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2008 10th IEEE International Workshop on Advanced Motion Control最新文献

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Discrete-time robust adaptive control for robotic manipulators 机械臂的离散鲁棒自适应控制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516143
S. Takagi, N. Uchiyama, S. Sano
{"title":"Discrete-time robust adaptive control for robotic manipulators","authors":"S. Takagi, N. Uchiyama, S. Sano","doi":"10.1109/AMC.2008.4516143","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516143","url":null,"abstract":"This paper deals with a design of discrete-time robust adaptive controllers with fixed compensators for robotic manipulators. Although several adaptive control schemes with fixed compensators for minimum-phase systems have been proposed, they can not be applied for robotic manipulators because their discrete-time models are not of minimum-phase. In this paper, first, we design a direct adaptive controller for robotic manipulators using an existing discrete-time model with unstable zeros. Then a fixed compensator is also designed for improving the robustness of the adaptive control system based on the fact that the stable zeros and poles of the open-loop transfer function improve the feedback properties. The fixed compensator is obtained by solving a convex optimization problem. The proposed method is applied to a two-link manipulator and its effectiveness is experimentally examined.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"486 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132790329","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
The problem of measurement and control of speed in a drive with an inaccurate measuring position transducer 测量位置传感器不准确的驱动器中速度的测量和控制问题
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516054
S. Brock, J. Deskur
{"title":"The problem of measurement and control of speed in a drive with an inaccurate measuring position transducer","authors":"S. Brock, J. Deskur","doi":"10.1109/AMC.2008.4516054","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516054","url":null,"abstract":"The theoretical limitations of the speed control for drives equipped with an inaccurate, low-resolution position sensor (encoder) are analysed in this paper. Encoder errors as well as time delay introduced by the speed calculation method are considered. The conclusions arising from the theoretical analysis have been confirmed by simulation results.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130881397","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: 10
Methods of voltage synchronization in multiphase power conversion systems 多相电源转换系统中电压同步的方法
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516153
V. Oleschuk, G. Griva, F. Profumo, A. Tenconi
{"title":"Methods of voltage synchronization in multiphase power conversion systems","authors":"V. Oleschuk, G. Griva, F. Profumo, A. Tenconi","doi":"10.1109/AMC.2008.4516153","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516153","url":null,"abstract":"Novel method (methodology) of synchronized pulsewidth modulation (PWM) is powerful instrumentation for elimination of sub-harmonics in the spectra of output voltage of both three-phase and multiphase voltage source inverters. This paper presents examples of dissemination of this new method for control of: a) five-phase inverters; b) six-phase inverters for drive system with symmetrical six-phase induction machine, and c) six-phase inverters for asymmetrical six-phase motor drive. Basic peculiarities of the method have been described. Simulations give a behavior of multiphase drive systems fed by inverters with basic continuous and discontinuous schemes of synchronized PWM, providing quarter-wave symmetry of the phase voltage during the whole control range.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133345482","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
Wireless network based identification and control with variable time delay 基于无线网络的变时延识别与控制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516089
Y. Uchimura
{"title":"Wireless network based identification and control with variable time delay","authors":"Y. Uchimura","doi":"10.1109/AMC.2008.4516089","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516089","url":null,"abstract":"This paper describes a wireless networked system with variable time delay in both of input/output transmission path. Especially, this paper focuses on a packet based network in which subsequent packets catch up the preceding packet. The paper reveals that individual delay values are needed for system identification and control, otherwise only the round trip time can be known the identification and delay compensation control leads unexpected results. To measure time delay, time synchronization of local and remote system is required and this paper proposes to use a synchronization function of IEEE 802.11 based wireless network Simulation studies on identification and delay compensation and the results verified that the proposed method works effectively.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133130895","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: 5
Novel regenerative braking control of electric power assisted wheelchair for optimal velocity driving on downhill road 电动辅助轮椅下坡最佳行驶速度的再生制动控制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516119
H. Seki, K. Ishihara, S. Tadakuma
{"title":"Novel regenerative braking control of electric power assisted wheelchair for optimal velocity driving on downhill road","authors":"H. Seki, K. Ishihara, S. Tadakuma","doi":"10.1109/AMC.2008.4516119","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516119","url":null,"abstract":"This paper describes a novel regenerative braking control scheme of electric power assisted wheelchairs for optimal velocity driving on downhill roads. \"Electric power assisted wheelchair\" which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, it has no braking system to suppress the wheelchair's velocity and brings the dangerous and fearful driving especially on downhill roads. Therefore this paper proposes a novel safety and efficient driving control scheme based on the regenerative braking system. This study applies the regenerative braking system with the step-up chopper circuit serially connecting two motors and realizes the velocity feedback control with the variable duty ratio so that it tracks the optimal velocity based on minimum jerk model. In addition, the dynamic braking system is also applied at the low speed range instead of the regenerative brake in order to suppress the acceleration. Some driving experiments on the practical downhill roads show the effectiveness of the proposed control system.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116434297","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
Direct design of switching control system by SVR-based VRFT -Application to vetrical-type one-link arm- 基于vrr的VRFT直接设计开关控制系统-在立式单连杆臂上的应用-
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516149
S. Yabui, K. Yubai, J. Hirai
{"title":"Direct design of switching control system by SVR-based VRFT -Application to vetrical-type one-link arm-","authors":"S. Yabui, K. Yubai, J. Hirai","doi":"10.1109/AMC.2008.4516149","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516149","url":null,"abstract":"A switching control is one of effective control schemes for a class of nonlinear systems. This paper addresses a direct design problem of designing switching controllers for a class of nonlinear systems from I/O data. Our proposed design method is direct in a sense that no model identification of the controlled plant is required, and it needs only a single set of data generated by the system. In order to design switching controllers, this paper uses an idea of an identification technique of hybrid systems. The proposed method can design switching controllers by a model-free controller tuning and clustering, and decide the switching condition. The effectiveness of the proposed design method is verified by simulations.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116462457","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
Motion control of a mobile pendulum system using neural network 基于神经网络的移动摆系统运动控制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516109
J. Noh, G. Lee, Seul Jung
{"title":"Motion control of a mobile pendulum system using neural network","authors":"J. Noh, G. Lee, Seul Jung","doi":"10.1109/AMC.2008.4516109","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516109","url":null,"abstract":"The motion of the mobile inverted pendulum system (MIPS) is controlled by a neural network controller along with PID controllers. The MIPS is required to follow the circular trajectory while maintaining the balance. The radial basis function (RBF) network is trained with the back-propagation algorithm in on-line fashion. The DSP 2812 board is developed and used for the massive calculation of neural parallel processing to achieve an on-line learning and control. Experimental studies are conducted and confirm the performance of the RBF neural network controller.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121911574","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: 3
Modelling, control and design of heavy duty suspension systems 重型悬挂系统的建模、控制和设计
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516164
F. Biral, M. Grott, R. Oboe, C. Maffei, E. Vincenti
{"title":"Modelling, control and design of heavy duty suspension systems","authors":"F. Biral, M. Grott, R. Oboe, C. Maffei, E. Vincenti","doi":"10.1109/AMC.2008.4516164","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516164","url":null,"abstract":"The design of suspension systems for off-highway vehicles covers a specific field of automotive industry. During the last years, due to the working conditions in agricultural environments, there have been an increasing demand in power capabilities, loads and driving speeds of heavy duty vehicles. In this way the industrial design and consequently the research activity present a big potential of improvement. This paper describes the development, modeling and testing of suspension systems and control algorithms for heavy vehicles. The main targets of this activity, currently under development, consist in the study of the dynamical behaviour of agricultural tractors and the design of a cost-effective industrial solution. The work is structured in different steps: the definition of the project requirements (also by consultations with manufacturers), the modeling of agricultural tractors by symbolic and numerical multibody codes, the investigation of commercial solutions in terms of comfort, ride and energetic requirements and finally the development of control algorithms for hydro-pneumatic semi- active suspension systems. The main results are validated through experimental activities done by a suspension bench test purposely designed. The experimental sessions consist in the identification of the frequency response of the suspension system and the computation of performance indexes.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124045357","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: 10
A predictive optimal torque control of synchronous reluctance motor drive 同步磁阻电机驱动的预测最优转矩控制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516097
G. Gatto, I. Marongiu, A. Serpi
{"title":"A predictive optimal torque control of synchronous reluctance motor drive","authors":"G. Gatto, I. Marongiu, A. Serpi","doi":"10.1109/AMC.2008.4516097","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516097","url":null,"abstract":"In this paper, a predictive digital control of the synchronous reluctance motor drive is presented. The proposed control, implemented in rotor coordinates, is based on a recursive algorithm in which the reference values of d and q current components are imposed. The digital control system directly synthesizes the output vector which allows the timing control of the inverter by means of on/off state of the switches. This results in avoiding the implementation of the traditional PI controllers and PWM technique. Under transient operation, both the reference d-q current components are set by imposing the maximum allowable torque variation, during the actual sampling interval, taking into account the inverter voltage saturation. In this way, the optimal (fastest) torque trajectory can be followed. The proposed algorithm guarantees optimal torque step response. The d-q current values, corresponding to steady state torque, do not guarantee any other additional condition. Hence, after reference torque is reached, the drive can be controlled by means of an additional predictive algorithm which assures minimum Joule losses. A computer simulation study, using Matlab Simulink tool, is conducted on the drive with the aim of highlighting the good performance of the proposed algorithms compared to traditional and to predictive (not optimal) ones.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"9 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123315052","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: 3
A method of road condition estimation and feedback utilizing haptic pedal 一种基于触觉踏板的路况估计与反馈方法
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516165
J. Aoki, T. Murakami
{"title":"A method of road condition estimation and feedback utilizing haptic pedal","authors":"J. Aoki, T. Murakami","doi":"10.1109/AMC.2008.4516165","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516165","url":null,"abstract":"These days, electric vehicles are developing rapidly. Electric vehicles are expected to be alternative to the conventional gasoline engine vehicles and many researchers have studied motion control of electric vehicle. In this paper, a method how to feedback the road condition to the driver, which utilizes real-time road condition estimation method using sensor information of traction motor, is proposed. Fixed trace (FT) algorithm which is one of real-time identification methods and driving force observer which estimates driving force and friction coefficient are used to estimate road condition. To feedback road condition to the driver, haptic pedal system which uses a motor set in the acceleration pedal is proposed. In haptic pedal motor, disturbance observer and reaction torque observer is implemented to estimate driver input to the acceleration pedal without using force sensor. Simulation is carried out to show the validity of the proposed method.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123823731","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: 14
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