1. Y. Uchimura, T. Yakoh, "Bilateral robot system on the real-time network structure," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 940- 946, Oct. 2004. Full Text Link Abstract : This paper presents a bilateral robot system, which is driven by the static friction-free drive system and implemented on the real-time network structure. The goal is to realize a force reflecting bilateral teleoperation with haptic impression transmission over computer networks. The paper considers two subjects relating to the bilateral robot. The first is static friction, which degrades the performance of manipulation and results in a poor haptic impression. A new transmission mechanism named twin drive system developed by the authors resolves this problem. The transmission mechanism, which resembles the differential gear of automobiles, is essentially free of static friction. This static-friction-free motion greatly contributes to the broad range of motion control applications. The second subject is the time delay of the network, which may cause serious problems such as instability of the feedback system. To avoid such delay, the authors developed a new real-time network protocol stack (RTNP). The detailed mechanism of the twin drive system and architecture of the RTNP are presented, and the control scheme and experimental results are also shown.
2. K. Itoh, M. Iwasaki, N. Matsui, "Optimal design of robust vibration suppression controller using genetic algorithms," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 947- 953, Oct. 2004. Full Text Link Abstract : This paper presents an evolutional compensator design for motion control systems using genetic algorithms (GAs). The control system is composed of a robust two-degrees-of-freedom (2DOF) compensator based on the coprime factorization description. A feedback compensator in the 2DOF control system is theoretically designed under the /spl mu/-Synthesis framework to ensure the robust stability because the real plant mechanism includes structured uncertainties, e.g., the frequency perturbations of vibration modes. On the other hand, a feedforward compensator is optimized by GA paying attention to the robust servo characteristics against the mechanical parameter variations, where the structuring and parameterization of the compensator can be autonomously achieved to satisfy the desired servo characteristic with the resonant vibration suppression performance. The effectiveness of the proposed controller design has been verified by experiments using a prototype.
3. Y. Hori, "Future vehicle driven by electricity and Control-research on four-wheel-motored "UOT electric march II"," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 954- 962, Oct. 2004. Full Text Link Abstract : The electric vehicle (EV) is the most exciting object to apply "advanced motion control" technique. As an EV is driven by electric motors, it has the following three remarkable advantages: 1) motor torque generation is fast and accurate; 2) motors can be installed in two or four wheels; and 3) motor torque can be known precisely. These advantages enable us to easily realize: 1) high performance antilock braking system and traction control system with minor feedback control at each wheel; 2) chassis motion control like direct yaw control; and 3) estimation of road surface condition. "UOT Electric March II" is our novel experimental EV with four in-wheel motors. This EV is made for intensive study of advanced motion control of an EV.
4. A. Rojko, K. Jezernik, "Sliding-mode motion controller with adaptive fuzzy disturbance estimation," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 963- 971, Oct. 2004. Full Text Link Abstract : This paper proposes a motion control scheme which belongs to the class of the control schemes known as sliding-mode control with disturbance estimation. A novel adaptive fuzzy disturbance estimator works as an estimator of a major part of robot dynamics. The adaptation algorithm is derived by using the Lyapunov stability theory and provides global asymptotic stability of the state errors, resulting in the sliding-mode regime. The structure of the disturbance estimator is optimized by the introduction of three fuzzy logic subsystems, based on the physical properties of the robot mechanism. This also significantly lowers the computational burden and enables real-time implementation. Performance of the proposed controller scheme, as well as some practical design aspects, are demonstrated by the control of a direct-drive robot.
5. K. Loffler, M. Gienger, F. Pfeiffer, H. Ulbrich, "Sensors and control concept of a biped robot," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 972- 980, Oct. 2004. Full Text Link Abstract : The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Very accurate and fast sensors were developed for the machine. In particular, the design of the three-dimensional-orientation sensor and the six-axes force-torque sensor are presented. The control scheme is based on the information from these sensors to deal with unstructured terrain and disturbances. Two different implementations are investigated: a computed torque approach and a trajectory control with adaptive trajectories. Walking speeds of 2.4 km/h have been achieved in experiments.
Power Electronics
6. Jin Zhao, B.K. Bose, "Neural-network-based waveform Processing and Delayless filtering in power electronics and AC drives," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 981- 991, Oct. 2004. Full Text Link Abstract : This paper systematically explores the static nonlinear mapping property of feedforward neural networks for various waveform processing and delayless filtering that are applicable to power electronics and ac drives area. Neural-network-based processing of waves gives considerable simplification of hardware and/or software that are traditionally used for such applications. Two general cases have been investigated: The voltage or current waveforms which have constant frequency but variable magnitudes, and the other case is variable-frequency variable-magnitude voltage or current waves. The former case is mainly important for power electronics that operate on a utility system and general-purpose constant-frequency converter power supplies, and the latter is important for the adjustable-speed ac drives area. In both cases, the performance of neural-network-based waveform processing and delayless filtering with offline training was found to be excellent. The results of this study are also applicable to other areas of electrical engineering.
7. A. Emadi, "Modeling of power electronic loads in AC distribution systems using the generalized State-space averaging method," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 992- 1000, Oct. 2004. Full Text Link Abstract : Most of the loads in ac distribution systems have positive incremental impedance characteristic. However, power electronic loads, when tightly regulated, sink constant power from the system. Therefore, they have negative incremental impedance characteristic. This can cause negative impedance instability. Power electronic loads usually have a controlled or uncontrolled rectifier at the front end. In this paper, these loads are modeled using the generalized state-space averaging method. An assessment of their effects in ac distribution systems is also presented. Experimental results are presented to verify the proposed analysis.
8. V. Dinavahi, R. Iravani, R. Bonert, "Design of a real-time digital Simulator for a D-STATCOM system," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1001- 1008, Oct. 2004. Full Text Link Abstract : Real-time digital simulation of power electronic systems requires significant computational resources due to increasingly complex system configurations, control algorithms, and higher switching frequency. Consequently, it is prudent to exploit various computer resources for optimizing the design of simulators/controllers for such systems. This paper presents the design and implementation details of a real-time digital simulator for a Voltage-Source-Converter-based Distribution STATic COMpensator (D-STATCOM) power system. The design process adopts a modular approach utilizing distributed digital signal processor/field-programmable gate array resources of a digital processing platform. The design has been validated by using an experimental setup of a 5-kVA D-STATCOM system.
9. B.-R. Lin, Yung-Chuan Lee, "Three-phase power quality compensator under the unbalanced sources and nonlinear loads," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1009- 1017, Oct. 2004. Full Text Link Abstract : A three-phase voltage-source inverter for a power quality compensator under the unbalanced mains and nonlinear loads is proposed to provide balanced three-phase source current and improve input power factor. The proposed converter is based on the conventional three-phase voltage-source inverter with three additional ac power switches to achieve three-level pulsewidth modulation. The voltage stress of three ac power switches is clamped to half the dc-link voltage. The balanced reference mains currents are estimated using the dc-bus voltage and load currents. A proportional-integral voltage controller is used in the outer loop to compensate the switching losses of the voltage-source inverter. To perform the integrated power quality compensation, a hysteresis current control scheme is adopted to track the balanced line current command in phase with mains voltage. Three voltage levels are generated on the ac terminal of the proposed inverter. Computer simulation and experimental results are provided to verify the effectiveness of the proposed control scheme.
10. P. Mattavelli, F.P. Marafao, "Repetitive-based control for selective harmonic compensation in active power filters," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1018- 1024, Oct. 2004. Full Text Link Abstract : This paper proposes a repetitive-based controller for active power filters, which compensates selected current harmonics produced by distorting loads. The approach is based on the measurement of line currents and performs the compensation of selected harmonics using a closed-loop repetitive-based control scheme based on a finite-impulse response digital filter. Compared to conventional solutions based on stationary-frame current control, this approach allows full compensation of selected frequencies, even if the active filter has limited bandwidth. Compared to synchronous-frame harmonic regulations on line currents, the complexity of the proposed algorithm is independent of the number of compensated harmonics. Moreover, it is more appropriate for digital signal processor implementation and less sensitive to rounding and quantization errors when finite word length or fixed-point implementation is considered. Experimental results on a 5-kVA prototype confirm the theoretical expectations.
Drive Control
11. S.R. Bowes, A. Sevinc, D. Holliday, "New natural observer applied to speed-sensorless DC servo and induction motors," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1025- 1032, Oct. 2004. Full Text Link Abstract : A simple observer design technique with parameter adaptation is proposed for bounded-input bounded-output nonlinear systems. In this technique, no feedback is used in the observer but parameter estimations are considered as if they are observer inputs. The proposed technique is successfully applied to speed-sensorless dc servomotors and speed-sensorless induction motors with load torque adaptation schemes. The observer is robust to noise and parameter uncertainty. Excellent experimental and simulation results have been obtained.
12. M. Hinkkanen, "Analysis and design of full-order flux observers for sensorless induction motors," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1033- 1040, Oct. 2004. Full Text Link Abstract : This paper deals with the flux estimation for sensorless induction motor drives. The linearized model of the speed-adaptive full-order flux observer is applied to help choosing the observer gain and the speed-adaptation gains. It is shown that the linearized model reveals potential instability problems that are difficult to find by other means. An observer gain and a method to vary the speed-adaptation gains in the field-weakening region are proposed. Experimental results show stable operation in a very wide speed range.
13. V.-M. Leppanen, J. Luomi, "Speed-sensorless induction Machine control for zero speed and frequency," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1041- 1047, Oct. 2004. Full Text Link Abstract : A recently introduced speed-sensorless controller structure for tracking the rotor-flux orientation of an induction motor was implemented in a laboratory setup. The controller is based on superimposing a low-frequency ac test signal on the stator current of the motor. The response in the stator voltage to the signal depends on the orientation of the signal relative to that of the rotor flux. The dependency is due to the reaction of the mechanical system, and it is used to control the orientation error to zero. In the experiments, the controller operated successfully under nominal torque both at zero speed and at zero frequency. Slow and fast speed reversals under nominal torque were also successful. In addition, the system was capable of withstanding both motoring and generating load torque steps up to 50% of nominal torque.
14. C. Lascu, A.M. Trzynadlowski, "A sensorless hybrid DTC drive for high-volume low-cost applications," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1048- 1055, Oct. 2004. Full Text Link Abstract : A sensorless hybrid direct torque control (DTC) drive for high-volume low-cost industrial, domestic, and automotive applications has been developed using the inexpensive TMS329F243 digital signal processor controller. Under transient operating conditions, the drive is controlled using the classic bang-bang DTC. In the steady state, using linear torque and flux controllers, the control system generates a reference voltage vector for the inverter feeding the induction motor. The vector is then realized using the well-known space-vector pulsewidth modulation (SVPWM) technique. As a result, the irregular switching pattern typical for the classic DTC strategy is replaced with a quasi-optimal one, typical for the SVPWM. Description of the drive, including a novel motor state observer, is followed by selected experimental results confirming its excellent operating characteristics.
15. D. Casadei, G. Serra, A. Tani, L. Zarri, "Theoretical and experimental analysis for the RMS current ripple minimization in induction motor drives controlled by SVM technique," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1056- 1065, Oct. 2004. Full Text Link Abstract : In this paper, an analytical approach useful for predicting the current ripple in induction motor drives controlled by space-vector modulation (SVM) technique is presented. The analysis is applied to determine the optimal modulation technique that minimizes the rms value of the current ripple. The minimization procedure is based on the analysis of the locus described by the current ripple in the /spl alpha/--/spl beta/ reference frame. As a result, a simple equation has been obtained, which allows the online calculation of the optimal SVM switching pattern. It has been verified that it is possible to obtain a current ripple lower than that of symmetric modulation, and with a reduced number of commutations. Experimental results are provided to confirm the theoretical approach.
16. H.F. Hofmann, S.R. Sanders, A. EL-Antably, "Stator-flux-oriented vector control of synchronous reluctance Machines with maximized efficiency," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1066- 1072, Oct. 2004. Full Text Link Abstract : This paper presents a position-sensorless vector torque controller designed to achieve maximum efficiency over a range of power and rotational speed for a synchronous reluctance machine. A model of the synchronous reluctance machine is presented which incorporates both winding and core losses. It is then shown that a stator-flux-oriented control scheme can achieve synchronous operation of the machine without a position sensor at medium and high electrical frequencies. For a given speed and torque, power losses in the machine are shown to be a function of only the stator flux magnitude. As the power losses are a convex function of the stator flux level, the optimal flux value can be found using a one-dimensional optimization algorithm, such as the Method of Sequential Quadratic Interpolations. Optimal flux values for a synchronous reluctance machine are determined using an experimental setup that accurately determines losses in the motor/drive system. Experimental results obtained from the test setup confirm the validity of the controller and the optimization algorithm.
17. M.B. de Rossiter Correa, C.B. Jacobina, E.R.C. da Silva, A.M.N. Lima, "Vector control strategies for single-phase induction motor drive systems," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1073- 1080, Oct. 2004. Full Text Link Abstract : This paper discusses vector control strategies for single-phase motor drive systems operating with two windings. A model is proposed and used to derive control laws for single-phase motor drive systems. Such model is also employed to introduce the double-sequence controller. Simulation and experimental results are provided to illustrate the operation of the proposed drive systems.
18. M.A. Jabbar, A.M. Khambadkone, Zhang Yanfeng, "Space-vector Modulation in a two-phase induction motor drive for constant-power operation," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1081- 1088, Oct. 2004. Full Text Link Abstract : In the paper, a space-vector pulsewidth-modulation (SVPWM) inverter is proposed for constant-power operation of a two-phase induction motor. The operating principle of SVPWM is described, and the algorithm for constant-power operation is presented. Analysis for dynamic operation using a simple scalar control scheme is carried out and parameters for implementation of the scheme are obtained. Experimental investigation of the scheme is carried out and comparative analysis of the performance of the scheme is presented.
19. G. Poddar, V.T. Ranganathan, "Sensorless field-oriented control for double-inverter-fed wound-rotor induction motor drive," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1089- 1096, Oct. 2004. Full Text Link Abstract : A novel control technique for sensorless vector control operation of a double-inverter-fed wound-rotor induction motor is presented. Two current controllers control the stator-side currents based on a vector control algorithm. Another V/f-type flux and frequency controller controls the rotor-side frequency directly. A novel frequency command profile for the rotor-side controller is suggested to make this sensorless drive operation reliable and reduce dependence on motor parameters at any rotor speed. A complete inverter power flow analysis is presented to show that the drive can deliver full torque from 0- to 2-p.u. speed for either direction of rotation. Thus, double the rated power can be extracted from the induction motor without overloading it. The proposed algorithm allows the drive to start on-the-fly without any rotor transducer. Results from a prototype 50-hp drive are presented.
Emerging Technology
20. J.R. Stack, R.G. Harley, T.G. Habetler, "An amplitude Modulation detector for fault diagnosis in rolling element bearings," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1097- 1102, Oct. 2004. Full Text Link Abstract : The purpose of this research is to identify single-point defects in rolling element bearings. These defects produce characteristic fault frequencies that appear in the machine vibration and tend to modulate the machine's frequencies of mechanical resonance. An amplitude modulation (AM) detector is developed to identify these interactions and detect the bearing fault while it is still in an incipient stage of development (i.e., to detect the instances of AM when the magnitude of the characteristic fault frequency itself is not significant). Use of this detector only requires machine vibration from one sensor and knowledge of the bearing characteristic fault frequencies. Computer simulations as well as machine vibration data from bearings containing outer race faults are used to confirm the proficiency of this proposed technique.
21. J.M. Correa, F.A. Farret, L.N. Canha, M.G. Simoes, "An electrochemical-based fuel-cell model suitable for electrical engineering automation approach," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1103- 1112, Oct. 2004. Full Text Link Abstract : This paper presents a dynamic electrochemical model for representation, simulation, and evaluation of performance of small size generation systems emphasizing particularly proton exchange membrane fuel-cell (PEMFC) stacks. The results of the model are used to predict the output voltage, efficiency, and power of FCs as a function of the actual load current and of the constructive and operational parameters of the cells. Partial and total load insertion and rejection tests were accomplished to evaluate the dynamic response of the studied models. The results guarantee a better analytical performance of these models with respect to former ones with a consequent reduction in time and costs of projects using FCs as the primary source of energy. Additionally, this electrochemical model was tested for the SR-12 Modular PEM Generator, a stack rated at 500 W, manufactured by Avista Laboratories, for the Ballard Mark V FC and for the BCS 500-W stack.
Emerging Technology
22. L. Ben-Brahim, "On the compensation of dead time and zero-current crossing for a PWM-inverter-controlled AC servo drive," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1113- 1118, Oct. 2004. Full Text Link Abstract : Conventional dead-time compensation methods, for pulsewidth-modulated (PWM) inverters, improve the current output waveforms; however, the zero-current crossing effect is still apparent. This letter proposes a new method, based on angle domain repetitive control, to reduce the distortions in the PWM inverters output waveforms caused by the dead time and the zero-crossing problem.
23. D.O. Neacsu, "Current control with fast transient for three-phase AC/DC boost converters," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1117- 1121, Oct. 2004. Full Text Link Abstract : This letter introduces a new synchronous reference frame hysteresis control of a three-phase ac/dc boost converter that is demonstrated to have excellent transient behavior when compared with previous fast methods based on regular proportional plus integral control with cross-coupling terms. Finally, the control software program and a comparison of results are shown.
24. S. Kansal, G. Cook, "Correction to “Use of a Sinusoidal Series for Modeling Discrete Windowed Data as an Alternative to Interpolation”," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1122- 1122, Oct. 2004. Full Text Link Abstract : Not Available
IEEE Transactions on Industrial Electronics
