IEEE Transactions on Industrial Electronics 

Volume 41,  Number 1, Feb 1994           Access to the journal on IEEE XPLORE     IE Transactions Home Page



41.1.1    W.A. Gruver, "Intelligent robotics in manufacturing, service, and rehabilitation: an overview," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 4-11, Feb 1994.   Abstract Link    Full Text

Abstract: Advances in intelligent robotics are resulting in a new generation of programmable, sensory-interactive, computer-controlled machines capable of operating with human supervision or autonomously from sensed information. The design and integration of these machines require knowledge of actuators, control, mechanisms, mobility, programming, and sensors. The application of intelligent robotic technologies can increase the productivity, safety, and the quality of life for people in a wide range of tasks for land, space, and undersea environments. This paper provides an overview of developments of intelligent robotics to manufacturing systems, robotic aids for the disabled, and service. The references highlight advances in robot control, sensor integration, mechanical hands, manufacturing automation, walking machines, and powered prostheses

41.1.2    M. Vukobratovic, A. Tuneski, "Contact control concepts in manipulation robotics-an overview," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 12-24, Feb 1994.   Abstract Link    Full Text

Abstract: This paper presents the state of the art in the control of robotic manipulators in constrained motion tasks. Contact control concepts are classified using different criteria, and their main characteristics are analyzed. For each of the presented contact control concepts, the essential characteristics are stated. The paper covers some early ideas and their later improvements, as well as trends in this field. The advantages and drawbacks of the various control schemes are outlined, and they are compared from the standpoint of their implementation issues. In the paper, all characteristic results in the stability analysis of robotic manipulators in the constrained motion tasks are briefly reported. A new approach to the correct solution of contact tasks control is mentioned as well

41.1.3    H. Arai, K. Tanie, S. Tachi, "Path tracking control of a manipulator considering torque saturation," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 25-31, Feb 1994.   Abstract Link    Full Text

Abstract: When the minimum-time trajectory of a manipulator along a geometrically prescribed path is planned taking into consideration the manipulator's dynamics and actuator's torque limits, at least one of the joints should be at the torque limit. The execution of such a trajectory by a conventional feedback control scheme results in torque saturation. Consequently, the tracking error cannot be suppressed and the manipulator may deviate from the desired path. In this paper, the author's propose a feedback control method for path tracking which takes the torque saturation into account. Based on the desired path, a coordinate system called path coordinates is defined. The path coordinates are composed of the component along the path and the components normal to the path. The equation of motion is described in terms of the path coordinates. Control of the components normal to the path is given priority in order to keep the motion of the manipulator on the path. Simulations of a two-degree-of-freedom manipulator show the effectiveness of this method

41.1.4    S.A. Bortoff, "Advanced nonlinear robotic control using digital signal processing ," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 32-39, Feb 1994.   Abstract Link    Full Text

Abstract: This paper presents a technique for the construction of the pseudolinearizing controller. The new method, intimately related to gain scheduling, uses splines to approximate functions which are often impossible to compute in practice. The Acrobot is used to illustrate the design technique, and experimental results are presented which support assertions of computational efficiency and high performance

41.1.5    N. Nakao, T. Harakawa, M. Sakagami, T. Nakayama, S. Matsuhashi, "Automated equipment to assemble connectors for telecommunication cables," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 40-44, Feb 1994.   Abstract Link    Full Text

Abstract: Automated equipment to assemble connectors for telecommunication cables is proposed. The equipment can pick up a conductor from a set of twisted conductors, identify the conductor number by the color of its insulation, and arrange it on a connector. Experiments on test versions determine and evaluate the basic requirements and confirm the process control method for lines. Based on experimental results, estimations, and human interface, the equipment is designed and a prototype is manufactured. The use of this equipment is expected to reduce assembly time and eliminate human error

41.1.6    Seo-Wook Park, Jun-Ho Oh, "Hardware realization of inverse kinematics for robot manipulators ," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 45-50, Feb 1994.   Abstract Link    Full Text

Abstract: For real-time processing of kinematic information required for intelligent robotic applications, a hardware realization of an inverse kinematics algorithm is a challenging task. This paper adopts an incremental unit computation method to accomplish the inverse kinematics of a three-axis articulated robot. This method starts from defining incremental units in joint and Cartesian spaces, which represent the position resolutions in each space. With this approach, calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate circuit. Furthermore, the incremental direct kinematics can be solved by using a digital differential analyzer (DDA) integrator. The hardware architecture to implement the algorithm is also described. Applying the hardware implemented by an erasable programmable logic device (EPLD) to the straight-line trajectory of an experimental robot, the authors have obtained an end-effector's maximum speed of 12.6 m/s

41.1.7    A.S. Rao, K.Y. Goldberg, "Placing registration marks," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 51-59, Feb 1994.   Abstract Link    Full Text

Abstract: In industrial assembly, a registration mark can be placed on parts to aid a computer vision system in determining the position and orientation (pose) of parts. However, when sensor noise and limits on resolution introduce errors in the measured location of the registration mark, these errors can propagate into the measurement of part pose. In this paper, the authors define the registration mark problem: given an n-sided rigid planar polygonal part and a set of k poses for the part, locate a point on the surface of the part that maximizes the minimum distance between transformed points. A registration mark at this point will be maximally robust to sensor imperfections. The authors give an O(n log n+k4 log k:log* k) time algorithm to solve this planar problem using a result from Schwartz and Sharir (see J. Symbolic Computation, vol.10, p.371-93, 1990), and demonstrate the algorithm using a commercial vision system. The results extend to classes of curved planar parts and polyhedral parts

41.1.8    G.J. Wiens, Ming-Shan Lu, Yuh-Wen Lin, J.T. Black, "Control of an industrial robot subjected to base mobility," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 60-69, Feb 1994.   Abstract Link    Full Text

Abstract: To remove the cell size limitation and to make cellular manufacturing systems more flexible, research has been conducted in which an industrial robot has been given base mobility via an air pallet base and use of existing joint actuators and strategically located, compliant posts. For investigating this new approach of robot mobility within a cell, an appropriate control system has been designed and implemented that interfaces with the standard industrial controller. This paper is a presentation of the resulting control system consisting of multiple-sensor integration into its hierarchical levels. Using the concept of logical sensors, experimental verification is presented for each of the logical sensor subsystems and its successful integration with the existing industrial controller. Experimental results obtained for the fully integrated robot controller illustrate the effectiveness of the multiple-sensor, hierarchical controller for self-propelled mobile robots operating within a manufacturing cell

41.1.9    B.W. Bomar, "Low-roundoff-noise limit-cycle-free implementation of recursive transfer functions on a fixed-point digital signal processor," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 70-78, Feb 1994.   Abstract Link    Full Text

Abstract: A method is presented for realizing recursive digital transfer functions on a fixed-point digital signal processor. The method is based on the parallel connection of L∞-norm scaled first- and second-order state-space structures. Magnitude truncation of the state update equations is employed to render the realization free of both overflow oscillations and constant-input limit cycles. The roundoff noise and coefficient sensitivity of the realization are also near minimum, giving a realization with outstanding performance in terms of all finite wordlength effects. An implementation on the DSP56000 family of digital signal processors demonstrates that the realization is efficient enough to achieve high sample rates

41.1.10    Y. Tong, N.K. Sinha, "A computational technique for the robust root locus," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 79-85, Feb 1994.   Abstract Link    Full Text

Abstract: In this paper, the authors present a modified method for generating multiparameter root loci of both continuous and discrete time systems. A more practical computational method for plotting the robust root locus is developed. The graph of the locations of the poles of the transfer function of the closed-loop system corresponding to each gain can be plotted readily and accurately with this method. The sensitivity of poles to the coefficients of the characteristic polynomial can thus be examined, and the appropriate tuning gain selected to achieve a better robustness. Also, a stricter bound of the zeros of the characteristic polynomial is given to further reduce the complexity of the computation of the robust root locus. The technique is applied to the design of robotic manipulators. Simulations of controller design for the PUMA 762 robot disk grinding process are included

41.1.11    T.A. Haskew, R.M. Nelms, "Real-time simulation of a 20 kHz parallel-loaded resonant converter using an IBM RISC system/6000 model 350," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 86-90, Feb 1994.   Abstract Link    Full Text

Abstract: Real-time simulation tools are useful in studying the large-signal behavior of power electronic converters in a system-level environment, and can provide a platform for the evaluation of hardware implementations of control loop designs. This paper presents an approach which allows real-time simulation of the open-Loop performance of a 20 kHz parallel-loaded resonant converter using an IBM RISC System/6000 Model 350. The state equations which describe the converter are transformed to recursive equations using finite-difference techniques. First- and second-order differencing schemes have been investigated and compared. The second-order method is superior to the first-order method because a time step of 3.5 μs executes in 3.33 μs with exceptional accuracy and negligible error propagation

41.1.12    A. Consoli, S. Musumeci, A. Raciti, A. Testa, "Sensorless vector and speed control of brushless motor drives," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 91-96, Feb 1994.   Abstract Link    Full Text

Abstract: In the present paper an approach is presented to the speed control of permanent magnet synchronous motors without mechanical transducers. The rotor position, which is an essential component of any vector control scheme, is calculated through the instantaneous stator flux position and an estimated value of the load angle. A closed-loop state observer is implemented to compute the speed feedback signal. Experimental results on a laboratory tested motor drive are presented to validate the proposed procedure

41.1.13    Ting-Yu Chang, Ching-Tsai Pan, "A practical vector control algorithm for μ-based induction motor drives using a new space vector current controller," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 97-103, Feb 1994.   Abstract Link    Full Text

Abstract: In this paper, a very simple vector control algorithm is proposed for μ-based induction motor drives. The proposed method controls the motor torque directly and linearly to achieve instantaneous torque response without oscillation. The merits of this control method include its simple architecture and obviating the coordinate transformation. At the same time, a new space vector-based current controller is proposed to serve as a quick response torque controller of the proposed drive system. In addition to the current error, information on the current error derivative is further employed so that one can take more advantages of adding the zero voltage vector for reducing the switching frequency. As a result, the efficiency can be greatly increased. It is seen that through integration of the above two parts, the proposed drive system is very simple to implement and has very good performance

41.1.14    A. Chandra, L.-A. Dessaint, M. Saad, K. Al-Haddad, "Implementation of self-tuning algorithms for reference tracking of a DC drive using a DSP chip," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 104-109, Feb 1994.   Abstract Link    Full Text

Abstract: This paper describes the implementation of two self-tuning control algorithms for the speed control of a permanent magnet DC motor. The algorithms minimize a cost function incorporating system input, output, and set-point variation for reference tracking. Variable forgetting factor using data normalization with constant trace has been utilized. Self-tuning controllers have been implemented using a single-chip digital signal processor (DSP). It results in reduction of system hardware, cost, and calculation time

41.1.15    Hoang Le-Huy, K. Slimani, P. Viarouge, "Analysis and implementation of a real-time predictive current controller for permanent-magnet synchronous servo drives," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 110-117, Feb 1994.   Abstract Link    Full Text

Abstract: A real-time current controller for PWM inverter-fed permanent-magnet synchronous motor drives is presented and analyzed. The proposed current control scheme is based on predictive control with a parallel integral loop added to compensate for the inaccuracy of the motor model and for the variations of motor parameters and DC voltage source. The proposed current control scheme is analyzed and its performance is evaluated by computer simulation. An EPROM-based implementation is presented in which calculations and pulsewidth modulation are executed by lookup tables resulting in high-speed operation. The controller performance is evaluated using a prototype l kW PM synchronous servo drive. Experimental results are given and discussed

41.1.16    A.K.S. Bhat, "Analysis and design of LCL-type series resonant converter," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 118-124, Feb 1994.   Abstract Link    Full Text

Abstract: A series resonant converter modified by adding an inductor in parallel with the transformer primary (or secondary) is presented. This configuration is referred to as an “LCL-type series resonant converter”. A simplified steady-state analysis using complex AC circuit analysis is presented. Based on the analysis, a simple design procedure is given. Detailed experimental results obtained from a MOSFET-based 640 W converter are presented to verify the analysis. A narrow variation in switching frequency is required to regulate the output voltage for a very wide change in load, and the converter has load short-circuit capability. It is shown that by placing the parallel inductor on the secondary side, the parasitics of the high-frequency transformer can be used profitably

41.1.17    Yonghoon Kim, R.C. Luo, "Validation of 3-D curved objects: CAD model and fabricated workpiece," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 125-131, Feb 1994.   Abstract Link    Full Text

Abstract: This paper proposes a new method to describe and identify a 3-D curved object for the purpose of validating a fabricated object to the design specification. Curved 3-D objects are, in general, difficult to represent and identify because they lack distinct properties such as edges, planes, or cylindrical surfaces which are the building blocks in representing objects. In this paper, the authors propose to use principal axes of a 3-D object to establish a reference for the representation. A method of obtaining an inertia matrix from a 3-D range image is developed. The unique set of principal axes is obtained from the inertia matrix of an object with an arbitrary 3-D position and orientation, and the object can be described uniquely on these principal axes. On the principal axes, an object is described by a set of features describing the shape of the object such as spine, section size, section orientation, and section contraction. The features are used for comparing two objects for the validation purpose. The authors also propose a direct measure of similarity between two objects as a mean-squared difference of radii. As an experiment, two 3-D object models are designed through a CAD package, and fabricated objects are compared with the designed models for validation purposes

41.1.18    Hen-Geul Yeh, "Parallel implementation of the fast Fourier transform on two TMS320C25 digital signal processors," IEEE Trans. on Industrial Electronics, vol. 41, no. 1, pp. 132-135, Feb 1994.   Abstract Link    Full Text

Abstract: The author used two fixed-point TMS320C25 digital signal processors (DSPs) to implement in parallel the FFT. The significance of this multiprocessing system is: (1) the number of times block data transfer occurs between these two DSPs is minimum, (2) each DSP can independently perform the same FFT routine with different data set, and (3) the total computational load is nearly equally distributed to two DSPs. The speedup of this system over a single sequential processor is close to two

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 41,  Number 2, April 1994           Access to the journal on IEEE XPLORE     IE Transactions Home Page



41.2.1    G.M. Bone, M.A. Elbestawi, "Sensing and control for automated robotic edge deburring," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 137- 146, April 1994.   Abstract Link    Full Text

Abstract: This paper describes the sensing and control elements of a system for automated robotic edge deburring. The deburring path, automatically generated bp a task planner, is corrected on-line by an active end effector with the objective of controlling the chamfer depth. The sensing system combines the information from force and vision sensors during deburring to provide an improved depth measurement. The vision sensor is then used to verify the deburring performance during an inspection pass. The control system incorporates a new form of adaptive Generalized Predictive Control (GPC) combined with learning control, termed GPC with Learning (GPCL). The system is tested through computer simulations and deburring experiments. The experiments were performed on steel parts with one-dimensional (1-D) and two-dimensional (2-D) edges. For the 1-D edges the depth's standard deviation measured on-line was 0.015 mm with nonadaptive GPC, 0.009 mm with adaptive GPC, and 0.006 mm with adaptive GPCL. With adaptive GPCL and the 2-D edge the deviation was 0.017 mm. This was confirmed by the inspection pass measurements which reported a mean of 0.39 mm and a deviation of 0.019 mm.<>

41.2.2    O. Vainio, S.J. Ovaska, "Tachometer signal smoothing with analog discrete-time polynomial estimators," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 147- 154, April 1994.   Abstract Link    Full Text

Abstract: The design of sampled-data polynomial estimators for noise reduction in industrial instrumentation applications is discussed. Unlike conventional lowpass filters, an estimator causes no delay on the polynomial-like primary signal. A general purpose design approach is described, incorporating notch frequencies for removal of narrow-band noise components, such as the 50/60 Hz line frequency. A 24-tap FIR estimator is optimized for tachometer signal smoothing in motor control systems. An analog circuit architecture, targeted for silicon CMOS implementation, is described and simulated.<>

41.2.3    Jong-Hwan Kim, Jong-Hwan Park, Seon-Woo Lee, E.K.P. Chong, "A two-layered fuzzy logic controller for systems with deadzones," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 155- 162, April 1994.   Abstract Link    Full Text

Abstract: Existing fuzzy control methods do not perform well when applied to systems containing nonlinearities arising from unknown deadzones. In particular, we show that a usual "fuzzy PD" controller applied to a system with a deadzone suffers from poor transient performance and a large steady-state error. In this paper, we propose a novel two-layered fuzzy logic controller for controlling systems with deadzones. The two-layered control structure consists of a fuzzy logic-based precompensator followed by a usual fuzzy PD controller. Our proposed controller exhibits superior transient and steady-state performance compared to usual fuzzy PD controllers. In addition, the controller is robust to variations in deadzone nonlinearities. We illustrate the effectiveness of our scheme using computer simulation examples.<>

41.2.4    Wei-Shiu Wang, Chang-Huan Liu, "Implementation and experimental study of a multiprocessor system for real-time model-based robot motion control," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 163- 172, April 1994.   Abstract Link    Full Text

Abstract: This paper presents the design and implementation of a multiprocessor system for real-time robot motion control. Full inverse dynamics compensation control laws in both joint and Cartesian spaces are used for developing parallel computation algorithms. The algorithms are divided into subtasks which are distributed among a fixed number of processors based on heuristic scheduling algorithms. The control laws are real-time tested on an experimental robot. The results present a feasible way for improving controller performance of current industrial robots.<>

41.2.5    M. Saad, P. Bigras, L.-A. Dessaint, K. Al-Haddad, "Adaptive robot control using neural networks," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 173- 181, April 1994.   Abstract Link    Full Text

Abstract: This paper studies the trajectory tracking problem to control the nonlinear dynamic model of a robot using neural networks. These controllers are based on learning from input-output measurements and not on parametric-model-based dynamics. Multilayer recurrent networks are used to estimate the dynamics of the system and the inverse dynamic model. The training is achieved using the backpropagation method. The minimization of the quadratic error is computed by a variable step gradient method. Another multilayer recurrent neural network is added to estimate the joint accelerations. The control process is applied to a two degree-of-freedom (DOF) SCARA robot using a DSP-based controller. Experimental results show the effectiveness of this approach. The tracking trajectory errors are very small and torques expected at manipulator joints are free of chattering.<>

41.2.6    S. Casale, V. Catania, A. Puliafito, L. Vita, "A remote bridging technique to increase performability in distributed systems," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 182- 190, April 1994.   Abstract Link    Full Text

Abstract: The paper presents a network architecture and protocol to extend the facilities available on LAN's to a wider area. The proposal, based on a remote bridging technique, allows selective network reconfiguration and consequently high network availability and performability values. This make the system suitable for applications in environments characterized by hard reliability constraints. The proposed solution is assessed by modeling it through Markov chain theory.<>

41.2.7    T.H. Lee, T.-S. Low, K.-J. Tseng, H.K. Lim, "An intelligent indirect dynamic torque sensor for permanent magnet brushless DC drives," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 191- 200, April 1994.   Abstract Link    Full Text

Abstract: In this paper, the authors present a technique for indirect sensing of the dynamic torque feedback signal which is applicable to permanent magnet brushless DC drives. This technique is based on a judicious use of the motor equations and on parameter estimation methods. It is intelligent in the sense that the technique provides self-calibration at start-up, and in the paper, the authors also present a design to extend the technique to overcome effects of parameter drifts by incorporating real-time online parameter estimation. The effectiveness of the proposed intelligent indirect dynamic torque sensor is demonstrated in a typical speed and position control experimental setup, where the performance obtained is shown to be superior to that obtained with conventional sinusoidal current controllers.<>

41.2.8    G.O. Garcia, R.M. Stephan, E.H. Watanabe, "Comparing the indirect field-oriented control with a scalar method," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 201- 207, April 1994.   Abstract Link    Full Text

Abstract: Two methods of induction motor control are examined. The indirect field-oriented (IFO) and the slip-control (SC) methods are formally compared. Their block diagrams are derived, analyzed and their similarities shown. It is demonstrated that the difference between the two is just due to a feedforward block that computes the current phase to be supplied to the motor in an IFO controller. This proves that the implementation complexity of either controller is almost identical. To perform comparative tests, both control methods were implemented using a single hardware. The torque rise time and frequency response of the speed control are presented. Based on experimental results, it is shown that the speed sensor resolution and the sampling rate of the controller strongly influence the dynamic response in the IFO method. The SC method is less sensitive to these parameters although it always presented a worse dynamic response. The IFO speed control presented a flat frequency response whereas the SC method presented a peak which could lead to an oscillatory speed response. It is also shown that the variation of the rotor electrical time constant influences strongly and in a similar way both control methods. Finally, it can be concluded that the implementation complexity of both control strategies are almost identical, although the IFO control method has a much better performance than the SC control method.<>

41.2.9    S.V. Cheong, H. Chung, A. Ioinovici, "Inductorless DC-to-DC converter with high power density," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 208- 215, April 1994.   Abstract Link    Full Text

Abstract: A new type of switching-mode power supply containing no inductors or transformers is proposed. The controlled transfer of energy from a unregulated DC source to a regulated output voltage is realized through a switched-capacitor (SC) circuit. A duty-cycle control is used; the driving signals of the transistors in the SC circuit are determined by the feedback circuit. The absence of magnetic devices makes possible the realization of power converters of small size, low weight and high power density, able to be manufactured in IC technology. High efficiency, small output voltage ripple and good regulation for large changes in the input voltage and/or load values are other positive features of the new type of DC-to-DC power converter. The input-to-output voltage conversion ratio is flexible; the same converter structure can provide a large range of constant desired values of the output voltage for a given input voltage, by predetermining the steady-state conversion ratio. The frequency response shows good stability of the designed converter. The experimental results obtained by using a prototype of a step-down SC-based DC-to-DC converter confirmed the theoretical expectations and the computer simulation results.<>

41.2.10    G. Moschopoulos, G. Joos, P.D. Ziogas, "Input characteristics of variable modulation index controlled current source inverters," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 216- 223, April 1994.   Abstract Link    Full Text

Abstract: Standard PWM current source inverters (CSIs) usually operate at fixed modulation index. The proposed modified current source inverter (MCSI) can operate with most pulse width modulation (PWM) techniques and with a variable modulation index, since the DC link inductor current freewheels on itself and not through the CSI. The use of variable modulation index control results in faster response times with no penalty on input power factor as compared to other variable modulation index schemes. This paper confirms this by investigating the input characteristics of the MCSI as seen from the AC mains. The quality of the input AC line currents is examined, and a design procedure for the input filters is given. Power factor and efficiency are discussed. Results are compared to those of other current source inverter topologies. Experimental results obtained from a 5 kVA converter confirm the theoretical considerations.<>

41.2.11    Yan Guo, Xiao Wang, H.C. Lee, Boon-Teck Ooi, "Pole-placement control of voltage-regulated PWM rectifiers through real-time multiprocessing," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 224- 230, April 1994.   Abstract Link    Full Text

Abstract: The voltage-regulated pulsewidth-modulated (PWM) rectifier is prone to instability. The system can be stabilized by proportional-plus-integral feedback control, but its transient response is slow. This paper describes results of a study of digital control to improve the system dynamic response by pole placement through state feedback. The control algorithm is implemented for real-time operation by using a custom designed system of three high-speed microprocessors. Results from an experimental study with a 1 kW hardware laboratory model of the PWM rectifier shows that the dynamic response can be significantly improved even when the DC link capacitor is substantially reduced.<>

41.2.12    C.M. Liaw, S.J. Chiang, C.Y. Lai, K.H. Pan, G.C. Leu, G.S. Hsu, "Modeling and controller design of a current-mode controlled converter," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 231- 240, April 1994.   Abstract Link    Full Text

Abstract: In this paper, the reduced-order dynamic modeling and controller design of a push-pull DC-DC converter with current-mode control are presented. First, the small-signal equivalent circuit of the converter and its corresponding transfer function model are found. Then the selection of slope compensation and the model reduction are performed using the concept of dominant energy mode. Based on the reduced converter models, a quantitative design procedure is derived to find the parameters of the closed-loop controller such that the prescribed regulating specifications can be matched. Theoretic bases, the design and implementation of the proposed controller are described in detail. The performance of the converter and the validity of the proposed controller are demonstrated by some simulation and experimental results.<>

41.2.13    A. Brambilla, E. Dallago, P. Nora, G. Sassone, "Study and implementation of a low conduction loss zero-current resonant switch," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 241- 250, April 1994.   Abstract Link    Full Text

Abstract: Zero-current (ZC) resonant switches allow one to reduce the switching losses in high-frequency DC/DC switched mode power supplies. ZC resonant switches can be either unidirectional (half-wave) or bidirectional (full-wave). If a conventional power MOSFET is chosen to implement the ZC resonant switch, the turn-on of the slow intrinsic diode has to be avoided. This is usually done with a fast blocking diode, which is connected in series with the MOSFET. Furthermore, an antiparallel fast diode is added when a FW ZC resonant switch is required. The conduction losses are relevant in this implementation, owing to the threshold voltage and to the series resistances of the two diodes. In this paper, a low-conduction-loss FW ZC resonant switch has been proposed. Its implementation is based on a power MOSFET and a single antiparallel Schottky diode. The possibility of an implementation with a power MOSFET alone is also discussed. A control circuit suitable for the proposed ZC resonant switch has been described. The experimental results obtained from a ZCS-QR buck converter are discussed.<>

41.2.14    A.S. Simoes, M.M. Silva, A.V. Anunciada, "A boost-type converter for DC-supply of fluorescent lamps," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 251- 255, April 1994.   Abstract Link    Full Text

Abstract: A boost type converter is described that is suitable for low-voltage DC-supply of fluorescent lamps. It has inherent lamp current limitation (ballast action) and provides the high voltage pulses and electrode heating that are required for igniting the lamp. The proposed circuit is applicable in automotive, emergency, and portable light sources.<>

41.2.15    A. Cavallini, M. Loggini, G.C. Montanari, "Comparison of approximate methods for estimate harmonic currents injected by AC/DC converters," IEEE Trans. on Industrial Electronics, vol. 41, no. 2, pp. 256- 262, April 1994.   Abstract Link    Full Text

Abstract: This paper concerns a comparative study on available estimators of harmonic current amplitudes injected in the AC network by six-pulse AC/DC converters. Current estimates are reached by approximate methods that resort to simplified current waveforms, as well as by an exact procedure that carries out the harmonic decomposition of the actual waveform. It has been shown that approximate procedures assuming ripple-free DC current can provide amplitude values significantly different from actual ones. In particular, it has been ascertained that the rectangular waveshape does not always correspond to the worst case as far as harmonic current amplitudes are concerned. The approximate methods that take ripple into account are generally more accurate, but the algorithms required for current amplitudes estimates are not as easy to apply as those valid for ripple-free waveforms. These findings should be kept in mind when systems for harmonic compensation, particularly filters, are to be designed. Moreover, national and international standards, when based on ripple-free DC current assumptions, should be carefully considered.<>

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 41,  Number 3, June 1994           Access to the journal on IEEE XPLORE     IE Transactions Home Page



41.3.1    P. Pleinevaux, "An analysis of the MMS object model," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 265-268, June 1994.   Abstract Link    Full Text

Abstract: MMS (Manufacturing Message Specification) is an OSI application protocol designed for the remote control and monitoring of industrial devices. In this paper, we study the MMS object model: the notion of class, naming, inheritance and structuring. We show that MMS is designed for simplicity but that some notions are not dealt with homogeneously in all classes of MMS objects

41.3.2    T.H. Lee, W.K. Tan, M.H. Ang, "A neural network control system with parallel adaptive enhancements applicable to nonlinear servomechanisms," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 269-277, June 1994.   Abstract Link    Full Text

Abstract: In this paper, we present a technique for using an additional parallel neural network to provide adaptive enhancements to a basic fixed neural network-based nonlinear control system. This proposed parallel adaptive neural network control system is applicable to nonlinear dynamical systems of the type commonly encountered in many practical position control servomechanisms. Properties of the controller are discussed, and it is shown that if Gaussian radial basis function networks are used for the additional parallel neural network, uniformly stable adaptation is assured and the approximation error converges to zero asymptotically. In the paper, the effectiveness of the proposed parallel adaptive neural network control system is demonstrated in real-time implementation experiments for position control in a servomechanism with asymmetrical loading and changes in the load

41.3.3    S.D. Round, R.M. Duke, "Real-time optimization of an active filter's performance," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 278-284, June 1994.   Abstract Link    Full Text

Abstract: Recent advances in power electronics have meant that many loads now draw a distorted current from the power supply. For the same real power consumed, the apparent power for the distorted load is greater than the equivalent sinusoidal load. A real-time active filter optimization algorithm has been implemented in a TMS320C30 DSP, with the aim of maximizing the monetary saving from active filtering by reducing the apparent power consumed at the point of supply. As the basis for this optimization a savings function which takes into account active filter efficiency, the cost of energy, and the supply and load current distortion before and after filtering, has been derived. A simplex optimization technique, which is able to find the optimum operating point even under varying load conditions, is used to maximize these energy savings

41.3.4    M. Gulko, S. Ben-Yaakov, "Current-sourcing push-pull parallel-resonance inverter (CS-PPRI): theory and application as a discharge lamp driver," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 285-291, June 1994.   Abstract Link    Full Text

Abstract: A novel topology, current-sourcing push-pull parallel-resonance inverter (CS-PPRI) was investigated theoretically and experimentally. The proposed power stage is built around a current fed push-pull inverter. The main features of the proposed inverter are: a load independent output current and zero voltage switching (ZVS). It is suggested that the proposed CS-PPRI is a viable alternative for realizing electronic ballasts for low and high-intensity discharge lamps

41.3.5    D.C. Hanselman, "Minimum torque ripple, maximum efficiency excitation of brushless permanent magnet motors," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 292-300, June 1994.   Abstract Link    Full Text

Abstract: Permanent magnet motors are usually driven in one of two ways. Sinusoidal currents are applied when the motor has a sinusoidal back EMF, and rectangular currents are applied when the back EMF has a trapezoidal shape. If implemented perfectly, each of these drive schemes is capable of producing ripple-free torque, which is desirable in many applications. However, in reality, permanent magnet motors never exhibit perfectly sinusoidal or trapezoidal back EMFs. Moreover, the power electronics used to drive the motor often has limitations that keep it from producing the required current waveform, especially as speed or load torque increases. In addition to these limitations, a permanent magnet motor often exhibits parasitic cogging torque that directly contributes to torque ripple. This work explores the relationships between motor current and back EMF, and identifies minimum torque ripple, maximum efficiency current excitations that can be implemented with finite bandwidth power electronics (current controlled VSI)

41.3.6    I. Husain, M. Ehsani, "Error analysis in indirect rotor position sensing of switched reluctance motors," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 301-307, June 1994.   Abstract Link    Full Text

Abstract: The phase excitation pulses of a switched reluctance motor (SRM) drive need to be properly synchronized with the rotor position for optimum torque production. Accuracy of this position information determines the efficiency and smoothness of the drive operation. This paper presents a method of analyzing the errors inherent to indirect rotor position sensing schemes. The error analysis in this paper breaks down the position error to its fundamental components in the position sensing system. As an illustration, the method is applied to two different indirect position sensing schemes. The same basic approach can be applied to evaluate other SRM position sensing schemes. The results are helpful in comparing the various sensing schemes, as well as focusing improvement efforts on the appropriate segment of the system

41.3.7    Ghang-Ming Liaw, Faa-Jeng Lin, "A robust speed controller for induction motor drives," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 308-315, June 1994.   Abstract Link    Full Text

Abstract: A speed controller considering the effects of parameter variations and external disturbance for indirect field-oriented induction motor drives is proposed in this paper. First a microprocessor-based indirect field-oriented induction motor drive is implemented and its dynamic model at nominal case is estimated. Based on the estimated model, an integral plus proportional (IP) controller is quantitatively designed to match the prescribed speed tracking specifications. Then a dead-time compensator and a simple robust controller are designed and augmented to reduce the effects of parameter variations and external disturbances. The desired speed tracking control performance of the drive can be preserved under wide operating range, and good speed load regulating performance can also be obtained. Theoretic basis and implementation of the proposed controller are detailedly described. Some simulated and experimental results are provided to demonstrate the effectiveness of the proposed controller

41.3.8    G.S. Buja, M.I. Valla, "Control characteristics of the SRM drives. II. Operation in the saturated region," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 316-325, June 1994.   Abstract Link    Full Text

Abstract: Part I of this two-part paper analyzed the control characteristics of switched reluctance motor (SRM) drives for operation of the motor in the linear region of its magnetic characteristics. This part completes the analysis, presenting the control characteristics in the saturated region. A description of the motor operation in the saturated region is first formulated. Then the control variables, the relationships between the motor torque and the control variables, and the torque capability are determined for both current-fed and voltage-fed SRM drives. The basic schemes for the speed control of a SRM are also presented

41.3.9    V. Vlatkovic, D. Borojevic, "Digital-signal-processor-based control of three-phase space vector modulated converters," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 326-332, June 1994.   Abstract Link    Full Text

Abstract: The paper presents the implementation of a DSP-based controller for three-phase, space-vector modulated converters. The implementation is illustrated for the control of a 2 kW, ZVS matrix power converter-based three-phase PWM rectifier. The controller features very high data processing speed (converter switching frequency of 100 kHz), and provides high-quality, low-distortion power converter input currents and output voltages. The controller can be implemented using only a few standard integrated circuits, providing high reliability and low cost

41.3.10    V.B. Bhavaraju, P. Enjeti, "A fast active power filter to correct line voltage sags," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 333-338, June 1994.   Abstract Link    Full Text

Abstract: An active power filter for compensating voltage sags that occur on a weak AC power system is described. The proposed active power filter is especially suitable in situations where sensitive data processing and other critical loads are to be operated on a weak AC system. The proposed filter is fast acting and simple in design. A design procedure based on IEEE/ANSI voltage withstand tolerance (IEEE standard 446-1987) is proposed. Laboratory tests on a prototype filter show fast response and linear correction characteristics

41.3.11    I.D. Nanov, "Large signal analysis of switching regulators employing adaptive gain current injected control," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 339-343, June 1994.   Abstract Link    Full Text

Abstract: The large signal stability and transient response of a buck-boost programmable switching regulator employing adaptive gain current injected control (CIC) are investigated. The stability of the regulator is analysed studying the equilibrium points of the system. The type of the equilibrium points is determined by the linearized about the equilibrium point state space averaged model of the regulator. The linearized model is used also for proper initial selection of the feedback coefficients. The transient responses of the buck-boost programmable switching regulator employing normal and adaptive gain current injected controls are compared. It is found that the adaptive gain CIC improves the dynamics of the regulator working at different operating conditions. The simulation runs are verified experimentally

41.3.12    A.K. Khargekar, P. Pavana Kumar, "A novel scheme for protection of power semiconductor devices against short circuit faults," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 344-351, June 1994.   Abstract Link    Full Text

Abstract: Power semiconductor devices find wide application in modern power electronic converters. Protection of these devices against overload/short circuit conditions is of paramount importance. Present day protection topologies employing different circuits have invariably one main drawback in that the fault current reaches the set value before action is initiated to trip the system. This poses a severe stress on the device. Hence an adequate safety margin has to be necessarily provided to prevent excessive device stresses and care has to be taken to see that the device is operated well within its safe operating areas. The present paper proposes a method wherein the slope or rate of rise of the fault current is detected and once the slope exceeds the set reference, action is initiated to trip the system much before the fault current reaches dangerous levels. The method provides a fast means of detection of overload and short circuit currents and can be conveniently adopted for the protection of devices in power transistor/IGBT based inverters against short circuited load conditions or shoot through faults. The possible reduction of stresses in the power devices are also highlighted

41.3.13    R.S. Mitra, M. Kumar, A. Basu, "Design of microprocessor-based systems: a knowledge-based approach ," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 352-360, June 1994.   Abstract Link    Full Text

Abstract: The widespread use of microprocessors in industrial applications such as process control, data logging, monitoring, etc., demand that the design of such systems be automated. Algorithmic methods are inadequate for this task, as knowledge from several sources need to be combined to produce the resulting design. In this paper the authors present a knowledge-based approach to the design of such systems, which includes the design of the hardware configuration as well as the application software. The knowledge requirements and the functional modules of the design task are elicited, and practical designs are demonstrated

41.3.14    R. Mandal, S.K. Basu, A. Kar, S.P. Chowdhury, "A microcomputer-based power factor controller," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 361-371, June 1994.   Abstract Link    Full Text

Abstract: The paper reports a laboratory model of a microcomputer-based power factor controller (PFC) for compensating the reactive power of rapidly varying loads by switching capacitors sized in a binary ratio, with the help of zero voltage static switches. Four types of control strategies were tried, viz., (1) unity step control method, (2) binary search method, (3) successive approximation method, and (4) look-up table method. Features like (a) independent control of current in each phase, (b) reactive current sensing and capacitor switching in one cycle, (c) zero voltage switching of static switches to prevent the occurrence of transients and harmonics, and (d) switch failure detection logic and their display, are all incorporated in the software programming. A comparative assessment of their performances using different control strategies has been reported. A number of experiments have been performed on this controller, viz., (i) experiments to verify the operating performance of the PFC under the four control strategies, (ii) experiments to prove its performance as a power factor controller and also (iii) as a static VAr compensator

41.3.15    S. Yuvarajan, Hwa-Liang Chiou, "A novel sine PWM scheme using waveform generators," IEEE Trans. on Industrial Electronics, vol. 41, no. 3, pp. 372-376, June 1994.   Abstract Link    Full Text

Abstract: The paper presents a novel circuit for generating the sine PWM control signals for a single phase inverter. Waveform generating ICs based on a JFET are used to generate the synchronized sine and triangular waveforms with a high accuracy and wide range of frequencies. Experimental waveforms and frequency spectra of inverter output voltage are presented

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 41,  Number 4, August 1994           Access to the journal on IEEE XPLORE     IE Transactions Home Page



41.4.1    J. Huber, V. Graefe, "Motion stereo for mobile robots," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 378-383, August 1994.   Abstract Link    Full Text

Abstract: A method allowing a mobile robot to measure accurately its distance from external objects is introduced. It only requires a single uncalibrated camera and a dynamic vision system. The method was evaluated in an optical laboratory and also in outdoor-experiments. Even in outdoor-experiments with a vehicle moving at a speed of 30 km/h, errors of less than 1% of the true distance were achieved in real time. The accuracy achievable with the method depends on the nature of the image features used as a basis for the measurement. Laboratory experiments have been performed to investigate quantitatively the characteristics of the feature detectors under conditions of reduced lighting and, consequentially, reduced SNR, and with image features not matching the feature detectors perfectly. The best results can be achieved by using edge-like features. Point-like features do have certain desirable characteristics, but point detectors are more sensitive to noise than edge detectors. Hence, the accuracy achieved with corner detectors was less than the one achieved with edge detectors. Nevertheless, even with corner detectors the resulting error was less than 1%, despite the fact that the image of the target object did not contain good corners

41.4.2    H. Mori, N.M. Charkari, T. Matsushita, "On-line vehicle and pedestrian detections based on sign pattern," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 384-391, August 1994.   Abstract Link    Full Text

Abstract: Real time detection methods of moving vehicles and pedestrians for navigation of the mobile robot are proposed. The method is based on a locomotion strategy, viz. signature-based stereotype motion. Signature of the moving vehicle is the shadow underneath the vehicle which is darker than any other parts of the asphalt paved road. Signature of the pedestrian is rhythm of walking. Rhythm of walking is unique to the pedestrian, and not influenced by time, weather, sunlight, shadow, and distance. Moreover, it is independent from clothes the pedestrian puts on. The result of experiments verify the validity of the methods

41.4.3    A. Gilg, G. Schmidt, "Landmark-oriented visual navigation of a mobile robot," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 392-397, August 1994.   Abstract Link    Full Text

Abstract: This paper describes a method of landmark based vehicle guidance used for navigation in corridors and similar indoor environments. Motion tasks are specified by a symbolic course description without providing explicit geometric information. A video sensor system is used for environmental perception and landmark detection. Aspects of sensor data processing and vehicle guidance are discussed. Experimental results are reported

41.4.4    S. Tsugawa, "Vision-based vehicles in Japan: machine vision systems and driving control systems," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 398-405, August 1994.   Abstract Link    Full Text

Abstract: This paper surveys three intelligent vehicles developed in Japan, and in particular the configurations, the machine vision systems, and the driving control systems. The first one is the Intelligent Vehicle, developed since the mid 1970's, which has a machine vision system for obstacle detection and a dead reckoning system for autonomous navigation on a compact car. The machine vision system with stereo TV cameras is featured by real time processing using hard-wired logic. The dead reckoning function and a new lateral control algorithm enable the vehicle to drive from a starting point to a goal. It drove autonomously at about 10 km/h while avoiding an obstacle. The second one is the Personal Vehicle System (PVS), developed in the late 1980's, which is a comprehensive test system for a vision-based vehicle. The machine vision system captures lane markings at both road edges along which the vehicle is guided. The PVS has another machine vision system for obstacle detection with stereo cameras. The PVS drove at 10-30 km/h along lanes with turnings and crossings. The third one is the Automated Highway Vehicle System (AHVS) with a single TV camera for lane-keeping by PD control. The machine vision system uses an edge extraction algorithm to detect lane markings. The AHVS drove at 50 km/h along a lane with a large curvature

41.4.5    I. Nagy, "Novel adaptive tolerance band based PWM for field-oriented control of induction machines," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 406-417, August 1994.   Abstract Link    Full Text

Abstract: Two levels of an innovative adaptive switching pattern (ASP) for use in the control of induction machines are described. The ASP is based on a tolerance band control strategy resulting in nearly sinusoidal stator currents. The first level (ASP1) significantly increases the switching time thereby eliminating the very fast switching sometimes experienced. The second level (ASP2) reduces the number of double commutations by one or two orders of magnitude. The price for applying ASP is only a small, irregular, consequential increase in the current error. A rotating reference frame fixed to the rotor flux is applied. This makes ASP especially suitable for application in the field-oriented control of current controlled voltage source inverter (CC-VSI) fed induction motor drives. The theoretical background supported by conclusive simulation results illustrates clearly the significant benefits of ASP over the regular switching pattern often used. To complete the picture a short survey of the various techniques used in the speed control of induction machines is presented in the introduction

41.4.6    M.C. Cosby, R.M. Nelms, "A resonant inverter for electronic ballast applications," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 418-425, August 1994.   Abstract Link    Full Text

Abstract: Electronic ballasts must provide enough open circuit voltage to start the fluorescent lamp and current limiting while the lamp is running. Resonant inverters may be utilized in electronic ballasts because of their load-dependent characteristics. The three basic types of resonant inverters, the series-loaded, parallel-loaded, and the series-parallel-loaded, are compared using fundamental approximation techniques for their applicability in electronic ballasts operating from a low voltage source. A parallel-loaded resonant inverter operating slightly above its resonant frequency is selected because of the high voltage gains possible. Operation above the resonant frequency allows zero-voltage turn on of the semiconductor devices. Zero-voltage turn off can be achieved with the addition of lossless snubber capacitors. Experimental results from a lab prototype are used to verify the design procedure

41.4.7    D. Kastha, B.K. Bose, "Fault mode single-phase operation of a variable frequency induction motor drive and improvement of pulsating torque characteristics," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 426-433, August 1994.   Abstract Link    Full Text

Abstract: Improved reliability and fault tolerant operation of power converter systems are extremely important for industrial AC drives. The paper considers variable frequency variable voltage operation of a three-phase induction motor in single-phase mode for two common faults of a three-phase inverter, i.e., open base drive and device short-circuit. The motor performance has been extensively analyzed in single-phase mode and remedial strategies have been developed to neutralize large second and other lower order harmonic pulsating torques. In a single-phase open loop volts/Hz control made of a faulty three-phase inverter, it has been demonstrated that odd harmonic voltages at appropriate phase angles can be injected to neutralize the low frequency pulsating torques so as to permit smooth drive operation. It has been shown that the pulsating torque can be further reduced by load dependent flux programming rather than operating with constant rated flux

41.4.8    Ching-Tsai Pan, Maoh-Chin Jiang, "A quick response peak detector for variable frequency three-phase sinusoidal signals," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 434-440, August 1994.   Abstract Link    Full Text

Abstract: An instantaneous peak detector for three-phase variable frequency sinusoidal signals is proposed. The three-phase characteristic is fully used in the proposed detector to achieve instantaneous response and frequency independence characteristics. A very simple hardware implementation circuit is also presented for minimizing the number of analog computational components. Moreover, the proposed detector possesses excellent linearity and low sensitivity to small voltage unbalance and harmonic distortion. Because of its promising accuracy and transient response, it can be used in many systems such as the voltage regulator of an uninterruptible power supply (UPS), an automatic line voltage regulator, or electric generators, etc., to improve the system transient performance. Theoretical analysis, hardware implementation, and some experimental results are also detailed in this paper

41.4.9    C.C. Chan, Kwok-Tong Chau, "Spectral modeling of switched-mode power converters," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 441-450, August 1994.   Abstract Link    Full Text

Abstract: A new modeling approach for the spectral analysis of pulsewidth modulated (PWM) converters with independent inputs is developed. The key of this approach is to extend the Volterra functional series to nonlinear systems with multiple independent inputs. After formulating the state-space equations describing the dynamical behavior of PWM converters, the Volterra transfer function characterizing the output frequency response can be obtained, which is then symmetrised to form the spectral model. Since the model is developed in a closed form, it is suitable for computer analysis. The modeling approach has been applied to various PWM converters, and the results are verified. The spectral models of different power converters can readily be obtained by using this general approach

41.4.10    C. Rossi, A. Tonielli, "Robust control of permanent magnet motors: VSS techniques lead to simple hardware implementations," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 451-460, August 1994.   Abstract Link    Full Text

Abstract: It is shown how very simple velocity-tracking robust controllers for permanent magnet motors driving nonlinear loads can be designed based on variable structure systems techniques. Very fast dynamics, accurate and robust velocity-tracking are achieved with very simple hardware components without resorting to powerful digital signal processors and related interface hardware. A cascade control structure is used to ensure maximum flexibility. The controller for a DC motor is considered in great detail. Extension to AC synchronous PM motors is also presented. At the different control levels robustness is addressed with specific algorithms and the simplest solution is always selected. The controller architecture for both DC and AC synchronous motor are presented and discussed in the paper. Experimental results related to the control of a DC motor driving a nonlinear load are also shown. They demonstrate feasibility and excellent performances of the proposed approach

41.4.11    A.A. Goldenberg, I. Laniado, P. Kuzan, C. Zhou, "Control of switched reluctance motor torque for force control applications," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 461-466, August 1994.   Abstract Link    Full Text

Abstract: The paper presents a method for controlling switched reluctance motor (SRM) torque for force control applications. SRMs are used in AdeptOne robots, and the authors perform experiments with two robots, controlled in coordination, in grasping and manipulation of various objects. The object and robot parameters are not exactly known, and adaptive methods are used to control the overall system. These methods are model-based control techniques which require high bandwidth torque control. This requirement is typical for high precision mechanisms. SRM characteristics are very nonlinear. In particular the torque ripple, friction, and the torque versus position and current relationships were analyzed in the context mentioned above, and specifically, for force control applications. The proposed method is based on a new commutation algorithm and a measured torque versus position and current relationship, used to smooth the SRM's torque ripple, hence generating a torque output nearly independent of position. Furthermore, the internal friction is estimated on-line, and compensated for. This renders a high accuracy torque tracking. The torque control method is based on feedback from the motor angular velocity, motor angle, armature current, and feedforward for friction compensation and cancellation of nonlinear effects. The method has been tested experimentally on Adept motors and the results were very encouraging. The method has been also used for adaptive control of two coordinated Adept robots

41.4.12    F.P. Dawson, R. Bonert, "High performance single-chip gating circuit for a phase-controlled bridge," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 467-470, August 1994.   Abstract Link    Full Text

Abstract: The increasing availability of single-chip low cost microcontrollers has made it possible to reconsider conventional hardware designs for a variety of gating circuits. This paper, in particular, presents the design of a gating circuit for a six-pulse phase-controlled bridge utilizing a single-chip programmable microcontroller. The dynamic performance of the proposed gating circuit is similar to an analog circuit implementation. The resolution of the firing angle is better than 0.1 degrees at 60 Hz. Moreover, the system is designed to operate over a frequency range of 3 Hz to 120 Hz, and to automatically adapt to changes in line frequency. The experimental verification of the performance criteria are also presented. Finally, an example of a special application for a dual-bridge AC to DC converter is presented

41.4.13    C.E. Lin, Y.-R. Sheu, "One-dimensional position measurement for large-gap magnetic suspension system," IEEE Trans. on Industrial Electronics, vol. 41, no. 4, pp. 471-473, August 1994.   Abstract Link    Full Text

Abstract: This paper presents a one-dimensional position measurement for a suspended object in a large-gap magnetic suspension system which allows wider range of control. The position measurement system uses a linear photosensor array to detect the position of the suspended object. The proposed measurement is simple, effective, and less expensive than other methods in large-gap magnetic suspension systems

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 41,  Number 5, Oct 1994           Access to the journal on IEEE XPLORE     IE Transactions Home Page



41.5.1    M.E. Magana, S. Tagami, "An improved trajectory tracking decentralized adaptive controller for robot manipulators," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 477-482, Oct 1994.   Abstract Link    Full Text

Abstract: A decentralized adaptive nonlinear controller for a robot manipulator is presented in this paper. Based on the promising results obtained by the decentralized adaptive PID control algorithms proposed by Seraji and other researchers, the authors redesigned the Lyapunov function, and as a result, achieved a further simplification of the control algorithm and better trajectory tracking performance. The main advantages of the proposed controller over similar controllers are the considerably faster convergence of tracking error, relatively simpler structure, and smoother control activity. Another advantage of this controller is that it only requires local position and velocity measurements, and it does not make use of the exact centralized mathematical model of the robot manipulator. Finally, the authors demonstrate through computer simulation the robustness of their controller against parameter variations and disturbances

41.5.2    Jung-Hoon Lee, Jong-Sun Ko, Se-Kyo Chung, Dae-Sik Lee, Ju-Jang Lee, Myung-Joong Youn, "Continuous variable structure controller for BLDDSM position control with prescribed tracking performance," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 483-491, Oct 1994.   Abstract Link    Full Text

Abstract: The continuous, accurate, and robust sliding mode tracking controller based on a disturbance observer for a brushless direct drive servo motor (BLDDSM) is presented. Although the conventional sliding mode control (SMC) or variable structure control (VSC) can give the desired tracking performance, there exists an inevitable chattering problem in control which is undesirable for a direct drive system. With the proposed algorithm, not only are the chattering problems removed, but also the prescribed tracking performance can be obtained by using the efficient compensation of the disturbance observer. The design of the sliding mode tracking controller for the prescribed, accurate, and robust tracking performance without the chattering problem is given based on the results of the detailed stability analysis. The usefulness of the proposed algorithm is demonstrated through the computer simulations for a BLDDSM under load variations

41.5.3    Yu-Sheng Lu, Jian-Shiang Chen, "A self-organizing fuzzy sliding-mode controller design for a class of nonlinear servo systems," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 492-502, Oct 1994.   Abstract Link    Full Text

Abstract: A self-organizing fuzzy controller to augment a sliding-mode control (SOFSMC) scheme for a class of nonlinear systems is proposed. The motivation behind this scheme is to combine the best features of self-organizing fuzzy control and sliding-mode control to achieve rapid and accurate tracking control of a class of nonlinear systems. The chatter encountered by most sliding-mode control schemes is greatly alleviated without sacrificing invariant properties. A stability analysis is presented; the design guidelines and the class of applicable systems are clearly identified. To verify the scheme, the authors performed experiments on its implementation in a magnetic levitation system. The results show that both alleviation of chatter and robust performance are achieved; the advantages of the scheme are indicated in comparison with the conventional sliding-mode design

41.5.4    Kuan-Teck Chang, Teck-Seng Low, Tong-Heng Lee, "An optimal speed controller for permanent-magnet synchronous motor drives," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 503-510, Oct 1994.   Abstract Link    Full Text

Abstract: An optimal control system synthesis method which can achieve vector and speed control simultaneously for permanent-magnet synchronous motor (PMSM) drives is proposed in this paper. A state-space multiple-input-multiple-output (MIMO) model for PMSM is first developed and the compensation for the nonlinearities in this model is discussed. A pseudo-linearized PMSM model is dynamically constructed through the state detection, and subsequently an optimal speed controller is developed based on this linearized model. The integral control technique is incorporated to eliminate possible speed offsets. A speed observer is further developed to eliminate the speed sensor from the drive

41.5.5    S. Morimoto, Y. Tong, Y. Takeda, T. Hirasa, "Loss minimization control of permanent magnet synchronous motor drives," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 511-517, Oct 1994.   Abstract Link    Full Text

Abstract: This paper aims to improve efficiency in permanent magnet synchronous (PM) motor drives. The controllable electrical loss which consists of the copper loss and the iron loss can be minimized by the optimal control of the armature current vector. The control algorithm of the current vector minimizing the electrical loss is proposed and the optimal current vector can be decided according to the operating speed and the load conditions. The proposed control algorithm is applied to the experimental PM motor drive system, in which one digital signal processor is employed to execute the control algorithms, and several drive tests are carried out. The operating characteristics controlled by the loss minimization control algorithm are examined in detail by computer simulations and experimental results

41.5.6    J.K. Pedersen, F. Blaabjerg, "Digital quasi-random modulated SFAVM PWM in an AC-drive system," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 518-525, Oct 1994.   Abstract Link    Full Text

Abstract: A main research topic in PWM-VSI inverter-driven electrical machines is to reduce the generated acoustic noise which often is dominated by a multiple of the switching frequency in the inverter. This paper proposes a modulation scheme for reducing the acoustic noise effect from an AC machine which can be implemented digitally for low and high performance systems. The scheme is based on a stator flux asynchronous vector modulation (SFAVM) imposed by a digital band limited PWM white noise generator for varying the switching frequency randomly. The white noise generator can be used for 8, 16 and 32 bit microcontrollers. The modulation strategy is tested in a 1 kVA high performance 16 bit microprocessor controlled AC drive system. Voltage-spectra on the line-to-line voltage and the acoustic noise spectra are presented and show that the new modulation strategy can decrease the noise effect. The stator-flux-polygon and the line current are measured and demonstrate the random modulation strategy. Finally, the total sound pressure level from the AC machine is investigated with fixed switching frequencies and with different randomly modulated frequency spans. It is concluded that a properly chosen fixed switching frequency has the lowest total sound pressure level. However, the random modulation strategy distributes the noise frequencies and the noise is more comfortable and less annoying

41.5.7    D. Vincenti, Hua Jin, "A three-phase regulated PWM rectifier with on-line feedforward input unbalance correction," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 526-532, Oct 1994.   Abstract Link    Full Text

Abstract: The analysis and design of a direct six-switch three-phase PWM rectifier, capable of correcting input unbalance, is presented. Based on the input source positive and negative sequence components, an unbalanced transfer matrix in terms of input phase voltages is derived. An online method is used to implement the transfer matrix function and generate the switch gating signals. As compared to other unbalance correction methods, the proposed approach is very simple to implement. It uses only a few discrete analog and digital components. The algorithm of the proposed approach is described in this paper, and results are verified from a 1 kVA breadboard set-up

41.5.8    G.O. Garcia, J.C.M. Luis, R.M. Stephan, E.H. Watanabe, "An efficient controller for an adjustable speed induction motor drive," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 533-539, Oct 1994.   Abstract Link    Full Text

Abstract: The induction motor (IM) is a high-efficiency machine when working close to its rated operating point. However, at torques and/or speeds far from the rated values the efficiency is greatly reduced. In this work a new approach is proposed that minimizes the total copper and iron losses in a variable speed and/or torque IM drive, while keeping a good dynamic response. This method is based on a simple IM model that includes iron losses. The model, which only requires the knowledge of conventional IM parameters, is referred to a field-oriented frame. Using this model, the IM losses are quantified and an algorithm, based on a field-oriented scheme, is deduced. Simulation and experimental results are presented to validate the proposed method

41.5.9    C.M. Liaw, S.J. Chiang, "Design and implementation of a single-phase three-wire transformerless battery energy storage system," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 540-549, Oct 1994.   Abstract Link    Full Text

Abstract: This paper presents a single-phase three-wire (1φ3w) transformerless battery energy storage system (BESS). Its power circuit is simple, since it consists of only one power converter. It has three legs to provide 1φ3w 220/110 V output without the use of a transformer. For switching control, the BESS is decoupled into differential-mode and common-mode subsystems. Each subsystem has its own inner-loop current-forced switching control mechanism; their current commands at various operating modes are generated by outer-loop controllers. The controllers of the differential mode are designed to control the main voltage (220 V) source, while achieving the desired functions of BESS. As to the common-mode subsystem, its controllers are used to maintain the voltage balance of two subcircuits (110 V circuits) when the utility grid fails, and to keep the current in neutral line of utility grid at zero when the utility grid is in normal condition. The operation principle of the proposed BESS and the design of controllers in various operating modes are described in detail. Some experimental results are provided to show the performance of the proposed BESS

41.5.10    M. Prokin, "Extremely wide-range speed measurement using a double-buffered method," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 550-559, Oct 1994.   Abstract Link    Full Text

Abstract: An electric motor double-buffered speed measurement method for PC/AT computer application is based on 14.31818 MHz reference clock. The extremely wide frequency range of 4·109 (1.67 mHz to 7 MHz) is independent of sampling time, which can be chosen from 100 μs to 4.6 ms. Appropriate software provides real-time graphics presentation of measured speed versus time and storage for further analysis. The enclosed test diagrams cover DC motor speed reversal and an induction motor acceleration

41.5.11    N.R. Zargari, G. Joos, P.D. Ziogas, "A performance comparison of PWM rectifiers and synchronous link converters," IEEE Trans. on Industrial Electronics, vol. 41, no. 5, pp. 560-562, Oct 1994.   Abstract Link    Full Text

Abstract: PWM AC/DC power converters have been shown to be superior to thyristor phase-controlled rectifiers in terms of power factor and input current/output voltage harmonics. This paper presents a systematic comparison of the two topologies, the current-source topology and the voltage-source topology, from the point of view of power converter and switch kVA ratings, filtering requirements, power factor, operating regions, and control aspects

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 41,  Number 6, Dec 1994           Access to the journal on IEEE XPLORE     IE Transactions Home Page



41.6.1    R. Zurawski, MengChu Zhou, "Petri nets and industrial applications: A tutorial," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 567-583, Dec 1994.   Abstract Link    Full Text

Abstract: Petri nets, as a graphical and mathematical tool, provide a uniform environment for modelling, formal analysis, and design of discrete event systems. The main objective of this paper is to introduce the fundamental concepts of Petri nets to researchers and practitioners, both from academia and industry, who are involved in the work in the areas of modelling and analysis of industrial types of systems, as well as those who may potentially be involved in these areas. The paper begins with an overview of applications of Petri nets, mostly industrial ones. Then, it proceeds with a description of Petri nets, properties, and analysis methods. The discussion of properties is put in the context of industrial applications. The analysis methods are illustrated using an example of a simple robotic assembly system. The performance analysis, using Petri nets, is discussed for deterministic and stochastic Petri nets. The presented techniques are illustrated by examples representing simple production systems. In addition, the paper introduces high-level Petri nets, fuzzy Petri nets, and temporal Petri nets. This is done in the context of application prospects. The paper also briefly discusses some of the reasons restricting the use of Petri nets, mostly, to academic institutions

41.6.2    R. Zurawski, "Systematic construction of functional abstractions of Petri net models of flexible manufacturing systems," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 584-592, Dec 1994.   Abstract Link    Full Text

Abstract: The use of generic models in the synthesis of FMS systems, which allows for rapid modelling and analysis, does not ease the verification task difficulty. Even though generic modules can be verified separately, the verification of the interconnections between modules requires the whole model to be considered. A potential solution is to replace the generic modules with their functional abstractions which realize the external functional behavior of these modules. The number of places and transitions involved in realizing the required functionality is, typically, a fraction of that used to represent complete components. This reduces the complexity of the components of the modelled system, and thus the complexity of the verification model. The verification task can then focus on the correctness of the interfaces, rather then on the internal nature of the components. In this paper, for a class of Petri net models, which can be used to represent the primary components of AGV based FMS systems, a method that allows one to systematically construct functional abstractions is presented

41.6.3    Tien-Hsiang Sun, Chao-Weng Cheng, Li-Chen Fu, "A Petri net based approach to modeling and scheduling for an FMS and a case study," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 593-601, Dec 1994.   Abstract Link    Full Text

Abstract: In this paper, a timed-place Petri net (TPPN) model for flexible manufacturing systems (FMSs) is constructed, which contains two major submodels: the stationary transportation model; and the variable process flow model. For multiple automated guided vehicle (AGV) systems, the authors embed a simple rule and introduce a push-AGV strategy in a TPPN model to solve the collision and traffic jam problems of such vehicles. Since a firing sequence of the TPPN from the initial marking to the final marking can be seen as a schedule of the modeled FMS, by using an A* based search algorithm, namely, the limited-expansion A algorithm, an effective schedule of the part processing can be obtained. To show the promising potential of the proposed work, a prototype FMS is used as a target system for implementation. The experiment results assert that the job-shop scheduling problem can always be satisfactorily solved

41.6.4    Doo Yong Lee, F. DiCesare, "Integrated scheduling of flexible manufacturing systems employing automated guided vehicles," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 602-610, Dec 1994.   Abstract Link    Full Text

Abstract: Centralized and distributed automated guided vehicle system (AGVS) models for materials handling, and the model for part processing are integrated into a single coherent model. This formulation can be used to collectively schedule and control the entire flexible manufacturing system (FMS) as opposed to the traditional separate scheduling of part processing and material handling. The two AGVS models are based on Petri nets and can be directly used in the scheduling method that uses Petri nets for formulation and heuristic search for solution. This method employs a global search to seek the optimal operation of an entire FMS. Scheduling examples are presented and the method compares favorably with the results simulated using heuristic dispatch rules

41.6.5    K. Venkatesh, MengChu Zhou, R.J. Caudill, "Comparing ladder logic diagrams and Petri nets for sequence controller design through a discrete manufacturing system," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 611-619, Dec 1994.   Abstract Link    Full Text

Abstract: Design methods for sequence controllers play a very important role in advancing industrial automation. The increasing complexity and varying needs of modern discrete manufacturing systems have challenged the traditional design methods such as the use of ladder logic diagrams (LLDs) for programmable logic controllers. The methodologies based on research results in computer science have recently received growing attention by academic researchers and industrial engineers in order to design flexible, reusable, and maintainable control software. Particularly, Petri nets are emerging as a very important tool to provide an integrated solution for modeling, analysis, simulation, and control of industrial automated systems. This paper identifies certain criteria to compare LLDs and Petri nets in designing sequence controllers and responding to the changing control requirements. The comparison is performed through a practical system after introducing “real-time Petri nets” for discrete-event control purposes. The results reported in this paper will help: (a) further establish Petri net based techniques for discrete-event control of industrial automated systems; and (b) effectively convince industrial practitioners and researchers that it is worthy and timely to consider and promote the applications of Petri nets to their particular discrete-event control problems

41.6.6    T. Cao, A.C. Sanderson, "Task decomposition and analysis of robotic assembly task plans using Petri nets," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 620-630, Dec 1994.   Abstract Link    Full Text

Abstract: This paper describes a framework for robotic task sequence planning which decomposes tasks into operations sequences for a generic robotic workcell. The approach provides robust execution of tasks through properties of: traceability-implicit mapping operations representation, and viability-retaining multiple execution. Given the descriptions of the objects in the system and all feasible geometric configurations and relationships among these objects, an AND/OR net which describes the relationships of all feasible geometric states and associated feasibility criteria for net transitions is generated. This AND/OR net is mapped into a Petri net which incorporates all feasible sequences of high level operations. The resulting Petri net is then decomposed in a stepwise manner into lower level Petri nets of which each transition can be directly implemented by control commands or command sequences based on devices and objects in the system, or, by lower level planning transitions corresponding to path planning, grasp planning, fine motion planning, etc. The property analysis for different levels of decomposition is also presented, and the inheritance of properties between levels is defined. All possible task sequences could be found using a search algorithm based on feasible system states. The shortest sequence may be chosen from the lowest level decomposition and is guaranteed to be the optimal output of the hierarchical planning system to efficiently implement the desired tasks

41.6.7    B.J. McCarragher, "Petri net modelling for robotic assembly and trajectory planning ," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 631-640, Dec 1994.   Abstract Link    Full Text

Abstract: A new approach to process modelling, task synthesis, motion control and trajectory planning for robotic assembly is presented. Assembly is modelled as a discrete event dynamic system using Petri nets, incorporating both discrete and continuous aspects of the process. A process monitor based on recognizing contact state transitions is presented. A discrete event controller is developed. The controller issues velocity commands that direct the system toward the next desired contact state, while maintaining currently desired contacts and avoiding unwanted transitions. A novel means of trajectory planning which incorporates the system's ability to both monitor and control the process is given. Experimental results are given for a dual peg-in-the-hole example. The experimental results not only demonstrate highly successful insertion along the desired trajectory, but also demonstrate the ability to detect, recognize, and recover from errors and unwanted situations

41.6.8    F.-Y. Wang, K. Gildea, H. Jungnitz, D.D. Chen, "Protocol design and performance analysis for manufacturing message specification: A Petri net approach," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 641-653, Dec 1994.   Abstract Link    Full Text

Abstract: The manufacturing message specification (MMS) is the ISO standard communication protocol specific to manufacturing. To analyze MMS design and performance, service unit automats are introduced to represent individual MMS services, while service connection Petri Nets (PNs) are constructed from these automats to describe MMS service connections and processes. This approach makes MMS protocol specification and analysis possible in terms of well-developed concepts and methods in PN theory. It leads to a distributed and hierarchical model of MMS software system by integrating service connection PNs. A generalized stochastic PN for MMS performance evaluation is obtained by incorporating service parameters and time factors into the model. A technique based on T-invariants is used to simplify the performance analysis

41.6.9    T. D'Orazio, F.P. Lovergine, M. Ianigro, E. Stella, A. Distante, "Mobile robot position determination using visual landmarks," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 654-662, Dec 1994.   Abstract Link    Full Text

Abstract: This paper is concerned with the problem of determining the position of a mobile vehicle during navigation. In order to achieve this objective a multisensor navigation system for self location of the robot has been developed. By tracking a few known landmarks with a vision module, the system is able to monitor continuously its position and to integrate these estimates with the measures provided by the vehicle odometers. This paper describes in detail the vision module used by the navigation system

41.6.10    G.S. Buja, F. Todesco, "Neural network implementation of a fuzzy logic controller," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 663-665, Dec 1994.   Abstract Link    Full Text

Abstract: Fuzzy logic is an attractive technique for plant control but suffers from a heavy computation burden. A solution to this problem is proposed here and consists of implementing a fuzzy logic controller in a neural network. The solution is applied to the speed control of a DC motor drive and is validated by experimental results

41.6.11    N.M. Botros, M. Abdul-Aziz, "Hardware implementation of an artificial neural network using field programmable gate arrays (FPGA's)," IEEE Trans. on Industrial Electronics, vol. 41, no. 6, pp. 665-667, Dec 1994.   Abstract Link    Full Text

Abstract: In this paper, the authors present a hardware implementation of a fully digital multilayer perceptron artificial neural network using Xilinx Field Programmable Gate Arrays (FPGAs). Each node is implemented with two XC3042 FPGAs and a 1 K×8 EPROM. Training is done offline on a PC. The authors have tested successfully the performance of the network