Pub Date : 2017-06-19DOI: 10.1109/ISIE.2017.8001219
F. Aboshady, M. Sumner, David W. P. Thomas
This paper presents a fault location technique for distribution systems. It is a two end impedance based technique that uses the fault generated transients to estimate the fault distance over a broad range of frequencies. Then, curve fitting is applied to find the final estimated fault distance. Firstly, the paper introduces the method for the system represented as a lumped RL model. Then, generalized to consider the distribution line capacitance. The technique accounts for presence of loading taps, heterogeneous feeder sections, single phase, two phase and three phase loads and unbalance in distribution system. Single line to ground, line to line, and three phase faults are considered at different fault resistance values up to 100 Ω. Also, the effect of fault inception angle and resolution of analogue to digital converter is investigated. IEEE 34 nodes system is used to evaluate the proposed method.
{"title":"A double end fault location technique for distribution systems based on fault-generated transients","authors":"F. Aboshady, M. Sumner, David W. P. Thomas","doi":"10.1109/ISIE.2017.8001219","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001219","url":null,"abstract":"This paper presents a fault location technique for distribution systems. It is a two end impedance based technique that uses the fault generated transients to estimate the fault distance over a broad range of frequencies. Then, curve fitting is applied to find the final estimated fault distance. Firstly, the paper introduces the method for the system represented as a lumped RL model. Then, generalized to consider the distribution line capacitance. The technique accounts for presence of loading taps, heterogeneous feeder sections, single phase, two phase and three phase loads and unbalance in distribution system. Single line to ground, line to line, and three phase faults are considered at different fault resistance values up to 100 Ω. Also, the effect of fault inception angle and resolution of analogue to digital converter is investigated. IEEE 34 nodes system is used to evaluate the proposed method.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"66 3","pages":"32-36"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91433340","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001218
B. Gundogdu, S. Nejad, D. Gladwin, D. Stone
Balancing the grid at 50 Hz requires managing many distributed generation sources against a varying load, which is becoming an increasingly challenging task due to the increased penetration of renewable energy sources such as wind and solar and loss of traditional generation which provide inertia to the system. In the UK, various frequency support services are available, which are developed to provide a real-time response to changes in the grid frequency. The National Grid (NG) — the main distribution network operator in the UK — have introduced a new and fast service called the Enhanced Frequency Response (EFR), which requires a response time of under one second. A battery energy storage system (BESS) is a suitable candidate for delivering such service. Therefore, in this paper a control algorithm is developed to provide a charge/discharge power output with respect to deviations in the grid frequency and the ramp-rate limits imposed by the NG, whilst managing the state-of-charge (SOC) of the BESS for an optimised utilisation of the available stored energy. Simulation results on a 2 MW/1 MWh lithium-titanate BESS are provided to verify the proposed algorithm based on the control of an experimentally validated battery model.
{"title":"A battery energy management strategy for UK enhanced frequency response","authors":"B. Gundogdu, S. Nejad, D. Gladwin, D. Stone","doi":"10.1109/ISIE.2017.8001218","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001218","url":null,"abstract":"Balancing the grid at 50 Hz requires managing many distributed generation sources against a varying load, which is becoming an increasingly challenging task due to the increased penetration of renewable energy sources such as wind and solar and loss of traditional generation which provide inertia to the system. In the UK, various frequency support services are available, which are developed to provide a real-time response to changes in the grid frequency. The National Grid (NG) — the main distribution network operator in the UK — have introduced a new and fast service called the Enhanced Frequency Response (EFR), which requires a response time of under one second. A battery energy storage system (BESS) is a suitable candidate for delivering such service. Therefore, in this paper a control algorithm is developed to provide a charge/discharge power output with respect to deviations in the grid frequency and the ramp-rate limits imposed by the NG, whilst managing the state-of-charge (SOC) of the BESS for an optimised utilisation of the available stored energy. Simulation results on a 2 MW/1 MWh lithium-titanate BESS are provided to verify the proposed algorithm based on the control of an experimentally validated battery model.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"37 1","pages":"26-31"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80970644","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001320
S. Bolte, L. Keuck, Jehan Khan Afridi, N. Fröhleke, J. Böcker
Measuring the dissipated power of fast switching semiconductors or magnetic components with low power factor makes high demands on the accuracy of the measurement equipment. Calorimetric measurement methods represent a possible solution for this problem but are considered as being too time demanding. A compensating temperature control facilitates to reduce the time demand for a single measurement from 240 to 30 minutes. Experimental results demonstrate the accuracy of the proposed measurement method.
{"title":"Calorimetric measurements with compensating temperature control","authors":"S. Bolte, L. Keuck, Jehan Khan Afridi, N. Fröhleke, J. Böcker","doi":"10.1109/ISIE.2017.8001320","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001320","url":null,"abstract":"Measuring the dissipated power of fast switching semiconductors or magnetic components with low power factor makes high demands on the accuracy of the measurement equipment. Calorimetric measurement methods represent a possible solution for this problem but are considered as being too time demanding. A compensating temperature control facilitates to reduce the time demand for a single measurement from 240 to 30 minutes. Experimental results demonstrate the accuracy of the proposed measurement method.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"51 1","pages":"636-639"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76052487","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001231
G. Grigoraș, B. Neagu, Florina Scarlatache, R. Ciobanu
The voltage control represents one of the most important qualitative factors, and it is addressed to the secondary power system control level. The performance of secondary voltage control depends strongly on the selection of pilot nodes. This paper proposes the use of K-means clustering algorithm order to the identification of pilot nodes for Secondary Voltage Control (SVC) in the power grids. In the first phase, the algorithm is based on the zoning of power grid into coherent and completely connected clusters (control areas). In the second phase, a node will be selected as pilot node for each control area. The pilot node must satisfy a minimum criterion based on the sum of electrical distances between it and all the others nodes. The obtained results were compared with other classical methods using a test system. The conclusion was that the algorithm can be used successfully in the optimal zoning of power grids and the identification of pilot nodes for SVC.
{"title":"Identification of pilot nodes for secondary voltage control using K-means clustering algorithm","authors":"G. Grigoraș, B. Neagu, Florina Scarlatache, R. Ciobanu","doi":"10.1109/ISIE.2017.8001231","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001231","url":null,"abstract":"The voltage control represents one of the most important qualitative factors, and it is addressed to the secondary power system control level. The performance of secondary voltage control depends strongly on the selection of pilot nodes. This paper proposes the use of K-means clustering algorithm order to the identification of pilot nodes for Secondary Voltage Control (SVC) in the power grids. In the first phase, the algorithm is based on the zoning of power grid into coherent and completely connected clusters (control areas). In the second phase, a node will be selected as pilot node for each control area. The pilot node must satisfy a minimum criterion based on the sum of electrical distances between it and all the others nodes. The obtained results were compared with other classical methods using a test system. The conclusion was that the algorithm can be used successfully in the optimal zoning of power grids and the identification of pilot nodes for SVC.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"5 1","pages":"106-110"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79337545","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001299
Jilan Samiuddin, Babak Badkoubeh-Hezaveh, Mahsa Sadeghassadi, J. Pieper, C. Macnab
This paper presents an adaptive control design for a transcritical Organic Rankine Cycle (TORC) working in both supercritical and subcritical regions. Even though supercritical operation increases the overall efficiency, previous research has focused on developing controls for ORCs working in the subcritical region only. This work first develops a model for TORC suitable for control system design. A decentralized control strategy using three single-input, single-output control loops provides the basis for a stable control, justified using a relative gain array. In simulations, a nonlinear approximate adaptive control utilizing the Cerebellar Model Articulation Controller outperforms a Proportional-Integral control, both in tracking set points changes and in rejecting disturbances due to a fluctuating heat source temperature.
{"title":"Nonlinear adaptive control of a transcritical Organic Rankine Cycle","authors":"Jilan Samiuddin, Babak Badkoubeh-Hezaveh, Mahsa Sadeghassadi, J. Pieper, C. Macnab","doi":"10.1109/ISIE.2017.8001299","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001299","url":null,"abstract":"This paper presents an adaptive control design for a transcritical Organic Rankine Cycle (TORC) working in both supercritical and subcritical regions. Even though supercritical operation increases the overall efficiency, previous research has focused on developing controls for ORCs working in the subcritical region only. This work first develops a model for TORC suitable for control system design. A decentralized control strategy using three single-input, single-output control loops provides the basis for a stable control, justified using a relative gain array. In simulations, a nonlinear approximate adaptive control utilizing the Cerebellar Model Articulation Controller outperforms a Proportional-Integral control, both in tracking set points changes and in rejecting disturbances due to a fluctuating heat source temperature.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"14 1","pages":"513-519"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74456629","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001310
Helen Liu, M. Dahidah, R. T. Naayagi, M. Armstrong, James Yu
This paper presents a novel modular multilevel DC/DC converter suitable for integrating the oif-shore wind farm with the HVDC transmission system. The proposed converter consists of a wind farm-side three-phase MMC inverter and a series-connected rectifier linked by a special decoupled medium frequency transformer. The transformer decouples the three-phase input voltage into three isolated single-phase voltages with the 120-degree displacement. As the system requires only a unidirectional power flow, this enables the reduction of switching losses by using simple diode bridge rectifiers modules. The modular structure of the proposed system reduces also the voltage and current stresses of the power devices. A simple control strategy based on the stationary reference frame without involving the complex Park transformation is proposed in this paper. The system is managed through controlling the primary side converter only without any feedback from the output side. A generalized control strategy to extend the system into larger scale is also presented. Simulation results using MATLAB/Simulink are reported to demonstrate the feasibility and the effectiveness of the proposed converter.
{"title":"A novel modular multilevel step-up DC/DC converter for offshore systems","authors":"Helen Liu, M. Dahidah, R. T. Naayagi, M. Armstrong, James Yu","doi":"10.1109/ISIE.2017.8001310","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001310","url":null,"abstract":"This paper presents a novel modular multilevel DC/DC converter suitable for integrating the oif-shore wind farm with the HVDC transmission system. The proposed converter consists of a wind farm-side three-phase MMC inverter and a series-connected rectifier linked by a special decoupled medium frequency transformer. The transformer decouples the three-phase input voltage into three isolated single-phase voltages with the 120-degree displacement. As the system requires only a unidirectional power flow, this enables the reduction of switching losses by using simple diode bridge rectifiers modules. The modular structure of the proposed system reduces also the voltage and current stresses of the power devices. A simple control strategy based on the stationary reference frame without involving the complex Park transformation is proposed in this paper. The system is managed through controlling the primary side converter only without any feedback from the output side. A generalized control strategy to extend the system into larger scale is also presented. Simulation results using MATLAB/Simulink are reported to demonstrate the feasibility and the effectiveness of the proposed converter.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"141 1","pages":"576-581"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77401233","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001524
Ting-Chi Yeh, M. Pan, Cheng-Yi Ho
Mechanical systems under periodic loading due to rotary operation usually respond in measurements with a superposition of sinusoids whose frequencies were integer or fractional integer multiples of the reference shaft speed. When the rotary machines are running, acousto-mechanical signals acquired from the machines enable to reveal their operation status and machine conditions. The study proposed a DSP-based adaptive angular-velocity Vold-Kalman filtering order tracking (AV2KF_OT) algorithm with online real-time nature for signal interpretation and machine condition monitoring. Theoretical derivation and numerical implementation of the computation scheme was briefly introduced. An online real-time condition monitoring system based on the AV2KF_OT algorithm, which was implemented through both a digital signal processor (DSP) and a man-machine interface coded by using LabVIEW®, was developed. An experimental task, the startup detection on the fluid-induced whirl performed through a journal-bearing rotor rig, was used to justify the proposed technique.
{"title":"DSP-base adaptive angular-velocity VKF order tracking for online real-time monitoring system","authors":"Ting-Chi Yeh, M. Pan, Cheng-Yi Ho","doi":"10.1109/ISIE.2017.8001524","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001524","url":null,"abstract":"Mechanical systems under periodic loading due to rotary operation usually respond in measurements with a superposition of sinusoids whose frequencies were integer or fractional integer multiples of the reference shaft speed. When the rotary machines are running, acousto-mechanical signals acquired from the machines enable to reveal their operation status and machine conditions. The study proposed a DSP-based adaptive angular-velocity Vold-Kalman filtering order tracking (AV2KF_OT) algorithm with online real-time nature for signal interpretation and machine condition monitoring. Theoretical derivation and numerical implementation of the computation scheme was briefly introduced. An online real-time condition monitoring system based on the AV2KF_OT algorithm, which was implemented through both a digital signal processor (DSP) and a man-machine interface coded by using LabVIEW®, was developed. An experimental task, the startup detection on the fluid-induced whirl performed through a journal-bearing rotor rig, was used to justify the proposed technique.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"35 1","pages":"1813-1819"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80769226","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001223
L. S. Araujo, M. G. Villalva, T. G. Siqueira
This paper shows the development of a strategy to connect multiple different types of converters in parallel in an isolated single-phase microgrid harmoniously. First, the droop control strategy for microgrids and the particularities of the microgrid operation are explained, such as controlling the voltage and current of the battery to maintain its integrity. Then three different types of converters in a microgrid are described, and different droop equations are proposed for each converter to perform the correct control. These equations also include the priority feature that prioritizes the renewable sources instead of the batteries, when feeding loads in autonomous operation. Simulations of a modeled microgrid with four converters and two loads are performed. The functionality of the equations are verified in terms of priority selection of generation, the correct power balance and the control to avoid damages in microgrid elements, especially to the batteries.
{"title":"Autonomous microgrid with energy storage system","authors":"L. S. Araujo, M. G. Villalva, T. G. Siqueira","doi":"10.1109/ISIE.2017.8001223","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001223","url":null,"abstract":"This paper shows the development of a strategy to connect multiple different types of converters in parallel in an isolated single-phase microgrid harmoniously. First, the droop control strategy for microgrids and the particularities of the microgrid operation are explained, such as controlling the voltage and current of the battery to maintain its integrity. Then three different types of converters in a microgrid are described, and different droop equations are proposed for each converter to perform the correct control. These equations also include the priority feature that prioritizes the renewable sources instead of the batteries, when feeding loads in autonomous operation. Simulations of a modeled microgrid with four converters and two loads are performed. The functionality of the equations are verified in terms of priority selection of generation, the correct power balance and the control to avoid damages in microgrid elements, especially to the batteries.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"43 1","pages":"57-62"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74202728","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001347
P. N. Tekwani, Patel Vidhi Manilal
Induction motor (IM) is the workhorse of the industries. Amongst various speed control schemes for IM, variable-voltage variable-frequency (VVVF) is popularly used. Inverters are broadly used to produce variable/controlled frequency and variable/controlled output voltage for various applications like ac machine drives, switched mode power supply (SMPS), uninterruptible power supplies (UPS), etc. This paper presents the two-fold solution of control for such loads. In this novel solution, rms values of output voltage is varied by controlling the inverter duty ratio which operates as an ac-chopper, while the fundamental frequency of output voltage is varied by controlling the buck-boost converter according to the reference frequency given to it. The buck-boost converter shuffles between buck-mode and boost-mode to produce required frequency by generating the modulated dc-link for the inverter, unlike conventional fixed dc-link in case of ac-dc-ac converters. The proposed technique eliminates overmodulation (as in conventional pulse width modulated inverters) and hence the non-linearity, and lower order harmonics are absent. Further, it reduces dv/dt in the output voltage resulting less stress on the insulation of machine winding, and electromagnetic interference. However, the proposed scheme demands more number of power semiconductor devices as compared to their conventional ac-dc-ac counterparts. Simulation studies of proposed single-phase as well as three-phase topologies are carried out in MATLAB/Simulink. Hardware implementation of proposed single-phase topology is done using dSPACE DS1104 R&D controller board and results are presented.
{"title":"Novel approach employing buck-boost converter as DC-link modulator and inverter as AC-chopper for induction motor drive applications: An alternative to conventional AC-DC-AC scheme","authors":"P. N. Tekwani, Patel Vidhi Manilal","doi":"10.1109/ISIE.2017.8001347","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001347","url":null,"abstract":"Induction motor (IM) is the workhorse of the industries. Amongst various speed control schemes for IM, variable-voltage variable-frequency (VVVF) is popularly used. Inverters are broadly used to produce variable/controlled frequency and variable/controlled output voltage for various applications like ac machine drives, switched mode power supply (SMPS), uninterruptible power supplies (UPS), etc. This paper presents the two-fold solution of control for such loads. In this novel solution, rms values of output voltage is varied by controlling the inverter duty ratio which operates as an ac-chopper, while the fundamental frequency of output voltage is varied by controlling the buck-boost converter according to the reference frequency given to it. The buck-boost converter shuffles between buck-mode and boost-mode to produce required frequency by generating the modulated dc-link for the inverter, unlike conventional fixed dc-link in case of ac-dc-ac converters. The proposed technique eliminates overmodulation (as in conventional pulse width modulated inverters) and hence the non-linearity, and lower order harmonics are absent. Further, it reduces dv/dt in the output voltage resulting less stress on the insulation of machine winding, and electromagnetic interference. However, the proposed scheme demands more number of power semiconductor devices as compared to their conventional ac-dc-ac counterparts. Simulation studies of proposed single-phase as well as three-phase topologies are carried out in MATLAB/Simulink. Hardware implementation of proposed single-phase topology is done using dSPACE DS1104 R&D controller board and results are presented.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"17 1","pages":"793-800"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88892622","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001546
R. Ruwanthika, A. Harsha, S. Abeykoon, S. Katsura
This paper proposes a force feedback compliance force lock for biltateral control based on sensor-less sensor Reaction Force Observer (RFOB). The force limit is defined by the operator in advance based on the experience. The force lock protects the object which is in contact with the slave actuator from excessive force imposed by the master operator in bilateral control. A small vibration has been introduced to notify the attainment of the force limit to the master operator. Furthermore, if master operator wishes to increase his applied force, he will experience spring effect. The equilibrium point of virtual spring controller which is continuously copied from the slave force locked position aligns master and slave positions at force lock mode. The loss of reaction force occurs at the transition from bilateral control to force lock and vice versa has been removed to regain system stability and to facilitate comfortable operation for the operator. Releasing logic of force lock can be determined by the operator. The proposed system is validated with experiments and results prove the concept of RFOB based force feedback compliance force lock for bilateral control.
{"title":"Bilateral control with compliant force lock for safety enhancement","authors":"R. Ruwanthika, A. Harsha, S. Abeykoon, S. Katsura","doi":"10.1109/ISIE.2017.8001546","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001546","url":null,"abstract":"This paper proposes a force feedback compliance force lock for biltateral control based on sensor-less sensor Reaction Force Observer (RFOB). The force limit is defined by the operator in advance based on the experience. The force lock protects the object which is in contact with the slave actuator from excessive force imposed by the master operator in bilateral control. A small vibration has been introduced to notify the attainment of the force limit to the master operator. Furthermore, if master operator wishes to increase his applied force, he will experience spring effect. The equilibrium point of virtual spring controller which is continuously copied from the slave force locked position aligns master and slave positions at force lock mode. The loss of reaction force occurs at the transition from bilateral control to force lock and vice versa has been removed to regain system stability and to facilitate comfortable operation for the operator. Releasing logic of force lock can be determined by the operator. The proposed system is validated with experiments and results prove the concept of RFOB based force feedback compliance force lock for bilateral control.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"55 1","pages":"1929-1934"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79838838","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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