7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623)
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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
Autonomous mobile robot with multiprocessor control system
- Trang 467-471
The present technological trends in microelectronic, sensor and computing techniques make possible intensive research and development in the large area of applications. One of the most progressive area is the development of autonomous mobile robots. This paper deals with the multiprocessor control system design for experimental autonomous mobile robot (ALR) VUTBOT-2 fir automatic attendance of man......
#Mobile robots #Robot control #Control systems #Automatic control #Communication system control #Communication channels #Mobile communication #Microelectronics #Research and development #Manufacturing systems
Nonlinear feedback control with sliding mode of a linear induction motor
- Trang 226-231
The paper presents a control technique achieving high dynamic performance for linear induction motor drives. A nonlinear feedback is used to decouple the thrust from the flux. The feedback is based on a simplified model that is obtained by extension of the rotary induction motor model. Conversely, robustness to parameter variations and to unmodelled dynamics that are produced by the end-effects is......
#Feedback control #Induction motors #Sliding mode control #Magnetics #Robust control #Force control #Gears #Automatic control #Induction motor drives #Industrial control
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
Multi-sensor systems based on force/torque/pressure sensors for monitoring of grippers
- Trang 551-555
Using a multi-sensor system the monitoring of the end-effectors and grippers helps to eliminate the disturbances and to increase the reliability of the robotized production. The simultaneous application of force/torque/pressure sensors built in the grippers or mounted in the last robot wrist give the best solution for monitoring of robot grippers.
#Force sensors #Torque #Sensor systems #Monitoring #Grippers #Robot sensing systems #Robotics and automation #Fixtures #Pressure control #Force measurement
High efficiency SVM technique for VSI
- Trang 269-274
A space vector modulation technique for voltage source inverter which takes into account the power modules switching losses is presented in the paper. It is based on three digital separate circuits, which generate the modulation switching pattern by using a clock unit with three separate programmable frequency divisors. In particular, for each leg of the inverter, the switching frequency can be se......
#Support vector machines #Inverters #Multichip modules #Voltage #Switching loss #Digital modulation #Modulation coding #Switching circuits #Clocks #Frequency conversion
Optimization of unilaterally constrained telerobots
- Trang 488-493
Mobile telerobots, that are not rigidly fixed but unilaterally constrained to the environment, operate under the risk of losing their defined position, starting to slip away or to turn over. It is the objective to minimize this risk by finding an optimal geometrical configuration and position of the mobile telerobot, so that a given task is performed properly, under regard of some mechanical const......
#Constraint optimization #Telerobotics #Torque #Mathematical model #Boundary conditions #Control systems #Mobile robots #Robot kinematics #Deformable models #Power system modeling
PWM-less current controlled VSI-IM drive
- Trang 159-164
In this paper the PWM-less current controller for a voltage source inverter is discussed. The controller is of boundary layer type and a switching table realized. It allows employment of positive definite and also positive semi-definite vector function determining reaching dynamics. In its design the fact that the calculation of the stator voltage vectors from the d-q control components does not h......
#Pulse width modulation #Pulse width modulation inverters #Voltage control #Zero voltage switching #Employment #Stators #Logic design #Automatic generation control #Torque control #Magnetic switching
Network resource allocation method for communicating control systems
- Trang 80-85
In order to realize distributed control systems, it is required to tie up plural distributed subsystems through a network, and the fusion of control engineering and realtime communication technology is also required. In this article, a new network resource allocation method is proposed. This is based on a traffic control queuing mechanism called ALTQ. To fill the delay time constraints for each fl......
#Resource management #Control systems #Communication system control #Distributed control #Control engineering #Communications technology #Traffic control #Delay effects #Time factors #Fluid flow measurement
Posture control using foot toe and sole for biped walking robot "Ken"
- Trang 437-442
No paper has been published on the active use of the foot toe of the biped walking robots, combined with the normal biped walking by soles. In other words, the sole Of supporting leg is usually assumed to be completely contacted to the floor. To maintain this condition, the robot walking has restrictions such as the maximum walking speed limitation. If the toe contact mode to the floor exists part......
#Legged locomotion #Foot #Leg #Actuators #Trajectory #Weight control #Robot kinematics #Humans #Differential equations #Feedback control