IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)最新文献_第8页

Robust control of robot manipulators by MIMO disturbance observer 基于MIMO扰动观测器的机械臂鲁棒控制

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) Pub Date : 1998-08-31 DOI: 10.1109/IECON.1998.722865

K. Yamada, S. Komada, M. Ishida, T. Hori

{"title":"Robust control of robot manipulators by MIMO disturbance observer","authors":"K. Yamada, S. Komada, M. Ishida, T. Hori","doi":"10.1109/IECON.1998.722865","DOIUrl":"https://doi.org/10.1109/IECON.1998.722865","url":null,"abstract":"A robot manipulator control method using disturbance observer in task space and a simple coordinate transformation by the transposed Jacobian matrix has been proposed. The control method can realize a simple control algorithm with less computation power for large degree-of-freedom robot manipulators. However, the inertia variation depending on manipulator configuration is large due to the simplification of the control algorithm. Therefore, the decoupled error of the system, i.e. nondiagonal elements of the input matrix in the state space, caused by compensation error of the disturbance observer influences accuracy of the control system. In this paper, the authors introduce a new MIMO (multi-input-multi-output) disturbance observer, which can regard the nondiagonal elements of the inertia matrix as a control parameter. Moreover, a simple design method for disturbance observer system considering quadratic stability is introduced. The accuracy of the robot manipulator control is improved as compared to that of the conventional disturbance observer system by these strategies.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122153424","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

Sliding mode control of torque ripple in wind energy conversion systems with slip power recovery 带滑移功率回收的风能转换系统转矩脉动滑模控制

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) Pub Date : 1998-08-31 DOI: 10.1109/IECON.1998.724170

H. De Battista, R. Mantz

{"title":"Sliding mode control of torque ripple in wind energy conversion systems with slip power recovery","authors":"H. De Battista, R. Mantz","doi":"10.1109/IECON.1998.724170","DOIUrl":"https://doi.org/10.1109/IECON.1998.724170","url":null,"abstract":"This paper deals with wind energy conversion systems (WECS) with slip power recovery. These systems use a double-output induction generator, which is connected directly to grid by stator and through a static converter by rotor. An appropriate control of the converter allows the WECS to operate at the optimum tip speed ratio, maximizing the efficiency of the energy conversion. Wind turbine generators are characterized by a low frequency mode of oscillation. Random wind fluctuations, wind shear and tower shadow effects, may excite this mode, producing large ripple on drive train torque as well as on the generated electric power. Torque ripple may damage drive train components, and fluctuation of the generated electric power may cause flicker in weak grids. In this paper, a sliding mode control strategy of the static converter is proposed. It forces the system to follow wind speed variations and provides damping of the oscillation mode, resulting in a large reduction of torque ripple and electric power fluctuation. The closed-loop system dynamics are completely robust to uncertainties in electrical parameters of the generator and grid voltages disturbances.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123997088","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: 17

Utilizing temporal associations for view-based 3-D object recognition 利用时间关联进行基于视图的三维物体识别

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) Pub Date : 1998-08-31 DOI: 10.1109/IECON.1998.724038

A. Massad, B. Mertsching, S. Schmalz

{"title":"Utilizing temporal associations for view-based 3-D object recognition","authors":"A. Massad, B. Mertsching, S. Schmalz","doi":"10.1109/IECON.1998.724038","DOIUrl":"https://doi.org/10.1109/IECON.1998.724038","url":null,"abstract":"The authors propose an architecture for the recognition of three-dimensional objects on the basis of viewer-centered representations and temporal associations. Motivated by biological findings and by successful computational implementations they have chosen a viewer-centered representation scheme. In contrast to other implementations, special attention is paid to the temporal order of the views, which proves useful for learning and recognition purposes. Their recognition system combines different kinds of artificial neural networks into a four stage architecture: preprocessing by a Gaborjet transform is followed by an extended dynamic link matching algorithm which implements recognition and learning of the view classes. A STORE network records the temporal order of the views by transforming a sequence of view classes into an item-and-order coding. Subsequently, a Gaussian-ARTMAP architecture is used for the classification of the sequences and for their mapping onto object classes by means of supervised learning. The presented results demonstrate that the system is capable to autonomously learn and to discriminate similar objects. Additionally, the examples show how the utilization of the temporal context improves object recognition by making ambiguous views manageable and facilitating an increased insensitiveness against misclassifications.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125951527","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

Design of distributed adaptive user interfaces using digital plant technology 基于数字工厂技术的分布式自适应用户界面设计

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) Pub Date : 1998-08-31 DOI: 10.1109/IECON.1998.724008

A. Nordqvist, P. Eriksson

引用次数: 4

DSP implementation of neural network speed estimator for inverter fed induction motor 神经网络速度估计器的DSP实现

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) Pub Date : 1998-08-31 DOI: 10.1109/IECON.1998.724227

D. Sobczuk, P. Z. Grabowski

引用次数: 10

Commutation laws transfer strategy for the feedforward switching losses optimal PWM for three-phases voltage source inverter 三相电压源逆变器前馈开关损耗优化PWM换相律转移策略

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) Pub Date : 1998-08-31 DOI: 10.1109/IECON.1998.724190

S. Ryvkin, D. Izosimov, S. Belkin

引用次数: 17

Sub-pixel accuracy by optical measurement of large automobile components 大型汽车部件光学测量的亚像素精度

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) Pub Date : 1998-08-31 DOI: 10.1109/IECON.1998.724107

G. Stanke, L. Zedler, A. Zorn, F. Weckend, H. Weide

引用次数: 6

Kernel selection for sensorless speed measurement of AC machines (Wigner vs Page representation) 交流电机无传感器速度测量的内核选择(Wigner vs Page表示)

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) Pub Date : 1998-08-31 DOI: 10.1109/IECON.1998.724229

J. Restrepo, M. Giménez, V. Guzmán, J. Aller, A. Bueno

引用次数: 7

Path planning in extended uncertain environments 扩展不确定环境下的路径规划

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) Pub Date : 1998-08-31 DOI: 10.1109/IECON.1998.724262

M. Rendas, S. Rolfes

引用次数: 1

An adaptive fuzzy control for web tension control system 卷筒纸张力控制系统的自适应模糊控制

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) Pub Date : 1998-08-31 DOI: 10.1109/IECON.1998.722951

K. Okada, T. Sakamoto

引用次数: 41