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Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics最新文献

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The application of minimal control synthesis to web tension and transport control 最小控制综合在卷筒纸张力和输运控制中的应用
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339385
D. Stoten, M. Dye
{"title":"The application of minimal control synthesis to web tension and transport control","authors":"D. Stoten, M. Dye","doi":"10.1109/IECON.1993.339385","DOIUrl":"https://doi.org/10.1109/IECON.1993.339385","url":null,"abstract":"The minimal control synthesis (MCS) algorithm is an adaptive control strategy that requires no prior knowledge of plant dynamic parameters, and yet is guaranteed to provide global asymptotic stability of the closed-loop system. The purpose of this paper is to present MCS as applied to web tension and transport control, a class of plant that has highly nonlinear dynamics and time varying parameters. The plant is difficult to control by conventional methods over its full operating range. A typical example of such a plant is presented along with the implementation of MCS. Experimental comparisons of MCS with conventional control benchmarks are provided. It is shown that MCS significantly outperforms the conventional controller.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114922964","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}
引用次数: 1
A parallel processing scheme for dynamic control of robotic manipulators 机械臂动态控制的并行处理方案
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339277
K. Tagawa, Y. Kanki, Y. Ohta, H. Haneda
{"title":"A parallel processing scheme for dynamic control of robotic manipulators","authors":"K. Tagawa, Y. Kanki, Y. Ohta, H. Haneda","doi":"10.1109/IECON.1993.339277","DOIUrl":"https://doi.org/10.1109/IECON.1993.339277","url":null,"abstract":"This paper describes a new parallel processing scheme for dynamic control of robotic manipulators. Because the necessary computation of dynamic control laws of robotic manipulators are usually quite heavy for single processor, multiprocessor systems are often adopted to implement digital controllers. The proposed parallel processing scheme is general enough to compute all kind of dynamic control laws of robotic manipulators which are represented by sum of products. A practical scheduling algorithm is also proposed for the parallel processing scheme. The dynamic control laws of robotic manipulators are usually containing a lot of redundant operations. With the scheduling algorithm, those redundant operations can be removed effectively from applying the factorization algorithm which have been already presented by authors in the previous papers.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117128580","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}
引用次数: 2
Stability analysis and stabilizing control synthesis via Lyapunov's second method directly on bond graphs of nonlinear systems 非线性系统键合图上的Lyapunov第二方法稳定性分析及稳定控制综合
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339394
S. Junco
{"title":"Stability analysis and stabilizing control synthesis via Lyapunov's second method directly on bond graphs of nonlinear systems","authors":"S. Junco","doi":"10.1109/IECON.1993.339394","DOIUrl":"https://doi.org/10.1109/IECON.1993.339394","url":null,"abstract":"In this paper a set of energy-based methods for the computation of equilibria, the analysis of their stability, and the synthesis of stabilizing control laws are presented. All of them are a transliteration to the bond graph modelling language of methods usually carried out on the state equations of the system. While the computation of equilibrium exploits the circumstance that in such a state no power flows into the storage elements, the methods concerning its stability rely on the fact that, when choosing (a function of) the energy stored in the system as (candidate) Lyapunov function, its orbital derivative can he directly evaluated in terms of the power flow through the bonds of the graph. Armature- and field-voltage control laws for a DC-machine are derived as applications of the methods.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117327821","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}
引用次数: 19
A simple control strategy for shunt power line conditioner with inductive energy storage 带感应储能的并联电力线调节器的简单控制策略
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339122
H. Pinheiro, C.A. Zeferino
{"title":"A simple control strategy for shunt power line conditioner with inductive energy storage","authors":"H. Pinheiro, C.A. Zeferino","doi":"10.1109/IECON.1993.339122","DOIUrl":"https://doi.org/10.1109/IECON.1993.339122","url":null,"abstract":"This paper presents a control strategy for shunt power line conditioner with inductive energy storage. The proposed strategy has two decoupled AC control loops and one DC control loop. The AC control loops are analyzed under the variable structure approach. Equations to obtain the circuit parameters are given as guidelines for the design. Finally, simulation is presented as a means of demonstrating the active conditioner dynamic performance.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115989107","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}
引用次数: 2
Capacitor self-excitation braking of the induction motor 感应电动机的电容自激制动
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339157
E. Ejiogu, Y. Tanno
{"title":"Capacitor self-excitation braking of the induction motor","authors":"E. Ejiogu, Y. Tanno","doi":"10.1109/IECON.1993.339157","DOIUrl":"https://doi.org/10.1109/IECON.1993.339157","url":null,"abstract":"The capacitor self-excitation of the induction motor when used for braking has several merits, including low heat dissipation and fail-safe operation. During the braking period the motor operates under heavy saturation and severe voltage and current transients may be induced in the motor. Hence, adequate braking performance prediction requires that, not only the main flux, but also the leakage flux saturation be taken into account. The result shows that if the leakage flux saturation is included in the analysis, there is a better theoretical-experimental correlation.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"34 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120860476","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}
引用次数: 1
Nonlinear adaptive tracking and stabilization of a robot manipulator 机械臂的非线性自适应跟踪与镇定
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339349
A. Sinha, H. Yurtseven
{"title":"Nonlinear adaptive tracking and stabilization of a robot manipulator","authors":"A. Sinha, H. Yurtseven","doi":"10.1109/IECON.1993.339349","DOIUrl":"https://doi.org/10.1109/IECON.1993.339349","url":null,"abstract":"Control of a robot manipulator requires solution of ordinary, coupled nonlinear differential equations. In Sinha, Kayalar, and Yurtseven (1990), a model reference system was introduced by ignoring the Coriolis terms where the system of nonlinear equations were almost decoupled by careful selection of nonlinear input torque expression. Varying a single parameter provided a stable solution about a known equilibrium point. In this work, the authors propose to extend the model reference system of Seraji (1988) to the case where there is parameter uncertainty and noise due to model imperfections. It is shown that a linear state feedback type of input torque provides a stable solution under uncertainty. A new theoretical method of stabilization of robot manipulator dynamics by nonlinear feedback is given. A partial linearization of robot arm control may yield a simpler nonlinear feedback control which has not yet been considered. The results obtained apply to a large class of nonlinear control systems.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125952814","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}
引用次数: 2
New soft-commutated PWM inverter with AC current transformer 带交流电流互感器的新型软整流PWM逆变器
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339250
H. Matsuo, K. Iida, F. Kurokawa, K. Harada
{"title":"New soft-commutated PWM inverter with AC current transformer","authors":"H. Matsuo, K. Iida, F. Kurokawa, K. Harada","doi":"10.1109/IECON.1993.339250","DOIUrl":"https://doi.org/10.1109/IECON.1993.339250","url":null,"abstract":"The soft-commutated PWM inverter is very attractive for high power applications. In the conventional soft-commutated PWM inverter, however, there exist some deteriorative problems such as high voltage and/or high current stresses on the switches, the necessity of the additional switches for realizing soft-commutated PWM, and the relatively large power loss caused by the large circulating current composed of the load current and the resonant current. This paper presents a new soft-commutated PWM inverter, in which an AC current transformer and a main resonant capacitor are used to detect the value and the polarity of the AC load current, and to realize the soft-commutation of the switches without causing the above deteriorative problems. The operation and the characteristics of this soft-commutated PWM inverter are analyzed and its usefulness is confirmed by experiments.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125029697","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}
引用次数: 1
Factory automation and manufacturing LAN management 工厂自动化和制造局域网管理
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339019
V. Lecuire, F. Lepage, J. Bron
{"title":"Factory automation and manufacturing LAN management","authors":"V. Lecuire, F. Lepage, J. Bron","doi":"10.1109/IECON.1993.339019","DOIUrl":"https://doi.org/10.1109/IECON.1993.339019","url":null,"abstract":"Network management is a requirement within CIM. Network management provides a lot of facilities to efficiently monitor and control the communication systems. Manufacturing system must reap the advantages of network management facilities and adapts them to the LAN problems. This requires some additional network management functionalities to take into account the specific user requirements at the manufacturing application level. We propose a manufacturing LAN management model which is built on a hierarchical organization of network management activities. Our model limits the problem of integration to the network management part which is directly exploited by end users. It allows a realistic and easy integration of network management within a CIM architecture.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125063212","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}
引用次数: 0
Generating multiprocessor implementations of robotics algorithms from task precedence graphs 从任务优先图生成机器人算法的多处理器实现
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339424
L. Reeves, M. Farooq
{"title":"Generating multiprocessor implementations of robotics algorithms from task precedence graphs","authors":"L. Reeves, M. Farooq","doi":"10.1109/IECON.1993.339424","DOIUrl":"https://doi.org/10.1109/IECON.1993.339424","url":null,"abstract":"In complex control systems, a single processor is often inadequate to meet real-time deadline demands. A decrease in processing time can be attained by decomposing the algorithm into portions which can run concurrently on a multiprocessor. Implementing an algorithm for a multiprocessor operating system can be arduous and time-consuming; a change to multiprocessor or to the decomposition of the algorithm may require that large portions of the implementation be completely re-written. In this paper we present a utility to graphically model a process or algorithm as a directed, acyclic graph of nodes. The calculations which each node are to perform can then be entered by a programmer. The utility determines a node-to-processor allocation, then combines the node calculations allocated to each processor, and generates all initialisation and inter-node communications code. We present this utility as a tool for investigating multiprocessor multi-tasking algorithms, with application to robotics and control processes. Results of processes which have been so modelled are given.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129490255","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}
引用次数: 2
Navigation system based on ceiling landmark recognition for autonomous mobile robot 基于天花板地标识别的自主移动机器人导航系统
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339287
T. Fukuda, S. Ito, N. Oota, F. Arai, Y. Abe, K. Tanaka, Y. Tanaka
{"title":"Navigation system based on ceiling landmark recognition for autonomous mobile robot","authors":"T. Fukuda, S. Ito, N. Oota, F. Arai, Y. Abe, K. Tanaka, Y. Tanaka","doi":"10.1109/IECON.1993.339287","DOIUrl":"https://doi.org/10.1109/IECON.1993.339287","url":null,"abstract":"In this paper, we propose a vision based navigation system for autonomous mobile robots which recognizes air-conditioning device (anemo) as landmarks located on ceiling. Because landmarks on ceiling are not obstructed by any objects, robots can find them easier than landmarks on the floor. In the recognition process, gathering quadrangles in the image are regarded as anemo, the gravity center and the slope of these quadrangles are calculated. Then the navigation system can calculate the distance and the angle of the anemo from map information. As a result, the navigation system can identify the present robot's position and orientation. By the proposed algorithm, if the landmark is not being taken completely, the landmark is inferred by partial information. In the experiments, we compared the error made by the robot which are navigated by our system with the error made by the robot which moves based on deadreckoning.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129699884","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}
引用次数: 61
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