IEEE Transactions on Industrial Electronics 

Volume 51,  Number 1, Feb 2004           Access to the journal on IEEE XPLORE     IE Transactions Home Page



                Drive Control
51.1.1    H. Abu-Rub, J. Guzinski, Z. Krzeminski, H.A. Toliyat, "Advanced control of induction motor based on load angle estimation," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 5- 14, Feb 2004.   Abstract Link    Full Text

Abstract: An advanced control system with load angle adjustment is introduced. The method is based on the action of a phase-locked loop, in which a position synchronization of two vectors to obtain a constant command angle between them is realized. In the system presented, the vectors are stator current and rotor flux. The load angle is kept constant by changing the position of stator current vector as a result of tuning its pulsation. Proportional-integral and fuzzy logic controllers are used to control the load angle. Because of using the load angle controller and simple relations for state variables, the proposed idea does not require exact speed measurement. The discussed control system is not sensitive to motor resistance variations. This idea is realized on a fixed-point digital signal processor and field-programmable gate arrays. Experimental results for the control system fed by a voltage-source inverter and controlled using a predictive current controller are presented.

51.1.2    Ching-Guo Chen, Tian-Hua Liu, Ming-Tsan Lin, Chih-An Tai, "Position control of a sensorless synchronous reluctance motor," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 15- 25, Feb 2004.   Abstract Link    Full Text

Abstract: This paper presents a novel position control for a sensorless synchronous reluctance drive system. By measuring the three-phase currents of the motor, a rotor position estimator is achieved. Then, a velocity estimator is derived from the estimated rotor position by using a state estimating technique. The estimated velocity tracks the real velocity well. Next, a robust position controller is designed to improve the transient and load disturbance responses. By using the proposed estimating techniques and control algorithm, a high-performance sensorless synchronous reluctance drive is obtained. A digital signal processor, TMS-320-C30, is used to execute the estimating and control algorithms. No hardware circuit or external signal is added as compared with the traditional drive system with an encoder or resolver. To evaluate the performance of the position control system, a moving table is connected with the drive system. The drive system can precisely control the moving table. Experimental results show that the proposed system has good performance. Several experimental results validate the theoretical analysis.

51.1.3    Z.-J. Yang, K. Miyazaki, S. Kanae, K. Wada, "Robust position control of a magnetic levitation system via dynamic surface control technique," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 26- 34, Feb 2004.   Abstract Link    Full Text

Abstract: This paper considers the position-tracking problem of a magnetic levitation system in the presence of modeling errors due to uncertainties of physical parameters. A robust nonlinear controller is designed to achieve excellent position-tracking performance. The recently developed dynamic surface control is modified and applied to the system under study, to over-come the problem of "explosion of terms" associated with the backstepping design procedure. Input-to-state stability of the control system is analyzed, and the advantages of the dynamic surface control technique over the conventional backstepping technique are verified through both theoretical and experimental studies.

51.1.4    Ya-Fu Peng, Rong-Jong Wai, Chih-Min Lin, "Implementation of LLCC-resonant driving circuit and adaptive CMAC neural network control for linear piezoelectric ceramic motor," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 35- 48, Feb 2004.   Abstract Link    Full Text

Abstract: In this paper, an adaptive cerebellar-model articulation computer (CMAC) neural network (NN) control system is developed for a linear piezoelectric ceramic motor (LPCM) that is driven by an LLCC-resonant inverter. The motor structure and LLCC-resonant driving circuit of an LPCM are introduced initially. The LLCC-resonant driving circuit is designed to operate at an optimal switching frequency such that the output voltage will not be influenced by the variation of quality factor. Since the dynamic characteristics and motor parameters of the LPCM are highly nonlinear and time varying, an adaptive CMAC NN control system is designed without mathematical dynamic model to control the position of the moving table of the LPCM drive system to achieve high-precision position control with robustness. In the proposed control scheme, the dynamic backpropagation algorithm is adopted to train the CMAC NN online. Moreover, to guarantee the convergence of output tracking error for periodic commands tracking, analytical methods based on a discrete-type Lyapunov function are utilized to determine the optimal learning-rate parameters of the CMAC NN. The effectiveness of the proposed driving circuit and control system is verified by experimental results in the presence of uncertainties, and the advantages of the proposed control system are indicated in comparison with a traditional integral-proportional position control system. Accurate tracking response and superior dynamic performance can be obtained due to the powerful online learning capability of the CMAC NN with optimal learning-rate parameters.

51.1.5    A. Bunte, S. Beineke, "High-performance speed measurement by suppression of systematic resolver and encoder errors," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 49- 53, Feb 2004.   Abstract Link    Full Text

Abstract: The subject of this paper is a method which suppresses systematic errors of resolvers and optical encoders with sinusoidal line signals. The proposed method does not require any additional hardware and the computational efforts are minimal. Since this method does not cause any time delay, the dynamic of the speed control is not affected. By means of this new scheme, dynamic and smooth running characteristics of drive systems are improved considerably.


Power Electronics
51.1.6    D.B. Costa, C.M.C. Duarte, "The ZVS-PWM active-clamping CUK converter," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 54- 60, Feb 2004.   Abstract Link    Full Text

Abstract: A CUK converter featuring clamping action, pulsewidth modulation, and soft-switching commutation is proposed to overcome the limitations of the conventional CUK converter. As the resonant circuits absorb almost all parasitic reactances of switches, including transistor output capacitances, this converter is suitable for high-frequency operation. Principle of operation, theoretical analysis, and simulation results are presented in this paper. Experimental results, taken from a laboratory prototype rated at 400 W, input voltage of 150 V, output voltage of 200 V, and operating at 100 kHz, are also presented. The efficiency obtained at full load of the power stage was 93%.

51.1.7    Jianguo Liu, P. Pillay, H. Douglas, "Wavelet modeling of motor drives applied to the calculation of motor terminal overvoltages," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 61- 66, Feb 2004.   Abstract Link    Full Text

Abstract: The wavelet is a powerful tool that has emerged for the calculation of power system transients. In this paper, a wavelet motor drive model is developed and applied to the overvoltage problem which occurs with high dv/dt inverters. This technique is fundamentally different from EMTP and Pspice, which are time-domain methods. Wavelet models of typical passive parameters are derived and then applied to the problem of motor terminal overvoltages, which occurs with long cable lengths. It is proved that the simulation results with wavelet modeling is faster in the solution of this complex, power system simulation problem. Additional insight is possible by examining the wavelet coefficients.

51.1.8    S. Tamai, S. Murakami, R. Uchida, H. Akagi, "Control and performance of a self-commutated GTO converter operating in parallel with line-commutated thyristor converters," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 67- 73, Feb 2004.   Abstract Link    Full Text

Abstract: Recently, static var generators (SVGs) or static synchronous compensators based on self-commutated converters have been put into practical use for the purpose of compensation for reactive power, power swings damping, and/or voltage control in power systems. The SVGs have also been applied to reduce voltage fluctuations appearing at high-speed train substations. When parallel resonance occurs between passive filters installed at a point of common coupling (PCC) and the power-system impedance existing upstream of the PCC, voltage/current harmonics are significantly amplified in the power system. This paper describes the control and performance for a self-commutated gate-turn-off (GTO) converter operating in parallel with conventional line-commutated thyristor converters. This hybrid power conversion system rated at more than dozens of MVA has an inductive load at the dc side. A bank of passive filters is connected not only for harmonic compensation of the line-commutated converters, but also as a constant leading reactive-power source. The GTO converter can control either leading or lagging reactive power so as to achieve unity power factor operation. In addition, it has the capability of damping out parallel resonance between the passive filters and the power-system impedance. This paper confirms the viability and effectiveness of the hybrid system by means of theory and computer simulation.

51.1.9    D.A. Bennett, R.H. Selfridge, J.N. Harb, D.T. Comer, "A control circuit for a microsensor hybrid power supply," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 74- 80, Feb 2004.   Abstract Link    Full Text

Abstract: This paper presents a simple low-power control circuit intended to manage the power within a remote autonomous microsystem hybrid power supply. A hybrid power supply has only recently been discussed in the literature as a microsystem power source solution. The power management circuitry, which is a key component within a hybrid power supply, has not been adequately explored. Although a variety of components could have been implemented, the control circuit in this paper was designed for a hybrid power supply that utilizes a Ni/Zn microbattery and silicon solar cell. The circuit also employs a shunt architecture powered only by the solar cell to minimize the overall energy consumption of the hybrid power supply. The control circuit consumes a maximum of 7 /spl mu/A and appropriately manages power even when the hybrid power supply is connected to a microsystem and is experiencing environmental variations. Details of the control circuit are discussed and simulations combined with experimental results demonstrate its performance.

51.1.10    Xiangning He, Yan Deng, B.W. Williams, S.J. Finney, Zhaoming Qian, "A simple energy recovery circuit for high-power inverters with complete turn-on and turn-off snubbers," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 81- 88, Feb 2004.   Abstract Link    Full Text

Abstract: This paper presents and analyzes an active energy recovery circuit for the inductive turn-on snubber and capacitive turn-off snubber used on high-power gate-turn-off thyristor inverters. The circuit performs as a simple switched-mode power supply and recovers the inductive and capacitive snubbers energy induced in power inverters back into the dc rail with the aid of an extra switch. The features and operation of the proposed circuit are given and supported by PSpice simulations and experimental results.

51.1.11    H. Bodur, A.F. Bakan, "An improved ZCT-PWM DC-DC converter for high-power and frequency applications," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 89- 95, Feb 2004.   Abstract Link    Full Text

Abstract: In this paper, an improved active resonant snubber cell that overcomes most of the drawbacks of the normal zero-current transition (ZCT) pulsewidth-modulation (PWM) dc-dc converter is proposed. This snubber cell is especially suitable for an insulated gate bipolar transistor (IGBT) PWM converter at high power and frequency levels. The converter with the proposed snubber cell can operate successfully with soft switching under light-load conditions and at considerably high frequencies. The operation principles, a detailed steady-state analysis, and a snubber design procedure of a ZCT-PWM buck converter implemented with the proposed snubber cell are presented. Theoretical analysis is verified with a prototype of a 5-kW and 50-kHz IGBT-PWM buck converter. Additionally, at 90% output power, the overall efficiency of the proposed soft switching converter increases to about 98% from the value of 91% in the hard-switching case.

51.1.12    A.M. Omar, N.A. Rahim, S. Mekhilef, "Three-phase synchronous PWM for flyback converter with power-factor correction using FPGA ASIC design," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 96- 106, Feb 2004.   Abstract Link    Full Text

Abstract: The design and development of a synchronous pulsewidth modulation (PWM) generator suitable for the three-phase flyback converter with transformer isolated and power-factor correction using a field-programmable gate array is proposed. The proposed three-phase synchronous PWM makes it possible for the converter to obtain the sinusoidal supply currents with a near-unity power factor. A high-frequency transformer is considered in the design to provide galvanic isolation and serves the dual role of inductor and transformer. Results are provided to demonstrate the effectiveness of the design.

51.1.13    M. Eltabach, A. Charara, I. Zein, "A comparison of external and internal methods of signal spectral analysis for broken rotor bars detection in induction motors," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 107- 121, Feb 2004.   Abstract Link    Full Text

Abstract: Like all mechanical devices, motors are subject to failures, which can sometimes lead to the shutting down of an entire industrial process. This paper looks at failure predictions in three-phase line-operated induction machines through spectral analysis or electric and electromagnetic signals. Fault characteristics frequencies generated in the estimated and the measured signal spectrum, as a result of mechanical abnormalities such as broken rotor bars, are analyzed. Spectral analyses of simple stator current, of the current's Park vector modulus, and or total and partial instantaneous electric powers are considered as external diagnosis. Internal methods of diagnosis are usually based on a mathematical model of the motor. This requires knowledge of the motor's electrical parameters, which are affected by a number of physical phenomena such as temperature variations, skin effects, core losses, and saturation. As internal diagnosis, we examine different approaches to the spectral analysis of electromagnetic torque computed by stator and rotor flux estimation. To this end, the open loop method, the Luenberger observer and the Kalman filter are employed. Finally, experimental results enable us to draw up a table of comparison of internal and external methods in the detection of rotor imperfections, using two criteria under different load levels.

51.1.14    C. Branas, F.J. Azcondo, S. Bracho, "Study of output power variation due to component tolerances in LC/sub s/C/sub p/ resonant inverters applied to HPS lamp control," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 122- 131, Feb 2004.   Abstract Link    Full Text

Abstract: The aim of this paper is to incorporate the analysis of component tolerance in the design criteria of resonant inverters applied to the control of high-pressure sodium (HPS) lamps. This method may also be considered for metal halide (MH) lamps. The design accepts a large load variation without exceeding the lamp power limits given by the standard. The analysis is focused on the selection of the most suitable value of the resonant network in order to achieve a good repeatability of the circuit performance. The study is based on the analysis of the lamp power sensitivity regarding the lamp aging and the tolerance of the circuit components. The proposed design is validated with experimental results and a statistical study by the Monte Carlo method.

51.1.15    G.-M. Lee, Dong-Choon Lee, Jul-Ki Seok, "Control of series active power filters compensating for source voltage unbalance and current harmonics," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 132- 139, Feb 2004.   Abstract Link    Full Text

Abstract: In this paper, a novel control scheme compensating for source voltage unbalance and current harmonics in series-type active power filter systems combined with shunt passive filters is proposed, which focuses on reducing the delay time effect required to generate the reference voltage. Using digital all-pass filters, the positive voltage sequence component out of the unbalanced source voltage is derived. The all-pass filter can give a desired phase shift and no magnitude reduction, unlike conventional low-or high-pass filters. Based on this positive-sequence component, the source phase angle and the reference voltage for compensation are derived. This method is easier to implement and to tune controller gains. In order to reduce the delay time effect in the voltage control loop, the reference voltage is predicted a sampling period ahead. The validity of the proposed control scheme has been verified by experimental results.

51.1.16    Byungcho Choi, Jaehyun Nho, Honnyong Cha, Taeyoung Ahn, Seungwon Choi, "Design and implementation of low-profile contactless battery charger using planar printed circuit board windings as energy transfer device," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 140- 147, Feb 2004.   Abstract Link    Full Text

Abstract: This paper paper presents the practical details involved in the design and implementation of a contactless battery charger that employs a pair of neighboring printed circuit board (PCB) windings as a contactless energy transfer device. A prototype contactless battery charger developed for application with cellular phones is used as an example to address the design considerations for the PCB windings and energy transfer circuit, plus demonstrates the performance of the contactless charger adapted to a practical application system.

51.1.17    Chwei-Sen Wang, G.A. Covic, O.H. Stielau, "Power transfer capability and bifurcation phenomena of loosely coupled inductive power transfer systems," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 148- 157, Feb 2004.   Abstract Link    Full Text

Abstract: Loosely coupled inductive power transfer (LCIPT) systems are designed to deliver power efficiently from a stationary primary source to one or more movable secondary loads over relatively large air gaps via magnetic coupling. In this paper, a general approach is presented to identify the power transfer capability and bifurcation phenomena (multiple operating modes) for such systems. This is achieved using a high order mathematical model consisting of both primary and secondary resonant circuits. The primary compensation is deliberately designed to make the primary zero phase angle frequency equal the secondary resonant frequency to achieve maximum power with minimum VA rating of the supply. A contactless electric vehicle battery charger was used to validate the theory by comparing the measured and calculated operational frequency and power transfer. For bifurcation-free operation, the power transfer capability and controllability are assured by following the proposed bifurcation criteria. Where controllable operation within the bifurcation region is achievable, a significant increase in power is possible.

51.1.18    L. Helle, K.B. Larsen, A.H. Jorgensen, S. Munk-Nielsen, F. Blaabjerg, "Evaluation of modulation schemes for three-phase to three-phase matrix converters," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 158- 171, Feb 2004.   Abstract Link    Full Text

Abstract: This paper presents a method for evaluating different modulation schemes employed with three-phase to three-phase matrix converters. The evaluation method addresses three important modulator characteristics: the output waveform quality, the input waveform quality and the switching losses associated with the modulation schemes. The method is used to evaluate four different modulation strategies, all based on the direct space-vector modulation approach. Further, regarding the switching losses, the paper proposes a new space-vector approach by which the switching losses can be reduced by 15%-35%, depending on the output load angle. This new modulation approach is applicable whenever the output voltage reference is below half the input voltage and the output voltage quality is then superior to that of the conventional space vector modulation scheme. The functionality of the new modulation scheme is validated by both simulations and experimental results and compared to waveforms obtained by using exiting space vector modulation schemes. The output voltage of the proposed scheme turns out to be comparable to the best of the conventional schemes while the input current is more distorted.


Emerging Technology


51.1.19    F.H.F. Leung, H.K. Lam, S.H. Ling, P.K.S. Tam, "Optimal and stable fuzzy controllers for nonlinear systems based on an improved genetic algorithm," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 172- 182, Feb 2004.   Abstract Link    Full Text

Abstract: This paper addresses the optimization and stabilization problems of nonlinear systems subject to parameter uncertainties. The methodology is based on a fuzzy logic approach and an improved genetic algorithm (GA). The TSK fuzzy plant model is employed to describe the dynamics of the uncertain nonlinear plant. A fuzzy controller is then obtained to close the feedback loop. The stability conditions are derived. The feedback gains of the fuzzy controller and the solution for meeting the stability conditions are determined using the improved GA. In order to obtain the optimal fuzzy controller, the membership functions are further tuned by minimizing a defined fitness function using the improved GA. An application example on stabilizing a two-link robot arm will be given.

51.1.20    S. Wu, T.W.S. Chow, "Induction machine fault detection using SOM-based RBF neural networks," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 183- 194, Feb 2004.   Abstract Link    Full Text

Abstract: A radial-basis-function (RBF) neural-network-based fault detection system is developed for performing induction machine fault detection and analysis. Four feature vectors are extracted from power spectra of machine vibration signals. The extracted features are inputs of an RBF-type neural network for fault identification and classification. The optimal network architecture of the RBF network is determined automatically by our proposed cell-splitting grid algorithm. This facilitates the conventional laborious trial-and-error procedure in establishing an optimal architecture. In this paper, the proposed RBF machine fault diagnostic system has been intensively tested with unbalanced electrical faults and mechanical faults operating at different rotating speeds. The proposed system is not only able to detect electrical and mechanical faults, but the system is also able to estimate the extent of faults.


Robotics and Vision


51.1.21    W.L. Xu, S. Yue, "Pre-posed configuration of flexible redundant robot manipulators for impact vibration alleviating," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 195- 200, Feb 2004.   Abstract Link    Full Text

Abstract: In this paper, kinematics redundancy of a flexible redundant manipulator (FRM) is employed to alleviate the impact vibration resulting from objects grasping. A vibration-alleviating measure (VAM) of the FRM, and a vibration-alleviating ellipsoid (VAE) with respect to the measure are defined. A method to determine the pre-posed configuration of an FRM is presented based on the defined VAM and VAE. A finite-element model is used to describe the FRM's dynamics incorporating the grasped object. Simulation conducted on a planar FRM shows that the FRM experiences relatively less impact vibration at the pre-posed configuration determined by using the presented method.

51.1.22    Rong-Jong Wai, Meng-Chang Lee, "Intelligent optimal control of single-link flexible robot arm," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 201- 220, Feb 2004.   Abstract Link    Full Text

Abstract: This paper addresses the design and properties of an intelligent optimal control for a nonlinear flexible robot arm that is driven by a permanent-magnet synchronous servo motor. First, the dynamic model of a flexible robot arm system with a tip mass is introduced. When the tip mass of the flexible robot arm is a rigid body, not only bending vibration but also torsional vibration are occurred. In this paper, the vibration states of the nonlinear system are assumed to he unmeasurable, i.e., only the actuator position can be acquired to feed into a suitable control system for stabilizing the vibration states indirectly. Then, an intelligent optimal control system is proposed to control the motor-mechanism coupling system for periodic motion. In the intelligent optimal control system a fuzzy neural network controller is used to learn a nonlinear function in the optimal control law, and a robust controller is designed to compensate the approximation error. Moreover, a simple adaptive algorithm is proposed to adjust the uncertain bound in the robust controller avoiding the chattering phenomena. The control laws of the intelligent optimal control system are derived in the sense of optimal control technique and Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system. In addition, numerical simulation and experimental results are given to verify the effectiveness of the proposed control scheme.

51.1.23    S. Katsura, K. Ohnishi, "Human cooperative wheelchair for haptic interaction based on dual compliance control," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 221- 228, Feb 2004.   Abstract Link    Full Text

Abstract: A human and a robot will carry out a task which is not attainable by themselves. In particular, a human recognizes environment and plans his trajectory without collision with obstacles. On the other hand, a robot generates a controlled force more than a human. In this paper, the best combination of human ability and robot capacity is considered. Based on force commands from a human, a robot supports it A reaction torque observer is implemented in a robot to observe an environmental disturbance. Environmental disturbance is classified into translational and rotational direction modes. As a result, adaptive force control in each mode is attained. Dual compliance control is applied to a wheelchair. A wheelchair that has the abilities of power-assist and relaxation of contact force is developed in this paper. As a result, operationality and stability are improved. The numerical and experimental results show the viability of the proposed method.

51.1.24    K. Morioka, Joo-Ho Lee, H. Hashimoto, "Human-following mobile robot in a distributed intelligent sensor network," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 229- 237, Feb 2004.   Abstract Link    Full Text

Abstract: The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the target human, the recognition of the environment around the robot, and the control strategy for following a human stably. In this research, an intelligent environment is used in order to achieve these goals. An intelligent environment is a space in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The control law based on the virtual spring model is proposed to mitigate the difference of movement between the human and the mobile robot. The proposed control law is applied to the intelligent environment and its performance is verified by the computer simulation and the experiment.


Letters to the Editor

51.1.25    P. Sooraksa, G. Chen, "On comparison of hybrid fuzzy PI plus conventional D controller versus fuzzy PI+D controller," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 238- 239, Feb 2004.   Abstract Link    Full Text

Abstract: This letter points out that a comparison given in an earlier paper by Er and Sun (ibid. vol. 48, pp. 1109-1117, 2001) is incorrect. The fuzzy PI+D controller designed by Misir et al. ( Fuzzy Sets Syst. vol. 79, pp. 297-314, 1996) is overall better than the hybrid fuzzy PI plus conventional D controller designed by Er and Sun.

51.1.26    P.W. Wheeler, J. Clare, L. Empringham, "Enhancement of matrix converter output waveform quality using minimized commutation times," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 240- 244, Feb 2004.   Abstract Link    Full Text

Abstract: This letter introduces a new concept in current commutation for matrix converters that minimizes the commutation time and, hence, enhances the output waveform quality. This commutation technique overcomes all the waveform quality problems associated with dead times in inverter-based circuits without the need for compensation. Practical results from a 10-kVA matrix converter are presented.

51.1.27    C.M. Saaj, B. Bandyopadhyay, H. Unbehauen, "A minor correction to "A new algorithm for discrete-time sliding mode control using fast output sampling feedback"," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 244- 247, Feb 2004.   Abstract Link    Full Text

Abstract: The purpose of this letter is to show that the recently proposed fast output sampling sliding-mode control method in an earlier paper by the authors needs a small correction in the expression for the control law. The results or the corrected algorithm is illustrated by the same example considered in the earlier paper.

 IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 51,  Number 2, April 2004           Access to the journal on IEEE XPLORE     IE Transactions Home Page



                Special Section Papers on Automotive Electronic Systems


51.2.1    F. Cuesta, F. Gomez-Bravo, A. Ollero, "Parking maneuvers of industrial-like electrical vehicles with and without trailer," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 257- 269, April 2004.   Abstract Link    Full Text

Abstract: Maneuvering autonomous vehicles in constrained environments is not a trivial task. This paper concentrates in the practical maneuvering of electrical vehicles. The autonomous vehicles considered in the paper, ROMEO-3R and ROMEO-4R, have been developed at the University of Seville, Seville, Spain, as the result of the adaptation of a tricycle and a car-like conventional electrical vehicles for transportation of people, respectively. Moreover, maneuvering of ROMEO-4R backing up a trailer has also been considered. A particular maneuver, namely, autonomous parallel parking, has been used to illustrate the application of the presented methods to different electrical vehicles.

51.2.2    R. Daily, D.M. Bevly, "The use of GPS for vehicle stability control systems," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 270- 277, April 2004.   Abstract Link    Full Text

Abstract: This paper presents a method for using global positioning system (GPS) velocity measurements to improve vehicle lateral stability control systems. GPS can be used to calculate the sideslip angle of a vehicle without knowing the vehicle model. This measurement is combined with other traditional measurements to control the lateral motion of the vehicle. Noise estimates are provided for all measurement systems to allow the sensors to be accurately represented. Additionally, a method to calculate the lateral forces at the tires is presented. It is shown that the tire estimation algorithm performs well outside the linear region of the tire. Results for the controller and force calculations are shown using a nonlinear model to simulate the vehicle and the force calculations are validated with experimental measurements on a test vehicle.

51.2.3    J. Stephant, A. Charara, D. Meizel, "Virtual sensor: application to vehicle sideslip angle and transversal forces," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 278- 289, April 2004.   Abstract Link    Full Text

Abstract: This paper compares four observers (virtual sensors) of vehicle sideslip angle and lateral forces. The first is linear and uses a linear vehicle model. The remaining observers use an extended nonlinear model. The three nonlinear observers are: extended Luenberger observer, extended Kalman filter and sliding-mode observer. Modeling, model simplification, and observers are described, and an observability analysis is performed for the entire vehicle trajectory. The paper also deals with three different sets of sensors to see the impact of observers results. Comparison is first done by simulation on a valid vehicle simulator, and then observers are used on experimental data. Our study shows that observers are more accurate than simple models as regards unmeasurable variables such as sideslip angle and transversal forces. It also shows that speed of center of gravity is not an indispensable variable here.

51.2.4    M. Parmar, J.Y. Hung, "A sensorless optimal control system for an automotive electric power assist steering system," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 290- 298, April 2004.   Abstract Link    Full Text

Abstract: This paper considers the analysis and design of a double-pinion-type electric power assist steering (EPAS) control system. A simplified model of the augmented steering assembly-electric motor system is developed using Lagrangian dynamics, and an optimal controller structure for the model is proposed. Three main advances to the state of the art are presented in this paper. First, a state-space design model is used rather than an input-output model. A state-space formulation for a system model that incorporates motor electrical dynamics is obtained with the assist motor angular position as the output. Second, linear quadratic regulator (LQR) and Kalman filter techniques are employed to arrive at an optimal controller for the EPAS system. The selection of weighting coefficients for the LQR cost function is discussed. Finally, the authors present a control strategy that eliminates the steering column torque sensor, a critical component in existing EPAS controller designs. The proposed control strategy presents an opportunity to improve EPAS system performance and also reduce system cost and complexity.

51.2.5    M. Montanari, F. Ronchi, C. Rossi, A. Tonielli, "Control of a camless engine electromechanical actuator: position reconstruction and dynamic performance analysis," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 299- 311, April 2004.   Abstract Link    Full Text

Abstract: Camless internal combustion engines offer major improvements over traditional engines in terms of efficiency, maximum torque and power, and pollutant emissions. Electromechanical valve actuators are very promising in this context, but they present significant control problems. Further, to keep system cost at an acceptable level, a control system without a valve position sensor needs to be adopted. Low valve seating velocity, small transition time for valve opening and closing, and unavailability of position sensor are conflicting objectives that need to be jointly considered. In this paper, a control system architecture is presented, capable of dealing with all these issues. It is shown that a position tracking controller is needed: a key point is the design of the reference trajectory to be tracked. Actuator physical limitations strongly influence the feasible trajectory when low valve seating velocity is required, thus affecting valve transition time. Owing to the same limitations, valve electromagnets have to be energized for a significant part of the trajectory, thus allowing valve position reconstruction starting from electrical measurements only. A method for position reconstruction is presented, which makes use of auxiliary coils to reconstruct electromagnets fluxes; it is shown via sensitivity analysis that the functional characteristics of position reconstruction and its accuracy are compatible with the required applications. The trajectory design is then addressed as an optimization problem that explicitly considers the tradeoff between fast dynamic performance and system robustness. The solution of this optimization problem enlightens the limitations on achievable dynamic performance, which are presented and discussed.

51.2.6    Junha Kim, Jinhwan Jung, Kwanghee Nam, "Dual-inverter control strategy for high-speed operation of EV induction motors," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 312- 320, April 2004.   Abstract Link    Full Text

Abstract: An integrated starter/alternator (ISA) is normally designed to have high pole structure (10-14 poles) for high starting torque. However, its back electromotive force (EMF) at the peak revolutions per minute should be less than its battery voltage for the power flow control. For example, the back-EMF of a 12-pole ISA should be 42 V at 6000 r/min. These types of conflicting requirements lead to a nonclassical motor design that has extremely large field-weakening range (8:1/spl sim/10:1). In this paper, we are considering the use of an induction machine instead of a permanent synchronous machine. As an idea for solving the voltage limit problem, two inverters are utilized with an objective of sharing the required voltage. The secondary inverter only takes care of the reactive voltage component that grows very fast in high-speed operation. Therefore, an extra voltage source is not required for the secondary inverter. Only a capacitor bank suffices for the secondary inverter.

51.2.7    W.G. Koellner, G.M. Brown, J. Rodriguez, J. Pontt, P. Cortes, H. Miranda, "Recent advances in mining haul trucks," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 321- 329, April 2004.   Abstract Link    Full Text

Abstract: Electric mining haul trucks are one of the most challenging applications of power electronics in automotive systems. This paper presents some advances in very-high-power trucks used in copper mines. The special operational and environmental requirements for this application are highlighted. It is established that the use of inverter-fed three-phase induction motors with vector control is the preferred solution to reach the required high starting torque and good dynamic performance required by these vehicles. Packaging is a key issue and special attention is dedicated to the forced-air cooling system, because the air has a high dust level including conductive and corrosive materials. The truck's high-performance electric retarding system is described along with a novel use of trolley lines in a diesel boost mode as a way to increase the power and speed of the truck and reduce fuel consumption. Advanced features like remote monitoring, the use of global positioning systems and Internet diagnostics and troubleshooting are also discussed. The paper clearly shows that modern electric haul trucks are highly sophisticated systems that make full use of advances in modern technologies to increase safety and productivity levels.


Drive Control
51.2.8    Ching-Chih Tsai, Chih-Hung Huang, "Model reference adaptive predictive control for a variable-frequency oil-cooling machine," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 330- 339, April 2004.   Abstract Link    Full Text

Abstract: This paper develops methodologies and techniques for the design, analysis, and implementation of a model reference adaptive predictive temperature controller for a variable-frequency oil-cooling machine, suited for cooling high-speed machine tools. The oil-cooling process is modeled experimentally as a first-order system model with a time delay and its system parameters are identified using the recursive least-square method. Based on this model, a model reference adaptive predictive controller is proposed for achieving set-point tracking and robustness. A real-time model reference adaptive predictive control algorithm is then presented and implemented utilizing a stand-alone digital signal processor TMS320F243 from Texas Instruments Incorporated. The experimental results show that the proposed control method is proven capable of giving satisfactory performance under set-point changes, fixed loads, and load changes.

51.2.9    A.G. Loukianov, J.M. Canedo, V.I. Utkin, J. Cabrera-Vazquez, "Discontinuous controller for power systems: sliding-mode block control approach," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 340- 353, April 2004.   Abstract Link    Full Text

Abstract: Based on the complete model of the plant, a sliding-mode stabilizing controller for synchronous generators is designed. The block control approach is used in order to derive a nonlinear sliding surface, on which the mechanical dynamics are linearized. This combined approach enables us to compensate the inherent nonlinearities of the generator and to reject high-level external disturbances. A nonlinear observer is designed for estimation of the rotor fluxes and mechanical torque.

51.2.10    N. Bonnail, D. Tonneau, F. Febdard, G.-A. Capolino, H. Dallaporta, "Variable structure control of a piezoelectric actuator for a scanning tunneling microscope," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 354- 363, April 2004.   Abstract Link    Full Text

Abstract: Scanning probe microscopes are now widely used in the field of material science and engineering for surface imaging at atomic scale. Their principle is based on the surface probing by a sharp tip approached at a nanometric distance of the surface. The probe is fixed to piezoelectric actuators allowing its displacement above the surface. An electronic command of a scanning tunneling microscope (STM) has been designed and tested. The regulation feedback loop of the tunnel current includes an integral controller, as is the case in commercial equipment. An extra control by variable-structure system has been implemented on this electronic command. Its principle is based on the commutation of the feedback sign. The effect on the system performance of the variable structure control is presented and discussed. An STM head has been modeled and all the model parameters have been determined. The model has been validated by comparison of the experimental and simulated responses of the system under excitation.

51.2.11    A. Damiano, G.L. Gatto, I. Marongiu, A. Pisano, "Second-order sliding-mode control of DC drives," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 364- 373, April 2004.   Abstract Link    Full Text

Abstract: One of the most recent topics in variable-structure systems theory is represented by the second-order sliding-mode control (2-SMC) methodology. This approach guarantees the same robustness and dynamic performance of traditional first-order SMC algorithms, and, at the same time, attenuates the chattering phenomenon, which is the main drawback in the actual implementation of this technique. In the present paper, a recently-proposed 2-SMC algorithm is used to synthesize a robust dc-drive control system which does not require current feedback and demands only rough information about the actual motor parameters. Stability and performance are analyzed, and an experimental comparison with a proportional-integral-based control scheme is reported.

51.2.12    Jin-Woo Ahn, Sung-Jun Park, Dong-Hee Lee, "Hybrid excitation of SRM for reduction of vibration and acoustic noise," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 374- 380, April 2004.   Abstract Link    Full Text

Abstract: The inherent simplicity, ruggedness, and low cost of a switched reluctance motor (SRM) makes it a viable candidate for various general-purpose adjustable-speed applications such as industrial and home appliances. The primary disadvantage of an SRM is the vibration and acoustic noise compared with that of conventional machines. The main source of vibration in the SR drive is generated by rapid change of radial magnetic force when phase current is extinguished during commutation action. In this paper, a hybrid excitation method with C-dump inverter is proposed to reduce vibration and acoustic noise in the SR drive. The hybrid excitation has two-phase excitation by long dwell angle as well as conventional one-phase excitation. The vibration and acoustic noise are reduced because the scheme reduces abrupt change of excitation level by distributed and balanced excitation.

51.2.13    Chunxiang Wang, Yongzhang Wang, Ruqing Yang, Hua Lu, "Research on precision tension control system based on neural network," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 381- 386, April 2004.   Abstract Link    Full Text

Abstract: In this paper, the closed-loop tension control system, with industrial control computer as the core, direct current torque motor as the actuator, equipped with tension sensor of real-time feedback filament tension change, is researched and manufactured. The theory of a neural network is applied on the system, and this method overcame the shortcomings of the traditional proportional-integral-derivative control method, and effectively weakened the coupling action between the velocity and tension of the tension control system. Some simulation results indicated the favorable effect of the control algorithm.

51.2.14    P. Baranyi, "TP model transformation as a way to LMI-based controller design," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 387- 400, April 2004.   Abstract Link    Full Text

Abstract: The main objective of this paper is to propose a numerical controller design methodology. This methodology has two steps. In the first step, tensor product (TP) model transformation is applied, which is capable of transforming a dynamic system model, given over a bounded domain, into TP model form, including polytopic or Takagi-Sugeno model forms. Then, in the second step, Lyapunov's controller design theorems are utilized in the form of linear matrix inequalities (LMIs). The main novelty of this paper is the development of the TP model transformation of the first step. It does not merely transform to TP model form, but it automatically prepares the transformed model to all the specific conditions required by the LMI design. The LMI design can, hence, be immediately executed on the result of the TP model transformation. The secondary objective of this paper is to discuss that representing a dynamic model in TP model form needs to consider the tradeoff between the modeling accuracy and computational complexity. Having a controller with low computational cost is highly desired in many cases of real implementations. The proposed TP model transformation is developed and specialized for finding a complexity minimized model according to a given modeling accuracy. Detailed control design examples are given.


Power Electronics
51.2.15    G. Escobar, A.M. Stankovic, P. Mattavelli, "An adaptive controller in stationary reference frame for D-statcom in unbalanced operation," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 401- 409, April 2004.   Abstract Link    Full Text

Abstract: This paper presents a passivity-based controller for a Distribution Static synchronous Compensator (D-Statcom) aimed at compensating reactive power and unbalanced harmonics in the general case of distorted and unbalanced source voltages and load currents. The proposed approach is based on the measurements of line currents, and ensures precise compensation for selected harmonics. Moreover, in order to compensate for the unavoidable uncertainty in certain system parameters, adaptation is added to the passivity-based controller. One of the major advantages of the proposed solution compared to conventional alternatives is that we are able to perform precise tracking (including higher order harmonics) even in the presence of a relatively low switching frequency, i.e., in the presence of an inverter with limited bandwidth. Simulation and experimental results are provided to illustrate the merits of our solution.

51.2.16    K.K. Tse, B.M.T. Ho, H.S.-H. Chung, S.Y.R. Hui, "A comparative study of maximum-power-point trackers for photovoltaic panels using switching-frequency modulation scheme," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 410- 418, April 2004.   Abstract Link    Full Text

Abstract: A comparative study of the maximum power point trackers using a switching-frequency modulation scheme (SFMS) for photovoltaic panels is presented. Some commonly used dc/dc converters, which are applied for the power conversion stage of those trackers, will be examined. Method of locating the maximum power point (MPP) is based on injecting a small-signal sinusoidal perturbation into the switching frequency of the converter and comparing the ac component and the average value of the panel's terminal voltage. Apart from not requiring sophisticated computation of the panel power, this SFMS does not approximate the panel characteristics and can globally locate the MPP under wide insolation conditions. Tracking capability of the converters under investigation will be compared, using a 10-W solar panel with a controlled experimental setup. Theoretical predictions will be verified with experimental results. Operating characteristics at steady state and in large-signal change of the insolation (incident solar radiation) level will be studied.

51.2.17    M. Lopez, L.G. de Vicuna, M. Castilla, P. Gaya, O. Lopez, "Current distribution control design for paralleled DC/DC converters using sliding-mode control," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 419- 428, April 2004.   Abstract Link    Full Text

Abstract: This paper shows the analysis and design of a parallel-connected converter system using sliding mode control techniques. The design is particularised for a system that consists of N boost converters and a current feedback loop based on a proportional-integral compensator of the output voltage error. The paper emphasises the advantages of the sliding-mode control over the classic design method based on small-signal models, thus providing an effective and robust means of controlling nonlinear multi-input converters. The design is based on the Utkin conditions, which permit us to know the regions under which a sliding mode exists. This fact allows us to design the compensator and to introduce some modifications in the control loop that avoids input-current overshoots during the system startup. Simple design expressions are obtained and verified with simulation and experimental results, thus showing the improvements achieved with the proposed modifications.

51.2.18    H.Y. Kanaan, H. Fortin-Blanchette, K. Al-Haddad, R. Chaffai, L. Duguay, F. Fnaiech, "Linear control design for a current-injection-based three-phase unity-power-factor rectifier," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 429- 438, April 2004.   Abstract Link    Full Text

Abstract: In this paper, a new control strategy based on the pulsewidth-modulation technique is proposed and applied to an active-current-injection-based unity-power-factor three-phase ac-dc converter. The control circuit of the converter consists of a multivariable inner current regulator and an outer voltage regulator. Based on linear control techniques, the control circuit has been designed. Averaging techniques are used to derive a linear small-signal model of the converter in the frequency domain. Numerical simulations using the Power System Blockset tool of Matlab/Simulink highlight the performance of the proposed control scheme. Experimental results obtained on a 2-kW prototype validate the theoretical approach described in the paper.

51.2.19    R.L. de Araujo Ribeiro, C.B. Jacobina, E.R.C. da Silva, A.M.N. Lima, "Fault-tolerant voltage-fed PWM inverter AC motor drive systems," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 439- 446, April 2004.   Abstract Link    Full Text

Abstract: This paper shows how to integrate fault compensation strategies into two different types of configurations of induction motor drive systems. The proposed strategies provide compensation for open-circuit and short-circuit failures occurring in the converter power devices. The fault compensation is achieved by reconfiguring the power converter topology with the help of isolating and connecting devices. These devices are used to redefine the post-fault converter topology. This allows for continuous free operation of the drive after isolation of the faulty power switches in the converter. Experimental results demonstrate the validity of the proposed systems.

51.2.20    M. Malinowski, M. Jasinski, M.P. Kazmierkowski, "Simple direct power control of three-phase PWM rectifier using space-vector modulation (DPC-SVM)," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 447- 454, April 2004.   Abstract Link    Full Text

Abstract: This paper proposes a novel and simple direct power control of three-phase pulsewidth-modulated (PWM) rectifiers with constant switching frequency using space-vector modulation (DPC-SVM). The active and reactive powers are used as the pulse width modulated (PWM) control variables instead of the three-phase line currents being used. Moreover, line voltage sensors are replaced by a virtual flux estimator. The theoretical principle of this method is discussed. The steady-state and dynamic results of DPC-SVM that illustrate the operation and performance of the proposed system are presented. It is shown that DPC-SVM exhibits several features, such as a simple algorithm, good dynamic response, constant switching frequency, and particularly it provides sinusoidal line current when supply voltage is not ideal. Results have proven excellent performance and verify the validity of the proposed system.

51.2.21    Chongming Qiao, Taotao Jin, K.M. Smedley, "One-cycle control of three-phase active power filter with vector operation," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 455- 463, April 2004.   Abstract Link    Full Text

Abstract: Active power filters (APFs) provides an effective measure to eliminate the power line harmonic/reactive currents generated by nonlinear loads or by distributed energy sources that are connected to the grid. Active power filters are typically connected in parallel to the harmonic/reactive current sources and cancel the harmonic/reactive components in the line current so that the current flow into and from the grid is sinusoidal and in phase with the grid voltage. Since the APFs process only the harmonic/reactive power, their power-handling capability can be much higher than that of the cascade power-factor-correction methods. In this paper, the one-cycle control method is extended to control three-phase APFs. The proposed control approach employs one integrator with reset along with several logic and linear components to control a voltage-source converter to achieve three-phase unity power factor for the current to and from the power grid. No multipliers or sensors for the load current and the APF inductor current are required. Furthermore, there is no need to calculate the reference for controlling APF inductor current so that complicated digital computation is eliminated. The operation switching frequency is constant that is desirable for industrial applications. The proposed control approach features great simplicity, excellent harmonic/reactive current cancellation, and solid stability. It is a cost-effective solution for power quality control for electronic equipment, buildings, industrial facilities, ships, airplanes, distributed power generation stations, etc. All findings are supported by experimental results.


Emerging Technology


51.2.22    K.F. Leung, F.H.F. Leung, H.K. Lam, S.H. Ling, "On interpretation of graffiti digits and characters for eBooks: neural-fuzzy network and genetic algorithm approach," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 464- 471, April 2004.   Abstract Link    Full Text

Abstract: This paper presents the rule optimization, tuning of the membership functions, and optimization of the number of fuzzy rules, of a neural-fuzzy network (NFN) using a genetic algorithm (GA). The objectives are achieved by training a proposed NFN with rule switches. The proposed NFN and GA are employed to interpret graffiti number inputs and commands for electronic books (eBooks).

51.2.23    Chin Tsu Yen, Wan-de Weng, Yen Tsun Lin, "FPGA realization of a neural-network-based nonlinear channel equalizer," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 472- 479, April 2004.   Abstract Link    Full Text

Abstract: The software simulation as well as the hardware implementation of equalizers for transmissions through nonlinear communication channels based on artificial neural networks structure is presented in this paper. We consider four-quadrature-amplitude-modulation technique as an example and compare the performance of two different structures of equalizer, namely, the linear least-mean-square-based equalizer (LIN) and the functional link artificial neural networks (FLANN). The learning curve and symbol error rate for the two structures are respectively evaluated by computer simulation. Besides, the systems have been implemented using field-programmable-gate-array devices. As FLANN uses functions to expand the dimensionality of the input signals, it has about the same system complexity as LIN. But FLANN can achieve fast processing speed under parallel processing structure. Simulation results have demonstrated that FLANN presents much better error performance than LIN, especially when the communication channel is highly nonlinear.


Robotics and Vision


51.2.24    G. Ginesu, D.D. Giusto, V. Margner, P. Meinlschmidt, "Detection of foreign bodies in food by thermal image processing," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 480- 490, April 2004.   Abstract Link    Full Text

Abstract: This paper deals with the problem of detection of foreign bodies in food. A new method for inspecting food samples is presented, using thermographic images to detect foreign bodies that are not detectable using conventional methods. At first, the basic background of thermography is given. Then, experiments to obtain well-contrasted thermographic images of different food and foreign bodies are discussed. The main part of the present paper introduces specific image processing methods that show a good recognition power of foreign bodies within food. Results achieved with a small set of test images are presented. The results are promising and the methods work even on some poorly contrasted images. To compare the different image processing and recognition methods, a quality index is defined. On the test images the success of the presented methods is shown and the difference in recognition results can be measured using the introduced quality index.

51.2.25    D. Bi, Y.F. Li, S.K. Tso, G.L. Wang, "Friction modeling and compensation for haptic display based on support vector machine," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 491- 500, April 2004.   Abstract Link    Full Text

Abstract: As the presence of friction in a haptic display device seriously affects its performance, proper compensation of the frictional effects in such a device is of practical importance for advanced virtual reality applications where haptic display plays a critical role. This paper addresses the issue of friction modeling and compensation for haptic control system designs. A new method based on the Support Vector Machine (SVM) is developed in a controller design based on a two-port network to achieve accurate haptic display. The approximation model of friction is established offline through SVM learning and is used for online feed forward friction compensation. The advantages of this novel method are demonstrated through the experiments performed.

51.2.26    T. Muraoka, H. Ikeda, "Selection of display devices used at man-machine interfaces based on human factors," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 501- 506, April 2004.   Abstract Link    Full Text

Abstract: The display devices used in intelligent machines are very important to exchange information between the operators and the machines online. New selection methods for the display devices used at the man-machine interfaces are proposed based on the results of both the electronic Landolt's ring test and the electronic stress test. The electronic Landolt's ring test checks the degradation of the visual accommodation during the contiguous visual data terminal (VDT) operation, and the electronic stress test checks the efficiency changes of the practical work during the VDT operation. The electronic Landolt's ring and electronic stress tests were respectively confirmed to be useful for selecting the display devices used at man-machine interfaces. In addition, the combination of these two test methods is believed to be utilized for the proper selection of the display devices used at man-machine interfaces in the intelligent machines.


Letters to the Editor


51.2.27    Kyu-Wang Lee, Doo-Hee Jung, In-Joong Ha, "An online identification method for both stator resistance and back-EMF coefficient of PMSMs without rotational transducers," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 507- 510, April 2004.   Abstract Link    Full Text

Abstract: This letter describes an effective online method for identifying both the stator resistance and the back-electromotive-force (EMF) coefficient of a permanent-magnet synchronous motor (PMSM) without rotational transducers. Using only the information of stator currents and voltages, it can provide fairly good identification accuracy under various load conditions and can be easily incorporated into most sensorless speed control schemes proposed in the prior literature.

51.2.28    M. Karimi-Ghartemani, H. Karimi, M.R. Iravani, "A magnitude/phase-locked loop system based on estimation of frequency and in-phase/quadrature-phase amplitudes," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 511- 517, April 2004.   Abstract Link    Full Text

Abstract: This paper introduces a new phase-locked loop (PLL) system. The proposed system provides the dominant frequency component of the input signal and estimates its frequency. The mechanism of the proposed PLL is based on estimating in-phase and quadrature-phase amplitudes of the desired signal and, hence, has application advantages for communication systems which employ quadrature modulation techniques. The studies demonstrate that the proposed PLL also provides a superior performance for power system applications. Derivation of the mathematical model and theoretical stability analysis of the proposed PLL are carried out using dynamical systems theory. Advantages of the proposed PLL over the conventional PLLs are its capability of providing the fundamental component of the input signal which is not only locked in phase but also in amplitude to the actual signal while providing an estimate of its frequency. Computer simulation is used to evaluate its performance. Evaluations confirm structural robustness of the proposed PLL with respect to noise and distortions.

51.2.29    Xinbo Ruan, Jiangang Wang, "Calculation of the resonant capacitor of the improved current-doubler-rectifier ZVS PWM full-bridge converter," IEEE Trans. on Industrial Electronics, vol. 51, no. 2, pp. 518- 520, April 2004.   Abstract Link    Full Text

Abstract: A resonant capacitor is introduced to the current-doubler-rectifier zero-voltage-switching pulsewidth-modulation full-bridge converter to alleviate the limit for the leakage inductance of the transformer. In this letter, the effect and calculation of the introduced resonant capacitor are analyzed and verified by a 540-W prototype converter.

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 51,  Number 3, June 2004           Access to the journal on IEEE XPLORE     IE Transactions Home Page



                Drive Control
51.3.1    Jian-Xin Xu, S.K. Panda, Ya-Jun Pan, Tong Heng Lee, B.H. Lam, "A modular control scheme for PMSM speed control with pulsating torque minimization," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 526- 536, June 2004.   Abstract Link    Full Text

Abstract: In this paper, a modular control approach is applied to a permanent-magnet synchronous motor (PMSM) speed control. Based on the functioning of the individual module, the modular approach enables the powerfully intelligent and robust control modules to easily replace any existing module which does not perform well, meanwhile retaining other existing modules which are still effective. Property analysis is first conducted for the existing function modules in a conventional PMSM control system: proportional-integral (PI) speed control module, reference current-generating module, and PI current control module. Next, it is shown that the conventional PMSM controller is not able to reject the torque pulsation which is the main hurdle when PMSM is used as a high-performance servo. By virtue of the internal model, to ify the torque pulsation it is imperative to incorporate an internal model in the feed-through path. This is achieved by replacing the reference current-generating module with an iterative learning control (ILC) module. The ILC module records the cyclic torque and reference current signals over one entire cycle, and then uses those signals to update the reference current for the next cycle. As a consequence, the torque pulsation can be reduced significantly. In order to estimate the torque ripples which may exceed certain bandwidth of a torque transducer, a novel torque estimation module using a gain-shaped sliding-mode observer is further developed to facilitate the implementation of torque learning control. The proposed control system is evaluated through real-time implementation and experimental results validate the effectiveness.

51.3.2    D. Simon, D.L. Feucht, "Synchronous motor phase control by vector addition of induced winding voltages," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 537- 544, June 2004.   Abstract Link    Full Text

Abstract: We propose a simple low-cost approach to the winding-sensed control of three-phase synchronous permanent-magnet motors. Our approach results from a straightforward but elegant application of vector-based motor theory. The method therefore does not depend on the differential equations that describe the motor dynamics, and it does not depend on the particular motor parameters. The single method we derive applies to both wye- and delta-configured motors. We vectorially sum the voltage waveforms at the motor terminals in a certain way and use their zero crossings to produce a correctly phased six-step switch sequence. We discuss the implementation for both wye- and delta-configured motors, and we present experimental results for a delta-configured implementation.

51.3.3    Young Ahn Kwon, Sung Hwan Kim, "A new scheme for speed-sensorless control of induction motor," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 545- 550, June 2004.   Abstract Link    Full Text

Abstract: Various control algorithms have been proposed for the speed-sensorless control of an induction motor. These sensorless algorithms are mainly based on the speed feedback with the flux and speed estimations. This paper proposes a new scheme for the speed-sensorless control of an induction motor. The proposed scheme is based on the current estimation without the flux and speed estimations, in which the controlled stator voltage is applied to the induction motor so that the difference between stator currents of the mathematical model and motor may be forced to decay to zero. The performance of the proposed scheme is verified through simulation and experiment.

51.3.4    Li Ran, Yong Liao, "Sampling-induced resonance in an encoderless vector-controlled induction motor drive," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 551- 557, June 2004.   Abstract Link    Full Text

Abstract: This paper illustrates an effect of sampling in an encoderless vector-controlled induction motor drive with a digital controller. The analysis focuses on the speed observer and the speed control loop which is executed at discrete instants. It is shown that the estimated speed can fluctuate between samples in the speed loop and cause a sustained resonance via feedback. The shaft inertia is not available to smooth the ripple of the estimated speed and the associated resonance could adversely affect the inverter and machine. An analytical model is proposed to evaluate the risk of such a condition in the design and on-site adjustment of control gains. The requirement for a smoothing filter in the speed loop is identified.

51.3.5    T.W.S. Chow, Shi Hai, "Induction machine fault diagnostic analysis with wavelet technique," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 558- 565, June 2004.   Abstract Link    Full Text

Abstract: A wavelet transform based method was developed for diagnosing machine faults operating at different rotating speeds. This paper shows that machine fault diagnosis can be effectively performed when an appropriate narrow-band filter is used to extract the required spectra components. A wavelets-transform-based technique is used to design specified narrow filter banks. This enables effective machine fault diagnostic analysis to be performed in the frequency domain. Gaussian-enveloped oscillation-type wavelet is employed. By matching the wavelet basis functions with the associated faulty signals, the required narrow filter banks are obtained. As a result, the detection and diagnosis of machine faults operating at different rotating speeds are made possible. The proposed technique was thoroughly tested at different rotating speeds.


Power Electronics
51.3.6    G. Moschopoulos, P.K. Jain, "A novel single-phase soft-switched rectifier with unity power factor and minimal component count," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 566- 576, June 2004.   Abstract Link    Full Text

Abstract: A novel, single-phase soft-switched boost AC-DC rectifier that operates with power-factor correction is proposed in this paper. The rectifier is a modified boost voltage-doubler converter well suited for low-line-input applications. It operates with fewer conduction losses and half the switch voltage stresses found in a standard boost converter. Soft switching in the converter is achieved using a zero-current-switching quasi-resonant technique. In the paper, the converter and its modes of operation are discussed and analyzed. The method of control is explained, and a design procedure is derived and then demonstrated with an example. The feasibility of the converter is shown with experimental results obtained from a prototype.

51.3.7    Chung-Wook Roh, Seung-Hoon Han, Sung-Soo Hong, Sug-Chin Sakong, Myung-Joong Youn, "Dual-coupled inductor-fed DC/DC converter for battery drive applications," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 577- 584, June 2004.   Abstract Link    Full Text

Abstract: A new isolated boost DC/DC converter suitable for a low-input-voltage application is introduced. The proposed converter features low switch current stresses, wide range of input voltage, and inherent inrush current protection, essential for the design of a low-to-high-voltage conversion circuit. A comparative analysis and experimental results are presented to show the validity of the proposed converter.

51.3.8    H. Abu-Rub, J. Guzinski, Z. Krzeminski, H.A. Toliyat, "Predictive current control of voltage-source inverters," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 585- 593, June 2004.   Abstract Link    Full Text

Abstract: A new predictive current controller for a voltage-source inverter is presented in this paper. Practical aspects of realizing the new controller in a system with a digital signal processor (DSP) are considered. Delays introduced by measurements are considered and an improved algorithm with one-period prediction of current is presented. The controller was realized in an experimental system with DSP and field-programmable gate array circuits. Results of the simulations and experiments are presented.

51.3.9    Fang Lin Luo, Hong Ye, "Positive output multiple-lift push-pull switched-capacitor Luo-converters," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 594- 602, June 2004.   Abstract Link    Full Text

Abstract: Micro-power-consumption technique requires high-power-density dc/dc converters and power supply source. Voltage lift technique is a popular method to apply in electronic circuit design. Since a switched capacitor can be integrated into a power IC chip, its size is small. Combining switched-capacitor and voltage lift technique can construct dc/dc converters with small size, high power density, high-voltage transfer gain, high power efficiency, and low electromagnetic interference. This paper introduces a new series of dc/dc converters-positive output multiple-lift push-pull switched-capacitor dc/dc Luo-converters.

51.3.10    R. Cardenas, R. Pena, G.M. Asher, J. Clare, R. Blasco-Gimenez, "Control strategies for power smoothing using a flywheel driven by a sensorless vector-controlled induction machine operating in a wide speed range," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 603- 614, June 2004.   Abstract Link    Full Text

Abstract: This paper presents a novel control strategy for power smoothing. The system is based on a sensorless vector-controlled induction machine driving a flywheel. The problem of regulating the DC-link voltage against input power surges or sudden changes in load demand is addressed. The induction machine is controlled to operate in a wide speed range by using flux weakening above rated speed. A model reference adaptive system observer is used to obtain the rotational speed in the whole speed range. The observer parameters are adapted during flux weakening in order to obtain close tracking of the flywheel speed. Experimental results for the operation of the induction machine between zero to more than twice base speed are presented and discussed.

51.3.11    Jun-Young Lee, Jin-Sung Kim, Nam-Sung Jung, Bo-Hyung Cho, "The current injection method for AC plasma display panel (PDP) sustainer," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 615- 624, June 2004.   Abstract Link    Full Text

Abstract: A new concept of energy recovery for a plasma display panel (PDP) is proposed. Different from conventional LC resonant sustaining drivers, the current built up before inverting the polarity of the panel electrodes is utilized to change the panel polarity together with energy previously charged in panel capacitance. This operation provides zero-voltage switching of switches and reduction of electromagnetic interference by rejecting the surge current when the sustain switches are turned on. The buildup current helps to reduce the transition time of the panel polarity and may produce more stable light waveforms. This method is suitable for a PDP sustaining driver requiring stable light emission characteristic while it maintains low circuit loss like the series-resonant-type energy recovery circuit which is known to be a very effective method.

51.3.12    H. Matsuo, Wenzhong Lin, F. Kurokawa, T. Shigemizu, N. Watanabe, "Characteristics of the multiple-input DC-DC converter," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 625- 631, June 2004.   Abstract Link    Full Text

Abstract: In the zero-emission electric power generation system, a multiple-input DC-DC converter is useful to obtain the regulated output voltage from several input power sources such as a solar array, wind generator, fuel cell, and so forth. A new multiple-input DC-DC converter is proposed and analyzed. As a result, the static and dynamic characteristics are clarified theoretically, and the results are confirmed by experiment.

51.3.13    N.P. Papanikolaou, E.C. Tatakis, "Active voltage clamp in flyback converters operating in CCM mode under wide load variation," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 632- 640, June 2004.   Abstract Link    Full Text

Abstract: Active clamp topologies of low power dissipation have become a very attractive solution in order to limit overvoltages in flyback converters. Although many suitable topologies have been introduced for the case of discontinuous conduction mode (DCM), where the duty cycle value depends on the load level, in continuous conduction mode (CCM) it is more difficult to appropriately design such topologies so as to "sense" load changes-due to the small duty cycle divergence under wide load variation. Taking for granted that in order to achieve high power-factor correction in these converters, CCM is a more attractive mode of operation, a drastic solution for this case that will manage to eliminate voltage stresses under wide load changes has become very essential. For this purpose, this paper presents an active clamp topology with small power dissipation, suitable for flyback converters operating in CCM mode. Its main idea is the use of a load-dependent current source, consisting of an auxiliary converter operating in DCM mode. Experimental results highlight the effectiveness of the proposed topology under wide load changes, establishing it as an appropriate solution in order to develop flyback converters, even at the power range of 500 W.

51.3.14    B. Singh, B.N. Singh, A. Chandra, K. Al-Haddad, A. Pandey, D.P. Kothari, "A review of three-phase improved power quality AC-DC converters," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 641- 660, June 2004.   Abstract Link    Full Text

Abstract: Three-phase AC-DC converters have been developed to a matured level with improved power quality in terms of power-factor correction, reduced total harmonic distortion at input AC mains, and regulated DC output in buck, boost, buck-boost, multilevel, and multipulse modes with unidirectional and bidirectional power flow. This paper presents an exhaustive review of three-phase improved power quality AC-DC converters (IPQCs) configurations, control strategies, selection of components, comparative factors, recent trends, their suitability, and selection for specific applications. It is aimed at presenting a state of the art on the IPQC technology to researchers, designers, and application engineers dealing with three-phase AC-DC converters. A classified list of around 450 research articles on IPQCs is also appended for a quick reference.

51.3.15    A. Emadi, "Modeling and analysis of multiconverter DC power electronic systems using the generalized state-space averaging method," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 661- 668, June 2004.   Abstract Link    Full Text

Abstract: This paper presents a modular approach for the modeling and simulation of multiconverter DC power electronic systems based on the generalized state-space averaging method. These systems may consist of many individual converters connected together to form large and complex systems. In addition to simplifying the analysis procedure, by using the proposed method, the time step for analysis of the system can be increased. Therefore, the required computation time and computer memory for complex systems can be reduced considerably. In this paper, after introducing the proposed approach, results of applying the method to a representative system are presented.

51.3.16    B.A. Welchko, M.B. de Rossiter Correa, T.A. Lipo, "A three-level MOSFET inverter for low-power drives," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 669- 674, June 2004.   Abstract Link    Full Text

Abstract: This paper proposes operating a three-level neutral-point-clamped (NPC) inverter using a two-level pulsewidth-modulation method. This allows for the clamping diodes to be rated at a fraction of the main switches due to their low average current requirement. The use of a bootstrap charge pump as a low-cost method to obtain the isolated gate drive power supplies is extended for use with the NPC topology. Using this control method and circuits, an inverter based on high-volume, low-cost, low-voltage power MOSFETs is experimentally demonstrated as a possible economic alternative to an insulated-gate-bipolar-transistor-based drive for 120-Vrms-supplied systems.

51.3.17    Wei Wen, Kam-Wah Siu, Yim-Shu Lee, "Design of a single-switch high-power-factor regulator with near-zero output current ripple," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 675- 685, June 2004.   Abstract Link    Full Text

Abstract: The characteristics of a novel single-switch high-power-factor regulator with low output current ripple are studied. By employing a modified-boost converter cell as the input stage and a double-ended forward converter cell as the output stage, a high power factor and near-zero output current ripple are achieved. This regulator also eliminates the need for an extra clamping switch to recycle the transformer leakage energy and to reduce the switch voltage stress. The analysis, design, simulation, and experimental results are reported to verify the operation and performance of the proposed regulator.


Emerging Technology


51.3.18    M.J. Embrechts, S. Benedek, "Hybrid identification of nuclear power plant transients with artificial neural networks," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 686- 693, June 2004.   Abstract Link    Full Text

Abstract: Proper and rapid identification of malfunctions (transients) is of premier importance for the safe operation of nuclear power plants. Feedforward neural networks trained with the backpropagation (BP) algorithm are frequently applied to model simulated nuclear power plant malfunctions. The correct identification of unlabeled transients-or transients of the "don't-know" type have proven to be especially challenging. A novel hybrid neural network methodology is presented which also correctly classifies the unlabeled transients. From this analysis the importance for properly accommodating practical aspects such as the drift of electronics elements of a simulator, the digitization of simulated and actual plant signals, and the accumulating errors during numerical integration became obvious. Beside the feedforward neural networks trained with the BP algorithm, many other types of networks and codes were used for finding the best (sensitive and robust) algorithms. Various neural network based models were successfully applied to identify labeled and unlabeled malfunctions of the Hungarian Paks nuclear power plant simulator. The BP and probabilistic methods have been proven as the most robust against the misleading recognition of unlabeled malfunctions.

51.3.19    N. Gebraeel, M. Lawley, R. Liu, V. Parmeshwaran, "Residual life predictions from vibration-based degradation signals: a neural network approach," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 694- 700, June 2004.   Abstract Link    Full Text

Abstract: Maintenance of mechanical and rotational equipment often includes bearing inspection and/or replacement. Thus, it is important to identify current as well as future conditions of bearings to avoid unexpected failure. Most published research in this area is focused on diagnosing bearing faults. In contrast, this paper develops neural-network-based models for predicting bearing failures. An experimental setup is developed to perform accelerated bearing tests where vibration information is collected from a number of bearings that are run until failure. This information is then used to train neural network models on predicting bearing operating times. Vibration data from a set of validation bearings are then applied to these network models. Resulting predictions are then used to estimate the bearing failure time. These predictions are then compared with the actual lives of the validation bearings and errors are computed to evaluate the effectiveness of each model. For the best model, we find that 64% of predictions are within 10% of actual bearing life, while 92% of predictions are within 20% of the actual life.

51.3.20    Kyung Chang Lee, Hyun Hee Kim, Suk Lee, Man Hyung Lee, "Timer selection for satisfying the maximum allowable delay using performance model of profibus token passing protocol," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 701- 710, June 2004.   Abstract Link    Full Text

Abstract: Recently, the Fieldbus has become an indispensable component for many automated systems. In the Fieldbus system, real-time data containing sensor values and control commands have a tendency to rapidly lose their value as time elapses after its creation. In order to deliver these data in time, the fieldbus network should be designed to have a short delay compared to the maximum allowable delay. Because the communication delay is affected by performance parameters such as the target rotation timer of token passing protocol, it is necessary to select proper parameter settings to satisfy the real-time requirement for communication delay. This paper presents the timer selection method for Profibus token passing networks using a genetic algorithm to meet the delay requirements.


Robotics and Vision


51.3.21    Min-Jung Lee, Young-Kiu Choi, "An adaptive neurocontroller using RBFN for robot manipulators," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 711- 717, June 2004.   Abstract Link    Full Text

Abstract: In recent years, neural networks have fulfilled the promise of providing model-free learning controllers for nonlinear systems; however, it is very difficult to guarantee the stability and robustness of neural network control systems. This paper proposes an adaptive neurocontroller for robot manipulators based on the radial basis function network (RBFN). The RBFN is a branch of neural networks and is mathematically tractable. Therefore, we adopt the RBFN to approximate nonlinear robot dynamics. The RBFN generates control input signals based on the Lyapunov stability that is often used in the conventional control schemes. A saturation function is also chosen as an auxiliary controller to guarantee the stability and robustness of the control system under the external disturbances and modeling uncertainties.

51.3.22    Joon Seop Oh, Yoon Ho Choi, Jin Bae Park, Y.F. Zheng, "Complete coverage navigation of cleaning robots using triangular-cell-based map," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 718- 726, June 2004.   Abstract Link    Full Text

Abstract: This paper presents a novel approach for navigation of cleaning robots in an unknown workspace. To do so, we propose a new map representation method as well as a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the cleaning robot navigate with a shorter path and increased flexibility than a rectangular cell map representation. Then, we propose the complete coverage navigation and map construction methods which enable the cleaning robot to navigate the complete workspace without complete information about the environment. Finally, we evaluate the performance of our proposed triangular cell map via the existing distance-transform-based path-planning method comparing it to that of the rectangular cell map. Also, we verify the effectiveness of the proposed methods through computer simulations.


Letters to the Editor
51.3.23    F. Jurado, "Neural network control for dynamic voltage restorer," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 727- 729, June 2004.   Abstract Link    Full Text

Abstract: The dynamic voltage restorer is a power electronic device which has demonstrated its ability to protect sensitive loads from the effects of voltage sags. This compensator is connected in series with the distribution feeder. A neural network control is proposed. Simulation results are shown to validate these control methods.

51.3.24    Z.H. Shao, "Robust stability of uncertain neutral delay systems," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 730- 733, June 2004.   Abstract Link    Full Text

Abstract: The stability of a linear neutral delay-differential system is studied, where both the system matrices and time delays may be uncertain. A sufficient condition is derived to guarantee the perturbed system is robustly stable. The computation of acceptable upper bounds for system matrix uncertainties and time-delay perturbations is also discussed, and an example is finally illustrated.

51.3.25    K.C. Wu, "A comprehensive analysis of current-mode control for DCM buck-boost converters," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 733- 735, June 2004.   Abstract Link    Full Text

Abstract: Comprehensive analyses for the buck-boost, pulse width modulation DC/DC converters applying peak current current-mode control are given. The analysis provides closed-form solutions for steady-state output, small-signal loop gain, and conducted susceptibility. It also proves that the state-space averaged model developed for converter using a single-loop voltage-mode control is valid for a current-mode-controlled converter.

51.3.26    R.J. Mantz, H. De Battista, "Comments on "variable-structure PID control to prevent integrator windup"," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 736- 738, June 2004.   Abstract Link    Full Text

Abstract: In the paper by Hodel and Hall, the authors introduce a variable-structure proportional-integral-derivative controller with antiwindup features and compare it with other simple antiwindup methods. It is pointed out here that the conclusions reached from the comparative example are incorrect as the performance of the controllers is not appropriately compared.

51.3.27    A.S. Hodel, C.E. Hall, "Authors' reply to comments on "variable-structure PID control to prevent integrator windup"," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 738- 739, June 2004.   Abstract Link    Full Text

Abstract: For comments by R.J. Mantz and H. De Battisa see ibid. (vol. 51, p736-38, June 2004) . For original paper by A. S. Hodel and C. E. Hall see ibid.(vol.48, p442-51, April 2001).

51.3.28    L.U. Gokdere, M.A. Simaan, C.W. Brice, "Response to comments on "passivity-based control of saturated induction motors"," IEEE Trans. on Industrial Electronics, vol. 51, no. 3, pp. 739, June 2004.   Abstract Link    Full Text

Abstract: For original paper by L. U. Gokdere et al. see ibid.(vol.48, p870-72, Aug. 2001) Contrary to the claims made in the comments to our paper, by R. T. Novotnak and J. Chiasson see ibid.(vol.50, p820-21, Aug. 2003), the passivity-based controller developed for induction motors has already been tested on the same demanding trajectories used for the input-output linearization controller. The experimental results show that the passivity-based controller provides closer tracking of the same mechanical trajectory, when compared with the input-output linearization controller.

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 51,  Number 4, August 2004           Access to the journal on IEEE XPLORE     IE Transactions Home Page



                Special Section Papers on Direct Torque Control of AC Motors
51.4.1    G.S. Buja, M.P. Kazmierkowski, "Direct torque control of PWM inverter-fed AC motors - a survey," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 744- 757, August 2004.   Abstract Link    Full Text

Abstract: This paper presents a review of recently used direct torque and flux control (DTC) techniques for voltage inverter-fed induction and permanent-magnet synchronous motors. A variety of techniques, different in concept, are described as follows: switching-table-based hysteresis DTC, direct self control, constant-switching-frequency DTC with space-vector modulation (DTC-SVM). Also, trends in the DTC-SVM techniques based on neuro-fuzzy logic controllers are presented. Some oscillograms that illustrate properties of the presented techniques are shown.

51.4.2    N.R.N. Idris, A.H.M. Yatim, "Direct torque control of induction machines with constant switching frequency and reduced torque ripple," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 758- 767, August 2004.   Abstract Link    Full Text

Abstract: Direct torque control (DTC) of induction machines is known to have a simple control structure with comparable performance to that of the field-oriented control technique. Two major problems that are usually associated with DTC drives are: switching frequency that varies with operating conditions and high torque ripple. To solve these problems, and at the same time retain the simple control structure of DTC, a constant switching frequency torque controller is proposed to replace the conventional hysteresis-based controller. In this paper, the modeling, averaging, and linearization of the torque loop containing the proposed controller followed by simulation and experimental results are presented. The proposed controller is shown to be capable of reducing the torque ripple and maintaining a constant switching frequency.

51.4.3    Y.-S. Lai, Wen-Ke Wang, Yen-Chang Chen, "Novel switching techniques for reducing the speed ripple of AC drives with direct torque control," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 768- 775, August 2004.   Abstract Link    Full Text

Abstract: The main theme of this paper is to present novel switching techniques, which insert zero-voltage vectors and/or more nonzero-voltage vectors to the conventional switching table, for AC drives with direct torque control. For the same sampling frequency of a drive controller, the proposed techniques are quite effective in reducing the torque pulsation and the speed ripples of the motors, as demonstrated in several experimental results. Moreover, the experimental confirmations have been made not only on an induction machine but also on a permanent-magnet synchronous machine.

51.4.4    V. Ambrozic, G.S. Buja, R. Menis, "Band-constrained technique for direct torque control of induction motor," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 776- 784, August 2004.   Abstract Link    Full Text

Abstract: In this paper, a novel technique for the direct torque control (DTC) of an induction motor is proposed, which overcomes the trouble of high torque ripple afflicting the conventional DTC technique. With the novel technique, the inverter voltage vector selected from the switching table is applied for the time interval needed by the torque to reach the upper (or the lower) limit of the band, where the time interval is calculated from a suitable modeling of the torque dynamics. By this approach, the control system emulates the operation of a torque hysteresis controller of analog type since the application time of the inverter voltage vector is dictated by the allowed torque excursion and not by the sampling period. It is shown by experimental results that the technique yields a considerable reduction of the torque ripple. A further and ultimate reduction is obtained by compensating for the delay inherent in the discrete-time operation of the control system. The outcome is that the torque ripple of the motor is constrained within the hysteresis band of the torque controller, for a band of customary value. An ancillary merit of the technique is the almost full elimination of the average torque error inherent in the conventional technique. If the hysteresis band is shrunk, the torque ripple is bound to swing out the band limits. Under this circumstance, an extension of the technique is developed, which helps keep the torque ripple at minimum. To assess the characteristics of the proposed DTC technique, the following quantities: average torque error, rms value of the torque ripple, and inverter switching frequency are measured for different stator flux angular speeds and hysteresis bands of the torque and flux controllers. As a comparison, the same quantities are given for the conventional DTC technique.

51.4.5    C. Lascu, I. Boldea, F. Blaabjerg, "Variable-structure direct torque control - a class of fast and robust controllers for induction machine drives," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 785- 792, August 2004.   Abstract Link    Full Text

Abstract: A family of variable-structure controllers for induction machine drives is presented, in which the principles of direct torque control (DTC), variable-structure control (VSC), and space-vector pulsewidth modulation are combined to ensure high-performance operation, both in the steady state and under transient conditions. Three new VSC schemes are designed following the DTC voltage-control-based philosophy. These provide robust, fast, and accurate torque and flux control, without the penalty of high chattering. Comparative results demonstrate that proposed techniques preserve the DTC transient merits, while the steady-state behavior is significantly improved. Experimental results prove the strong robustness, accuracy, quickness, and low-ripple sensor-less operation of a drive that uses the new schemes.

51.4.6    J. Luukko, O. Pyrhonen, M. Niemela, J. Pyrhonen, "Limitation of the load angle in a direct-torque-controlled synchronous machine drive," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 793- 798, August 2004.   Abstract Link    Full Text

Abstract: The basic direct torque control (DTC) principle is to rotate the flux linkage forward, if the torque must be increased, and reverse, if the torque must be decreased. The torque is, however, increased only up to a maximum torque of the machine, which corresponds to a load angle of about 90/spl deg/ in a synchronous machine. This paper presents a method to overcome the possible loss of synchronism when using DTC. This requires either that the rotor angle is measured or estimated. Both of these cases are considered. Simulation and laboratory results are presented to show the effectiveness of the presented method.

51.4.7    M.F. Rahman, Md.E. Haque, Lixin Tang, Limin Zhong, "Problems associated with the direct torque control of an interior permanent-magnet synchronous motor drive and their remedies," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 799- 809, August 2004.   Abstract Link    Full Text

Abstract: This paper investigates problems associated with the implementation of a direct torque control (DTC) strategy for an interior permanent-magnet synchronous motor drive. The DTC technique is increasingly drawing attention because of elimination of current controllers and, hence, their inherent delays, and elimination of the rotor position sensor. The latter advantage perhaps is the main impetus for considering this new approach of torque control. Problems associated with this controller, namely, the offset in the current measurements, the stator resistance variation, and the requirement of initial rotor position are addressed in this paper. Ways of mitigating of these problems are also investigated in this paper. These are evaluated with modeling and experimental studies, results of which are also presented.

51.4.8    A. Steimel, "Direct self-control and synchronous pulse techniques for high-power traction inverters in comparison," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 810- 820, August 2004.   Abstract Link    Full Text

Abstract: High-power inverters for traction drives employ in the upper range of stator frequency special pulse control methods, optimized synchronous pulsewidth modulation (PWM), mainly in combination with rotor-flux-oriented control schemes, and direct self-control (DSC) which encompasses motor control and pulse pattern generation. The well-known symmetrized sinusoidal PWM is only to be used in the lower speed range. This paper presents and compares exemplarily the stationary behavior of these two control methods; criteria are inverter peak current, motor harmonic losses, torque ripple, and DC-link harmonics. For these low switching frequencies DSC shows, in spite of its simplicity, a very good overall performance, mainly by avoiding the imperfect use of switching frequency by the synchronous pulse patterns.

51.4.9    K. Yoshida, H. Takami, A. Fujii, "Smooth section crossing of controlled-repulsive PM LSM vehicle by DTC method based on new concept of fictitious section," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 821- 826, August 2004.   Abstract Link    Full Text

Abstract: This paper presents propulsion control for the permanent-magnet linear synchronous motor vehicle Marine-Express 03 (ME03) to pass through the two sections in the mass-reduced mode by a new direct torque control (DTC) method. A fictitious section is introduced for pass-through-section control. It has been done by introducing a fictitious section defined by "one section including section boundary." The lift and thrust forces for the pass-through section are obtained by the DTC method based on voltage equations per one fictitious section. The vehicle ME03 has been controlled successfully to pass through the two sections in the mass-reduced mode by experiment.

51.4.10    J. Rodriguez, J. Pontt, S. Kouro, P. Correa, "Direct torque control with imposed switching frequency in an 11-level cascaded inverter," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 827- 833, August 2004.   Abstract Link    Full Text

Abstract: This paper presents the application of direct torque control in an induction motor, using a multilevel cascaded inverter with separated DC sources. The control strategy operates with imposed switching frequency, improving torque behavior. The paper studies the theoretical concepts related to this method, like vector selection, state variables estimation, and commutation time calculation. In addition, this paper presents results for a three- and eleven-level inverter-fed drives, from which it can be appreciated that the increase of levels of the load voltage reduces the torque ripple.


Power Electronics
51.4.11    J. Rodriguez, J. Pontt, P. Correa, P. Cortes, C. Silva, "A new modulation method to reduce common-mode voltages in multilevel inverters," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 834- 839, August 2004.   Abstract Link    Full Text

Abstract: This paper proposes a new modulation strategy for multilevel inverters, which selects voltage vectors that generate zero common-mode voltage in the load, working at low switching frequency. Experimental results confirm that the method is highly effective and simple to implement in a modern microprocessor. The voltage distortion (total harmonic distortion), the number of commutations, and the linearity are also studied. Finally, it is concluded that the proposed strategy is highly suited for inverters with a high number of levels.

51.4.12    M.D.L. del Casale, N. Femia, P. Lamberti, V. Mainardi, "Selection of optimal closed-loop controllers for DC-DC voltage regulators based on nominal and tolerance design," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 840- 849, August 2004.   Abstract Link    Full Text

Abstract: This paper discusses a tolerance design approach for the feedback compensation networks of DC/DC switching regulators, identifying the most reliable solutions among different feasible alternatives that fulfil closed-loop design constraints. A voltage-mode-regulated DC/DC buck converter is considered as a case study. Given the performance and stability constraints, as tolerance ranges for crossover frequency and phase margin, feasible design solutions are sought by means of Monte Carlo and interval arithmetic computations. The search space is a set of available commercial values of RC parameters and related tolerances. Best design is identified by a weighted fitness function, exploring the set of solutions provided by different design approaches. The results presented in the paper highlight that the tolerance design approach allows one to find compensation networks that fit the given performance/robustness priorities better than those ones found by means of the classical nominal design approach.

51.4.13    J. Diaz, F. Nuno, J.M. Lopera, J.A. Martin-Ramos, "A new control strategy for an AC/DC converter based on a piezoelectric transformer," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 850- 856, August 2004.   Abstract Link    Full Text

Abstract: Piezoelectric transformers (PTs) are an attractive solution to reduce size and weight in ac/dc converters. In this paper, a PT-based topology is presented together with a control method. As an application, an 8-W ac/dc adapter (110 V/sub AC/ input, 12 V/sub DC/ output) is presented operating at frequencies around 500 kHz.

51.4.14    J. Diaz, J.A. Martin-Ramos, A.M. Pernia, F. Nuno, F.F. Linera, "Intelligent and universal fast charger for Ni-Cd and Ni-MH batteries in portable applications," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 857- 863, August 2004.   Abstract Link    Full Text

Abstract: In this paper, a new fast charger is presented for Ni-Cd and Ni-MH batteries, which are the most frequently used in portable applications. In this charger, the control and supervision of the process has been entrusted to a microcontroller, which provides a powerful and intelligent tool to undertake complex tasks, and reduces the requested circuitry to the microcontroller itself and a few additional components. The resulting charger is able to work out the initial battery state (detecting deteriorated devices), decide the suitable way to charge it (ensuring a long cyclic life), and determine when the charge process must be finished. This way, the state of the battery is always controlled, preventing any damage to it and providing a fully protected operation mode. This paper summarizes the design and construction of the presented charger, as well as shows the experimental results obtained in the prototype tests.

51.4.15    Y.P.B. Yeung, K.W.E. Cheng, S.L. Ho, K.K. Law, D. Sutanto, "Unified analysis of switched-capacitor resonant converters," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 864- 873, August 2004.   Abstract Link    Full Text

Abstract: A family of switched-capacitor resonant circuits using only two transistors is presented. The circuit operates under zero-current switching and, therefore, the switching loss is zero. It also offers a wide choice of voltage conversions including fractional as well as multiple and inverted voltage conversion ratios.

51.4.16    Wennan Guo, P.K. Jain, "A power-factor-corrected AC-AC inverter topology using a unified controller for high-frequency power distribution architecture," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 874- 883, August 2004.   Abstract Link    Full Text

Abstract: High-frequency power distribution architecture (HFPDA) has gained more and more attention from both academics and industry in recent years. It is not only applicable in space systems, but also found attractive in power system design for emerging telecommunication and computer systems. As the technology has matured, HFPDA even seems to be attractive for powering the desktop computers employing the latest generation fast microprocessors. This paper presents an ac-ac inverter for HFPDA. The inverter includes a high-frequency resonant inverter and a buck-boost converter for power-factor correction (PFC). A unified controller controls both the resonant inverter and the PFC stage. Unlike other single-stage power-factor-corrected inverter topologies, the proposed inverter system has reduced dc-bus voltage stress for the universal input line voltage. The proposed inverter is found attractive in low-power applications.

51.4.17    D. Alexa, A. Sirbu, D.-M. Dobrea, "An analysis of three-phase rectifiers with near-sinusoidal input currents," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 884- 891, August 2004.   Abstract Link    Full Text

Abstract: An analysis of a three-phase low-harmonic diode rectifier equipped with inductors, capacitors, and diodes is presented. Inductors and capacitors are used in conjunction with the three-phase diode rectifier bridge to improve the waveform of the currents drawn from the utility grid. The operation of the proposed converter is analyzed and, on this basis, design considerations are commented upon. The converter characteristics are determined as a function of the load current. Comparisons between the studied converter and other rectifiers (classical rectifiers, with passive or active filters, and three-phase low-harmonic rectifiers applying the third-harmonic current injection) are also presented. Several possible applications of the three-phase rectifiers with near-sinusoidal input currents are mentioned. Analytically obtained results are experimentally verified.

51.4.18    Tzann-Shin Lee, "Lagrangian modeling and passivity-based control of three-phase AC/DC voltage-source converters," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 892- 902, August 2004.   Abstract Link    Full Text

Abstract: In this paper, we investigate the dc-bus voltage regulation problem for a three-phase boost-type pulsewidth-modulated (PWM) ac/dc converter using passivity-based control theory of Euler-Lagrange (EL) systems. The three-phase PWM ac/dc converters modeled in the a-b-c reference frame are first shown to be EL systems whose EL parameters are explicitly identified. The energy-dissipative properties of this model are fully retained under the d-q-axis transformation. Based on the transformed d-q EL model, passivity-based controllers are then synthesized using the techniques of energy shaping and damping injection. Two possible passivity-based feedback designs are discussed, leading to a feasible dynamic current-loop controller. Motivated from the usual power electronics control schemes and the study of Lee, the internal dc-bus voltage dynamics are regulated via an outer loop proportional plus integral (PI) controller cascaded to the d-axis current loop. Nonlinear PI control results of Desoer and Lin are applied to theoretically validate the proposed outer loop control scheme. The PWM ac/dc converter controlled by the proposed passivity-based current control scheme with outer loop PI compensation has the features of enhanced robustness under model uncertainties, decoupled current-loop dynamics, guaranteed zero steady-state error, and asymptotic rejection of constant load disturbance. Experimental results on a 1.5-kVA PC-based controlled prototype provide verification of these salient features. The experimental responses of a classical linear PI scheme are also included for comparative study.


Signal Processing and Control
51.4.19    S. Kansal, G. Cook, "Use of a sinusoidal series for modeling discrete windowed data as an alternative to interpolation," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 903- 909, August 2004.   Abstract Link    Full Text

Abstract: The use of a sinusoidal series representation as an alternative to interpolation is introduced. The method is applied to both one-dimensional and two-dimensional data. It is noted that the Fourier series can be used here only if the variable of interest has no discontinuities and has the same values at the end boundaries. For situations where this is not the case we introduce the idea of adding to the Fourier series sinusoids at half the fundamental frequency. The procedure is extended to two-dimensional data and applied to terrain modeling where coarse range scanning has been performed and a model of finer resolution is then obtained. Results are shown to be excellent.

51.4.20    S.J. Ovaska, O. Vainio, "Evolutionary-programming-based optimization of reduced-rank adaptive filters for reference generation in active power filters," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 910- 916, August 2004.   Abstract Link    Full Text

Abstract: We introduce an evolutionary-programming-based method for designing robust and computationally efficient adaptive bandpass filters. These predictive filters are optimized for generating current references in active power filters (APFs). The accuracy (phase/amplitude) of the reference current is crucial in current-injection-type systems, because it directly affects the harmonics reduction ability of the APF. Our digital filtering approach has the following advantages: selective bandpass response, efficient attenuation of specific harmonic components, capability to handle typical frequency alteration, small number of multiplications, and structural simplicity. In addition, practically no prior knowledge of the electricity distribution network and its loading characteristics is needed for designing the current reference generator. In an illustrative example, the total harmonic distortion of an artificial current waveform was reduced from 36.7% to less than 3.7% within the line frequency range 49-51 Hz. The proposed scheme is a combination of the hard-computing (HC)-type multiplicative general parameter method and evolutionary programming that, on the other hand, is a constituent of soft computing (SC). Such open-minded fusion thinking is emerging among researchers and engineers, and it can potentially lead to efficient combinations of HC and SC methodologies*both on the algorithm level and on the system level.

51.4.21    W. Panusittikorn, Min Cheol Lee, P.I. Ro, "Modeling and sliding-mode control of friction-based object transport using two-mode ultrasonic excitation," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 917- 926, August 2004.   Abstract Link    Full Text

Abstract: This paper introduces a magnetic-free object transport system driven by a friction force on an ultrasonic flexural vibrating beam. This driving mechanism offers unique advantages of silent operation and lubricant-free structure. The characteristics are ideal for a transport system in a clean-room environment. However, the friction drive described by Hertzian contact and Coulomb friction theories is highly nonlinear. The transport system needs a sophisticated control design to deliver a load to a precise location. A traditional feedback controller and sliding-mode control were implemented in the presence of sensor noise and hardware limitation. It is experimentally shown that the tracking performance of the proposed control scheme is superior to the traditional control design.


Letters to the Editor
51.4.22    Sewan Choi, M. Febg, "A reduced-rating hybrid filter to suppress neutral current harmonics in three-phase four-wire systems," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 927- 930, August 2004.   Abstract Link    Full Text

Abstract: This letter proposes a reduced-rating hybrid filter to suppress neutral current harmonics in three-phase four-wire systems. Under unbalanced loading, the proposed filter eliminates only harmonics in the neutral current while it does not affect the fundamental. The VA rating of the inverter is significantly reduced compared to the conventional one since only fundamental current due to unbalanced loading could flow through the inverter switch.

51.4.23    Jee-Hoon Jung, Gang-Youl Jeong, Bong-Hwan Kwon, "Stability improvement of V/f-controlled induction motor drive systems by a dynamic current compensator," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 930- 933, August 2004.   Abstract Link    Full Text

Abstract: Stability improvement of V/f-controlled induction motor drive systems by a dynamic current compensator is proposed. The proposed method uses a dynamic current compensator to improve the stability of the V/f-controlled induction motor drive systems. This method is easy to implement and helps eliminate the oscillations causing the instability of V/f-controlled induction motor drive systems.

51.4.24    Ming Tsung Tsai, "Design of a compact series-connected AC Voltage regulator with an improved control algorithm," IEEE Trans. on Industrial Electronics, vol. 51, no. 4, pp. 933- 936, August 2004.   Abstract Link    Full Text

Abstract: This letter presents an improved control algorithm for the compensation of ac source voltage fluctuation. The proposed idea can be used to regulate both the overvoltage and undervoltage situations with only unidirectional energy transmission. Theoretical analysis has been achieved based on the power flow theory. A case study is demonstrated by means of a prototype experiment to prove its performance and effectiveness.

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 51,  Number 5, Oct 2004           Access to the journal on IEEE XPLORE     IE Transactions Home Page



                Special Section Papers on Advanced Motion Control
51.5.1    Y. Uchimura, T. Yakoh, "Bilateral robot system on the real-time network structure," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 940- 946, Oct 2004.   Abstract Link    Full Text

Abstract: This paper presents a bilateral robot system, which is driven by the static friction-free drive system and implemented on the real-time network structure. The goal is to realize a force reflecting bilateral teleoperation with haptic impression transmission over computer networks. The paper considers two subjects relating to the bilateral robot. The first is static friction, which degrades the performance of manipulation and results in a poor haptic impression. A new transmission mechanism named twin drive system developed by the authors resolves this problem. The transmission mechanism, which resembles the differential gear of automobiles, is essentially free of static friction. This static-friction-free motion greatly contributes to the broad range of motion control applications. The second subject is the time delay of the network, which may cause serious problems such as instability of the feedback system. To avoid such delay, the authors developed a new real-time network protocol stack (RTNP). The detailed mechanism of the twin drive system and architecture of the RTNP are presented, and the control scheme and experimental results are also shown.

51.5.2    K. Itoh, M. Iwasaki, N. Matsui, "Optimal design of robust vibration suppression controller using genetic algorithms," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 947- 953, Oct 2004.   Abstract Link    Full Text

Abstract: This paper presents an evolutional compensator design for motion control systems using genetic algorithms (GAs). The control system is composed of a robust two-degrees-of-freedom (2DOF) compensator based on the coprime factorization description. A feedback compensator in the 2DOF control system is theoretically designed under the /spl mu/-Synthesis framework to ensure the robust stability because the real plant mechanism includes structured uncertainties, e.g., the frequency perturbations of vibration modes. On the other hand, a feedforward compensator is optimized by GA paying attention to the robust servo characteristics against the mechanical parameter variations, where the structuring and parameterization of the compensator can be autonomously achieved to satisfy the desired servo characteristic with the resonant vibration suppression performance. The effectiveness of the proposed controller design has been verified by experiments using a prototype.

51.5.3    Y. Hori, "Future vehicle driven by electricity and Control-research on four-wheel-motored "UOT electric march II"," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 954- 962, Oct 2004.   Abstract Link    Full Text

Abstract: The electric vehicle (EV) is the most exciting object to apply "advanced motion control" technique. As an EV is driven by electric motors, it has the following three remarkable advantages: 1) motor torque generation is fast and accurate; 2) motors can be installed in two or four wheels; and 3) motor torque can be known precisely. These advantages enable us to easily realize: 1) high performance antilock braking system and traction control system with minor feedback control at each wheel; 2) chassis motion control like direct yaw control; and 3) estimation of road surface condition. "UOT Electric March II" is our novel experimental EV with four in-wheel motors. This EV is made for intensive study of advanced motion control of an EV.

51.5.4    A. Rojko, K. Jezernik, "Sliding-mode motion controller with adaptive fuzzy disturbance estimation," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 963- 971, Oct 2004.   Abstract Link    Full Text

Abstract: This paper proposes a motion control scheme which belongs to the class of the control schemes known as sliding-mode control with disturbance estimation. A novel adaptive fuzzy disturbance estimator works as an estimator of a major part of robot dynamics. The adaptation algorithm is derived by using the Lyapunov stability theory and provides global asymptotic stability of the state errors, resulting in the sliding-mode regime. The structure of the disturbance estimator is optimized by the introduction of three fuzzy logic subsystems, based on the physical properties of the robot mechanism. This also significantly lowers the computational burden and enables real-time implementation. Performance of the proposed controller scheme, as well as some practical design aspects, are demonstrated by the control of a direct-drive robot.

51.5.5    K. Loffler, M. Gienger, F. Pfeiffer, H. Ulbrich, "Sensors and control concept of a biped robot," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 972- 980, Oct 2004.   Abstract Link    Full Text

Abstract: The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Very accurate and fast sensors were developed for the machine. In particular, the design of the three-dimensional-orientation sensor and the six-axes force-torque sensor are presented. The control scheme is based on the information from these sensors to deal with unstructured terrain and disturbances. Two different implementations are investigated: a computed torque approach and a trajectory control with adaptive trajectories. Walking speeds of 2.4 km/h have been achieved in experiments.


Power Electronics
51.5.6    Jin Zhao, B.K. Bose, "Neural-network-based waveform Processing and Delayless filtering in power electronics and AC drives," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 981- 991, Oct 2004.   Abstract Link    Full Text

Abstract: This paper systematically explores the static nonlinear mapping property of feedforward neural networks for various waveform processing and delayless filtering that are applicable to power electronics and ac drives area. Neural-network-based processing of waves gives considerable simplification of hardware and/or software that are traditionally used for such applications. Two general cases have been investigated: The voltage or current waveforms which have constant frequency but variable magnitudes, and the other case is variable-frequency variable-magnitude voltage or current waves. The former case is mainly important for power electronics that operate on a utility system and general-purpose constant-frequency converter power supplies, and the latter is important for the adjustable-speed ac drives area. In both cases, the performance of neural-network-based waveform processing and delayless filtering with offline training was found to be excellent. The results of this study are also applicable to other areas of electrical engineering.

51.5.7    A. Emadi, "Modeling of power electronic loads in AC distribution systems using the generalized State-space averaging method," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 992- 1000, Oct 2004.   Abstract Link    Full Text

Abstract: Most of the loads in ac distribution systems have positive incremental impedance characteristic. However, power electronic loads, when tightly regulated, sink constant power from the system. Therefore, they have negative incremental impedance characteristic. This can cause negative impedance instability. Power electronic loads usually have a controlled or uncontrolled rectifier at the front end. In this paper, these loads are modeled using the generalized state-space averaging method. An assessment of their effects in ac distribution systems is also presented. Experimental results are presented to verify the proposed analysis.

51.5.8    V. Dinavahi, R. Iravani, R. Bonert, "Design of a real-time digital Simulator for a D-STATCOM system," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1001- 1008, Oct 2004.   Abstract Link    Full Text

Abstract: Real-time digital simulation of power electronic systems requires significant computational resources due to increasingly complex system configurations, control algorithms, and higher switching frequency. Consequently, it is prudent to exploit various computer resources for optimizing the design of simulators/controllers for such systems. This paper presents the design and implementation details of a real-time digital simulator for a Voltage-Source-Converter-based Distribution STATic COMpensator (D-STATCOM) power system. The design process adopts a modular approach utilizing distributed digital signal processor/field-programmable gate array resources of a digital processing platform. The design has been validated by using an experimental setup of a 5-kVA D-STATCOM system.

51.5.9    B.-R. Lin, Yung-Chuan Lee, "Three-phase power quality compensator under the unbalanced sources and nonlinear loads," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1009- 1017, Oct 2004.   Abstract Link    Full Text

Abstract: A three-phase voltage-source inverter for a power quality compensator under the unbalanced mains and nonlinear loads is proposed to provide balanced three-phase source current and improve input power factor. The proposed converter is based on the conventional three-phase voltage-source inverter with three additional ac power switches to achieve three-level pulsewidth modulation. The voltage stress of three ac power switches is clamped to half the dc-link voltage. The balanced reference mains currents are estimated using the dc-bus voltage and load currents. A proportional-integral voltage controller is used in the outer loop to compensate the switching losses of the voltage-source inverter. To perform the integrated power quality compensation, a hysteresis current control scheme is adopted to track the balanced line current command in phase with mains voltage. Three voltage levels are generated on the ac terminal of the proposed inverter. Computer simulation and experimental results are provided to verify the effectiveness of the proposed control scheme.

51.5.10    P. Mattavelli, F.P. Marafao, "Repetitive-based control for selective harmonic compensation in active power filters," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1018- 1024, Oct 2004.   Abstract Link    Full Text

Abstract: This paper proposes a repetitive-based controller for active power filters, which compensates selected current harmonics produced by distorting loads. The approach is based on the measurement of line currents and performs the compensation of selected harmonics using a closed-loop repetitive-based control scheme based on a finite-impulse response digital filter. Compared to conventional solutions based on stationary-frame current control, this approach allows full compensation of selected frequencies, even if the active filter has limited bandwidth. Compared to synchronous-frame harmonic regulations on line currents, the complexity of the proposed algorithm is independent of the number of compensated harmonics. Moreover, it is more appropriate for digital signal processor implementation and less sensitive to rounding and quantization errors when finite word length or fixed-point implementation is considered. Experimental results on a 5-kVA prototype confirm the theoretical expectations.


Drive Control
51.5.11    S.R. Bowes, A. Sevinc, D. Holliday, "New natural observer applied to speed-sensorless DC servo and induction motors," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1025- 1032, Oct 2004.   Abstract Link    Full Text

Abstract: A simple observer design technique with parameter adaptation is proposed for bounded-input bounded-output nonlinear systems. In this technique, no feedback is used in the observer but parameter estimations are considered as if they are observer inputs. The proposed technique is successfully applied to speed-sensorless dc servomotors and speed-sensorless induction motors with load torque adaptation schemes. The observer is robust to noise and parameter uncertainty. Excellent experimental and simulation results have been obtained.

51.5.12    M. Hinkkanen, "Analysis and design of full-order flux observers for sensorless induction motors," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1033- 1040, Oct 2004.   Abstract Link    Full Text

Abstract: This paper deals with the flux estimation for sensorless induction motor drives. The linearized model of the speed-adaptive full-order flux observer is applied to help choosing the observer gain and the speed-adaptation gains. It is shown that the linearized model reveals potential instability problems that are difficult to find by other means. An observer gain and a method to vary the speed-adaptation gains in the field-weakening region are proposed. Experimental results show stable operation in a very wide speed range.

51.5.13    V.-M. Leppanen, J. Luomi, "Speed-sensorless induction Machine control for zero speed and frequency," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1041- 1047, Oct 2004.   Abstract Link    Full Text

Abstract: A recently introduced speed-sensorless controller structure for tracking the rotor-flux orientation of an induction motor was implemented in a laboratory setup. The controller is based on superimposing a low-frequency ac test signal on the stator current of the motor. The response in the stator voltage to the signal depends on the orientation of the signal relative to that of the rotor flux. The dependency is due to the reaction of the mechanical system, and it is used to control the orientation error to zero. In the experiments, the controller operated successfully under nominal torque both at zero speed and at zero frequency. Slow and fast speed reversals under nominal torque were also successful. In addition, the system was capable of withstanding both motoring and generating load torque steps up to 50% of nominal torque.

51.5.14    C. Lascu, A.M. Trzynadlowski, "A sensorless hybrid DTC drive for high-volume low-cost applications," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1048- 1055, Oct 2004.   Abstract Link    Full Text

Abstract: A sensorless hybrid direct torque control (DTC) drive for high-volume low-cost industrial, domestic, and automotive applications has been developed using the inexpensive TMS329F243 digital signal processor controller. Under transient operating conditions, the drive is controlled using the classic bang-bang DTC. In the steady state, using linear torque and flux controllers, the control system generates a reference voltage vector for the inverter feeding the induction motor. The vector is then realized using the well-known space-vector pulsewidth modulation (SVPWM) technique. As a result, the irregular switching pattern typical for the classic DTC strategy is replaced with a quasi-optimal one, typical for the SVPWM. Description of the drive, including a novel motor state observer, is followed by selected experimental results confirming its excellent operating characteristics.

51.5.15    D. Casadei, G. Serra, A. Tani, L. Zarri, "Theoretical and experimental analysis for the RMS current ripple minimization in induction motor drives controlled by SVM technique," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1056- 1065, Oct 2004.   Abstract Link    Full Text

Abstract: In this paper, an analytical approach useful for predicting the current ripple in induction motor drives controlled by space-vector modulation (SVM) technique is presented. The analysis is applied to determine the optimal modulation technique that minimizes the rms value of the current ripple. The minimization procedure is based on the analysis of the locus described by the current ripple in the /spl alpha/--/spl beta/ reference frame. As a result, a simple equation has been obtained, which allows the online calculation of the optimal SVM switching pattern. It has been verified that it is possible to obtain a current ripple lower than that of symmetric modulation, and with a reduced number of commutations. Experimental results are provided to confirm the theoretical approach.

51.5.16    H.F. Hofmann, S.R. Sanders, A. EL-Antably, "Stator-flux-oriented vector control of synchronous reluctance Machines with maximized efficiency," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1066- 1072, Oct 2004.   Abstract Link    Full Text

Abstract: This paper presents a position-sensorless vector torque controller designed to achieve maximum efficiency over a range of power and rotational speed for a synchronous reluctance machine. A model of the synchronous reluctance machine is presented which incorporates both winding and core losses. It is then shown that a stator-flux-oriented control scheme can achieve synchronous operation of the machine without a position sensor at medium and high electrical frequencies. For a given speed and torque, power losses in the machine are shown to be a function of only the stator flux magnitude. As the power losses are a convex function of the stator flux level, the optimal flux value can be found using a one-dimensional optimization algorithm, such as the Method of Sequential Quadratic Interpolations. Optimal flux values for a synchronous reluctance machine are determined using an experimental setup that accurately determines losses in the motor/drive system. Experimental results obtained from the test setup confirm the validity of the controller and the optimization algorithm.

51.5.17    M.B. de Rossiter Correa, C.B. Jacobina, E.R.C. da Silva, A.M.N. Lima, "Vector control strategies for single-phase induction motor drive systems," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1073- 1080, Oct 2004.   Abstract Link    Full Text

Abstract: This paper discusses vector control strategies for single-phase motor drive systems operating with two windings. A model is proposed and used to derive control laws for single-phase motor drive systems. Such model is also employed to introduce the double-sequence controller. Simulation and experimental results are provided to illustrate the operation of the proposed drive systems.

51.5.18    M.A. Jabbar, A.M. Khambadkone, Zhang Yanfeng, "Space-vector Modulation in a two-phase induction motor drive for constant-power operation," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1081- 1088, Oct 2004.   Abstract Link    Full Text

Abstract: In the paper, a space-vector pulsewidth-modulation (SVPWM) inverter is proposed for constant-power operation of a two-phase induction motor. The operating principle of SVPWM is described, and the algorithm for constant-power operation is presented. Analysis for dynamic operation using a simple scalar control scheme is carried out and parameters for implementation of the scheme are obtained. Experimental investigation of the scheme is carried out and comparative analysis of the performance of the scheme is presented.

51.5.19    G. Poddar, V.T. Ranganathan, "Sensorless field-oriented control for double-inverter-fed wound-rotor induction motor drive," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1089- 1096, Oct 2004.   Abstract Link    Full Text

Abstract: A novel control technique for sensorless vector control operation of a double-inverter-fed wound-rotor induction motor is presented. Two current controllers control the stator-side currents based on a vector control algorithm. Another V/f-type flux and frequency controller controls the rotor-side frequency directly. A novel frequency command profile for the rotor-side controller is suggested to make this sensorless drive operation reliable and reduce dependence on motor parameters at any rotor speed. A complete inverter power flow analysis is presented to show that the drive can deliver full torque from 0- to 2-p.u. speed for either direction of rotation. Thus, double the rated power can be extracted from the induction motor without overloading it. The proposed algorithm allows the drive to start on-the-fly without any rotor transducer. Results from a prototype 50-hp drive are presented.


Emerging Technology
51.5.20    J.R. Stack, R.G. Harley, T.G. Habetler, "An amplitude Modulation detector for fault diagnosis in rolling element bearings," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1097- 1102, Oct 2004.   Abstract Link    Full Text

Abstract: The purpose of this research is to identify single-point defects in rolling element bearings. These defects produce characteristic fault frequencies that appear in the machine vibration and tend to modulate the machine's frequencies of mechanical resonance. An amplitude modulation (AM) detector is developed to identify these interactions and detect the bearing fault while it is still in an incipient stage of development (i.e., to detect the instances of AM when the magnitude of the characteristic fault frequency itself is not significant). Use of this detector only requires machine vibration from one sensor and knowledge of the bearing characteristic fault frequencies. Computer simulations as well as machine vibration data from bearings containing outer race faults are used to confirm the proficiency of this proposed technique.

51.5.21    J.M. Correa, F.A. Farret, L.N. Canha, M.G. Simoes, "An electrochemical-based fuel-cell model suitable for electrical engineering automation approach," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1103- 1112, Oct 2004.   Abstract Link    Full Text

Abstract: This paper presents a dynamic electrochemical model for representation, simulation, and evaluation of performance of small size generation systems emphasizing particularly proton exchange membrane fuel-cell (PEMFC) stacks. The results of the model are used to predict the output voltage, efficiency, and power of FCs as a function of the actual load current and of the constructive and operational parameters of the cells. Partial and total load insertion and rejection tests were accomplished to evaluate the dynamic response of the studied models. The results guarantee a better analytical performance of these models with respect to former ones with a consequent reduction in time and costs of projects using FCs as the primary source of energy. Additionally, this electrochemical model was tested for the SR-12 Modular PEM Generator, a stack rated at 500 W, manufactured by Avista Laboratories, for the Ballard Mark V FC and for the BCS 500-W stack.


Letters to the Editor
51.5.22    L. Ben-Brahim, "On the compensation of dead time and zero-current crossing for a PWM-inverter-controlled AC servo drive," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1113- 1118, Oct 2004.   Abstract Link    Full Text

Abstract: Conventional dead-time compensation methods, for pulsewidth-modulated (PWM) inverters, improve the current output waveforms; however, the zero-current crossing effect is still apparent. This letter proposes a new method, based on angle domain repetitive control, to reduce the distortions in the PWM inverters output waveforms caused by the dead time and the zero-crossing problem.

51.5.23    D.O. Neacsu, "Current control with fast transient for three-phase AC/DC boost converters," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1117- 1121, Oct 2004.   Abstract Link    Full Text

Abstract: This letter introduces a new synchronous reference frame hysteresis control of a three-phase ac/dc boost converter that is demonstrated to have excellent transient behavior when compared with previous fast methods based on regular proportional plus integral control with cross-coupling terms. Finally, the control software program and a comparison of results are shown.

51.5.24    S. Kansal, G. Cook, "Correction to “Use of a Sinusoidal Series for Modeling Discrete Windowed Data as an Alternative to Interpolation”," IEEE Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1122- 1122, Oct 2004.   Abstract Link    Full Text

Abstract: Not Available

IEEE Transactions on Industrial Electronics

  IEEE Transactions on Industrial Electronics 

Volume 51,  Number 6, Dec 2004           Access to the journal on IEEE XPLORE     IE Transactions Home Page



                Special Section Papers on Distributed Network-Based Control Systems And Applications
51.6.1    Lingfeng Wang, Bin Huang, Kay Chen Tan, "Fault-tolerant vibration control in a networked and embedded rocket fairing system," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1127- 1141, Dec 2004.   Abstract Link    Full Text

Abstract: Active vibration control using piezoelectric actuators in a networked and embedded environment has been widely applied to solve the rocket fairing vibration problem. However, actuator failures may lead to performance deterioration or system dysfunction. To guarantee the desired system performance, the remaining actuators should be able to coordinate with each other to compensate for the damaging effects caused by the failed actuator in a timely manner. Further, in the networked control environment, timing issues such as sampling jitter and network-induced delay should be considered in the controller design. In this study, a timing compensation approach is implemented in an adaptive actuator failure compensation controller to maintain the fairing system performance by also considering the detrimental effects from real-time constraints. In addition, time-delay compensation in the networked control system is discussed, which is able to reduce damaging effects of network-induced delays.

51.6.2    D.P. Buse, Q.H. Wu, "Mobile agents for remote control of distributed systems," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1142- 1149, Dec 2004.   Abstract Link    Full Text

Abstract: A modern distributed industrial system, such as a power transmission system, consists of many sites distributed throughout a wide area. Each site contains a number of monitoring and control devices, also known as intelligent electronic devices, which perform various tasks including condition monitoring, control, and protection. However, apart from dedicated links to the control center for control purposes, substations are often connected by networks with relatively low bandwidth, which makes remote access to these devices for control or monitoring relatively difficult. Therefore, we propose the use of mobile agents for remote access to devices. In this paper, the advantages and disadvantages of the use of mobile agents are evaluated by means of a theoretical model and a series of experiments. The results suggest that for networks with high latency mobile agents may provide performance improvements over more conventional client-server systems.

51.6.3    Kyung Chang Lee, Man Ho Kim, Suk Lee, Hong Hee Lee, "IEEE-1451-based smart module for in-vehicle networking systems of intelligent vehicles," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1150- 1158, Dec 2004.   Abstract Link    Full Text

Abstract: As vehicles become intelligent for the convenience and safety of drivers, in-vehicle networking (IVN) systems and smart modules are essential components of intelligent vehicles. However, there are obstacles for the wide acceptance of smart modules. First, there exist numerous IVN protocols that a smart module should be able to support. Second, the whole smart module has to be replaced when only the sensor of the module fails. In order to overcome these obstacles, a smart module is implemented as two units; one responsible for network communication and the other for sensor/actuator operations. In addition, the modules use an interface between the two units as defined by the IEEE 1451 standard. This paper presents a design of the smart module based on the IEEE 1451 standard along with the experimental evaluation for time delays.

51.6.4    P. Marti, J. Yepez, M. Velasco, R. Villa, J.M. Fuertes, "Managing quality-of-control in network-based control systems by controller and message scheduling co-design," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1159- 1167, Dec 2004.   Abstract Link    Full Text

Abstract: In network-based control systems (NCSs), plant sensor-controller-actuator nodes in closed-loop operation drive principal network traffic. The quality-of-control (QoC) in an NCS, i.e., the performance delivered by each closed-loop operation, depends not only on the controller design but also on the message scheduling strategy. In this paper, we show that the co-design of adaptive controllers and feedback scheduling policies allows for the optimization of the overall QoC. First, we discuss the limitations of standard discrete-time control models for controllers of control loops that are closed over communication networks. Afterwards, we describe an approach to adaptive controllers for NCS that: 1) overcomes some of the previous restrictions by online adapting the control decisions according to the dynamics of both the application and executing platform and 2) offers capabilities for dynamic management of QoC through message scheduling.

51.6.5    J. Garcia, F.R. Palomo, A. Luque, C. Aracil, J.M. Quero, D. Carrion, F. Gamiz, P. Revilla, J. Perez-Tinao, M. Moreno, P. Robles, L.G. Franquelo, "Reconfigurable distributed network control system for industrial plant automation," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1168- 1180, Dec 2004.   Abstract Link    Full Text

Abstract: Use of advanced communication technologies, highly integrated control, and programming platforms drastically increases the performance of industrial control systems. That is the case of Motronic, where the synergistic collaboration between industry and academia has led to an advanced distributed network control system. To be commercially successful, it needs to have a low cost and to be robust, even if this requirement implies that it is a custom design and not based on previously existing commercial solutions. Use of standards and off-the-shelf products lower development costs, but usually raise production costs. In this paper, we show that, in certain applications, design of a new system from scratch is more advantageous. This system comprises a set of dynamically reconfigurable local controller nodes, a graphical programming environment, a remote supervision and control system, and a fault-tolerant fiber optical network. TCP/IP connectivity is provided by the use of a local gateway. Motronic is currently being applied in the integrated control of large production plants and in energy and power management industries.

51.6.6    D. Lim, A. Anbuky, "A distributed industrial battery management network," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1181- 1193, Dec 2004.   Abstract Link    Full Text

Abstract: This paper discusses a control network organization for industrial battery management. The battery network is logically partitioned into strings containing groups of cells. These groups of cells are managed locally by distributed control nodes that communicate through the local controller area network (CAN). Battery information is communicated to the remote user through TCP/IP. Both CAN and TCP/IP are connected through the gateway database, allowing for transitions from the battery process time and data volume domain into that of the remote user. The system architecture is based on multiple concurrent processes that facilitate necessary battery monitoring and charge management as well as availability of timely interaction with remote users. Autonomy of these processes is encouraged through the distributed data storage organization. Modeling and testing of the proposed architecture reflects the potential capacity for managing battery requirements and network traffic. Scalability of the approach to suit battery network size may also prove useful to serve other similar applications.

51.6.7    A. Prayati, C. Koulamas, S. Koubias, G. Papadopoulos, "A methodology for the development of distributed real-time control applications with focus on task allocation in heterogeneous systems," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1194- 1207, Dec 2004.   Abstract Link    Full Text

Abstract: A distributed application development methodology is necessary to define specific steps, through which the application specification can be successfully mapped to the system devices. Interoperability and real-timeliness are two major issues in distributed control application development. The main focus of this paper is a generic device model, developed to provide interoperability, and the function block allocation (FBALL) algorithm, defined to guarantee that real-time requirements are met. FBALL is a hybrid approach targeted for the nature of distributed control applications, resulting in an assignment of the application tasks to the system resources, as well as a feasible schedule that meets the real-time constraints. Based on these solutions to interoperability and real-time criticality, a methodology is presented, supporting the distributed control application specification, modeling, and implementation to heterogeneous systems.

51.6.8    C. Koulamas, S. Koubias, G. Papadopoulos, "Using cut-through forwarding to retain the real-time properties of Profibus over hybrid wired/wireless architectures," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1208- 1217, Dec 2004.   Abstract Link    Full Text

Abstract: The benefits of wireless extensions in industrial networks are well recognized as long as the integration of the wireless and fieldbus domains will be capable of retaining the real-time and dependability quality of the current wired industrial networking solutions. In this paper, the architecture and the operation of a cut-through forwarding device are described, to be used in broadcasting, hybrid wired/wireless Profibus systems. Analytical models of the delay overhead introduced due to frame forwarding are presented. It is shown that the usage of cut-through forwarding devices relaxes the bit-rate requirements in the radio segments, while it drastically improves the inherent advantages and reduces the drawbacks of hybrid transmission media architectures, which are based on a single Medium Access Control domain.

51.6.9    Y. Tipsuwan, Mo-Yuen Chow, "Gain scheduler middleware: a methodology to enable existing controllers for networked control and teleoperation - part I: networked control," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1218- 1227, Dec 2004.   Abstract Link    Full Text

Abstract: Conventionally, in order to control an application over a data network, a specific networked control or teleoperation algorithm to compensate network delay effects is usually required for controller design. Therefore, an existing controller has to be redesigned or replaced by a new controller system. This replacement process is usually costly, inconvenient, and time consuming. In this paper, a novel methodology to enable existing controllers for networked control and teleoperation by middleware is introduced. The proposed methodology uses middleware to modify the output of an existing controller based on a gain scheduling algorithm with respect to the current network traffic conditions. Since the existing controller can still be utilized, this approach could save much time and investment cost. Two examples of the middleware applied for networked control and teleoperation with IP network delays are given in these two companion papers. Part I of these two companion papers introduces the concept of the proposed middleware approach. Formulation, delay modeling, and optimal gain finding based on a cost function for a case study on DC motor speed control with a proportional-integral (PI) controller are also described. Simulation results of the PI controller shows that, with the existence of IP network delays, the middleware can effectively maintain the networked control system performance and stabilize the system. Part II of this paper will cover the use of the proposed middleware concept for a mobile robot teleoperation.

51.6.10    Y. Tipsuwan, Mo-Yuen Chow, "Gain scheduler middleware: a methodology to enable existing controllers for networked control and teleoperation-part II: teleoperation," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1228- 1237, Dec 2004.   Abstract Link    Full Text

Abstract: This paper is the second of two companion papers. The foundation for the external gain scheduling approach to enable an existing controller via middleware for networked control with a case study on a proportional-integral (PI) controller for dc motor speed control over IP networks was given in Part I. Part II extends the concepts and methods of the middleware called gain scheduler middleware (GSM) in Part I to enable an existing controller for mobile robot path-tracking teleoperation. By identifying network traffic conditions in real-time, the GSM will predict the future tracking performance. If the predicted tracking performance tends to be degraded over a certain tolerance due to network delays, the GSM will modify the path-tracking controller output with respect to the current traffic conditions. The path-tracking controller output is modified so that the robot will move with the fastest possible speed, while the tracking performance is maintained in a certain tolerance. Simulation and experimental results on a mobile robot path-tracking platform show that the GSM approach can significantly maintain the robot path-tracking performance with the existence of IP network delays.

51.6.11    M. Di Santo, A. Vaccaro, D. Villacci, E. Zimeo, "A distributed architecture for online power systems security analysis," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1238- 1248, Dec 2004.   Abstract Link    Full Text

Abstract: Phenomena that can compromise power systems operation need to be carefully analyzed in order to evaluate their impact on the security and reliability levels of the electrical networks. The real-time assessment of the system's security and reliability levels, especially under unforeseen contingencies, is known as online power system security analysis. For complex networks this process requires large computational efforts whereas computation times should be less than a few minutes for the information to be useful. To address this problem a distributed architecture based on the Web is proposed. The architecture integrates a network of remotely controlled units distributed in the most critical sections of the electrical network for fields data acquisition and safety check violations, a distributed solution engine for the online analysis of the system security, and a Web-based interface for graphical synoptic and reporting development. The results obtained from an intensive experimentation demonstrate the validity of the architecture and stimulate the enhancement of the solution engine through the use of a computational grid able to dynamically acquire the needed resources.

51.6.12    S. Soucek, T. Sauter, "Quality of service concerns in IP-based control systems," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1249- 1258, Dec 2004.   Abstract Link    Full Text

Abstract: The popularity of network-based control systems (NBCS) is continuously growing. One of the most intriguing aspects is the transportation of control network data over IP-based networks using accepted standards such as EIA-852. To a large extent the actual quality of control (QoC) in such systems depends on the network timing such as delay and delay jitter. This paper presents a classification of relevant quality of service parameters and identifies application classes. Subsequently, the paper focuses on the effect of delay jitter at a fixed mean delay on the QoC. Two sources of delay jitter are identified in IP-based control systems: 1) network traffic induced and 2) protocol induced. As an example of a simple control loop implemented over an EIA-852-based system we investigate how the induced jitter affects the QoC using a time-discrete simulation model. Conclusions are drawn as to how the findings in the EIA-852 system can be interpreted and extended to a generalized NBCS.

51.6.13    N. Ando, P. Korondi, H. Hashimoto, "Networked telemicromanipulation systems "Haptic Loupe"," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1259- 1271, Dec 2004.   Abstract Link    Full Text

Abstract: In this paper, "Haptic Loupe" telemicromanipulation systems are proposed. We have developed telemicromanipulation systems that enable human operators to perform micro tasks, such as assembly or manufacturing without stress . These systems are based on a scaled bilateral teleoperation system between different structures. The systems are composed of an original six-degrees-of-freedom (6-DOF) parallel link manipulator to carry out micromanipulation and a 6-DOF haptic interface with force feedback. A parallel mechanism is adopted as a slave micromanipulator because of its good features of accuracy and stiffness. The haptic master interface is developed for micromanipulation systems. Haptic device system modeling and a model reference adaptive controller are implemented to compensate for friction forces, which spoil the free motion performance and force response isotropy of the system. Total system performance as a telemicromanipulator system is evaluated by performing some primitive manipulation tasks in a teleoperation experiment. Experimental results are presented and discussed.

51.6.14    H. Takahashi, H. Nishi, K. Ohnishi, "Autonomous decentralized control for formation of multiple mobile robots considering ability of robot," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1272- 1279, Dec 2004.   Abstract Link    Full Text

Abstract: The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using the "Leader-Following" strategy. There are three features of this study. First, a performance index that shows mobile robot ability is quantified. Specifically, maximum acceleration and maximum velocity of a robot are defined by maximum admissible rotation and maximum continuous torque of a motor. The performance index is quantified from arrival time on the destination using these parameters. Second, a new controller is proposed based on the performance index, so that robots can be controlled according to robot ability. Third, a compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally, simulation and experiments are done in a real-time system using RT-Messenger. RT-Messenger allows robots to transmit information regarding their positions to each other in real time. These results shows the validity of the proposed method.


Power Electronics
51.6.15    O. Ojo, "The generalized discontinuous PWM scheme for three-phase voltage source inverters," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1280- 1289, Dec 2004.   Abstract Link    Full Text

Abstract: This paper presents analytical techniques for the determination of the expressions for the modulation signals used in the carrier-based sinusoidal and generalized discontinuous pulse-width modulation schemes for two-level, three-phase voltage source inverters. The proposed modulation schemes are applicable to inverters generating balanced or unbalanced phase voltages. Some results presented in this paper analytically generalize the several expressions for the modulation signals already reported in the literature and new ones are set forth for generating unbalanced three-phase voltages. Confirmatory experimental and simulation results are provided to illustrate the analyses.

51.6.16    In-Dong Kim, Eui-Cheol Nho, Heung-Geun Kim, Jong Sun Ko, "A generalized Undeland snubber for flying capacitor multilevel inverter and converter," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1290- 1296, Dec 2004.   Abstract Link    Full Text

Abstract: This paper proposes a snubber circuit for a flying capacitor multilevel inverter and converter. It also explains the concept of constructing a snubber circuit for a multilevel inverter and converter. The proposed snubber circuit makes use of an Undeland snubber as a basic snubber unit, and thus can be regarded as a generalized Undeland snubber for a flying capacitor multilevel inverter and converter. It has such an advantage of Undeland snubber used in the two-level inverter. Compared with a conventional RLD/RCD snubber for multilevel inverter and converter, the proposed snubber keeps such good features as fewer number of components, reduction of voltage stress of main switching devices due to low overvoltage, and improved efficiency of system due to low snubber loss. In this paper, the proposed snubber is applied to a three-level flying capacitor inverter, and its features are in detail demonstrated by computer simulation and experimental result.

51.6.17    A. Sangswang, C.O. Nwankpa, "Noise characteristics of DC-DC boost converters: experimental validation and performance evaluation," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1297- 1304, Dec 2004.   Abstract Link    Full Text

Abstract: The purpose of this paper is to quantify existing random noise in a pulse-width modulated (PWM) switching DC-DC boost converter. A DC-DC boost converter performance under the influence of random noise is studied. We experimentally verify the existence of noise and measure its statistical properties on the operating characteristics of the boost converter. A converter model that captures the effect of these inherent random noises on the overall behavior of a practical converter is presented. Existing disturbances are lumped and modeled as switching time uncertainties. We also propose a performance index quantifying the converter performance. This index is known as mean first passage time (MFPT). Comparison between this stochastic performance index, MFPT, and a deterministic counterpart, critical energy, under the presence of realistic disturbances is presented.

51.6.18    S.C.O. Mathuna, P. Byrne, G. Duffy, W. Chen, M. Ludwig, T. O'Donnell, P. McCloskey, M. Duffy, "Packaging and integration technologies for future high-frequency power supplies," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1305- 1312, Dec 2004.   Abstract Link    Full Text

Abstract: This paper reviews data from the International Technology Roadmap for Semiconductors to establish where dc-dc converters are headed in the first decade of the new millennium. It focuses on the high performance computing (high current, fast response, high power density) and portable/handheld (low profile) sectors. Magnetics and power device packaging technologies needed to allow power supplies to move to operating frequencies in the 1-10 MHz region are discussed. It introduces the concept of magnetic components fully embedded (windings and core) in PCB and silicon offering low profile and low losses at high frequency. It also reviews developments in wirebond-free power packaging such as flip-chip assembly that offer low profile, reduced parasitics and increased thermal performance. Finally, consideration is given to the changes in the power electronics industry that may need to be addressed to enable these new technologies to play a strategic role.

51.6.19    Tzu-Yen Chang, Xu Wang, D.A. Evans, S.L. Roberson, J.P. Zheng, "Characterization of tantalum oxide-ruthenium oxide hybrid capacitors," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1313- 1317, Dec 2004.   Abstract Link    Full Text

Abstract: The ac and dc performance and leakage current of Evans tantalum oxide-ruthenium oxide hybrid capacitors were characterized at room temperature. The RC time constants were in the range from 2 to 0.45 ms and dependent on the maximum operational voltage of the capacitor. The gravimetric and volumetric energy densities of hybrid capacitors were in the range of 0.074-0.233 J/g and 0.388-1.384 J/cm/sup 3/, respectively. The gravimetric and volumetric power densities of hybrid capacitors were in the range of 19-259 W/g and 100-1540 W/cm/sup 3/, respectively. A comparison of the performance between hybrid capacitors to conventional aluminum and tantalum electrolytic capacitors is made in this paper.


Drive Control
51.6.20    M. Hinkkanen, J. Luomi, "Stabilization of regenerating-mode operation in sensorless induction motor drives by full-order flux observer design," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1318- 1328, Dec 2004.   Abstract Link    Full Text

Abstract: This paper deals with the full-order flux observer design for speed-sensorless induction motor drives. An unstable region encountered in the regenerating mode at low speeds is well known. To remedy the problem, a modified speed-adaptation law is proposed. Instead of using only the current estimation error perpendicular to the estimated flux, the parallel component is also exploited in the regenerating mode. Using current estimation error loci in steady state, a linearized model, simulations, and experiments, it is shown that the observer using the proposed speed-adaptation law does not have the unstable region. It is also shown that the effect of erroneous parameter estimates on the accuracy of the observer is comparatively small.

51.6.21    G. Poddar, V.T. Ranganathan, "Direct torque and frequency control of double-inverter-fed slip-ring induction motor drive," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1329- 1337, Dec 2004.   Abstract Link    Full Text

Abstract: A novel sensorless scheme for direct torque and frequency control of a double-inverter-fed slip-ring induction motor is presented. The analysis of a double-inverter-fed induction motor is given to derive the proposed controller. Various frequency profiles are analyzed for a direct frequency controller. A novel frequency profile is suggested to make the sensorless drive operation reliable and machine parameter independent at any rotor speed. Simulation and experimental results are presented from a 50-hp drive, demonstrating that the drive can deliver full torque from 0 to 2-p.u. speed in either direction. Thus, double the rated power can be extracted from the motor without overloading it.

51.6.22    M.A. Jabbar, A.M. Khambadkone, Guo Chun, "Quasi-resonant-converters-based high-efficiency spindle motor drives for magnetic data storage," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1338- 1343, Dec 2004.   Abstract Link    Full Text

Abstract: Disk drive spindle motors require accurate speed control and highly efficient drive controllers. Small-volume and high-efficiency converters are of particular interest for portable data storage applications. Quasi-resonant voltage controllers are described in this paper and the experimental results are presented. In contrast to the conventional pulsewidth-modulated voltage controller, this technique reduces the switching loss and enables the controller to operate at very high frequencies. Three types of resonant converters are built and tested for the application. A comparison of performance in terms of losses and voltage regulation is given.


Letters to the Editor
51.6.23    Liang-Rui Chen, "PLL-based battery charge circuit topology," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1344- 1346, Dec 2004.   Abstract Link    Full Text

Abstract: In this paper, a phase-locked battery charger (PLBC) is proposed to show that a phase-locked loop (PLL) is a perfect circuit topology for battery charging. The circuit topology of the PLBC is almost the same as that of the PLL and it inherits the merits of the PLL, such as autotracking, autolocking, and high accuracy. A complete charging process, consisting of three subprocesses: constant current charge, variable current charge, and float charge, can be automatically implemented by using the above inherent characteristics of the PLL. Experimental results show that the PLL is really suitable for carrying out a battery charge controller.

51.6.24    L.S. Kei, K. Sridharan, T. Srikanthan, "Hardware-efficient schemes for logarithmic approximation and binary search with application to visibility graph construction," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1346- 1348, Dec 2004.   Abstract Link    Full Text

Abstract: Visibility graphs constitute a useful data structure for environment representation in the context of robot path planning. A central element in the construction of the basic visibility graph and its variants is tangent determination. This letter presents new schemes and hardware designs for key elements in tangent construction and identification of obstructed tangents. The designs have been synthesized using Synopsys Design Compiler 2001.08-SP1, and results show they are appropriate for development of a cost-effective and efficient visibility graph generation system.