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Digital signal processing for trajectory control of a multi-axis robot with electrical servo drives 多轴电伺服机器人轨迹控制的数字信号处理
15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI: 10.1109/IECON.1989.69657
W. Leonhard
{"title":"Digital signal processing for trajectory control of a multi-axis robot with electrical servo drives","authors":"W. Leonhard","doi":"10.1109/IECON.1989.69657","DOIUrl":"https://doi.org/10.1109/IECON.1989.69657","url":null,"abstract":"General problems of robot control and signal processing are reviewed. The control of multiaxis robots which combine the need for high accuracy with great complexity and speed of response while being within reach of a university laboratory is considered as an example. It is shown what the requirements are and how they can be met with a combination of today's microelectronic components in the form of a modulator microcomputer system.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121564518","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
Dead time and processes with stochastic disturbances 死区时间和随机扰动过程
15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI: 10.1109/IECON.1989.69675
E.V. Castedo
{"title":"Dead time and processes with stochastic disturbances","authors":"E.V. Castedo","doi":"10.1109/IECON.1989.69675","DOIUrl":"https://doi.org/10.1109/IECON.1989.69675","url":null,"abstract":"To control processes with unknown or variable dead time, it is important to estimate the dead time in real time. In the present work, adaptive control systems with reference models, where the estimation of the dead time in the batch processing model is considered, are studied. It is shown that the analysis of the output sensitivity variances with regard to the process dead time can allow a good estimation of this dead time. To estimate the dead time, it seems reasonable to start with a reference model corresponding to a high value of estimated dead time. This dead time estimation method was applied in a factory to a real process with significant stationary disturbances, and excellent results were obtained.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128899121","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
Explicit design of a predictive self-tuned PID controller 一种预测自整定PID控制器的显式设计
15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI: 10.1109/IECON.1989.69648
B. M. Al-Hadithi, Z. Meki, R. Habib
{"title":"Explicit design of a predictive self-tuned PID controller","authors":"B. M. Al-Hadithi, Z. Meki, R. Habib","doi":"10.1109/IECON.1989.69648","DOIUrl":"https://doi.org/10.1109/IECON.1989.69648","url":null,"abstract":"A novel predictive self-tuning PID (proportional-integral-derivative) controller is presented. The controller design is based on the linear prediction criteria in estimating the control variable from previous error values, providing enough time for the computations required for the self-tuning algorithm. The design procedure adopts the pole-cancellation approach and least-squares estimation in identifying the model parameters and calculating the controller coefficients using the estimated model parameters. Simulation results on different process models have shown that the controller yields improved performance and ability to cope with significant dead-time processes in comparison with conventional PID self-tuners. Specifically, the proposed scheme provides an improved performance in the sense of the classical figures of merit, such as overshoot, settling, and rise-time. The emphasis of the approach on higher-order dead-time models demonstrates its predictive capability in following the self-tuned compensation for abrupt changes and plant parameter variations.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127686793","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
Optimal configuration design of multi-DSP's for digital control systems 数字控制系统中多dsp的优化配置设计
15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI: 10.1109/IECON.1989.69682
H. Maki, Y. Ohta, H. Haneda
{"title":"Optimal configuration design of multi-DSP's for digital control systems","authors":"H. Maki, Y. Ohta, H. Haneda","doi":"10.1109/IECON.1989.69682","DOIUrl":"https://doi.org/10.1109/IECON.1989.69682","url":null,"abstract":"The authors consider the implementation of digital controllers in a multi-DSP (digital signal processor) environment. A novel configuration that achieves minimum throughput time and sampling period is proposed. The problem is formulated as an optimization problem to minimize a throughput time and a sampling period. An optimal solution of the problem is derived and a hardware configuration of a multi-DSP system is shown. The method can be applied to general DSPs, and examples are given for the TMS320C25.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133332170","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
A model following variable structure controller 模型跟随变结构控制器
15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI: 10.1109/IECON.1989.69655
Kang-Woong Lee, Sung-Jun Lee, Keh-Kun Choi
{"title":"A model following variable structure controller","authors":"Kang-Woong Lee, Sung-Jun Lee, Keh-Kun Choi","doi":"10.1109/IECON.1989.69655","DOIUrl":"https://doi.org/10.1109/IECON.1989.69655","url":null,"abstract":"A variable structure model following controller is proposed for a SISO (single-input, single-output) linear plant which is subject to parameter variations and/or input disturbances. The proposed method, based on the modified condition for the sliding mode, allows the designer to satisfy the requirements for speeding up the reaching phase and to reduce the control effort in the sliding mode. The problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133753877","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
The paperless factory-myth or reality? 无纸化工厂——神话还是现实?
15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI: 10.1109/IECON.1989.69699
Stephen P. Boyd
{"title":"The paperless factory-myth or reality?","authors":"Stephen P. Boyd","doi":"10.1109/IECON.1989.69699","DOIUrl":"https://doi.org/10.1109/IECON.1989.69699","url":null,"abstract":"The author describes the importance of advanced manufacturing technology to the evolution of a successful company. This evolution progresses through three stages: the first is high growth, the second is the move from limited to greater manufacturing involvement, and the third is the transition from traditional manufacturing processes to advanced manufacturing technology. As examples, the author uses the transitions made by the Austin, Texas, and Watsonville, California, manufacturing facilities of Tandem Computers Incorporated. Ten guidelines for successful automation are offered.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129675862","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
A half-bridge pulse-width modulated zero-current-switched quasi-resonant converter 半桥脉宽调制零电流开关准谐振变换器
15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI: 10.1109/IECON.1989.69611
I. Barbi, M. A. Oliveira, J. B. Vieira
{"title":"A half-bridge pulse-width modulated zero-current-switched quasi-resonant converter","authors":"I. Barbi, M. A. Oliveira, J. B. Vieira","doi":"10.1109/IECON.1989.69611","DOIUrl":"https://doi.org/10.1109/IECON.1989.69611","url":null,"abstract":"The authors present a novel half-bridge pulse-width modulated zero-current-switched quasi-resonant converter for offline application, derived from the half-bridge frequency-modulated zero-current-switched quasi-resonant converter with secondary-side resonance and a separate freewheeling diode. It is shown that the proposed converter operates under constant frequency and is regulated by pulse-width modulation, with lossless commutation. A detailed analysis, the design procedure, simulation, and experimental results are presented. A laboratory prototype rated at 140 W, operating at a switching frequency of 500 kHz and resonant frequency of 2.5 MHz, has been implemented and tested.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132652477","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
Designing intelligent muscle into industrial motion control 将智能肌肉设计到工业运动控制中
15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI: 10.1109/IECON.1989.69736
Thomas M. Jahns
{"title":"Designing intelligent muscle into industrial motion control","authors":"Thomas M. Jahns","doi":"10.1109/IECON.1989.69736","DOIUrl":"https://doi.org/10.1109/IECON.1989.69736","url":null,"abstract":"The author provides a broad tutorial review of the growing impact of power integrated circuit (PIC) technology on motion control systems. Following a brief discussion of the underlying PIC semiconductor technology, reported PIC applications in a broad spectrum stepper, DC, brushless DC, and AC motor drive configurations are reviewed. PIC designs used in motor drives covering a range of power ratings from (100 W to)10 kW are surveyed. Strengths and limitations of present PIC technology are discussed, revealing likely directions for future PIC developments and their potential impact on future motion control systems.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129563782","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
Assembled PCB visual inspection machine using image processor with DSP 用带有DSP的图像处理器组装PCB视觉检测机
15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI: 10.1109/IECON.1989.69695
S. Hata, K. Hagimae, S. Hibi, T. Gunji
{"title":"Assembled PCB visual inspection machine using image processor with DSP","authors":"S. Hata, K. Hagimae, S. Hibi, T. Gunji","doi":"10.1109/IECON.1989.69695","DOIUrl":"https://doi.org/10.1109/IECON.1989.69695","url":null,"abstract":"To automate the visual inspection of assembled printed circuit boards (PCBs), a visual inspection machine was developed. The machine detects a variety of defects of assembled PCBs, such as missing parts, polarity errors, improper names of ICs, and improper insertion of leads. To achieve this variety of functions, a microprogrammable image signal processor, the DSP-i, has been introduced into the machine. A character recognition algorithm called the multistep similarity vector comparison method is used in the processor. This method enables the inspection machine to recognize IC names reliably without the learning of various patterns of characters from many manufacturers. The operation speed of the DSP-i is about 20 times faster than that of a general 16-b microcomputer.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"169 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121051333","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: 8
Self tuning vector control for induction motors 感应电机自调谐矢量控制
15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI: 10.1109/IECON.1989.69645
S. Biswas, H. Sendaula, T. Caro
{"title":"Self tuning vector control for induction motors","authors":"S. Biswas, H. Sendaula, T. Caro","doi":"10.1109/IECON.1989.69645","DOIUrl":"https://doi.org/10.1109/IECON.1989.69645","url":null,"abstract":"The authors present a control scheme for adaptively updating the gains in the control loop of a voltage inverter-fed induction motor drive. The method is essentially an implementation of a parallel adaptive model following control (AMFC) system. The reference model is obtained assuming perfect decoupling conditions. The method presented allows simple design and implementation of the AMFC system, and the desired closed-loop performance is achieved under variations of different plant parameters including the rotor resistance. Since the rotor dynamics is included in the model, it describes the transient performance of a closed-loop system. Results of numerical simulations of a self-tuning vector controller using the adaptive model reference techniques are presented. The controller gains are adjusted to accommodate changes in the rotor resistance. The nonzero steady-state error indicates that the PI gains need to be included in the adaptation loop.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128315332","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
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