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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 ...

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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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A survey on new methodologies and implementation strategies in bulk power system restoration

A survey on new methodologies and implementation strategies ...

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7th IET International Conference on Advances in Power system control, Operation and Management, APSCOM 2006

作者： Liu, Qiang Zhou, Ming Li, Gengyin Ni, Yixin Key Laboratory of Power System Protection Dynamic Security Monitoring and Control under Ministry of Education North China Electric Power University Baoding 071003 Hebei Province China Department of Electrical and Electronic Engineering University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)0863412467

The research on the methodologies and implementation strategies in bulk power system restoration after a partial or complete collapse is of great significance. This paper provides the survey on the recent developments of restoration methodologies and implementation strategies. And many new ways to form a power system restoration plan and how to deal with the sub-problems encountered during the restoration process are summarized and introduced. Also, the future work are presented, such as, how to consider the AC/DC hybrid system in the restoration process, how to utilize the distributed generation (DG) and how to use the wide-area measurement system (WAMS) for restoration.

关键词： Restoration

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Measured disturbance estimation for model predictive controller

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Mediterranean Journal of Measurement and control 2006年第3期2卷 144-151页

作者： Kulcsar, Balazs Bokor, J. Department of Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper presents the Model Predictive controller design process when an unknown input observer provides measured disturbance form unmeasured one. Instead of using an unmeasured disturbance dynamic implemented into the controller, the joint observer-controller uses the estimated measured exogenous disturbance signal. Furthermore the observer can send an alarm sign to the supervisor. The detection and isolation of the unmeasured disturbance is computed by the geometric based strategy called Fundamental Problem in Residual Generation. Better the estimation of the disturbance is, better the rejection of the controller. The measured disturbance could be anticipated. A numerical example explains the effectiveness of the estimation and the usage of the unmeasured disturbance detection. Copyright © 2006 SoftMotor Ltd.

关键词： Predictive control systems

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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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International Conference on Power Electronics and Drive systems (PEDS)

作者： Yuan Liqiang Zhao Zhengming Yang Zhi Department of Electrical Engineering State Key Lab of Control and Simulation of Power System Tsinghua University Beijing China Department of Frequency-converter and Control System GuoDian NanJing Automation Company Limited Nanjing China

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.

关键词： Diodes Switches Pulse width modulation inverters Power system modeling Medium voltage Variable speed drives Circuits Cooling Pulse width modulation Snubbers

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Investigation of Transient Performance of Capacitor Voltage Transformer

Investigation of Transient Performance of Capacitor Voltage ...

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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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The intelligent research of image recognition used for unattended substation

The intelligent research of image recognition used for unatt...

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2006 China International Conference on Electricity Distribution, CICED 2006

作者： Yang, Jun Ai, Xin Jia, Xiufang Li, Yansong Key Laboratory of Power System Protection and Dynamic Security Monitoring and Control Ministry of Education North China Electric Power University Deshengmenwaizhuxinzhuang Beijing 102206 China Electric Power Company Jinzhou Engineering Technology Department Liaohe Petroleum Exploration Bureau Liaoning Province Linghai 121209 China

ISBN: (纸本)0863416381

It is a trend to construct unattended substation in power system *** paper systematically analyses the superiority and limitation of MATLAB and Visual C++ and illustrates how to compile m-files to cpp-files by MATLAB engines and integrate cpp-files code into existing C++ projects by Visual C++ to realize intelligent function on image recognition used for unattended *** intelligent function can effectively test illegal intrusion and fires through the detection and recognition of moving goals by three-image difference method and self-adapting threshold value segmentation algorithm and detect situations of disconnection link by use of image crop and image index processing and give warnings to alarm system. Because of lacking of brightness of image or nonlinear brightness and being influenced by kinds of noise,this paper determines to adopt contrast enhanced algorithm and high-frequency enhanced algorithm to repair grey-scale distribution and uses median filtering to remove noise of image. In the end,this paper brings forward the expectation about the image recognition of the unattended substation. When non-uniform of image illumination distribution, grey-scale of background changes largely and image segmentation has not the fittest threshold, so the paper uses self-adapting threshold segmentation algorithm to gain the image segmentation.

关键词： Image segmentation

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control of Five-qubit system Based on Quantum Reinforcement Learning

Control of Five-qubit System Based on Quantum Reinforcement ...

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International Conference on Computational Intelligence and Security

作者： Daoyi Dong Chunlin Chen Zonghai Chen Chenbin Zhang Department of Automation University of Science and Technology Hefei Anhui China Key Laboratory of Systems and Control Chinese Academy and Sciences Beijing China Department of control and system engineering School of Management and Engineering Nanjing University Nanjing China

ISBN: (纸本)1424406048

controlling the multi-qubit system is a key task for practical quantum information processing. In this paper, the control problem of five-qubit is studied. A novel quantum reinforcement learning algorithm based on quantum superposition principle is proposed for the quantum control problem. The simulated result shows that quantum reinforcement learning can effectively find the optimal control sequence through fast learning

关键词： control systems Learning Quantum mechanics Automatic control automation Optimal control Quantum computing Nuclear magnetic resonance Information processing Information theory

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Fast Prediction of Loadability Margins by Constructing a Small-Signal Stability Boundary Based on Neural Networks

Fast Prediction of Loadability Margins by Constructing a Sma...

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International Conference on Power system Technology (POWERCON)

作者： Xueping Gu Claudio A. Canizares Key Laboratory of Power System Protection and Dynamic Security Monitoring and Control under Ministry of Education North China Electric Power University Baoding Hebei China Department of Electrical and Computer Engineering University of Waterloo Waterloo ONT Canada

Determining loadability margins to various security limits is of great importance for the secure operation of a power system. A novel approach is proposed in this paper for fast prediction of loadability margins with respect to small-signal stability based on neural networks. Small-signal stability boundaries are constructed by means of loading the power system until the stability limits are reached from a base operating point along various loading directions. Back-propagation neural networks (BPNN) for different contingencies are trained to approximate these stability boundaries. A search algorithm is then proposed to predict the loadability margins from any stable operating point along arbitrary loading directions through an iterative technique based on the trained BPNNs. The simulation results for the IEEE two-area benchmark system demonstrate the effectiveness of the proposed method for on-line prediction of loadability margins.

关键词： Neural networks Power system stability Power system security Voltage Power system simulation Monitoring National security control systems Operating systems Bifurcation

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