7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623)
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Các bài báo tiêu biểu
Motor control system driven by decentralized inverters
- Trang 165-170
In this paper, a new motor control system where plural inverters are used to control an AC motor is proposed. The distinct feature of this system is improvement of robustness and performance by cooperation control using decentralized inverters. The following good features are expected by using the proposed system. (1) A high voltage motor can be driven by low voltage inverters. (2) More robust sys......
#Motor drives #Pulse width modulation inverters #Control systems #AC motors #Robust control #Low voltage #Torque control #Voltage control #Rotors #Phase detection
A reinforcement learning approach to obstacle avoidance of mobile robots
- Trang 462-466
One of the basic issues in the navigation of autonomous mobile robots is the obstacle avoidance task that is commonly achieved using a reactive control paradigm where a local mapping from perceived states to actions is acquired. A control strategy with learning capabilities in an unknown environment can be obtained using reinforcement learning where the learning agent is given only sparse reward i......
#Learning #Mobile robots #Control engineering computing #Automatic control #Neural networks #Fuzzy logic #Path planning #Robotics and automation #Navigation #State-space methods
Mobile robots playing soccer
- Trang 510-513
Robot soccer is a game similar to the "classical" soccer, but the players are robots. Each team consists of three players, one of them is the goalkeeper. Robots have to be controlled remotely from the host computer. The color camera connected to the computer is used for gaining information about the position of individual players and the orange golf ball. The match between two teams (each having i......
#Mobile robots #Robot vision systems #Cameras #Humans #Games #Robot control #Microcontrollers #DC motors #Image processing #Object recognition
A new sensorless vector control method for permanent magnet synchronous motor without velocity estimator
- Trang 242-246
In this paper, a novel vector control method for permanent magnet synchronous motors is presented. In this method, the velocity estimation is completely removed and vector control is accomplished in a new coordinate system. In conventional vector control methods, the control effort is calculated in rotating coordinates with a synchronous speed of /spl omega//sub r/. However, in the proposed method......
#Machine vector control #Permanent magnet motors #Synchronous motors #Equations #Digital signal processing #Control systems #Stability #Torque #Reactive power #State estimation
Experimental verification of a technique for the real-time identification of induction motors based on the recursive least-squares
- Trang 326-334
This paper presents the experimental application of a technique for the real-time identification of induction motors whose theoretical and numerical analysis had already been faced up to by the authors in previous works. The presented identification technique, based on least-squares, reveals itself suitable to be applied to induction motors both supplied by the electrical grid and as a part of a h......
#Induction motors #Numerical analysis #Control systems #Minimization methods #Stators #Rotors #Voltage #Equations #Steady-state #Testing
Modelling and control of a soccer robot
- Trang 506-509
Robotic soccer is a challenging research and pedagogical domain that involves many technical and or scientific problems. A vision system is required to see the field, ball and players. Mechanical and electrical systems must be robust and reliable. A low-level control system of robot players must be able to control the players precisely enough. High-level strategic control usually involves some asp......
#Mobile robots #Wheels #Microcontrollers #Communication system control #Robot control #Control systems #Mathematical model #Vehicle dynamics #Communications technology #Filters
Loss-function optimal control of the positioning servomotors with static torque proportional to the speed
- Trang 232-235
The maximum efficiency use of industrial purpose equipment is an actual concern imposed by the necessity of increasing the productivity of all the equipment and reducing the energy consumption. Taking into account this trend, in the present paper, the authors try to determine the optimal control law of the positioning an open-loop servo system with static torque proportional to the speed so that t......
#Optimal control #Servomotors #Torque #Equations #Servomechanisms #Energy loss #Voltage #Electrical equipment industry #Productivity #Energy consumption
Double inverted pendulum optimal control-basis for unsupported standing in paraplegia
- Trang 121-126
Limited unsupported standing has been restored in a patient with thoracic spinal cord injury through closed loop functional electrical stimulation of paralyzed ankle joint dorsal and plantarflexor muscles and voluntary and reflex activity of intact upper trunk musculature. The paraplegic subject was considered an underactuated double inverted pendulum structure with an active degree of freedom in ......
#Optimal control #Muscles #Control systems #Spinal cord injury #Neuromuscular stimulation #Kinematics #Fatigue #Gravity #Torque #Force control
Run time position estimation with basic sensors in real time SCADA applications
- Trang 583-587
In this study, a novel real time SCADA (supervisory control and data acquisition) algorithm for position estimation of an object moving on a plane (e.g. an object on a moving conveyor band) is proposed by using basic sensors (e.g. limit switch, proximity sensor etc.). This algorithm is explained on a sample band system application.
#SCADA systems #Control systems #Animation #Protocols #Logic #Switches #Real time systems #Automatic control #Condition monitoring #Application software
An on-line reference-trajectory generator for smooth motion of impulse-controlled industrial manipulators
- Trang 365-370
Industrial manipulators driven by impulse-controlled servo motors commonly follow prescribed reference-trajectories which enable smooth movements (no discontinuity in acceleration profile). On-line generation of such smooth trajectories as a consequence of new target-settings during the motion, however, still suffers from the high computational effort for calculating an optimum solution, as far as......
#Acceleration #Pulse generation #Microcontrollers #Creep #Servomechanisms #Servomotors #Trajectory #Clocks #Digital signal processing #Kinematics