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IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society最新文献

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Force control application to a mobile manipulator with balancing mechanism 力控制在带平衡机构的移动机械手中的应用
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society Pub Date : 2010-12-23 DOI: 10.1109/IECON.2010.5675455
J. Ahn, Seung Jun Lee, Seul Jung
{"title":"Force control application to a mobile manipulator with balancing mechanism","authors":"J. Ahn, Seung Jun Lee, Seul Jung","doi":"10.1109/IECON.2010.5675455","DOIUrl":"https://doi.org/10.1109/IECON.2010.5675455","url":null,"abstract":"This paper presents control and implementation of the mobile manipulator with balancing mechanism whose goal is to serve human being in home environment. The mobile manipulator has two arms to handle objects. Not only position control but also force control of the balancing service robot is presented. The robot has two modes to move : mobile robot mode with 4 contact points and balancing mode of 2 contact points. The robot has two wheels to maintain balance and has the force control capability by using force sensor at the end-effector. Position based impedance force control method is utilized by filtering the force for the robot to have smooth reaction against disturbance induced by applied external force. Several experimental studies of contact force control, opening doors, and interacting with a human operator are demonstrated.","PeriodicalId":145288,"journal":{"name":"IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128138622","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: 7
Finite state model predictive current control of a three-level five-phase NPC voltage source inverter 三电平五相NPC电压源逆变器的有限状态模型预测电流控制
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society Pub Date : 2010-12-23 DOI: 10.1109/IECON.2010.5674941
A. Iqbal, H. Abu-Rub, S. Ahmed, P. Cortes, José R. Rodríguez
{"title":"Finite state model predictive current control of a three-level five-phase NPC voltage source inverter","authors":"A. Iqbal, H. Abu-Rub, S. Ahmed, P. Cortes, José R. Rodríguez","doi":"10.1109/IECON.2010.5674941","DOIUrl":"https://doi.org/10.1109/IECON.2010.5674941","url":null,"abstract":"The paper proposes finite state model based current control of a three-level neutral point clamped (NPC) five-phase voltage source inverter. The space vector model of a five-phase voltage source inverter (VSI) yield 243 space vectors, with 240 active and three zero vectors. The presented technique utilizes only 21 space vectors for the current control and hence the name finite state is given. Search is made by the algorithm to find the vector which minimizes the chosen cost function. The performance of the current control heavily depends upon the choice of the cost function, the number of vectors used and the sampling time. The developed technique is tested for RLE load using simulation approach. The proposed technique offers very good capacitor voltage balancing and offers high performance results in terms of current distortion. The technique is very useful for real time implementation due to a small number of vectors being used in contrary to space vector PWM where at least 43 vectors are required to obtain similar results. Simulation results are given in the this submission, while the experimental validation of the concept will be provided in the final paper.","PeriodicalId":145288,"journal":{"name":"IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133090926","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: 12
Reduction of detent force caused by the end effect of a high thrust tubular PMLSM using a genetic algorithm and FEM 基于遗传算法和有限元法的大推力管式永磁同步电机端部缩紧力减小研究
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society Pub Date : 2010-12-23 DOI: 10.1109/IECON.2010.5675499
Sebastian Gruber, C. Junge, R. Wegener, S. Soter
{"title":"Reduction of detent force caused by the end effect of a high thrust tubular PMLSM using a genetic algorithm and FEM","authors":"Sebastian Gruber, C. Junge, R. Wegener, S. Soter","doi":"10.1109/IECON.2010.5675499","DOIUrl":"https://doi.org/10.1109/IECON.2010.5675499","url":null,"abstract":"In order to meet industrial safety standards in eccentric presses, the detent force of the acting high force tubular permanent magnet linear synchronous machines (PMLSM) should be reduced. The detent force is caused by two components: the slot effect and the end effect. Both effects are based on the reluctance change between permanent magnet (PM) and stator teeth. The slot effect is already optimized by the closing slot technique which is proven by measurements presented in this paper. The main topic is the reduction of detent force by using auxiliary poles at the end of the machine. Therefore a special genetic algorithm (GA) is developed which rates the simulation results of the FEM and produces new auxiliary poles. The combined simulation tries to find an optimal size and position for auxiliary poles to reduce the whole detent force. The numerical calculations propose a minimized detent force caused by the located poles, which is independent from the length of the machines (2, 3 or 5 modules).","PeriodicalId":145288,"journal":{"name":"IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133217474","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: 11
Chattering-free robust nonlinear controller for an interior permanent magnet synchronous motor speed drive system 内置永磁同步电机调速系统的无抖振鲁棒非线性控制器
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society Pub Date : 2010-12-23 DOI: 10.1109/IECON.2010.5674958
Cheng-Kai Lin, L. Fu, Tian‐Hua Liu
{"title":"Chattering-free robust nonlinear controller for an interior permanent magnet synchronous motor speed drive system","authors":"Cheng-Kai Lin, L. Fu, Tian‐Hua Liu","doi":"10.1109/IECON.2010.5674958","DOIUrl":"https://doi.org/10.1109/IECON.2010.5674958","url":null,"abstract":"A chattering-free robust nonlinear controller is proposed for the speed control of an IPMSM drive system to compensate for the parameter uncertainties and load disturbances. First, the input-output feedback linearization technique is used with a load torque estimator. Next, the upper bounds of the uncertainties are defined in design of the chattering-free robust controller. After that, in order to derive the chattering-free nonlinear robust control laws without reducing the benefits of the sliding mode control, a new method using the sliding manifold information is proposed. Asymptotic stability of the proposed control method is proven by Lyapunov stability theory and Barbalat's lemma. A digital signal processor, TMS320LF2407, is used to implement the proposed control scheme. The experimental results show that the proposed system can effectively reduce the chattering phenomenon and has fast transient responses, good load disturbance rejection responses, and good tracking responses.","PeriodicalId":145288,"journal":{"name":"IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133504933","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 servo system control with time-varying load using type-2 fuzzy neural system 基于2型模糊神经系统的时变负载伺服系统控制
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society Pub Date : 2010-12-23 DOI: 10.1109/IECON.2010.5675372
Y. Oniz, E. Kayacan, A. C. Aras, O. Kaynak, R. Abiyev
{"title":"A servo system control with time-varying load using type-2 fuzzy neural system","authors":"Y. Oniz, E. Kayacan, A. C. Aras, O. Kaynak, R. Abiyev","doi":"10.1109/IECON.2010.5675372","DOIUrl":"https://doi.org/10.1109/IECON.2010.5675372","url":null,"abstract":"A type-2 fuzzy neural system (T2FNS) is proposed in this paper for process control. The structure of the system is presented and the rules for updating its parameters are derived using the gradient algorithm. The effectiveness of the proposed approach is evaluated on a laboratory setup that regulates the speed of a DC motor and the experimental results are compared with those obtained with the use of a type-1 fuzzy neural system (T1FNS). It is seen that T2FNS results in reduced oscillations around the set point in the presence of load disturbances.","PeriodicalId":145288,"journal":{"name":"IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133543289","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 bidirectional power converter for battery of plug-in hybrid electric vehicles 一种用于插电式混合动力汽车电池的双向功率转换器
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society Pub Date : 2010-12-23 DOI: 10.1109/IECON.2010.5674946
Zheng Chen, Ziling Nie, Yuhong Fu, C. Mi
{"title":"A bidirectional power converter for battery of plug-in hybrid electric vehicles","authors":"Zheng Chen, Ziling Nie, Yuhong Fu, C. Mi","doi":"10.1109/IECON.2010.5674946","DOIUrl":"https://doi.org/10.1109/IECON.2010.5674946","url":null,"abstract":"A novel power converter for battery used in the Plug-in Hybrid Electric Vehicle (PHEV) is proposed, which could charge and discharge the battery effectively. The system is composed of two parts: a three phase full bridge PWM rectifier and a DC/DC converter. The PWM rectifier is utilized to rectify the three phase AC to DC voltage, which should be higher than the battery terminal voltage. The DC/DC converter is constructed by a buck-boost circuit, which is a buck circuit under charge mode and a boost circuit under discharge mode. The direct current control (DCC) algorithm is responsible for rectifying the AC output and diminishing the total harmonics distortion. The proportional-integral (PI) controller and bangbang controller is to control the charging current and voltage. The simulation and experiment results validate the effectiveness of proposed algorithm and the feasibility of system.","PeriodicalId":145288,"journal":{"name":"IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133952518","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: 7
Image measurement of hand dimensions and model-based human hand posture estimation 手部尺寸的图像测量与基于模型的人体手部姿态估计
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society Pub Date : 2010-12-23 DOI: 10.1109/IECON.2010.5675528
S. Saito, Makiko Kochi, M. Mochimaru, Y. Aoki
{"title":"Image measurement of hand dimensions and model-based human hand posture estimation","authors":"S. Saito, Makiko Kochi, M. Mochimaru, Y. Aoki","doi":"10.1109/IECON.2010.5675528","DOIUrl":"https://doi.org/10.1109/IECON.2010.5675528","url":null,"abstract":"We have a lot of products designed for use by hand, like a mobile phone, mouse, and camera, etc. These products can be used by many kinds of people whose hands come in various sizes. Designing a handheld product, therefore, it is required to consider the individual difference of user's hands. So there are the high expectations for simulating the interaction between user's hands in various sizes and the product in order to evaluate the product design without prototyping. To achieve it, the technology that generates various Digital Hands automatically from data of hand measurements and finds how a user grasps the product is needed. In this paper, we propose the method that measures 23 lengths and 9 widths included in all fingers automatically from a single image which is got by scanning palm side of a hand using any paper scanner. And we use these resultant measurements for estimating 9 thicknesses and 5 boundary lengths included in fingers or a palm that are perpendicular to the scanned surface. Finally, we try to deform the resultant Digital Hand model into a grasping posture.","PeriodicalId":145288,"journal":{"name":"IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134360879","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
Comparison of modulation strategies for a cascaded H-bridge StatCom — Part 1: Theoretical background 级联h桥StatCom调制策略的比较-第一部分:理论背景
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society Pub Date : 2010-12-23 DOI: 10.1109/IECON.2010.5675257
C. Townsend, T. Summers, R. Betz
{"title":"Comparison of modulation strategies for a cascaded H-bridge StatCom — Part 1: Theoretical background","authors":"C. Townsend, T. Summers, R. Betz","doi":"10.1109/IECON.2010.5675257","DOIUrl":"https://doi.org/10.1109/IECON.2010.5675257","url":null,"abstract":"Phase shifted carrier modulation has become an industry standard in its application to multi-level H-bridge Stat-Coms. The technique uses the cancellation of harmonics within each phase-leg to significantly improve the harmonic performance relative to the switching frequency. The purpose of this paper is to investigate whether the practical implementation of the technique deteriorates the harmonic cancellation. The effects of non-uniform DC bus voltage, transient capacitor voltages and phase shift error are investigated. A comparison with alternative modulation strategies is developed in terms of a defined set of performance indicators. Part 2 of this paper applies the developed analysis to a particular StatCom and investigates the effect of increasing the StatCom level number.","PeriodicalId":145288,"journal":{"name":"IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134538403","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: 21
Plug-in hybrid electric vehicles: Sustainable driving to 21st energy future 插电式混合动力汽车:21世纪能源未来的可持续驾驶
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society Pub Date : 2010-12-23 DOI: 10.1109/IECON.2010.5675260
Alireza Khaligh
{"title":"Plug-in hybrid electric vehicles: Sustainable driving to 21st energy future","authors":"Alireza Khaligh","doi":"10.1109/IECON.2010.5675260","DOIUrl":"https://doi.org/10.1109/IECON.2010.5675260","url":null,"abstract":"","PeriodicalId":145288,"journal":{"name":"IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114533239","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
An ac-link bidirectional DC-DC converter with synchronous rectifier 带同步整流器的交流链路双向DC-DC变换器
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society Pub Date : 2010-12-23 DOI: 10.1109/IECON.2010.5675003
Toshiro Hirose, K. Nishimura, Takayuki Kimura, H. Matsuo
{"title":"An ac-link bidirectional DC-DC converter with synchronous rectifier","authors":"Toshiro Hirose, K. Nishimura, Takayuki Kimura, H. Matsuo","doi":"10.1109/IECON.2010.5675003","DOIUrl":"https://doi.org/10.1109/IECON.2010.5675003","url":null,"abstract":"This paper describes the principles and characteristics of a novel ac-link bidirectional DC-DC converter with synchronous rectifier, which has a mechanism formed from two bridge-type DC converters that are linked through superposition in additive polarity in series. For an isolated dual active bridge DC-DC converter, which has been studied for many years, the rated voltage of its switching elements is decided according to DC power source voltage and load current. Therefore, as the voltage and current specifications of a converter become higher, physical size becomes larger, conduction and switching losses increase and power efficiency reduces. To solve this problem, the authors devised a unique converter capable of lowering the rated voltage of switching elements, by means of sharing DC power source voltage and load current between two converters. The capacity of the high frequency transformer becomes small, making converter downsizing possible. In addition, further efficiency improvement is facilitated by using MOSFET as switching elements, which have the feature of synchronous rectification. We designed and constructed a 1kW converter system in which these advancements were incorporated, and conducted evaluation testing to verify the conversion efficiency and transient property. The results of testing demonstrated that this DC-DC converter had a conversion efficiency of 98.2% at the rated 1kW, as well as very stable transient operation. A detailed analysis of power flow was also carried out, to identify the characteristics of the converter developed.","PeriodicalId":145288,"journal":{"name":"IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society","volume":"1072 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122886138","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: 13
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