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Industrial Electronics, IEEE Transactions on

Issue 1 • Date Feb. 1996

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Displaying Results 1 - 25 of 28
  • Guest Editorial The Age of Mechatronics

    Publication Year: 1996
    Cited by:  Papers (5)
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    Freely Available from IEEE
  • Engineering education for mechatronics

    Publication Year: 1996 , Page(s): 106 - 112
    Cited by:  Papers (16)
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    This paper defines mechatronics, explains mechatronics philosophy, and describes characteristics of mechatronics products and systems. It reviews aspects of education and training for mechatronics and compares the two different approaches to engineering education: generalist engineering versus specialist engineering. It also examines the Japanese approach to product development strategies and mechatronics education and training. It also gives an overview of mechatronics education in higher education institutions across the world with a specific reference to a typical mechatronics engineering degree program. Finally it concludes that there will be an increasing need in the future for discipline-based mechatronics engineers View full abstract»

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  • Robust motion controller design for high-accuracy positioning systems

    Publication Year: 1996 , Page(s): 48 - 55
    Cited by:  Papers (145)  |  Patents (1)
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    This paper presents a controller structure for robust high speed and accuracy motion control systems. The overall control system consists of four elements: a friction compensator; a disturbance observer for the velocity loop; a position loop feedback controller; and a feedforward controller acting on the desired output. A parameter estimation technique coupled with friction compensation is used as the first step in the design process. The friction compensator is based on the experimental friction model and it compensates for unmodeled nonlinear friction. Stability of the closed-loop is provided by the feedback controller. The robust feedback controller based on the disturbance observer compensates for external disturbances and plant uncertainties. Precise tracking is achieved by the zero phase error tracking controller. Experimental results are presented to demonstrate performance improvement obtained by each element in the proposed robust control structure View full abstract»

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  • Loss minimization in induction motor adjustable-speed drives

    Publication Year: 1996 , Page(s): 226 - 231
    Cited by:  Papers (62)
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    A loss model controller (LMC) for determining the optimal air-gap flux that minimizes the losses in scalar controlled induction motor drives is presented. The suggested LMC is simple, and its implementation does not affect significantly the cost and the complexity of the drive. Although the conception of the suggested LMC is based on the loss model of the induction motor, it is shown that its realization does not require knowledge of the loss model View full abstract»

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  • A novel fuzzy friction compensation approach to improve the performance of a DC motor control system

    Publication Year: 1996 , Page(s): 113 - 120
    Cited by:  Papers (41)
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    The compensation of friction nonlinearities for servomotor control has received much attention due to undesirable and disturbing effects that the friction often has on conventional control systems. Compensation methods have generally involved selecting a friction model and then using model parameters to cancel the effects of the nonlinearity. In this paper, a method using fuzzy logic for the compensation of nonlinear friction is developed for the control of a DC motor. The method is unique in that a single fuzzy rule is used to compensate directly for the nonlinearity of the physical system. As a result, the method introduces fewer adjustable parameters than a typical fuzzy logic approach while still incorporating many advantages of using fuzzy logic such as the incorporation of heuristic knowledge, ease of implementation and the lack of a need for an accurate mathematical model. The general approach, analysis and experimental results obtained for an actual DC motor system with nonlinear friction characteristics are presented and the effectiveness of the fuzzy friction compensation control technique is discussed. The smoothness of response, response times and disturbance rejection of a PI control system with and without the proposed fuzzy compensator are analyzed and discussed to illustrate the effectiveness of the proposed method View full abstract»

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  • On the design and control of mechatronic systems-a survey

    Publication Year: 1996 , Page(s): 4 - 15
    Cited by:  Papers (12)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1196 KB)  

    The integration of mechanical systems and microelectronics opens new possibilities for mechanical design and automatic functions. After a discussion of the mechanical and electronic design the organization of information processing in different levels is described. Within this frame “low-degree-intelligent” mechatronic systems can be developed which comprise adaptive control, supervision with fault diagnosis, and decisions with regard to further actions. This requires the realization of knowledge-based systems with learning abilities. Some aspects of the design of information processing including modeling and estimation, control, and supervision methods are considered. Finally as an example an adaptive semiactive shock absorber or vehicle suspension systems is shown View full abstract»

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  • Mode switching control design with initial value compensation and its application to head positioning control on magnetic disk drives

    Publication Year: 1996 , Page(s): 65 - 73
    Cited by:  Papers (56)  |  Patents (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (860 KB)  

    To meet an increasing demand for high performance and large-capacity in magnetic hard disk drives, both fast response and precise positioning are strongly required for the head positioning control. A mode switching control (MSC) system, which includes a track seeking controller, a track following controller, and a switching function, is widely used to meet this requirement. The issue for MSC is to confirm a design method of servo mode switching. This paper proposes the initial value compensation method (IVC). The IVC inputs certain initial values in the controller state variables at mode switching in order to improve the transient response after switching. There are two approaches to determine the values: (1) minimizing a linear-quadratic function of the plant state variables; and (2) cancelling the unfavorable poles of the transfer function between initial values and head position by relocating zeros. Some experimental results are shown to be effective View full abstract»

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  • Automatic synthesis of analog fuzzy controllers: a hardware and software approach

    Publication Year: 1996 , Page(s): 217 - 225
    Cited by:  Papers (9)
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    In applications where low cost is the primary concern, analog VLSI controllers are an option. In this paper a hardware and software integrated toolkit for development of analog controllers based on fuzzy logic is presented. The system is composed of a CMOS analog circuit whose input/output relationship can be programmed to synthesize various control functions. The value of the programmable parameters can be automatically computed by the software tool, assuming that the user specifies the controller expected behavior by means of linguistic and/or numeric information. A complete example of how fuzzy linguistic and numerical methodologies can be combined with more conventional techniques to synthesize a nontrivial controller is detailed down to measured data. A final discussion clarifies the main advantages of the fuzzy analog computation when it is supported with an appropriate software layer: nontrivial solutions to problems in which accuracy is not the primary concern can be easily synthesized and integrated into very small silicon areas with small power requirements View full abstract»

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  • A prototype controller for variable reluctance motors

    Publication Year: 1996 , Page(s): 207 - 216
    Cited by:  Papers (4)
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    A three-level cascade structure is proposed for the control of a variable reluctance (VR) motor. In order to deal with the highly nonlinear behavior of VR motors, the controlling system includes two variable-structure controllers for current and velocity loops as well as an intermediate torque-sharing compensator. The intermediate compensator has been designed by means of nonlinear optimization techniques in order to reduce the torque ripple and to get the maximum motor velocity. The proposed controller has been validated through extensive simulation experiments. The architecture of a prototype controller is presented and the actual performance measured on a VR motor is discussed in comparison with simulations. The results show practical feasibility and good performance of the proposed controller, which is also suitable for a very simple and quite inexpensive fully hardware implementation View full abstract»

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  • Control systems for induction machines with magnetic saturation

    Publication Year: 1996 , Page(s): 142 - 152
    Cited by:  Papers (13)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1004 KB)  

    Extensions of field-oriented control methods for induction machines, accounting for magnetic saturation, are developed. The new methods are based on a nonlinear π model for the saturated machine. This model is a more accurate representation of the saturation phenomena in the machine than are most previous models, and it is shown to also facilitate development of control algorithms. Observers for estimating rotor flux are also discussed. Experimental results verifying operation of one proposed control method are presented View full abstract»

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  • Digital interval modeling and hybrid control of uncertain systems

    Publication Year: 1996 , Page(s): 173 - 183
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (876 KB)  

    This paper addresses two issues: (1) converting a continuous-time uncertain system to an equivalent discrete-time interval model; and (2) constructing a robust digital control law from a robust analogue control law for hybrid control of sampled-data uncertain systems. The system matrices characterizing the state-space representation of the original continuous-time uncertain systems are assumed to be interval matrices. The Pade approximation method together with a geometric-series approximation method is employed to obtain the generalized enclosing discrete-time interval models. The generalized enclosing interval models are able to tightly enclose the exact discrete-time uncertain model, and can be utilized for digital simulation and digital design of continuous-time uncertain systems. A new family of digitally redesigned interval controllers is constructed from a continuous-time robust controller for robust digital control of continuous-time uncertain systems. Using the newly digitally redesigned interval controllers, the dynamic states of the digitally controlled sampled-data uncertain systems are able to closely match those of the original analogously controlled continuous-time uncertain systems for a relatively longer sampling period View full abstract»

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  • A hybrid structure using phase-controlled rectifiers and high-frequency converters for magnet-load power supplies

    Publication Year: 1996 , Page(s): 126 - 131
    Cited by:  Papers (6)
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    Thyristor rectifiers are still the preferred choice for large magnet power supplies. However, large harmonic voltages, resulting in large current ripple, and slow dynamic response are major drawbacks of these converters. This paper presents a topology and a control technique for hybrid large-power high-precision magnet power supplies. The system consists of a phase controlled rectifier connected in series with a high-frequency PWM converter. The rectifier is designed to handle the main output power and the PWM converter is used only for harmonics cancellation and error compensation. A feedforward control scheme is proposed to ensure that the desired power sharing is maintained during both the steady state and transient operations. The operating principles of the proposed structure are discussed in the paper, and the results from a 1 kVA experimental setup are provided to validate the proposed topology View full abstract»

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  • Transputer control of hydraulic actuators and robots

    Publication Year: 1996 , Page(s): 38 - 47
    Cited by:  Papers (1)
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    The paper reports and discusses results from a Danish mechatronic research program focusing on intelligent actuators for intelligent motion control. A mechatronic test facility with a transputer controlled hydraulic robot suitable for real-time experimentation and evaluation of control laws and algorithms is described. Concepts of intelligent motion control and intelligent hydraulic actuators are proposed. Promising experimental path-tracking results obtained from model-based adaptive control algorithms are presented and discussed. The experiments confirm that transputers have significant advantages in intelligent control of actuators and robots for high-speed and high-precision tasks. Further, research on learning controllers and hybrid controller architecture, including real-time switching between control algorithms, benefits from applying transputer technology View full abstract»

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  • Stable adaptive control of multivariable servomechanisms, with application to a passive line-of-sight stabilization system

    Publication Year: 1996 , Page(s): 98 - 105
    Cited by:  Papers (16)
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    This paper considers the problem of controlling multivariable servomechanisms where there exist cross-couplings, or interactions, between the axes. An adaptive control strategy using a feedforward paradigm is proposed, and by incorporating direct adaptive methodologies, it is shown in the paper that uniformly stable operation is achieved together with asymptotic tracking of the reference command signals. In the paper, real-time experimental results in applying the proposed adaptive controller to a passive line-of-sight stabilization system are presented which demonstrates the effectiveness of the adaptive controller, and provides experimental verification of the main analytical results View full abstract»

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  • The UMC software environment for machine control system integration, configuration, and programming

    Publication Year: 1996 , Page(s): 88 - 97
    Cited by:  Papers (1)  |  Patents (1)
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    This paper outlines the major advantages which accrue from using an “open” architecture approach to creating machine control systems. The approach known as the universal machine control (UMC) system was conceived to cover aspects of the design, configuration, and programming of machine control systems. The paper presents a comprehensive description of the structure and functional logic of the UMC run-time architecture. A brief overview of the UMC software support environment is also provided. UMC is conceived to make a valuable contribution in realising successful mechatronic solutions to manufacturing industry View full abstract»

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  • A 50-150 kHz half-bridge inverter for induction heating applications

    Publication Year: 1996 , Page(s): 163 - 172
    Cited by:  Papers (45)
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    A half-bridge resonant-type IGBT inverter suitable for heating magnetic and nonmagnetic materials at high-frequency is described. A series-parallel arrangement of capacitors is adopted and an optimum mode of operation is proposed. In this mode, the inverter is operated at unity power factor by PLL control irrespective of load variations, with maximum current gain, maximum overall system efficiency, and practically no voltage spikes in the devices at turn-off. The actual performance was tested on a 50-150 kHz prototype rated at 6 kW. The low-cost developed hybrid inverter is characterized by its simplicity of design and operation, yet is versatile in performance. A simplified analysis and detailed experimental results are presented View full abstract»

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  • DSP control of high-power UPS systems feeding nonlinear loads

    Publication Year: 1996 , Page(s): 121 - 125
    Cited by:  Papers (55)
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    Many facilities, such as patient health care centers, data processing systems, and critical telecommunication links, rely on uninterruptible power supplies (UPS) to maintain a continuous supply of power in case of a line outage. In addition to requiring continuous power, many critical nonlinear loads are sensitive to incoming line transients and input harmonic voltage distortion. Conventional UPS systems operate to protect against such disturbances using complex filtering schemes, often employing large passive components. This paper presents the advantages of using real time digital signal processing (DSP) control of UPS systems. A DSP controlled UPS inverter and harmonic conditioning system is described and the performance is verified on a 150 kVA system View full abstract»

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  • A unified approach to position and force control by fuzzy logic

    Publication Year: 1996 , Page(s): 81 - 87
    Cited by:  Papers (12)
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    This paper proposes a unified control strategy of position and force. The authors' technique is based on impedance control with fuzzy logic and realizes the smooth shift from position control to force control and vice versa. At first, a robust impedance controller based on a disturbance observer is shown, and the method to unify the position and the force control through one controller is described. Next, an algorithm to estimate the dynamic characteristics of the environment is shown, and a force tracking control using the estimated parameters is proposed. Finally, the unified control algorithm of position and force based on fuzzy logic is established. The validity of this method is confirmed by several experimental results View full abstract»

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  • Practical control enhancement via mechatronics design

    Publication Year: 1996 , Page(s): 16 - 22
    Cited by:  Papers (6)
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    Mechatronics is concerned with designing machines with enhanced capabilities using advanced control methods. Here we describe how some of these advanced control methods have evolved and how they can be applied effectively. The resulting performance enhancement is explained by the use of a number of example case studies. It is shown that using these methods greatly improves the operational capabilities of mechatronics products and can, in many cases, lead to considerable increases in performance specifications. The paper represents a survey of research work undertaken into mechatronics control methods by the authors and their colleagues. The following control issues are discussed: kinematics control; dynamic control; deadbeat robotics control; active force control; adaptive control; and an active suspension system View full abstract»

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  • A photodiode cell for applications to position and motion estimation sensors

    Publication Year: 1996 , Page(s): 200 - 206
    Cited by:  Papers (1)  |  Patents (7)
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    An optical cell has been designed and fabricated using standard digital 1.6 μm CMOS technology. It has been designed for applications to sensors where the image acquisition time of fast moving objects or documents is of primary importance. The cell contains a photodiode working in storage mode and a shielded MOS capacitor acting as analog frame buffer. A chip prototype containing 64 linear arrays of 64 cells whose size is 36×36 μm2 has been tested and measurements have proved the functionality down to microsecond-range of exposure times. By virtue of the proposed read-out technique, the sensor architecture provides simultaneous image acquisition of irregular moving objects allowing precise detection of position and motion View full abstract»

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  • Analysis of primary-on-slider type piezoelectric actuator and the application to two-degree-of-motion freedom plane actuator

    Publication Year: 1996 , Page(s): 192 - 199
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (716 KB)  

    The basic characteristics of a primary-on-slider type piezoelectric actuator were theoretically analyzed, and the relationship between the thrust force and the weight force was clarified, and was verified by the experiments. As a result, when the weight force was imposed on the slider, the thrust force increased, but when too heavy a weight force was applied, the thrust force decreased. Various prototypes of two-degree-of-motion freedom plane ultrasonic piezoelectric actuators were experimentally constructed, and the fundamental characteristics were measured. The vibration mode of actuators was also analyzed by ANSYS, and compared with the experimental results. The characteristics of the plane ultrasonic piezoelectric actuators were obtained similar to the theoretical characteristics. Since the shape of this plane ultrasonic piezoelectric actuator is very simple, it is suitable for applications that complicated motions are required in limited space View full abstract»

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  • The development of a controller for mechatronics equipment

    Publication Year: 1996 , Page(s): 30 - 37
    Cited by:  Papers (9)
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    This paper describes the developmental history of mechatronics equipment controllers especially within Yaskawa Electric. First, the philosophy and definition of the word “mechatronics” are introduced. Then a discussion is presented about mechatronics equipment controllers in which they mean a numerical control (NC) system for machine tools and industrial robots. The NC system covers three fields of technology: controller hardware, software, and an actuator control system (servosystem). Second, the 20-year progress of each item is discussed. Finally, the necessary performance and functions for future NC systems are outlined View full abstract»

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  • Dynamic force simulator for multifinger force display

    Publication Year: 1996 , Page(s): 74 - 80
    Cited by:  Papers (2)
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    In this paper, the authors present a dynamic force simulator (DFS) for force feedback in human-machine systems. They propose a virtual world model with two force flows: one is the force flow from human to an object, the other is the force flow from an object to human. To use this model, the DFS simulates object dynamics, contact models, and friction characteristics of the human hand interacting with the object in virtual reality. After the derivation of kinematic and force relations between hand and object space, they balance the two forces: one from the human and the other from the object in the contact force space in virtual world and then realize the adequate feedback forces to human operator. Interaction with the DFS allows calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove they have developed. In this paper grasping of a cylinder in the virtual world is presented. During object grasping, they measure joint angles and torques using the sensor glove system. In the future, they will use this system to analyze human dextrous manipulations called human skill View full abstract»

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  • Design of A/D converters with hierarchic networks

    Publication Year: 1996 , Page(s): 184 - 191
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    A methodology for designing analog to digital (A/D) converters based on a hierarchic network is explored. The principle of this methodology and design procedure are presented. The characteristics and performances of the converter are compared with the converter based on the Hopfield network. Two circuit models for the A/D converters are described in this paper. As a hierarchic network is used, the A/D converters designed have no local minima in their operation, With the method proposed in the paper, high bit number A/D converters can be easily designed, and the converters designed are fast in signal conversion and stable in operation View full abstract»

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  • Piezomechanics as a subsystem of mechatronics: present state of the art, problems, future developments

    Publication Year: 1996 , Page(s): 23 - 29
    Cited by:  Papers (7)
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    The concept of piezomechanics (piezoelectricity+mechanics+a control system) describing a complex interaction of dynamic effects and precision engineered devices is discussed. Piezomechanics is considered as part of the more broad philosophy of mechatronic devices. The object and structure of piezomechanics are presented as well as the primary linear and nonlinear effects, on which energy, motion and signal transformation processes are based. Novel applications are proposed to illustrate the potential benefits, including adaptive mechanical systems in addition to multifunctional and intelligent devices View full abstract»

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Aims & Scope

IEEE Transactions on Industrial Electronics encompasses the applications of electronics, controls and communications, instrumentation and computational intelligence for the enhancement of industrial and manufacturing systems and processes.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Carlo Cecati
DISIM - Univ. degli Studi dell'Aquila
67100 Aquila, Italy
c.cecati@ieee.org
Phone: +39 0862 434 450
Fax: +39 0862 1960 411