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Industrial Electronics, IEEE Transactions on

Issue 4 • Date Aug 1996

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Displaying Results 1 - 10 of 10
  • Accurate contour control of mechatronic servo systems using Gaussian networks

    Page(s): 469 - 476
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (708 KB)  

    This paper presents a method of contour control of mechatronic servo systems by using neural networks. The neural network learns the inverse dynamics of the mechatronic servo system. The input data for the mechatronic servo systems are modified from objective trajectories by using the neural network. The Gaussian network is adopted to construct the inverse dynamics of the mechatronic servo system because the Gaussian function is well defined, and its structure and initial parameters can be systematically selected such that the initial network approximates the inverse dynamics of the mechatronic servo system. The actual input/output data of the mechatronic servo system are used for the learning of the Gaussian network. Effectiveness of the proposed method is assured by experimental results of contour control of an X-Y table View full abstract»

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  • A nonlinear reduced order observer for permanent magnet synchronous motors

    Page(s): 492 - 497
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (488 KB)  

    This paper introduces a nonlinear reduced order observer for speed and rotor position estimation in permanent magnet synchronous motors (PMSMs). The observer is based on a model of the motor represented by stationary two-axes coordinates. The theoretical principles of the proposed observer are discussed. Sufficient conditions for convergence as well as convergence speed are established. The observer is designed and tested by simulation. The results show that the observer gives a good estimation of speed and rotor position. In addition, it has low sensitivity to torque disturbances and perturbations of the mechanical parameters View full abstract»

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  • Improvement of transient response by means of variable set point weighting

    Page(s): 477 - 484
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (560 KB)  

    A new approach is introduced for speeding up the transient set point response of a control system by adapting the set point weighting factor in the controller. For a proportional-integral-derivative (PID) controller, the initial set point weighting factor, the instants at which this factor should be varied, and the adapted value of the set point weighting factor are all given by a set of correlation formulae which can be used in conjunction with the refined Ziegler-Nichols tuning formula. Analysis has also led to an equivalent block diagram more suitable for its implementation as a set point filter with a variable zero in its transfer function View full abstract»

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  • Remarks on “Comments on a neural network compensator for uncertainties of robotics manipulators”, with reply

    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (56 KB)  

    In the comments on the original paper (see ibid., vol. 9, no. 6, 1993), a technique using an internal model control (IMC) structure was proposed for compensating structured and unstructured uncertainties in robot control. Here, the author argues that it should be pointed out that the proposed control law is not well posed. The reply of the authors of the original paper is also presented View full abstract»

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  • A new formulation technique for local torque optimization of redundant manipulators

    Page(s): 462 - 468
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (544 KB)  

    A new formulation technique called “torque-based formulation” for the local torque optimization of redundant manipulators is introduced in this paper. The formulation based on joint torques makes the pseudoinverse and recursive techniques possible to local torque optimization. The local torque optimization approaches that are formulated on the basis of the proposed formulation technique are simple in formulation and are efficient in computational cost. Equivalence between the proposed solutions for local torque optimization and the conventional solutions is also proven analytically View full abstract»

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  • A modified approach of feeding regenerative energy to the mains

    Page(s): 510 - 514
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (496 KB)  

    A modified approach of injecting the regenerated energy from a three-phase AC squirrel cage induction motor drive system, during its braking operation, sinusoidally into the three-phase supply using a feedback inverter between the thyristor rectifier bridge and the three-phase inverter block is described. The validity of the modified scheme is verified by simulation and experiment View full abstract»

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  • Projection learning for self-organizing neural networks

    Page(s): 485 - 491
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (824 KB)  

    A new learning scheme, called projection learning (PL), for self-organizing neural networks is presented. By iteratively subtracting out the projection of the “twinning” neuron onto the null space of the input vector, the neuron is made more similar to the input. By subtracting the projection onto the null space as opposed to making the weight vector directly aligned to the input, we attempt to reduce the bias of the weight vectors. This reduced bias will improve the generalizing abilities of the network. Such a feature is important in problems where the in-class variance is very high, such as, traffic sign recognition problems. Comparisons of PL with standard Kohonen learning indicate that projection learning is faster. Projection learning is implemented on a new self-organizing neural network model called the reconfigurable neural network (RNN). The RNN is designed to incorporate new patterns online without retraining the network. The RNN is used to recognize traffic signs for a mobile robot navigation system View full abstract»

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  • Generalized impedance control of robot for assembly tasks requiring compliant manipulation

    Page(s): 453 - 461
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (816 KB)  

    To perform assembly tasks requiring compliant manipulation, the robot must follow a motion trajectory and exert an appropriate force profile while making compliant contact with a dynamic environment. For this purpose, a generalized impedance in the task space consisting of a second-order function relating the motion errors and interaction force errors is introduced such that the contact force can be commanded and controlled. With generalized impedance control, the robot can behave with a desired dynamic characteristic when it interacts with the environment. To ensure the success of the assembly, a strategy during task planning which takes into consideration the interrelation between motion and force trajectories as well as contact compliance is introduced. The generalized impedance control method is applied to the prismatic joint of a selective compliance assembly robot arm (SCARA) robot for inserting a printed circuit board (PCB) into an edge connector socket. Depending on the progress of the parts joining operation, various amount of interaction forces are generated which have to be accommodated. It is demonstrated that an assembly strategy which consists of a sequence of carefully planned target impedance can enable the task to be executed in a desirable manner. The effectiveness of this approach is illustrated through experiments by comparing the results with those obtained using a well-established position control scheme as well as the original impedance control method View full abstract»

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  • Induction motor speed estimator and synchronous motor position estimator based on a fixed carrier frequency signal

    Page(s): 505 - 509
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (532 KB)  

    A speed and position estimator, based on the introduction of a constant-frequency carrier signal (400-1000 Hz) in AC motor stator currents has been developed. Speed and position are estimated through the detection of irregularities in the rotor and, hence, the results are independent of machine parameters. These irregularities generate amplitude oscillations in the currents generated by the high frequency carrier, which are proportional to the rotor position. At the same time, the frequency of these amplitude modulations is proportional to machine speed. In induction machines, the amplitude of these signals is too low to estimate position accurately. However, special electronic circuits, designed and implemented with analog multipliers and filters, have permitted measurement of very low speeds with high precision. Computer simulations and some experiments have been carried out, and they have shown that it is possible to measure speeds as low as 20 r.p.m. In the case of salient-pole synchronous machines, the method is useful to measure rotor position due to the high irregularities produced by the poles, which are easily computed because of the important amplitude variations detected in the high frequency carrier View full abstract»

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  • A new motor speed estimator using Kalman filter in low-speed range

    Page(s): 498 - 504
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (676 KB)  

    In this paper, a new machine drive technique using novel estimation strategy for the very low-speed operation to estimate both the instantaneous speed and disturbance load torque is proposed. In the proposed algorithm, a Kalman filter is incorporated to estimate both the motor speed and the disturbance torque. The Kalman filter is an optimal state estimator and is usually applied to a dynamic system that involves a random noise environment. The effects of parameter variations are discussed, and it is verified that the system is stable to the modeling error. Experimental results confirm the validity of the proposed estimation technique 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.

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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