Pub Date : 1997-11-09DOI: 10.1109/IECON.1997.671024
P. Korondi, D. Young, H. Hashimoto
The main contribution of this paper is a sliding mode based design of a discontinuous disturbance estimator used in feedback compensation of parameter uncertainties and exogenous disturbances. The experimental system is a transputer controlled single-degree-of-freedom motion control system, it consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively rigid shaft. The servo system is forced to follow an ideal model. The relative big parameter perturbation, external disturbance and friction are estimated and compensated. Experimental results are presented.
{"title":"Sliding mode based disturbance compensation for motion control","authors":"P. Korondi, D. Young, H. Hashimoto","doi":"10.1109/IECON.1997.671024","DOIUrl":"https://doi.org/10.1109/IECON.1997.671024","url":null,"abstract":"The main contribution of this paper is a sliding mode based design of a discontinuous disturbance estimator used in feedback compensation of parameter uncertainties and exogenous disturbances. The experimental system is a transputer controlled single-degree-of-freedom motion control system, it consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively rigid shaft. The servo system is forced to follow an ideal model. The relative big parameter perturbation, external disturbance and friction are estimated and compensated. Experimental results are presented.","PeriodicalId":404447,"journal":{"name":"Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115481729","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 : 1997-11-09DOI: 10.1109/IECON.1997.668521
S. Fukushima, T. Murakami, K. Ohnishi
This paper describes a feature based visual servo control considering the object distortion on the image plane. In the visual servo control of the manipulator with the hand/eye system realizing the stable convergence to target feature points with visual distortion, it is necessary to control not only the tip position but also the direction of the hand/eye system. To control both motions at the same time, the redundant manipulator is useful. In the proposed method, the rotational motion is controlled by null space input to reduce the visual distortion. Furthermore, to realize the stable motion convergence, the null space input gain is adjusted by fuzzy logic. To confirm the validity of the proposed method, simulation and experimental results are shown.
{"title":"Visual servo control in consideration of visual distortion of object","authors":"S. Fukushima, T. Murakami, K. Ohnishi","doi":"10.1109/IECON.1997.668521","DOIUrl":"https://doi.org/10.1109/IECON.1997.668521","url":null,"abstract":"This paper describes a feature based visual servo control considering the object distortion on the image plane. In the visual servo control of the manipulator with the hand/eye system realizing the stable convergence to target feature points with visual distortion, it is necessary to control not only the tip position but also the direction of the hand/eye system. To control both motions at the same time, the redundant manipulator is useful. In the proposed method, the rotational motion is controlled by null space input to reduce the visual distortion. Furthermore, to realize the stable motion convergence, the null space input gain is adjusted by fuzzy logic. To confirm the validity of the proposed method, simulation and experimental results are shown.","PeriodicalId":404447,"journal":{"name":"Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)","volume":"21 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115729102","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 : 1997-11-09DOI: 10.1109/IECON.1997.671819
J.W. Chen, T. Liang
The preprogrammed PWM inverters eliminate low-order harmonies by optimizing the switching angles. In this paper a novel method for solving nonlinear equations in preprogrammed PWM Inverters is presented. The starting values for solving the nonlinear equation, are derived from the equal area algorithm. This method guarantees convergence in a numerical solution for solving nonlinear equations so that the trial-and-error processes can be significantly reduced. The numerical solutions for nonlinear equations for a full range of the fundamental amplitude can be easily obtained. Thus, this method makes fundamental amplitude modulation feasible and is helpful for online control. The output pattern of the proposed programmed PWM technique is superior to the equal area algorithm in harmonic attenuation since this technique eliminates the specified harmonics. The experimental results are used to verify the performance of the proposed scheme.
{"title":"A novel algorithm in solving nonlinear equations for programmed PWM inverter to eliminate harmonics","authors":"J.W. Chen, T. Liang","doi":"10.1109/IECON.1997.671819","DOIUrl":"https://doi.org/10.1109/IECON.1997.671819","url":null,"abstract":"The preprogrammed PWM inverters eliminate low-order harmonies by optimizing the switching angles. In this paper a novel method for solving nonlinear equations in preprogrammed PWM Inverters is presented. The starting values for solving the nonlinear equation, are derived from the equal area algorithm. This method guarantees convergence in a numerical solution for solving nonlinear equations so that the trial-and-error processes can be significantly reduced. The numerical solutions for nonlinear equations for a full range of the fundamental amplitude can be easily obtained. Thus, this method makes fundamental amplitude modulation feasible and is helpful for online control. The output pattern of the proposed programmed PWM technique is superior to the equal area algorithm in harmonic attenuation since this technique eliminates the specified harmonics. The experimental results are used to verify the performance of the proposed scheme.","PeriodicalId":404447,"journal":{"name":"Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123049914","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 : 1997-11-09DOI: 10.1109/IECON.1997.668531
Kee-Whan Kim, Hyun-Sik Kim, Y. Choi, Jin‐Hyun Park
This paper presents a minimum-time trajectory planning method and a tracking control scheme for robot manipulators. In the first step, we find the minimum-time trajectories by optimizing cubic polynomial joint trajectories using the evolution strategy. In the second step, by the use of the evolution strategy we tune the sliding mode controller parameters for the robot manipulator to track precisely the trajectories that were found in the previous step. Experimental results show that the proposed method is very useful.
{"title":"Optimization of cubic polynomial joint trajectories and sliding mode controllers for robots using evolution strategy","authors":"Kee-Whan Kim, Hyun-Sik Kim, Y. Choi, Jin‐Hyun Park","doi":"10.1109/IECON.1997.668531","DOIUrl":"https://doi.org/10.1109/IECON.1997.668531","url":null,"abstract":"This paper presents a minimum-time trajectory planning method and a tracking control scheme for robot manipulators. In the first step, we find the minimum-time trajectories by optimizing cubic polynomial joint trajectories using the evolution strategy. In the second step, by the use of the evolution strategy we tune the sliding mode controller parameters for the robot manipulator to track precisely the trajectories that were found in the previous step. Experimental results show that the proposed method is very useful.","PeriodicalId":404447,"journal":{"name":"Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124253243","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 : 1997-11-09DOI: 10.1109/IECON.1997.671067
Q. M. Zhu, S. Billings
Problems related to nonlinear model validation are addressed and properties associated with nonlinear detection, diagnostic power and asymptotic correction are analysed.
讨论了与非线性模型验证有关的问题，并分析了非线性检测、诊断能力和渐近校正相关的性质。
{"title":"Properties of higher order correlation function tests for nonlinear model validation","authors":"Q. M. Zhu, S. Billings","doi":"10.1109/IECON.1997.671067","DOIUrl":"https://doi.org/10.1109/IECON.1997.671067","url":null,"abstract":"Problems related to nonlinear model validation are addressed and properties associated with nonlinear detection, diagnostic power and asymptotic correction are analysed.","PeriodicalId":404447,"journal":{"name":"Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116687685","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 : 1997-11-09DOI: 10.1109/IECON.1997.668525
K. Eguchi, S. Yamane, S. Horinaka, T. Kubota, K. Oshima
It is important to realize intelligent welding robots to obtain a good quality of the weld. For this purpose, it is required to detect root gap of the groove and deviation from center of the gap to center of the weaving. In order to simultaneously detect those, the authors propose an arc sensor using neural networks (NN). Both arc length and wire extension are found by NN. The root edges of the groove and its center are estimated geometrically. Training data are made from experimental results. Performance of the arc sensor is examined by giving testing data to the neural networks.
{"title":"Sensing of groove gap and torch position using neural network in pulsed MIG welding","authors":"K. Eguchi, S. Yamane, S. Horinaka, T. Kubota, K. Oshima","doi":"10.1109/IECON.1997.668525","DOIUrl":"https://doi.org/10.1109/IECON.1997.668525","url":null,"abstract":"It is important to realize intelligent welding robots to obtain a good quality of the weld. For this purpose, it is required to detect root gap of the groove and deviation from center of the gap to center of the weaving. In order to simultaneously detect those, the authors propose an arc sensor using neural networks (NN). Both arc length and wire extension are found by NN. The root edges of the groove and its center are estimated geometrically. Training data are made from experimental results. Performance of the arc sensor is examined by giving testing data to the neural networks.","PeriodicalId":404447,"journal":{"name":"Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123564185","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 : 1997-11-09DOI: 10.1109/IECON.1997.668426
K. Tagawa, T. Fukui, H. Haneda
This paper presents a new method for solving the scheduling problem of robot control computation based on the genetic algorithm (GA). It is proved that the scheduling problem belongs to the class of NP-hard problems. For the scheduling problem, the authors have already proposed two algorithms: one is a heuristic approach and the other is based on branch-and-bound approach. These conventional algorithms, however, have the limits of their ability in quality of solutions and computational time. The scheduling problem is a typical partitioning problem: partitioning N objects into P groups to optimize an objective function. Therefore, each feasible solution is represented by a way of division of a suffix set (1,...,N) into P subsets. In the proposed GA for the scheduling problem, such a feasible solution is regarded as a phenotypic individual. Then this paper proposes a new phenotype based crossover operation named "weighted-edge crossover". By using the proposed crossover, a child inherits the desirable characteristic from both parents, keeping its structure as a feasible solution. Furthermore, in order to improve the performance of the crossover operation, this paper proposes a distance function between phenotypic individuals and uses it in the adaptive control of crossover rate. To demonstrate the efficiency of the proposed GA, comparative study with the conventional algorithms is carried out on several experiments.
{"title":"Application of genetic algorithm to scheduling problem of robot control computation","authors":"K. Tagawa, T. Fukui, H. Haneda","doi":"10.1109/IECON.1997.668426","DOIUrl":"https://doi.org/10.1109/IECON.1997.668426","url":null,"abstract":"This paper presents a new method for solving the scheduling problem of robot control computation based on the genetic algorithm (GA). It is proved that the scheduling problem belongs to the class of NP-hard problems. For the scheduling problem, the authors have already proposed two algorithms: one is a heuristic approach and the other is based on branch-and-bound approach. These conventional algorithms, however, have the limits of their ability in quality of solutions and computational time. The scheduling problem is a typical partitioning problem: partitioning N objects into P groups to optimize an objective function. Therefore, each feasible solution is represented by a way of division of a suffix set (1,...,N) into P subsets. In the proposed GA for the scheduling problem, such a feasible solution is regarded as a phenotypic individual. Then this paper proposes a new phenotype based crossover operation named \"weighted-edge crossover\". By using the proposed crossover, a child inherits the desirable characteristic from both parents, keeping its structure as a feasible solution. Furthermore, in order to improve the performance of the crossover operation, this paper proposes a distance function between phenotypic individuals and uses it in the adaptive control of crossover rate. To demonstrate the efficiency of the proposed GA, comparative study with the conventional algorithms is carried out on several experiments.","PeriodicalId":404447,"journal":{"name":"Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125250012","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 : 1997-11-09DOI: 10.1109/IECON.1997.671040
Ming‐Fa Tsai, Y. Tzou
In this paper, a self-tuning adaptive current controller for high-performance AC drives is presented. The adaptive current controller, which operates in the stationary two-axis frame to provide the persistently exciting condition for parameter estimation convergence, consists of a one-step-ahead predictive controller and a model estimator. The predictive controller's parameters are adjusted adaptively on line in terms of estimated model parameters. Estimating the model parameters entails a first-order four-dimensional least-squares estimator with exponential data weighting to detect the variations of the motor parameters and the back EMF. The proposed adaptive control scheme is implemented in parallel by IMS T800-20 transputers. Simulation results show the effectiveness of the proposed adaptive current control scheme.
{"title":"An adaptive current control scheme for high-performance AC drives","authors":"Ming‐Fa Tsai, Y. Tzou","doi":"10.1109/IECON.1997.671040","DOIUrl":"https://doi.org/10.1109/IECON.1997.671040","url":null,"abstract":"In this paper, a self-tuning adaptive current controller for high-performance AC drives is presented. The adaptive current controller, which operates in the stationary two-axis frame to provide the persistently exciting condition for parameter estimation convergence, consists of a one-step-ahead predictive controller and a model estimator. The predictive controller's parameters are adjusted adaptively on line in terms of estimated model parameters. Estimating the model parameters entails a first-order four-dimensional least-squares estimator with exponential data weighting to detect the variations of the motor parameters and the back EMF. The proposed adaptive control scheme is implemented in parallel by IMS T800-20 transputers. Simulation results show the effectiveness of the proposed adaptive current control scheme.","PeriodicalId":404447,"journal":{"name":"Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125559855","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 : 1997-11-09DOI: 10.1109/IECON.1997.671039
L. Gokdere, M. Simaan, C. Brice
Two passivity-based controllers and an input-output linearization controller for current-fed saturated induction motors are presented. Advantages and disadvantages of the controllers are discussed. Finally, experimental results obtained with one of the passivity-based controllers are presented.
{"title":"Nonlinear controllers for saturated AC motors","authors":"L. Gokdere, M. Simaan, C. Brice","doi":"10.1109/IECON.1997.671039","DOIUrl":"https://doi.org/10.1109/IECON.1997.671039","url":null,"abstract":"Two passivity-based controllers and an input-output linearization controller for current-fed saturated induction motors are presented. Advantages and disadvantages of the controllers are discussed. Finally, experimental results obtained with one of the passivity-based controllers are presented.","PeriodicalId":404447,"journal":{"name":"Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116084531","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 : 1997-11-09DOI: 10.1109/IECON.1997.671803
F. Leung, T.C.T. Ng, P. Tam
Regarding switching converters as highly nonlinear plants with inherent parameter uncertainties, the deleterious effects due to large disturbances in line voltage and load resistance are tackled by a grid-point control approach which owns merits in both performance and cost-effectiveness. Design and experimental results based on a boost converter are given.
{"title":"Adaptive control of switching DC-DC converters based on a grid point approach: design and implementation","authors":"F. Leung, T.C.T. Ng, P. Tam","doi":"10.1109/IECON.1997.671803","DOIUrl":"https://doi.org/10.1109/IECON.1997.671803","url":null,"abstract":"Regarding switching converters as highly nonlinear plants with inherent parameter uncertainties, the deleterious effects due to large disturbances in line voltage and load resistance are tackled by a grid-point control approach which owns merits in both performance and cost-effectiveness. Design and experimental results based on a boost converter are given.","PeriodicalId":404447,"journal":{"name":"Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122893641","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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