Pub Date : 2006-08-01DOI: 10.1109/EPEPEMC.2006.4778584
L. Banjanović-Mehmedović, I. Petrović, E. Ivanjko
Mobile robot localization is the problem of determining the pose (position and orientation) of a mobile robot under complex measurement uncertainties. The algorithm introduced here is based on the modified multiple model and exploits a soft gating of the measurements to reduce the computational requirements of the approach. The position part is based on an x and y histograms scan matching procedure, where x and y histograms are extracted directly from local occupancy grid maps using probability scalar transformation. The orientation part is based on the proposed obstacle vector transformation combined with polar histograms. Proposed algorithms are tested using a Pioneer 2DX mobile robot.
{"title":"Mobile Robot Localization Using Local Occupancy Grid Maps Transformations","authors":"L. Banjanović-Mehmedović, I. Petrović, E. Ivanjko","doi":"10.1109/EPEPEMC.2006.4778584","DOIUrl":"https://doi.org/10.1109/EPEPEMC.2006.4778584","url":null,"abstract":"Mobile robot localization is the problem of determining the pose (position and orientation) of a mobile robot under complex measurement uncertainties. The algorithm introduced here is based on the modified multiple model and exploits a soft gating of the measurements to reduce the computational requirements of the approach. The position part is based on an x and y histograms scan matching procedure, where x and y histograms are extracted directly from local occupancy grid maps using probability scalar transformation. The orientation part is based on the proposed obstacle vector transformation combined with polar histograms. Proposed algorithms are tested using a Pioneer 2DX mobile robot.","PeriodicalId":401288,"journal":{"name":"2006 12th International Power Electronics and Motion Control Conference","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129890253","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 : 2006-08-01DOI: 10.1109/EPEPEMC.2006.4778439
Z. Gao, T. Habetler, R. Harley, R. S. Colby
This paper proposes a sensorless rotor temperature estimator for small to medium size mains-fed induction machines. With measurements obtained from only current and voltage sensors, the proposed estimator can capture the rotor temperature in an online fashion. First the rotor speed is extracted from the current harmonic spectrum based on the estimated rotor slot and eccentricity harmonic frequencies. Then the inductances are estimated from the induction machine equivalent circuit. The stator winding resistance at ambient temperature is the only motor parameter needed at this stage. Once the inductances are obtained, they are fed into the rotor resistance estimation algorithm to yield an estimate of the rotor resistance. Finally the rotor temperature is calculated from the linear relationship between temperature and rotor resistance. Experimental results from different motors are shown to validate the proposed scheme. The whole scheme is accurate and reliable and is therefore suitable to be implemented in a rotor thermal protection relay or a motor drive employing vector control scheme to compensate for the detuning effects
{"title":"A Sensorless Rotor Temperature Estimator for Induction Machines Based on Current Harmonic Spectral Estimation Scheme","authors":"Z. Gao, T. Habetler, R. Harley, R. S. Colby","doi":"10.1109/EPEPEMC.2006.4778439","DOIUrl":"https://doi.org/10.1109/EPEPEMC.2006.4778439","url":null,"abstract":"This paper proposes a sensorless rotor temperature estimator for small to medium size mains-fed induction machines. With measurements obtained from only current and voltage sensors, the proposed estimator can capture the rotor temperature in an online fashion. First the rotor speed is extracted from the current harmonic spectrum based on the estimated rotor slot and eccentricity harmonic frequencies. Then the inductances are estimated from the induction machine equivalent circuit. The stator winding resistance at ambient temperature is the only motor parameter needed at this stage. Once the inductances are obtained, they are fed into the rotor resistance estimation algorithm to yield an estimate of the rotor resistance. Finally the rotor temperature is calculated from the linear relationship between temperature and rotor resistance. Experimental results from different motors are shown to validate the proposed scheme. The whole scheme is accurate and reliable and is therefore suitable to be implemented in a rotor thermal protection relay or a motor drive employing vector control scheme to compensate for the detuning effects","PeriodicalId":401288,"journal":{"name":"2006 12th International Power Electronics and Motion Control Conference","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121617883","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 : 2006-08-01DOI: 10.1109/EPEPEMC.2006.4778562
R. Muszynski
In the paper the analysis of the correlation of dynamical with steady state properties of the converter fed drives is presented. The analysis, based on the equations of the system, is made for the self commutated synchronous motor (SCSM), called also as the load commutated inverter fed synchronous motor (LCI-SM). First, the requirements of suitable acceleration of the drive and ratio of current increase during the dynamical state are transposed to the adequate commutation and control reserves of the converters. Then the influence of the reserves, kept in the steady state, on torque versus current characteristic, maximum available torque (overload capacity), selection of current limitation, power factor, loss and efficiency of the drive is analyzed. The obtained dependencies are illustrated in figures and with use of a number data. In the paper the deterioration of the steady state properties with increase of dynamics of the drive is concluded
{"title":"Correlation of Dynamical with Steady State Properties of Converter Fed Drives","authors":"R. Muszynski","doi":"10.1109/EPEPEMC.2006.4778562","DOIUrl":"https://doi.org/10.1109/EPEPEMC.2006.4778562","url":null,"abstract":"In the paper the analysis of the correlation of dynamical with steady state properties of the converter fed drives is presented. The analysis, based on the equations of the system, is made for the self commutated synchronous motor (SCSM), called also as the load commutated inverter fed synchronous motor (LCI-SM). First, the requirements of suitable acceleration of the drive and ratio of current increase during the dynamical state are transposed to the adequate commutation and control reserves of the converters. Then the influence of the reserves, kept in the steady state, on torque versus current characteristic, maximum available torque (overload capacity), selection of current limitation, power factor, loss and efficiency of the drive is analyzed. The obtained dependencies are illustrated in figures and with use of a number data. In the paper the deterioration of the steady state properties with increase of dynamics of the drive is concluded","PeriodicalId":401288,"journal":{"name":"2006 12th International Power Electronics and Motion Control Conference","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121122970","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 : 2006-08-01DOI: 10.1109/EPEPEMC.2006.4778470
Yanshen Hu, Yunxiang Xie, Huamin Xu, Hao Tian
A novel integrated magnetic structure, which enables further reduction in an overall volume and weight of main inductors, the losses of the inductor windings and the channels by integrating the inductors in a single core, is proposed, for the telecom power application, and the operations and practical design considerations of the DC/DC boost converters using interleaved two-channel with CCM operation are investigated with common ¿-model.
{"title":"Design and Implementation of Two-Channel Interleaved Boost Converters with Integrated Coupling Inductors","authors":"Yanshen Hu, Yunxiang Xie, Huamin Xu, Hao Tian","doi":"10.1109/EPEPEMC.2006.4778470","DOIUrl":"https://doi.org/10.1109/EPEPEMC.2006.4778470","url":null,"abstract":"A novel integrated magnetic structure, which enables further reduction in an overall volume and weight of main inductors, the losses of the inductor windings and the channels by integrating the inductors in a single core, is proposed, for the telecom power application, and the operations and practical design considerations of the DC/DC boost converters using interleaved two-channel with CCM operation are investigated with common ¿-model.","PeriodicalId":401288,"journal":{"name":"2006 12th International Power Electronics and Motion Control Conference","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127097354","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 : 2006-08-01DOI: 10.1109/EPEPEMC.2006.4778602
J. A. Barrado, R. Griñó
This work proposes a system, based on a self-excited induction generator (SEIG) with a shunt electronic converter, to feed isolated three-phase and single-phase linear or nonlinear loads. The electronic converter is composed by a three-phase four-wire shunt active filter and a DC chopper attached to its DC bus. The converter compensates the current harmonics, the reactive power and the load unbalances at its AC side and dissipates the active power excess through the chopper at its DC side. The designed control architecture assures that, in steady state, the rms values of the voltages and the frequency remain at the their reference values. The simulated results show a good performance of the system under different loading conditions
{"title":"Voltage and Frequency Control for a Self-Excited Induction Generator Using a Three-Phase Four-Wire Electronic Converter","authors":"J. A. Barrado, R. Griñó","doi":"10.1109/EPEPEMC.2006.4778602","DOIUrl":"https://doi.org/10.1109/EPEPEMC.2006.4778602","url":null,"abstract":"This work proposes a system, based on a self-excited induction generator (SEIG) with a shunt electronic converter, to feed isolated three-phase and single-phase linear or nonlinear loads. The electronic converter is composed by a three-phase four-wire shunt active filter and a DC chopper attached to its DC bus. The converter compensates the current harmonics, the reactive power and the load unbalances at its AC side and dissipates the active power excess through the chopper at its DC side. The designed control architecture assures that, in steady state, the rms values of the voltages and the frequency remain at the their reference values. The simulated results show a good performance of the system under different loading conditions","PeriodicalId":401288,"journal":{"name":"2006 12th International Power Electronics and Motion Control Conference","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125797963","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 : 2006-08-01DOI: 10.1109/EPEPEMC.2006.4778574
Shih-hui Chen, Chung-Lung Pai, Dan Y. Chen, Jing-meng Liu, C. Juang
In this paper, a power loss model of VRMs will first be given. Actual power loss distribution on VRMs will be estimated for various VRM conditions. Comments will be made from the observations of the results and suggestions be made from the point of view of gate driver chip design. Discussion of future improvement possibilities is presented.
{"title":"Driver Chip Design Considerations for VRM Applications","authors":"Shih-hui Chen, Chung-Lung Pai, Dan Y. Chen, Jing-meng Liu, C. Juang","doi":"10.1109/EPEPEMC.2006.4778574","DOIUrl":"https://doi.org/10.1109/EPEPEMC.2006.4778574","url":null,"abstract":"In this paper, a power loss model of VRMs will first be given. Actual power loss distribution on VRMs will be estimated for various VRM conditions. Comments will be made from the observations of the results and suggestions be made from the point of view of gate driver chip design. Discussion of future improvement possibilities is presented.","PeriodicalId":401288,"journal":{"name":"2006 12th International Power Electronics and Motion Control Conference","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125417549","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 : 2006-08-01DOI: 10.1109/EPEPEMC.2006.4778637
F. Aschenbrenner
Renewable energy is one of the most important topics for all engineers. The production of CO2 is a very finical problem for the climate of our earth. Everybody is committed to improve all opportunities to avoid the burning of exhausted raw materials. Beneath the using of renewable primacy products the consumption of alternating energy is a way to solve a little part of this problem
{"title":"Innovation on Traditional Waterwheels for Renewable Energy","authors":"F. Aschenbrenner","doi":"10.1109/EPEPEMC.2006.4778637","DOIUrl":"https://doi.org/10.1109/EPEPEMC.2006.4778637","url":null,"abstract":"Renewable energy is one of the most important topics for all engineers. The production of CO2 is a very finical problem for the climate of our earth. Everybody is committed to improve all opportunities to avoid the burning of exhausted raw materials. Beneath the using of renewable primacy products the consumption of alternating energy is a way to solve a little part of this problem","PeriodicalId":401288,"journal":{"name":"2006 12th International Power Electronics and Motion Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124022974","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 : 2006-08-01DOI: 10.1109/EPEPEMC.2006.4778702
V. Utkin, Hoon Lee
This paper presents analysis of the chattering and a new approach of the chattering suppression. The chattering caused by the unmodeled dynamics is discussed and analyzed by the Lyapunov method and the describing function approach. It is shown that the amplitude of chattering depends on the magnitude of discontinuous control. To reduce the chattering, new sliding mode control design is proposed using the methods of changing switching gain along the system states or the magnitude of equivalent control. To support the methods, simulation results are provided.
{"title":"The Chattering Analysis","authors":"V. Utkin, Hoon Lee","doi":"10.1109/EPEPEMC.2006.4778702","DOIUrl":"https://doi.org/10.1109/EPEPEMC.2006.4778702","url":null,"abstract":"This paper presents analysis of the chattering and a new approach of the chattering suppression. The chattering caused by the unmodeled dynamics is discussed and analyzed by the Lyapunov method and the describing function approach. It is shown that the amplitude of chattering depends on the magnitude of discontinuous control. To reduce the chattering, new sliding mode control design is proposed using the methods of changing switching gain along the system states or the magnitude of equivalent control. To support the methods, simulation results are provided.","PeriodicalId":401288,"journal":{"name":"2006 12th International Power Electronics and Motion Control Conference","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124122628","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 : 2006-08-01DOI: 10.1109/EPEPEMC.2006.4778469
Xupeng Fang
The paper proposes a novel three-phase Z-source ac-ac converter topology, presents its circuit configuration, operating principle and control method. The proposed ac-ac converter employs a unique LC network to suppress the over-current and surge voltage due to the shoot-through or the open-circuit of the two switches. By controlling the duty cycle, the Z-source can provide buck-boost function, produce greater or less voltage than the line voltage. As a result, the new Z-source ac-ac converter reduces line harmonics, improves power factor and reliability. Analysis, simulation and experimental results are presented to demonstrate these new features.
{"title":"Three-Phase Z-Source AC-AC Converter","authors":"Xupeng Fang","doi":"10.1109/EPEPEMC.2006.4778469","DOIUrl":"https://doi.org/10.1109/EPEPEMC.2006.4778469","url":null,"abstract":"The paper proposes a novel three-phase Z-source ac-ac converter topology, presents its circuit configuration, operating principle and control method. The proposed ac-ac converter employs a unique LC network to suppress the over-current and surge voltage due to the shoot-through or the open-circuit of the two switches. By controlling the duty cycle, the Z-source can provide buck-boost function, produce greater or less voltage than the line voltage. As a result, the new Z-source ac-ac converter reduces line harmonics, improves power factor and reliability. Analysis, simulation and experimental results are presented to demonstrate these new features.","PeriodicalId":401288,"journal":{"name":"2006 12th International Power Electronics and Motion Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126560570","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 : 2006-08-01DOI: 10.1109/EPEPEMC.2006.4778594
M. Lehtla, J. Laugis
The paper discusses modelling and simulation of power circuits. Models were used to study energy exchange and develop a control system, in particular for vehicles with regenerative braking capability. SIMULINK models were used in control system design, including the selection of circuit components for feedbacks of switched mode converters. Models of the supply circuit were designed as independent blocks. These blocks can be used both, for AC induction motor drives and DC chopper drives. This structure can be used for the behavioural modelling of supply for switched-mode voltage-source traction converters.
{"title":"Computer Models for Simulation and Control of a Traction Supply System","authors":"M. Lehtla, J. Laugis","doi":"10.1109/EPEPEMC.2006.4778594","DOIUrl":"https://doi.org/10.1109/EPEPEMC.2006.4778594","url":null,"abstract":"The paper discusses modelling and simulation of power circuits. Models were used to study energy exchange and develop a control system, in particular for vehicles with regenerative braking capability. SIMULINK models were used in control system design, including the selection of circuit components for feedbacks of switched mode converters. Models of the supply circuit were designed as independent blocks. These blocks can be used both, for AC induction motor drives and DC chopper drives. This structure can be used for the behavioural modelling of supply for switched-mode voltage-source traction converters.","PeriodicalId":401288,"journal":{"name":"2006 12th International Power Electronics and Motion Control Conference","volume":"55 15","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120853513","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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