IEEE Transactions on Industrial Electronics

Volume 38, Number 6, Dec 1991 Access to the journal on IEEE XPLORE IE Transactions Home Page

38.6.1	L. Zhou, G. Cook, "Path planning for robotic manipulators with redundant degrees of freedom," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 413-420, Dec 1991. Abstract Link Full Text Abstract: The problem of path planning for robotic manipulators with redundant and nonredundant degrees of freedom is addressed. It is assumed that the motors for each joint are capable of achieving the commanded velocity within limits. Thus, the dynamic model is simplified and the main complexity is that of the kinematic relationships. Of primary interest is the problem of moving the end effector from point A to point B in an efficient manner, possibly in the presence of obstacles. A suboptimal solution is proposed and discussed. Examples are presented in order to compare the performance of the redundant and the nonredundant manipulators
38.6.2	J.Y. Hung, "Control of industrial robots that have transmission elasticity," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 421-427, Dec 1991. Abstract Link Full Text Abstract: A control scheme is presented for electrically driven, industrial robots that have transmission elasticity. Some feedback structures that have been described in the past have an inner control loop to cancel the elastic coupling torque between motor and link. An outer feedback loop is then used for the control of the arm position. A refinement of such a control scheme is analyzed using singular perturbation methods. A broad spectrum of control algorithms that were originally designed under the assumption of ideal, rigid joints can now be extended to the elastic transmission case with minor modifications. One contribution is that exact cancellation of the elastic torque is not necessary. In fact, the elasticity effects in some robots can be adequately damped by simply adding only a term that is proportional to the differential speed (difference between link velocity and motor velocity). Experimental results are also presented
38.6.3	C.C. Hang, K.K. Sin, "On-line auto tuning of PID controllers based on the cross-correlation technique," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 428-437, Dec 1991. Abstract Link Full Text Abstract: The development of an online version of an autotuning algorithm for proportional-integral-derivative (PID) controllers based on the cross-correlation technique is described. The autotuner causes only minor perturbation on the normal operation of the process, needs little prior information, and is robust to noise. The design rules for automatic selection of the length and bit interval of the pseudorandom binary-sequence (PRBS) probing signal used by this autotuner are also discussed. The accuracy and performance of this autotuning method have been substantiated by extensive simulations
38.6.4	A.C. Lippincott, R.M. Nelms, "A capacitor-charging power supply using a series-resonant topology, constant on-time/variable frequency control, and zero-current switching ," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 438-447, Dec 1991. Abstract Link Full Text Abstract: A power supply specifically designed for capacitor-charging applications that uses a series-resonant circuit topology, a constant on-time/variable frequency control scheme, and zero-current switching techniques has been developed. The performance of this capacitor-charging power supply (CCPS) has been evaluated in the laboratory by charging several values of load capacitance at various repetition rates. The CCPS has charged a 1 μF capacitor from 0 to 1500 V DC in 750 μs, exhibiting a charging power of 1500 J/s. This operation has been repeated at a rate of 800 charges per second, which corresponds to an average power output of 900 W. A 10 μF capacitor has been charged from 0-1500 V DC in 8 ms. These results indicate that this design is feasible for use in capacitor-charging applications
38.6.5	M.-y. Chow, P.M. Mangum, S.O. Yee, "A neural network approach to real-time condition monitoring of induction motors," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 448-453, Dec 1991. Abstract Link Full Text Abstract: A neural network-based incipient fault detector for small and medium-size induction motors is developed. The detector avoids the problems associated with traditional incipient fault detection schemes by employing more readily available information such as rotor speed and stator current. The neural network design is evaluated in real time in the laboratory on a 3/4 hp permanent magnet induction motor. The results of this evaluation indicate that the neural-network-based incipient fault detector provides a satisfactory level of accuracy, greater than 95%, which is suitable for real-world applications
38.6.6	K.-T. Chau, Y.-S. Lee, A. Ioinovici, "Computer-aided modeling of quasi-resonant converters in the presence of parasitic losses by using the MISSCO concept," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 454-461, Dec 1991. Abstract Link Full Text Abstract: The DC and small-signal models of quasi-resonant converters, operating in both half-wave and full-wave modes, are developed in a suitable form for computer simulation. The starting step is the extraction of a minimum separable switching configuration (MISSCO) containing all power switches but a minimum number of other components (resonant ones). By using the step-response analysis and average technique, and by perturbing and separating the DC and AC components in the resulting equations, the equivalent models of MISSCO are derived. They are introduced in the converter structure to replace the circuit initially extracted. Models of different quasi-resonant converters can be obtained by this general approach. The analysis takes into account the conduction losses of the switching devices and reactive elements, which improves considerably the model accuracy. Model-based computer simulation agrees with the experimental results
38.6.7	C.Q. Lee, S. Sooksatra, "Performance characteristics of the full-bridge zero voltage switching PWM resonant converter," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 462-468, Dec 1991. Abstract Link Full Text Abstract: The authors present the exact analysis of the full-bridge zero voltage switching (ZVS) pulse width modulated (PWM) converter by using the state-plane technique. Based on the analysis, they derive the necessary conditions for ZVS operation and the performance characteristics of the converter in terms of characteristic curves from which the converter design procedure can be formulated. The performances of the converter operating outside the limits of ZVS operation, including the switching loss and the attainable efficiency under different load conditions, are also given. The analytical work is confirmed by experimental results
38.6.8	J.G. Kettleborough, I.R. Smith, V.V. Vadher, F.L.M. Antunes, "Microprocessor-based DC motor drive with spillover field weakening ," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 469-475, Dec 1991. Abstract Link Full Text Abstract: A microprocessor-based speed control scheme for a separately excited DC motor fed from a DC source, which incorporates both armature-voltage control and spillover field weakening to provide smooth and precise control from standstill to speeds well above the base value, is described. Armature-current limitation during transient operation is achieved using an interventionist system external to the microprocessor controller, thereby simplifying considerably the overall system design. Experimental results obtained from a prototype 5 kW drive are presented to illustrate the excellent dynamic behavior of the scheme
38.6.9	M. Prokin, "Speed measurement using the improved DMA transfer method," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 476-483, Dec 1991. Abstract Link Full Text Abstract: A wide-range speed measurement method using the direct memory access (DMA) transfer of a content of the timer to the memory is presented. The DMA method is based on both pulse counting and time measurement during the constant sampling time. The hardware configuration and algorithms for a microcontroller implementation are also presented. The proposed method is suitable in systems using microcontrollers with integrated DMA controller and timers. Limitations and sources of errors are discussed in detail
38.6.10	S. Seereeram, J.T.-Y. Wen, "An all-geodesic algorithm for filament winding of a T-shaped form ," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 484-490, Dec 1991. Abstract Link Full Text Abstract: An algorithm that generates all-geodesic paths for the complete surface coverage of a T-shaped form composed of the adjoining of two cylinders of equal radii is presented. This has been recognized as a challenging filament-winding problem as its form is nonaxisymmetric. This algorithm was implemented on the robotic filament-winding system developed at Rensselaer Polytechnic Institute
38.6.11	Zhe Chen, "Local observability and its application to multiple measurement estimation," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 491-496, Dec 1991. Abstract Link Full Text Abstract: The concept of local observability is introduced for linear time-varying systems. The concept is useful for the analysis of the observability of a system during a chosen time period. It has important applications in estimation involving multiple measurements. The observability matrix, used for testing complete observability, is also used to determine local observability. The condition number of the matrix is adopted as a scalar measure of degree of local observability. The use of the matrix and its condition number is illustrated by a practical application involving a terrain-aided inertial navigation system. Error covariance analysis, done by computer, is performed to confirm the local observability predicted by the condition number
38.6.12	V.V. Bapeswara Rao, P. Enjetti, P.D. Ziogas, "Comment, with reply, on `Analysis of a static power converter under unbalance: a novel approach' by P. N. Enjeti and P.D. Ziogas," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 497-498, Dec 1991. Abstract Link Full Text Abstract: The commenter argues that the expressions obtained in the above-named work (see ibid., vol.37, no.1, pp.91-93, Feb. 1990) by P.N. Enjeti and P. D. Ziogas for the harmonics of the output voltage are in error. Certain modifications of the formulas presented by Enjeti and Ziogas are suggested. An authors' reply is presented
38.6.13	P.D. Olivier, "Feedback linearization of DC motors," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 498-501, Dec 1991. Abstract Link Full Text Abstract: The feedback linearization of series and shunt-connected motors is studied. It is found that they can be feedback linearized in a variety of ways. The series-connected motor can be input-to-state linearized, whereas the shunt-connected motor cannot. All of the feedback linearizations are valid except on `thin sets' of states
38.6.14	D.C. Hanselman, "Techniques for improving resolver-to-digital conversion accuracy ," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 501-504, Dec 1991. Abstract Link Full Text Abstract: Several methods for reducing the position error caused by the existence of imperfect resolver signal characteristics are introduced. The most straightforward method is simply to calibrate each resolver and resolver-to-digital (R/D) converter and then correct the R/D converter output in real time. Although this method corrects all errors, including those with an origin in the R/D converter, it is also the most time-consuming and labor-intensive. By appropriate signal processing, it is shown that quadrature error can be eliminated by simple algebraic manipulation of the resolver signals. Similarly, it is shown that all even harmonics in the resolver signals can be canceled if the resolver is constructed with complementary phases. It is shown that amplitude imbalance can be used to reduce the position error due to inductive harmonics