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Energy-optimal planning of a driving system with coulomb and viscous frictions

Energy-optimal planning of a driving system with coulomb and...

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2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Xuejun, Zhu Izumi, Teruyuki Yiting, Zhu College of Mechanical Engineering Ningxia University Ningxia Yinchuan 750021 China Department of Electronic and Control System Engineering Shimane University Shimane Matsue 690-8504 Japan

ISBN: (纸本)1424404665

Energy conservation is a current requirement in industry. This paper discusses an energy-optimal planning of a servo system, which is driven by a DC motor and a reduction gear. controllable energy loss, such as Joule loss, Coulomb friction loss and viscous friction loss can be expressed by crossing time tc, when input torque of reduction gear is changed from positive to negative. In a position control system, minimization of the dissipated energy is determined by optimal crossing time tc. This conclusion is confirmed by simulations. © 2006 IEEE.

关键词： Friction

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EHM based neural model for hysteresis

EHM based neural model for hysteresis

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2006 IEEE International Conference on Networking, Sensing and control, ICNSC'06

作者： Lianwei, Ma Yonghong, Tan Laboratory of Intelligent Systems and Control Engineering Guilin University of Electronic Technology Guilin 541004 China Department of Automation Shanghai Jiaotong University Shanghai 200030 China

ISBN: (纸本)1424400651

This paper proposes a neural model for hysteresis. A method of continuous transformation is used to construct an elementary hysteresis model (EHM), which implements a one-to-one mapping between the input space and the output space of the hysteresis. The output of the EHM is used as one of the input signals of the neural network (NN) to approximate the behavior of hysteresis. A parabolic factor is introduced to improve the modeling performance for the major and minor loops of the hysteresis. © 2006 IEEE.

关键词： Neural networks

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An algorithm for recovering FECG signal

An algorithm for recovering FECG signal

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2006 International Conference on Communications, Circuits and systems, ICCCAS

作者： Yunxia, Li Changyuan, Fan Jianglin, Zhang School of Automation Engineering University of Electronic Science Technology of China Chengdu Sichuan Province China Department of Control Engineering Chengdu University of Information Technology Chengdu Sichuan Province China

ISBN: (纸本)0780395840

The extraction of fetal electrocardiogram (FECG) from the composite maternal ECG signal is discussed. This problem can be modelled from the perspective of blind source extraction. Using the objective function presented by Barros, this paper proposes a new algorithm to extract the FECG with higher speed. Simulation results confirm the validity of the proposed algorithm. © 2006 IEEE.

关键词： Electrocardiography

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A target differentiation algorithm of multi-neural-network based on rough set for mobile robot

A target differentiation algorithm of multi-neural-network b...

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6th World Congress on Intelligent control and automation, WCICA 2006

作者： Xin, Ma. Liu, Wei Li, Yibin Chen, Weidong Xi, Yugeng Centre for Robotics School of Control Science and Engineering Shandong University Jinan Shandong Province China Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)1424403324

Aiming at the uncertainty of sonar data in the problem of sonar-based target differentiation for mobile robot, the paper firstly presents a hierarchical reduction approach to reduce a sonar data set based on rough set theory. Then on the basis of the reduction, a multi-neural network based target differentiation algorithm is designed on the fact that the effective combination of multiple neural networks can increase the ability to pattern classification and generalization of the whole system. Parallel network architecture is adopted locally to increase the differentiation accuracy. And the average weighed strategy is applied to fuse the outputs of the parallel neural network classifiers to improve the robustness of the differentiation system to noise, physically plausible failure and missing sonar data situation. The simulation experiments prove that the new method combining with the traditional target differentiation algorithm can increase the accuracy of sonar-based target differentiation for mobile robot in indoor environments. © 2006 IEEE.

关键词： Mobile robots

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An Integrated system for Logic controller Implementation Using FPGAs

An Integrated System for Logic Controller Implementation Usi...

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Annual Conference of Industrial electronics Society

作者： Celso F. Silva Camilo Quintans Jose M. Lago Enrique Mandado Department of Electronic Technology and Department of System Engineering and Automation University of Vigo Vigo Spain

At present, logic controllers use sequential programmable logic controllers (PLC) and industrial computers with scan strategies and special instructions for parallel events detection. Also, nowadays, reconfigurable devices improvement allows the implementation of parallel control strategies in a more natural way. This paper describes an integrated system for logic controller implementation using FPGA. It consists of a hardware card and a design automation environment which improves design performance. The hardware, as well as doing typical automation tasks, contributes to achieving additional characteristics such as simulation and monitoring. To show the integrated system applications, a real industrial project is undertaken

关键词： control systems Field programmable gate arrays Logic devices Reconfigurable logic Programmable control Electrical equipment industry Automatic control Hardware Programmable logic arrays Programmable logic devices

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Fault Feature Extraction by Using Adaptive Chirplet Transform

Fault Feature Extraction by Using Adaptive Chirplet Transfor...

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World Congress on Intelligent control and automation (WCICA)

作者： Qianjin Guo Haibin Yu Jingtao Hu Department of Control Engineering and Communication System Graduate School of Chinese Academy of Sciences Beijing China Department of Control Engineering and Communication System Shenyang Institute of Automation Chinese Academy of Sciences Liaoning China

The vibration generated by industrial machines always contains nonlinear and nonstationary signals. It is expected that a desired time-frequency analysis method should have good computation efficiency, and have good resolution in both time domain and frequency domain. In this paper, the adaptive Gaussian chirplet distribution for an integrated time-frequency signature extraction of the machine vibration is presented. The adaptive Gaussian chirplet spectrogram is nonnegative, has a high time-frequency resolution, and is free of cross term interference, so it offers the advantage of good localization of the vibration signal energy in the time-frequency domain. Experimental results show that the proposed method is very effective

关键词： Feature extraction Chirp Time frequency analysis Signal resolution Signal generators Time domain analysis Frequency domain analysis Spectrogram Energy resolution Interference

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Transient Fault Signal Detection Using Wigner Higher-Order Moment Spectra Methods

Transient Fault Signal Detection Using Wigner Higher-Order M...

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IEEE International Conference on Mechatronics and automation

作者： Qianjin Guo Haibin Yu Jingtao Hu Aidong Xu Department of Control Engineering and Communication System Graduate School of Chinese Academy of Sciences Beijing China Department of Control Engineering and Communication System Shenyang Institute of Automation Chinese Academy of Sciences Liaoning China

Most mechanical faults in machinery reveal themselves through transient events in vibration signals. That is, the vibration generated by industrial machines always contains nonlinear and non-stationary signals. Many analysis methods in current use are optimal for Gaussian and linear models but are suboptimal when the problem is one of analysing non-stationary, non-linear and non-Gaussian signals. Focusing on the defects of different joint time-frequency representations, the analysis of transient vibration signals is considered using Wigner higher-order based time-frequency distributions in this paper. The Wigner higher-order moment spectra (WHOS), which are the extensions of the Wigner-Ville distribution (WVD) to higher-order moment spectra domains, can describe the higher-order moment spectral characteristics from the time domain and the frequency domain simultaneously. The simulation case show that this technique has high time-frequency resolution and reduced interference terms

关键词： Signal detection Vibrations Transient analysis Signal resolution Signal analysis Frequency domain analysis automation control engineering Machinery Signal generators

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Generalized contact force estimator for a robot manipulator

Generalized contact force estimator for a robot manipulator

引用

IEEE International Conference on Robotics and automation (ICRA)

作者： J.G. Garcia A. Robertsson J. Gomez Ortega R. Johansson System Engineering and Automation Department Jaen University Jaen Spain Department 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. In the robot manipulation context, end-effector contact forces may be difficult to measure due to tool interference, yet indirect measurement such as from wrist-mounted force sensors provide force measurement contaminated by inertial forces of the tool distal to the force sensor. In order to extract the contact force exerted by the robot, it is necessary to separate the contact forces from inertial forces. We propose a complete formulation and implementation of a new control strategy based on multi-sensor 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 accelerometers - whose goal is to obtain a suitable contact force estimator. These new observers contribute to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of contemporary robots used without external sensory feedback; in addition, the final observer can be applied to any kind of real robot system. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an industrial Staubli RX60 manipulator with open control system architecture

关键词： Force sensors Robot sensing systems Manipulator dynamics Force measurement Pollution measurement Service robots Interference Force control Sensor fusion Wrist

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Selective Harmonic Elimination in Multi-Modules Three-Phase Current-Source Converters

Selective Harmonic Elimination in Multi-Modules Three-Phase ...

引用

IEEE International Symposium on Industrial electronics (ISIE)

作者： Johan I. Guzman Jose R. Espinoza Navid R. Zargari Luis A. Moran Department of Electrical Engineering Concepcion University Concepcion Chile Rockwell Automation Canada Control System Cambridge ONT Canada

Modular current source converters (MCSC) can enhance the current capacity and improve the power quality at medium voltage PWM motor drives. A MCSC uses individual three-phase modules in a shunt connection to share the total power in a symmetrical manner. The modulation of these units is normally done using optimized patterns as selective harmonic elimination (SHE). However, the optimization is usually performed at each module. This paper proposes a modulating technique that optimizes the operation of a MCSC built up of P modules. Thus, for the same switching frequency, P times the number of harmonics are removed from the injected ac current as compared to the regular approach. A complete mathematical formulation as well as experimental results validate the theoretical considerations

关键词： Pulse width modulation Pulse width modulation converters Medium voltage Topology Switching frequency Power harmonic filters Power semiconductor switches Pulse width modulation inverters Space vector pulse width modulation Power system harmonics

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Modeling Issues in Three-Phase Current Source Rectifiers that use Damping Resistors

Modeling Issues in Three-Phase Current Source Rectifiers tha...

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IEEE International Symposium on Industrial electronics (ISIE)

作者： Pedro E. Melin Jose R. Espinoza Navid R. Zargari Miguel A. Sanchez Johan I. Guzman Department of Electrical Engineering Concepcion University Concepcion Chile Rockwell Automation Canada Control System Cambridge ONT Canada

The model of a three-phase current source rectifier (CSR) is a complex mathematical representation as it is nonlinear, multi-variable, and coupled. In order to work with a simplified but still accurate model, a representation in a rotating reference frame dq0 in combination with an average model are normally used. The result is a model that operates with ripple free inputs, outputs, and state variables that should be the accurate average value of the actual variables. However, the average model of these topologies could lead to errors if damping resistors are used. A case study shows as much as 10% error in the DC link current between the actual value and the predicted by the average model. This paper finds and shows systematically the source of the error and proposes a method for the accurate average modeling of CSRs with damping resistors. Simulated results show the validity of the theoretical considerations

关键词： Rectifiers Damping Resistors Mathematical model Power harmonic filters Power system modeling Voltage Topology Pulse width modulation Resonant frequency

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