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International Conference on control, Automation and systems ( ICCAS)

作者： Dong-Chul Kwon Yun-Hyun Cho In-Beom Yang Jong-Bok Lee Dong-Hee Lee Sung-Man Park Kyo-Soon Chae Hoon Heo Department of Control and Instrumentation Engineering Korea University Seoul South Korea Shinho-System Company Limited Sungnam Gyeonggi South Korea Future Vehicle Technology Development Korea Automotive Technology Institute Cheonanshi South Korea

Study on the reduction of inherent noise in magnetic field has been conducted. Distributed model such as magnetic field is well known for its inadequacy to control in conventional ways. 'Stochastic system identification method' from moment equations via Fokker-Plank-Kolmogorov equation has been developed in inverse manner to figure out unknown system parameters of discrete system under random disturbances. The newly developed concept of 'stochastic system identification method' is implemented on magnetic system, which enables to construct virtual discrete operating system in forms of 2 nd order using stationary stochastic system output only. Based on the virtually assumed dicsrete model, system parameters are extracted. In order to reduce the noise, ' Hoe-stochastic controller' is designed for the virtually generated discrete model of magnetic field. Also in order to perform system control in real time frame, approximate probability density function is adopted to design the 'Heo-stochastic controller' and implemented on the system. Feasibility of the idea to control stochastic distributed system via 'stochastic system identification method' and 'Heo-stochastic controller' is confirmed in terms of simulation and experiment as well.

关键词： Magnetic noise control systems Magnetic fields system identification Stochastic systems Noise reduction Equations Operating systems Noise generators Real time systems

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Automated Design and Implementation of Resonant controllers for Current control of Shunt Active Filters

Automated Design and Implementation of Resonant Controllers ...

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2007 International Conference on Power Electronics and Drive systems (PEDS 2007), vol.1

作者： W. Lenwari M. Sumner P. Zanchetta Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand School of Electrical and Electronic Engineering University of Nottingham Nottingham UK

This paper presents the automated design of resonant controllers for current control of three phase shunt active filters. The design methods employs a Genetic Algorithm (GA) based routine. The resonant control compensator is introduced in order to improve the control accuracy and performance for ac input signals. An accurate harmonic current control for shunt active filters can be achieved using resonant compensators. In this paper, the current control system is designed to operate with a single dq reference frame, synchronous with the 50 Hz supply voltage, for the compensation of all main harmonic currents, 5th, 7th, 11th and 13th. The design procedure and the principle of the proposed control method are presented. Experimental results confirm the accuracy and effectiveness of the GA-designed compensators, showing excellent harmonic current tracking performance.

关键词： Power Quality Harmonic Current control Shunt Active Filter Resonant controller

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Sensor offset compensation for a vehicle Yaw Rate Sensor Using fuzzy logic

Sensor offset compensation for a vehicle Yaw Rate Sensor Usi...

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2007 International Conference on control, Automation and systems (ICCAS 2007), vol.5

作者： Dae-woo Kim Youngho Park Hyeongcheol Lee Department of Electric Engineering Hanyang University Seoul South Korea Electronic Brake System Engineering Team Hyundai Mobis Yongin si Gyeonggi South Korea Division of Electrical Control and Instrumentation Biomedical Engineering Hanyang University Seoul South Korea

This paper presents a new offset compensation method by modifying the previous two mode transition map method. Different from the previous method using the mode transition map, the proposed method employs Fuzzy logic to smoothly change modes. This proposed method is verified through the computer simulations using Simulink based dynamic model.

关键词： Vehicle yaw rate sensor Offset compensation Fuzzy

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A real-time automatic inspection system for pattavia pineapples

A real-time automatic inspection system for pattavia pineapp...

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作者： Kaewapichai, Watcharin Kaewtrakulpong, Pakorn Prateepasen, Asa Department of Instrumentation and Control System Engineering King Mongkut's University of Technology Thonburi 91 Prachautid Bangmod Toongkru Bangkok 10140 Thailand Production Engineering Department Faculty of Engineering King Mongkut's University of Technology Thonburi 91 Prachautid Bangmod Toongkru Bangkok 10140 Thailand

This paper presents a machine vision method to inspect the maturity of pineapples that ripe naturally. Unlike previous methods, the proposed technique can be categorized as a real-time non destructive testing (Real-Time NDT) approach. It consists of two phases, learning and recognition phases. In the learning phase, the system constructs a library of reference pineapple-skin-color models. In the recognition phase, the same process is performed to build a pineapple-skin-color model of the testing subject. The model is then compared with each of the reference in the library by a method called region-segmented histogram intersection. The subject is then labeled with the grade of the best match. The system achieved a high performance and speed (3 frames/sec.) in our experiment. The system also includes weighing machine on belt transmission for weight prediction.

关键词： Fruits

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Teleoperation with haptic feedback by means of electromagnetic brake and deadband control for rehabilitation

Teleoperation with haptic feedback by means of electromagnet...

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IEEE International Conference on Computer-Aided Design

作者： Minh Duc Duong Kazuhiko Terashima Takashi Imamura System and Control Engineering Laboratory Department of Production Systems Engineering Toyohashi University of Technology Japan Instrumentation Systems Laboratory Department of Production Systems Engineering Toyohashi University of Technology Japan

In this paper, teleoperation of a master-slave robot system with haptic feedback and network traffic reduction for rehabilitation are presented. At first, the stability of the teleoperation system with haptic feedback via time delay communication environment is mathematically shown for multi-joint robot arm system. Experiments show that the system is stable, despite of time delay. In order to reduce packet transfer rate for transmission of data, deadband control approach is used. A new data reconstruction algorithm is proposed to improve system's performance for telerehabilitation while keeping the stability of the system. The validity of the approach is shown in simulations

关键词： Haptic interfaces Feedback Communication system control Rehabilitation robotics Stability Delay effects Master-slave Communication system traffic control Reconstruction algorithms system performance

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Quarry of modal information from environment for advanced motion control

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IEEJ Transactions on Industry Applications 2006年第4期126卷 372-378+1页

作者： Katsura, Seiichiro Ohnishi, Kouhei Department of Electrical Engineering Nagaoka University of Technology 1603-1 Kamitomiokamachi Nagaoka Niigata 940-2188 Japan Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan Nagaoka University of Technology Nagaoka Niigata Japan IEEJ Japan IEEE Industrial Electronics Society Japan Society of Instrumentation and Control Engineers Japan Robotics Society of Japan Japan Keio University Yokohama Japan Nagaoka University of Technology Japan Keio University Japan

Motion control in open environment will be more and more important. The recent machines are required to have an ability to contact unknown environment. The environmental information is a key to be compliant to unknown environment. It is obtained from the modal decomposition. The environment may have infinite modes. On the contrary, motion control systems have finite number of degree-of-freedom (DOF) for their motion. It is necessary for motion controller to quarry information from the environment at least to the extents of DOF. This paper develops a novel viewpoint of motion control based on quarry of environmental information. A quarry process of information from the environment using Hadamard matrix has been proposed. An extension method of the Hadamard matrix is proposed and quarry matrix is generalized in this paper. This paper shows a quarry of the planar environmental modes using the third-order quarry matrix. The motion of a robot with three supporting points has three modes, which are heaving, rolling and pitching modes. As a result, compliant motion control to unknown environment is attained in each mode. The modal system design method based on the quarry matrix will be a fundamental technique of design of decentralized system.

关键词： Motion control

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Force control by flexible manipulator based on resonance ratio control using position sensitive detector

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IEEJ Transactions on Industry Applications 2006年第6期126卷 693-699+1页

作者： Katsura, Seiichiro Ohnishi, Kouhei Department of Electrical Engineering Nagaoka University of Technology 1603-1 Kamitomiokamachi Nagaoka 940-2188 Japan Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan Nagaoka University of Technology Japan Keio University Japan Nagaoka University of Technology Nagaoka Niigata Japan IEEJ Japan IEEE Industrial Electronics Society Japan Society of Instrumentation and Control Engineers Japan Robotics Society of Japan Japan Keio University Yokohama Japan IEEE Japan

This paper presents a novel force controller to suppress torsional vibration of two-mass resonant system. The resonance ratio control is one of the effective control methods of two-mass resonant system. In this method, the ratio between the resonant frequency of motor and arm is determined arbitrary according to the feedback of estimated reaction torque. The reaction torque is estimated by using position sensitive detector (PSD). Since the estimation method does not need the parameter identification, the torsion information is obtained with accuracy. To attain the affinity and adaptability to environment, motion systems should control the reaction force from the environment. In the force control system, the force response is regarded as a disturbance of the arm portion. The arm disturbance is observed by the arm disturbance observer. The proposed force control system is based on both the conventional PD control and the resonance ratio control and the determination method of pole placement is discussed. The proposed force control system can realize both the suppression of the inner torsional reaction torque and the adaptation to outer force inputs. The numerical and experimental results show viability of the proposed method.

关键词： Flexible manipulators

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Sliding mode controller with nonlinear sliding surface for a second order system with input saturation

Sliding mode controller with nonlinear sliding surface for a...

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Annual Conference of Industrial Electronics Society

作者： Sohee Han Byungsun Cho Sung-Han Son Kang-Bak Park T. Tsuji Department of Control and Instrumentation Engineering Korea University South Korea Graduate School of Life Science & System Engineering Kyushu Institute of Technology Japan

In this paper, a sliding mode controller for a second order system with input saturation is proposed. The proposed method uses a nonlinear sliding surface to ensure that the control signal generated by the controller ... 详细信息

关键词： Nonlinear control systems Sliding mode control control systems Equations Signal generators Time varying systems Uncertainty Vectors Instruments systems engineering and theory

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Single switch DC-DC converter operating in CC and DC modes

Single switch DC-DC converter operating in CC and DC modes

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SICE Annual Conference

作者： K. Tripipatpornchai Y. Rungruengphalanggul A. Chaisawadi Department of Electrical and Electronic Engineering Faculty of Engineering Rangsit University Pathum Thani Thailand Department of Control System and Instrumentation Engineering Faculty of Engineering King Mongkut''s University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)0780383524

This paper proposes a direct current buck converter which provides two independent regulated direct current output voltages using only single control switch. The first converter operation is based upon the use of continuous conduction mode (CCM) to regulate output voltage by controlling the duty cycle of the switch, while the second converter operation is based upon the use of discontinuous conduction mode (DCM) to regulate output voltage by controlling the duty cycle and changing the switching frequency. The system's operation is verified by results from computer simulation and experimentation from the prototype in this experiment, the switching frequency range is from 4 kHz to 90 kHz and the duty cycle range is from 20% to 42%. The overall efficiency of this converter is approximately 83% at full load.

关键词： Switches DC-DC power converters Switching converters Buck converters Inductors Voltage control Equations Switching frequency Circuits control systems

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Optimal design and actuator sizing of redundantly actuated omni-directional mobile robots

Optimal design and actuator sizing of redundantly actuated o...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Tae Bum Park Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim Burn Jae You Sang-Rok Oh School of Electrical Engineering and Computer Science Hanyang South Korea Department of Control & Instrumentation Engineering Korea University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780372727

Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identifed with respect to isotropic characteristic of mobile robots. In addition, the force transmission characteristics and actuator-sizing problem of mobile robots are investigated Analysis has been performed for three actuation sets. It is shown that the redundantly acruated mobile robot with three active caster wheels represents the best performance among them.

关键词： Actuators Mobile robots Wheels Angular velocity Optimal control control systems Roads Computer science Intelligent systems Intelligent control

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