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National Proceedings Power and Energy Conference (PECon)

作者： Ab. Halim Abdul Bakar Cheng Hock Lim Saad Mekhilef Protection Department Transmission Division TNB Electrical Energy & Power System Universiti Malaya Malaysia Lecturer Department of Electrical Engineering University of Malaya deputy director Center for Research Power Electronics & Drives Automation and Control.

This paper reports the digital-time domain and frequency domain studies on a typical 132 kV capacitor voltage transformer (CVT) model. The transient studies are conducted using alternative transient program (ATP-EMTP). Simulation results corresponding to the CVT transient response under both system fault and ferroresonance condition are reported in this paper. Transient studies are performed (1) to identify the CVT components that contribute to the transient response of CVT, (2) to determine system condition that affect the CVT transient response. A lightning simulation case study is also presented.

关键词： Capacitors Voltage transformers Power system transients Switches Ferroresonance Lightning Circuits Power system modeling Transient response Power system reliability

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Balance Properties and Stabilization of Min-Max systems

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International Journal of automation and computing 2006年第1期3卷 76-83页

作者： Yue-Gang Tao Wen-De Chen Yi-Xin Yin Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 PRC Laboratory of Systems and Control Academy of Mathematics and System Sciences Chinese Academy of Sciences Beijing 100080 PRC School of Information Engineering University of Science and Technology Beijing Beijing 100083 PRC

A variety of problems in operations research, performance analysis, manufacturing, and communication networks, etc., can be modelled as discrete event systems with minimum and maximum constraints. When such systems require only maximum constraints （or dually, only minimum constraints）, they can be studied using linear methods based on max-plus algebra. systems with mixed constraints are called min-max systems in which rain, max and addition operations appear simultaneously. A significant amount of work on such systems can be seen in literature. In this paper we provide some new results with regard to the balance problem of min-max functions; these are the structure properties of min-max systems. We use these results in the structural stabilization. Our main results are two sufficient conditions for the balance and one sufficient condition for the structural stabilization. The block technique is used to analyse the structure of the systems. The proposed methods, based on directed graph and max-plus algebra are constructive in nature. We provide several examples to demonstrate how the methods work in practice.

关键词： Balance fixed point min-max systems output feedback structural stabilization.

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Power losses for IGCTs and diodes in MV three-level inverters

Power losses for IGCTs and diodes in MV three-level inverter...

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Sixth International Conference on Power Electronics and Drive systems, PEDS 200

作者： Yuan, Liqiang Zhao, Zhengming Yang, Zhi Dept. of Electrical Engineering Tsinghua Univ. State Key Lab of Control and Simulation of Power System Beijing China Dept. of Frequency-converter and Control System GuoDian NanJing Automation Co. Ltd. Nanjing China

ISBN: (纸本)0780392965

The power-loss models for different switching states of IGCTs and diodes in MV (medium voltage) three-level NPC (neutral point clamped) inverters are presented in this paper. The models, simulation implementation and the revisional experiments on IGCT test platform are described in details. The relation between the power losses and the other elements of the inverter is analyzed and discussed. © 2005 IEEE.

关键词： Electric inverters

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Self calibrating procedure for a 3D force observer

Self calibrating procedure for a 3D force observer

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44th IEEE Conference on Decision and control, and the European control Conference, CDC-ECC '05

作者： Gámez García, J. Robertsson, A. Ortega, J. Gómez Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Department Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)0780395689

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently In order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system Identification. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Force control

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Force and acceleration sensor fusion for compliant robot motion control

Force and acceleration sensor fusion for compliant robot mot...

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2005 IEEE International Conference on Robotics and automation

作者： Gámez García, J. Robertsson, A. Gómez Ortega, J. Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Dept. Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)078038914X

In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors - that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer - whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Motion control

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Automatic calibration procedure for a robotic manipulator force observer

Automatic calibration procedure for a robotic manipulator fo...

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2005 IEEE International Conference on Robotics and automation

作者： Gámez García, J. Robertsson, A. Gömez Ortega, J. Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Dept. Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)078038914X

In this paper, we propose a method for self-calibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate the procedure. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Force control

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Self Calibrating Procedure for a 3D Force Observer

Self Calibrating Procedure for a 3D Force Observer

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IEEE Conference on Decision and control

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Department Jaen University. Campus Las Lagunillas Jaen Spain Dept. of Automatic Control Lund University Lund Sweden System Engineering and Automation Department Jaen University Jaen Spain

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently in order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Force sensors Manipulator dynamics Robot sensing systems Service robots Force measurement Torque measurement Wrist End effectors Fuses Accelerometers

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Automatic Calibration Procedure for a Robotic Manipulator Force Observer

Automatic Calibration Procedure for a Robotic Manipulator Fo...

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IEEE International Conference on Robotics and automation (ICRA)

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Department Jaen University Jaen Spain Department of Automatic Control Lund University Lund Sweden

关键词： Calibration Robotics and automation Manipulators Robot sensing systems Force sensors Accelerometers Robust stability Service robots Fuses Motion estimation

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Force and Acceleration Sensor Fusion for Compliant Robot Motion control

Force and Acceleration Sensor Fusion for Compliant Robot Mot...

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IEEE International Conference on Robotics and automation (ICRA)

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Dept Jaen University Jaen Spain Dept. of Automatic Control Lund University Lund Sweden

In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors— that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer— whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Force sensors Acceleration Sensor fusion Robot motion Force control Motion control Robot control Robot sensing systems Manipulator dynamics Force measurement

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Modeling earth albedo for satellites in earth orbit

Modeling earth albedo for satellites in earth orbit

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AIAA Guidance, Navigation, and control Conference 2005

作者： Bhanderi, Dan D.V. Bak, Thomas Aalborg University Fredrik Bajers Vej 7C DK-9220 Aalborg Oest Denmark Danish Institute of Agricultural Sciences Schüttesvej 17 DK-8700 Horsens Denmark Department of Control Engineering Denmark Research Group Department of Automation and System Technology

ISBN: (纸本)1563477378

Many satellite are influenced by the Earth's albedo, though very few model schemes exist, in order to predict this phenomenon. Earth albedo is often treated as noise, or ignored completely. When applying solar cells in the attitude hardware, Earth albedo can cause the attitude estimate to deviate with as much as 20 deg. Digital Sun sensors with Earth albedo correction in hardware exist, but are expensive. In addition, albedo estimates are necessary in thermal calculations and power budgets. We present a modeling scheme based on Earth reflectance, measured by NASA's Total Ozone Mapping Spectrometer, in which the Earth Probe Satellite has recorded reflectivity data daily since mid 1996. The mean of these data can be used to calculate the Earth albedo given the positions of the satellite and the Sun. Our results show that the albedo varies highly with the solar angle to the satellite's field of view, and that the longitude of the satellite position is significant to the model output. The results also show that the calculated albedo is generally lower than it would be expected based only on the reflectivity data. Copyright © 2005 by Aalborg University.

关键词： Space applications

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