Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018337
V. Blahnik, T. Kosan, J. Talla
This paper introduces the advanced control designed for the single-phase AC/DC traction converter. This type of control provides direct current control and sufficient control of output voltage. The proposed control strategy is based on second order general integrator phase locked loop (SOGI-PLL), which is used for trolley voltage synchronization. In this case SOGI-PLL evaluates voltage position, amplitude and frequency. These data are used for precise and robust current control, which uses PR controller. The behavior of designed control and SOGI-PLL synchronization is analyzed by both simulations and experiments made on developed 1.5 kW laboratory prototype.
{"title":"Control of single-phase AC/DC converter based on SOGI-PLL voltage synchronization","authors":"V. Blahnik, T. Kosan, J. Talla","doi":"10.1109/MECHATRONIKA.2014.7018337","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018337","url":null,"abstract":"This paper introduces the advanced control designed for the single-phase AC/DC traction converter. This type of control provides direct current control and sufficient control of output voltage. The proposed control strategy is based on second order general integrator phase locked loop (SOGI-PLL), which is used for trolley voltage synchronization. In this case SOGI-PLL evaluates voltage position, amplitude and frequency. These data are used for precise and robust current control, which uses PR controller. The behavior of designed control and SOGI-PLL synchronization is analyzed by both simulations and experiments made on developed 1.5 kW laboratory prototype.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126206206","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018247
J. Martiš, P. Vorel
A device for induction heating of smaller iron components was designed and constructed. The shape of the work coil was matched to horseshoe heating. Required simplicity and robustness of the device excludes the use of water cooled work coil (made of copper tube) which is mainly used in the applications of induction heating. A HF Litz-wire was used in the construction of the work coil in our solution. A non-tradition conception of the input rectifier with a low DC-link capacity is used. This way a sufficiently high power factor can be achieved without any additional PFC circuit. A double acting inverter using a MOS-FET half-bridge is used for exciting the series resonant tank. The system description of the designed induction heater is presented including some important details.
{"title":"Apparatus for induction heating 2.5 kW using a series resonant circuit","authors":"J. Martiš, P. Vorel","doi":"10.1109/MECHATRONIKA.2014.7018247","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018247","url":null,"abstract":"A device for induction heating of smaller iron components was designed and constructed. The shape of the work coil was matched to horseshoe heating. Required simplicity and robustness of the device excludes the use of water cooled work coil (made of copper tube) which is mainly used in the applications of induction heating. A HF Litz-wire was used in the construction of the work coil in our solution. A non-tradition conception of the input rectifier with a low DC-link capacity is used. This way a sufficiently high power factor can be achieved without any additional PFC circuit. A double acting inverter using a MOS-FET half-bridge is used for exciting the series resonant tank. The system description of the designed induction heater is presented including some important details.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127422855","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018254
M. Nesarajah, Felix Felgner, Georg Frey
This contribution presents a simulation model of an Energy Harvesting System (EHS) based on Thermoelectric Generators (TEGs) using waste heat from the exhaust pipe of an oil-fired heating system. The overall system is modeled and simulated in the component-oriented environment Modelica®/Dymola®. The model is used to analyze and verify different control concepts to maximize the power output of the EHS. The TEGs used are devices consisting of thermoelectric material that exploit a temperature difference to generate electrical energy due to the Seebeck Effect. By means of TEGs, the overall energy efficiency of combustion processes can be improved by converting a portion of the remaining waste heat into electric power. For this purpose, TEG pairs (pTEGs) are installed on the exhaust pipe alongside the exhaust gas stream. However, with the exhaust gas losing heat in downstream direction, the final pTEG may lower the overall EHS performance due to their electrical resistance. With the help of the presented simulation model, it is possible to remove detrimental pTEGs from the EHS. This removal may happen either statically, i.e. in the design phase, or dynamically, i.e. by finding the ideal instant of time to disconnect and to revive them during operation.
{"title":"Modeling and simulation of a thermoelectric Energy Harvesting System for control design purposes","authors":"M. Nesarajah, Felix Felgner, Georg Frey","doi":"10.1109/MECHATRONIKA.2014.7018254","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018254","url":null,"abstract":"This contribution presents a simulation model of an Energy Harvesting System (EHS) based on Thermoelectric Generators (TEGs) using waste heat from the exhaust pipe of an oil-fired heating system. The overall system is modeled and simulated in the component-oriented environment Modelica®/Dymola®. The model is used to analyze and verify different control concepts to maximize the power output of the EHS. The TEGs used are devices consisting of thermoelectric material that exploit a temperature difference to generate electrical energy due to the Seebeck Effect. By means of TEGs, the overall energy efficiency of combustion processes can be improved by converting a portion of the remaining waste heat into electric power. For this purpose, TEG pairs (pTEGs) are installed on the exhaust pipe alongside the exhaust gas stream. However, with the exhaust gas losing heat in downstream direction, the final pTEG may lower the overall EHS performance due to their electrical resistance. With the help of the presented simulation model, it is possible to remove detrimental pTEGs from the EHS. This removal may happen either statically, i.e. in the design phase, or dynamically, i.e. by finding the ideal instant of time to disconnect and to revive them during operation.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130602713","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018230
Zdeněk Katolický, Bohuslav Bušov, M. Bartlová
Comparing to concurrent small turbojet engines this Czech design has several important parametrical advantages: weight, power, reliability, cost, etc. Innovations were obtained by creative/inventive solutions in which several instruments TRIZ were used objectively. In this article, the turbojet engine is presented as a case study: As an example for teaching the TRIZ methodology to students and engineers and as a solution of turbojet engine for small and unmanned air vehicles.
{"title":"Turbojet engine innovation and TRIZ","authors":"Zdeněk Katolický, Bohuslav Bušov, M. Bartlová","doi":"10.1109/MECHATRONIKA.2014.7018230","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018230","url":null,"abstract":"Comparing to concurrent small turbojet engines this Czech design has several important parametrical advantages: weight, power, reliability, cost, etc. Innovations were obtained by creative/inventive solutions in which several instruments TRIZ were used objectively. In this article, the turbojet engine is presented as a case study: As an example for teaching the TRIZ methodology to students and engineers and as a solution of turbojet engine for small and unmanned air vehicles.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128089721","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018285
Mikolaj Wasielica, Marek Wasik
In this paper we describe the active stabilization of a humanoid robot. It is based on the data obtained from an Inertial Measurement Unit (IMU), which is placed in the robot's torso. IMU includes accelerometer and gyroscope. Relying on these data, we propose the algorithm that maintains stability of the robot, while the support platform tilts. Our experimental object was a small humanoid robot M-Bot, which was built by authors and is shortly described in this paper. To determine the orientation of the robot we developed a digital filter. To maintain the static stability we decided to implement a controller based on the position of the Center of Mass (COM) projection on the ground plane. To adjust COM position we use ankle and hip strategy. These strategies provide stabilization only in one plane. To improve side stability we propose the leg adjustments. This algorithm detects the possibility of exceeding outer boundary of the foot by COM and adjusts configuration of the leg to prevent against falling to one side. The developed algorithms were fully tested on a real construction of M-bot robot. Experimental results demonstrated that our implementation successfully stabilizes a humanoid robot.
{"title":"Active stabilization of a humanoid robot base on inertial measurement unit data","authors":"Mikolaj Wasielica, Marek Wasik","doi":"10.1109/MECHATRONIKA.2014.7018285","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018285","url":null,"abstract":"In this paper we describe the active stabilization of a humanoid robot. It is based on the data obtained from an Inertial Measurement Unit (IMU), which is placed in the robot's torso. IMU includes accelerometer and gyroscope. Relying on these data, we propose the algorithm that maintains stability of the robot, while the support platform tilts. Our experimental object was a small humanoid robot M-Bot, which was built by authors and is shortly described in this paper. To determine the orientation of the robot we developed a digital filter. To maintain the static stability we decided to implement a controller based on the position of the Center of Mass (COM) projection on the ground plane. To adjust COM position we use ankle and hip strategy. These strategies provide stabilization only in one plane. To improve side stability we propose the leg adjustments. This algorithm detects the possibility of exceeding outer boundary of the foot by COM and adjusts configuration of the leg to prevent against falling to one side. The developed algorithms were fully tested on a real construction of M-bot robot. Experimental results demonstrated that our implementation successfully stabilizes a humanoid robot.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128158176","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018353
J. Krejci, T. Zeman, J. Hrad
This paper describes a new model for studying impulse noise in metallic lines and offers theoretical base for modeling of impulse noise in digital communication systems intended for use with medium-voltage power distribution lines.
{"title":"Modeling of impulse noise in access networks","authors":"J. Krejci, T. Zeman, J. Hrad","doi":"10.1109/MECHATRONIKA.2014.7018353","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018353","url":null,"abstract":"This paper describes a new model for studying impulse noise in metallic lines and offers theoretical base for modeling of impulse noise in digital communication systems intended for use with medium-voltage power distribution lines.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128385992","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018304
J. Krejsa, S. Vechet
Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain areas of interest by appropriately generating corresponding goals. Method performance is compared to random walk in simulation experiments.
{"title":"Covering the working space of mobile robot","authors":"J. Krejsa, S. Vechet","doi":"10.1109/MECHATRONIKA.2014.7018304","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018304","url":null,"abstract":"Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain areas of interest by appropriately generating corresponding goals. Method performance is compared to random walk in simulation experiments.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122917662","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018229
P. Procházka, J. Knobloch, D. Cervinka, J. Kadlec, R. Cipín, I. Pazdera
The paper deals with internal communication system in experimental fully electric airplane VUT 051 RAY which is controlling the whole drivetrain system. The complex drivetrain system consist of battery blocks, main computer, control system of the traction inverter, control and monitoring panel, several simple control and monitoring devices placed on pilot board and finally control system of fast charger. Communication interface is realized with CAN network with parallel analog backup structure. All operating conditions are indicated on Onboard monitoring Panel. Significant part of the data structure of the airplane is implemented data logger which is restoring all system events on all communications links. These data can be used for deep analysis of the parameters of energy flows in the airplane drivetrain. The occurred errors and nonstandard drivetrain states are saved too. Finally, the state of charge estimation is discussed.
{"title":"Communication and energy management system of small electric airplane","authors":"P. Procházka, J. Knobloch, D. Cervinka, J. Kadlec, R. Cipín, I. Pazdera","doi":"10.1109/MECHATRONIKA.2014.7018229","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018229","url":null,"abstract":"The paper deals with internal communication system in experimental fully electric airplane VUT 051 RAY which is controlling the whole drivetrain system. The complex drivetrain system consist of battery blocks, main computer, control system of the traction inverter, control and monitoring panel, several simple control and monitoring devices placed on pilot board and finally control system of fast charger. Communication interface is realized with CAN network with parallel analog backup structure. All operating conditions are indicated on Onboard monitoring Panel. Significant part of the data structure of the airplane is implemented data logger which is restoring all system events on all communications links. These data can be used for deep analysis of the parameters of energy flows in the airplane drivetrain. The occurred errors and nonstandard drivetrain states are saved too. Finally, the state of charge estimation is discussed.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127820531","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018325
R. Votrubec, Miroslav S Vavroušek
This paper briefly characterizes a design of a control system of a rotary pneumatic motor. The paper describes linearization of control by two different ways. The first method is linearization using inverse approximation of a static characteristic. The second method employs creating a linearization element using neural networks. Both methods are compared in the conclusion.
{"title":"Control system of a rotary pneumatic motor","authors":"R. Votrubec, Miroslav S Vavroušek","doi":"10.1109/MECHATRONIKA.2014.7018325","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018325","url":null,"abstract":"This paper briefly characterizes a design of a control system of a rotary pneumatic motor. The paper describes linearization of control by two different ways. The first method is linearization using inverse approximation of a static characteristic. The second method employs creating a linearization element using neural networks. Both methods are compared in the conclusion.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121350814","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018261
Yu Zhang, T. Gordon
Steering control for vehicle lane keeping has attracted great attentions from both automotive industries and vehicle control researchers. Traditionally commonly used linear control model can not adequately represent the intermitted pulse-like qualities in real-world steering angle measurements. Therefore, based on an alternative `pulse control model' of steering control for vehicle lane keeping, steering angle measurements can be decomposed into a combination of ramps (global curvatures) and pulses (local corrections). Measurement trend is extracted through empirical mode decomposition (EMD) technique, where principal component analysis (PCA) is applied as a supplement to quantify the component contribution. Reversal points are found from the extracted pulses by further selections of conditional rules, which then reveals a pattern which is useful to test the overall model validation.
{"title":"Decomposition of steering angle measurements inspired by pulse control model for lane keeping","authors":"Yu Zhang, T. Gordon","doi":"10.1109/MECHATRONIKA.2014.7018261","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018261","url":null,"abstract":"Steering control for vehicle lane keeping has attracted great attentions from both automotive industries and vehicle control researchers. Traditionally commonly used linear control model can not adequately represent the intermitted pulse-like qualities in real-world steering angle measurements. Therefore, based on an alternative `pulse control model' of steering control for vehicle lane keeping, steering angle measurements can be decomposed into a combination of ramps (global curvatures) and pulses (local corrections). Measurement trend is extracted through empirical mode decomposition (EMD) technique, where principal component analysis (PCA) is applied as a supplement to quantify the component contribution. Reversal points are found from the extracted pulses by further selections of conditional rules, which then reveals a pattern which is useful to test the overall model validation.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129012431","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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