IEEE Transactions on Industrial Electronics 

Volume 43,  Number 1, Feb 1996           Access to the journal on IEEE XPLORE     IE Transactions Home Page



43.1.1    R. Isermann, "On the design and control of mechatronic systems-a survey," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 4-15, Feb 1996.   Abstract Link    Full Text

Abstract: The integration of mechanical systems and microelectronics opens new possibilities for mechanical design and automatic functions. After a discussion of the mechanical and electronic design the organization of information processing in different levels is described. Within this frame “low-degree-intelligent” mechatronic systems can be developed which comprise adaptive control, supervision with fault diagnosis, and decisions with regard to further actions. This requires the realization of knowledge-based systems with learning abilities. Some aspects of the design of information processing including modeling and estimation, control, and supervision methods are considered. Finally as an example an adaptive semiactive shock absorber or vehicle suspension systems is shown

43.1.2    J.R. Hewit, K. Bouazza-Marouf, "Practical control enhancement via mechatronics design," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 16-22, Feb 1996.   Abstract Link    Full Text

Abstract: Mechatronics is concerned with designing machines with enhanced capabilities using advanced control methods. Here we describe how some of these advanced control methods have evolved and how they can be applied effectively. The resulting performance enhancement is explained by the use of a number of example case studies. It is shown that using these methods greatly improves the operational capabilities of mechatronics products and can, in many cases, lead to considerable increases in performance specifications. The paper represents a survey of research work undertaken into mechatronics control methods by the authors and their colleagues. The following control issues are discussed: kinematics control; dynamic control; deadbeat robotics control; active force control; adaptive control; and an active suspension system

43.1.3    R. Bansevicius, R. Parkin, A. Jebb, J. Knight, "Piezomechanics as a subsystem of mechatronics: present state of the art, problems, future developments," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 23-29, Feb 1996.   Abstract Link    Full Text

Abstract: The concept of piezomechanics (piezoelectricity+mechanics+a control system) describing a complex interaction of dynamic effects and precision engineered devices is discussed. Piezomechanics is considered as part of the more broad philosophy of mechatronic devices. The object and structure of piezomechanics are presented as well as the primary linear and nonlinear effects, on which energy, motion and signal transformation processes are based. Novel applications are proposed to illustrate the potential benefits, including adaptive mechanical systems in addition to multifunctional and intelligent devices

43.1.4    N. Kyura, "The development of a controller for mechatronics equipment," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 30-37, Feb 1996.   Abstract Link    Full Text

Abstract: This paper describes the developmental history of mechatronics equipment controllers especially within Yaskawa Electric. First, the philosophy and definition of the word “mechatronics” are introduced. Then a discussion is presented about mechatronics equipment controllers in which they mean a numerical control (NC) system for machine tools and industrial robots. The NC system covers three fields of technology: controller hardware, software, and an actuator control system (servosystem). Second, the 20-year progress of each item is discussed. Finally, the necessary performance and functions for future NC systems are outlined

43.1.5    F. Conrad, "Transputer control of hydraulic actuators and robots," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 38-47, Feb 1996.   Abstract Link    Full Text

Abstract: The paper reports and discusses results from a Danish mechatronic research program focusing on intelligent actuators for intelligent motion control. A mechatronic test facility with a transputer controlled hydraulic robot suitable for real-time experimentation and evaluation of control laws and algorithms is described. Concepts of intelligent motion control and intelligent hydraulic actuators are proposed. Promising experimental path-tracking results obtained from model-based adaptive control algorithms are presented and discussed. The experiments confirm that transputers have significant advantages in intelligent control of actuators and robots for high-speed and high-precision tasks. Further, research on learning controllers and hybrid controller architecture, including real-time switching between control algorithms, benefits from applying transputer technology

43.1.6    Ho Seong Lee, M. Tomizuka, "Robust motion controller design for high-accuracy positioning systems," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 48-55, Feb 1996.   Abstract Link    Full Text

Abstract: This paper presents a controller structure for robust high speed and accuracy motion control systems. The overall control system consists of four elements: a friction compensator; a disturbance observer for the velocity loop; a position loop feedback controller; and a feedforward controller acting on the desired output. A parameter estimation technique coupled with friction compensation is used as the first step in the design process. The friction compensator is based on the experimental friction model and it compensates for unmodeled nonlinear friction. Stability of the closed-loop is provided by the feedback controller. The robust feedback controller based on the disturbance observer compensates for external disturbances and plant uncertainties. Precise tracking is achieved by the zero phase error tracking controller. Experimental results are presented to demonstrate performance improvement obtained by each element in the proposed robust control structure

43.1.7    K. Sugiura, Y. Hori, "Vibration suppression in 2- and 3-mass system based on the feedback of imperfect derivative of the estimated torsional torque," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 56-64, Feb 1996.   Abstract Link    Full Text

Abstract: In this paper, a new vibration-suppression control method for 2- and 3-mass system is proposed, which uses imperfect derivative feedback of the estimated torsional torque. This controller consists of three simple elements: the disturbance observer, the imperfect derivative filter, and the feedback gain. By adequately adjusting this feedback gain, the damping factor of original flexible system can be controlled so that the vibration caused by the mechanical resonance can be effectively suppressed. Due to the simplicity of the proposed controller, it can be easily applied to various flexible systems with other regulators. The combination of this method with P&I regulator shows good performances in vibration suppression and disturbance rejection which are shown in both simulations and experiments

43.1.8    T. Yamaguchi, K. Shishida, S. Tohyama, H. Hirai, "Mode switching control design with initial value compensation and its application to head positioning control on magnetic disk drives," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 65-73, Feb 1996.   Abstract Link    Full Text

Abstract: To meet an increasing demand for high performance and large-capacity in magnetic hard disk drives, both fast response and precise positioning are strongly required for the head positioning control. A mode switching control (MSC) system, which includes a track seeking controller, a track following controller, and a switching function, is widely used to meet this requirement. The issue for MSC is to confirm a design method of servo mode switching. This paper proposes the initial value compensation method (IVC). The IVC inputs certain initial values in the controller state variables at mode switching in order to improve the transient response after switching. There are two approaches to determine the values: (1) minimizing a linear-quadratic function of the plant state variables; and (2) cancelling the unfavorable poles of the transfer function between initial values and head position by relocating zeros. Some experimental results are shown to be effective

43.1.9    Y. Kunii, H. Hashimoto, "Dynamic force simulator for multifinger force display," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 74-80, Feb 1996.   Abstract Link    Full Text

Abstract: In this paper, the authors present a dynamic force simulator (DFS) for force feedback in human-machine systems. They propose a virtual world model with two force flows: one is the force flow from human to an object, the other is the force flow from an object to human. To use this model, the DFS simulates object dynamics, contact models, and friction characteristics of the human hand interacting with the object in virtual reality. After the derivation of kinematic and force relations between hand and object space, they balance the two forces: one from the human and the other from the object in the contact force space in virtual world and then realize the adequate feedback forces to human operator. Interaction with the DFS allows calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove they have developed. In this paper grasping of a cylinder in the virtual world is presented. During object grasping, they measure joint angles and torques using the sensor glove system. In the future, they will use this system to analyze human dextrous manipulations called human skill

43.1.10    M. Shibata, T. Murakami, K. Ohnishi, "A unified approach to position and force control by fuzzy logic," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 81-87, Feb 1996.   Abstract Link    Full Text

Abstract: This paper proposes a unified control strategy of position and force. The authors' technique is based on impedance control with fuzzy logic and realizes the smooth shift from position control to force control and vice versa. At first, a robust impedance controller based on a disturbance observer is shown, and the method to unify the position and the force control through one controller is described. Next, an algorithm to estimate the dynamic characteristics of the environment is shown, and a force tracking control using the estimated parameters is proposed. Finally, the unified control algorithm of position and force based on fuzzy logic is established. The validity of this method is confirmed by several experimental results

43.1.11    A.J. Carrott, P.R. Moore, R.H. Weston, R. Harrison, "The UMC software environment for machine control system integration, configuration, and programming," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 88-97, Feb 1996.   Abstract Link    Full Text

Abstract: This paper outlines the major advantages which accrue from using an “open” architecture approach to creating machine control systems. The approach known as the universal machine control (UMC) system was conceived to cover aspects of the design, configuration, and programming of machine control systems. The paper presents a comprehensive description of the structure and functional logic of the UMC run-time architecture. A brief overview of the UMC software support environment is also provided. UMC is conceived to make a valuable contribution in realising successful mechatronic solutions to manufacturing industry

43.1.12    T.H. Lee, E.K. Koh, M.K. Loh, "Stable adaptive control of multivariable servomechanisms, with application to a passive line-of-sight stabilization system," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 98-105, Feb 1996.   Abstract Link    Full Text

Abstract: This paper considers the problem of controlling multivariable servomechanisms where there exist cross-couplings, or interactions, between the axes. An adaptive control strategy using a feedforward paradigm is proposed, and by incorporating direct adaptive methodologies, it is shown in the paper that uniformly stable operation is achieved together with asymptotic tracking of the reference command signals. In the paper, real-time experimental results in applying the proposed adaptive controller to a passive line-of-sight stabilization system are presented which demonstrates the effectiveness of the adaptive controller, and provides experimental verification of the main analytical results

43.1.13    M. Acar, R.M. Parkin, "Engineering education for mechatronics," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 106-112, Feb 1996.   Abstract Link    Full Text

Abstract: This paper defines mechatronics, explains mechatronics philosophy, and describes characteristics of mechatronics products and systems. It reviews aspects of education and training for mechatronics and compares the two different approaches to engineering education: generalist engineering versus specialist engineering. It also examines the Japanese approach to product development strategies and mechatronics education and training. It also gives an overview of mechatronics education in higher education institutions across the world with a specific reference to a typical mechatronics engineering degree program. Finally it concludes that there will be an increasing need in the future for discipline-based mechatronics engineers

43.1.14    J.T. Teeter, Mo-yuen Chow, J.J. Brickley, "A novel fuzzy friction compensation approach to improve the performance of a DC motor control system," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 113-120, Feb 1996.   Abstract Link    Full Text

Abstract: The compensation of friction nonlinearities for servomotor control has received much attention due to undesirable and disturbing effects that the friction often has on conventional control systems. Compensation methods have generally involved selecting a friction model and then using model parameters to cancel the effects of the nonlinearity. In this paper, a method using fuzzy logic for the compensation of nonlinear friction is developed for the control of a DC motor. The method is unique in that a single fuzzy rule is used to compensate directly for the nonlinearity of the physical system. As a result, the method introduces fewer adjustable parameters than a typical fuzzy logic approach while still incorporating many advantages of using fuzzy logic such as the incorporation of heuristic knowledge, ease of implementation and the lack of a need for an accurate mathematical model. The general approach, analysis and experimental results obtained for an actual DC motor system with nonlinear friction characteristics are presented and the effectiveness of the fuzzy friction compensation control technique is discussed. The smoothness of response, response times and disturbance rejection of a PI control system with and without the proposed fuzzy compensator are analyzed and discussed to illustrate the effectiveness of the proposed method

43.1.15    A. von Jouanne, P.N. Enjeti, D.J. Lucas, "DSP control of high-power UPS systems feeding nonlinear loads," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 121-125, Feb 1996.   Abstract Link    Full Text

Abstract: Many facilities, such as patient health care centers, data processing systems, and critical telecommunication links, rely on uninterruptible power supplies (UPS) to maintain a continuous supply of power in case of a line outage. In addition to requiring continuous power, many critical nonlinear loads are sensitive to incoming line transients and input harmonic voltage distortion. Conventional UPS systems operate to protect against such disturbances using complex filtering schemes, often employing large passive components. This paper presents the advantages of using real time digital signal processing (DSP) control of UPS systems. A DSP controlled UPS inverter and harmonic conditioning system is described and the performance is verified on a 150 kVA system

43.1.16    H. Jin, Y. Wang, G. Joos, "A hybrid structure using phase-controlled rectifiers and high-frequency converters for magnet-load power supplies," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 126-131, Feb 1996.   Abstract Link    Full Text

Abstract: Thyristor rectifiers are still the preferred choice for large magnet power supplies. However, large harmonic voltages, resulting in large current ripple, and slow dynamic response are major drawbacks of these converters. This paper presents a topology and a control technique for hybrid large-power high-precision magnet power supplies. The system consists of a phase controlled rectifier connected in series with a high-frequency PWM converter. The rectifier is designed to handle the main output power and the PWM converter is used only for harmonics cancellation and error compensation. A feedforward control scheme is proposed to ensure that the desired power sharing is maintained during both the steady state and transient operations. The operating principles of the proposed structure are discussed in the paper, and the results from a 1 kVA experimental setup are provided to validate the proposed topology

43.1.17    R.J. Kerkman, D. Leggate, B.J. Seibel, T.M. Rowan, "Operation of PWM voltage source-inverters in the overmodulation region," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 132-141, Feb 1996.   Abstract Link    Full Text

Abstract: Pulse width modulated (PWM) inverters experience a reduction in gain when overmodulation occurs. The pulse dropping or transition region is examined for continuous and discontinuous modulation strategies. Transition region characteristics for a number of modulation strategies are introduced. The effect of the transition region on field oriented control (FOC) is presented. The adverse effects of bus disturbances on current regulated AC inverters, while in the transition region, are demonstrated by experimental results. The problems encountered are the consequence of the reduced gain of the PWM inverter regardless of the PWM strategy. A compensated modulation technique (CMT) adaptable to continuous and discontinuous modulators eliminates the voltage error and transitions to six-step operation without inducing a voltage transient. The CMT applies to voltage and current regulated PWM inverters employing most of the modern switching strategies. Experimental results presented in the paper demonstrate the CMT's smooth transition to six-step and the improved performance a CMT-PWM algorithm provides

43.1.18    M.O. Kaynak, "Guest Editorial The Age of Mechatronics," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 2, Feb 1996.   Abstract Link    Full Text

Abstract: Not Available

43.1.19    C.R. Sullivan, Chaofu Kao, B.M. Acker, S.R. Sanders, "Control systems for induction machines with magnetic saturation," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 142-152, Feb 1996.   Abstract Link    Full Text

Abstract: Extensions of field-oriented control methods for induction machines, accounting for magnetic saturation, are developed. The new methods are based on a nonlinear π model for the saturated machine. This model is a more accurate representation of the saturation phenomena in the machine than are most previous models, and it is shown to also facilitate development of control algorithms. Observers for estimating rotor flux are also discussed. Experimental results verifying operation of one proposed control method are presented

43.1.20    M.R. Matausek, B.I. Jeftenic, D.M. Miljkovic, M.Z. Bebic, "Gain scheduling control of DC motor drive with field weakening," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 153-162, Feb 1996.   Abstract Link    Full Text

Abstract: A new adaptive control system for a DC motor drive with field weakening is proposed. The adaptation mechanism is based on the gain scheduling. A deep knowledge of the phenomena in the drive was necessary to define the scheduled variables that capture the essential nonlinearities of the process considered. However, in practice, to realize the proposed adaptive control system, the only a priori knowledge required is the experimentally determined magnetization curve. Simulation and experimental results indicating high performances of the control system proposed, are presented

43.1.21    M. Kamli, S. Yamamoto, M. Abe, "A 50-150 kHz half-bridge inverter for induction heating applications," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 163-172, Feb 1996.   Abstract Link    Full Text

Abstract: A half-bridge resonant-type IGBT inverter suitable for heating magnetic and nonmagnetic materials at high-frequency is described. A series-parallel arrangement of capacitors is adopted and an optimum mode of operation is proposed. In this mode, the inverter is operated at unity power factor by PLL control irrespective of load variations, with maximum current gain, maximum overall system efficiency, and practically no voltage spikes in the devices at turn-off. The actual performance was tested on a 50-150 kHz prototype rated at 6 kW. The low-cost developed hybrid inverter is characterized by its simplicity of design and operation, yet is versatile in performance. A simplified analysis and detailed experimental results are presented

43.1.22    Leang-San Shieh, Xiang Zou, N.P. Coleman, "Digital interval modeling and hybrid control of uncertain systems ," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 173-183, Feb 1996.   Abstract Link    Full Text

Abstract: This paper addresses two issues: (1) converting a continuous-time uncertain system to an equivalent discrete-time interval model; and (2) constructing a robust digital control law from a robust analogue control law for hybrid control of sampled-data uncertain systems. The system matrices characterizing the state-space representation of the original continuous-time uncertain systems are assumed to be interval matrices. The Pade approximation method together with a geometric-series approximation method is employed to obtain the generalized enclosing discrete-time interval models. The generalized enclosing interval models are able to tightly enclose the exact discrete-time uncertain model, and can be utilized for digital simulation and digital design of continuous-time uncertain systems. A new family of digitally redesigned interval controllers is constructed from a continuous-time robust controller for robust digital control of continuous-time uncertain systems. Using the newly digitally redesigned interval controllers, the dynamic states of the digitally controlled sampled-data uncertain systems are able to closely match those of the original analogously controlled continuous-time uncertain systems for a relatively longer sampling period

43.1.23    Teck Seng Low, Chao Bi, "Design of A/D converters with hierarchic networks," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 184-191, Feb 1996.   Abstract Link    Full Text

Abstract: A methodology for designing analog to digital (A/D) converters based on a hierarchic network is explored. The principle of this methodology and design procedure are presented. The characteristics and performances of the converter are compared with the converter based on the Hopfield network. Two circuit models for the A/D converters are described in this paper. As a hierarchic network is used, the A/D converters designed have no local minima in their operation, With the method proposed in the paper, high bit number A/D converters can be easily designed, and the converters designed are fast in signal conversion and stable in operation

43.1.24    N. Hoshi, A. Kawamura, "Analysis of primary-on-slider type piezoelectric actuator and the application to two-degree-of-motion freedom plane actuator," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 192-199, Feb 1996.   Abstract Link    Full Text

Abstract: The basic characteristics of a primary-on-slider type piezoelectric actuator were theoretically analyzed, and the relationship between the thrust force and the weight force was clarified, and was verified by the experiments. As a result, when the weight force was imposed on the slider, the thrust force increased, but when too heavy a weight force was applied, the thrust force decreased. Various prototypes of two-degree-of-motion freedom plane ultrasonic piezoelectric actuators were experimentally constructed, and the fundamental characteristics were measured. The vibration mode of actuators was also analyzed by ANSYS, and compared with the experimental results. The characteristics of the plane ultrasonic piezoelectric actuators were obtained similar to the theoretical characteristics. Since the shape of this plane ultrasonic piezoelectric actuator is very simple, it is suitable for applications that complicated motions are required in limited space

43.1.25    M. Tartagni, E. Franchi, R. Guerrieri, G. Baccarani, "A photodiode cell for applications to position and motion estimation sensors," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 200-206, Feb 1996.   Abstract Link    Full Text

Abstract: An optical cell has been designed and fabricated using standard digital 1.6 μm CMOS technology. It has been designed for applications to sensors where the image acquisition time of fast moving objects or documents is of primary importance. The cell contains a photodiode working in storage mode and a shielded MOS capacitor acting as analog frame buffer. A chip prototype containing 64 linear arrays of 64 cells whose size is 36×36 μm2 has been tested and measurements have proved the functionality down to microsecond-range of exposure times. By virtue of the proposed read-out technique, the sensor architecture provides simultaneous image acquisition of irregular moving objects allowing precise detection of position and motion

43.1.26    C.G. Lo Bianco, A. Tonielli, F. Filicori, "A prototype controller for variable reluctance motors," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 207-216, Feb 1996.   Abstract Link    Full Text

Abstract: A three-level cascade structure is proposed for the control of a variable reluctance (VR) motor. In order to deal with the highly nonlinear behavior of VR motors, the controlling system includes two variable-structure controllers for current and velocity loops as well as an intermediate torque-sharing compensator. The intermediate compensator has been designed by means of nonlinear optimization techniques in order to reduce the torque ripple and to get the maximum motor velocity. The proposed controller has been validated through extensive simulation experiments. The architecture of a prototype controller is presented and the actual performance measured on a VR motor is discussed in comparison with simulations. The results show practical feasibility and good performance of the proposed controller, which is also suitable for a very simple and quite inexpensive fully hardware implementation

43.1.27    N. Manaresi, R. Rovatti, E. Franchi, R. Guerrieri, G. Baccarani, "Automatic synthesis of analog fuzzy controllers: a hardware and software approach," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 217-225, Feb 1996.   Abstract Link    Full Text

Abstract: In applications where low cost is the primary concern, analog VLSI controllers are an option. In this paper a hardware and software integrated toolkit for development of analog controllers based on fuzzy logic is presented. The system is composed of a CMOS analog circuit whose input/output relationship can be programmed to synthesize various control functions. The value of the programmable parameters can be automatically computed by the software tool, assuming that the user specifies the controller expected behavior by means of linguistic and/or numeric information. A complete example of how fuzzy linguistic and numerical methodologies can be combined with more conventional techniques to synthesize a nontrivial controller is detailed down to measured data. A final discussion clarifies the main advantages of the fuzzy analog computation when it is supported with an appropriate software layer: nontrivial solutions to problems in which accuracy is not the primary concern can be easily synthesized and integrated into very small silicon areas with small power requirements

43.1.28    I. Kioskeridis, N. Margaris, "Loss minimization in induction motor adjustable-speed drives," IEEE Trans. on Industrial Electronics, vol. 43, no. 1, pp. 226-231, Feb 1996.   Abstract Link    Full Text

Abstract: A loss model controller (LMC) for determining the optimal air-gap flux that minimizes the losses in scalar controlled induction motor drives is presented. The suggested LMC is simple, and its implementation does not affect significantly the cost and the complexity of the drive. Although the conception of the suggested LMC is based on the loss model of the induction motor, it is shown that its realization does not require knowledge of the loss model

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 43,  Number 2, April 1996           Access to the journal on IEEE XPLORE     IE Transactions Home Page



43.2.1    M.A. Rahman, "Special Section on Permanent Magnet Motor Drives: Guest Editorial," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 245, April 1996.   Abstract Link    Full Text

Abstract: Not Available

43.2.2    K. Hameyer, R.J.M. Belmans, "Permanent magnet excited brushed DC motors," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 247-255, April 1996.   Abstract Link    Full Text

Abstract: Brushed DC motors excited with permanent magnet material can be found in a wide range of applications. The largest market segment for this type of motor and their predominant use is found in the low-power range. New developments in the area of high-energy permanent magnet material offer the opportunity of miniaturization and promise a cost-effective design. Starting with a brief summary on the permanent magnet material, special design considerations and typical constructions followed by motor applications of radial and axial field configurations are discussed. Particular attention must be paid to the construction of the permanent magnet excited brushed DC motor with respect to the manufacturing costs. Common winding arrangements and cost-effective lamination constructions are presented to illustrate different manufacturing techniques and possibilities

43.2.3    M.A. Rahman, P. Zhou, "Analysis of brushless permanent magnet synchronous motors," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 256-267, April 1996.   Abstract Link    Full Text

Abstract: A brief design review of permanent magnet synchronous motors has been presented. A procedure has been developed to predict the steady state and dynamic performances of a brushless permanent magnet synchronous motor. Finite element analysis has been combined with a lumped parameter circuit model in order to provide satisfactory engineering information. To this end, two coordinated steps are involved. One is to develop a unified lumped parameter circuit model for both steady state and dynamic analysis. The second step is to extract the individual lumped parameters from finite element solutions based on corresponding equivalent circuits, each with a pre-determined topology. The proposed techniques have been experimentally verified in a laboratory permanent magnet synchronous motor

43.2.4    N.A.O. Demerdash, M.A. Alhamadi, "Three-dimensional finite element analysis of permanent magnet brushless DC motor drives-status of the state of the art," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 268-275, April 1996.   Abstract Link    Full Text

Abstract: This paper reviews advances in the state of the art of applying three-dimensional finite-element (3-D-FE) magnetic field computation techniques to the analysis and quantification of parameters and performance of permanent magnet (PM) brushless DC motors as components of brushless DC drives. The application of the powerful 3-D-FE formulation based on the coupled magnetic vector potential-magnetic scalar potential (CMVP-MSP) concept to a case study PM brushless DC motor with skewed permanent magnet mounts is reviewed and summarized. This large-scale simulation of such a motor drive system is shown to be successfully implementable using workstation type computer environments

43.2.5    M.A. Jabbar, "Disk drive spindle motors and their controls," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 276-284, April 1996.   Abstract Link    Full Text

Abstract: Disk drives require very high-precision spindle motors for fast and accurate access of data. As storage capacity and access rate increase, more demands are being made of spindle motors with respect to both electrical and mechanical performances. For error-free operations, spindle motors are required to comply with a host of requirements, such as run-outs, both axial and radial, acoustics, mechanical vibrations, electromagnetic interference, contamination, etc. Compliance to these requirements necessitate careful and novel design techniques and highly sophisticated manufacturing processes. This paper discusses various requirements and specific design issues (electromagnetic design, mechanical design, motor control) for the development of spindle motors suitable for different form-factor drives using permanent magnet brushless DC motors

43.2.6    T.-S. Low, C. Bi, K.-T. Chang, "Motor “identity”-a motor model for torque analysis and control," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 285-291, April 1996.   Abstract Link    Full Text

Abstract: This paper introduces a novel concept in torque analysis and torque controller design, using motor identity. The concept of identity is defined and analysis for generating an optimal input current which can produce smooth and maximum torque output is described. The extraction process of identity from a motor is also provided. Simulations and experiments applying this identity concept in torque control on a permanent magnet synchronous motor are given. The results are compared with a conventional motor controller using 3-phase sinusoidal currents

43.2.7    M. Ooshima, A. Chiba, T. Fukao, M.A. Rahman, "Design and analysis of permanent magnet-type bearingless motors," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 292-299, April 1996.   Abstract Link    Full Text

Abstract: Magnetic bearings have been applied to high speed and high power electric machines for machine tools, turbomolecular pumps, etc. Bearingless motors can be expected to realize high speed and high power ratings because magnetic bearing functions are integrated into high-speed motors, which results in a simplified structure with short shaft length. In this paper, permanent magnet type bearingless motors, having built-in capability to achieve high power factor and high efficiency, are proposed. The shaft is suspended and centered by electromagnetic forces produced by currents in the additional radial force windings of the stator slots. At first the relationships of these radial forces, currents and voltages are derived analytically. Moreover, the relationships between radial forces and permanent magnet thickness are found. The optimal permanent magnet thickness is determined. The ratio of radial force over current as well as the peak air-gap flux density are discussed. These relationships are confirmed by prototype machines

43.2.8    N. Matsui, "Sensorless PM brushless DC motor drives," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 300-308, April 1996.   Abstract Link    Full Text

Abstract: To control PM brushless DC motors, position and speed sensors are indispensable because the current should be controlled depending on the rotor position. However, these sensors are undesirable from standpoints of size, cost, maintenance, and reliability. There are different ways of approaching this problem, depending on the flux distribution. The paper presents the speed and position sensorless control of PM brushless DC motors with a sinusoidal flux distribution. Two approaches are presented and compared with each other; one is based on the voltage model of the motor and another is based on the current model. The starting procedure is also a very difficult problem under sensorless drives, because the sensorless drive algorithm uses voltage and current for estimation of rotor position, but no information is available before starting. A novel starting method is presented by using a salient-pole machine. Experimental results based on DSP-TMS320C25 controller are shown for comparisons, which demonstrate desired characteristics both in steady-state and starting conditions

43.2.9    J. Holtz, L. Springob, "Identification and compensation of torque ripple in high-precision permanent magnet motor drives," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 309-320, April 1996.   Abstract Link    Full Text

Abstract: Permanent magnet synchronous machines generate parasitic torque pulsations owing to distortion of the stator flux linkage distribution, variable magnetic reluctance at the stator slots, and secondary phenomena. The consequences are speed oscillations which, although small in magnitude, deteriorate the performance of the drive in demanding applications. The parasitic effects are analyzed and modeled using the complex state-variable approach. A fast current control system is employed to produce high-frequency electromagnetic torque components for compensation. A self-commissioning scheme is described which identifies the machine parameters, particularly the torque ripple functions which depend on the angular position of the rotor. Variations of permanent magnet flux density with temperature are compensated by on-line adaptation. The algorithms for adaptation and control are implemented in a standard microcontroller system without additional hardware. The effectiveness of the adaptive torque ripple compensation is demonstrated by experiments

43.2.10    T.M. Jahns, W.L. Soong, "Pulsating torque minimization techniques for permanent magnet AC motor drives-a review," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 321-330, April 1996.   Abstract Link    Full Text

Abstract: Permanent magnet AC (PMAC) motor drives are finding expanded use in high-performance applications where torque smoothness is essential. This paper reviews a wide range of motor- and controller-based design techniques that have been described in the literature for minimizing the generation of cogging and ripple torques in both sinusoidal and trapezoidal PMAC motor drives. Sinusoidal PMAC drives generally show the greatest potential for pulsating torque minimization using well-known motor design techniques such as skewing and fractional slot pitch windings. In contrast, trapezoidal PMAC drives pose more difficult trade-offs in both the motor and controller design which may require compromises in drive simplicity: and cost to improve torque smoothness. Controller-based techniques for minimizing pulsating torque typically involve the use of active cancellation algorithms which depend on either accurate tuning or adaptive control schemes for effectiveness. In the end, successful suppression of pulsating torque ultimately relies on an orchestrated systems approach to all aspects of the PMAC machine and controller design which often requires a carefully selected combination of minimization techniques

43.2.11    C.C. Chan, K.T. Chau, J.Z. Jiang, W. Xia, M. Zhu, R. Zhang, "Novel permanent magnet motor drives for electric vehicles," IEEE Trans. on Industrial Electronics, vol. 43, no. 2, pp. 331-339, April 1996.   Abstract Link    Full Text

Abstract: Novel permanent magnet (PM) motor drives have been successfully developed to fulfil the special requirements for electric vehicles such as high power density, high efficiency, high starting torque, and high cruising speed. These PM motors are all brushless and consist of various types, namely rectangular-fed, sinusoidal-fed, surface-magnet, buried-magnet, and hybrid. The advent of novel motor configurations lies on the unique electromagnetic topology, including the concept of multipole magnetic circuit and full slot-pitch coil span arrangements, leading to a reduction in both magnetic yoke and copper, decoupling of each phase flux path, and hence an increase in both power density and efficiency. Moreover, with the use of fractional number of slots per pole per phase, the cogging torque can be eliminated. On the other hand, by employing the claw-type rotor structure and fixing an additional field winding as the inner stator, these PM hybrid motors can further provide excellent controllability and improve efficiency map. In the PM motors, by purposely making use of the transformer EMF to prevent the current regulator from saturation, a novel control approach is developed to allow for attaining high-speed constant-power operation which is particularly essential for electric vehicles during cruising. Their design philosophy, control strategy, theoretical analysis, computer simulation, experimental tests and application to electric vehicles are described

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 43,  Number 3, June 1996           Access to the journal on IEEE XPLORE     IE Transactions Home Page



43.3.1    Ren C. Luo, "Guest Editorial," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 345, June 1996.   Abstract Link    Full Text

Abstract: Not Available

43.3.2    J.M. Reed, S. Hutchinson, "Image fusion and subpixel parameter estimation for automated optical inspection of electronic components," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 346-354, June 1996.   Abstract Link    Full Text

Abstract: The authors present a new approach to automated optical inspection (AOI) of circular features that combines image fusion with subpixel edge detection and parameter estimation. In their method, several digital images are taken of each part as it moves past a camera, creating an image sequence. These images are fused to produce a high-resolution image of the features to be inspected. Subpixel edge detection is performed on the high-resolution image, producing a set of data points that is used for ellipse parameter estimation. The fitted ellipses are then back-projected into 3-space in order to obtain the sizes of the circular features being inspected, assuming that the depth is known. The method is accurate, efficient, and easily implemented. The authors present experimental results for real intensity images of circular features of varying sizes. Their results demonstrate that their algorithm shows greatest improvement over traditional methods in cases where the feature size is small relative to the resolution of the imaging device

43.3.3    R. Alberto Salinas, C. Richardson, M.A. Abidi, R.C. Gonzalez, "Data fusion: color edge detection and surface reconstruction through regularization," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 355-363, June 1996.   Abstract Link    Full Text

Abstract: Data fusion provides tools for solving problems which are characterized by distributed and diverse information sources. In this paper, the authors focus on the problem of extracting features such as image discontinuities from both synthetic and real images. Since edge detection and surface reconstruction are ill-posed problems in the sense of Hadamard, Tikhonov's regularization paradigm is proposed as the basic tool for solving this inversion problem and restoring well-posedness. The proposed framework includes: (1) a systematic view of oneand two-dimensional regularization; (2) extension of the standard Tikhonov regularization method by allowing space-variant regularization parameters; and (3) further extension of the regularization paradigm by adding multiple data sources to allow for data fusion. The theoretical approach is complemented by developing a series of algorithms, then solving the early vision problems of color edge detection and surface reconstruction. An evaluation of these methods reveals that this new analytical data fusion technique output is consistently better than each of the individual RGB edge maps, and noisy corrupted images are reconstructed into smooth noiseless surfaces

43.3.4    C.-C. Huang, Y.F. Zheng, "Integration of vision and laser displacement sensor for efficient and precise digitizing," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 364-371, June 1996.   Abstract Link    Full Text

Abstract: This paper presents a new digitizing technique which integrates computer vision methods, such as the photometric stereo approach, with the laser displacement sensors (LDS). The curvature at each point of the surface can be measured cost-effectively by the photometric stereo approach. Once the information of curvature of the surface is provided, the measuring speed of LDS can be improved by digitizing at the selected points of the surface and meanwhile the accuracy of digitization is still maintained. By means of the integration, the merits of both approaches can be achieved simultaneously and the efficiency of the digitization can be improved. Experimental results are provided to verify the proposed method

43.3.5    Kai-Tai Song, Wen-Hui Tang, "Environment perception for a mobile robot using double ultrasonic sensors and a CCD camera," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 372-379, June 1996.   Abstract Link    Full Text

Abstract: To move efficiently in an unknown or uncertain environment, a mobile robot must use observations taken by various sensors to construct information for path planning and execution. A reasonably accurate representation of the external world would also be very useful for robot self-localization. One of the merits of applying multiple sensors to a mobile robot is the enhancement of environment recognition. In this paper, the authors propose to use sensory information combined from double ultrasonic sensors and a CCD camera. They developed an algorithm based on a dual-transducer design to eliminate errors resulting from the beam opening angle of ultrasonic sensors. An extended discrete Kalman filter (EDKF) was designed to fuse raw sensory data and to reduce the influence of specular reflection of ultrasonic type transducers, thereby providing a more reliable representation for environment perception. Computer simulation, as well as practical experimental results demonstrate that this sensory system can provide useful and comprehensive environment perception for intelligent robotics

43.3.6    T. Mukai, M. Ishikawa, "An active sensing method using estimated errors for multisensor fusion systems," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 380-386, June 1996.   Abstract Link    Full Text

Abstract: An active sensing method for multisensor fusion systems with actuators is proposed. To realize active sensing with multiple sensors: (i) where to position sensors; (ii) how to associate data; and (iii) how to fuse data should be determined. The authors propose a new method mainly concerning (i). The method utilizes estimated errors of estimates to determine optimal sensor locations where useful data are expected to be obtained and effectively associated. As examples, the active sensing method is applied to multitarget tracking by a system with two hand-eye cameras, and visual and tactile fusion in a system with a camera and a tactile sensor. By using this method, the sensing strategy is optimized for the object of measurement

43.3.7    S.G. Goodridge, M.G. Kay, R.C. Luo, "Multilayered fuzzy behavior fusion for real-time reactive control of systems with multiple sensors," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 387-394, June 1996.   Abstract Link    Full Text

Abstract: Fuzzy linguistic rules provide an intuitive and powerful means for defining control behavior. Most applications that use fuzzy control feature a single layer of fuzzy inference, mapping a function from one or two inputs to equally few outputs. Highly complex systems, with large numbers of inputs, may also benefit from the use of qualitative linguistic rules if the control task is properly partitioned. This paper presents a modular fuzzy control architecture and inference engine that can be used to control complex systems. The control function is broken down into multiple local agents, each of which samples a subset of a large sensor input space. Additional fuzzy agents are employed to fuse the recommendations of the local agents. Real-time implementation without special hardware is possible by using singleton output values during fuzzy rule evaluation. A development tool is used to translate a fuzzy programming language offline for fast execution at run time. Using this system, a multilayered fuzzy behavior fusion based reactive control system has been implemented on an autonomous mobile robot, MARGE, with great success. MARGE won first place in Event III of the 1993 Robot Competition sponsored by the American Association for Artificial Intelligence

43.3.8    X. Shi, P.J.A. Lever, F.-Y. Wang, "Fuzzy behavior integration and action fusion for robotic excavation ," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 395-402, June 1996.   Abstract Link    Full Text

Abstract: This paper discusses control behavior integration and bucket action fusion for excavation control of a robotic front-end-loader type machine. To utilize the experience and expertise from skilled human operators, a fuzzy-logic based control approach is developed. A hierarchical excavation control architecture decomposes excavation goals to tasks, then tasks to behaviors, and finally behaviors to actions. The excavation actions are primitive and can be executed directly by an excavation machine. Finite state machines are used to specify the coordination and integration of behaviors for task execution and actions for behavior implementation. A simple strategy for action fusion is proposed based on fuzzy logic reasoning and the COA defuzzification method. Finally, laboratory experiments are conducted using a PUMA 560 robot arm and a Zebra force/torque sensor in a simulated rock excavation environment. Experimental results indicate that the proposed approach in this paper has led to more efficient task execution than previous approaches

43.3.9    J.A. Stover, D.L. Hall, R.E. Gibson, "A fuzzy-logic architecture for autonomous multisensor data fusion ," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 403-410, June 1996.   Abstract Link    Full Text

Abstract: Fuzzy logic techniques have become popular to address various processes for multisensor data fusion. Examples include the following: (1) fuzzy membership functions for data association; (2) evaluation of alternative hypotheses in multiple hypothesis trackers; (3) fuzzy-logic-based pattern recognition (e.g., for feature-based object identification); and (4) fuzzy inference schemes for sensor resource allocation. These approaches have been individually successful but are limited to only a single subprocess within a data fusion system. At The Pennsylvania State University, Applied Research Laboratory, a general-purpose fuzzy-logic architecture has been developed that provides for control of sensing resources, fusion of data for tracking, automatic object recognition, control of system resources and elements, and automated situation assessment. This general architecture has been applied to implement an autonomous vehicle capable of self-direction, obstacle avoidance, and mission completion. The fuzzy logic architecture provides interpretation and fusion of multisensor data (i.e., perception) as well as logic for process control (action). This paper provides an overview of the fuzzy-logic architecture and a discussion of its application to data fusion in the context of the Department of Defense (DoD) Joint Directors of Laboratories (JDL) Data Fusion Process Model. A new, robust, fuzzy calculus is introduced. An application example is provided

43.3.10    T. Sawaragi, J. Umemura, O. Katai, S. Iwai, "Fusing multiple data and knowledge sources for signal understanding by genetic algorithm," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 411-421, June 1996.   Abstract Link    Full Text

Abstract: This paper presents a new approach to partially automating a human expert's proficient interpretation skills for data and knowledge fusion in signal-understanding tasks. The authors start by recognizing the fact that signal interpretation is attributed much to a human expert's domain-specific, pattern-perceiving capability of grasping raw signals by structured representations having multiple levels of abstraction, rather than to some objectively defined knowledge. In other words, that is an emergent or self-organizing process, where information is regarded as perceptual as opposed to objectively defined. First, they attempt to organize such structured representations by usage of a hierarchical clustering method of data analysis. Then, based on these representations they model a human expert's interpretation skill as an activity of searching for an optimum combination of those perceptual units within that structured representation space being constrained by the data. In order to implement this activity, they introduce a genetic algorithm and apply it to the structured representation space assimilating a human analyst's creative interpreting task in flexibly shifting the focal view of attention from the coarse to the precise. They implement a working system for signal understanding of the remote sensing data of seismic prospecting and show the results output by the system

43.3.11    U. Larsson, J. Forsberg, A. Wernersson, "Mobile robot localization: integrating measurements from a time-of-flight laser," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 422-431, June 1996.   Abstract Link    Full Text

Abstract: This paper presents an algorithm for environment mapping by integrating scans from a time-of-flight laser and odometer readings from a mobile robot. The range weighted Hough transform (RWHT) is used as a robust method to extract lines from the range data. The resulting peaks in the RWHT are used as feature coordinates when these lines/walls are used as landmarks during navigation. The associations between observations over the time sequence are made in a systematic way using a decision directed classifier. Natural geometrical landmarks are described in the robot frame together with a covariance matrix representing the spatial uncertainty. The map is thus built up incrementally as the robot moves. If the map is given in advance, the robot can find its location and navigate relative to this a priori given map. Experimental results are presented for a mobile robot with a scanning range measuring laser having 2-cm resolution. The algorithm was also used for an autonomous plastering robot on a construction site. The sensor fusion algorithm makes few erroneous associations

43.3.12    J. Vandorpe, H. Van Brussel, H. Xu, "LiAS: a reflexive navigation architecture for an intelligent mobile robot system," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 432-440, June 1996.   Abstract Link    Full Text

Abstract: In this paper, a complete hierarchical navigation architecture fur applications in real industrial factory environments is presented. An offline global geometrical planner uses a rough CAD-model of the working environment to plan consecutive via-points which the robot must follow. The navigation between the via-points is performed by a two-level online navigation algorithm. It consists of an online planning module combined with a low-level fuzzy logic avoidance behavior which enables the robot to move to the next goal by only specifying its coordinates in even completely a priori unknown and unstructured factory environments. The system includes a docking motion, based on a dynamic guidance technique. A perception fusion module combines information of three different sensors for accurate modeling of the world. The presented navigation method was tested with the mobile robot Leuven Intelligent Autonomous System (LiAS) and it proved to be useful in real world applications

43.3.13    M.C. Ghanem, K. Al-Haddad, G. Roy, "A new control strategy to achieve sinusoidal line current in a cascade buck-boost converter," IEEE Trans. on Industrial Electronics, vol. 43, no. 3, pp. 441-449, June 1996.   Abstract Link    Full Text

Abstract: This work presents a detailed theoretical analysis and experimental results of a novel means of obtaining sinusoidal input current and unity power factor (UPF) via a cascade buck-boost power converter. Using the new configuration, sinusoidal line current in phase with the bus voltage is achieved, thanks to a new and simple to implement control strategy. Comparison between the input and output voltages is used to select the instantaneous operating mode of the converter. Offline references are calculated and stored in two EPROM circuits and then compared to measured currents to generate the gating signals of the appropriate switches. Complete theoretical analysis, simulation results and experimental data on a 500 W power converter are presented, to demonstrate the superiority of the new control strategy. Low order harmonics in the input current are eliminated and the input power factor is found to be over 0.99

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 43,  Number 4, August 1996           Access to the journal on IEEE XPLORE     IE Transactions Home Page



43.4.1    S.P. Chan, H.C. Liaw, "Generalized impedance control of robot for assembly tasks requiring compliant manipulation," IEEE Trans. on Industrial Electronics, vol. 43, no. 4, pp. 453-461, August 1996.   Abstract Link    Full Text

Abstract: To perform assembly tasks requiring compliant manipulation, the robot must follow a motion trajectory and exert an appropriate force profile while making compliant contact with a dynamic environment. For this purpose, a generalized impedance in the task space consisting of a second-order function relating the motion errors and interaction force errors is introduced such that the contact force can be commanded and controlled. With generalized impedance control, the robot can behave with a desired dynamic characteristic when it interacts with the environment. To ensure the success of the assembly, a strategy during task planning which takes into consideration the interrelation between motion and force trajectories as well as contact compliance is introduced. The generalized impedance control method is applied to the prismatic joint of a selective compliance assembly robot arm (SCARA) robot for inserting a printed circuit board (PCB) into an edge connector socket. Depending on the progress of the parts joining operation, various amount of interaction forces are generated which have to be accommodated. It is demonstrated that an assembly strategy which consists of a sequence of carefully planned target impedance can enable the task to be executed in a desirable manner. The effectiveness of this approach is illustrated through experiments by comparing the results with those obtained using a well-established position control scheme as well as the original impedance control method

43.4.2    Shugen Ma, "A new formulation technique for local torque optimization of redundant manipulators," IEEE Trans. on Industrial Electronics, vol. 43, no. 4, pp. 462-468, August 1996.   Abstract Link    Full Text

Abstract: A new formulation technique called “torque-based formulation” for the local torque optimization of redundant manipulators is introduced in this paper. The formulation based on joint torques makes the pseudoinverse and recursive techniques possible to local torque optimization. The local torque optimization approaches that are formulated on the basis of the proposed formulation technique are simple in formulation and are efficient in computational cost. Equivalence between the proposed solutions for local torque optimization and the conventional solutions is also proven analytically

43.4.3    S. Goto, M. Nakamura, N. Kyura, "Accurate contour control of mechatronic servo systems using Gaussian networks," IEEE Trans. on Industrial Electronics, vol. 43, no. 4, pp. 469-476, August 1996.   Abstract Link    Full Text

Abstract: This paper presents a method of contour control of mechatronic servo systems by using neural networks. The neural network learns the inverse dynamics of the mechatronic servo system. The input data for the mechatronic servo systems are modified from objective trajectories by using the neural network. The Gaussian network is adopted to construct the inverse dynamics of the mechatronic servo system because the Gaussian function is well defined, and its structure and initial parameters can be systematically selected such that the initial network approximates the inverse dynamics of the mechatronic servo system. The actual input/output data of the mechatronic servo system are used for the learning of the Gaussian network. Effectiveness of the proposed method is assured by experimental results of contour control of an X-Y table

43.4.4    Chang-Chieh Hang, Lisheng Cao, "Improvement of transient response by means of variable set point weighting," IEEE Trans. on Industrial Electronics, vol. 43, no. 4, pp. 477-484, August 1996.   Abstract Link    Full Text

Abstract: A new approach is introduced for speeding up the transient set point response of a control system by adapting the set point weighting factor in the controller. For a proportional-integral-derivative (PID) controller, the initial set point weighting factor, the instants at which this factor should be varied, and the adapted value of the set point weighting factor are all given by a set of correlation formulae which can be used in conjunction with the refined Ziegler-Nichols tuning formula. Analysis has also led to an equivalent block diagram more suitable for its implementation as a set point filter with a variable zero in its transfer function

43.4.5    H. Potlapalli, R.C. Luo, "Projection learning for self-organizing neural networks," IEEE Trans. on Industrial Electronics, vol. 43, no. 4, pp. 485-491, August 1996.   Abstract Link    Full Text

Abstract: A new learning scheme, called projection learning (PL), for self-organizing neural networks is presented. By iteratively subtracting out the projection of the “twinning” neuron onto the null space of the input vector, the neuron is made more similar to the input. By subtracting the projection onto the null space as opposed to making the weight vector directly aligned to the input, we attempt to reduce the bias of the weight vectors. This reduced bias will improve the generalizing abilities of the network. Such a feature is important in problems where the in-class variance is very high, such as, traffic sign recognition problems. Comparisons of PL with standard Kohonen learning indicate that projection learning is faster. Projection learning is implemented on a new self-organizing neural network model called the reconfigurable neural network (RNN). The RNN is designed to incorporate new patterns online without retraining the network. The RNN is used to recognize traffic signs for a mobile robot navigation system

43.4.6    J. Solsona, M.I. Valla, C. Muravchik, "A nonlinear reduced order observer for permanent magnet synchronous motors," IEEE Trans. on Industrial Electronics, vol. 43, no. 4, pp. 492-497, August 1996.   Abstract Link    Full Text

Abstract: This paper introduces a nonlinear reduced order observer for speed and rotor position estimation in permanent magnet synchronous motors (PMSMs). The observer is based on a model of the motor represented by stationary two-axes coordinates. The theoretical principles of the proposed observer are discussed. Sufficient conditions for convergence as well as convergence speed are established. The observer is designed and tested by simulation. The results show that the observer gives a good estimation of speed and rotor position. In addition, it has low sensitivity to torque disturbances and perturbations of the mechanical parameters

43.4.7    Heui-Wook Kim, Seung-Ki Sul, "A new motor speed estimator using Kalman filter in low-speed range ," IEEE Trans. on Industrial Electronics, vol. 43, no. 4, pp. 498-504, August 1996.   Abstract Link    Full Text

Abstract: In this paper, a new machine drive technique using novel estimation strategy for the very low-speed operation to estimate both the instantaneous speed and disturbance load torque is proposed. In the proposed algorithm, a Kalman filter is incorporated to estimate both the motor speed and the disturbance torque. The Kalman filter is an optimal state estimator and is usually applied to a dynamic system that involves a random noise environment. The effects of parameter variations are discussed, and it is verified that the system is stable to the modeling error. Experimental results confirm the validity of the proposed estimation technique

43.4.8    J.W. Dixon, J.N. Rivarola, "Induction motor speed estimator and synchronous motor position estimator based on a fixed carrier frequency signal," IEEE Trans. on Industrial Electronics, vol. 43, no. 4, pp. 505-509, August 1996.   Abstract Link    Full Text

Abstract: A speed and position estimator, based on the introduction of a constant-frequency carrier signal (400-1000 Hz) in AC motor stator currents has been developed. Speed and position are estimated through the detection of irregularities in the rotor and, hence, the results are independent of machine parameters. These irregularities generate amplitude oscillations in the currents generated by the high frequency carrier, which are proportional to the rotor position. At the same time, the frequency of these amplitude modulations is proportional to machine speed. In induction machines, the amplitude of these signals is too low to estimate position accurately. However, special electronic circuits, designed and implemented with analog multipliers and filters, have permitted measurement of very low speeds with high precision. Computer simulations and some experiments have been carried out, and they have shown that it is possible to measure speeds as low as 20 r.p.m. In the case of salient-pole synchronous machines, the method is useful to measure rotor position due to the high irregularities produced by the poles, which are easily computed because of the important amplitude variations detected in the high frequency carrier

43.4.9    S. Saha, A.V. Dandekar, V.P. Sundersingh, "A modified approach of feeding regenerative energy to the mains," IEEE Trans. on Industrial Electronics, vol. 43, no. 4, pp. 510-514, August 1996.   Abstract Link    Full Text

Abstract: A modified approach of injecting the regenerated energy from a three-phase AC squirrel cage induction motor drive system, during its braking operation, sinusoidally into the three-phase supply using a feedback inverter between the thyristor rectifier bridge and the three-phase inverter block is described. The validity of the modified scheme is verified by simulation and experiment

43.4.10    R.G. Moctezuma, S.P. Chan, "Remarks on “Comments on a neural network compensator for uncertainties of robotics manipulators”, with reply," IEEE Trans. on Industrial Electronics, vol. 43, no. 4, pp. 515, August 1996.   Abstract Link    Full Text

Abstract: In the comments on the original paper (see ibid., vol. 9, no. 6, 1993), a technique using an internal model control (IMC) structure was proposed for compensating structured and unstructured uncertainties in robot control. Here, the author argues that it should be pointed out that the proposed control law is not well posed. The reply of the authors of the original paper is also presented

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 43,  Number 5, Oct 1996           Access to the journal on IEEE XPLORE     IE Transactions Home Page



43.5.1    K.F. Man, K.S. Tang, S. Kwong, "Genetic algorithms: concepts and applications [in engineering design]," IEEE Trans. on Industrial Electronics, vol. 43, no. 5, pp. 519-534, Oct 1996.   Abstract Link    Full Text

Abstract: This paper introduces genetic algorithms (GA) as a complete entity, in which knowledge of this emerging technology can be integrated together to form the framework of a design tool for industrial engineers. An attempt has also been made to explain “why” and “when” GA should be used as an optimization tool

43.5.2    R. Pearce, P.H. Cowley, "Use of fuzzy logic to describe constraints derived from engineering judgment in genetic algorithms," IEEE Trans. on Industrial Electronics, vol. 43, no. 5, pp. 535-540, Oct 1996.   Abstract Link    Full Text

Abstract: Engineering optimization frequently runs into difficulties due to constraints. If an application is insufficiently constrained, it will not yield a unique optimal solution. Traditionally, underconstrained problems may be solved manually, applying engineering judgment to select the most plausible of a range of solutions which meet the initial set of constraints. The engineering judgment used to select good solutions is often qualitative and may even include contradictory elements. This paper addresses the issue of incorporating engineering judgment into the objective function of an optimizer in order to restrict the range of solutions. Fuzzy logic is used to represent engineering judgment since it is able to represent the qualitative nature of the knowledge and give an assessment of the overall quality of each solution. The approach has been used successfully to match a physically based gas turbine blade cooling design model to experimental results

43.5.3    H. Surmann, "Genetic optimization of a fuzzy system for charging batteries," IEEE Trans. on Industrial Electronics, vol. 43, no. 5, pp. 541-548, Oct 1996.   Abstract Link    Full Text

Abstract: A large variety of nickel-cadmium (Ni-Cd) batteries have been developed to meet a wide range of user needs, ranging from low-current-level uses like emergency power sources for semiconductor memories to very high-power applications such as motor-operated cordless drills. This paper presents a genetic algorithm approach to optimize a fuzzy rule-based system for charging such high-power Ni-Cd batteries. For the optimization of the fuzzy system, a special objective function is developed which is based on the entropy of a fuzzy system. The resulting fuzzy system is able to charge high-power Ni-Cd batteries in about 10 min with a current of 6 A

43.5.4    D.R. Bull, D.W. Redmill, "Optimization of image coding algorithms and architectures using genetic algorithms," IEEE Trans. on Industrial Electronics, vol. 43, no. 5, pp. 549-558, Oct 1996.   Abstract Link    Full Text

Abstract: This paper addresses the application of genetic algorithm (GA)-based optimization techniques to problems in image and video coding, demonstrating the success of GAs when used to solve real design problems with both performance and implementation constraints. Issues considered include problem representation, problem complexity, and fitness evaluation methods. For offline problems, such as the design of two-dimensional filters and filter banks, GAs are shown to be capable of producing results superior to conventional approaches. In the case of problems with real-time constraints, such as motion estimation, fractal search and vector quantization codebook design, GAs can provide solutions superior to those reported using conventional techniques with comparable implementation complexity. The use of GAs to jointly optimize algorithm performance in the context of a selected implementation strategy is emphasized throughout and several design examples are included

43.5.5    S. Kwong, C.W. Chau, W.A. Halang, "Genetic algorithm for optimizing the nonlinear time alignment of automatic speech recognition systems," IEEE Trans. on Industrial Electronics, vol. 43, no. 5, pp. 559-566, Oct 1996.   Abstract Link    Full Text

Abstract: Dynamic time warping (DTW) is a nonlinear time-alignment technique for automatic speech recognition (ASR) systems. It had been widely used in many commercial and industrial products, ranging from electronic dailies/dictionaries to wireless voice digit dialers. DTW has the advantages of fast training and searching times, which makes it more popular than other available ASR techniques. However, there exist some limitations to DTW, such as the stringent rule on slope weighting, the nontrivial computation of the K-best paths, and the significant increase in computational time when the endpoint constraint is relaxed or the variations of the length of pattern increased. In this paper, a stochastic method called the genetic algorithm (GA), which is used to solve the nonlinear time alignment problem, is presented. Experimental results show that the GA has a better performance than the DTW. In addition, two derivatives of GA: the hybrid GA and the parallel GA are also presented

43.5.6    S.S. Ge, T.H. Lee, G. Zhu, "Genetic algorithm tuning of Lyapunov-based controllers: an application to a single-link flexible robot system," IEEE Trans. on Industrial Electronics, vol. 43, no. 5, pp. 567-574, Oct 1996.   Abstract Link    Full Text

Abstract: In this paper, a systematic controller design approach is proposed to guarantee both closed-loop stability and desired performance of the overall system by effectively combining genetic algorithms (GAs) with Lyapunov's direct-controller design method. The effectiveness of the approach is shown by using a simple and efficient decimal GA optimization procedure to tune and optimize the performance of a Lyapunov-based robust controller for a single-link flexible robot. The feedback gains of the controller are tuned by the GA optimization process to achieve good results for tip motion control of the single-link flexible robot based on some suitable fitness functions. The paper includes results of simulation experiments demonstrating the effectiveness of the proposed genetic algorithm approach

43.5.7    K.S. Tang, K.F. Man, D.-W. Gu, "Structured genetic algorithm for robust H∞ control systems design," IEEE Trans. on Industrial Electronics, vol. 43, no. 5, pp. 575-582, Oct 1996.   Abstract Link    Full Text

Abstract: A structured genetic algorithm (SGA) approach is developed for robust controller design based on the concept of an H∞ loop-shaping technique and the method of inequalities. Such an SGA is capable of simultaneously searching the orders and coefficients of the precompensator and postcompensator for the weighted plant. It is, therefore, not necessary to predefine the order of compensators as in usual practice. A multiple objective ranking approach is also incorporated so that the design criteria of extreme plants can be easily achieved. The effectiveness of such a technique is illustrated by a high-purity distillation column design example

43.5.8    A. Chipperfield, P. Fleming, "Multiobjective gas turbine engine controller design using genetic algorithms," IEEE Trans. on Industrial Electronics, vol. 43, no. 5, pp. 583-587, Oct 1996.   Abstract Link    Full Text

Abstract: This paper describes the use of multiobjective genetic algorithms (MOGAs) in the design of a multivariable control system for a gas turbine engine. The mechanisms employed to facilitate multiobjective search with the genetic algorithm are described with the aid of an example. It is shown that the MOGA confers a number of advantages over conventional multiobjective optimization methods by evolving a family of Pareto-optimal solutions rather than a single solution estimate. This allows the engineer to examine the trade-offs between the different design objectives and configurations during the course of an optimization. In addition, the paper demonstrates how the genetic algorithm can be used to search in both controller structure and parameter space thereby offering a potentially more general approach to optimization in controller design than traditional numerical methods. While the example in the paper deals with control system design, the approach described can be expected to be applicable to more general problems in the fields of computer aided design (CAD) and computer aided engineering (CAE)

43.5.9    V. Murino, G.L. Foresti, C.S. Regazzoni, "Adaptive camera regulation for investigation of real scenes," IEEE Trans. on Industrial Electronics, vol. 43, no. 5, pp. 588-600, Oct 1996.   Abstract Link    Full Text

Abstract: An adaptive strategy for regulating the intrinsic parameters of a charge coupled device (CCD) visual camera is presented. The parameter regulation procedure is based on the computation of the “quality” of an acquired signal by means of a set of functions which estimate the goodness of the datum. Each function performs a quantitative evaluation by computing several features derived from the high-frequency content of an image or from the histogram analysis. The regulation strategy uses such values to compute the actual values of the camera parameters, i.e., focusing distance, aperture diameter, electronic gain, and black level. Moreover, the same strategy can be applied both to the whole image and to smaller subareas, therefore providing a focus-of-attention mechanism. This is useful for automatic investigation and control of environments subject to dynamically changing conditions (e.g., illumination and structure of a scene), whenever it is not possible to interact directly with such environments

43.5.10    K.F. Man, "Guest Editorial," IEEE Trans. on Industrial Electronics, vol. 43, no. 5, pp. 517, Oct 1996.   Abstract Link    Full Text

Abstract: Not Available

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 43,  Number 6, Dec 1996           Access to the journal on IEEE XPLORE     IE Transactions Home Page



43.6.1    Mao-Fu Lai, M. Nakano, "Special section on phase-locked loop techniques," IEEE Trans. on Industrial Electronics, vol. 43, no. 6, pp. 607-608, Dec 1996.   Abstract Link    Full Text

Abstract: In this issue, a special section on phase-locked loop (PLL) techniques has been organized. This special section was motivated by new developments in PLL circuits and growing interest in using PLL in various applications. There are five papers contributed by researchers in academic and industrial fields which it is hoped will be of interest to readers

43.6.2    Guan-Chyun Hsieh, J.C. Hung, "Phase-locked loop techniques. A survey," IEEE Trans. on Industrial Electronics, vol. 43, no. 6, pp. 609-615, Dec 1996.   Abstract Link    Full Text

Abstract: Phase-locked loop (PLL) is a technique which has contributed significantly toward the technology advancement in communication and motor servo control systems in the past 30 years. Inventions in PLL schemes combined with novel integrated circuit (IC) technology have made PLL devices important system components. The development of better modular PLL ICs is continuing. As a result, it is expected that they will contribute to the improvement in performance and reliability of future communication systems. They will also contribute to the development of higher accuracy and higher reliability servo control systems, such as those involved in machine tools. This paper provides a concise review of the basic PLL principles applicable to communication and servo control systems, gives the configurations of PLL applications and reports a number of popular PLL chips

43.6.3    F. Kobayashi, M. Haratsu, M. Yabumoto, M. Nakano, "Efficient digital techniques for implementing a class of fast phase-locked loops (PLL's)," IEEE Trans. on Industrial Electronics, vol. 43, no. 6, pp. 616-620, Dec 1996.   Abstract Link    Full Text

Abstract: Circuit configurations making use of counters are described to efficiently implement controllers for time-optimal and finite-time responses in phase-locked loops (PLLs). The new PLLs, solving the responsiveness problem with conventional PLLs, require quite complicated operations, including adders and subtracters. The proposed schemes, taking advantage of normal and loadable operations of counters for these operations, provide for gate count savings of about 30%

43.6.4    N. Margaris, P. Mastorocostas, "On the Nonlinear Behavior of the Analog Phase-Locked Loop: Synchronization," IEEE Trans. on Industrial Electronics, vol. 43, no. 6, pp. 621, Dec 1996.   Abstract Link    Full Text

Abstract: Not Available

43.6.5    N. Margaris, P. Mastorocostas, Mao-Fu Lai, M. Nakano, Guan-Chyun Hsieh, "On the nonlinear behavior of the analog phase-locked loop: synchronization," IEEE Trans. on Industrial Electronics, vol. 43, no. 6, pp. 621-629, Dec 1996.   Abstract Link    Full Text

Abstract: The synchronization, in the presence of time delay, of a nonlinear analog phase-locked loop (PLL) with an analog multiplier as phase detector (PD) and a lag filter is investigated. A nonlinear model for the voltage-controlled oscillator (VCO) is suggested and the sum frequency component at the PD output is taken into account. Simple expressions of the hold-in range of both the main synchronization and the synchronization at the third harmonic are derived. These expressions point out the effect of the time delay and the filter time constant on the hold-in range. Some conclusions of the presented analysis are not anticipated by the PLL classic theory and allow a better understanding of the loop behavior

43.6.6    A. Takano, "Quick-response torque-controlled induction motor drives using phase-locked loop speed control with disturbance compensation," IEEE Trans. on Industrial Electronics, vol. 43, no. 6, pp. 640-646, Dec 1996.   Abstract Link    Full Text

Abstract: This paper presents an excellent speed control scheme for induction motor drives. Phase-locked loop (PLL) techniques based on proportional-integral derivative (PID) feedback of the phase difference is employed to provide extremely accurate speed regulation. The quick-response torque control of an induction motor is used to provide better torque characteristics. In addition, a disturbance is estimated by a disturbance observer and the estimated value is fed back to eliminate the disturbance effect on the motor speed. The proposed system combines the precise speed regulation of PLL technique and the advantage of the quick-response torque control, with the insensitivity to disturbance by the disturbance compensation. A phase-plane analysis is used to evaluate the effects of gain coefficients of PID feedback of phase difference. Experimental results are presented to verify the characteristics of the proposed system

43.6.7    J.S. Tepper, J.W. Dixon, G. Venegas, L. Moran, "A simple frequency-independent method for calculating the reactive and harmonic current in a nonlinear load," IEEE Trans. on Industrial Electronics, vol. 43, no. 6, pp. 647-654, Dec 1996.   Abstract Link    Full Text

Abstract: A basic criterion that determines the behavior of an active power filter is the method of calculating the reference current. There are many ways of generating this reference, but the methods are generally complex and hard to tune. This paper describes a simple and effective method for calculating the reference current necessary to feed a shunt active power filter to compensate the power factor and harmonic currents generated by a nonlinear load. Simulations and experimental results are presented, showing that the proposed circuit may operate at frequencies ranging from 40 to 65 Hz without adjustment

43.6.8    E. Galvan, A. Torralba, L.G. Franquelo, "ASIC implementation of a digital tachometer with high precision in a wide speed range," IEEE Trans. on Industrial Electronics, vol. 43, no. 6, pp. 655-660, Dec 1996.   Abstract Link    Full Text

Abstract: A common method in adjustable speed drives uses an incremental shaft encoder and an electronic circuit for velocity estimation. The usual method of counting pulses coming from the encoder in a fixed period of time produces a high-precision velocity estimate in the high-speed range. High precision in the low-speed range can be achieved measuring the elapsed time between two successive pulses coming from the encoder. In this paper, a mixed method that combines the best of the two previously mentioned approaches has been implemented using a simple electronic circuit based on one field-programmable gate array (FPGA) and one read-only memory (ROM)