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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE最新文献

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Analysis of servo system realized by disturbance observer 由扰动观测器实现的伺服系统分析
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509429
K. Yamada, S. Komada, M. Ishida, T. Hori
{"title":"Analysis of servo system realized by disturbance observer","authors":"K. Yamada, S. Komada, M. Ishida, T. Hori","doi":"10.1109/AMC.1996.509429","DOIUrl":"https://doi.org/10.1109/AMC.1996.509429","url":null,"abstract":"It is desirable to realize a nominal system which can control acceleration in order to realize a fast and precise servo system, even if the servo system has parameter variation and suffers from disturbance. In this paper, first, we transform the disturbance observer system to a filter-type two-degrees-of-freedom control system, which indicates that the disturbance observer system includes series compensators such as D, PD, and PID depending on the order of the disturbance observer. By clarifying the feature of the series compensator, we describe the bandwidth and stability of the realized system.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"16 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132089800","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: 23
Fuzzy-controlled DC drive system with load observer 带负载观测器的模糊控制直流驱动系统
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509432
Xiaogang Feng, Boshi Chen
{"title":"Fuzzy-controlled DC drive system with load observer","authors":"Xiaogang Feng, Boshi Chen","doi":"10.1109/AMC.1996.509432","DOIUrl":"https://doi.org/10.1109/AMC.1996.509432","url":null,"abstract":"Fuzzy-controlled drive systems have received a lot of attention in recent years. However, the conventional fuzzy controller does not lead to satisfactory control performance, because of the steady-state error it causes. In this paper, a new fuzzy-controlled DC drive system is described: a simple load observer is introduced into the speed controller to eliminate the steady-state error. In addition, by regulating the quantization scaling factor (Ke) and the output scaling factor (Ku) according to the operating condition, the chattering phenomenon in steady-state is reduced. Simulation results are provided to demonstrate the effectiveness of the proposed fuzzy controller.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124296126","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
Motion control of mobile manipulators moving on waved road surfaces using neural networks 基于神经网络的波浪路面移动机械臂运动控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509418
M. Hatano, M. Minami, T. Asakura, Y. Takahashi, M. Ichimura
{"title":"Motion control of mobile manipulators moving on waved road surfaces using neural networks","authors":"M. Hatano, M. Minami, T. Asakura, Y. Takahashi, M. Ichimura","doi":"10.1109/AMC.1996.509418","DOIUrl":"https://doi.org/10.1109/AMC.1996.509418","url":null,"abstract":"This research is concerned with a control method of mobile manipulators using a neural network for traveling operations on a waved road surface. When the mobile manipulator travels on an unknown terrain, the mobile manipulator is subjected to the effect of the disturbance torques. In this research, the controller is proposed to compensate the disturbance torques. First, an exact mathematical mobile manipulator model traveling on a waved road surface is proposed with the pitching motion along to the road. Second, the neuro adaptive controller with the compensator using the neural network is proposed to improve the trajectory-tracking control performances. Third, the control performance of the adaptive controller is examined, and the tracking error depending on the amplitude of the waved road and the traveling speed are discussed. Finally, it is clarified through simulation experiments that the traveling-performance are improved by the our proposed neuro adaptive controller.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127667747","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
Vibration suppression control of flexible arms by using a strain feedback with low-pass filter 基于低通滤波器应变反馈的柔性臂减振控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509330
K. Ohta, S. Komada, M. Ishida, T. Hori
{"title":"Vibration suppression control of flexible arms by using a strain feedback with low-pass filter","authors":"K. Ohta, S. Komada, M. Ishida, T. Hori","doi":"10.1109/AMC.1996.509330","DOIUrl":"https://doi.org/10.1109/AMC.1996.509330","url":null,"abstract":"Flexible arms with light-weight and low-stiffness vibrate easily. So vibration suppression control is necessary to acquire fast response. As one solution for the vibration suppression, strain feedback has been used, where a strain gage is put on the root of the flexible arm. However, the larger the strain feedback gain is, the slower the motor position response is, so there is a trade-off between effect of the vibration suppression and speed of the motor position response. This paper shows that high performance flexible arm control is possible by the strain feedback with a low-pass filter. Moreover, a disturbance observer makes the system robust against disturbance.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116325262","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
Feedforward and feedback strategies applying the principle of input balancing for minimal tracking errors in CNC machine tools 应用输入平衡原理的前馈和反馈策略实现数控机床的最小跟踪误差
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509318
G. Brandenburg, W. Papiernik
{"title":"Feedforward and feedback strategies applying the principle of input balancing for minimal tracking errors in CNC machine tools","authors":"G. Brandenburg, W. Papiernik","doi":"10.1109/AMC.1996.509318","DOIUrl":"https://doi.org/10.1109/AMC.1996.509318","url":null,"abstract":"In high-precision machine tools only very small deviations of the tool from the reference contour are admitted. In order to satisfy the accuracy requirements, three control goals have to be attained. Firstly, a smallest possible tracking error of every feed axis has to be attained. Secondly, a nearly identical dynamic performance of the axes is advantageous, because then the contour error is nearly zero, though each axis may have the same considerable tracking error. Thirdly, the suppression of nonperiodic or periodic disturbances is a crucial demand. In this contribution different feedforward and feedback strategies for cascade control structures are discussed and compared with polynomial controllers available on the market. A new issue is the principle of input balancing.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117308155","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
Series resonant DC-link AC/DC power converter for a V/F controlled motor drive 用于V/F控制电机驱动器的串联谐振DC-link AC/DC电源转换器
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509403
S. Abeyratne, J. Horikawa, Y. Murai, T. Lipo
{"title":"Series resonant DC-link AC/DC power converter for a V/F controlled motor drive","authors":"S. Abeyratne, J. Horikawa, Y. Murai, T. Lipo","doi":"10.1109/AMC.1996.509403","DOIUrl":"https://doi.org/10.1109/AMC.1996.509403","url":null,"abstract":"A new AC/AC power converter topology based on zero current switching is proposed to reduce switching losses. The topology enables pulse width modulation (PWM) control. The scheme implements \"peak-limiting\" of resonant current by a simple diode clamp and does not use dedicated devices for the start-up. Improved switch utilization and reduced part-count could be cited as the merits of the topology. It is experimentally verified that the current pulses could be controlled to achieve constant V/F operation. A mode controller which controls input line currents is introduced and digitally verified.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"241 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114214173","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
Sensorless estimation of rotor position of cylindrical brushless DC motors using eddy current 圆柱型无刷直流电动机转子位置的涡流无传感器估计
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509374
M. Tomita, M. Satoh, H. Yamaguchi, S. Doki, S. Okuma
{"title":"Sensorless estimation of rotor position of cylindrical brushless DC motors using eddy current","authors":"M. Tomita, M. Satoh, H. Yamaguchi, S. Doki, S. Okuma","doi":"10.1109/AMC.1996.509374","DOIUrl":"https://doi.org/10.1109/AMC.1996.509374","url":null,"abstract":"A rotor position estimation of a cylindrical brushless DC motor at a standstill has been difficult, and the realization has been desired. This paper proposes a simple processing of a rotor by pasting non-magnetic materials where eddy currents can flow on the rotor surface. This process causes a change of amplitude of the phase current according to the rotor position. The experimental results show that the rotor position estimation with maximum error of 26/spl deg/ electrical angle has been realized, which is useful for 120/spl deg/ conduction type cylindrical brushless DC motors.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126162722","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: 28
Experimental discussion on the permanent magnet type anti-directional-twin-rotary motor drive for electric vehicle 电动汽车用永磁式反向双转电机驱动的实验探讨
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509286
N. Hoshi, A. Kawamura
{"title":"Experimental discussion on the permanent magnet type anti-directional-twin-rotary motor drive for electric vehicle","authors":"N. Hoshi, A. Kawamura","doi":"10.1109/AMC.1996.509286","DOIUrl":"https://doi.org/10.1109/AMC.1996.509286","url":null,"abstract":"A new power train for electric vehicles using an anti-directional-twin-rotary motor (ADTR-motor) was proposed. The ADTR-motor is such that a stator in a conventional motor was reformed to be movable, and the stator (outer rotor) rotates in the anti-direction of a rotor in a conventional motor (inner rotor). Several motor structures of the ADTR-motor were considered: permanent magnet (PM) type, induction motor type and so on. In this paper, the experimentally constructed PM type ADTR-motor was tested. The transient characteristics of surface mount type PM ADTR-motor are compared with four-mass model simulations.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122719561","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: 9
Induction motor with free rotating magnets in the rotor 感应电动机的转子中有自由旋转的磁体
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509309
Y. Shibata, N. Tsuchida, K. Imai
{"title":"Induction motor with free rotating magnets in the rotor","authors":"Y. Shibata, N. Tsuchida, K. Imai","doi":"10.1109/AMC.1996.509309","DOIUrl":"https://doi.org/10.1109/AMC.1996.509309","url":null,"abstract":"We have developed a unique induction motor that has free rotating magnets inside its rotor. Modificating the rotor of conventional 3-phase 4-pole 400 W squirrel-cage induction motor, we have fabricated a prototype motor. In the experimental results of a prototype motor, we have obtained superior performance over existing motors in terms of power factor, efficiency and torque density. The power factor can be controlled to be unity, leading or lagging by changing the supply frequency and/or source voltage. The efficiency of the motor, over wide output power range, is remarkably higher than that of a same size conventional induction motor. Even if in various load conditions, the motor can be controlled to be operated in the optimized power factor and efficiency by changing the source voltage.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126465777","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
Distributed intelligent control structure for multi-legged walking robots 多足步行机器人分布式智能控制结构
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509410
K. Kawabata, T. Suzuki, T. Hayama, H. Kobayashi
{"title":"Distributed intelligent control structure for multi-legged walking robots","authors":"K. Kawabata, T. Suzuki, T. Hayama, H. Kobayashi","doi":"10.1109/AMC.1996.509410","DOIUrl":"https://doi.org/10.1109/AMC.1996.509410","url":null,"abstract":"This paper describes a distributed intelligent control structure for multilegged walking robots. Since living things have nerve center to realize fundamental athletic function, robots should also have such distributed low level controllers to govern the fundamental local motion. The proposed control structure consists of multiple controllers, where each controller corresponds to each leg and it determines the motion of its leg by common information and its own local information. This system is just like a swarm intelligence. The central controller needs not to consider the detail of each leg motion; it only does the global path planning and adjust the total synchronization.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130548429","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
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