IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)最新文献

{"title":"Vibration control without estimated disturbance feedback for robot manipulators","authors":"Y. Kosaka, A. Shimada, P. Viboonchaicheep","doi":"10.1109/IECON.2003.1280093","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280093","url":null,"abstract":"This paper presents the vibration suppression control technique for the robot manipulators. To make the technique fit for practice, the presented robot controller is characterized by the function that considers the low-stiffness kept in the mechanical reduction gears in the robot joints. And it is designed as the sampled-data servo controller using the state space form digital disturbance observer. The reason not to utilize the transfer function form disturbance observer but the state space form one is to make the best use of the feature that the latter one can estimates not only disturbance but also the other state variables under the disturbance. And we suppose that the presented control method including above observer is essentially useful for such low-stiffness plants.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"221 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134064150","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}

{"title":"Position rectification control for Mecanum wheeled omni-directional vehicles","authors":"P. Viboonchaicheep, Akira Shimada, Y. Kosaka","doi":"10.1109/IECON.2003.1280094","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280094","url":null,"abstract":"In recent years, an omni-directional vehicle system using Mecanum wheels has been developed and used in wheel-chairs. It should be more widely utilized as a kind of robot for intelligent wheelchairs or vehicle robots for hazards by making the best use of its unique features. This paper presents a position rectification method during position and orientation control with multi-sampling periods. The control system is based on unique kinematics, which are under holonomic constraints. The idea for the proposed rectification method consisting of symptomatic rectification and preventive rectification has been borrowed from medical science.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131121504","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}

{"title":"Direct Torque Control with variable duty-cycle in induction motor drives using 3-level inverters","authors":"G. Brando, A. Del Pizzo, S. Nocerino, R. Rizzo","doi":"10.1109/IECON.2003.1279997","DOIUrl":"https://doi.org/10.1109/IECON.2003.1279997","url":null,"abstract":"The paper deals with Direct Torque Control of high-power induction motor drives using a 3-level inverter. In order to overcome the problem of flux magnitude and torque oscillations, an optimized algorithm is proposed. The sampling time is subdivided in some elementary parts, where different voltage vectors are applied. These are evaluated by means of a simplified mathematical model in order to keep flux and torque within assigned hysteresis bands.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115283800","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}

{"title":"Torque ripple minimization in DTC of induction motor based on optimized flux value determination","authors":"S. Kaboli, M. Zolghadri, S. Haghbin, A. Emadi","doi":"10.1109/IECON.2003.1280019","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280019","url":null,"abstract":"Torque ripple is a major difficulty in direct torque controlled induction motors. The reference value of the motor flux greatly influences the torque ripple. On the other hand, many motors work in an operating cycle, which includes load intervals of less than their nominal power. In these situations, it is not necessary to set their flux value as the nominal value. In this paper, the effect of the reference value of the motor flux on the motor torque ripple is investigated. A new control algorithm is proposed to determine the reference value of the flux according to the value of the motor torque. Simulation and experimental results justify the validity of the proposed method to reduce the motor torque ripple. The effect of the flux reference variation on the motor power factor as well as torque dynamics is also presented.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116998596","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}

{"title":"Intrusion detection in MANETS - the second wall of defense","authors":"K. Nadkarni, A. Mishra","doi":"10.1109/IECON.2003.1280229","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280229","url":null,"abstract":"Wireless mobile ad hoc networks (popularly known as MANETs) have been the focus of research in recent times. Rapid and infrastructure-less deployment in emergency and military situations make these networks unique. However, certain inherently vulnerable characteristics lead to security concerns, which can prove especially damaging in sensitive situations like military operations. Intrusion prevention measures are not guaranteed to work all the time since unrelenting attackers can eventually break them down. An intrusion detection scheme (IDS) monitors a network and looks for intrusions, thus forming a second wall of defense. In this paper, we have proposed a misuse detection -based IDS for MANETs. Our protocol-independent design makes use of a self-adjusting threshold scheme and detects a priori known attack patterns with over 90% accuracy and is generally insensitive to false alarms. Experimental validation has provided significant results about non-degradability of network performance with our IDS incorporated for security enhancements.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117337452","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}

{"title":"Speed sensorless control of ultrasonic motors using neural network","authors":"T. Senjyu, T. Yoshida, K. Uezato, N. Urasaki, S. K. Panda","doi":"10.1109/IECON.2003.1280003","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280003","url":null,"abstract":"This paper presents a speed sensorless control for ultrasonic motors using a neural network. In the proposed method, a three-layered NN is used with offline training. The drive frequency, the root mean square value of input voltage and the surface temperature of USM are used as the inputs of NN for speed estimator. The validity of the proposed method is confirmed by experimental results.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120993484","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}

{"title":"Interaction of induction machines fundamental wave design and asymmetries in the transient electrical behavior caused by saturation","authors":"T. Wolbank, J. Machl, R. Wohrnschimmel, H. Hauser","doi":"10.1109/IECON.2003.1280272","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280272","url":null,"abstract":"In today's AC machine drives the control is realized by considering the fundamental wave behavior of the machine only. However, the exploitation of the high frequency or transient properties of the machine can advantageously be used to obtain additional information on the state variables of the machine like flux or rotor position or detection of possible fault conditions. Especially for the estimation of the flux or rotor position in induction machines the practical performance of the resulting control is strongly influenced by the lamination design. Modern design tools for induction machines only consider the fundamental wave and only few effort has been made until now to investigate the interaction of the fundamental wave design and the transient electrical behavior. This work is focused on these interactions. A transient simulation of the machine based on a magnetic equivalent circuit model including lamination material hysteresis is applied to ascertain the connection between saturated areas in the lamination material and the signals obtained from the evaluation of the machines transient electrical step response. To verify this connection as well as to quantify the influence measurements were performed on different machines with specific lamination design each concentrated on dominant saturation in a different area like tooth or yoke in the stator as well as in the rotor. A comparison of the simulation and measurement results of the machines at varying flux and load levels is given and the reasons for the difference in the transient signals is discussed taking the fundamental wave as well as the transient field distribution into account. Based on these results a model of the interaction of fundamental wave saturation and the transient control signals is established where the asymmetries caused by saturation at the different areas of the lamination are each represented by individual phasors. Adding up the phasors of all areas leads to the resulting asymmetry of the machine and gives its dependence on the point of operation.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127075492","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}

{"title":"Performance of PI stator resistance compensator on DTC of induction motor","authors":"S. Haghbin, M. Zolghadri, S. Kaboli, A. Emadi","doi":"10.1109/IECON.2003.1280018","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280018","url":null,"abstract":"Stator resistance PI compensator is one of the simplest methods proposed to estimate stator resistance. This method is based on the real time stator resistance correction regarding the variations of the stator current magnitude, which must be a constant value when the stator flux and motor torque are constant. This reference value can be calculated using the flux and torque commands and motor parameters. In this paper, it is shown that for DTC systems using digital controller with limited sampling frequency, stator current vector amplitude varies as a function of speed, sampling period, and switching strategy. Effects of sampling frequency, motor speed, and switching strategy on this current error are investigated and their effects on performance of the stator resistance PI compensator are considered.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127082532","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}

{"title":"Implementation of a servo positioning system on spin stand","authors":"W. Wong, Lu Feng, G. Guo, W. Ye, A. Al-Mamun","doi":"10.1109/IECON.2003.1280569","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280569","url":null,"abstract":"To achieve an ultra-high track density in magnetic recording systems, high precision and efficient servomechanism is needed to position the head on the desired track. In this paper, a multiple-frequency servo encoding and modified discrete Fourier transform (DFT)-based decoding scheme is used to detect the position error signal (PES) as the feedback signal for reader servo control on a spin stand. A personal computer (PC) is used to perform the DFT and generates the PES at 8 kHz speed. A modified PZT head cartridge base is used as the positioning device on the spin stand. A closed-loop bandwidth of 300 Hz has been achieved, resulting in an 18% improvement of the tracking accuracy.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127127525","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}

{"title":"High speed positioning system considering unknown coulomb friction and windup phenomenon","authors":"T. Mashimo, K. Ohishi, H. Dohmeki","doi":"10.1109/IECON.2003.1280568","DOIUrl":"https://doi.org/10.1109/IECON.2003.1280568","url":null,"abstract":"In a conventional positioning system, when the position error becomes small, the motor cannot obtain enough deceleration torque. Hence, the position response becomes slow. There is also another positioning system that is to design a position reference from trapezoidal speed reference. This positioning system is valid when load torque and the final goal position are given. However, if the load torque and the final goal vary, its position response cannot have the desired response. In order to overcome these problems, this paper proposes a new high speed positioning system of AC servo motor considering unknown coulomb friction and windup phenomenon. The proposed always uses the maximum acceleration or deceleration torque and the maximum speed.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127251966","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}