P. Bogónez-Franco, J. Balcells, O. Junyent, J. Jorda
{"title":"SVC model for voltage control of a microgrid","authors":"P. Bogónez-Franco, J. Balcells, O. Junyent, J. Jorda","doi":"10.1109/ISIE.2011.5984407","DOIUrl":"https://doi.org/10.1109/ISIE.2011.5984407","url":null,"abstract":"Low power renewable sources, connected to low voltage micro-grids, are becoming more and more common. Since there is a high degree of uncertainty on the availability of such sources, this causes problems of stability and makes difficult to guarantee the power quality (PQ) in all the points of the grid. Such kind of problems, are well known in medium voltage (MV) networks, where the proposed solutions to fix the stability and PQ problems are based on the control of reactive power flow in the grid. The equipment to perform such control function ranges from the simple capacitor banks driven by electro-mechanical contactors, through the Static Var Compensators (SVC) based on the combination of Thyristor Switched Capacitors (TSC) and Thyristor Controlled Reactors (TCR) or SVC combined with Active Power Filters (APF). This paper describes the design and implementation of a low power SVC prototype model, sizeable to higher power levels. It has been designed to compensate variations of the line voltage of a microgrid in a range of ±2%. The prototype can compensate 3kVAr capacitive and 1 kVAr inductive and is able to operate in a grid with a rated voltage of 400 V, phase to phase.","PeriodicalId":162453,"journal":{"name":"2011 IEEE International Symposium on Industrial Electronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124460713","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}
{"title":"Control algorithm of a DC/AC converter applied in a small wind turbine","authors":"P. Mlodzikowski, A. Milczarek, M. Malinowski","doi":"10.1109/ISIE.2011.5984297","DOIUrl":"https://doi.org/10.1109/ISIE.2011.5984297","url":null,"abstract":"Paper in detail presents control algorithm of a DC/AC converter applied in a small wind turbine (SWT), which has grid connected and a stand-alone operation mode. Common problems encountered SWT's transient between modes are described. Algorithm was implemented using a digital signal processor (DSP) control platform and tested using a lab setup with a 2.2 kW permanent magnet synchronous generator (PMSG). That type of generator is popular among SWTs. Results obtained from experimental verification are included.","PeriodicalId":162453,"journal":{"name":"2011 IEEE International Symposium on Industrial Electronics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124508662","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}
L. Sentis, J. Gámez García, B. Fernández, M. Gonzales, N. Paine
{"title":"Design, construction and control of a fluidic robotic joint for compliant legged locomotion","authors":"L. Sentis, J. Gámez García, B. Fernández, M. Gonzales, N. Paine","doi":"10.1109/ISIE.2011.5984276","DOIUrl":"https://doi.org/10.1109/ISIE.2011.5984276","url":null,"abstract":"In humanoid robotics, there is a long pursuit of making biped robots capable of walking in highly unstructured and roughly sensed environments. Within this goal, our objective is to develop a compliant bipedal humanoid robot that can move in these terrains as well as quickly adapt to unpredicted variations on the contact state. We present here the first part of our work, focusing on the design, construction and control of a robotic joint capable of realizing the control performance necessary for responding compliantly and accurately to contact transitions while delivering high forces needed to handle the uniqueness of rough terrains. In particular, we address our progress in the mechanical and embedded electronic design, actuator modeling, and compliant control strategies for a robotic joint based on fluidic pneumatic artificial muscles (PAMs). The proposed robot joint has been validated experimentally, exploring various aspects of its performance as well as its shortcomings, but overall demonstrating the potential benefits of using pneumatic muscles.","PeriodicalId":162453,"journal":{"name":"2011 IEEE International Symposium on Industrial Electronics","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130089991","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}
{"title":"Poles position identification of the permanent magnet motor by the PIPCRM combined with zero voltage vector","authors":"J. Wiśniewski, W. Koczara","doi":"10.1109/ISIE.2011.5984239","DOIUrl":"https://doi.org/10.1109/ISIE.2011.5984239","url":null,"abstract":"The paper shows a sensorless method of rotor position identification of an axial flux permanent magnet motor at very low speed. Presented method is based on stator current measurement in case when zero voltage vector is applied. The method was verified by laboratory tests. The goal of zero voltage vector method is fulfilling gap between method for initial position detecting e.g. PIPCRM (Position Identification by Parallel Current Rate Measurement) and the simple back electromotive force estimation method. The idea of the developed method is to use impact of a back electromotive force on stator current during zero voltage vector. The paper presents results of zero voltage vector method combined together with PIPCRM method applied to start and speed control of the permanent magnet axial flux motor.","PeriodicalId":162453,"journal":{"name":"2011 IEEE International Symposium on Industrial Electronics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130160024","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}
{"title":"Performance of send-on-delta sampling schemes with prediction","authors":"K. Staszek, S. Koryciak, M. Miśkowicz","doi":"10.1109/ISIE.2011.5984473","DOIUrl":"https://doi.org/10.1109/ISIE.2011.5984473","url":null,"abstract":"In the paper, the performance of the sampling algorithm as a measure that evaluates together the sampling cost and the sampling accuracy is introduced and analyzed. We define the sampling cost as a number of samples in a unit of time and respectively the sampling accuracy as the mean intersampling error. On the basis of the sampling scheme performance measure, we compare the pure send-on-delta scheme and the send-on-delta scheme with prediction because these sampling algorithms are developed on controlling the linear intersampling error. As shown on the basis of simulation results, the send-on-delta schemes with first or second-order prediction outperforms the classical periodic sampling, and the pure send-on-delta scheme.","PeriodicalId":162453,"journal":{"name":"2011 IEEE International Symposium on Industrial Electronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129138556","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}
P. Martí, M. Velasco, Antonio Camacho, E. X. Martín, J. Fuertes
{"title":"Networked sliding mode control of the double integrator system using the event-driven self-triggered approach","authors":"P. Martí, M. Velasco, Antonio Camacho, E. X. Martín, J. Fuertes","doi":"10.1109/ISIE.2011.5984472","DOIUrl":"https://doi.org/10.1109/ISIE.2011.5984472","url":null,"abstract":"Sliding mode control (SMC) methods rely on applying a high-frequency switching control. In networked control systems (NCS), high-frequency operations/transactions are not desirable because communication bandwidth consumption increases dramatically. This paper studies the application of event-driven self-triggered techniques to sliding mode control over networks as a means for reducing the bandwidth utilization. To this end, sliding mode control with hysteresis is adopted and control updates are forced to only occur at the hysteresis band boundary. This paper elaborates on the conditions that must be fulfilled in order to ensure such operation for the case of the double integrator system. Simulation results illustrate the presented concepts.","PeriodicalId":162453,"journal":{"name":"2011 IEEE International Symposium on Industrial Electronics","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131065330","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}
{"title":"An overview of methods to increase the power handling capability of single stage AC-DC converters","authors":"M. Agamy, P. Jain","doi":"10.1109/ISIE.2011.5984148","DOIUrl":"https://doi.org/10.1109/ISIE.2011.5984148","url":null,"abstract":"Single stage power factor correction converters provide a power dense and economic way for interfacing telecom systems to the utility grid. However, they face several efficiency and component stress issues that limit their applicability to low power applications. This paper reviews the methods used to improve the efficiency and power handling capabilities of single stage power factor correction converters.","PeriodicalId":162453,"journal":{"name":"2011 IEEE International Symposium on Industrial Electronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130727789","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}
P. Santana, L. Correia, Magno Guedeszy, Jose Baratay
{"title":"Visual attention and swarm cognition towards fast and robust off-road robots","authors":"P. Santana, L. Correia, Magno Guedeszy, Jose Baratay","doi":"10.1109/ISIE.2011.5984512","DOIUrl":"https://doi.org/10.1109/ISIE.2011.5984512","url":null,"abstract":"This article argues in favour of using visual attention mechanisms on off-road robots and of exploiting the social insects metaphor for their robust implementation. Visual attention helps these robots focusing their perceptual resources on a by-need basis when dealing with the complexity of unstructured environments. However, focusing perceptual resources is a hard problem given the well known speed-accuracy trade-off and the fact that several foci of attention may need to co-exist and interact with both memory and action selection. The similarity between the task of deploying parallel foci of attention and the foraging behaviour exhibited by army ants motivates the use of the social insects metaphor to solve the problem at hand in a self-organising, and consequently, robust way. All these arguments are phenomenologically supported by experimental work recently published on three foundational aspects of off-road mobility: obstacle detection, trail detection, and local navigation.","PeriodicalId":162453,"journal":{"name":"2011 IEEE International Symposium on Industrial Electronics","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127650789","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}
{"title":"Broadband modeling of motor cable impact on common mode currents in VFD","authors":"J. Luszcz","doi":"10.1109/ISIE.2011.5984215","DOIUrl":"https://doi.org/10.1109/ISIE.2011.5984215","url":null,"abstract":"Examination of conducted EMI generation and propagation in AC motor drives fed by frequency converter requires to consider parasitic capacitances in converters, motor windings and feeding cables to be taken into account. AC motor winding voltage transients and related common mode currents are significantly correlated with resonance effects occurring in converter's load circuits. Intensity levels of these phenomena depend significantly on impedance - frequency characteristics of converter's load, motor windings and feeding cable. An analysis of converter's load impedance in frequency domain allows for identification and determination of frequency ranges in which the foremost contributions to EMI noise generation have voltage ringing phenomena associated with load parasitic capacitances. This paper presents a method to model an AC motor with a feeding cable in conducted EMI frequency range up to 30 Mhz. Distributed parasitic capacitances of AC motor windings are modeled using a ladder circuit. The proposed circuit model allows for an analysis of the influence of the motor feeding cable parameters on generated common mode current spectra in AC motor drive, particularly in AC motor itself. Obtained simulation results based on the proposed ladder circuit model are verified by the experimental investigations which were carried out for an exemplary AC motor drive.","PeriodicalId":162453,"journal":{"name":"2011 IEEE International Symposium on Industrial Electronics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131713629","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}
L. Costas, Pablo Colodron, Unnati Ojha, J. Rodríguez-Andina, J. Fariña, M. Chow
{"title":"Improving timing predictability in UGV control systems through FPGA implementation","authors":"L. Costas, Pablo Colodron, Unnati Ojha, J. Rodríguez-Andina, J. Fariña, M. Chow","doi":"10.1109/ISIE.2011.5984386","DOIUrl":"https://doi.org/10.1109/ISIE.2011.5984386","url":null,"abstract":"In the design of network-based control systems, network delays and bandwidth variations must be carefully taken into account. In order for the performance of these systems to be optimized, it is necessary to minimize loop delay, and to make it as predictable as possible. In this work, an FPGA implementation is proposed to improve predictability, while at the same time reducing loop delay, in a control system for Unmanned Ground Vehicles in the context of an intelligent space environment. Experimental results are presented demonstrating the significant improvements that can be achieved with regard to the existing PC-based solution. Future improvements that can be obtained from the use of advanced features and resources of FPGAs are also identified.","PeriodicalId":162453,"journal":{"name":"2011 IEEE International Symposium on Industrial Electronics","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125567058","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}