge of a voice","authors":"S. Aramaki, I. Nagasawa, K. Osada, S. Kurono","doi":"10.1109/IECON.1989.69684","DOIUrl":"https://doi.org/10.1109/IECON.1989.69684","url":null,"abstract":"It is shown that it is easy to translate a natural-language-style task instruction given by a voice into a motion-level robot program by utilizing procedures having to do with the visualization of assembly parts by a human being. This method is similar to the process by which a human being carries out an assembly task by utilizing the function and role peculiar to each assembly part as the knowledge. The concept of object-oriented programming is used as the knowledge representation form. The operational procedures of the assembly parts and other attributes are constructured according to the object-oriented model. The translation into the robot program is executed by using the message passing facility of objects.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"8 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":"123277777","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.1989.69609
I. Barbi, J. B. Vieira, H. Hey
The authors describe a novel half-bridge quasi-resonant converter, which is regulated by pulse-width modulation, in contrast to the frequency modulated half-bridge quasi-resonant converters reported in the literature. The concept of zero-voltage-zero-current switching is proposed. It provides commutation under zero current in a switch of the inverter leg and under zero voltage in the other one. The operating principle, design-oriented analysis, design procedure, simulations, and experimental results are presented. As a consequence of constant frequency operation, the proposed converter is easier to design and control than the well-known resonant converters or the half-bridge quasi-resonant one, regulated by frequency modulation.<>
{"title":"A pulse-width modulation zero-voltage-zero-current switched half-bridge quasi-resonant converter","authors":"I. Barbi, J. B. Vieira, H. Hey","doi":"10.1109/IECON.1989.69609","DOIUrl":"https://doi.org/10.1109/IECON.1989.69609","url":null,"abstract":"The authors describe a novel half-bridge quasi-resonant converter, which is regulated by pulse-width modulation, in contrast to the frequency modulated half-bridge quasi-resonant converters reported in the literature. The concept of zero-voltage-zero-current switching is proposed. It provides commutation under zero current in a switch of the inverter leg and under zero voltage in the other one. The operating principle, design-oriented analysis, design procedure, simulations, and experimental results are presented. As a consequence of constant frequency operation, the proposed converter is easier to design and control than the well-known resonant converters or the half-bridge quasi-resonant one, regulated by frequency modulation.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"13 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":"125215064","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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