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[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society最新文献

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Fast inverse dynamics computation in real-time robot control 机器人实时控制中的快速逆动力学计算
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI: 10.1109/IECON.1990.149221
C. Li, T. Sankar
{"title":"Fast inverse dynamics computation in real-time robot control","authors":"C. Li, T. Sankar","doi":"10.1109/IECON.1990.149221","DOIUrl":"https://doi.org/10.1109/IECON.1990.149221","url":null,"abstract":"Two fast computational schemes for robot inverse dynamics are presented. One scheme is designed to implement the inverse dynamics computation for a robot in real-time on a microcomputer with only one processor. In this scheme, two efficient algorithms that are computationally the fastest of all the existing single-processor-based algorithms for the robot inverse dynamics computation are proposed. The scheme is designed to implement in parallel the real-time inverse dynamics computation for a robot on a microcomputer with three processors. The proposed algorithms have been verified by computing the inverse dynamics of a PUMA 560 robot arm with six degrees-of-freedom.<<ETX>>","PeriodicalId":253424,"journal":{"name":"[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125091041","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: 20
Some implementation aspects of line current reconstruction in three phase PWM inverters 三相PWM逆变器线路电流重构的几个实现问题
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI: 10.1109/IECON.1990.149299
F. Petruzziello, G. Joós, P. Ziogas
{"title":"Some implementation aspects of line current reconstruction in three phase PWM inverters","authors":"F. Petruzziello, G. Joós, P. Ziogas","doi":"10.1109/IECON.1990.149299","DOIUrl":"https://doi.org/10.1109/IECON.1990.149299","url":null,"abstract":"A method of motor current reconstruction that can be applied with all pulsewidth-modulation (PWM) schemes is discussed. The method is well suited to implementation with digital signal processors (DSPs) or application specific integrated circuits (ASICs). It is based on system variable identification by means of the least-squares method. It is shown that a sinusoidal current waveform of known frequency can be reconstructed accurately for all operating conditions from data sampled on the DDC bus. In particular, the amplitude and phase shifts of the sinusoidal waveform are obtained by combining information from the DC link current and the switching pattern. A sinusoidal PWM switching scheme is used to test the algorithm. Simulated and experimental results are presented.<<ETX>>","PeriodicalId":253424,"journal":{"name":"[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131937678","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: 22
Medium frequency deadbeat controlled PWM inverter with parameter estimation for induction heating 感应加热中频无差拍控制PWM逆变器参数估计
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI: 10.1109/IECON.1990.149160
N. S. Gehlot, P. Alsina
{"title":"Medium frequency deadbeat controlled PWM inverter with parameter estimation for induction heating","authors":"N. S. Gehlot, P. Alsina","doi":"10.1109/IECON.1990.149160","DOIUrl":"https://doi.org/10.1109/IECON.1990.149160","url":null,"abstract":"The authors propose real-time signal processing based on deadbeat control of a pulsewidth modulation (PWM) current inverter with parameter estimation for induction heating applications. The one-step-ahead controller strategy is used in deadbeat control with voltage and current sampling and in deadbeat control, with current sampling. The controllers' stability is analyzed by the discrete root locus method and the load parameters are estimated by the least squares method. A current-fed inverter of 4 kHz with a sampling time of 8.33 mu s is considered. Computer simulation results are presented.<<ETX>>","PeriodicalId":253424,"journal":{"name":"[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121104531","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
Improved variable speed sensorless servo system by disturbance observer 用扰动观测器改进无转速传感器伺服系统
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI: 10.1109/IECON.1990.149107
H. Watanabe, S. Miyazaki, T. Fujii
{"title":"Improved variable speed sensorless servo system by disturbance observer","authors":"H. Watanabe, S. Miyazaki, T. Fujii","doi":"10.1109/IECON.1990.149107","DOIUrl":"https://doi.org/10.1109/IECON.1990.149107","url":null,"abstract":"An improved variable-speed sensorless servo system consisting of an inverter-fed permanent magnet field synchronous motor without any shaft-mounted sensors and with a disturbance torque observer is discussed. The sensorless servo system shows a tendency to become unstable by disturbance torques to the motor. A disturbance torque observer based on a digital signal processor was developed, and the motor current was compensated by the observed torque. Experimental results obtained by the prototype drive system with the disturbance torque observer are compared with those obtained by a sensorless servo system without the observer. These results predict the sufficient performance of the variable speed drive.<<ETX>>","PeriodicalId":253424,"journal":{"name":"[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129549180","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
Local observability matrix and its application to observability analyses 局部可观测矩阵及其在可观测性分析中的应用
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI: 10.1109/IECON.1990.149118
Zhe Chen, K. Jiang, J. Hung
{"title":"Local observability matrix and its application to observability analyses","authors":"Zhe Chen, K. Jiang, J. Hung","doi":"10.1109/IECON.1990.149118","DOIUrl":"https://doi.org/10.1109/IECON.1990.149118","url":null,"abstract":"A local observability matrix for a linear time-varying system is introduced. The matrix is useful for observability analysis; it is much easier to use than the usual observability grammian for linear time-varying systems. The matrix is applied to a terrain-aided inertial navigation system to reveal the observability of the system in terms of the nature of the terrain. Results of a simulated covariance analysis are presented and discussed.<<ETX>>","PeriodicalId":253424,"journal":{"name":"[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society","volume":"56 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129557164","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: 46
Coupling an expert system with industrial real-time processes 专家系统与工业实时过程的耦合
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI: 10.1109/IECON.1990.149322
N. Bogunovic
{"title":"Coupling an expert system with industrial real-time processes","authors":"N. Bogunovic","doi":"10.1109/IECON.1990.149322","DOIUrl":"https://doi.org/10.1109/IECON.1990.149322","url":null,"abstract":"A diagnostic real-time expert system, applied to an industrial chemical process, is used as a testbed for research on integration of symbolic and numeric computations in a unified framework. The algorithms reveal the precise role and desirable characteristics of synergism between statistical process control and the expert system. Inferencing on the process performance is founded on the consistent and continuous acquisition of the process parameters, statistical and mass balance calculations, heuristic rules processing, and history data reporting. The implementation status and runtime performance of the system are given.<<ETX>>","PeriodicalId":253424,"journal":{"name":"[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130633898","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
Bang-bang position control of direct drive motor 直接驱动电机砰砰位置控制
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI: 10.1109/IECON.1990.149127
K. Furuta, S. Kobayashi
{"title":"Bang-bang position control of direct drive motor","authors":"K. Furuta, S. Kobayashi","doi":"10.1109/IECON.1990.149127","DOIUrl":"https://doi.org/10.1109/IECON.1990.149127","url":null,"abstract":"A time-suboptimal control law for a direct-drive motor is proposed. It is a bang-bang type control law, providing an almost minimal time response by taking the input constraint into consideration. It includes a VSS-type integrator to minimize sensitivity to model mismatching and parameter variation, as well as to take maximum applicable torque and velocity into consideration. The validity of the control law is confirmed through experiments.<<ETX>>","PeriodicalId":253424,"journal":{"name":"[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132645774","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
Convergence rates of an adaptive control algorithm with application to the speed control of a DC machine 一种自适应控制算法的收敛速度及其在直流电机速度控制中的应用
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI: 10.1109/IECON.1990.149172
H. Benchoubane, D. Stoten
{"title":"Convergence rates of an adaptive control algorithm with application to the speed control of a DC machine","authors":"H. Benchoubane, D. Stoten","doi":"10.1109/IECON.1990.149172","DOIUrl":"https://doi.org/10.1109/IECON.1990.149172","url":null,"abstract":"A method of obtaining the convergence rates of the minimal-controller synthesis (MCS) strategy, as applied to a first-order SISO (single-input-single-output) plant, is described. The MCS algorithm is a significant development of model reference adaptive control, and is based on the hyperstability theory of Popov. Bounds are provided on the speed of convergence of the closed-loop error dynamics. It is shown that no knowledge of the plant dynamics is required, apart from an estimate of the low-frequency gain. An estimate of the plant output settling-time is derived. The problem of MCS speed control as applied to a DC machine is investigated from an error-convergence viewpoint.<<ETX>>","PeriodicalId":253424,"journal":{"name":"[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133184404","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
Selecting an optimal neural network 选择最佳神经网络
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI: 10.1109/IECON.1990.149309
D. B. Fogel
{"title":"Selecting an optimal neural network","authors":"D. B. Fogel","doi":"10.1109/IECON.1990.149309","DOIUrl":"https://doi.org/10.1109/IECON.1990.149309","url":null,"abstract":"A relationship between optimal network design and statistical model identification is described. A derivative of Akaike's information criterion (AIC) is given. This modification yields an information statistic which can be used to select a best network for binary classification problems objectively. The technique can be extended to problems with an arbitrary number of classes.<<ETX>>","PeriodicalId":253424,"journal":{"name":"[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society","volume":"249 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130941952","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
State and parameter estimation for step motors under actual working conditions 步进电机在实际工况下的状态和参数估计
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI: 10.1109/IECON.1990.149121
A. Imagi, M. Tomisawa, T. Koizumi
{"title":"State and parameter estimation for step motors under actual working conditions","authors":"A. Imagi, M. Tomisawa, T. Koizumi","doi":"10.1109/IECON.1990.149121","DOIUrl":"https://doi.org/10.1109/IECON.1990.149121","url":null,"abstract":"A method of measuring the dynamic behavior and characteristics of step motors without attaching mechanical sensors is described. Friction load torque and motor torque constant, as well as rotor position and velocity, are estimated by a sequential least square filter driven by sensed back electromotive force and current. The validity of the proposed filter is confirmed in detail by comparing the estimated results with direct measurements in both steady and transient state.<<ETX>>","PeriodicalId":253424,"journal":{"name":"[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134107162","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
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