Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987733
Dan Luo, S. Seong
This paper deals with a new method PMSM driver inverter faults detection and isolation based on EKF (Extended Kalman Filter). Firstly, a nonlinear model of PMSM diver where the on resistance of inverter FET is included as state variable is derived. Secondly, the method to detect and isolate inverter fault from the estimated on resistance is presented. Finally, the usefulness of the proposed scheme is verified by simulation results.
{"title":"EKF-based fault detection and isolation for PMSM driver inverter","authors":"Dan Luo, S. Seong","doi":"10.1109/ICCAS.2014.6987733","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987733","url":null,"abstract":"This paper deals with a new method PMSM driver inverter faults detection and isolation based on EKF (Extended Kalman Filter). Firstly, a nonlinear model of PMSM diver where the on resistance of inverter FET is included as state variable is derived. Secondly, the method to detect and isolate inverter fault from the estimated on resistance is presented. Finally, the usefulness of the proposed scheme is verified by simulation results.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"62 1","pages":"1152-1157"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73665226","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987916
Hyun-Joon Hwang, Youngwoo Lee, Donghoon Shin, C. Chung
This paper presents H2 control based on linear parameter varying (LPV) systems for speed control of permanent magnet synchronous motors(PMSMs). PMSMs model is rewritten in LPV systems which depend on online accessible time varying parameters given by real time information. Since the PMSM nonlinear model can be transformed into LPV systems, we design H2 control with gain scheduling. The proposed method obtains both improvement of transient response in the speed control and reduction of energy consumption. Finally, simulation results are performed to validate that the proposed method has good performance of transient response and efficient energy consumption as compared with conventional field oriented control.
{"title":"H2 control based on LPV for speed control of permanent magnet synchronous motors","authors":"Hyun-Joon Hwang, Youngwoo Lee, Donghoon Shin, C. Chung","doi":"10.1109/ICCAS.2014.6987916","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987916","url":null,"abstract":"This paper presents H2 control based on linear parameter varying (LPV) systems for speed control of permanent magnet synchronous motors(PMSMs). PMSMs model is rewritten in LPV systems which depend on online accessible time varying parameters given by real time information. Since the PMSM nonlinear model can be transformed into LPV systems, we design H2 control with gain scheduling. The proposed method obtains both improvement of transient response in the speed control and reduction of energy consumption. Finally, simulation results are performed to validate that the proposed method has good performance of transient response and efficient energy consumption as compared with conventional field oriented control.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"41 1","pages":"922-927"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73794817","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987742
Hyung-Tae Seo, Kyung-Soo Kim, Soohyun Kim
In the paper, the reinterpretation of a disturbance observer formulated in the transfer function domain is considered. Recalling that the disturbance observer produces an additional disturbance suppresion performance to the existing closed-loop system, the idea of this paper is that the disturbance observer can be an add-on controller only to suppress the disturbances. By inducing the equivalent block diagram from generalized disturbance observer based control system [9], we obtain the equivalent feedback controller and the equivalent open-loop transfer function. Then, the role of a disturbance observer as an add-on controller is newly analyzed. Also, the reason of robust stability margin reduction phenomenon is explaned with the equivalent open-loop transfer function. The reinterpretation of a disturbance observer as an add-on controller is shown by a simple minimum-phase plant.
{"title":"Reinterpretation of disturbance observer as an add-on controller","authors":"Hyung-Tae Seo, Kyung-Soo Kim, Soohyun Kim","doi":"10.1109/ICCAS.2014.6987742","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987742","url":null,"abstract":"In the paper, the reinterpretation of a disturbance observer formulated in the transfer function domain is considered. Recalling that the disturbance observer produces an additional disturbance suppresion performance to the existing closed-loop system, the idea of this paper is that the disturbance observer can be an add-on controller only to suppress the disturbances. By inducing the equivalent block diagram from generalized disturbance observer based control system [9], we obtain the equivalent feedback controller and the equivalent open-loop transfer function. Then, the role of a disturbance observer as an add-on controller is newly analyzed. Also, the reason of robust stability margin reduction phenomenon is explaned with the equivalent open-loop transfer function. The reinterpretation of a disturbance observer as an add-on controller is shown by a simple minimum-phase plant.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"23 1","pages":"1201-1204"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84347436","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987923
I. Joo, Jeom-Hun Lee, C. Sin, Sanguk Lee, Jaehoon Kim
GPS is widely used in the location based service and the telematics service. And communication systems, electrical power grids, and financial networks also rely on GPS for synchronization and operational efficiency. GPS applications are newly being developed and becomes very critical infrastructure. However, GPS couldn't be used by intentional interference signal of even low power, low cost transmitters. In order to prevent the damage caused by illegal interference signal to GPS, GPS interference monitoring system(IMS) should be developed and operated. So, this paper presents the development and the test results of the GPS IMS which provides the detection, the direction finding and the location of GPS interference signal. The main functions are verified by test results of the interference test-bed environment.
{"title":"Development and test of GPS interference monitoring system","authors":"I. Joo, Jeom-Hun Lee, C. Sin, Sanguk Lee, Jaehoon Kim","doi":"10.1109/ICCAS.2014.6987923","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987923","url":null,"abstract":"GPS is widely used in the location based service and the telematics service. And communication systems, electrical power grids, and financial networks also rely on GPS for synchronization and operational efficiency. GPS applications are newly being developed and becomes very critical infrastructure. However, GPS couldn't be used by intentional interference signal of even low power, low cost transmitters. In order to prevent the damage caused by illegal interference signal to GPS, GPS interference monitoring system(IMS) should be developed and operated. So, this paper presents the development and the test results of the GPS IMS which provides the detection, the direction finding and the location of GPS interference signal. The main functions are verified by test results of the interference test-bed environment.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"1 1","pages":"1014-1017"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84560121","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987993
Chang-Hyuk Lee, Jiwon Choi, Hooman Lee, Joongbae Kim, Y. Bang
As the usability of robots continues to increase, the use of dual-arm robots is also becoming of increasing importance. However, there has not yet been a proper motion-teaching method for dual-arm robots. In the dual-arm industry robots currently being used, each arm is separately taught by a teaching pendant, but in this case, the synchronization of each arm motion is difficult. In this paper, we propose an exoskeletal master device for dual-arm robot teaching. By adapting a long stroke prismatic joint as well as revolute joints for the shoulder mechanisms, a high-resolution absolute encoder, and a cross roller bearing for each revolute joint, the master device can precisely measure the wearer's motions while at the same time feeling comfortable.
{"title":"Mechanism design of exoskeletal master device for dual arm robot teaching","authors":"Chang-Hyuk Lee, Jiwon Choi, Hooman Lee, Joongbae Kim, Y. Bang","doi":"10.1109/ICCAS.2014.6987993","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987993","url":null,"abstract":"As the usability of robots continues to increase, the use of dual-arm robots is also becoming of increasing importance. However, there has not yet been a proper motion-teaching method for dual-arm robots. In the dual-arm industry robots currently being used, each arm is separately taught by a teaching pendant, but in this case, the synchronization of each arm motion is difficult. In this paper, we propose an exoskeletal master device for dual-arm robot teaching. By adapting a long stroke prismatic joint as well as revolute joints for the shoulder mechanisms, a high-resolution absolute encoder, and a cross roller bearing for each revolute joint, the master device can precisely measure the wearer's motions while at the same time feeling comfortable.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"18 1","pages":"241-243"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85164255","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6988050
Sangseung Kang, Kyekyung Kim, S. Chi
For the use of sports simulators, there is a need for the implementation of proper functions for the realistic movement mechanism, the relative riding content, and the effective personalized training. In this paper, we present a posture analysis system for a rider on a sports simulator. The proposed system provides a personalized postural training function suited to the user based on their logging information and postural correction data. The system has an analysis function for the riding postures of the user based on the detected posture information. The user can see the error position with the riding contents and be corrected their posture in real time. We also set up a simulator test environment and performed experiments on the proposed system.
{"title":"Rider posture analysis for postural correction on a sports simulator","authors":"Sangseung Kang, Kyekyung Kim, S. Chi","doi":"10.1109/ICCAS.2014.6988050","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6988050","url":null,"abstract":"For the use of sports simulators, there is a need for the implementation of proper functions for the realistic movement mechanism, the relative riding content, and the effective personalized training. In this paper, we present a posture analysis system for a rider on a sports simulator. The proposed system provides a personalized postural training function suited to the user based on their logging information and postural correction data. The system has an analysis function for the riding postures of the user based on the detected posture information. The user can see the error position with the riding contents and be corrected their posture in real time. We also set up a simulator test environment and performed experiments on the proposed system.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"1 1","pages":"485-487"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81705975","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987958
Mamadou Ngom, F. Nagata
This article deals with the localization and measurement of workpieces on top of a CNC machine tool's table. This paper builds upon one of our previous work and covers the same idea, however, the algorithms that had been used were not robust to misalignment. Indeed they required inflexible system settings. The plane of the depth sensor's frame had to be accurately set parallel to the machining table's plane using bubble levels. This process was not convenient since it had to be repeated whenever the camera was moved. In this paper, a Random Sample Consensus (RANSAC) based plane fitting method is applied for the segmentation of workpieces and for determining their sizes and locations for automatic tool positioning.
{"title":"Detection of workpieces on a CNC machining table for measurement and automatic tool positioning","authors":"Mamadou Ngom, F. Nagata","doi":"10.1109/ICCAS.2014.6987958","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987958","url":null,"abstract":"This article deals with the localization and measurement of workpieces on top of a CNC machine tool's table. This paper builds upon one of our previous work and covers the same idea, however, the algorithms that had been used were not robust to misalignment. Indeed they required inflexible system settings. The plane of the depth sensor's frame had to be accurately set parallel to the machining table's plane using bubble levels. This process was not convenient since it had to be repeated whenever the camera was moved. In this paper, a Random Sample Consensus (RANSAC) based plane fitting method is applied for the segmentation of workpieces and for determining their sizes and locations for automatic tool positioning.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"21 1","pages":"55-58"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83327909","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987787
Myung-Wook Park, Sangwoo Lee, Wooyong Han
This paper proposes a lateral control system based on adaptive pure pursuit algorithm. The lateral control system consists of the path tracker and primitive driver. The path tracker is improved than original pure pursuit method. The original pure pursuit method is influenced by look ahead distance that is dynamically adjusted with velocity. If look ahead distance is short, tracking performance is good. But if controller has long look ahead distance, we can see cutting corner at curved path. To reduce tracking error, we applied the PI (Proportional-Integral) control theory in lateral offset. Proportional gain is constant and integral gain is a function of the road curvature. The total desired steering angle is sum of look ahead distance desired angle and lateral offset desired angle. The primitive driver controls steering actuator by using PID (Proportional-Integral-Derivative) controller. The performance of proposed path tracking algorithm is a good at curved path, but similar to original path tracking method at low curvature path.
{"title":"Development of lateral control system for autonomous vehicle based on adaptive pure pursuit algorithm","authors":"Myung-Wook Park, Sangwoo Lee, Wooyong Han","doi":"10.1109/ICCAS.2014.6987787","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987787","url":null,"abstract":"This paper proposes a lateral control system based on adaptive pure pursuit algorithm. The lateral control system consists of the path tracker and primitive driver. The path tracker is improved than original pure pursuit method. The original pure pursuit method is influenced by look ahead distance that is dynamically adjusted with velocity. If look ahead distance is short, tracking performance is good. But if controller has long look ahead distance, we can see cutting corner at curved path. To reduce tracking error, we applied the PI (Proportional-Integral) control theory in lateral offset. Proportional gain is constant and integral gain is a function of the road curvature. The total desired steering angle is sum of look ahead distance desired angle and lateral offset desired angle. The primitive driver controls steering actuator by using PID (Proportional-Integral-Derivative) controller. The performance of proposed path tracking algorithm is a good at curved path, but similar to original path tracking method at low curvature path.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"6 1","pages":"1443-1447"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90187915","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987770
R. Uskenbayeva, A. Kuandykov, Y. Cho, Zhyldyz B. Kalpeyeva
This work enunciates the task of input stream optimization of user tasks and virtual machines, installed on physical servers in cloud data-centre. Basing on heuristics, offered in this work, in future one can investigate and build effective algorithms for resource assignment in computer systems, built according to “cloud computing” technology.
{"title":"Tasks scheduling and resource allocation in distributed cloud environments","authors":"R. Uskenbayeva, A. Kuandykov, Y. Cho, Zhyldyz B. Kalpeyeva","doi":"10.1109/ICCAS.2014.6987770","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987770","url":null,"abstract":"This work enunciates the task of input stream optimization of user tasks and virtual machines, installed on physical servers in cloud data-centre. Basing on heuristics, offered in this work, in future one can investigate and build effective algorithms for resource assignment in computer systems, built according to “cloud computing” technology.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"112 1","pages":"1373-1376"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87800457","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6988012
Jun-seok Yang, Y. Koo, Moon-Youl Park, H. Sim, H. Nguyen, Sung-Hyun Han
In this paper, we present two kinds of robust control schemes for robot system which has the parametric uncertainties. In order to compensate these uncertainties, we use the neural network control system that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of neural of network, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The reliability of the control scheme is shown by computer simulations and experiment of robot manipulator with 7 axis.
{"title":"A study on precise control of industrial robot arm for manufacturing process automation","authors":"Jun-seok Yang, Y. Koo, Moon-Youl Park, H. Sim, H. Nguyen, Sung-Hyun Han","doi":"10.1109/ICCAS.2014.6988012","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6988012","url":null,"abstract":"In this paper, we present two kinds of robust control schemes for robot system which has the parametric uncertainties. In order to compensate these uncertainties, we use the neural network control system that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of neural of network, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The reliability of the control scheme is shown by computer simulations and experiment of robot manipulator with 7 axis.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"18 1","pages":"316-318"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88089540","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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