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PARALLEL-FORM REALIZATION OF 2-D ADAPTIVE SEPARABLE-DENOMINATOR STATE-SPACE FILTERS

ELECTRONICS AND COMMUNICATIONS IN JAPAN PART III-FUNDAMENTAL ELECTRONIC SCIENCE 1995年第1期78卷 44-55页

作者： MUNEYASU, M HINAMOTO, T Faculty of Engineering Hiroshima University Higashi-Hiroshima Japan 724 Mitsqji Muneyasu received his B.E. and M.E. degrees in Systems Engineering from Kobe University in 1982 and 1984 respectively. In 1984 he joined Oki Electric Industry Co. Ltd. in Tokyo. From 1990 to 1992 he was on the Faculty of Engineering Tottori University. He is currently a Research Associate in the Department of Electrical Engineering Hiroshima University. His research interest includes multidimensional digital signal processing. He is a member of the Information Processing Society of Japan. Members TaKao Hinamoto received his B.E. M.E. and Dr. of Eng. degrees in Electrical Engineering from Okayama University Kobe University and Osaka University in 1969 1971 and 1977 respectively. From 1972 to 1988 he was on the Faculty of Engineering Kobe University from 1988 to 1991 he was a Professor on the Faculty of Engineering Totton University and is currently Professor of Control Electronics the Faculty of Engineering Hiroshima University. His research interests include digital signal processing and system theory. He is a member of IEEE CAS ASSP and CS Society.

This paper treats the parallel-form realization of two-dimensional (2-D) adaptive state-space filters whose transfer functions are separable in the denominator. The adaptive filters are described by the Roesser local state-space (LSS) model, and the least mean squares (LMS) method is used here to adjust the filter parameters. First, the Roesser LSS model with separable denominator is realized in a parallel form. Then the stability condition of the tilter is shown. Next, the LMS method is employed to adjust the filter parameters in the parallel form. In addition, the computational time and the number of processors required for the realization are investigated. Finally, the adaptive filter is applied in numerical examples to the 2-D spatial-domain filter design and to the noise reduction of an image.

关键词： ADAPTIVE FILTER PARALLEL-FORM REALIZATION 2-D DIGITAL FILTER ROESSERS MODEL IMAGE PROCESSING

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Explicit fuzzy force control of industrial manipulators with position servo drives

Explicit fuzzy force control of industrial manipulators with...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： I.H. Suh K.S. Eom H.J. Yeo B.H. Kang S.-R. Oh B.H. Lee Intelligent Control and Robotics Laboratory Department of Electrvnics Engineering Hanyang University South Korea Samsung Data System Company Limited South Korea Division of Electronics and Infonmation technology KIST Seoul South Korea Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University South Korea

In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where control rules of the proposed fuzzy controller are changed according to the magnitude of environmental stiffness in such a way that good force response is maintained regardless of changes of environmental stiffness. Specifically, some fuzzy control rules are designed for several representative environmental stiffness values, and then a control action for a given arbitrary environmental stiffness value is decided by a fuzzy interpolation method. To show the validity of the proposed fuzzy controller, several experimental results are illustrated, where a 5-axis articulated robot manipulator equipped with the wrist force/torque sensor system and our prototype dual robot controller are employed.< >

关键词： Fuzzy control Force control Industrial control Manipulators Torque control control systems Robot sensing systems Commercialization Service robots Servomechanisms

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Disturbance torque estimation in a sensorless DC drive

Disturbance torque estimation in a sensorless DC drive

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International Conference on Industrial Electronics, control and instrumentation

作者： G.S. Buja R. Menis M.I. Valla Institute of Management and Engineering University of Padova Vicenza Italy Department of Electrotechnics Electronics and Informatics University of Trieste Trieste Italy National Research Council (CONICET) and Laboratory of Industrial Electronics Control and Instrumentation Engineering Faculty National University of La Plata La Plata Argentina

The estimation of the disturbance torque in a sensorless DC drive is carried out by extending the classical observer theory. Three estimation schemes are formulated according to the representation of the disturbance torque and processing of the observer states. In addition to the disturbance torque, all the schemes deliver an estimation of the motor speed. Steady-state accuracy and dynamics of the schemes are analyzed in nominal conditions, identifying the scheme with the best performance. The effects of variations in the motor parameters are also analyzed, finding that a proper modeling of the motor makes the steady-state estimation of the disturbance torque insensitive to any variation. As a test, the schemes are applied to a sensorless DC drive for both compensating for the disturbance torque and closing the speed loop. The responses obtained with the best-performance scheme are reported.< >

关键词： Torque Drives DC motors Steady-state Equations Industrial electronics Sensorless control Observers Performance analysis Testing

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ACCURACY REQUIREMENTS FOR MEASUREMENT systemS WITH UNIFORM AND NORMAL ERRORS

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NAVAL ENGINEERS JOURNAL 1993年第1期105卷 66-69页

作者： SNOW, JM STUCKMAN, BE USHER, JS Jeffrey M. Snow:received his B.S. degree in mechanical engineering from the University of Washington in 1977. He has worked at Boeing Commercial Aircraft Company and Puget Sound Naval Shipyard. Since 1985 he has been at Naval Surface Warfare Center Crane Division (NSWCC). From 1987 to 1990 he was in charge of quality assurance configuration management and reliability for Aegis (SPY-1 and Mk-99) microwave tubes. He currently is in the Radar System Branch at NSWCC. He is a member of ASQC and ASME. His areas of interest include the use of statistics in process improvement efforts and objectively rating and rewarding suppliers for better quality. Bruce E. Stuckman:holds a Ph.D. degree in systems engineering from Oakland University where he also obtained M.S. and B.S. degrees in electrical and computer engineering. In 1992 Dr. Stuckman obtained his J.D. from the University of Louisville where he graduated cum laude. He is currently an associate in the patent and computer law department of Brooks & Kushman a law firm specializing in intellectual property and technology related causes. Prior to this he was an associate professor of both electrical engineering at the University of Louisville and a member of the Research Advisory Board of the South Central Bell Telecommunications Research Center. Dr. Stuckman is the author of over 75 published works in a variety of research areas including global optimization algorithms control systems communication and telecommunication systems and instrumentation electronics. He has served as a technical consultant to such organizations as Control Data Corporation General Electric General Motors Research Laboratories Gulf & Western AT&T Bell Laboratories ARCO Research and Technical Services and the U.S. Government and has been a frequent lecturer at national and international symposia. He is a senior member of IEEE and a member of ASNE Eta Kappa Nu Tau Beta Pi Sigma Xi and Phi Kappa Phi. John S. Usher Ph.D. P.E.:is an assistant professor of industrial engineering

Accuracy requirements are usually determined as a percentage of the specification range of the measured part or process. Setting accuracy requirements in this manner results in a wide and unpredictable range of false rejection and acceptance probabilities. This causes extra costs due to either: 1) over specification of measurement systems accuracy requirements;2) time, effort, retesting, and resolution of false rejections;or 3) system degradation caused by false acceptance of out-of-specification parts. Achieving a consistent and known risk of false acceptance is only possible by considering the measured process C(pk), the process's mean in relation to the center of the specification range, and the measurement system error distribution. This paper presents a method for calculating the probabilities of false rejection and false acceptance for a normal process which is measured with, alternately, uniform and normally distributed error. It is shown that under most conditions uniform error causes 20% to 30% higher false rejection and acceptance probabilities. Thus, knowledge of measurement error distribution could provide lower total production cost.

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Simple robust adaptive control of static VAR compensator

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European Transactions on Electrical Power 1993年第6期3卷 429-435页

作者： Machowski, J. Nelles, D. Jan Machowski (1950) received the M.Sc. degree in Electrical Faculty of Warsaw University of Technology in 1974. For two years he was employed in the Power Dispatching Centre in Warsaw/Poland. Later after gaining some field experience in several power plants he did a postgraduate study at Warsaw University of Technology where he received his Ph.D. degree in 1979. In the same year he joined the Electrical Faculty of Warsaw University of Technology where he is presently employed as a professor and head of the power system protection and control group. His areas of interest are power systems analysis protection and control. Since October 1989 he has been with Kaiserslautem University/Germany. (Univ. Kaiserslautern FB Elektrotechnik. P.O. Box 30 49 67618 Kaiserslautem T +4963/205-3431 Fax +49631/205-21 68) Dieter Nelles (1939). VDE received the Dipl.-Ing. degree in electrical engineering in 1966 from the Technical University in Darmstadt/Germany and the Dr.-Ing. degree in 1973 from the Technical University of Berlird/Germany. Since 1966 he has been with the Technical and Science Department of AEG-Telefunken (Frankfurt/M Germany) as a research engineer and since 1972 as the head of this department. In 1982 he joined the Electical Faculty of Kaiserslautem University where he presently is il professor of eletrical engineering and head of the Electrical Energy Supply Group. His special areas of interest are powersystem stability. power system protection and power system control. He is a member of VDE and serves as the chairman of Synchronous Machines Regulation and Excitation Systems Committee. (Univ. Kaisers-lautem FB Elektrotechnik. P.O. Box 304967618 Kaiserslautem T +49631/205-28 46 Fax +49631/205-21 68)

A study of power system transient stability enhancement through effective use of static VAR compensator is presented. It is shown that optimal state‐variable control can be approximately realized as a simple closed‐loop control based on locally measurable electric quantities. In order to make this regulation more effective and insensitive to the changes of the network parameters and loading condition it is proposed to use simple adaptive control with dynamic gain tuned by additional control loops. Tests done for two‐machine and multi‐machine systems have confirmed the validity and robustness of the proposed control method. Copyright © 1993 John Wiley & Sons, Ltd.

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Simulation Environment For An Autonomous And Decentralized Multi-agent Robotic system

Simulation Environment For An Autonomous And Decentralized M...

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Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and systems

作者： M.K. Habib H. Asama Y. Lshida A. Matsumoto I. Endo Control and System Engineering Department University of Technology Baghdad Iraq Chemical Engineering Laboratory Institute for Physical and Chemical Research Wako Saitama Japan Department of Mechanical Engineering Faculty of Engineering Toyo University Japan

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Variable structure control of a SRM drive

Variable structure control of a SRM drive

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International Conference on Industrial Electronics, control and instrumentation

作者： G.S. Buja R. Menis M.I. Valla Department of Electrotechnics Electronics and Informatics University of Trieste Trieste Italy National Research Council (CONICET) and Laboratory of Industrial Electronics Control and Instrumentation Engineering Faculty National University of La Plata La Plata Argentina

The application of a variable structure system (VSS) to the control of a switched reluctance motor (SRM) drive is presented. The operation of an SRM drive is reviewed, and a VSS-based scheme is formulated to control the drive speed. The scheme is then tested by simulation. The results show that the VSS control is effective in reducing the torque ripple of the motor, compensating for the nonlinear torque characteristics, and making the drive insensitive to parameter variations and disturbances.< >

关键词： Reluctance motors Variable structure systems Reluctance machines Drives Electric variables control Torque control Inductance Industrial electronics control systems Testing

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control CHARACTERISTICS OF THE SRM DRIVES .1. OPERATION IN THE LINEAR REGION

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1991年第5期38卷 313-321页

作者： BUJA, GS VALLA, MI Department of Electrotechnics Electronics and Informatics University of Trieste Trieste Italy Laboratory of Industrial Electronics. Control and Instrumentation Engineering Faculty National University of La Plata La Plata Argentina

The control characteristics of switched-reluctance motor (SRM) drives are analyzed for operation of the motor in the linear region of its magnetic characteristics. After reviewing the motor operation, we consider the current-fed and voltage-fed SRM drives. For both types of drives, the control variables and the related ranges are identified, the relationships between such variables and the average motor torque are calculated, and the torque capability is found. The basic schemes for the speed control of the SRM drives are also formulated.

关键词： Reluctance motors Stators Rotors Magnetic variables control Magnetic analysis Voltage Torque control Saturation magnetization Velocity control Inductance

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On-Line Identification of Time Delay And system Parameters of Continuous systems Based on Discrete-Time Measurements

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IFAC Proceedings Volumes 1991年第3期24卷 721-726页

作者： Z.Y. Zhao S. Sagara K. Kumamaru Department of Electrical Engineering Faculty of Engineering Kyushu University Hakozaki Fukuoka 812 Japan Department of Computer Science and Control Engineering Faculty of Computer Science and System Engineering Kyushu Institute of Technology Iizuka Fukuoka 820 Japan

A simple approach is presented for simultaneous on-line identification of the time delay and the system parameters of continuous-time systems based on discrete-time measurements. The linear integral filter is used both to construct the derivatives of input-output signals and to avoid estimating the unknown initial conditions. The time delay and the system parameters are directly estimated by an on-line algorithm which is derived using Newton’s method. Severed identification methods such as the bias-compensating method and the instrumental variable methods are applied for eliminating the asymptotic bias of the parameter estimates in noisy situations. The present algorithm is applicable to the case when the time delay is not an integral multiple of the sampling interval, and can also be used for model reduction.

关键词： Identification time-delay systems identification techniques model reduction

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control characteristics of switched-reluctance motor drives

Control characteristics of switched-reluctance motor drives

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1990 IEEE International Workshop on Intelligent Motion control, IMC 1990

作者： Buja, Giuseppe S. Valla, Maria I. Department of Electrotechnics Electronics and Informatics University of Trieste Via Valerlo 10 Trieste34127 Italy Laboratory of Industrial Electronics Control and Instrumentation Engineering Faculty National University of La Plata C.C. 91 La Plata1900 Argentina Department of Electrotechnics Electronics and Informatics University of Trieste Via Valerio 10 Trieste Italy Argentina

The paper describes the control characteristics of the switched-reluctance motor (SSM) drives, assuming a linear behavior of the magnetic circuit of the motor. After reviewing the principles of operation of a SRM, the current-source and voltagesource supplies of the motor are introduced. For both the supplies the control variables are identified, the relationships between such variables and the motor torque are calculated and the torque capability is found. Schemes for the speed control of the SRM drives are also presented. © 1991 IEEE.

关键词： Magnetic circuits

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